The invention discloses a high-maneuverability manta ray type bionic fish based on buoyancy and gravity center combined adjustment and a snorkeling and obstacle avoidance control method thereof.A base body of the manta ray type bionic fish comprises a bionic shell, a center cabin and power supply cabins symmetrically arranged on the two sides of the center cabin, and the center cabin is of a sealed structure; the gravity center adjusting auxiliary device of the central cabin is slidably arranged close to the head of the bionic fish; the power supply cabin sealing flange, the cabin body and the buoyancy gravity center adjusting device form a sealing structure, the buoyancy gravity center adjusting device is slidably arranged close to the tail of the bionic fish, the water discharge amount of the buoyancy gravity center adjusting device and one side of the water inlet/outlet flange is changed, and the buoyancy and gravity center position of the power supply cabin is controlled. The buoyancy and gravity center adjusting devices of the left power supply cabin and the right power supply cabin and the gravity center adjusting auxiliary device of the center cabin are integrated, accurate control over the overall buoyancy and gravity center of the bionic fish is effectively achieved, the lithium battery pack serves as a balance weight, no balance weight needs to be additionally arranged, and the maneuverability and cruising ability of the bionic fish are improved.
本发明公开了一种基于浮力与重心联合调节的高机动性蝠鲼式仿生鱼及其潜浮与避障控制方法,蝠鲼式仿生鱼的基体包括仿生外壳、中心舱和对称设置在中心舱两侧的供电舱,中心舱为密封结构,中心舱的重心调节辅助装置靠近仿生鱼的头部滑动设置;供电舱密封法兰、舱体和浮力重心调节装置形成密封结构,浮力重心调节装置靠近仿生鱼的尾部滑动设置,改变浮力重心调节装置和进/排水法兰一侧的排水量,用于控制供电舱的浮力和重心位置。本发明通过集成左右供电舱的浮力重心调节装置与中心舱的重心调节辅助装置,有效实现了仿生鱼整体浮力和重心的精确控制,且以锂电池组为配重,无需额外增加配重块,提高了仿生鱼的机动性和续航能力。
High-maneuverability manta ray type bionic fish based on buoyancy and gravity center combined adjustment and snorkeling and obstacle avoidance control method of high-maneuverability manta ray type bionic fish
一种基于浮力与重心联合调节的高机动性蝠鲼式仿生鱼及其潜浮与避障控制方法
2024-11-26
Patent
Electronic Resource
Chinese
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 |
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