The invention relates to a hybrid drive control method of a cross-medium robot and the cross-medium robot. The hybrid drive control method of the cross-medium robot comprises the steps that the power of a vibration head motor is calculated, fin components are unfolded in a swimming state, and peristaltic components swing; acquiring a current value of a vibration head current loop, and judging whether the robot head is in contact with sandy soil; if not, the robot keeps a swimming state; if yes, the driving force of a robot vibration head is controlled, the robot is switched to the wriggling state, the fin components are retracted, and the wriggling components wriggle. The cross-medium robot comprises a vibration part, a fin part and a wriggling part and has two hybrid driving modes of fin swinging and tail spiral and vibration head vibration and tail spiral, wriggling motion and swimming motion states are formed, and it is guaranteed that the robot can penetrate through seawater and sandy soil of different media at the seabed; and meanwhile, the concealment of the robot in seabed operation is enhanced, the control method is low in calculated amount, the cross-medium robot is low in cost, and the hybrid drive switching process is rapid.
本发明涉及一种跨介质机器人的混合驱动控制方法及跨介质机器人。跨介质机器人的混合驱动控制方法包括:计算振动头电机功率,游动状态下鱼鳍部件展开,蠕动部件摆动;获取振动头电流环的电流值,判断机器人头部是否接触砂土;若未接触,机器人保持游动状态;若接触,控制机器人振动头的驱动力,切换机器人至蠕动状态,鱼鳍部件收起,蠕动部件蠕动。跨介质机器人包括振动部件、鱼鳍部件、蠕动部件,具有鱼鳍摆动与尾部螺旋、振动头振动与尾部螺旋两种混合驱动模式,形成了蠕动运动和游动运动状态,保证机器人在海底能够穿过不同介质的海水和砂土,同时增强机器人在海底作业的隐蔽性,控制方法计算量低,跨介质机器人成本低,混合驱动切换过程快速。
Hybrid drive control method of cross-medium robot and cross-medium robot
一种跨介质机器人的混合驱动控制方法及跨介质机器人
30.05.2023
Patent
Elektronische Ressource
Chinesisch
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