CN111901379A - Robot fish cluster formation control system and control method based on Zigbee networking - Google Patents
Robot fish cluster formation control system and control method based on Zigbee networking Download PDFInfo
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- CN111901379A CN111901379A CN202010604837.2A CN202010604837A CN111901379A CN 111901379 A CN111901379 A CN 111901379A CN 202010604837 A CN202010604837 A CN 202010604837A CN 111901379 A CN111901379 A CN 111901379A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H—ELECTRICITY
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Abstract
A robot fish cluster formation control system based on Zigbee networking comprises a PC (personal computer) end, a first communication module and an underwater bionic robot fish cluster; the underwater biomimetic robotic fish cluster comprises a plurality of underwater biomimetic robotic fish, and the underwater biomimetic robotic fish comprises a robotic fish body, a second communication module, a single chip microcomputer and three-way driving steering engines; the singlechip is connected with the second communication module through a serial port and is connected with the three-way driving steering engine; the PC end is connected with the first communication module through a serial port, and the first communication module is connected with the second communication module through a Zigbee network. The system integrates an STM32 single-chip microcomputer controller and a CC2530 chip carrying a Zigbee network, connects a laser obstacle avoidance sensor and a handle receiver on an STM32, and realizes various remote cluster control methods of the robot fish school by burning onboard programs in advance. In order to flexibly deal with the actual environment, the invention designs broadcasting and multicast mode switching based on a Zigbee network to carry out underwater robotic fish cluster formation control.
Description
Technical Field
The invention belongs to the field of underwater robot control systems, and particularly relates to a Zigbee networking-based robot fish cluster formation control system and a Zigbee networking-based robot fish cluster formation control method.
Background
With the development and the gradual maturity of the underwater unmanned underwater vehicle technology, a single underwater unmanned underwater vehicle cannot meet the development of requirements, so that the task executed by the underwater unmanned underwater vehicles in a cluster mode in a cooperative manner becomes a necessary trend of the development of the underwater unmanned underwater vehicle. The existing underwater detection is carried out by a single UUV underwater unmanned underwater vehicle, but the single UUV has the problems of low detection efficiency, narrow detection range and low detection precision.
Disclosure of Invention
The invention aims to provide a robot fish cluster formation control system and a control method based on Zigbee networking, so as to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot fish cluster formation control system based on Zigbee networking comprises a PC (personal computer) end, a first communication module and an underwater bionic robot fish cluster; the underwater biomimetic robotic fish cluster comprises a plurality of underwater biomimetic robotic fish, and the underwater biomimetic robotic fish comprises a robotic fish body, a second communication module, a single chip microcomputer and three-way driving steering engines; the singlechip is connected with the second communication module through a serial port and is connected with the three-way driving steering engine; the PC end is connected with the first communication module through a serial port, and the first communication module is connected with the second communication module through a Zigbee network.
Further, the underwater robotic fish is also provided with a laser obstacle avoidance module, a power supply module and a handle receiving module, and the laser obstacle avoidance module, the power supply module and the handle receiving module are all connected with the single chip microcomputer; the laser obstacle avoidance module is a three-way laser sensor.
Further, the first communication module is a CC2530 communication module carrying a Z-stack protocol stack; the second communication module is a Zigbee communication module of the CC2530 carried on the fish body.
Further, the single chip microcomputer is STM 32; the STM32 singlechip is connected with the second communication module through serial port USART1, and the STM32 singlechip is connected with the three-way drive steering engine through GPIOB10, GPIOB11 and GPIOB 12.
Further, a control method of a robot fish cluster formation control system based on Zigbee networking comprises the following steps:
s1, turning on the power supply of the underwater biomimetic robotic fish;
s2, the CC2530 communication module of the underwater bionic robot fish starts to operate, automatically sends networking application to the Zigbee network and carries out password pairing with the corresponding group, if the pairing is successful, the step enters S4, and if the pairing is not successful, the step enters S3;
s3, the underwater bionic robot fish enters an autonomous obstacle avoidance program, obstacle avoidance control of the robot fish is achieved by detecting obstacles through three laser sensors connected with an STM32 single chip microcomputer, and then the operation returns to S2;
s4, judging whether the handle receiving module has a control signal by the STM32 singlechip, if so, entering S5, otherwise, entering S7;
s5, the underwater biomimetic robotic fish receives the signal sent by the handle module and calls a motion control function according to the control signal;
s6, the underwater biomimetic robotic fish is upgraded to be a main fish, the motion control data is sent to the CC2530 communication module of the main fish of the underwater biomimetic robotic fish through the serial port of the single chip microcomputer, and then the CC2530 communication module is sent to the slave fish of the underwater biomimetic robotic fish in a multicast, on-demand or broadcast mode through a Zigbee network;
s7, the underwater bionic robot fish sends motion control data received by the CC2530 from the Zigbee network to the STM32 single chip microcomputer through a serial port, and then calls a motion function to control a steering engine;
s8, the STM32 single chip microcomputer enters a standby mode, detects the Zigbee network in a set period, and returns to the step S4 if the networking state is normal; otherwise, the process returns to step S2.
Further, the Zigbee network is in a multicast, on-demand, or broadcast mode; the specific implementation method comprises the following steps:
setting a broadcast ID address of the whole machine fish school, wherein the group number is x0001, the endpoint number is 10, and the cluster number is 0x 0003; dividing the machine fish into two groups, and respectively correlating the machine fish groups 1 and 2 with clusters 0x0001 and 0x 0002; switching modes of broadcast and multicast modes; the PC is connected with the first communication module through a serial port, data '1' and '2' are sent to the first communication module through the PC upper computer and then sent to the whole machine fish school through a Zigbee network, and when the machine fish school receives the data '1', a broadcasting clustering mode is adopted, namely, a data sending target address is set to be a cluster number of 0x 0003; when the robot fish receives the data "2", a multicast cluster mode is adopted, namely, the data sending target addresses are set to be cluster numbers 0x0001 and 0x0002 respectively.
Further, the cluster network structure adopts a centerless communication structure.
Compared with the prior art, the invention has the following technical effects:
the invention discloses an underwater multi-machine fish distributed network structure for realizing multicast, broadcast and on-demand communication, which is constructed by integrating and interacting a CC2530 module of a Zigbee wireless communication network based on a ZStack with an STM32, calibrating a group, an end point and a cluster number for receiving and sending by an individual machine fish through the protocol stack. The method and the device have the advantages that the cooperative detection of underwater multi-machine fish schools is realized, the search range of detection is enlarged, and the detection efficiency and precision are improved. And a laser sensor carried on the underwater robot fish platform is used for intelligently sensing the underwater environment, and a Zigbee network is used for information interaction among fish schools. So as to improve the intelligent perception capability of the machine fish school.
Drawings
FIG. 1 is a structural diagram of an underwater biomimetic robotic fish cluster system of the present invention;
FIG. 2 is a flow chart of the remote control process of the present invention;
fig. 3 is a diagram illustrating a Zigbee network structure according to the present invention;
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The utility model provides an underwater robot cluster formation control system based on Zigbee network deployment, includes a PC end, carries on the CC2530 chip and the bionic machine fish cluster of bionical machine fish under water of Z-stack protocol stack, the bionic machine fish cluster under water include a plurality of bionic machine fish under water, the bionic machine fish under water include the machine fish body, carry on the Zigbee communication module, STM32 singlechip and the drive steering wheel of CC2530 on the fish body. The STM32 singlechip is connected with CC2530 communication module and drive steering wheel respectively, PC links to each other with CC2530 communication module.
The Zigbee communication module can be used for dynamically adding underwater bionic robot fish in real time in a broadcasting, multicasting and point-to-point ad hoc network manner, the CC2530 communication module 1 receives a PC instruction, the CC2530 communication module 2 receives the instruction transmitted by the CC2530 communication module 1 through a Zigbee wireless network, the STM32 core controller receives the instruction of the CC2530 communication module 2, the STM32 core controller controls a steering engine, and the STM32 core controller can also send data to the CC2530 communication module 2 and send the data to other CC2530 communication modules 2 in the network in a Zigbee broadcasting, multicasting or on-demand manner.
The underwater bionic robot fish is provided with three obstacle avoidance modules which are connected with an STM32 controller.
And the obstacle avoidance module is a laser obstacle avoidance module.
The STM32 core controller burns the program in advance, and STM32 singlechip exports three routes PWM ripples through the kernel timer with the PWM mode, and three routes timer GPIO mouth is connected with the steering wheel control line, drives the steering wheel motion.
The steering engine motion curve is a fitting fish body wave.
A method for controlling underwater robotic fish by an underwater robotic fish cluster formation control system based on Zigbee networking comprises the following steps: the Bluetooth device is connected with the handle to be accessed into STM32 manual control, the Zigbee self-networking is adopted to realize the centreless network cluster control, the cluster control sends a data packet to the CC2530 communication module 2 through the main control fish STM32, and the data packet is sent to the CC2530 communication module 2 of the target slave fish through the Zigbee network, and then the data packet is sent to the slave fish STM32 single chip microcomputer to call the motion group to control the motion of the steering engine. Thereby realizing the formation control.
The centerless network is realized by a program which is burnt into a CC2530 module in advance and is compiled by using a Z-stack protocol stack message queue.
Examples
Referring to fig. 1, an underwater robot cluster formation control system based on Zigbee networking comprises a PC terminal, a CC2530 communication module 1 and a plurality of CC2530 communication modules 2 carrying a Z-stack protocol stack, and an underwater biomimetic robotic fish cluster. The underwater bionic robot fish cluster comprises a plurality of underwater bionic robot fish 3, wherein each underwater bionic robot fish 3 comprises a robot fish body, a CC2530 Zigbee communication module 2 carried on the fish body, an STM32 single-chip microcomputer 31 and a driving steering engine 32. The STM32 single-chip microcomputer 32 is connected with the CC2530 communication module 2 through a serial port USART1, is connected with the three-way driving steering engine 32 through GPIOB10, GPIOB11 and GPIOB12, and the PC is connected with the CC2530 communication module 1 through a serial port. The Zigbee communication modules 1 and 2 can be self-organized in a broadcasting, multicasting and point-to-point mode, the underwater bionic robot fish is dynamically added in real time, the CC2530 communication module 1 receives a PC instruction, the CC2530 communication module 2 receives the instruction transmitted by the CC2530 communication module 1 through a Zigbee wireless network, the STM32 core controller 31 receives the instruction of the CC2530 communication module 2, the STM32 core controller 31 controls the steering engine 32, and the STM32 core controller 31 can also send data to the CC2530 communication module 2 and send the data to other CC2530 communication modules 2 in the network in a Zigbee broadcasting, multicasting or on-demand mode. The underwater bionic robot fish 3 is provided with a three-way laser obstacle avoidance module 33 which is connected with the STM32 controller 31 through GPIOA0, GPIOA01 and GPIOA 2. The STM32 core controller 31 burns the record procedure in advance, and STM32 singlechip 31 passes through the kernel timer and exports three routes PWM wave with the PWM mode, and three routes timer GPIO mouth meets with the steering engine control line, drives the steering engine motion.
Referring to fig. 2, the underwater robot fish school remote control includes the following steps:
and S1, turning on the power supply of the underwater biomimetic robotic fish 3.
And S2, the CC2530 communication module 2 of the underwater biomimetic robotic fish 3 starts to operate, automatically sends networking application to the Zigbee network and performs password pairing with a corresponding group, if the pairing is successful, the step enters S4, and if the pairing is not successful, the step enters S3.
And S3, the underwater bionic robot fish 3 enters an autonomous obstacle avoidance program, the obstacle is detected by the three laser sensors 34 connected with the STM32 single chip microcomputer to realize autonomous obstacle avoidance control of the robot fish 3, and then the operation returns to S2.
S4, the underwater bionic robot fish 3 judges whether the handle receiving module 34 has a control signal, if so, the process goes to S5, and if not, the process goes to S7.
And S5, the underwater biomimetic robotic fish 3 receives the signal sent by the handle module 34 and calls a corresponding motion control function according to the control signal.
And S6, the underwater biomimetic robotic fish 3 is upgraded to be a main fish, the motion control data is sent to the CC2530 communication module 2 of the main fish of the underwater biomimetic robotic fish 3 through the serial port of the singlechip 31, and then the CC2530 communication module 2 is sent to the underwater biomimetic robotic fish slave fish 3 in a multicast, on-demand or broadcast mode through a Zigbee network.
And S7, the underwater bionic robot fish sends motion control data received by the CC2530 from the Zigbee network from the fish 3 to the STM32 single chip microcomputer 31 through the serial port 1, and then calls a motion function to control the steering engine 32.
S8, the STM32 core controller 32 enters a standby mode, detects the Zigbee network in a set period, and returns to the step S4 if the networking state is normal; otherwise, the process returns to step S2.
Referring to fig. 3, in the above embodiment, in order to implement the underwater biomimetic robotic fish cluster control function of the present invention, the present invention designs and constructs two Zigbee networks. First, a group control of the Zigbee broadcast mode is designed. Once one robot fish in the underwater bionic robot fish cluster receives the control signal, the robot fish sends the control signal to the CC2530 communication modules 2 of all the robot fish in the robot fish cluster in a Zigbee broadcast mode through the CC2530 communication modules 2, and then controls STM32 to call a motion function so as to realize the control of the whole robot fish cluster. Secondly, cluster control based on a Zigbee multicast mode is designed. And configuring a Zigbee multicast mode through a Z-STACK protocol STACK, dividing the whole machine fish group into a plurality of small groups, and respectively setting the control method. The implementation method is that different specific group number end point numbers and cluster numbers are distributed to each bionic robot fish group through a protocol STACK, and as the robot fish IDs in the same group are the same, and the data sending target addresses of the same bionic robot fish group are set to be the group number end point numbers and the cluster numbers of the bionic robot fish group through a Z-STACK protocol STACK, each group of bionic robot fish group data can be transmitted only in the group, so that the group clustering control function is achieved.
In order to achieve switching between broadcast and multicast with flexibility in reality, the specific implementation method is as follows, first, the broadcast ID address of the whole machine fish group is set, the group number is x0001, the endpoint number is 10, and the cluster number is 0x 0003. Since the Zigbee device can associate two clusters simultaneously, in order to implement multicast communication, the robotic fish is divided into two groups, and the robotic fish groups 1 and 2 are associated with clusters 0x0001 and 0x0002 respectively.
Switching mode between broadcast and multicast mode. The PC is connected with the CC2530 communication module 1 through a serial port, data '1' and '2' are sent to the CC2530 communication module 1 through the PC upper computer and then sent to the whole machine fish school through the Zigbee network, and when the machine fish school receives the data '1', a broadcasting clustering mode is adopted, namely, a data sending target address is set to be a cluster number of 0x 0003. When the robot fish receives the data "2", a multicast cluster mode is adopted, namely, the data sending target addresses are set to be cluster numbers 0x0001 and 0x0002 respectively.
Claims (7)
1. A robot fish cluster formation control system based on Zigbee networking is characterized by comprising a PC (personal computer) end, a first communication module and an underwater bionic robot fish cluster; the underwater biomimetic robotic fish cluster comprises a plurality of underwater biomimetic robotic fish, and the underwater biomimetic robotic fish comprises a robotic fish body, a second communication module, a single chip microcomputer and three-way driving steering engines; the singlechip is connected with the second communication module through a serial port and is connected with the three-way driving steering engine; the PC end is connected with the first communication module through a serial port, and the first communication module is connected with the second communication module through a Zigbee network.
2. The robot fish cluster formation control system based on Zigbee networking according to claim 1, wherein a laser obstacle avoidance module, a power supply module and a handle receiving module are further arranged on the underwater robot fish, and the laser obstacle avoidance module, the power supply module and the handle receiving module are all connected with the single chip microcomputer; the laser obstacle avoidance module is a three-way laser sensor.
3. The system of claim 1, wherein the first communication module is a CC2530 communication module with a Z-stack protocol stack; the second communication module is a Zigbee communication module of the CC2530 carried on the fish body.
4. The robotic fish cluster formation control system based on Zigbee networking according to claim 1, wherein the type of the single chip microcomputer is STM 32; the STM32 singlechip is connected with the second communication module through serial port USART1, and the STM32 singlechip is connected with the three-way drive steering engine through GPIOB10, GPIOB11 and GPIOB 12.
5. A control method of a robot fish cluster formation control system based on Zigbee networking, characterized in that the robot fish cluster formation control system based on Zigbee networking according to any one of claims 1 to 4 includes the following steps:
s1, turning on the power supply of the underwater biomimetic robotic fish;
s2, the CC2530 communication module of the underwater bionic robot fish starts to operate, automatically sends networking application to the Zigbee network and carries out password pairing with the corresponding group, if the pairing is successful, the step enters S4, and if the pairing is not successful, the step enters S3;
s3, the underwater bionic robot fish enters an autonomous obstacle avoidance program, obstacle avoidance control of the robot fish is achieved by detecting obstacles through three laser sensors connected with an STM32 single chip microcomputer, and then the operation returns to S2;
s4, judging whether the handle receiving module has a control signal by the STM32 singlechip, if so, entering S5, otherwise, entering S7;
s5, the underwater biomimetic robotic fish receives the signal sent by the handle module and calls a motion control function according to the control signal;
s6, the underwater biomimetic robotic fish is upgraded to be a main fish, the motion control data is sent to the CC2530 communication module of the main fish of the underwater biomimetic robotic fish through the serial port of the single chip microcomputer, and then the CC2530 communication module is sent to the slave fish of the underwater biomimetic robotic fish in a multicast, on-demand or broadcast mode through a Zigbee network;
s7, the underwater bionic robot fish sends motion control data received by the CC2530 from the Zigbee network to the STM32 single chip microcomputer through a serial port, and then calls a motion function to control a steering engine;
s8, the STM32 single chip microcomputer enters a standby mode, detects the Zigbee network in a set period, and returns to the step S4 if the networking state is normal; otherwise, the process returns to step S2.
6. The control method of the robot fish cluster formation control system based on Zigbee networking according to claim 5, wherein the Zigbee network is in a multicast, on-demand or broadcast mode; the specific implementation method comprises the following steps:
setting a broadcast ID address of the whole machine fish school, wherein the group number is x0001, the endpoint number is 10, and the cluster number is 0x 0003; dividing the machine fish into two groups, and respectively correlating the machine fish groups 1 and 2 with clusters 0x0001 and 0x 0002; switching modes of broadcast and multicast modes; the PC is connected with the first communication module through a serial port, data '1' and '2' are sent to the first communication module through the PC upper computer and then sent to the whole machine fish school through a Zigbee network, and when the machine fish school receives the data '1', a broadcasting clustering mode is adopted, namely, a data sending target address is set to be a cluster number of 0x 0003; when the robot fish receives the data "2", a multicast cluster mode is adopted, namely, the data sending target addresses are set to be cluster numbers 0x0001 and 0x0002 respectively.
7. The control method of the robot fish cluster formation control system based on Zigbee networking according to claim 6, wherein a cluster network structure adopts a centerless communication structure.
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