The invention discloses a flapping type propelling water pollution monitoring bionic robot. The flapping type propelling water pollution monitoring bionic robot comprises a robot body, a pectoral fin module, a water pollution detection module and a control system. Pectoral fin modules are installed on the two sides of the robot body, and a tail fin module used for controlling snorkeling of the bionic robot is installed at the rear end of the robot body. The outer surface of the pectoral fin module is sleeved with a skin, and chordwise and spanwise flexible deformation can be generated in a water environment; the water pollution detection module is mounted at the bottom of the robot body; the control system is used for reading data acquired by the water pollution detection module and controlling the bionic robot to cruise and monitor pollution. The pectoral fins can be driven by the steering engines to flap up and down, and the pectoral fins are deformed in the chordwise direction by controlling the steering engine phase difference in front of and behind the pectoral fins, so that water flow is pushed to move backwards, and the robot is pushed to advance by utilizing counter-acting force. Under the action of the driving steering engine and the water environment, the pectoral fins can generate spanwise deformation. Meanwhile, a water pollution detection sensor is carried, and the stability is good when water pollution is monitored.
本发明公开了一种拍动式推进水污染监测仿生机器人,包括机器人本体、胸鳍模块、水污染检测模块和控制系统。所述机器人本体的两侧安装胸鳍模块,后端安装用于控制仿生机器人浮潜的尾鳍模块;胸鳍模块的外表面套设有蒙皮,能够在水环境中产生弦向和展向柔性变形;水污染检测模块安装在机器人本体的底部;控制系统用于读取水污染检测模块采集的数据,并控制仿生机器人进行巡游和污染监测。本发明胸鳍在舵机带动下可做上下拍动,通过控制胸鳍前、后的舵机相位差,使胸鳍弦向变形,从而推动水流向后运动,利用反作用力推动机器人前进。在驱动舵机和水环境作用下胸鳍会发生展向变形。本发明同时搭载水污染检测传感器,监测水污染时稳定性好。
Flapping type propelling water pollution monitoring bionic robot
一种拍动式推进水污染监测仿生机器人
2022-11-01
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES |
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