The invention relates to a bionic wriggling and crawling underwater vehicle and a motion control method. For reference of earthworm ring muscle contraction and relaxation mechanisms, two groups of symmetrically distributed eight magnetic coils are utilized to form a contraction and stretching driving structure to drive a contractible/stretchable shell made of a flexible material, so that wriggling and crawling of the underwater vehicle are realized. Moreover, the power-on sequence, the current direction and the current frequency of the eight magnetic coils are controlled to realize forward and backward motion control and left and right turning motion control of the bionic wriggling and crawling underwater vehicle. The bionic wriggling and crawling underwater vehicle is a novel underwater and land amphibious vehicle, and the concealment, miniaturization and intelligentization of the vehicle can be better realized. As the bionic wriggling and crawling underwater vehicle crawl on the seabed, the bionic wriggling and crawling underwater vehicle can reach a coast, a shoal, the seabed and the like which are difficult to reach by a traditional underwater vehicle; moreover, the vehicle is small in size, and can enter narrow seabed gaps, underwater pipelines and various underwater terrains to execute tasks such as environment detection and sample collection.
本发明涉及一种仿生蠕动爬行水下航行器及运动控制方法,借鉴蚯蚓环肌收缩、舒张机理,利用两组对称分布的八个磁性线圈构成收缩与伸张驱动结构,带动柔性材料制成的可收缩/舒张外壳,实现水下航行器的蠕动爬行。其次,通过控制八个磁性线圈的通电顺序、电流方向和电流频率实现仿生蠕动爬行水下航行器的前进与后退运动控制和左右转运动控制。该仿生蠕动爬行水下航行器是一种新型的水底、陆地两栖航行器,能够更好地实现航行器的隐蔽性、小型化、智能化。由于仿生蠕动爬行水下航行器在海底爬行,可抵达传统水下航行器难以触及的海岸浅滩、海底等处;并且体积小,可进入狭小的海底缝隙、水下管道及各种水底地形,执行环境检测、样本采集等任务。
Bionic wriggling and crawling underwater vehicle and motion control method
一种仿生蠕动爬行水下航行器及运动控制方法
2021-06-22
Patent
Electronic Resource
Chinese
European Patent Office | 2023
|Bionic crawling robot and autonomous control method thereof
European Patent Office | 2021
|