An underwater bionic robot based on double vortex adsorption

Abstract

The invention discloses an underwater bionic robot based on double vortex adsorption. The double vortex adsorption system is adopted, and the giant salamander is used as the bionic object to design the shape and structure, and has dual-mode motion capabilities of crawling and cruising. Small, flat and streamlined, with Y-shaped flow channel on the abdomen of the body, and arc-shaped side skirt structures on both sides of the abdomen. The auxiliary vortex adsorption system produces a stable ground effect, which is beneficial for the body to be firmly adsorbed on the solid wall. By improving the application mode of vortex adsorption, and referring to the shape and behavior characteristics of giant salamanders, the invention optimizes the robot's shape, structure and motion performance, and uses a data-driven hierarchical model predictive control algorithm to realize fast and accurate control of multiple motion modes. Compared with the existing crawling or cruising underwater robots, it has the advantages of reliable adsorption force, small sailing resistance, stable movement, and flexible maneuvering.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to a giant salamander imitation robot based on double vortex adsorption with both crawling and cruising capabilities. Background technique [0002] With the continuous promotion and expansion of the application field of underwater robots, the complexity of underwater autonomous operation tasks is also increasing, which increases the application demand for multi-motion mode underwater robots. [0003] The dual-motion mode (abbreviated as dual-mode) underwater robot has both crawling and cruising motion capabilities, and has strong adaptability to the underwater operating environment. However, the existing dual-mode underwater robot is stable and reliable in crawling and cruising motion Sex is still lacking. At present, the common adsorption methods in the crawling mode are magnetic adsorption and negative pressure adsorption. Magnetic adsorption has poor adaptability to the working ...

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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