Composite bionic ray robot and cooperative movement method thereof

Abstract

The invention relates to a combined type bionic ray robot and a cooperative movement method thereof, and belongs to the field of robot research. The robot is composed of a body main body, propellers and pectoral fins. Wherein the body main body comprises a main body bottom plate, a shell, a buoyancy cabin, a battery, a pressure sensor, a gyroscope, a water leakage detection sensor, an electronic speed controller, a main control board, a voltage control board, a camera and a power switch; the pectoral fin comprises upper spring steel, lower spring steel, a soft PVC sheet, a U-shaped bracket, a bearing, a steering wheel, a waterproof steering engine and a steering engine fixing bracket; the four propellers are directly connected with the main body bottom plate through screws; the pectoral fins of the robot are designed in a rigid-flexible coupling mode, and the propelling performance of the robot is improved. Pectoral fins and propellers are combined, a novel composite bionic ray robot structure is provided, and the maneuverability, survivability and the like of the robot are improved through cooperative movement. The robot can realize underwater and air sailing and water-air medium crossing, and can be applied to the fields of exploration, reconnaissance and the like as an underwater and air platform.

Description

Technical Field

[0001] The present invention belongs to the field of robot application technology, and specifically relates to a composite bionic manta ray robot and a coordinated motion method thereof. The composite bionic manta ray robot can be used as an underwater platform in underwater exploration, underwater reconnaissance and other fields, and can also be used as an aerial platform in surface detection, shore reconnaissance and the like, and has broad application prospects. Technical Background

[0002] With the increasing importance of resource development and environmental protection, the demand for detection technologies used in various complex environments is rising. The traditional underwater detection method relies solely on propeller drive to achieve various movements and perform related operations underwater. This method consumes a lot of power, has a short battery life, and the whole machine is relatively bulky and not flexible enough, which has a relatively large interference with marine life. According to the investigation, the biological manta ray has lived in the ocean for a long time and has a unique body structure and swimming method, which overcomes the limitations of BCF and propeller propulsion. However, relying solely on the pectoral fin structure of the manta ray cannot achieve multi-scenario applications, and the underwater maneuverability is not strong enough. Therefore, taking the manta ray as the bionic object, a composite bionic manta ray robot combining pectoral fins with propellers is designed. The robot has high maneuverability and can be applied to multiple scenes underwater and in the air. Therefore, the design of a composite bionic manta ray robot has important research significance and engineering value.

[0003] Zhen Chunbo et al. proposed an underwater bionic ray robot suitable for marine environment monitoring (patent application number: 202410450181.1). The bionic ray robot achieves movement by driving a wavy wing mechanism. The robot can only be used for marine environment monitoring, and is affected by its appearance design, so its maneuverability and flexibility are not strong enough. Sun Yihan et al. proposed a bionic robot manta ray swimming control system (patent application number: 202310982691.9). By controlling the rotation of the left pectoral fin and the right pectoral fin waterproof servo, the bionic ray robot produces a variety of motion modes, but the applicable scenarios of the robot are limited to underwater. Sun Ning et al. proposed a manta ray-like amphibious robot (patent application number: 202310375489.X). Based on the principle of traveling wave motion, a traveling wave drive mechanism with a supporting bone was designed, and a bionic fin was covered on the surface of the supporting bone. The mechanism was driven to achieve amphibious motion, but the device was not maneuverable enough. Yu Zhiwei et al. proposed a bionic motion method based on MPF ​​multiple pairs of parallel pectoral fins bionic manta ray robots (patent application number: 202110102202.7). The robot only relies on the flapping of multiple pairs of pectoral fins to achieve movement. The maneuverability of movement in water is relatively limited, and it can only be applied to underwater environments and single scenes. In short, the content of composite bionic manta ray robots with high maneuverability and applicable to water and air environments has not been effectively studied. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater and aerial exploration platform with high maneuverability and strong environmental adaptability. Taking the manta ray as a bionic object, a composite manta ray-like robot with coordinated propulsion of pectoral fins and propellers is designed, which achieves high swimming performance through the coordinated propulsion of pectoral fins and propellers, and provides a method for coordinated movement of pectoral fins and propellers.

[0005] The above-mentioned composite bionic manta ray robot is characterized by: comprising a main body; further comprising pectoral fin units located at the left front, left rear, right front, and right rear parts of the main body, respectively referred to as the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin; further comprising propeller units located at the left front, left rear, right front, and right rear parts of the main body, respectively referred to as the left front propeller, the right front propeller, the right rear propeller, and the left rear propeller; The robot's forward direction is called the X direction, the direction perpendicular to the robot's side is called the Y direction, and the direction perpendicular to the robot's vertical upward direction is called the Z direction; the left front propeller rotates clockwise to generate an upward thrust, the left rear propeller rotates counterclockwise to generate an upward thrust, the right front propeller rotates counterclockwise to generate an upward thrust, and the right rear propeller rotates clockwise to generate an upward thrust. During the robot's movement, the propeller only changes the size of the rotation speed; The main body comprises a main body bottom plate, and a shell is installed on the main body bottom plate; a battery, a gyroscope, a water leakage detection sensor, an electric regulator, a main control board and a voltage control board are installed in the cavity between the main body bottom plate and the shell; a buoyancy cabin is installed below the main body bottom plate, and a camera and a pressure sensor are also installed on the buoyancy cabin; a power switch for power on / off control is embedded in the shell, and an aviation plug for burning codes is also embedded; The above-mentioned pectoral fin unit includes an upper spring steel, a lower spring steel, a soft PVC sheet, a U-shaped bracket, a bearing, a steering wheel, a waterproof servo, and a servo fixing bracket; wherein the soft PVC sheet is located between the upper spring steel and the lower spring steel, and the three are connected together to form a mechanical fin; the servo fixing bracket is fixed to the main body, the waterproof servo is installed in the servo fixing bracket, and the waterproof servo output shaft is parallel to the X direction; the U-shaped bracket consists of a middle part of the bracket and a first arm and a second arm; one end of the mechanical fin is fixed to the outer side of the middle part of the bracket of the U-shaped bracket; the U-shaped bracket is embedded in the outer side of the servo fixing bracket, wherein the waterproof servo output shaft is connected to the first arm through the steering wheel, driving the U-shaped bracket to rotate; wherein the bearing is located between the second arm of the U-shaped bracket and the servo fixing bracket.

[0006] There are three buoyancy tanks, namely the left buoyancy tank, the middle buoyancy tank and the right buoyancy tank; the pressure sensors are respectively the left pressure sensor fixed under the left buoyancy tank and the right pressure sensor fixed under the right buoyancy tank; the camera is installed in the middle buoyancy tank.

[0007] The buoyancy chamber is provided with foam.

[0008] The method for coordinated motion of pectoral fins and propellers of the present invention is characterized by comprising the following steps: The angle between the pectoral fin and the horizontal plane of the body is called the swing angle. When the pectoral fin is above the horizontal plane, the angle is positive, and when the pectoral fin is below the horizontal plane, the angle is negative. When the robot is stationary, the gravity is greater than the buoyancy generated by itself.

[0009] The speed of the left rear propeller and the right rear propeller increases, while the speed of the left front propeller and the right front propeller remains unchanged. Since the thrust generated by the two rear propellers is greater than the thrust generated by the two front propellers, the main body tilts and generates a horizontal component, achieving the effect of moving forward in the water by relying on four propellers; the initial swing angle, swing frequency, and swing amplitude of the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle; the tilt amplitude of the main body generated by the propeller drive is controlled to make the tilt amplitude smaller to ensure that it will not affect the horizontal forward motion generated by the flapping of the pectoral fins; therefore, the forward motion generated by the propeller drive is combined with the forward motion generated by the flapping of the pectoral fins to achieve rapid horizontal straight-line forward motion;

[0010] Movement mode 2-1 The yaw generated by the propeller and the forward motion generated by the pectoral fins coordinate turning: for the left turn, the rotation speeds of the left front propeller and the right rear propeller increase, while the rotation speeds of the right front propeller and the left rear propeller decrease, and the fuselage rotates left around the Z axis under the action of the counter-torque; at the same time, the initial swing angles, swing frequencies, and swing amplitudes of the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle to achieve forward motion, combined with the previous left turn, to achieve left turns of different radii; for the right turn, the rotation speeds of the right front propeller and the left rear propeller increase, while the rotation speeds of the left front propeller and the right rear propeller decrease, and the fuselage rotates right around the Z axis under the action of the counter-torque; at the same time, the initial swing angles, swing frequencies, and swing amplitudes of the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle to achieve forward motion, combined with the previous right turn, to achieve right turns of different radii; Movement mode 2-2 The yaw generated by the propeller and the turning movement generated by the pectoral fins cooperate to form a rapid turn: the initial swing angles of the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin are all 0, and the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction swings up and down individually or simultaneously in a "positive-0-negative" swing angle manner, and the remaining pectoral fins remain in the initial position, and the changes in the swing frequency and amplitude are controlled to achieve turning movements of different radii; at the same time, the rotation speeds of the front propeller on the same side as the turning direction and the rear propeller diagonally opposite to it are increased, and the rotation speeds of the front propeller on the opposite side to the turning direction and the rear propeller diagonally opposite to it are reduced. Under the action of the counter-torque, the fuselage rotates around the Z axis, and the turning movement is superimposed on the front pectoral fin to achieve a faster turning movement; in this movement mode, the yaw movement generated by the propeller is combined with the turning movement generated by the pectoral fins to produce a faster turn;

[0011] Movement mode 3-1 The dive caused by propeller deceleration and the turning movement caused by pectoral fins cooperate to form a spiral dive: the initial swing angles of the left front pectoral fin, left rear pectoral fin, right front pectoral fin and right rear pectoral fin are all 0, the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction, swing up and down in a "positive-0-negative" manner alone or simultaneously, and the remaining pectoral fins remain in the initial position, and the changes in the swing frequency and amplitude are controlled to achieve turning movements of different radii; at the same time, the rotation speeds of the left front propeller, right front propeller, left rear propeller and right rear propeller are reduced, the lift is less than its own weight, the fuselage sinks, and the front pectoral fin produces a turning movement, realizing a spiral dive; in this movement mode, the dive movement caused by propeller deceleration is combined with the turning movement caused by the pectoral fins; Movement mode 3-2: The rise generated by propeller acceleration and the turning motion generated by the pectoral fins cooperate to form a spiral upward float: the initial swing angles of the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin are all 0, and the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction swings up and down in a "positive-0-negative" manner, either alone or simultaneously, while the remaining pectoral fins remain in their initial positions, and the swing frequency and amplitude are controlled to achieve turning motions of different radii; at the same time, the rotation speeds of the left front propeller, the right front propeller, the left rear propeller, and the right rear propeller are increased, the lift is greater than its own gravity, the fuselage rises, and the turning motion generated by the front pectoral fin is superimposed to achieve a spiral upward float motion; in this movement mode, the upward float motion generated by propeller acceleration is combined with the turning motion generated by the pectoral fins;

[0012] This motion mode combines the continuous backward tilting produced by the propeller with the forward motion produced by the pectoral fins; the initial swing angle, swing frequency, and swing amplitude of the left front pectoral fin, the left rear pectoral fin, the right front pectoral fin, and the right rear pectoral fin are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle, generating forward thrust to achieve forward motion; at the same time, the speed of the left front propeller and the right front propeller increases, and the speed of the left rear propeller and the right rear propeller decreases, generating an unbalanced torque that causes the robot's head to flip upwards. Combined with the forward motion produced in front, the total force generated by the propeller and the pectoral fins continuously points diagonally upward, which can achieve the effect of rolling in the water;

[0013] Before the robot crosses the medium, that is, when it is in the water, the rotation speeds of the left front propeller and the right front propeller are increased, and the rotation speeds of the left rear propeller and the right rear propeller are reduced, so that the head of the robot is tilted upward, and at the same time combined with the forward movement generated by the pectoral fins, a rapid oblique upward forward straight motion is generated, and the robot obtains the maximum oblique upward speed, so that it rushes out of the water obliquely; when the robot is crossing the medium, that is, from underwater to air, the rotation speeds of the four propellers are rapidly increased to increase their lift, so that the robot is directly pulled obliquely away from the water surface, the pectoral fins are restored to their initial state, and remain stationary.

[0014] Compared with the prior art, the present invention has the following advantages: In the present invention, a composite bionic ray robot combining pectoral fins with propellers is proposed, which has a simple and novel structure; In the present invention, a new type of rigid-flexible coupled pectoral fin is proposed, and the coordinated movement of the pectoral fin and the propeller effectively improves the swimming speed and maneuverability of the robot in the water, provides more movement modes for the robot platform, and the robot has strong survivability and environmental adaptability; In the present invention, the robot can realize underwater detection and above-water detection, has a wider range of applicable scenarios, and can realize cross-media movement; the robot uses multiple sensors, and when the robot has abnormal problems such as yaw, roll, droop, and pitch up, it can coordinate the movement of the robot to restore it to normal; in addition, the environmental image information is captured by the camera, which has practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall oblique view of the composite bionic ray robot of the present invention; Figure 2 It is a general diagram of a top view of the composite bionic ray robot of the present invention; Figure 3 It is a schematic diagram of the structural decomposition of the composite bionic manta ray robot of the present invention; Figure 4 This is an overall exploded view of the composite bionic ray robot body of the present invention; Figure 5 This is an exploded view of the pectoral fin of the composite bionic manta ray robot of the present invention; Figure 6 It is a schematic diagram of the propeller and pectoral fin of the composite bionic manta ray robot of the present invention moving in coordination to produce rapid forward movement; Figure 7 It is a schematic diagram of the yaw generated by the propeller of the composite bionic manta ray robot of the present invention and the forward movement generated by the pectoral fins in coordination with the left turn; Figure 8 It is a schematic diagram of the yaw generated by the propeller of the composite bionic manta ray robot of the present invention and the forward movement generated by the pectoral fin in coordination with the right turn; Fig. 9 It is a schematic diagram of the left yaw produced by the propeller of the composite bionic manta ray robot of the present invention and the left turn produced by the right front pectoral fin cooperating to realize a rapid left turn; Fig.10 It is a schematic diagram of the left yaw produced by the propeller of the composite bionic manta ray robot of the present invention and the left turn produced by the left rear pectoral fin cooperating to realize a rapid left turn; Fig.11 It is a schematic diagram of the left yaw generated by the propeller of the composite bionic manta ray robot of the present invention and the left turn generated by the right front pectoral fin and the left rear pectoral fin cooperating to realize a rapid left turn; Fig.12 It is a schematic diagram of the right yaw produced by the propeller of the composite bionic manta ray robot of the present invention and the right turn produced by the left front pectoral fin cooperating to realize a rapid right turn; Fig.13 It is a schematic diagram of the right yaw produced by the propeller of the composite bionic manta ray robot of the present invention and the right turn produced by the right rear pectoral fin cooperating to realize a rapid right turn; Fig.14 It is a schematic diagram of the right yaw generated by the propeller of the composite bionic manta ray robot of the present invention and the right turn generated by the left front pectoral fin and the right rear pectoral fin cooperating to realize a rapid right turn; Fig.15 It is a schematic diagram of the dive caused by the propeller of the composite bionic manta ray robot of the present invention and the left turn caused by the right front pectoral fin cooperating to realize the counterclockwise spiral dive; Fig.16 It is a schematic diagram of the dive caused by the propeller of the composite bionic manta ray robot of the present invention and the left turn caused by the left rear pectoral fin cooperating to realize the counterclockwise spiral dive; Fig.17 It is a schematic diagram of the dive caused by the propeller of the composite bionic manta ray robot of the present invention and the left turn caused by the right front pectoral fin and the left rear pectoral fin cooperating to realize the counterclockwise spiral dive; Fig.18It is a schematic diagram of the counterclockwise spiral buoyancy achieved by the propeller of the composite bionic manta ray robot of the present invention and the left turn caused by the right front pectoral fin; Fig.19 It is a schematic diagram of the counterclockwise spiral buoyancy achieved by the propeller of the composite bionic manta ray robot of the present invention and the left turn caused by the left rear pectoral fin; Fig. 20 It is a schematic diagram of the counterclockwise spiral buoyancy achieved by the propeller of the composite bionic manta ray robot of the present invention and the left turn produced by the right front pectoral fin and the left rear pectoral fin; Fig.21 It is a schematic diagram of the composite bionic manta ray robot of the present invention, wherein the backward tilting produced by the propeller and the forward movement produced by the pectoral fin cooperate to realize the rolling in the water; Fig. 22 Schematic diagram of the composite bionic manta ray robot propeller and pectoral fin cooperating to achieve cross-medium Figure 1-22 Name of the label: M1, main body; L1, left front pectoral fin; L2, left rear pectoral fin; R1, right front pectoral fin; R2, right rear pectoral fin; J1, left front propeller; J2, right front propeller; J3, right rear propeller; J4, left rear propeller; 1, camera; 2, left pressure sensor; 3, left buoyancy chamber; 4, main body bottom plate; 5, electric regulator; 6, voltage control board; 7, gyroscope; 8, water leakage detection sensor; 9, aviation plug; 10, power switch; 11, shell; 12, main control board; 13, battery; 14, middle buoyancy chamber; 15, right buoyancy chamber; 16, right pressure sensor; 17, upper spring steel; 18, soft PVC; 19, lower spring steel; 20, U-shaped bracket; 21, bearing; 22, steering wheel; 23, waterproof servo; 24, servo fixing bracket. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Combination Figure 1-22 The object of the present invention is to provide a composite bionic manta ray robot and a coordinated motion method thereof, which are characterized by: comprising a main body M1; further comprising pectoral fin units located at the left front, left rear, right front, and right rear parts of the main body, respectively referred to as the left front pectoral fin L1, the left rear pectoral fin L2, the right front pectoral fin R1, and the right rear pectoral fin R2; further comprising propeller units located at the left front, left rear, right front, and right rear parts of the main body, respectively referred to as the left front propeller J1, the left rear propeller J4, the right front propeller J2, and the right rear propeller J3; Combination Figure 1-3, the robot's forward direction is called the X direction, the direction perpendicular to the robot's side is called the Y direction, and the direction perpendicular to the robot's vertical upward direction is called the Z direction; the left front propeller J1 rotates clockwise to generate an upward thrust, the left rear propeller J4 rotates counterclockwise to generate an upward thrust, the right front propeller J2 rotates counterclockwise to generate an upward thrust, and the right rear propeller J3 rotates clockwise to generate an upward thrust. During the robot's movement, only the propeller rotation speed changes; Combination Figure 4 In this embodiment, the main body M1 includes a main body bottom plate 4, and a shell 11 is installed on the main body bottom plate 4; a battery 13, a gyroscope 7, a water leakage detection sensor 8, an electric regulator 5, a main control board 12 and a voltage control board 6 are installed in the cavity between the main body bottom plate 4 and the shell 11; a buoyancy cabin is installed below the main body bottom plate 4, and a camera 1 and a pressure sensor are also installed on the buoyancy cabin; a power switch 10 for power on / off control is embedded in the shell 11, and an aviation plug 9 for burning code is also embedded; Combination Figure 5 In this embodiment, the pectoral fin unit includes an upper spring steel 17, a lower spring steel 19, a soft PVC sheet 18, a U-shaped bracket 20, a bearing 21, a steering disc 22, a waterproof steering gear 23, and a steering gear fixing bracket 24; wherein the soft PVC sheet 18 is located between the upper spring steel 17 and the lower spring steel 19, and the three are connected together to form a mechanical fin; the steering gear fixing bracket 24 is fixed to the main body M1, the waterproof steering gear 23 is installed in the steering gear fixing bracket 24, and the output shaft of the waterproof steering gear 23 is parallel to the X direction; the U-shaped bracket 20 is composed of a middle part of the bracket, a first arm, and a second arm; one end of the mechanical fin is fixed to the outer side of the middle part of the bracket of the U-shaped bracket 20; the U-shaped bracket 20 is embedded in the outer side of the steering gear fixing bracket 24, wherein the output shaft of the waterproof steering gear 23 is connected to the first arm through the steering disc 22, driving the U-shaped bracket 20 to rotate; wherein the bearing 21 is located between the second arm of the U-shaped bracket 20 and the steering gear fixing bracket 24; Combination Figure 4 In this embodiment, there are three buoyancy chambers, namely, a left buoyancy chamber 3, a middle buoyancy chamber 14, and a right buoyancy chamber 15, wherein foam is installed inside to adjust the initial buoyancy; the pressure sensors are respectively a left pressure sensor 2 fixed under the left buoyancy chamber 3, and a right pressure sensor 16 fixed under the right buoyancy chamber 15; the camera 1 is installed in the middle buoyancy chamber 14; Combination Figure 6-22 This embodiment is a method for coordinated motion of pectoral fins and propellers, which is characterized by including the following: The angle between the pectoral fin and the horizontal plane of the body is called the swing angle. When the pectoral fin is above the horizontal plane, the angle is positive, and when the pectoral fin is below the horizontal plane, the angle is negative. When the robot is stationary, the gravity is greater than the buoyancy generated by itself. Combination Figure 6, this embodiment is the motion mode (I) fast forward: the rotation speeds of the left rear propeller J4 and the right rear propeller J3 are increased, while the rotation speeds of the left front propeller J1 and the right front propeller J2 are kept unchanged. Since the thrust generated by the two rear propellers is greater than the thrust generated by the two front propellers, the main body is slightly tilted to a certain extent, generating a horizontal component, thereby achieving the effect of moving forward in the water by relying on four propellers; the initial swing angles, swing frequencies, and swing amplitudes of all left and right pectoral fins are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle; since the tilt generated by the propeller drive is relatively small and will not affect the horizontal forward motion generated by the flapping of the pectoral fins, the forward motion generated by the propeller drive is combined with the forward motion generated by the flapping of the pectoral fins to achieve fast horizontal straight forward motion;

[0017] Combination Figure 7-8 , this embodiment is the motion mode 2-1, the yaw generated by the propeller and the forward motion generated by the pectoral fins coordinate turning: for the left turn motion, the rotation speeds of the left front propeller J1 and the right rear propeller J3 increase, and the rotation speeds of the right front propeller J2 and the left rear propeller J4 decrease, and the fuselage rotates left around the Z axis under the action of the counter-torque; at the same time, the initial swing angles, swing frequencies, and swing amplitudes of all the left pectoral fins and the right pectoral fins are made exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle to achieve forward motion, and combined with the previous left turn, left turns of different radii are achieved; for the right turn motion, the rotation speeds of the right front propeller J2 and the left rear propeller J4 increase, and the rotation speeds of the left front propeller J1 and the right rear propeller J3 decrease, and the fuselage rotates right around the Z axis under the action of the counter-torque; at the same time, the initial swing angles, swing frequencies, and swing amplitudes of all the left pectoral fins and the right pectoral fins are made exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle to achieve forward motion, and combined with the previous right turn, right turns of different radii are achieved;

[0018] The initial swing angles of all pectoral fins are set to 0. The front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side of the turning direction swings up and down individually or simultaneously in the swing angle "positive-0-negative" mode. The remaining pectoral fins remain in the initial position and do not move. The swing frequency and amplitude are controlled to achieve turning movements of different radii. At the same time, the rotation speeds of the front propeller on the same side of the turning direction and the rear propeller diagonally opposite to it are increased, and the rotation speeds of the front propeller on the opposite side of the turning direction and the rear propeller diagonally opposite to it are reduced. Under the action of the counter-torque, the fuselage rotates around the Z axis, superimposing the front pectoral fin to produce a turning movement, thereby achieving a faster turning movement. In this movement mode, the yaw movement generated by the propeller is combined with the turning movement generated by the pectoral fin to produce a faster turn. There are 3 methods for fast left turns and 3 methods for fast right turns.

[0019] Combination Figure 15-17, this embodiment is the movement mode 3-1, the dive caused by the propeller deceleration and the turning movement caused by the pectoral fins cooperate to form a spiral dive: the initial swing angle of all pectoral fins is 0, the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction, swing up and down in a "positive-0-negative" manner individually or simultaneously, and the remaining pectoral fins keep the initial position unchanged, and control the changes in the swing frequency and amplitude to achieve turning movements of different radii; at the same time, the rotation speed of the left front propeller J1, the right front propeller J2, the left rear propeller J4, and the right rear propeller J3 is reduced, the lift is less than its own gravity, the fuselage sinks, and the front pectoral fins are superimposed to produce a turning movement to achieve a spiral dive; in this movement mode, the dive movement caused by the propeller deceleration is combined with the turning movement caused by the pectoral fins, and there are 3 clockwise spiral dive movements and 3 counterclockwise spiral dive movements; Combination Figure 18-20 , this embodiment is the movement mode 3-2, the rise generated by the propeller acceleration and the turning movement generated by the pectoral fins cooperate to form a spiral floating: the initial swing angle of all pectoral fins is 0, the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction, swing up and down in a "positive-0-negative" manner individually or simultaneously, and the remaining pectoral fins remain in the initial position, and the changes in the swing frequency and amplitude are controlled to achieve turning movements of different radii; at the same time, the rotation speeds of the left front propeller J1, the right front propeller J2, the left rear propeller J4, and the right rear propeller J3 are increased, the lift is greater than its own gravity, the fuselage rises, and the front pectoral fins are superimposed to generate a turning movement to achieve a spiral floating movement; in this movement mode, the floating movement generated by the propeller acceleration is combined with the turning movement generated by the pectoral fins, and there are 3 clockwise spiral floating movements and 3 counterclockwise spiral floating movements; Combination Fig.21 , this embodiment is motion mode (IV) rolling in water: this motion mode combines the continuous backward tilting generated by the propeller with the forward motion generated by the pectoral fins; the initial swing angle, swing frequency, and swing amplitude of all left and right pectoral fins are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" swing angle manner to generate forward thrust and achieve forward motion; at the same time, the speed of the left front propeller J1 and the right front propeller J2 increases, and the speed of the left rear propeller J4 and the right rear propeller J3 decreases, and the unbalanced torque generated causes the robot head to flip upward. Combined with the forward motion generated in the front, the total force generated by the propeller and the pectoral fins continuously points obliquely upward, thereby achieving the effect of rolling in water; Combination Fig. 22, this embodiment is the motion mode (V) water-to-air crossing medium: before the robot crosses the medium, that is, when it is in the water, the rotation speeds of the left front propeller J1 and the right front propeller J2 are increased, and the rotation speeds of the left rear propeller J4 and the right rear propeller J3 are reduced, so that the head of the robot is tilted upward, and at the same time, combined with the forward movement generated by the pectoral fins, a rapid oblique upward forward straight motion is generated, and the robot obtains the maximum oblique upward speed, so that it rushes out of the water obliquely; when the robot is crossing the medium, that is, from underwater to air, the rotation speeds of the four propellers are rapidly increased to generate a relatively large lift, so that the robot is directly pulled obliquely away from the water surface, the pectoral fins are restored to the initial state, and it remains motionless.

Claims

1. A composite bionic ray robot, characterized in that: It includes a main body (M1); it also includes pectoral fin units located at the left front, left rear, right front, and right rear of the main body, respectively referred to as the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2); it also includes propeller units located at the left front, left rear, right front, and right rear of the main body, respectively referred to as the left front propeller (J1), the right front propeller (J2), the right rear propeller (J3), and the left rear propeller (J4); The robot's forward direction is called the X direction, the direction perpendicular to the robot's side is called the Y direction, and the direction perpendicular to the robot's vertical upward direction is called the Z direction; the left front propeller (J1) rotates clockwise to generate an upward thrust, the left rear propeller (J4) rotates counterclockwise to generate an upward thrust, the right front propeller (J2) rotates counterclockwise to generate an upward thrust, and the right rear propeller (J3) rotates clockwise to generate an upward thrust. During the robot's movement, the propeller only changes the size of the rotation speed; The main body (M1) comprises a main body bottom plate (4), and a shell (11) is installed above the main body bottom plate (4); a battery (13), a gyroscope (7), a water leakage detection sensor (8), an electric regulator (5), a main control board (12) and a voltage control board (6) are installed in the cavity between the main body bottom plate (4) and the shell (11); a buoyancy cabin is installed below the main body bottom plate (4), and a camera (1) and a pressure sensor are also installed on the buoyancy cabin; a power switch (10) for power on / off control is embedded in the shell (11), and an aviation plug (9) for burning code is also embedded; The pectoral fin unit comprises an upper spring steel (17), a lower spring steel (19), a soft PVC sheet (18), a U-shaped bracket (20), a bearing (21), a steering wheel (22), a waterproof steering gear (23), and a steering gear fixing bracket (24); The soft PVC sheet (18) is located between the upper spring steel (17) and the lower spring steel (19), and the three are connected together to form a mechanical fin; the steering gear fixing bracket (24) is fixed to the main body (M1), the waterproof steering gear (23) is installed in the steering gear fixing bracket (24), and the output shaft of the waterproof steering gear (23) is parallel to the X direction; the U-shaped bracket (20) is composed of a bracket middle part, a first arm, and a second arm; one end of the mechanical fin is fixed to the outer side of the bracket middle part of the U-shaped bracket (20); the U-shaped bracket (20) is embedded in the outer side of the steering gear fixing bracket (24), wherein the output shaft of the waterproof steering gear (23) is connected to the first arm through a steering plate (22), driving the U-shaped bracket (20) to rotate; wherein the bearing (21) is located between the second arm of the U-shaped bracket (20) and the steering gear fixing bracket (24).

2. The composite bionic manta ray robot according to claim 1, characterized in that: There are three buoyancy chambers, namely a left buoyancy chamber (3), a middle buoyancy chamber (14), and a right buoyancy chamber (15); the pressure sensors are respectively a left pressure sensor (2) fixed below the left buoyancy chamber (3), and a right pressure sensor (16) fixed below the right buoyancy chamber (15); and the camera (1) is installed in the middle buoyancy chamber (14).

3. The composite bionic manta ray robot according to claim 1, characterized in that: The buoyancy chamber is provided with foam.

4. The motion mode of the composite bionic manta ray robot according to claim 1 is characterized in that The process includes: The angle between the pectoral fin and the horizontal plane of the body is called the swing angle. When the pectoral fin is above the horizontal plane, the angle is positive, and when the pectoral fin is below the horizontal plane, the angle is negative. When the robot is stationary, the gravity is greater than the buoyancy generated by itself. Sports Mode (I) Fast Forward: The speeds of the left rear propeller (J4) and the right rear propeller (J3) are increased, while the speeds of the left front propeller (J1) and the right front propeller (J2) are kept unchanged. Since the thrust generated by the two rear propellers is greater than the thrust generated by the two front propellers, the main body tilts and generates a horizontal component, achieving the effect of moving forward in the water by relying on four propellers; the initial swing angle, swing frequency, and swing amplitude of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2) are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle; the tilt amplitude of the main body generated by the propeller drive is controlled to be small to ensure that it does not affect the horizontal forward motion generated by the flapping of the pectoral fins; therefore, the forward motion generated by the propeller drive is combined with the forward motion generated by the flapping of the pectoral fins to achieve rapid horizontal straight-line forward motion; Movement mode (II) Turning movement: Movement mode 2-1 The yaw generated by the propeller and the forward motion generated by the pectoral fins coordinate turning: For the left turn, the rotation speed of the left front propeller (J1) and the right rear propeller (J3) increases, and the rotation speed of the right front propeller (J2) and the left rear propeller (J4) decreases. Under the action of the counter-torque, the fuselage rotates left around the Z axis; at the same time, the initial swing angle, swing frequency, and swing amplitude of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2) are exactly the same, and the pectoral fins swing up and down in the swing angle "positive-0-negative" mode to achieve forward motion, combined with the previous left turn. The aircraft rotates to the right around the Z axis under the action of the anti-torque. At the same time, the initial swing angle, swing frequency and swing amplitude of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1) and the right rear pectoral fin (R2) are exactly the same, and the pectoral fins swing up and down in the swing angle "positive-0-negative" mode to realize forward motion. Combined with the previous right turn, right turns of different radii are realized. Movement mode 2-2 The yaw generated by the propeller and the turning motion generated by the pectoral fins cooperate to form a rapid turn: the initial swing angles of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2) are all 0, and the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction swings up and down in a "positive-0-negative" manner, either alone or simultaneously, while the remaining pectoral fins remain in their initial positions, and the changes in the swing frequency and amplitude are controlled to achieve turning motions of different radii; at the same time, the rotation speeds of the front propeller on the same side as the turning direction and the rear propeller diagonally opposite to it are increased, and the rotation speeds of the front propeller on the opposite side as the turning direction and the rear propeller diagonally opposite to it are reduced. Under the action of the counter-torque, the fuselage rotates around the Z axis, superimposing the turning motion generated by the front pectoral fin to achieve a faster turning motion; in this movement mode, the yaw motion generated by the propeller is combined with the turning motion generated by the pectoral fins to produce a faster turn; Movement mode (III) Spiral diving and ascent: Movement mode 3-1 The dive caused by propeller deceleration and the turning motion caused by pectoral fins cooperate to form a spiral dive: the initial swing angles of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2) are all 0, and the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side of the turning direction swings up and down in a "positive-0-negative" manner alone or simultaneously, and the remaining pectoral fins remain in the initial position, and the changes in the swing frequency and amplitude are controlled to achieve turning motions of different radii; at the same time, the rotation speeds of the left front propeller (J1), the right front propeller (J2), the left rear propeller (J4), and the right rear propeller (J3) are reduced, the lift is less than its own weight, the fuselage sinks, and the front pectoral fin generates a turning motion to achieve a spiral dive motion; in this movement mode, the dive motion caused by propeller deceleration is combined with the turning motion caused by the pectoral fins; Movement mode 3-2: The rise generated by propeller acceleration and the turning motion generated by pectoral fins cooperate to form a spiral upward float: the initial swing angles of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2) are all 0, and the front pectoral fin on the opposite side of the turning direction or the rear pectoral fin on the same side as the turning direction swings up and down in a "positive-0-negative" manner alone or simultaneously, while the remaining pectoral fins remain in their initial positions, and the swing frequency and amplitude are controlled to achieve turning motions of different radii; at the same time, the rotation speeds of the left front propeller (J1), the right front propeller (J2), the left rear propeller (J4), and the right rear propeller (J3) are increased, the lift is greater than its own gravity, the fuselage rises, and the turning motion generated by the front pectoral fin is superimposed to achieve a spiral upward float motion; in this movement mode, the upward float motion generated by propeller acceleration is combined with the turning motion generated by the pectoral fins; Sports Mode (IV) Water Tumbling: This motion mode combines the continuous backward tilting produced by the propeller with the forward motion produced by the pectoral fins; the initial swing angle, swing frequency, and swing amplitude of the left front pectoral fin (L1), the left rear pectoral fin (L2), the right front pectoral fin (R1), and the right rear pectoral fin (R2) are exactly the same, and the pectoral fins swing up and down in a "positive-0-negative" manner according to the swing angle, generating forward thrust to achieve forward motion; at the same time, the speed of the left front propeller (J1) and the right front propeller (J2) increases, and the speed of the left rear propeller (J4) and the right rear propeller (J3) decreases, and the unbalanced torque generated causes the robot's head to flip upward. Combined with the forward motion produced in the front, the total force generated by the propeller and the pectoral fins continuously points diagonally upward, which can achieve the effect of rolling in the water; Movement Mode (V) Water-Air Cross-Medium: Before the robot crosses the medium, that is, when it is in the water, the rotation speeds of the left front propeller (J1) and the right front propeller (J2) are increased, and the rotation speeds of the left rear propeller (J4) and the right rear propeller (J3) are reduced, so that the head of the robot is tilted upward, and at the same time, combined with the forward movement generated by the pectoral fins, a rapid oblique upward forward straight motion is generated, and the robot obtains the maximum oblique upward speed, so that it rushes out of the water obliquely; when the robot is crossing the medium, that is, from underwater to air, the rotation speeds of the four propellers are rapidly increased to increase the lift, so that the robot is directly pulled obliquely away from the water surface, the pectoral fins are restored to the initial state, and remain stationary.

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