Underwater bionic robot based on double-vortex adsorption

Abstract

The invention discloses an underwater bionic robot based on double-vortex adsorption, a double-vortex adsorption system is adopted, the appearance structure is designed with giant salamanders as bionic objects, and the underwater bionic robot has the crawling and cruising dual-mode movement capacity; a shell of the body is designed into a flat streamline with a large bow and a small stern, a Y-shaped flow channel is formed in the belly of the body, arc-shaped side skirt structures are arranged on the two sides of the belly, a vortex adsorption system is assisted to generate a stable ground effect, and the body can be firmly adsorbed on a solid wall surface. By improving the application mode of vortex adsorption and referring to the form and behavior characteristics of the giant salamander, the appearance structure and motion performance of the robot are optimized, rapid and accurate control and stable switching of multiple motion modes are achieved through a data-driven hierarchical model predictive control algorithm. Compared with an existing crawling or cruising underwater robot, the underwater robot has the advantages of being firm in adsorption force, small in sailing resistance, stable in movement, flexible in maneuvering and the like.

Description

Technical field [0001] The present invention relates to the field of underwater robots, in particular based on the ability of both cruise and crawling robot imitation Andrias twin scroll adsorbed. Background technique [0002] With the continuous promotion in the field of underwater robotics applications expand, the complexity of the autonomous underwater job tasks are also rising, thereby increasing the demand for multi-application mode motion underwater robot. [0003] Dual Sport mode (referred to as dual mode) underwater robots both crawling and cruising athletic ability, for the underwater environment has a strong adaptability, but the existing dual-mode underwater robot crawling and cruising stability and movement to achieve reliable there is still lack of. Current common adsorption creep mode is echoed magnetic vacuum adsorption, magnetic attraction adaptability to poor working environment, vortex suction vacuum adsorption can provide a stable non-contact suction force of t...

AI Technical Summary

Problems solved by technology

At present, the common adsorption methods in the crawling mode are magnetic adsorption and negative pressure adsorption. The adaptability of magnetic adsorption to the working environment is poor, and the vortex adsorption in negative pressure adsorption can provide stable non-contact adsorption force. ) has a strong adaptability, but the single vortex adsorption mechanism will generate an additional rotational moment to the body, causing the yaw disturbance of the robot, and the horizontal thruster is required to cooperate with the propulsion to offset the disturbance, resulting in the motion stability and navigation efficiency of the underwater robot reduce; and the multi-vortex adsorption mechanism has the problem of jet interference

In addition, there are some design defects in the existing dual-mode underwater robot with a simple disc-shaped shape. First, the shape design lacks forward guidance and does not use directional stabilizers, resulting in pitch and yaw attitudes of the body when moving forward. It is easy to sway, and it is difficult to maintain a stable navigation state, which limits the maneuverability and endurance of the robot during crawling and cruising movements; secondly, propellers are arranged around the disc-shaped body, and the protruding structures of the propellers will increase the navigation resistance, and The coupling flow field structure of the entire propulsion system also lacks an optimized design, which greatly affects the propulsion efficiency of the propeller; thirdly, the crawling motion of the robot does not have a supporting foot structure, which makes it difficult for the body to maintain a fixed gap with the adsorption surface during crawling motion, and it is easy to have a collision with the adsorption surface. Therefore, it is difficult to provide a stable crawling adsorption force; finally, because the dual-mode underwater robot is a multi-drive, multi-mode complex nonlinear dynamic system, the realization of smooth motion control and mode switching depends on adaptive robustness. rod control algorithm, but the existing systems rarely consider related issues

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