CN106516056A - Robotic fish attitude converse method and system - Google Patents
Robotic fish attitude converse method and system Download PDFInfo
- Publication number
- CN106516056A CN106516056A CN201610971096.5A CN201610971096A CN106516056A CN 106516056 A CN106516056 A CN 106516056A CN 201610971096 A CN201610971096 A CN 201610971096A CN 106516056 A CN106516056 A CN 106516056A
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- machine fish
- action
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- attitude
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000009471 action Effects 0.000 claims abstract description 81
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000012216 screening Methods 0.000 claims abstract description 6
- 241000208340 Araliaceae Species 0.000 claims description 5
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 5
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 5
- 235000008434 ginseng Nutrition 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 abstract description 17
- 239000011664 nicotinic acid Substances 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of bionic robots and discloses a robotic fish attitude converse method and system. The robotic fish attitude converse system comprises a simulation module used for simulating action of a robotic fish on a simulator, an acquisition module used for acquiring movement parameters of the action, a sending module used for sending the movement parameters to the robotic fish, an action module used for controlling the robotic fish to make corresponding action according the movement parameters, a screening module used for screening out action meeting requirements from the action, and a storage module used for storing the movement parameters corresponding to the action meeting the requirements. According to the robotic fish attitude converse method and system, operation is easy, the action effect is good, and the intelligent degree is better.
Description
Technical field
The present invention relates to bio-robot technical field, more particularly to a kind of machine fish attitude reverse method and system.
Background technology
The nineties in 20th century is concentrated mainly on theoretical side previously for the bionic research of Fish, with Fish pusher
What reason was studied gos deep into, the new development of roboticses, bionics, electronic technology, material science and control technology, simulation Fish trip
Underwater robot-the bionic machine fish of motivation reason receives extensive concern both domestic and external.Originally the action of machine fish is adjusted
Adjust mainly by the operational factor for manually entering motor and manual both modes of joint for swinging fish, search out several parade streams
Smooth action constitutes the action of complete set, and control machine fish is paraded according to this set action, as the action of machine fish is probably
The multiple joint linkages of synchronization, by steering wheel parameter is manually entered, one is comparatively laborious, and two is difficult when multiple joints are linked
To accomplish to coordinate.Although the method for reverse operation of recording is carried out in the joint for manually swinging fish can accomplish that action links, by
In machine fish than larger, and actual debugging enironment is, in water, to there is complex operation, the problem of action effect difference.
The content of the invention
For the deficiencies in the prior art, the present invention is intended to provide a kind of simple to operate, more preferable machine fish appearance of action effect
State reverse method and system.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of machine fish attitude reverse method, methods described include：
The action of machine fish is simulated on simulator；
Gather the corresponding kinematic parameter of the action；
The kinematic parameter is sent to machine fish；
The machine fish makes respective action according to the kinematic parameter.
As a further improvement on the present invention, the machine fish makes respective action according to the kinematic parameter, also before
Including：The machine fish is by current all parameter initializations.
As a further improvement on the present invention, the machine fish makes respective action according to the kinematic parameter, concrete to wrap
Include：The machine fish makes the corresponding action of the kinematic parameter on the basis of current state is kept.
As a further improvement on the present invention, methods described also includes：
Satisfactory action is filtered out from the action, preserves the motion ginseng corresponding to the satisfactory action
Number.
As a further improvement on the present invention, the simulator is the scale model of the machine fish, the simulator
Structure is identical with the machine fish.
As a further improvement on the present invention, the kinematic parameter of the collection action is specifically included：The machine fish
Each position of body is equipped with sensor, the kinematic parameter of machine fish corporal parts described in the sensor acquisition.
As a further improvement on the present invention, the kinematic parameter includes：The pendulum angle at each position of simulator,
Swing speed and activity command.
A kind of machine fish attitude inverse system, the system include：
Analog module, for the action for simulating machine fish on simulator；
Acquisition module, for gathering the kinematic parameter of the action；
Sending module, for the kinematic parameter is sent to machine fish；
Action module, makes respective action for controlling the machine fish according to the kinematic parameter.
As a further improvement on the present invention, the system also includes：
Screening module, for filtering out satisfactory action from the action；
Preserving module, for preserving the kinematic parameter corresponding to the satisfactory action.
As a further improvement on the present invention, the system also includes：
Initialization module, for before the machine fish makes respective action according to the kinematic parameter, by the machine
The current all parameter initializations of device fish.
Compared to prior art, the machine fish attitude reverse method and system operatio of the present invention get up simpler, action
More preferably, intelligence degree is higher for effect.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow the present invention above and other objects, features and advantages can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Description of the drawings
Fig. 1 is the flow chart of machine fish attitude reverse method in the embodiment of the present invention.
Fig. 2 is the module map of machine fish attitude inverse system in the embodiment of the present invention.
Description of symbols：210th, analog module；220th, acquisition module；230th, sending module；240th, action module；250th, screen
Module；260th, preserving module.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
Fig. 1 is the flow chart of machine fish attitude reverse method in the embodiment of the present invention.Methods described is applied to machine fish appearance
State multi channel, the method comprising the steps of：
Step 110, on simulator simulate machine fish action；
Preferably, the simulator is the scale model of the machine fish, and the structure of the simulator is with the machine fish
It is identical.
Preferably, the action is a series of action.
Specifically, the simulator is a skeleton individually similar to fish, and all joints on skeleton are with machine fish
Joint with it is the same, simulates the various actions of machine fish by only need to swinging each joint on simulator.
Step 120, the corresponding kinematic parameter of the collection action；
Specifically, there is one on each joint of the machine fish for detecting the parameters such as the angle and speed of joint motion
Sensor, the kinematic parameter in each joint of sensor real-time detection.
Preferably, the Parameters variation on each joint described in detecting every 500ms.
Preferably, when the angle of detection is more than 2 degree than the last angle difference for detecting, update angle parameter.
Preferably, the kinematic parameter includes：The pendulum angle at each position of simulator, swing speed and activity are suitable
Sequence etc..
Step 130, the kinematic parameter is sent to machine fish；
Preferably, the kinematic parameter is sent by radio.
Step 140, the machine fish make respective action according to the kinematic parameter；
Specifically, the machine fish makes the corresponding action of the kinematic parameter on the basis of current state is kept.
For example, the current state of machine fish is at the uniform velocity to advance, and the corresponding action of the kinematic parameter is rolling, then machine fish
Tumbling action is made in the colleague of the advance that remains a constant speed.
Preferably, methods described also includes：
Step 150, satisfactory action is filtered out from the action, preserve corresponding to the satisfactory action
Kinematic parameter；
Preferably, by the action for constantly adjusting simulator, find out it is a set of than smoother good-looking action, will be corresponding
Kinematic parameter is preserved.
Preferably, methods described also includes：
Before the machine fish makes respective action according to the kinematic parameter, by the machine fish current all ginsengs
Number initialization.
Preferably, machine fish remains stationary state under the init state.
Fig. 2 is the module map of machine fish attitude inverse system in the embodiment of the present invention.The system is included with lower module：Mould
Intend module 210, acquisition module 220, sending module 230, action module 240, screening module 250, preserving module 260, main work
Make flow process as follows：
The analog module 210, simulates the action of machine fish on simulator；
Preferably, the simulator is the scale model of the machine fish, and the structure of the simulator is with the machine fish
It is identical.
Preferably, the action is a series of action.
Specifically, the simulator is a skeleton individually similar to fish, and all joints on skeleton are with machine fish
Joint with it is the same, simulates the various actions of machine fish by only need to swinging each joint on simulator.
The acquisition module 220, the kinematic parameter is sent to machine fish；
Specifically, there is one on each joint of the machine fish for detecting the parameters such as the angle and speed of joint motion
Sensor, the kinematic parameter in each joint of sensor real-time detection.
Preferably, the Parameters variation on each joint described in detecting every 500ms.
Preferably, when the angle of detection is more than 2 degree than the last angle difference for detecting, update angle parameter.
Preferably, the kinematic parameter includes：The pendulum angle at each position of simulator, swing speed and activity are suitable
Sequence etc..
The sending module 230, the kinematic parameter is sent to machine fish；
Preferably, the kinematic parameter is sent by radio.
The action module 240, controls the machine fish and makes respective action according to the kinematic parameter；
Specifically include：The machine fish makes the corresponding action of the kinematic parameter on the basis of current state is kept.
For example, the current state of machine fish is at the uniform velocity to advance, and the corresponding action of the kinematic parameter is rolling, then machine fish
Tumbling action is made in the colleague of the advance that remains a constant speed.
Preferably, the system also includes：
Screening module 250, filters out satisfactory action from the action；
Specifically, by the action for constantly adjusting simulator, find out a set of than smoother good-looking action.
Preferably, the system also includes：
Preserving module 260, preserves the kinematic parameter corresponding to the satisfactory action
Specifically, the kinematic parameter corresponding to the smoothness good-looking action is preserved.
Preferably, the system also includes：
Initialization module：The machine fish is controlled in the action module 240 corresponding moving is made according to the kinematic parameter
Before work, by all parameter initializations of current machine fish.
Preferably, machine fish remains stationary state under the init state.
The machine fish attitude reverse method of the present invention and system are as a result of simulator, it is to avoid be manually entered parameter
Loaded down with trivial details, the machine fish attitude reverse method and system operatio of the present invention get up simpler, and action effect is more preferable.
For a person skilled in the art, technical scheme that can be as described above and design, make other each
Plant corresponding change and deform, and all these changes and deforms the protection model that should all belong to the claims in the present invention
Within enclosing.
Claims (10)
1. a kind of machine fish attitude reverse method, it is characterised in that methods described includes：
The action of machine fish is simulated on simulator；
Gather the corresponding kinematic parameter of the action；
The kinematic parameter is sent to machine fish；
The machine fish makes respective action according to the kinematic parameter.
2. machine fish attitude reverse method as claimed in claim 1, it is characterised in that the machine fish is according to the motion ginseng
Number makes respective action, also includes before：The machine fish is by current all parameter initializations.
3. machine fish attitude reverse method as claimed in claim 1, it is characterised in that the machine fish is according to the motion ginseng
Number makes respective action, specifically includes：The machine fish makes the kinematic parameter correspondence on the basis of current state is kept
Action.
4. machine fish attitude reverse method as claimed in claim 1, it is characterised in that methods described also includes：
Satisfactory action is filtered out from the action, preserves the kinematic parameter corresponding to the satisfactory action.
5. machine fish attitude reverse method as claimed in claim 1, it is characterised in that the simulator is the machine fish
Scale model, the structure of the simulator are identical with the machine fish.
6. machine fish attitude reverse method as claimed in claim 1, it is characterised in that the motion ginseng of the collection action
Number is specifically included：Each position of the machine fish body is equipped with sensor, machine fish body described in the sensor acquisition
The kinematic parameter at each position.
7. machine fish attitude reverse method as claimed in claim 1, it is characterised in that the kinematic parameter includes：The mould
Intend pendulum angle, swing speed and the activity command at each position of device.
8. a kind of machine fish attitude inverse system, it is characterised in that the system includes：
Analog module, for the action for simulating machine fish on simulator；
Acquisition module, for gathering the kinematic parameter of the action；
Sending module, for the kinematic parameter is sent to machine fish；
Action module, makes respective action for controlling the machine fish according to the kinematic parameter.
9. machine fish attitude inverse system as claimed in claim 8, it is characterised in that the system also includes：
Screening module, for filtering out satisfactory action from the action；
Preserving module, for preserving the kinematic parameter corresponding to the satisfactory action.
10. machine fish attitude inverse system as claimed in claim 8, it is characterised in that the system also includes：
Initialization module, for before the machine fish makes respective action according to the kinematic parameter, by the machine fish
Current all parameter initializations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610971096.5A CN106516056A (en) | 2016-11-05 | 2016-11-05 | Robotic fish attitude converse method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610971096.5A CN106516056A (en) | 2016-11-05 | 2016-11-05 | Robotic fish attitude converse method and system |
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| Publication Number | Publication Date |
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| CN106516056A true CN106516056A (en) | 2017-03-22 |
Family
ID=58326554
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| CN201610971096.5A Pending CN106516056A (en) | 2016-11-05 | 2016-11-05 | Robotic fish attitude converse method and system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008018794A (en) * | 2006-07-12 | 2008-01-31 | Ko Yamaguchi | Electromagnetic propulsion device |
| CN103135765A (en) * | 2013-02-20 | 2013-06-05 | 兰州交通大学 | Human motion information capturing system based on micro-mechanical sensor |
| CN105108727A (en) * | 2015-07-24 | 2015-12-02 | 沈阳千会科技有限公司 | Robot profiling controller and control method thereof |
| CN105415396A (en) * | 2015-12-18 | 2016-03-23 | 青岛海蓝康复器械有限公司 | Motion parameter detection method for joint cascade system and joint cascade system |
| CN105690394A (en) * | 2016-04-21 | 2016-06-22 | 奇弩（北京）科技有限公司 | Robot action generating method |
-
2016
- 2016-11-05 CN CN201610971096.5A patent/CN106516056A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008018794A (en) * | 2006-07-12 | 2008-01-31 | Ko Yamaguchi | Electromagnetic propulsion device |
| CN103135765A (en) * | 2013-02-20 | 2013-06-05 | 兰州交通大学 | Human motion information capturing system based on micro-mechanical sensor |
| CN105108727A (en) * | 2015-07-24 | 2015-12-02 | 沈阳千会科技有限公司 | Robot profiling controller and control method thereof |
| CN105415396A (en) * | 2015-12-18 | 2016-03-23 | 青岛海蓝康复器械有限公司 | Motion parameter detection method for joint cascade system and joint cascade system |
| CN105690394A (en) * | 2016-04-21 | 2016-06-22 | 奇弩（北京）科技有限公司 | Robot action generating method |
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Application publication date: 20170322 |