Movement mode of a bionic stingray-like amphibious robot

Abstract

The present invention relates to a motion mode of a bionic stingray amphibious robot, and belongs to the field of bionic robot motion technology. In the underwater navigation motion mode, the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers, and the second driving member controls the rudder to deflect to control vertical maneuvers; in the seabed navigation motion mode, the second driving member controls the rudder to deflect downward so that the rudder angle of the rudder is negative, and the rudder angle of the rudder is kept unchanged, and the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers; in the land navigation motion mode, the second driving member controls the rudder to keep the rudder angle at zero, and the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers. The motion mode of the bionic stingray amphibious robot provided by the present invention reduces the complexity of the bionic amphibious robot's control of floating and diving.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robot movement, and in particular relates to a movement mode of a bionic stingray amphibious robot. Background Art

[0002] During the vertical movement of existing bionic amphibious robots underwater, a method of installing a sinking and floating structure, flapping an undulating fin up and down, or installing a vertical propeller is usually adopted to achieve the underwater snorkeling movement of the bionic amphibious robot.

[0003] Patent CN111422334A discloses an underwater multi-purpose robot propelled by a bionic undulating fin, which realizes floating and diving movements through a sinking and floating adjustment mechanism arranged in the middle. Patent CN102514697A discloses a bionic robot stingray and its movement mode, which realizes floating and diving movements through a sinking and floating control mechanism and a posture adjustment mechanism, thereby realizing the floating and diving movements of the robot. Patent CN115056952A discloses an underwater bionic inspection device and its inspection method, which realizes the floating and diving movements of the robot through the sinking and floating module. However, due to the large size of the sinking and floating adjustment mechanism, it will occupy most of the space of the robot. At the same time, it takes a long time to adjust the robot to float and dive through the sinking and floating adjustment mechanism, resulting in slow floating and diving movements, which seriously affects the overall performance of the robot.

[0004] Patent CN112406431A discloses a flexible fin wave propulsion amphibious bionic robot, which realizes the robot's floating and diving movements by controlling the fish fin steering module to make the flexible fin flap up and down. However, since the return action of the fish fin flapping up and down generates a force opposite to that required for floating and diving, the robot's floating and diving movements are relatively slow. At the same time, the fish fin can move in both wave and flap movements, which increases the complexity of control.

[0005] Patent CN112093018A discloses a bionic manta ray robot, which uses two vertical propellers to adjust the robot's pitch angle to achieve the robot's floating and diving movements. However, the vertical propeller propulsion method has low propulsion efficiency and high noise interference, which is contrary to the pursuit of low noise and high concealment of underwater bionic robots. At the same time, propeller propulsion is easily entangled by water plants and other debris, which seriously affects its propulsion performance.

[0006] Therefore, how to reduce the complexity of the bionic amphibious robot's control of floating and diving movements and improve the endurance of the bionic amphibious robot is an urgent problem to be solved. Summary of the invention

[0007] In view of the above-mentioned shortcomings of the existing motion mode of bionic amphibious robots, the present invention provides a motion mode of a bionic stingray amphibious robot, and the motion mode of the bionic stingray amphibious robot is easy to control.

[0008] The present invention provides a motion mode of a bionic amphibious robot. The bionic stingray amphibious robot comprises a main cabin, two side cabins respectively connected to both sides of the main cabin, two undulating pectoral fins respectively connected to the two side cabins, and a rudder connected to the side cabin; the undulating pectoral fin is connected to a side of the side cabin away from the main cabin through a first driving member, and the rudder is connected to the stern of the side cabin through a second driving member; when the rudder is located on a horizontal plane, the rudder angle of the rudder is zero; when the rudder is located above the horizontal plane, the rudder angle of the rudder is positive; when the rudder is located below the horizontal plane, the rudder angle of the rudder is negative;

[0009] The movement modes of the bionic stingray amphibious robot include underwater navigation movement mode, seabed navigation movement mode and land navigation movement mode; among them,

[0010] In the underwater navigation motion mode, the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers, and the second driving member controls the rudder to deflect to control vertical maneuvers;

[0011] In the submarine navigation motion mode, the rudder is controlled to deflect downward by the second driving member so that the rudder angle is negative and the rudder angle is kept unchanged, and the undulating pectoral fin is driven to swing by the first driving member to control the horizontal maneuver;

[0012] In the land navigation movement mode, the rudder is controlled by the second driving member to keep the rudder angle at zero, and the undulating pectoral fin is driven to swing by the first driving member to control the horizontal maneuver.

[0013] In some embodiments, the side cabin body includes a first side cabin body and a second side cabin body, the first side cabin body is located on the left side of the bionic stingray amphibious robot's forward direction, and the second side cabin body is located on the right side of the bionic stingray amphibious robot's forward direction; the undulating pectoral fin connected to the first side cabin body is a first undulating pectoral fin, and the undulating pectoral fin connected to the second side cabin body is a second undulating pectoral fin;

[0014] In the underwater navigation movement mode: in horizontal maneuvers, when moving forward, the second drive member drives the rudder to keep the rudder angle of the rudder at zero, and the first drive member drives the two undulating pectoral fins to swing at the same swing frequency; when turning left, the second drive member drives the rudder to keep the rudder angle of the rudder at zero, the first drive member drives the two undulating pectoral fins to swing, and the swing frequency of the first undulating pectoral fins is less than the swing frequency of the second undulating pectoral fins; when turning right, the second drive member drives the rudder to keep the rudder angle of the rudder at zero, the first drive member drives the two undulating pectoral fins to swing, and the swing frequency of the first undulating pectoral fins is greater than the swing frequency of the second undulating pectoral fins; in vertical maneuvers, when floating, the second drive member drives the rudder to deflect upward so that the rudder angle of the rudder is positive, and the first drive member drives the two undulating pectoral fins to swing at the same swing frequency; when diving, the second drive member drives the rudder to deflect downward so that the rudder angle of the rudder is negative, and the first drive member drives the two undulating pectoral fins to swing at the same swing frequency;

[0015] In the submarine navigation motion mode: in horizontal maneuvering, when moving forward, the second drive member drives the rudder to deflect downward so that the rudder angle is negative and the rudder angle is kept unchanged, and the first drive member drives the two undulating pectoral fins to swing perpendicularly to the seabed, and the swinging frequency of the two undulating pectoral fins is the same; when turning left, the second drive member drives the rudder to deflect downward so that the rudder angle is negative and the rudder angle is kept unchanged, and the first drive member drives the two undulating pectoral fins to swing perpendicularly to the seabed, and the swinging frequency of the first undulating pectoral fins is less than the swinging frequency of the second undulating pectoral fins; when turning right, the second drive member drives the rudder to deflect downward so that the rudder angle is negative and the rudder angle is kept unchanged, and the first drive member drives the two undulating pectoral fins to swing perpendicularly to the seabed, and the swinging frequency of the first undulating pectoral fins is greater than the swinging frequency of the second undulating pectoral fins;

[0016] In the land navigation movement mode: in the horizontal maneuver, when moving forward, the second drive member drives the rudder to keep the rudder angle at zero, and the first drive member drives the two undulating pectoral fins to swing perpendicular to the land ground, and the swinging frequency of the two undulating pectoral fins is the same; when turning left, the second drive member drives the rudder to keep the rudder angle at zero, and the first drive member drives the two undulating pectoral fins to swing perpendicular to the land ground, and the swinging frequency of the first undulating pectoral fins is less than the swinging frequency of the second undulating pectoral fins; when turning right, the second drive member drives the rudder to keep the rudder angle at zero, and the first drive member drives the two undulating pectoral fins to swing perpendicular to the land ground, and the swinging frequency of the first undulating pectoral fins is greater than the swinging frequency of the second undulating pectoral fins.

[0017] In some of the embodiments, the undulating pectoral fin is connected to the first driving member via a connecting rod, and the first driving member controls the swing of the undulating pectoral fin by controlling the swing angle of the connecting rod.

[0018] In some embodiments, eight first driving members are provided in each side cabin, each of the first driving members is connected to the undulating pectoral fin via a connecting rod, and the eight first driving members are arranged in sequence from the bow to the stern of the side cabin; the first driving member controls the swing angle of the connecting rod to change according to the function law of the relationship (1) to control the swing of the undulating pectoral fin;

[0019] The expression of relation (1) is as follows:

[0020]

[0021] In formula (1), i is the number of the connecting rod. The connecting rods are numbered 1, 2, 3, 4, 5, 6, 7, and 8 in the direction from the bow to the stern of the first side cabin, and the connecting rods are numbered 9, 10, 11, 12, 13, 14, 15, and 16 in the direction from the bow to the stern of the second side cabin; θ i (t) is the swing angle of the i-th connecting rod at time t; α is the amplitude of the swing angle of the fluctuating pectoral fin; f is the swing frequency of the fluctuating pectoral fin; t is time; is the initial phase of the swing angle of the i-th connecting rod; β i is the initial angle offset of the swing angle of the i-th connecting rod, when the oscillating pectoral fin is parallel to the horizontal plane, β i = 0, when the pectoral fin is below the horizontal plane and perpendicular to the horizontal plane, β i =-π / 2.

[0022] In some of these embodiments, the rudder angle is δ;

[0023] In the underwater navigation mode, the control method of the rudder is: in horizontal maneuvers, δ is zero; in vertical maneuvers, δ is positive when floating and negative when diving; under different underwater navigation conditions, when controlling the swing of the pectoral fin, α, f, and β i Take the values ​​according to Table 1;

[0024] Table 1 α, f, and and β i Table of values

[0025]

[0026]

[0027] In Table 1, a1, a2 and b are determined according to the required maneuverability; in horizontal maneuvers: when moving forward, a1=a2; when turning left, a1<a2; when turning right, a1>a2; in vertical maneuvers: a1=a2;

[0028] In the bottom navigation mode, δ is controlled to be a negative value, and when the pectoral fin swings, α, f, and β i Take the values ​​according to Table 2;

[0029] Table 2 α, f, and and β i Table of values

[0030]

[0031] In Table 2, a1, a2 and b are determined according to the required maneuverability; when moving forward, a1 = a2; when turning left, a1 < a2; when turning right, a1 > a2;

[0032] In the land navigation mode, δ is controlled to be zero, and when the pectoral fin swings, α, f, and β i Take the values ​​according to Table 3;

[0033] Table 3 α, f, and and β i Table of values

[0034]

[0035]

[0036] In Table 3, a1, a2 and b are determined according to the required maneuverability; when moving forward, a1=a2; when turning left, a1<a2; when turning right, a1>a2.

[0037] In some of these embodiments, -35°≤δ≤35°.

[0038] In some of the embodiments, 0<a1≤8, 0<a2≤8.

[0039] In some of these embodiments, 0<α≤π / 3.

[0040] Compared with the prior art, the advantages and positive effects of the present invention are:

[0041] 1. Compared with the method of using a sinking and floating mechanism or a propeller to control vertical movement, the movement mode of the bionic stingray amphibious robot provided by the present invention controls the vertical movement by controlling the deflection of the rudder through the second driving member, which is simple to control, has high propulsion efficiency and low noise;

[0042] 2. In the submarine motion mode, it is only necessary to fix the rudder angle of the rudder to negative, without continuously driving the second drive member, and the waving pectoral fins can be used to swing perpendicular to the seabed to enable the bionic stingray amphibious robot to move on the seabed, which greatly improves the endurance of the bionic stingray amphibious robot;

[0043] 3. The movement mode of the bionic stingray amphibious robot provided by the present invention adopts the trigonometric function law to control the undulating pectoral fins to make a sinusoidal swing, which can better imitate the pectoral fin movement form of stingray marine organisms and improve stability and concealment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0045] Figure 1 A schematic diagram of the underwater navigation motion mode of the bionic stingray amphibious robot provided in an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the underwater navigation motion mode of the bionic stingray amphibious robot provided in an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of a land navigation motion mode of a bionic stingray amphibious robot provided in an embodiment of the present invention;

[0048] Figure 4 The diagram is a structural diagram of the connection between the first driving member and the undulating pectoral fin of the bionic stingray amphibious robot.

[0049] In the figure:

[0050] 1. Main cabin; 2. Side cabin; 3. Wave pectoral fin; 4. Rudder; 5. First drive member; 6. Second drive member; 7. Connecting rod; 8. Seabed ground; 9. Land ground;

[0051] 21. first side cabin; 22. second side cabin;

[0052] 31. First wave pectoral fin; 32. Second wave pectoral fin;

[0053] 41. Leading edge; 42. Trailing edge. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “horizontal”, “bottom” and “inner” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] like Figure 1-Figure 4As shown, in an exemplary embodiment of the motion mode of the bionic stingray amphibious robot of the present invention, the bionic stingray amphibious robot comprises a main cabin 1, two side cabins 2 respectively connected to the two sides of the main cabin 1, two undulating pectoral fins 3 respectively connected to the two side cabins 2, and a rudder 4 connected to the side cabin 2; the undulating pectoral fin 3 is connected to the side of the side cabin 2 away from the main cabin 1 through a first driving member 5, and the rudder 4 is connected to the stern of the side cabin 2 through a second driving member 6. When the leading edge 41 of the rudder 4 and the trailing edge 42 of the rudder 4 are located in the same horizontal plane, the rudder angle of the rudder 4 is zero; when the leading edge 41 of the rudder 4 is tilted upward relative to the trailing edge 42 of the rudder 4, the rudder angle of the rudder 4 is positive; when the leading edge 41 of the rudder 4 is tilted downward relative to the trailing edge 42 of the rudder 4, the rudder angle of the rudder 4 is negative. The motion modes of the bionic stingray amphibious robot include underwater navigation motion mode, seabed navigation motion mode and land navigation motion mode; wherein, in the underwater navigation motion mode, the first driving member 5 drives the undulating pectoral fin 3 to swing to control horizontal maneuvers, and the second driving member 6 controls the rudder 4 to deflect to control vertical maneuvers; in the seabed navigation motion mode, the second driving member 6 controls the rudder 4 to deflect downward so that the rudder angle of the rudder 4 is negative, and the rudder angle of the rudder 4 is kept unchanged, and the undulating pectoral fin 3 is driven to swing to control horizontal maneuvers by the first driving member 5; in the land navigation motion mode, the second driving member 6 controls the rudder 4 to keep the rudder angle of the rudder 4 at zero, and the first driving member 5 drives the undulating pectoral fin 3 to swing to control horizontal maneuvers.

[0059] In the above-mentioned movement mode of the bionic stingray amphibious robot, it should be noted that Figure 1 As shown, the side cabin 2 includes a first side cabin 21 and a second side cabin 22. The first side cabin 21 is located on the left side of the bionic stingray amphibious robot's forward direction, and the second side cabin 22 is located on the right side of the bionic stingray amphibious robot's forward direction. The undulating pectoral fin 3 connected to the first side cabin 21 is a first undulating pectoral fin 31, and the undulating pectoral fin 3 connected to the second side cabin 22 is a second undulating pectoral fin 32. It should also be noted that, Figure 2 As shown, the leading edge 41 of the rudder 4 is located on the side of the rudder 4 close to the bow; the trailing edge 42 of the rudder 4 is located on the side of the rudder 4 close to the stern.

[0060] In the underwater navigation movement mode: in horizontal maneuvers, when moving forward, the second drive member 6 drives the rudder 4 to keep the rudder angle of the rudder 4 at zero, and the first drive member 5 drives the two undulating pectoral fins 3 to swing at the same swing frequency; when turning left, the second drive member 6 drives the rudder 4 to keep the rudder angle of the rudder 4 at zero, the first drive member 5 drives the two undulating pectoral fins 3 to swing, and the swing frequency of the first undulating pectoral fin 31 is less than the swing frequency of the second undulating pectoral fin 32; when turning right, the second drive member 6 drives the rudder 4 to keep the rudder angle of the rudder 4 at zero, the first drive member 5 drives the two undulating pectoral fins 3 to swing, and the swing frequency of the first undulating pectoral fin 31 is greater than the swing frequency of the second undulating pectoral fin 32; in vertical maneuvers, when floating, the second drive member 6 drives the rudder 4 to deflect upward so that the rudder angle of the rudder 4 is positive, and the first drive member 5 drives the two undulating pectoral fins 3 to swing at the same swing frequency; when diving, the second drive member 6 drives the rudder 4 to deflect downward so that the rudder angle of the rudder 4 is negative, and the first drive member 5 drives the two undulating pectoral fins 3 to swing at the same swing frequency. It should be noted that, in this embodiment, the forward speed increases with the increase of the swing frequency of the undulating pectoral fin 3; the floating speed increases with the increase of the positive rudder angle of the rudder 4; and the diving speed increases with the increase of the negative rudder angle of the rudder 4.

[0061] In the underwater navigation motion mode: in horizontal maneuvering, when moving forward, the second driving member 6 drives the rudder 4 to deflect downward so that the rudder angle of the rudder 4 is negative, and the rudder angle of the rudder 4 is kept unchanged, and the first driving member 5 drives the two undulating pectoral fins 3 to swing perpendicularly to the seabed 8, and the swinging frequency of the two undulating pectoral fins 3 is the same; when turning left, the second driving member 6 drives the rudder 4 to deflect downward so that the rudder angle of the rudder 4 is negative, and the rudder angle of the rudder 4 is kept unchanged, and the first driving member 5 drives the two undulating pectoral fins 3 to swing perpendicularly to the seabed 8, and the swinging frequency of the first undulating pectoral fin 31 is less than the swinging frequency of the second undulating pectoral fin 32; when turning right, the second driving member 6 drives the rudder 4 to deflect downward so that the rudder angle of the rudder 4 is negative, and the rudder angle of the rudder 4 is kept unchanged, and the first driving member 5 drives the two undulating pectoral fins 3 to swing perpendicularly to the seabed 8, and the swinging frequency of the first undulating pectoral fin 31 is greater than the swinging frequency of the second undulating pectoral fin 32. It should be noted that in this embodiment, the forward speed increases with the increase of the swinging frequency of the undulating pectoral fin 3.

[0062] In the land navigation movement mode: in the horizontal maneuver, when moving forward, the second drive member 6 drives the rudder 4 to keep the rudder angle of the rudder 4 at zero, and the first drive member 5 drives the two undulating pectoral fins 3 to swing perpendicularly to the land surface 9, and the swinging frequency of the two undulating pectoral fins 3 is the same; when turning left, the second drive member 6 drives the rudder 4 to keep the rudder angle of the rudder 4 at zero, and the first drive member 5 drives the two undulating pectoral fins 3 to swing perpendicularly to the land surface 9, and the swinging frequency of the first undulating pectoral fin 31 is less than the swinging frequency of the second undulating pectoral fin 32; when turning right, the second drive member 6 drives the rudder 4 to keep the rudder angle of the rudder 4 at zero, and the first drive member 5 drives the two undulating pectoral fins 3 to swing perpendicularly to the land surface 9, and the swinging frequency of the first undulating pectoral fin 31 is greater than the swinging frequency of the second undulating pectoral fin 32. It should be noted that in this embodiment, the forward speed increases with the increase of the swinging frequency of the undulating pectoral fin 3.

[0063] It should also be noted that, in this embodiment, the first driving component 5 is a watertight motor, and the second driving component 6 is a watertight steering gear.

[0064] It should be further explained that if Figure 4 As shown, in this embodiment, the undulating pectoral fin 3 is connected to the first driving member 5 via a connecting rod 7 , and the first driving member 5 controls the swing of the undulating pectoral fin 3 by controlling the swing angle of the connecting rod 7 .

[0065] Preferably, Figure 1-Figure 3 As shown, in this embodiment, eight first driving members 5 are provided in each side cabin 2, each first driving member 5 is connected to the wave pectoral fin 3 through a connecting rod 7, and the eight first driving members 5 are arranged in sequence from the bow to the stern of the side cabin 2.

[0066] Specifically, in this embodiment, the first driving member 5 controls the swing angle of the connecting rod 7 to change according to the function law of the relationship (1) to control the swing of the wave pectoral fin 3;

[0067] The expression of relation (1) is as follows:

[0068]

[0069] In formula (1), i is the number of the connecting rod 7, and the connecting rods 7 are numbered 1, 2, 3, 4, 5, 6, 7, and 8 in the direction from the bow to the stern of the first side hull 21, and the connecting rods 7 are numbered 9, 10, 11, 12, 13, 14, 15, and 16 in the direction from the bow to the stern of the second side hull 22; θ i (t) is the swing angle of the i-th connecting rod 7 at time t; α is the amplitude of the swing angle of the undulating pectoral fin 3; f is the swing frequency of the undulating pectoral fin 3; t is time; is the initial phase of the swing angle of the i-th connecting rod 7; β iis the initial angular offset of the swing angle of the i-th connecting rod 7, and β when the undulating pectoral fin 3 is parallel to the horizontal plane i = 0, and β when the undulating pectoral fin 3 is below the horizontal plane and perpendicular to the horizontal plane i = -π / 2.

[0070] Specifically, in this embodiment, the rudder angle of the rudder 4 is δ. Preferably, -35° ≤ δ ≤ 35°.

[0071] Specifically, in this embodiment, in different navigation motion modes, the specific control methods of the rudder 4 and the undulating pectoral fin 3 are as follows:

[0072] (1) Underwater navigation motion mode

[0073] The control method of the rudder 4 is: in horizontal maneuvering, the second driving member 6 is used to control the rudder 4 to keep δ zero; in vertical maneuvering, when surfacing, the second driving member 6 is used to control the rudder 4 to deflect upward so that δ is a positive value; when diving, the second driving member 6 is used to control the rudder 4 to deflect downward so that δ is a negative value.

[0074] Under different underwater navigation conditions, when controlling the swing of the undulating pectoral fin 3, α, f, and β i are taken according to Table 1;

[0075] Table 1 Values of α, f, and β i in the underwater navigation motion mode

[0076]

[0077]

[0078] In Table 1, a1, a2 and b are determined according to the required maneuverability; in horizontal maneuvering: when moving forward, a1 = a2; when turning left, a1 < a2; when turning right, a1 > a2; in vertical maneuvering: a1 = a2.

[0079] (2) Seabed navigation motion mode

[0080] The control method of the rudder 4 is: the second driving member 6 is used to control the rudder 4 to deflect downward so that δ is a negative value and keep δ unchanged.

[0081] When controlling the swing of the undulating pectoral fin 3, α, f, and β i are taken according to Table 2;

[0082] Table 2 Values of α, f, and β i in the seabed navigation motion mode

[0083]

[0084]

[0085] In Table 2, a1, a2, and b are determined according to the required maneuverability; when moving forward, a1 = a2; when turning left, a1 < a2; when turning right, a1 > a2.

[0086] (3) In the land navigation movement mode

[0087] The control method of the rudder 4 is: the second driving member 6 is used to control the rudder 4 to keep δ zero.

[0088] When controlling the swing of the undulating pectoral fin 3, α, f, in the relational expression (1) and β i Take values according to Table 3;

[0089] Table 3 shows the values of α, f, in the land navigation movement mode and β i Value table

[0090]

[0091]

[0092] In Table 3, a1, a2, and b are determined according to the required maneuverability; when moving forward, a1 = a2; when turning left, a1 < a2; when turning right, a1 > a2.

[0093] Preferably, 0 < a1 ≤ 8, 0 < a2 ≤ 8; 0 < b ≤ π / 3.

[0094] Through the description of multiple embodiments of the movement mode of the bionic stingray amphibious robot of the present invention, it can be seen that the movement mode embodiments of the bionic stingray amphibious robot of the present invention have at least one or more of the following advantages:

[0095] 1. The second driving member 6 is used to control the deflection of the rudder 4 so that the rudder 4 interacts with water to generate a vertical thrust, and the control is simple;

[0096] 2. By fixing the rudder angle of the rudder 4 to be negative, it is not necessary to continuously drive the second driving member 6. Cooperating with the undulating pectoral fin 3 to swing perpendicular to the seabed ground 8 can realize the seabed navigation movement, greatly improving the endurance.

[0097] Finally, it should be noted that: the embodiments in this specification are described in a progressive manner, and the key points of each embodiment are the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other.

[0098] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A motion mode of a bionic stingray amphibious robot, characterized in that: The bionic stingray amphibious robot comprises a main cabin, two side cabins respectively connected to the two sides of the main cabin, two undulating pectoral fins respectively connected to the two side cabins, and a rudder connected to the side cabin; the undulating pectoral fin is connected to the side of the side cabin away from the main cabin through a first driving member, and the rudder is connected to the stern of the side cabin through a second driving member; when the leading edge of the rudder and the trailing edge of the rudder are located in the same horizontal plane, the rudder angle of the rudder is zero; when the leading edge of the rudder is relative to the rudder, the rudder angle of the rudder is zero. When the trailing edge of the rudder is tilted upward, the rudder angle of the rudder is positive; when the leading edge of the rudder is tilted downward relative to the trailing edge of the rudder, the rudder angle of the rudder is negative; the side cabin body includes a first side cabin body and a second side cabin body, the first side cabin body is located on the left side of the forward direction of the bionic stingray amphibious robot, and the second side cabin body is located on the right side of the forward direction of the bionic stingray amphibious robot; the undulating pectoral fin connected to the first side cabin body is a first undulating pectoral fin, and the undulating pectoral fin connected to the second side cabin body is a second undulating pectoral fin; The movement modes of the bionic stingray amphibious robot include underwater navigation, seabed navigation and land navigation; wherein, In the underwater navigation motion mode, the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers, and the second driving member controls the rudder to deflect to control vertical maneuvers; In the submarine navigation motion mode, the second driving member controls the rudder to deflect downward so that the rudder angle of the rudder is negative, and the rudder angle of the rudder is kept unchanged, and the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers; In the land sailing motion mode, the second driving member controls the rudder to keep the rudder angle of the rudder at zero, and the first driving member drives the undulating pectoral fin to swing to control horizontal maneuvers.

2. The motion mode of the bionic stingray amphibious robot according to claim 1, characterized in that: In the underwater navigation motion mode: in the horizontal maneuver, when moving forward, the second driver drives the rudder to keep the rudder angle of the rudder at zero, and the first driver drives the two undulating pectoral fins to swing at the same swing frequency; when turning left, the second driver drives the rudder to keep the rudder angle of the rudder at zero, the first driver drives the two undulating pectoral fins to swing, and the swing frequency of the first undulating pectoral fins is less than the swing frequency of the second undulating pectoral fins; when turning right, the second driver drives the rudder to keep the rudder angle of the rudder at zero, the first driver drives the two undulating pectoral fins to swing, and the swing frequency of the first undulating pectoral fins is greater than the swing frequency of the second undulating pectoral fins; in the vertical maneuver, when floating, the second driver drives the rudder to deflect upward so that the rudder angle of the rudder is positive, and the first driver drives the two undulating pectoral fins to swing at the same swing frequency; when diving, the second driver drives the rudder to deflect downward so that the rudder angle of the rudder is negative, and the first driver drives the two undulating pectoral fins to swing at the same swing frequency; In the submarine navigation motion mode: in the horizontal maneuver, when moving forward, the second driving member drives the rudder to deflect downward so that the rudder angle of the rudder is negative, and the rudder angle of the rudder is kept unchanged, and the first driving member drives the two undulating pectoral fins to swing perpendicularly to the seabed, and the swinging frequencies of the two undulating pectoral fins are the same; when turning left, the second driving member drives the rudder to deflect downward so that the rudder angle of the rudder is negative, and the rudder angle of the rudder is kept unchanged, and the first driving member drives the two undulating pectoral fins to swing perpendicularly to the seabed, and the swinging frequency of the first undulating pectoral fins is less than the swinging frequency of the second undulating pectoral fins; when turning right, the second driving member drives the rudder to deflect downward so that the rudder angle of the rudder is negative, and the rudder angle of the rudder is kept unchanged, and the first driving member drives the two undulating pectoral fins to swing perpendicularly to the seabed, and the swinging frequency of the first undulating pectoral fins is greater than the swinging frequency of the second undulating pectoral fins; In the land navigation movement mode: in the horizontal maneuver, when moving forward, the second drive member drives the rudder to keep the rudder angle of the rudder at zero, and the first drive member drives the two undulating pectoral fins to swing perpendicular to the land surface, and the swinging frequencies of the two undulating pectoral fins are the same; when turning left, the second drive member drives the rudder to keep the rudder angle of the rudder at zero, and the first drive member drives the two undulating pectoral fins to swing perpendicular to the land surface, and the swinging frequency of the first undulating pectoral fins is less than the swinging frequency of the second undulating pectoral fins; when turning right, the second drive member drives the rudder to keep the rudder angle of the rudder at zero, and the first drive member drives the two undulating pectoral fins to swing perpendicular to the land surface, and the swinging frequency of the first undulating pectoral fins is greater than the swinging frequency of the second undulating pectoral fins.

3. The motion mode of the bionic stingray amphibious robot according to claim 1 or 2, characterized in that: The undulating pectoral fin is connected to the first driving member via a connecting rod, and the first driving member controls the swing of the undulating pectoral fin by controlling the swing angle of the connecting rod.

4. The motion mode of the bionic stingray amphibious robot according to claim 3 is characterized in that: Each of the side cabins is provided with eight of the first driving members, each of the first driving members is connected to the undulating pectoral fin via a connecting rod, and the eight first driving members are sequentially arranged from the bow to the stern of the side cabin; the first driving member controls the swing angle of the connecting rod to change according to the function law of the relationship (1) to control the swing of the undulating pectoral fin; The expression of the relation (1) is as follows: （1） In formula (1), i is the number of the connecting rod, and the connecting rods are numbered 1, 2, 3, 4, 5, 6, 7, and 8 in sequence from the bow to the stern of the first side cabin body, and the connecting rods are numbered 9, 10, 11, 12, 13, 14, 15, and 16 in sequence from the bow to the stern of the second side cabin body; is the swing angle of the i-th connecting rod at time t; is the amplitude of the swing angle of the fluctuating pectoral fin; f is the swing frequency of the fluctuating pectoral fin; t is time; is the initial phase of the swing angle of the i-th connecting rod; is the initial angle offset of the swing angle of the i-th connecting rod, when the undulating pectoral fin is parallel to the horizontal plane = 0, the undulating pectoral fin is below the horizontal plane and perpendicular to the horizontal plane = .

5. The motion mode of the bionic stingray amphibious robot according to claim 4, characterized in that: The rudder angle of the rudder is ; In the underwater navigation motion mode, the control method of the rudder is: in the horizontal maneuver, is zero; in the vertical maneuver, when floating Positive value, when diving is a negative value; under different underwater navigation conditions, when controlling the swing of the undulating pectoral fin, the relation (1) 、f、 and Take the values ​​according to Table 1; Table 1 Underwater navigation motion 、f、 and Table of values In Table 1, , and b are determined according to the required maneuverability; in the horizontal maneuver: when moving forward, ; When turning left, ; When turning right, ; In the vertical maneuver: ; In the submarine navigation mode, control is a negative value, and when the fluctuation pectoral fin is controlled to swing, the relation (1) 、f、 and Take the values ​​according to Table 2; Table 2. The types of submarine navigation motion 、f、 and Table of values In Table 2, and Determined according to the required maneuverability; when moving forward, ; When turning left, ; When turning right, ; In the land navigation motion mode, control is zero, and when the pectoral fin swings, the equation (1) 、f、 and Take the values ​​according to Table 3; Table 3. Land navigation movement 、f、 and Table of values In Table 3, , and b are determined according to the required maneuverability; when moving forward, ; When turning left, ; When turning right, .

6. The motion mode of the bionic stingray amphibious robot according to claim 5, characterized in that: -35°≤ ≤35°。 7. The motion mode of the bionic stingray amphibious robot according to claim 5, characterized in that: 0＜ ≤8，0＜ ≤8。 8. The motion mode of the bionic stingray amphibious robot according to claim 5, characterized in that: 0＜b≤ 。

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