本发明公开了一种基于双涡旋吸附的水下仿生机器人,采用双涡旋吸附系统,以大鲵为仿生对象进行外形结构设计,具有爬行和巡游双模式运动能力;本体外壳设计成艏大艉小的扁平流线型,本体腹部设有Y形流道,腹部两侧设有弧形侧裙结构,辅助涡旋吸附系统产生稳定的地面效应,利于本体牢固地吸附在固体壁面上。本发明通过改进涡旋吸附的应用方式,并参考大鲵的形态和行为特性,对机器人的外形结构及运动性能进行优化,利用数据驱动的分层模型预测控制算法实现多运动模式的快速、准确控制及平稳切换,较现有的爬行或巡游水下机器人具有吸附力牢靠、航行阻力小、运动平稳、机动灵敏等优点。

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


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    一种基于双涡旋吸附的水下仿生机器人


    Erscheinungsdatum :

    2022-07-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung