CN107284636A - A kind of magnetically-actuated miniature underwater robot and its control method - Google Patents
A kind of magnetically-actuated miniature underwater robot and its control method Download PDFInfo
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- CN107284636A CN107284636A CN201710644710.1A CN201710644710A CN107284636A CN 107284636 A CN107284636 A CN 107284636A CN 201710644710 A CN201710644710 A CN 201710644710A CN 107284636 A CN107284636 A CN 107284636A
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- magnetic patch
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- underwater robot
- magnetically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
Abstract
The invention discloses a kind of magnetically-actuated miniature underwater robot and its control method, belong to robotic technology field.It includes body and fish tail drive component, and the fish tail drive component includes an at least coil and mechanism of wagging the tail, and mechanism of wagging the tail has the opposite polarity magnetic patch of a pair of opposite faces, is attracted by coil electricity or repels magnetic patch, mechanism provides power to wag the tail.The present invention is coordinated using coil with magnetic patch, when electric current is to coil, the magnetic field of generation and the magnetic field interaction of magnetic patch, what side was produced is suction, what opposite side was produced is then thrust, when the current direction changes, the direction of power also changes therewith, so as to promote afterbody to produce swing effect, and then promote whole body to advance, change conduction time simultaneously, realize the control in direction, have the advantages that simple in construction, reasonable in design, easily fabricated.
Description
Technical field
The invention belongs to robotic technology field, more specifically to a kind of magnetically-actuated miniature underwater robot and
Its control method.
Background technology
Along with the development of human civilization, the land resources that can be exploited and utilize just increasingly is being reduced and exhausted.Ocean area
Take up an area be richly stored with the 71% of sphere area, ocean living resources and mineral resources, human development and the pin using ocean
Walk as the development of science and technology is gradually accelerated.Meanwhile, Development of Marine environmental monitoring technology is for protecting the marine environment, developing ocean money
Source, safeguard that national marine rights and interests and interests with sovereign right, enhancing national marine scientific research strength and developing national economy etc. are all multi-party
Face is significant.As ocean development activity more and more frequently and is goed deep into, to marine survey technology and the demand of equipment
Also more and more higher.Underwater robot as a high-tech instrument and equipment under water conglomerate, in the neck such as military, civilian, scientific research
Domain embodies wide application prospect and huge potential value.
At present, the big-and-middle-sized underwater man-based development driven with traditional propeller has reached practical degree,
The research of microminiature underwater robot, is still within testing the stage of fumbling.With more and more for underwater Man's Demands,
Particularly to just increasingly urgent, such as seabed that can adapt to demand in the miniature underwater robot of sea bottom complex small space environment
Biological monitoring, the seam Minerals sampling of seabed rock etc. in monitoring, the detection in submarine pipeline and the maintenance, coral reef in volcano.Water
When lower robot is used to complete different tasks, its shape, size, motion mode etc. just have different requirements, consider simultaneously
To the influence to surrounding environment, the type of drive to underwater robot proposes certain challenge.
Through retrieval, the propulsion plant of underwater robot can be divided into several classes：1) mechanical equivalent of light feeding device, such as Chinese patent
CN200520020571.8 discloses a kind of mechanical driving device of imitative fish tail propulsion system, the motor driving worm gear snail of the device
Bar pair, and rotated by worm gear band movable eccentric wheel, and then drive sliding frame to make straight reciprocating motion, then put L-type through pull bar
Bar and while L-type swing rod is swung, fixes half gear and forces driving gear set to rotate again around the pivot of its corner,
And then swung in the same direction together with driven fork, spring leaf, tail fin；As Chinese patent CN201610489896.3 discloses a kind of fin section
Class bionic machine fish, fish tail is connected by afterbody transmission mechanism with afterbody steering wheel, and sealing drum and buoyancy adjustment cylinder are provided with fish body,
Battery, controller and pectoral fin steering wheel are provided with sealing drum, the rear end of buoyancy adjustment cylinder is provided with buoyancy motor, and fish body head is provided with and opened
Close and camera, above-mentioned two pieces patent is using gear as drive disk assembly, and in the transmittance process of power, moment of torsion is big, and energy is damaged
Consumption is big, and for miniature underwater robot, power is small, it is impossible to meets its power and uses the needs propulsion plant；2) electromagnetism
Propulsion plant, such as Chinese patent CN201610851210.0 disclose a kind of controllable aquatic bio-propulsion device of rigidity, the dress
Put including bionic coatings apparatus main body, variation rigidity joint, joint connection framework, Biomimetic Fish tail fin, wherein：Bionic coatings device master
Body is made up of two or more stiffness-changing systems, and each stiffness-changing system is by variation rigidity joint and joint connection framework group
Into；Joint connection framework in one system is rotated with movable members in the middle part of the variation rigidity joint of previous system to be connected, and is used for
The swing of bionical underwater propulsion unit；As Chinese patent CN201510383391.4 discloses a kind of underwater bio-robot
Propulsion plant, the device includes stress unit, forcing unit, pedestal, upper backup pad and lower supporting plate；Stress unit includes tail
Fin, tail fin connecting rod, rotary shaft, permanent magnet and permanent magnet fastening frame；Forcing unit is patched including magnetic coil, iron core and watertight
Head；Such as Chinese patent CN201410167326.3 discloses the bionic machine fish that a kind of small-sized mangneto is swung, and fish body is moved with magnetic
Power fish tail includes magnetic induction coil, rotary shaft, PVC bobbins, circular permanent magnet and flexibility by U-shaped piece of connection, magnetomotive fish tail
Fish tail；Such as United States Patent (USP) US20130017754A1 discloses a kind of Biomimetic Fish, includes left shell and right side shell in body component
Body, wherein respectively equipped with a magnetite, the polarity of two magnetite opposite faces is identical；Rail unit includes sealing ring and support；It is left
Rail unit is floated and supported by side body and right shell by the sealing ring and support of rail unit；Afterbody axle passes through close
The hole at seal center and fix, the outboard end of afterbody axle is arranged with fish tail, and inner opposite end inserts the lateral small of coil brace
A coil is fixed with Kong Zhong, the middle macropore of coil brace, several above-mentioned patents are attracted by magnet coil
Iron hoop or magnetite realize the swing of afterbody, but are due to the limitation of electromagnetic coil structure so that tail swing amplitude it is small there is provided
Power it is small, in deeper waters, water resistance can not then meet greatly use demand, and arrange have other set direction controlling machine
Structure, causes volume big, or further limit and use without direction control mechanism at all.
The content of the invention
1. the problem of solving
The power provided for existing small size underwater robot power part is small, it is impossible to meet the use need of deeper water
Will, and direction control mechanism causes bulky problem, the present invention provide a kind of magnetically-actuated miniature underwater robot and its
Control method, when electric current is to coil, the magnetic field of generation and the magnetic field interaction of magnetic patch, what side was produced is suction, another
What side was produced is then thrust, and when the current direction changes, the direction of power also changes therewith, so that promoting afterbody to produce swings work
With, and then promote whole body to advance, while changing conduction time, realize the control in direction.
2. technical scheme
In order to solve the above problems, the technical solution adopted in the present invention is as follows：
A kind of magnetically-actuated miniature underwater robot of the present invention, including body and fish tail drive component, the fish tail drive
Dynamic component includes an at least coil and mechanism of wagging the tail, and mechanism of wagging the tail has the opposite polarity upper magnetic patch of a pair of opposite faces and lower magnetic
Block, is attracted by coil electricity or repels upper magnetic patch and lower magnetic patch, mechanism provides power to wag the tail.
In a kind of possible embodiment of the present invention, the mechanism of wagging the tail also includes upper pendulum bar, draft link, crossbeam and tail
The wing, one end of the upper pendulum bar and draft link is connected by crossbeam with empennage, and the other end is hinged with body, and the upper magnetic patch is fixed
On upper pendulum bar, lower magnetic patch is fixed on draft link, the upper magnetic patch side opposite polarity adjacent with coil with lower magnetic patch.
In a kind of possible embodiment of the present invention, the coil is placed between magnetic patch, lower magnetic patch, and coil is wrapped in
In the fix bar of body.
In a kind of possible embodiment of the present invention, the central axis of the coil is parallel with upper magnetic patch or lower magnetic patch.
In a kind of possible embodiment of the present invention, the central axis of the coil is vertical with upper magnetic patch or lower magnetic patch,
Because coil is maximum in the magnetic of two-stage, the oscillatory forces of empennage can be increased, so as to increase the propulsive force of robot.
In a kind of possible embodiment of the present invention, the number of the coil is three, and three coils be arranged in parallel, its
In coil be located between upper magnetic patch and lower magnetic patch, a coil is located on the outside of upper magnetic patch, and a coil is located at outside lower magnetic patch
Side, the control to upper magnetic patch and lower magnetic patch is realized using three coils, so that the oscillatory forces of empennage are further increased, so that
Increase the propulsive force of robot, robot load it is larger or need it is quick travelling in the case of, while will to robot volume
Little occasion is sought, such a mode can be used.
In a kind of possible embodiment of the present invention, the upper magnetic patch or lower magnetic patch are equal with coil distance, and apart from L
=Asin【3.14(B1+B2)/360】+ C, B1 are the magnitude of field intensity of coil, and B2 is the magnitude of field intensity of magnetic patch, and A, C are
Variation coefficient, wherein A are directly proportional to electric current, and the width of C and magnetic patch is inversely proportional, and pass through the upper magnetic patch of design or lower magnetic patch and coil spacing
From so that upper magnetic patch or lower magnetic patch flexible movements, in the absence of hysteresis quality, while so that the structure of whole underwater robot is more tight
Gather, the small volume of underwater robot.
In a kind of possible embodiment of the present invention, in addition to pressure sensor and controller, pressure sensor setting
In the front end of body, controller is electrically connected with motor, regulation motor and pressure sensor respectively, passes through pressure sensor
Receive the pressure signal of water, pressure sensor feedback signal to controller, then controller send information, driving coil work
Make.
Present invention also offers a kind of control method of magnetically-actuated miniature underwater robot, comprise the following steps that：
1) underwater robot, which advances, controls：
Make the pressure sensor feedback pressure signal to controller, controller sends instruction, coil electricity produces magnetic field,
Due to the upper magnetic patch side opposite polarity adjacent with coil with lower magnetic patch, therefore coil is in attraction while magnetic patch, under repelling
Magnetic patch, and then drive crossbeam, empennage to lower swing, otherwise the sense of current of switching coil, coil in repulsion while magnetic patch,
Lower magnetic patch can be attracted, and then drive crossbeam, empennage to be swung up, so as to reach advance of the driving robot in water；
Present invention also offers a kind of control method of magnetically-actuated miniature underwater robot, comprise the following steps that：
2) robot direction controlling：
Forward voltage is applied to coil and is designated as u0, apply backward voltage and be designated as-u0, it is assumed that coil causes under forward voltage
Empennage is swung up, and coil causes empennage to lower swing under backward voltage, if the accounting of the forward and reverse voltage applied is identical, i.e.,
Forward voltage application time is T, and backward voltage application time is T, then to swing up and down amplitude identical for empennage, i.e., transported to front
Dynamic, if it is T to apply forward voltage application time, backward voltage application time is nT/m, then empennage changes with m, n change
The ratio of amplitude is swung up and down, and then to control direction of advance.
3. beneficial effect
Compared to prior art, beneficial effects of the present invention are：
(1) magnetically-actuated miniature underwater robot of the present invention, is coordinated using coil and magnetic patch, when electric current is to coil, production
Raw magnetic field and the magnetic field interaction of magnetic patch, what side was produced is suction, and what opposite side was produced is then thrust, works as the sense of current
During change, the direction of power also changes therewith, so as to promote afterbody to produce swing effect, and then promotes whole body to advance, simultaneously
Change conduction time, the control in direction is realized, without another set direction controlling organization so that underwater robot volume of the invention
It is small, it is flexible and convenient to use；
(2) magnetically-actuated miniature underwater robot of the present invention, is designed using bionic principle, has abandoned traditional underwater robot
The mode driven using propeller, driving is softer with advancing, due to having abandoned motor, making an uproar when reducing robot motion
Sound, when being detected under water, reduces the interference to aquatic organism, and add the disguise of robot；
(3) magnetically-actuated miniature underwater robot of the present invention, using drive mechanism, small in volume, can adapt in
Detection under microenvironment, and extreme environment work can be entered, simultaneously because lightweight, the present invention can be by this
The structure of body is designed, and it is in suspended state in water, and then eliminate robot and need to design antigravity
Mechanism；
(4) control method of magnetically-actuated miniature underwater robot of the present invention is novel, can be real using single mechanical mechanism
Controlled while the two degrees of freedom of existing forward and turning, it completes the control to the direction of motion using the accounting of forward and reverse voltage
System, control mode is simple, without special design steering mechanism, further simplify the structure of robot, reduces robot
Volume, reduces the weight of robot, is that robot realizes that miniaturization, lightness provide the foundation；
(5) magnetically-actuated miniature underwater robot of the present invention, is driven using empennage, and its operation principle is similar to biological muscles
Gap sex work, meet the conventional mode of operation of nature, under water detect when can avoid alarm other biological, add
The disguise of robot；
(6) magnetically-actuated miniature underwater robot of the present invention, simple in construction, reasonable in design, it is easy to manufacture.
Brief description of the drawings
Technical scheme is described in further detail below with reference to drawings and examples, but should
Know, these accompanying drawings only design for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
Point out, these accompanying drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is the structural representation of magnetically-actuated miniature underwater robot of the present invention；
Fig. 2 is the control voltage schematic diagram of magnetically-actuated miniature underwater robot of the present invention；
Fig. 3 is the structural representation of the upper magnetic patch of magnetically-actuated miniature underwater robot of the present invention；
Fig. 4 is the structural representation of magnetically-actuated miniature underwater robot embodiment 2 of the present invention；
Fig. 5 is the structural representation of magnetically-actuated miniature underwater robot embodiment 3 of the present invention.
In figure：1st, body；1-1, fix bar；2nd, sensor；3rd, coil；4th, upper pendulum bar；5th, draft link；6th, upper magnetic patch；6-
1st, it is raised；7th, lower magnetic patch；8th, crossbeam；9th, empennage.
Embodiment
Hereafter the detailed description to the exemplary embodiment of the present invention with reference to accompanying drawing, one of accompanying drawing formation description
Point, show enforceable exemplary embodiment of the invention as example in the figure.Although these exemplary embodiment quilts
Fully describe in detail to enable those skilled in the art to implement the present invention, it is to be understood that can realize other embodiment and
Can without departing from the spirit and scope of the present invention to the present invention various changes can be made.Hereafter to embodiments of the invention
More detailed description is not limited to required the scope of the present invention, and just to be illustrated and do not limit pair
The description of the features of the present invention and feature, to propose the best mode for performing the present invention, and is sufficient so that those skilled in the art
The present invention can be implemented.Therefore, the scope of the invention is only defined by the appended claims.
Hereafter detailed description of the present invention and example embodiment can be more fully understood with reference to accompanying drawing, wherein the present invention
Element and feature are identified by reference.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 shows, magnetically-actuated miniature underwater robot of the invention includes body 1 and fish tail driving group
Part, fish tail drive component includes at least a coil 3 and mechanism of wagging the tail, and mechanism of wagging the tail has the opposite polarity magnetic of a pair of opposite faces
Block, is powered by coil 3 and attracts or repel magnetic patch, mechanism provides power to wag the tail.
The present invention is coordinated using coil 3 with magnetic patch, and when electric current is to coil 3, the magnetic field of generation and the magnetic field of magnetic patch are mutual
Effect, what side was produced is suction, and what opposite side was produced is then thrust, and when the current direction changes, the direction of power also changes therewith
Become, so as to promote afterbody to produce swing effect, and then promote whole body to advance, while changing conduction time, realize direction
Control.
In the present embodiment, mechanism of wagging the tail includes upper pendulum bar 4, draft link 5, crossbeam 8, empennage 9, upper magnetic patch 6 and lower magnetic patch 7,
One end of upper pendulum bar 4 and draft link 5 is connected by crossbeam 8 with empennage 9, and the other end is hinged with body 1, and upper magnetic patch 6 is fixed on
On swing rod 4, lower magnetic patch 7 is fixed on draft link 5, the upper magnetic patch 6 side opposite polarity adjacent with coil 3 with lower magnetic patch 7.
In the present embodiment, coil 3 is placed between magnetic patch 6, lower magnetic patch 7, and coil 3 is wrapped in the fix bar 1-1 of body 1
On, the central axis of coil 3 is parallel with upper magnetic patch 6 or lower magnetic patch 7.
In the present embodiment, inventor is by substantial amounts of experiment and mechanical analysis, upper magnetic patch 6 or lower magnetic patch 7 and the distance of coil 3
It is equal, and apart from L=Asin【3.14(B1+B2)/360】+ C, B1 are the magnitude of field intensity of coil 3, and B2 is the magnetic field of magnetic patch
Intensity size, A, C are variation coefficient, and wherein A is directly proportional to electric current, and the width of C and magnetic patch is inversely proportional, and pass through the upper magnetic patch 6 of design
Or lower magnetic patch 7 and the distance of coil 3 so that upper magnetic patch 6 or the flexible movements of lower magnetic patch 7, in the absence of hysteresis quality, while so that whole water
The structure of lower robot is more compact, the small volume of underwater robot.
What deserves to be explained is, in figure 3, it is equipped with the opposite face of the upper magnetic patch 6 of the present embodiment and lower magnetic patch 7 some convex
6-1 is played, raised 6-1 is in round table-like, raised 6-1 height h=(0.1-0.2) L, and unit is mm, and raised 6-1 is carried out along helix
Distribution, upper magnetic patch 6 and lower magnetic patch 7 strengthen Distribution of Magnetic Field by raised 6-1 so that 5 stress of upper pendulum bar 4 or draft link reach most
Big value, while the stress of coil 3 can be avoided to beat.
In the present invention, upper magnetic patch 6 or lower magnetic patch 7 and coil 3 are apart from L, the electric current (proportional with field strength) of coil 3
And the surface electric field intensity of magnetic patch has together decided on the kinematic accuracy of upper pendulum bar 4 and draft link 5, the relation between them is very much weight
Will.Applicant furthers investigate to above-mentioned relation, is 5mm according to the distance of magnetic patch and coil 3, is summarized by long term test
Height to raised 6-1 is no more than 0.5-1mm, more than this scope, in actual mechanical process, upper magnetic patch 6 or lower magnetic patch 7 and line
Either attraction is not enough between circle 3, or coil 3 is easily beated.
Embodiment 2
As shown in figure 4, the magnetically-actuated type underwater robot of the present embodiment, on the basis of embodiment 1, in coil 3
Heart axis is vertical with upper magnetic patch 6 or lower magnetic patch 7, because coil 3 is maximum in the magnetic of two-stage, can increase the oscillatory forces of empennage 9,
So as to increase the propulsive force of robot.
Embodiment 3
As shown in figure 5, the magnetically-actuated type underwater robot of the present embodiment, on the basis of embodiment 1, the number of coil 3
Mesh is three, and three coils 3 be arranged in parallel, and one of coil 3 is located between upper magnetic patch 6 and lower magnetic patch 7, a coil 3
In the upper outside of magnetic patch 6, a coil 3 is located at the lower outside of magnetic patch 7, is realized using three coils 3 to upper magnetic patch 6 and lower magnetic patch 7
Control, so as to further increase the oscillatory forces of empennage 9, so as to increase the propulsive force of robot, loaded in robot larger
Or in the case of needing quick move about, while the occasion little to robot volume requirement, can use such a mode.
Embodiment 4
The magnetically-actuated type underwater robot of the present embodiment, on the basis of embodiment 1, as shown in figure 1, also including pressure
Sensor 2 and controller, pressure sensor 2 are arranged on the front end of body 1, controller respectively with motor, regulation motor and
Pressure sensor 2 is electrically connected, and the pressure signal of water, the feedback signal of pressure sensor 2 to control are received by pressure sensor 2
Device processed, then controller send information, driving coil 3 works.
Wherein, in actual applications, controller can select Arduino single-chip microcomputers, and Arduino is an open source code
Item of hardware platform, the platform includes one piece of circuit board and a set of programming development environment software for possessing simple I/O functions,
It can also develop the peripheral device being connected with PC for exploitation interactive product, operationally can enter with the software on PC
Row communication.
Wherein, in actual applications, underwater robot also includes battery (not marked in figure), and battery is lithium ion battery,
The center of gravity of battery position of centre of gravity and underwater robot is located on same vertical curve, good steady posture is kept, with sensitive
Reaction speed and efficient dynamic performance.
Embodiment 5
Present invention also offers a kind of control method of magnetically-actuated miniature underwater robot, comprise the following steps that：
1) underwater robot, which advances, controls：
Make the feedback pressure signal of pressure sensor 2 to controller, controller sends instruction, coil 3, which is powered, produces magnetic
, due to the upper magnetic patch 6 side opposite polarity adjacent with coil 3 with lower magnetic patch 7, therefore coil 3 is in attraction while magnetic patch 6,
Lower magnetic patch 7 can be repelled, and then drive crossbeam 8, empennage 9 to lower swing, the sense of current of switching coil 3 on the contrary, coil 3 is repelling
While upper magnetic patch 6, lower magnetic patch 7 can be attracted, and then drive crossbeam 8, empennage 9 to be swung up, so as to reach that driving robot exists
Advance in water；
Present invention also offers a kind of control method of magnetically-actuated miniature underwater robot, comprise the following steps that：
2) robot direction controlling：
Forward voltage is applied to coil 3 and is designated as u0, apply backward voltage and be designated as-u0, it is assumed that coil 3 makes under forward voltage
Obtain empennage 9 to be swung up, coil 3 causes empennage 9 to lower swing under backward voltage, if the accounting phase of the forward and reverse voltage applied
Together, i.e., forward voltage application time is T, and backward voltage application time is T, then to swing up and down amplitude identical for empennage 9, i.e., to before just
Fang Yundong, if it is T to apply forward voltage application time, backward voltage application time is nT/m, then empennage 9 is with m, n change
And change the ratio for the amplitude that swings up and down, and then to control direction of advance.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent variations and the modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of magnetically-actuated miniature underwater robot, it is characterised in that including body (1) and fish tail drive component, the fish
Tail drive component includes an at least coil (3) and mechanism of wagging the tail, and mechanism of wagging the tail has the opposite polarity upper magnetic patch of a pair of opposite faces
(6) and lower magnetic patch (7), it is powered by coil (3) and attracts or repel upper magnetic patch (6) and lower magnetic patch (7), is provided and move for mechanism of wagging the tail
Power.
2. magnetically-actuated miniature underwater robot according to claim 1, it is characterised in that the mechanism of wagging the tail also includes
One end of upper pendulum bar (4), draft link (5), crossbeam (8) and empennage (9), the upper pendulum bar (4) and draft link (5) passes through crossbeam
(8) it is connected with empennage (9), the other end is hinged with body (1), the upper magnetic patch (6) is fixed on upper pendulum bar (4), lower magnetic patch (7)
It is fixed on draft link (5), the upper magnetic patch (6) the side opposite polarity adjacent with coil (3) with lower magnetic patch (7).
3. magnetically-actuated miniature underwater robot according to claim 2, it is characterised in that the coil (3) is placed in
Between magnetic patch (6), lower magnetic patch (7), coil (3) is wrapped in the fix bar of body (1) (1-1).
4. magnetically-actuated miniature underwater robot according to claim 3, it is characterised in that the center of the coil (3)
Axis is parallel with upper magnetic patch (6) or lower magnetic patch (7).
5. magnetically-actuated miniature underwater robot according to claim 3, it is characterised in that the center of the coil (3)
Axis is vertical with upper magnetic patch (6) or lower magnetic patch (7).
6. magnetically-actuated miniature underwater robot according to claim 3, it is characterised in that the number of the coil (3)
For three, three coils (3) be arranged in parallel, and one of coil (3) is located between upper magnetic patch (6) and lower magnetic patch (7), a line
Enclose (3) to be located on the outside of upper magnetic patch (6), a coil (3) is located on the outside of lower magnetic patch (7).
7. magnetically-actuated miniature underwater robot according to claim 3, it is characterised in that the upper magnetic patch (6) or under
Magnetic patch (7) is with coil (3) apart from equal.
8. the magnetically-actuated miniature underwater robot according to any one of claim 1 to 7, it is characterised in that also including pressure
Force snesor (2) and controller, pressure sensor (2) are arranged on the front end of body (1), controller respectively with motor (3),
Regulation motor (15) and pressure sensor (2) electrical connection.
9. a kind of control method of magnetically-actuated miniature underwater robot, it is characterised in that comprise the following steps that：
1) underwater robot, which advances, controls：
Make the pressure sensor (2) feedback pressure signal to controller, controller sends instruction, coil (3), which is powered, produces magnetic
, due to upper magnetic patch (6) the side opposite polarity adjacent with coil (3) with lower magnetic patch (7), therefore coil (3) magnetic patch in attraction
(6) while, lower magnetic patch (7) can be repelled, and then drive crossbeam (8), empennage (9) to lower swing, the electricity of switching coil (3) on the contrary
Flow direction, coil (3) can attract lower magnetic patch (7) in repulsion while magnetic patch (6), so drive crossbeam (8), empennage (9) to
It is upper to swing, so as to reach advance of the driving robot in water；
2) robot direction controlling：
Forward voltage is applied to coil (3) and is designated as u0, apply backward voltage and be designated as-u0, moved to front, application it is forward and reverse
The accounting of voltage is identical, i.e., forward voltage application time is T, and backward voltage application time is T, then empennage (9) swings up and down width
Degree is identical；Direction of advance is controlled, it is T to apply forward voltage application time, backward voltage application time is nT/m, then empennage (9)
Change the ratio for the amplitude of swinging up and down with m, n change.
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| CN201710644710.1A CN107284636A (en) | 2017-07-31 | 2017-07-31 | A kind of magnetically-actuated miniature underwater robot and its control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531540A (en) * | 2018-11-06 | 2019-03-29 | 广州大学 | Based on monolithic processor controlled electromagnetic type software kinematic robot and its control method |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN112874739A (en) * | 2021-02-05 | 2021-06-01 | 浙江大学 | Quick swing type underwater propulsion device based on magnetic driving mechanism |
-
2017
- 2017-07-31 CN CN201710644710.1A patent/CN107284636A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531540A (en) * | 2018-11-06 | 2019-03-29 | 广州大学 | Based on monolithic processor controlled electromagnetic type software kinematic robot and its control method |
| CN109531540B (en) * | 2018-11-06 | 2021-12-14 | 广州大学 | Electromagnetic type soft motion robot based on single chip microcomputer control and control method thereof |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN112874739A (en) * | 2021-02-05 | 2021-06-01 | 浙江大学 | Quick swing type underwater propulsion device based on magnetic driving mechanism |
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Application publication date: 20171024 |