The invention provides a bionic semi-flexible underwater vehicle and a motion control method, equipment and medium thereof, the underwater vehicle comprises a flexible wing, a gas compression device and a controller, the flexible wing comprises a plurality of airbags, the airbags are connected with the gas compression device, and the controller is connected with the gas compression device; the controller is used for acquiring a current motion state and a target motion state of the underwater vehicle; determining a required motion state based on the current motion state and the target motion state; determining a target inflation matrix and a target stretching frequency corresponding to the required motion state based on a mapping relation between the motion state and the inflation matrix and a preset stretching frequency; based on the target inflation matrix and the target stretching frequency, a control instruction for controlling the gas compression device is generated; wherein the control instruction comprises inflating or deflating the air bag. According to the scheme, the underwater vehicle is driven to move in the water through inflation and deflation of the air bags in the flexible wings, so that the underwater vehicle does not generate noise when moving in the water, and protection of marine organisms is facilitated.

    本申请提供了一种仿生半柔性潜航器及其运动控制方法、设备和介质,该潜航器包括柔性翼、气体压缩装置和控制器,柔性翼包括若干个气囊,气囊与气体压缩装置连接,控制器与气体压缩装置连接;控制器用于:获取潜航器的当前运动状态和目标运动状态;基于当前运动状态和目标运动状态,确定所需运动状态;基于运动状态与充气矩阵、预设伸展频率的映射关系,确定所需运动状态对应的目标充气矩阵和目标伸展频率;基于目标充气矩阵和目标伸展频率,生成控制气体压缩装置的控制指令;其中,控制指令包括使气囊充气或放气。本申请的方案通过柔性翼内气囊的充放气,驱动潜航器在水里移动,从而使潜航器在水中运动不产生噪音,有利于对海洋生物的保护。


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    Title :

    Bionic semi-flexible underwater vehicle and motion control method and equipment thereof


    Additional title:

    仿生半柔性潜航器及其运动控制方法、设备


    Contributors:
    HU TAO (author) / HE HUIJUN (author) / WANG WEI (author) / WANG QI (author)

    Publication date :

    2024-09-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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