CN113525638B - Six-freedom-degree bionic robotic dolphin with image transmission function - Google Patents
Six-freedom-degree bionic robotic dolphin with image transmission function Download PDFInfo
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- CN113525638B CN113525638B CN202110918185.4A CN202110918185A CN113525638B CN 113525638 B CN113525638 B CN 113525638B CN 202110918185 A CN202110918185 A CN 202110918185A CN 113525638 B CN113525638 B CN 113525638B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a six-degree-of-freedom bionic dolphin with an image transmission function, which has the bionic characteristic of dolphin; the bionic dolphin robot comprises a head, a first body section, a second body section, a third body section and a tail in sequence from front to back, wherein the head comprises a camera and a head steering engine transmission mechanism; the first section of the body comprises a pectoral fin, an electronic device module and a gravity center adjusting mechanism; the second section of the body comprises a waist yaw steering engine transmission mechanism; the third body section comprises a waist pitching steering engine transmission mechanism; the tail part comprises a tail part pitching steering engine transmission mechanism and a tail fin, and the electronic device module is used for respectively controlling the operation of the camera, the head part steering engine transmission mechanism, the pectoral fin, the gravity center adjusting mechanism, the waist part yawing steering engine transmission mechanism, the waist part pitching steering engine transmission mechanism and the tail part pitching steering engine transmission mechanism. The bionic dolphin robot realizes various motion modes such as advancing, turning, rising, submerging, pivot steering and the like, and has a visual image transmission function and perception interaction capacity.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a six-degree-of-freedom bionic dolphin with an image transmission function.
Background
The dolphin has excellent swimming performance compared with fish. The dolphin swims in a dorsal-ventral mode, the instantaneous swimming speed can exceed 11m/s by means of the up-and-down swinging of the tail part and the tail fin and the cooperation of fin limbs, the dolphin can swim for 37-55 km per hour, the swimming efficiency is high, and the disturbance is small. In addition, the dolphin can turn flexibly, can make maneuvering motion by using body length about 0.15 times as turning radius, and its turning speed can be up to 450 deg/s. The dolphin has high mobility, and can freely jump out of the water surface and complete complex actions such as turning in the air. The excellent swimming performance of dolphin makes it an important research object for bionics.
In military, the robotic dolphin can be used for offshore defense combat, and the larger size of the robotic dolphin can support equipment for loading mines, small missiles, torpedoes and the like. For civil use, the robotic dolphin can be used for underwater exploration, water quality detection, underwater archaeology and the like, and can be used for popularization of knowledge in science and technology museums, development of high-end intelligent toys and the like. Therefore, the mechanical dolphin has wide application prospect and great potential value in the civil field and the marine military field, but the existing mechanical dolphin cannot realize multiple motion modes and does not have an interaction function.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a six-degree-of-freedom bionic dolphin with an image transmission function, which realizes multiple motion modes such as advancing, turning, ascending, submerging and pivot steering, and has a visual image transmission function and a perception interaction capacity.
The six-degree-of-freedom bionic dolphin with the image transmission function, provided by the embodiment of the invention, has the dolphin bionics characteristic; the bionic dolphin robot sequentially comprises from front to back:
the head comprises a head shell, a camera and a head steering engine transmission mechanism; the camera is arranged on the head shell and used for shooting underwater images and outputting the underwater images; the head steering engine transmission mechanism is used for driving the head shell to rotate in a vertical symmetrical plane of the body of the bionic robotic dolphin so as to realize the head raising and head lowering motions of the bionic robotic dolphin;
the first body section comprises a first section shell, a first section front clapboard, a first section rear clapboard, a pectoral fin, an electronic device module and a gravity center adjusting mechanism; the front end of the first section shell is hermetically connected with the rear end of the head shell; the first section of front partition plate and the first section of rear partition plate are respectively and correspondingly fixed at the front end and the rear end of the first section of shell; the two pectoral fins are arranged on the first section of shell in a bilateral symmetry mode and used for assisting the bionic dolphin in posture adjustment; the electronic device module and the gravity center adjusting mechanism are both arranged in the first section of the shell; the gravity center adjusting mechanism is used for changing the gravity center position of the bionic robot dolphin so as to enable the bionic robot dolphin to do pitching motion, and therefore floating and submerging motions are achieved;
the second body section comprises a second section shell and a waist yaw steering engine transmission mechanism; the front end of the second section of shell is hermetically connected with the rear end of the first section of shell; the waist yaw steering engine transmission mechanism is used for driving the second section of shell to freely rotate in a horizontal plane so as to realize yaw turning of the bionic dolphin robot;
the third body section comprises a third shell and a waist pitching steering engine transmission mechanism; the front end of the third section of shell is hermetically connected with the rear end of the second section of shell; the waist pitching steering engine transmission mechanism is used for driving the third section of the shell to swing in a vertical symmetrical plane of the body of the bionic robotic dolphin so as to control the bionic robotic dolphin to push forwards;
the tail part comprises a tail pitching steering engine transmission mechanism and tail fins, and the tail pitching transmission steering engine transmission mechanism is arranged on the third section of shell and the tail fins and is used for driving the tail fins to swing in a vertical symmetrical plane of the body of the bionic robotic dolphin so as to control the bionic robotic dolphin to push forwards;
the electronic device module is used for respectively controlling the camera, the head steering engine transmission mechanism, the pectoral fins, the gravity center adjusting mechanism, the waist yaw steering engine transmission mechanism, the waist pitching steering engine transmission mechanism and the tail pitching steering engine transmission mechanism.
According to the six-degree-of-freedom bionic robotic dolphin with the image transmission function, the head shell is driven to rotate through the head steering engine transmission mechanism, head raising and head lowering motions of the bionic robotic dolphin are achieved, and meanwhile the six-degree-of-freedom bionic robotic dolphin can also be used for assisting in achieving floating and submerging motions of the bionic robotic dolphin; the gravity center position of the bionic robot dolphin is adjusted through a gravity center adjusting mechanism in the first section of the body, so that the floating and submerging motions of the bionic robot dolphin are realized, and pectoral fins on two sides of the first section of the body can change an attack angle to assist in adjusting the motion posture; the second section of the body swings in the horizontal plane to realize the function of yaw turning; fitting a sine waveform by swinging a waist pitching steering engine transmission mechanism at the third section of the body and a tail pitching steering engine transmission mechanism at the tail part in a vertical symmetrical plane of the body of the bionic robotic dolphin, wherein a certain phase difference exists between the waist pitching steering engine transmission mechanism and the tail pitching steering engine transmission mechanism, so that the bionic robotic dolphin is driven to move forward and to assist in finishing floating and diving motions; by arranging the camera on the head shell and arranging the electronic device module at the first section of the body, real-time visual image transmission is realized. Therefore, the bionic dolphin robot can realize various motion modes such as advancing, turning, ascending, submerging, pivot steering and the like, realizes stable and repeated swimming, and has a perception interaction function.
According to one embodiment of the invention, the head steering engine transmission mechanism is arranged between the head shell and the first section of front partition plate and comprises a head steering engine fixing frame, a head steering engine and a head steering engine connecting frame, the head steering engine fixing frame is fixed on the head shell, the head steering engine is fixed on the head steering engine fixing frame, one end of the head steering engine connecting frame is connected with the head steering engine, and the other end of the head steering engine connecting frame is connected with the first section of front partition plate.
According to one embodiment of the invention, the waist yaw steering engine transmission mechanism is arranged between the first section of the rear partition plate of the body and the second section of the shell and comprises a waist yaw steering engine fixing frame, a waist yaw steering engine and a waist yaw steering engine connecting frame, the waist yaw steering engine fixing frame is fixed on the second section of the shell, the waist yaw steering engine is fixed on the waist yaw steering engine fixing frame, one end of the waist yaw steering engine connecting frame is connected with the waist yaw steering engine, and the other end of the waist yaw steering engine connecting frame is connected with the first section of the rear partition plate.
According to one embodiment of the invention, the gravity center adjusting mechanism comprises a motor, a support frame, a lead screw and a weight, wherein the motor and the support frame are arranged oppositely at intervals in a front-back direction, the front end of the lead screw is connected with the motor, the rear end of the lead screw is rotatably supported on the support frame, the weight is arranged on the lead screw, and when the motor rotates in the front-back direction, the lead screw is driven to synchronously rotate in the front-back direction, so that the weight is driven to move back and forth along the lead screw.
According to one embodiment of the invention, the two pectoral fins respectively comprise a pectoral fin steering engine bracket, a pectoral fin steering engine, a pectoral fin connecting piece and a pectoral fin shell, wherein the pectoral fin steering engine bracket is fixed on the first section of shell, the pectoral fin steering engine is fixed on the pectoral fin steering engine bracket, and the pectoral fin shell is connected to the pectoral fin steering engine through the pectoral fin connecting piece; when the bionic robot dolphin posture adjusting device works, the pectoral fin steering engine drives the pectoral fin shell to rotate, so that the attack angle of the pectoral fin is changed, and the bionic robot dolphin posture adjusting device can assist in posture adjustment.
According to one embodiment of the invention, the first section of the body further comprises dorsal fins; a bottleneck structure is fixed on the back of the first section of the shell and used for outward extension of a charging wire and a lower wire of the electronic device module; and a bottle cap structure is fixed on the dorsal fin, and the bottle cap structure is detachably connected to the bottle mouth structure in a sealing manner.
According to one embodiment of the invention, the waist pitching steering engine transmission mechanism is arranged between the second section of the shell and the third section of the shell and comprises a waist pitching steering engine fixing frame, a waist pitching steering engine and a waist pitching steering engine connecting frame, the waist pitching steering engine fixing frame is fixed on the second section of the shell, the waist pitching steering engine is fixed on the waist pitching steering engine fixing frame, one end of the waist pitching steering engine connecting frame is connected with the waist pitching steering engine, and the other end of the waist pitching steering engine connecting frame is fixed with the third section of the shell.
According to one embodiment of the invention, the tail pitching steering engine transmission mechanism is arranged between the third section of the shell and the tail fin and comprises a tail pitching steering engine fixing frame, a tail pitching steering engine and a tail pitching steering engine connecting frame, the tail pitching steering engine fixing frame is fixed on the third section of the shell, the tail pitching steering engine is fixed on the tail pitching steering engine fixing frame, one end of the tail pitching steering engine connecting frame is connected with the tail pitching steering engine, and the other end of the tail pitching steering engine connecting frame is fixed with the tail fin.
According to one embodiment of the present invention, the pectoral fins and the caudal fins are made of photosensitive resin 8000.
According to one embodiment of the invention, the electronic device module comprises a bottom plate, a waterproof box and a power supply assembly, wherein the bottom plate is fixed on the inner bottom of the first section of the shell, the waterproof box is fixed on the bottom plate, electronic components are arranged in the waterproof box, and the power supply assembly is fixed on the outer wall of the waterproof box.
According to a further embodiment of the present invention, the electronic components include an Arduino UNO3 microprocessor and a raspberry pie; the Arduino UNO3 microprocessor is used for controlling the operation of the head steering engine transmission mechanism, the pectoral fin, the gravity center adjusting mechanism, the waist yaw steering engine transmission mechanism, the waist pitching steering engine transmission mechanism and the tail pitching steering engine transmission mechanism; the raspberry pie is connected with a camera to capture and transmit videos.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a six-degree-of-freedom biomimetic robotic dolphin with image transmission capability in accordance with the present invention;
FIG. 2 is a schematic view of the head of a six-degree-of-freedom biomimetic robotic dolphin with image transfer capability in accordance with the present invention;
FIG. 3 is a schematic view of a first section of a six-degree-of-freedom biomimetic robotic dolphin with image transfer capability in accordance with the present invention;
FIG. 4 is a schematic diagram of a second section of a six-degree-of-freedom biomimetic robotic dolphin with image transfer capability according to the present invention;
FIG. 5 is a third schematic view of a six-degree-of-freedom biomimetic robotic dolphin with image transmission capability according to the present invention;
FIG. 6 is a schematic view of the tail of a six-degree-of-freedom biomimetic robotic dolphin with image transmission capability in accordance with the present invention;
FIG. 7 is a schematic diagram of a tail fin of a six-degree-of-freedom biomimetic robotic dolphin with image transfer capability according to the present invention;
FIG. 8 is a schematic view of a dorsal fin housing of a six-degree-of-freedom biomimetic robotic dolphin with image transfer capability in accordance with the present invention;
FIG. 9 is a schematic view of the pectoral fin of a six-degree-of-freedom biomimetic robotic dolphin with image transfer capability in accordance with the present invention;
FIG. 10 is a schematic view of an electronic device module of a six-degree-of-freedom biomimetic robotic dolphin with image transfer function according to the present invention.
Reference numerals:
bionic robotic dolphin 1000
Head 1
First section of the first shell 21, the front partition 22, the first section of the first partition 23, the pectoral fin 24
Pectoral fin steering engine bracket 241 pectoral fin steering engine 242 pectoral fin connector 243 pectoral fin shell 244
Center of gravity adjusting mechanism 26 motor 261 support bracket 262 lead screw 263 weight 264
Second part of the body 3
Waist driftage steering wheel 322 waist driftage steering wheel link 323
Waist pitch steering engine fixing frame 421 of waist pitch steering engine transmission mechanism 42 of third-section shell 41
Waist pitch steering engine 422 waist pitch steering engine connecting frame 423
Tail pitching steering engine transmission mechanism 51 tail pitching steering engine fixing frame 511 tail pitching steering engine 512
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A six-degree-of-freedom biomimetic robotic dolphin 1000 with image transfer functionality according to an embodiment of the present invention is described below in conjunction with fig. 1-10.
As shown in FIG. 1, a six-degree-of-freedom biomimetic robotic dolphin 1000 with image transfer function according to an embodiment of the present invention has dolphin biomimetic properties. The bionic characteristic of the dolphin provided by the embodiment of the invention is a characteristic obtained by establishing a model through careful observation of the wide kiss spot original dolphin and performing bionic design on the bionic robot dolphin 1000 according to the body type and the bone characteristics of the wide kiss spot original dolphin by using a bionic principle. The biomimetic robotic dolphin 1000 has a streamlined shape that can reduce the resistance to swimming.
In order to simulate the swimming action of the dolphin with the wide kiss-point speckles, the biomimetic robotic dolphin 1000 of the embodiment of the present invention has a plurality of sections, and the biomimetic robotic dolphin 1000 sequentially comprises a head 1, a first body section 2, a second body section 3, a third body section 4 and a tail 5 from front to back.
As shown in fig. 1 and 2, the head 1 includes a head housing 11, a camera 12, and a head steering gear transmission mechanism 13. The camera 12 is mounted on the head shell 11 and used for shooting and outputting underwater images; specifically, a camera hole 14 is formed in the head shell 11, and the camera 12 is mounted in the camera hole 14, so that the mounting is convenient; the position of the camera 12 on the head shell 11 can be the position of eyes of a simulated wide kissing spot dolphin; the camera 12 can be accessed to an open source library based on a raspberry group, so that the function of underwater visual image transmission is realized, and the perception interaction function is realized. Head steering engine drive mechanism 13 is used for driving head casing 11 to rotate in the vertical symmetry plane of bionic machine dolphin 1000's health to realize the motion of raising one's head and lowering one's head of bionic machine dolphin 1000, when the bionic machine dolphin 1000 is raised one's head, will help the come-up, when the bionic machine dolphin 1000 is lowered one's head, will help dive, that is to say, through setting up head steering engine drive mechanism 13, realize the motion of raising one's head and lowering one's head of bionic machine dolphin 1000, and then be favorable to the rising of bionic machine dolphin 1000 or dive.
As shown in fig. 1 and 3, the first body segment 2 includes a first segment housing 21, a first segment front partition 22, a first segment rear partition 23, pectoral fins 24, an electronics module 25, and a center of gravity adjustment mechanism 26. The front end of the first section of shell 21 is hermetically connected with the rear end of the head shell 11 so as to realize a sealing and waterproof function; optionally, the front end of the first section of housing 21 and the rear end of the head housing 11 are hermetically connected by a soft rubber sleeve, the soft rubber sleeve is sleeved between the head housing 11 and the first section of housing 21, waterproof electric glue is wound at the seam and compacted, and finally the silicon rubber is used for filling the seam, so that a good waterproof effect can be achieved, and water is prevented from entering the inside of the biomimetic robotic dolphin 1000. The first section front partition 22 and the first section rear partition 23 are respectively fixed at the front end and the rear end of the first section shell 21; optionally, baffle 22 behind first section and baffle 23 behind first section are all fixed on first section casing 21 through bolted connection, and fixed mode is simple quick, and is fixed effectual, and can avoid water to get into in first section casing 21, and baffle 22 behind first section and baffle 23 also play the effect of supporting other functional unit of installation simultaneously before first section, for example baffle 22 can link to each other with head steering wheel drive mechanism 13 before first section, and baffle 23 behind first section can link to each other with waist driftage steering wheel drive mechanism 32. As shown in fig. 1, 3 and 9, there are two pectoral fins 24, and the two pectoral fins 24 are symmetrically arranged on the first section of the shell 21 for assisting the biomimetic robotic dolphin 1000 in posture adjustment; it is understood that the pectoral fin 24 may change its own angle of attack and the change in the angle of attack of the pectoral fin 24 may generate a torque to roll the biomimetic robotic dolphin 1000, thereby assisting the biomimetic robotic dolphin 1000 in adjusting the pose. As shown in fig. 3, the electronic device module 25 and the center of gravity adjusting mechanism 26 are both installed in the first section of the casing 21, that is, the first section of the casing 21 is used for accommodating the electronic device module 25 and the center of gravity adjusting mechanism 26, for the convenience of installation, when the electronic device module 25 and the center of gravity adjusting mechanism 26 are installed in the first section of the casing 21, the electronic device module 25 and the center of gravity adjusting mechanism 26 are firstly assembled or installed together and then are installed in the first section of the casing 21, so that the problems of narrow installation space and difficult installation in the first section of the casing 21 are avoided. As can be seen from FIG. 1, the first section of the housing 21 is a main housing near the middle position, which is large in size, and the electronic device module 25 and the gravity center adjusting mechanism 26 are placed at the middle position, which is beneficial to keeping balance of the simulation machine dolphin and realizing gravity center change to change the motion state. The center of gravity adjusting mechanism 26 is used to change the center of gravity position of the biomimetic robotic dolphin 1000 so that the biomimetic robotic dolphin 1000 makes pitching motion, thereby achieving floating and diving motions. It can be understood that when the center of gravity is located at the back, the biomimetic robotic dolphin 1000 can float upwards; when the gravity center is behind, the bionic dolphin 1000 robot submerges.
As shown in fig. 1 and 4, the second body segment 3 comprises a second segment housing 31 and a lumbar yaw actuator drive 32. The front end of the second section of shell 31 is hermetically connected with the rear end of the first section of shell 21 so as to realize a sealing and waterproof function; optionally, the front end of the second section of the housing 31 and the rear end of the first section of the housing 21 are hermetically connected by a soft rubber sleeve, the second section of the housing 31 and the first section of the housing 21 are wrapped by waterproof electric glue and compacted, and finally the joint is filled by silicon rubber, so that a good waterproof effect can be achieved, and water is prevented from entering the inside of the biomimetic robotic dolphin 1000. The waist yaw steering engine transmission mechanism 32 is used for driving the second section of the shell 31 to rotate freely in the horizontal plane so as to realize yaw turning of the bionic dolphin 1000, namely, the waist yaw steering engine transmission mechanism 32 is used for realizing left-right steering function in the advancing process.
As shown in fig. 1 and 5, the third body section 4 comprises a third section housing 41 and a waist pitch actuator gear 42. The front end of the third section of shell 41 is hermetically connected with the rear end of the second section of shell 31 so as to realize a sealing and waterproof function; optionally, the front end of the third shell 41 and the rear end of the second shell 31 are hermetically connected by a soft rubber sleeve, the soft rubber sleeve is sleeved between the third shell 41 and the second shell 31, and then the waterproof electric glue is wound around the seam and compacted, and finally the silicon rubber is used for filling the seam, so that a good waterproof effect can be achieved, and water is prevented from entering the inside of the biomimetic robotic dolphin 1000. The waist pitch steering engine transmission mechanism 42 is used for driving the third section of the shell 41 to swing in the vertical symmetrical plane of the body of the biomimetic robotic dolphin 1000 so as to control the biomimetic robotic dolphin 1000 to propel forwards, that is, the third section of the shell 41 can swing up and down relative to the second section of the shell 31 under the driving of the waist pitch steering engine transmission mechanism 42, so that the biomimetic robotic dolphin 1000 can propel forwards.
As shown in fig. 6, the tail 5 includes a tail pitch steering gear transmission mechanism 51 and a tail fin 52. The tail 5 pitch transmission steering engine transmission mechanism is arranged on the third section of the shell 41 and the tail fin 52 and is used for driving the tail fin 52 to swing in a body vertical symmetrical plane of the bionic robotic dolphin 1000 so as to control the bionic robotic dolphin 1000 to advance; that is, the tail 5 can swing up and down under the driving of the tail pitch steering engine transmission mechanism 51, so that the biomimetic robotic dolphin 1000 can be propelled forward.
As shown in fig. 1, the electronic device module 25 is used to control the operations of the camera 12, the head steering engine transmission mechanism 13, the pectoral fin 24, the center of gravity adjusting mechanism 26, the waist yaw steering engine transmission mechanism 32, the waist pitch steering engine transmission mechanism 42 and the tail pitch steering engine transmission mechanism 51, respectively, so that the biomimetic robotic dolphin 1000 can realize the function of visual image transmission and controllably complete the swimming processes of head raising and lowering, posture adjustment, turning, advancing, ascending, descending and the like.
According to the six-degree-of-freedom bionic robot dolphin 1000 with the image transmission function, the head shell 11 is driven to rotate through the head steering engine transmission mechanism 13, so that the head raising and lowering motions of the bionic robot dolphin 1000 are realized, and meanwhile, the six-degree-of-freedom bionic robot dolphin 1000 can also be used for assisting in realizing the floating and submerging motions of the bionic robot dolphin 1000; the gravity center position of the bionic robot dolphin 1000 is adjusted through the gravity center adjusting mechanism 26 in the first section 2 of the body, so that the floating and submerging motions of the bionic robot dolphin 1000 are realized, and the pectoral fins 24 on the two sides of the first section 2 of the body can change the attack angle to assist in adjusting the motion posture; the second body section 3 swings in the horizontal plane to realize the function of yaw turning; fitting sine waveform by swinging the waist pitch steering engine transmission mechanism 42 of the third section 4 of the body and the tail pitch steering engine transmission mechanism 51 of the tail 5 in a vertical symmetrical plane of the body of the bionic robot dolphin 1000, and driving the bionic robot dolphin 1000 to advance and assisting in finishing floating and diving motions by having a certain phase difference between the waist pitch steering engine transmission mechanism 42 and the tail pitch steering engine transmission mechanism 51; by providing the camera 12 on the head housing 11 and the electronics module 25 on the first body segment 2, real-time visual image transmission is achieved. Therefore, the bionic robotic dolphin 1000 of the embodiment of the present invention can realize various movement modes such as forward movement, turning, ascending, diving and pivot steering, realize stable and repeated swimming, and have a perception interaction function.
As shown in fig. 1 to 2, according to an embodiment of the present invention, the head steering gear transmission mechanism 13 is disposed between the head housing 11 and the first front partition 22, and includes a head steering gear fixing frame 131, a head steering gear 132, and a head steering gear connecting frame 133, the head steering gear fixing frame 131 is fixed on the head housing 11, the head steering gear 132 is fixed on the head steering gear fixing frame 131, one end of the head steering gear connecting frame 133 is connected to the head steering gear 132, and the other end is connected to the first front partition 22, for example, the other end of the head steering gear connecting frame 133 may be adhered to the first front partition 22, and the connection is fast and reliable. When the head steering engine 132 works, the head steering engine connecting frame 133 can transmit the movement of the head steering engine 132, so that the head shell 11 can rotate up and down relative to the first section 2 of the body, and the head raising and lowering movement and the auxiliary floating and diving movement are realized.
As shown in fig. 1 and 4, according to an embodiment of the present invention, the waist yaw steering gear transmission mechanism 32 is disposed between the first section rear partition plate 23 and the second section shell 31, and includes a waist yaw steering gear fixing frame 321, a waist yaw steering gear 322, and a waist yaw steering gear connecting frame 323, the waist yaw steering gear fixing frame 321 is fixed on the second section shell 31, the waist yaw steering gear 322 is fixed on the waist yaw steering gear fixing frame 321, one end of the waist yaw steering gear connecting frame 323 is connected with the waist yaw steering gear 322, and the other end is connected with the first section rear partition plate 23, for example, the other end of the waist yaw steering gear connecting frame 323 may be adhered to the first section rear partition plate 23, and the connection is fast and reliable. When the waist yaw steering engine 322 works, the waist yaw steering engine connecting frame 323 can transmit the movement of the waist yaw steering engine 322, so that the second section shell 31 can rotate left and right in the horizontal plane, and the bionic robotic dolphin 1000 can realize the yaw turning function.
As shown in fig. 1 and 3, according to an embodiment of the present invention, the center of gravity adjusting mechanism 26 includes a motor 261, a support frame 262, a lead screw 263 and a weight 264, wherein the motor 261 and the support frame 262 are disposed opposite to each other at a distance from each other in a front-rear direction, a front end of the lead screw 263 is connected to the motor 261, a rear end of the lead screw 263 is rotatably supported on the support frame 262, and the weight 264 is disposed on the lead screw 263, and when the motor 261 rotates in the front-rear direction, the lead screw 263 is driven to rotate in the front-rear direction synchronously, so that the weight 264 is driven to move back and forth along the lead screw 263. It can be understood that when the weight 264 moves forward, the center of gravity of the biomimetic robotic dolphin 1000 moves towards the head 1, facilitating the submergence of the dolphin; when the weight 264 moves backward, the center of gravity of the biomimetic robotic dolphin 1000 moves to the tail 5, which facilitates the floating up of the dolphin.
As shown in fig. 1 and 3, according to an embodiment of the present invention, each of the two pectoral fins 24 includes a pectoral fin steering engine bracket 241, a pectoral fin steering engine 242, a pectoral fin connector 243, and a pectoral fin housing 244, wherein the pectoral fin steering engine bracket 241 is fixed on the first section housing 21, the pectoral fin steering engine 242 is fixed on the pectoral fin steering engine bracket 241, and the pectoral fin housing 244 is connected to the pectoral fin steering engine 242 through the pectoral fin connector 243; during operation, pectoral fin steering engine 242 drives pectoral fin housing 244 to rotate to change the angle of attack of pectoral fin 24, thereby assisting biomimetic robotic dolphin 1000 in adjusting the pose. That is to say, pectoral fin steering engine support 241 is used for installing pectoral fin steering engine 242 on first section casing 21, and pectoral fin steering engine 242 can drive pectoral fin casing 244 and rotate to change pectoral fin 24's angle of attack, and the change of pectoral fin 24 angle of attack can produce the moment of torsion that makes biomimetic robotic dolphin 1000 roll, can assist biomimetic robotic dolphin 1000 to adjust the gesture.
As shown in fig. 1, 3 and 8, according to one embodiment of the invention, the first body segment 2 further comprises a dorsal fin 27; a bottle mouth structure 271 is fixed on the back of the first section of the shell 21, and the bottle mouth structure 271 is used for outward extension of a charging wire and a lower wire of the electronic device module 25; a cap structure 272 is secured to dorsal fin 27, and cap structure 272 is removably and sealingly attached to finish structure 271. Therefore, when the electronic device module 25 needs to be charged or data is downloaded, the bottle cap structure 272 on the dorsal fin 27 is opened, and the electronic device module 25 of the biomimetic robotic dolphin 1000 can be charged and data downloaded through a charging wire and a downloading wire; when the bionic machine dolphin 1000 needs to launch, the bottle cap structure 272 on the dorsal fin 27 is screwed up, the bottle cap structure 272 has a good waterproof effect, and meanwhile, the dorsal fin 27 designed according to bionics can also increase the swimming stability and efficiency of the bionic machine dolphin 1000.
As shown in fig. 1 and 5, according to an embodiment of the present invention, the waist pitch steering engine transmission mechanism 42 is disposed between the second section of the housing 31 and the third section of the housing 41, and includes a waist pitch steering engine fixing frame 421, a waist pitch steering engine 422, and a waist pitch steering engine connecting frame 423, the waist pitch steering engine fixing frame 421 is fixed on the second section of the housing 31, the waist pitch steering engine 422 is fixed on the waist pitch steering engine fixing frame 421, one end of the waist pitch steering engine connecting frame 423 is connected to the waist pitch steering engine 422, and the other end is fixed to the third section of the housing 41. Optionally, the waist pitch steering engine fixing frame 421 is fixed on the second section of the housing 31 by bolts, and the other end of the waist pitch steering engine connecting frame 423 is fixed with the third section of the housing 41 by bolts. When the waist pitching steering engine 422 works, the waist pitching steering engine connecting frame 423 can transmit the movement of the waist pitching steering engine 422, so that the third section of the shell 41 swings in the vertical symmetrical plane of the body of the bionic robotic dolphin 1000, and the bionic robotic dolphin 1000 can be pushed forwards.
As shown in fig. 1, 6 and 7, according to an embodiment of the present invention, the tail pitch steering engine transmission mechanism 51 is disposed between the third section of the housing 41 and the tail fin 52, and includes a tail pitch steering engine fixing frame 511, a tail pitch steering engine 512 and a tail pitch steering engine connecting frame 513, the tail pitch steering engine fixing frame 511 is fixed on the third section of the housing 41, the tail pitch steering engine 512 is fixed on the tail pitch steering engine fixing frame 511, and one end of the tail pitch steering engine connecting frame 513 is connected to the tail pitch steering engine 512 and the other end is connected to the tail fin 52. When the tail pitching steering engine 512 works, the tail pitching steering engine connecting frame 513 can transmit the motion of the tail pitching steering engine 512, so that the tail fin 52 swings in the vertical symmetrical plane of the body of the bionic robotic dolphin 1000 to control the bionic robotic dolphin 1000 to push forwards.
The waist pitching steering engine transmission mechanism 42 is matched with the tail pitching steering engine transmission mechanism 51, a sine waveform with a certain phase difference can be output, the abdomen rolling motion of the wide kiss point original dolphin can be well fitted, and forward thrust is obtained when the waist pitching steering engine transmission mechanism 42 and the tail pitching steering engine transmission mechanism 51 symmetrically swing; when the swing is asymmetric, the floating and the diving can be realized.
According to one embodiment of the invention, the biomimetic robotic dolphin 1000 ensures that the biomimetic robotic dolphin 1000 has a stable motion attitude in water by means of a counterweight.
Specifically, in order to ensure that the biomimetic robotic dolphin 1000 has a stable motion attitude in water, the biomimetic robotic dolphin 1000 needs to be reasonably weighted. The head 1, the first body section 2, the second body section 3, the third body section 4, the tail 5 and other sections of the bionic robot dolphin 1000 are weighed, the volume of each section is calculated by Solidworks, and the counterweight mass which can enable the gravity and the buoyancy of each section to be equal is calculated, so that the bionic robot dolphin 1000 can be rightly suspended in water and can be balanced front, back, left and right; meanwhile, in order to ensure the stability of the biomimetic robotic dolphin 1000 during swimming, a counterweight needs to be added to the lower part of the biomimetic robotic dolphin 1000 as much as possible to lower the center of gravity of the biomimetic robotic dolphin 1000. In some embodiments, the weight may be weighted using lead bars and lead shot. The lead bar has regular shape and larger mass, and can be used for adjusting the balance weight in a large range; lead particles are small, can be arranged in a self-sealing bag to flexibly change the mass and the external shape of the bionic dolphin 1000, and can be used for fine adjustment in a small range. Most counter weights are arranged in the bionic machine dolphin 1000, so that the streamline appearance of the bionic machine dolphin 1000 is guaranteed, and a small number of counter weights are arranged outside the bionic machine dolphin 1000, so that the center of gravity position can be finely adjusted in the later period conveniently. Each counter weight is fixed by electrician's glue, transparent glue and string, prevents that the counter weight from sliding or droing.
According to one embodiment of the present invention, the pectoral fin housing 244 and the caudal fins 52 are made of a photosensitive resin 8000. This is because the pectoral fin housing 244 and the tail fin 52 bear a large stress during the movement of the biomimetic robotic dolphin 1000, and the photosensitive resin 8000 has high strength and toughness, so that the strength and propulsion efficiency of the biomimetic robotic dolphin 1000 can be improved. The other shell parts of the biomimetic robotic dolphin 1000, such as the head shell 11, the first section shell 21, the second section shell 31, the third section shell 41 and the like, are made of ABS material, which is the most common 3D printing material, and has low cost.
As shown in fig. 3, according to an embodiment of the present invention, the electronic device module 25 includes a bottom plate 251, a waterproof case 252, and a power supply module 253, the bottom plate 251 is fixed to the inner bottom of the first stage case 21, the waterproof case 252 is fixed to the bottom plate 251, the electronic components are contained in the waterproof case 252, and the power supply module 253 is fixed to the outer wall of the waterproof case 252. It can be appreciated that the electronic components are disposed in the waterproof case 252, which is beneficial to prevent the electronic components from being corroded by moisture and ensure the service life of the electronic components. When the electronic device module 25 is installed, the waterproof box 252 with the electronic components is firstly fixed (for example, adhesively fixed) on the bottom plate 251, then the bottom plate 251 is placed in the first section of the housing 21, one end of the bottom plate 251 and the first section of the rear partition plate 23 fixed on the first section of the housing 21 are mutually abutted, and then the bottom plate 251 is fixed on the first section of the housing 21 by using screws, so that the fixing is completed, and the installation mode well avoids the problem of difficult installation due to narrow installation space in the first section of the housing 21. It should be noted that the bottom plate 251 plays a role of supporting and fixing, the power supply module 253 includes a battery 2531 and a voltage stabilizing module 2532, the battery 2531 passes through the voltage reducing and stabilizing module 2532, and the electronic components supply power. Preferably, the battery 2531 is a 3s lithium battery, has a rated voltage of 11.1V and a capacity of 2500mAh, stably supplies 8.4V after voltage reduction, is equal to the maximum voltage which can be input by all the single steering engines, and simultaneously selects a bread board as a power supply board, and connects the voltage stabilizing module 2532 to the bread board, so that electric energy can be supplied to multiple paths of electrical appliances.
As shown in FIG. 10, according to a further embodiment of the present invention, the electronic components include an Arduino UNO3 microprocessor and a raspberry pie; the Arduino UNO3 microprocessor is used for controlling the operation of the head steering engine transmission mechanism 13, the pectoral fin 24, the gravity center adjusting mechanism 26, the waist yaw steering engine transmission mechanism 32, the waist pitch steering engine transmission mechanism 42 and the tail pitch steering engine transmission mechanism 51; the raspberry pi is connected to the camera 12 for video capture and transmission. That is, as shown in fig. 10, the Arduino UNO3 microprocessor is connected to the head steering engine 132, waist yaw steering engine 322, waist pitch steering engine 422, tail pitch steering engine 512 and pectoral fin steering engine 242 of the biomimetic robotic dolphin 1000 for controlling their rotation angles, and the camera 12 is connected to the raspberry for image acquisition and transmission.
It should be noted that the Arduino UNO3 microprocessor outputs a PWM signal to control the steering engine, the Arduino UNO3 microprocessor has six PWM output pins, the six PWM output pins directly output the PWM signal by a hardware method, practically any digital IO interface can output the PWM signal by a software method, and the Arduino UNO3 microprocessor has six digital IO interfaces, so that the Arduino UNO3 microprocessor can control 12 steering engines at most simultaneously. The Vin interface of the Arduino UNO3 microprocessor inputs 8.4V to power the Arduino UNO3 microprocessor. The Arduino UNO3 microprocessor is connected with a USB patch cord, and an external computer can be used for writing and burning programs for the Arduino UNO3 microprocessor; the control program used by the Arduino UNO3 microprocessor calls the functions of a handle function library (PS 2X _ lib.h) steering engine function library (Servo.h) and a mathematic library (math.h) and has the key points of a button reading function parse _ PS2_ button and a steering engine PWM value writing function servo _ PWM. In addition, the Arduino UNO3 microprocessor is also connected with an antenna module for receiving signals from the outside for controlling the handle of the biomimetic robotic dolphin 1000. The Arduino UNO3 microprocessor continuously receives signals from the outside for controlling the handle of the bionic dolphin 1000 and performs corresponding operation processing to obtain PWM values of each steering engine and writes the PWM values into each steering engine.
Specifically, the biomimetic robotic dolphin 1000 uses the raspberry pi carrying the camera 12 to enable the capture and transmission of video. The raspberry pi has a configured OpenCV environment, stores a small program capable of calling the camera 12, and remotely logs in the raspberry pi on an external notebook computer by using VNCVIEWER when in use, so as to transmit an image to the external notebook computer in real time. In addition, the raspberry pi and the Arduino UNO3 microprocessor are connected through a usb interface, so that the mutual communication between the raspberry pi and the Arduino UNO3 microprocessor is realized, the raspberry pi can be remotely logged in an external notebook computer, and programs in the Arduino UNO3 microprocessor can be remotely modified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (11)
1. A six-degree-of-freedom bionic dolphin robot with an image transmission function is characterized by having dolphin bionics characteristics; the bionic dolphin robot sequentially comprises from front to back:
the head comprises a head shell, a camera and a head steering engine transmission mechanism; the camera is arranged on the head shell and used for shooting underwater images and outputting the underwater images; the head steering engine transmission mechanism is used for driving the head shell to rotate in a vertical symmetrical plane of the body of the bionic robotic dolphin so as to realize the head raising and head lowering motions of the bionic robotic dolphin;
the first body section comprises a first section shell, a first section front clapboard, a first section rear clapboard, a pectoral fin, an electronic device module and a gravity center adjusting mechanism; the front end of the first section shell is hermetically connected with the rear end of the head shell; the first section of front partition plate and the first section of rear partition plate are respectively and correspondingly fixed at the front end and the rear end of the first section of shell; the two pectoral fins are arranged on the first section of shell in a bilateral symmetry mode and used for assisting the bionic dolphin in posture adjustment; the electronic device module and the gravity center adjusting mechanism are both arranged in the first section of the shell; the gravity center adjusting mechanism is used for changing the gravity center position of the bionic robot dolphin so as to enable the bionic robot dolphin to do pitching motion, and therefore floating and submerging motions are achieved;
the second body section comprises a second section shell and a waist yaw steering engine transmission mechanism; the front end of the second section of shell is hermetically connected with the rear end of the first section of shell; the waist yaw steering engine transmission mechanism is used for driving the second section of shell to freely rotate in a horizontal plane so as to realize yaw turning of the bionic dolphin robot;
the third body section comprises a third shell and a waist pitching steering engine transmission mechanism; the front end of the third section of shell is hermetically connected with the rear end of the second section of shell; the waist pitching steering engine transmission mechanism is used for driving the third section of the shell to swing in a vertical symmetrical plane of the body of the bionic robotic dolphin so as to control the bionic robotic dolphin to push forwards;
the tail part comprises a tail pitching steering engine transmission mechanism and tail fins, and the tail pitching transmission steering engine transmission mechanism is arranged on the third section of shell and the tail fins and is used for driving the tail fins to swing in a vertical symmetrical plane of the body of the bionic robotic dolphin so as to control the bionic robotic dolphin to push forwards;
the electronic device module is used for respectively controlling the camera, the head steering engine transmission mechanism, the pectoral fins, the gravity center adjusting mechanism, the waist yaw steering engine transmission mechanism, the waist pitching steering engine transmission mechanism and the tail pitching steering engine transmission mechanism.
2. The six-degree-of-freedom bionic robotic dolphin with the image transmission function according to claim 1, wherein the head steering engine transmission mechanism is arranged between the head shell and the first section of front partition plate and comprises a head steering engine fixing frame, a head steering engine and a head steering engine connecting frame, the head steering engine fixing frame is fixed on the head shell, the head steering engine is fixed on the head steering engine fixing frame, one end of the head steering engine connecting frame is connected with the head steering engine, and the other end of the head steering engine connecting frame is connected with the first section of front partition plate.
3. The six-degree-of-freedom bionic robotic dolphin with the image transmission function according to claim 1, wherein the waist yaw steering engine transmission mechanism is arranged between the first section of the rear partition plate of the body and the second section of the shell and comprises a waist yaw steering engine fixing frame, a waist yaw steering engine and a waist yaw steering engine connecting frame, the waist yaw steering engine fixing frame is fixed on the second section of the shell, the waist yaw steering engine is fixed on the waist yaw steering engine fixing frame, one end of the waist yaw steering engine connecting frame is connected with the waist yaw steering engine, and the other end of the waist yaw steering engine connecting frame is connected with the first section of the rear partition plate.
4. The six-degree-of-freedom biomimetic robotic dolphin with image transfer function according to claim 1, wherein the center-of-gravity adjusting mechanism comprises a motor, a support frame, a lead screw and a weight, wherein the motor and the support frame are oppositely disposed at a distance from each other, a front end of the lead screw is connected to the motor, a rear end of the lead screw is rotatably supported on the support frame, and the weight is disposed on the lead screw, and when the motor rotates in the forward and reverse directions, the lead screw is driven to rotate in the forward and reverse directions synchronously, so that the weight is driven to move back and forth along the lead screw.
5. The six-degree-of-freedom biomimetic robotic dolphin with image transfer function according to claim 1, wherein two pectoral fins comprise a pectoral fin steering engine bracket, a pectoral fin steering engine, a pectoral fin connector and a pectoral fin housing, respectively, wherein the pectoral fin steering engine bracket is fixed on the first section housing, the pectoral fin steering engine is fixed on the pectoral fin steering engine bracket, and the pectoral fin housing is connected to the pectoral fin steering engine through the pectoral fin connector; when the bionic robot dolphin posture adjusting device works, the pectoral fin steering engine drives the pectoral fin shell to rotate, so that the attack angle of the pectoral fin is changed, and the bionic robot dolphin posture adjusting device can assist in posture adjustment.
6. The six-degree-of-freedom biomimetic robotic dolphin with image transfer functionality according to claim 1, wherein said first body segment further comprises dorsal fins; a bottleneck structure is fixed on the back of the first section of the shell and used for outward extension of a charging wire and a lower wire of the electronic device module; and a bottle cap structure is fixed on the dorsal fin, and the bottle cap structure is detachably connected to the bottle mouth structure in a sealing manner.
7. The six-degree-of-freedom bionic robotic dolphin with the image transmission function according to claim 1, wherein the waist pitch steering engine transmission mechanism is arranged between the second section of shell and the third section of shell and comprises a waist pitch steering engine fixing frame, a waist pitch steering engine and a waist pitch steering engine connecting frame, the waist pitch steering engine fixing frame is fixed on the second section of shell, the waist pitch steering engine is fixed on the waist pitch steering engine fixing frame, one end of the waist pitch steering engine connecting frame is connected with the waist pitch steering engine, and the other end of the waist pitch steering engine connecting frame is fixed with the third section of shell.
8. The six-degree-of-freedom biomimetic robotic dolphin with image transmission function according to claim 1, wherein the tail pitching steering engine transmission mechanism is arranged between the third section of the shell and the tail fin and comprises a tail pitching steering engine fixing frame, a tail pitching steering engine and a tail pitching steering engine connecting frame, the tail pitching steering engine fixing frame is fixed on the third section of the shell, the tail pitching steering engine is fixed on the tail pitching steering engine fixing frame, one end of the tail pitching steering engine connecting frame is connected with the tail pitching steering engine, and the other end of the tail pitching steering engine connecting frame is fixed with the tail fin.
9. The six-degree-of-freedom biomimetic robotic dolphin with image transfer function according to claim 1, wherein the pectoral fin and tail fin are made of photosensitive resin 8000.
10. The six-degree-of-freedom biomimetic robotic dolphin with image transfer function according to claim 1, wherein said electronics module comprises a base plate, a waterproof box and a power supply assembly, said base plate is fixed on the inner bottom of said first section housing, said waterproof box is fixed on said base plate, said waterproof box contains electronic components therein, said power supply assembly is fixed on the outer wall of said waterproof box.
11. The six-degree-of-freedom biomimetic robotic dolphin with image transfer functionality according to claim 10, wherein said electronic components include Arduino UNO3 microprocessor and raspberry pie; the Arduino UNO3 microprocessor is used for controlling the operation of the head steering engine transmission mechanism, the pectoral fin, the gravity center adjusting mechanism, the waist yaw steering engine transmission mechanism, the waist pitching steering engine transmission mechanism and the tail pitching steering engine transmission mechanism; the raspberry pie is connected with a camera to capture and transmit videos.
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| JP2007314011A (en) * | 2006-05-25 | 2007-12-06 | Japan Agengy For Marine-Earth Science & Technology | Cruiser system |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN106864712A (en) * | 2017-03-29 | 2017-06-20 | 西北工业大学 | Bionic mechanical dolphin |
| CN110539867A (en) * | 2019-09-17 | 2019-12-06 | 吕梁学院 | simulated water quality detection robotic dolphin |
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| US10717508B2 (en) * | 2017-11-17 | 2020-07-21 | Massachusetts Institute Of Technology | Actuation system for swimming robots |
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| JP2007314011A (en) * | 2006-05-25 | 2007-12-06 | Japan Agengy For Marine-Earth Science & Technology | Cruiser system |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN106864712A (en) * | 2017-03-29 | 2017-06-20 | 西北工业大学 | Bionic mechanical dolphin |
| CN110539867A (en) * | 2019-09-17 | 2019-12-06 | 吕梁学院 | simulated water quality detection robotic dolphin |
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