CN112918646A - Pectoral fin and tail fin cooperative control system and method for bionic robot fish - Google Patents
Pectoral fin and tail fin cooperative control system and method for bionic robot fish Download PDFInfo
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- CN112918646A CN112918646A CN202110275280.7A CN202110275280A CN112918646A CN 112918646 A CN112918646 A CN 112918646A CN 202110275280 A CN202110275280 A CN 202110275280A CN 112918646 A CN112918646 A CN 112918646A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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Abstract
The invention provides a pectoral fin and tail fin cooperative control system and a method of a bionic robot fish, which comprises a fish body shell, pectoral fins and tail fins, wherein a pectoral fin control assembly, a tail fin control assembly, a floating and submerging module and a control module are correspondingly arranged in a cavity in the fish body shell, the floating and submerging module comprises a floating and submerging cabin and a floating and submerging driving assembly, the control module comprises a computer, a controller and an information acquisition assembly, the information acquisition assembly is connected with the input end of the controller, the output end of the information acquisition assembly is respectively connected with the pectoral fin control assembly, the tail fin control assembly and the floating and submerging driving assembly, and the computer and the controller realize information interconnection through underwater wireless optical communication.
Description
Technical Field
The invention belongs to the technical field of robot fish control, and particularly relates to a pectoral fin and tail fin cooperative control system and method of a bionic robot fish.
Background
The underwater bionic robot fish is mature day by day, and fish with various forms and different control methods are derived from the initial Lighthill fish body wave curve. According to the fish body propelling method, two modes can be divided: Body/Caudal Fin (BCF) and mid-Fin/pair Fin (MPF). Summarizing the swimming performance of the conventional bionic robot fish, the bionic robot fish adopting the BCF mode has the advantages of high swimming speed, good high maneuverability and poor low-speed maneuverability, and the body is easy to shake and has poor stability; the bionic robot fish adopting the MPF mode has the advantages of good low-speed maneuverability, good body stability and low swimming speed. Most of the prior art only adopts tail fin control. .
Disclosure of Invention
The technical problem to be solved by the invention is to provide a pectoral fin and tail fin cooperative control system and method of a bionic robot fish aiming at the existing problems, wherein pectoral fins and peristaltic pumps are introduced to realize the straight swimming, turning, floating and submerging motions of the fish, and meanwhile, multi-mode control is added to realize the switching between different gears.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a pectoral fin and tail fin cooperative control system of bionical machine fish, its characterized in that, is in including fish body casing, setting pectoral fin and the tail fin of locating fish body casing afterbody of fish body casing both sides, correspond in the inside cavity of fish body casing and installed pectoral fin control assembly, tail fin control assembly, float and dive module and control module, pectoral fin control assembly links to each other with the pectoral fin, tail fin control assembly links to each other with the tail fin, float and dive the module including floating and dive cabin and float and dive drive assembly, control module includes computer, controller and information acquisition subassembly, the information acquisition subassembly with the input of controller links to each other, and the output links to each other with pectoral fin control assembly, tail fin control assembly and float and dive drive assembly respectively, the information interconnection is realized through wireless optical communication under water to computer and controller.
According to the scheme, the pectoral fin control assembly comprises four pectoral fin steering engines in a two-two group mode, a group of the four pectoral fin steering engines is a left-right swinging driving steering engine, the other group of the four pectoral fin steering engines is an up-down swinging driving steering engine, the left-right swinging driving steering engines are fixed on the fish body shell side by side through connecting pieces and are connected with the up-down swinging driving steering engines through rudder arms, the up-down swinging driving steering engines are connected with fin strips through the connecting pieces, and the fin strips are connected with the pect.
According to the scheme, the tail fin control assembly comprises three groups of driving joints which are connected in sequence, each driving joint comprises a front U-shaped support, a rear U-shaped support and a tail fin steering engine, the front U-shaped support and the rear U-shaped support are connected with the front side and the rear side of the tail fin steering engine respectively, the three groups of driving joints are connected through the front U-shaped support and the rear U-shaped support, the front U-shaped support of the driving joint located at the front end is fixed on the fish body shell, and the rear U-shaped support of the driving joint located at the rear end is connected with the tail fin.
According to the scheme, the floating and submerging driving assembly comprises a motor and a peristaltic pump, the motor drives the peristaltic pump to operate, and the peristaltic pump is communicated with the floating and submerging cabin.
According to the scheme, the information acquisition assembly comprises a fisheye camera and a gyroscope sensor, and is used for respectively acquiring the water area environment information and the orientation information of the robot fish.
A pectoral fin and tail fin cooperative control method of a bionic robot fish is characterized by comprising the following contents:
s1) multi-modal gear shifting: the bionic robot fish is provided with five directional gears of straight trip, left turn, right turn, floating and diving, fuzzy control analysis is carried out by judging the deviation of an expected pose and the current pose, the swinging of the pectoral fin and the tail fin and the water suction and drainage of a floating and diving cabin are respectively controlled, and the switching of different gears is realized;
s2) variable speed motion control: the numerical value of a timer is changed through the control of a computer and a controller, delay function parameters are set, the time interval between every two turns of the tail fin steering engine is controlled, and different swimming speeds are realized through different swing frequencies.
According to the scheme, the control method of each gear in the step S1 is as follows:
and (3) direct current control: : substituting parameters into a fish body wave curve, dividing a period into ten equal parts, calculating by Matlab to obtain the corresponding rotation angle of the tail fin steering engine at each moment, and setting parameters in a controller to finish straight-swimming motion;
and (3) turning control: on the basis of straight trip, offsetting each tail fin steering engine to the left or right by 22.5 degrees at each moment of the tail fins, and realizing turning and turning;
floating and submerging: the pectoral fins and the peristaltic pump are matched to move, and when the gravity of the robotic fish is equal to the buoyancy by the water amount absorbed by the floating and submerging cabin, the robotic fish is in a suspended state; the pectoral fins swing downwards, a peristaltic pump drains water, when the water volume of the floating and submerging cabin is smaller than that of the floating state, the buoyancy is larger than the gravity, and the robotic fish floats upwards; the pectoral fins are upward, the peristaltic pump absorbs water, when the water quantity of the floating and diving cabin is larger than that of the floating state, the buoyancy is smaller than the gravity, and the machine fish sinks.
According to the scheme, in the step S2, three speeds are set for gears in the three directions of direct movement, left rotation and right rotation, and the time intervals between each steering of the control tail fin steering engine are respectively as follows: 100ms, 110ms, 120 ms.
The invention has the beneficial effects that: the cooperative control system and the cooperative control method for the pectoral fin and the tail fin of the bionic robot fish are provided, the cooperative motion of the pectoral fin and the tail fin is utilized to control and design various modes of linear swimming, turning, variable speed swimming and the like of the robot fish, and meanwhile, the upward floating and submerging motion is completed through the peristaltic pump and the pectoral fin cooperative control, so that the single-mode stable motion control and the multi-mode cooperative switching control are realized; a fuzzy motion controller is designed by adopting a fuzzy control theory, so that the smooth change of the speed during speed change is realized, and the motion stability is improved.
Drawings
Fig. 1 is a block diagram of a complete machine control flow according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a pectoral fin control assembly according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a skeg control assembly according to an embodiment of the present invention.
Fig. 4 is a schematic view of the floating of a robotic fish according to one embodiment of the present invention.
Fig. 5 is a schematic view of the submergence of a robotic fish in accordance with one embodiment of the present invention.
FIG. 6 is a control hardware system layout of one embodiment of the present invention.
Fig. 7 is a diagram of a control scheme of the whole machine according to an embodiment of the present invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
As shown in fig. 1, 6 and 7, a pectoral fin and tail fin cooperative control system of a bionic robot fish comprises a fish body shell 1, pectoral fins 2 arranged on two sides of the fish body shell and tail fins 3 arranged at the tail of the fish body shell, a pectoral fin control assembly, a tail fin control assembly, a floating and submerging module and a control module are correspondingly arranged in a cavity in the fish body shell, the pectoral fin control assembly is connected with the pectoral fins, the tail fin control assembly is connected with the tail fins, the floating and submerging module comprises a floating and submerging cabin 4 and a floating and submerging driving assembly, the control module comprises a computer, a controller and an information acquisition assembly, the information acquisition assembly is connected with an input end of the controller, an output end of the information acquisition assembly is respectively connected with the pectoral fin control assembly, the tail fin control assembly and the floating and submerging driving assembly, and the computer and the controller realize information interconnection through Underwater Wireless Optical Communication.
The information acquisition assembly comprises a fisheye camera and a gyroscope sensor and is used for respectively acquiring water area environment information and orientation information of the robot fish.
The control system is composed of three levels, namely an operating system layer, a communication protocol layer and a bottom layer driving layer. The operating system layer is mainly used for the instruction control of a user side (computer); the uplink and downlink data links of the communication protocol layer adopt an optical communication mode; the bottom layer driving layer is a controller based on an STM32 single chip microcomputer, information acquisition and motion motor control of sensors such as a robotic fish eye camera, a global monitoring camera, a gyroscope, a humidity sensor and the like are achieved, meanwhile, a fuzzy motion controller is designed through a fuzzy control theory, smooth change of speed during speed change is achieved, motion stability is improved, and control of the biomimetic robotic fish is achieved through the assembly according to the hierarchy of a biomimetic robotic fish control system.
As shown in fig. 2, the pectoral fin control assembly comprises four pectoral fin steering engines in a group of two to two, one group is a left-right swing driving steering engine 5, the other group is an up-down swing driving steering engine 6, the left-right swing driving steering engines are arranged side by side through connecting pieces 7 and are connected with the fish body shell, the left-right swing driving steering engines are connected with the up-down swing driving steering engines through rudder arms 8, the up-down swing driving steering engines are connected with fin strips 9 through connecting pieces, and the fin strips are connected with the pectoral. The left-right swinging drives the steering engine to rotate so as to realize the rotation of the pectoral fins around the unfolding axis, namely the left-right swinging of the pectoral fins; the rotation of the up-and-down swinging drive steering engine realizes the rotation of the pectoral fins around the chordwise axial, namely the pectoral fins swing up and down.
As shown in fig. 3, the tail fin control assembly comprises three groups of driving joints which are connected in sequence, each driving joint comprises a front U-shaped support 10, a rear U-shaped support 11 and a tail fin steering engine 12, the front and rear U-shaped supports are connected with the front and rear sides of the tail fin steering engine respectively, the three groups of driving joints are connected through the front and rear U-shaped supports, the front U-shaped support of the driving joint at the front end is fixed on the fish body shell, and the rear U-shaped support of the driving joint at the rear end is connected with the tail fin.
Through the Lighthill curve, substitute suitable parameter, carry out ten equal divisions with a cycle, obtain the corresponding corner of tail fin steering wheel at every moment after Matlab calculates, set up the parameter and can accomplish straight trip motion in stm 32. On the basis of straight trip, each tail fin steering engine of the tail fins is offset by 22.5 degrees leftwards or rightwards at each moment, and turning can be achieved.
Wherein every fender position of straight trip, left turn, right turn sets up three speed of swimming, if accelerate straight trip, turn with higher speed etc. the interval of time between controlling the tail fin steering wheel to turn to at every turn is respectively: 100ms, 110ms and 120ms to meet different underwater environment requirements. Meanwhile, the bionic robot fish can perform fuzzy control analysis by judging the deviation between the expected pose and the current pose, so that switching between different gears is realized.
The floating and submerging driving assembly comprises a motor and a peristaltic pump, the motor drives the peristaltic pump to operate, and the peristaltic pump is communicated with the floating and submerging cabin. The principle of floating and submerging is as follows: the pectoral fins and the peristaltic pump are matched to move, and when the gravity of the robotic fish is equal to the buoyancy by the water amount absorbed by the floating and submerging cabin, the robotic fish is in a suspended state; the pectoral fins swing downwards, a peristaltic pump drains water, when the water volume of the floating and submerging cabin is smaller than that of the floating state, the buoyancy is larger than the gravity, and the robotic fish floats upwards; the pectoral fins are upward, the peristaltic pump absorbs water, when the water quantity of the floating and diving cabin is larger than that of the floating and diving cabin, the buoyancy is smaller than the gravity, and the machine fish sinks (see fig. 4 and 5).
While the present invention has been described with reference to the particular embodiments illustrated in the drawings, which are meant to be illustrative only and not limiting, it will be apparent to those of ordinary skill in the art in light of the teachings of the present invention that numerous modifications can be made without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a pectoral fin and tail fin cooperative control system of bionical machine fish, its characterized in that, is in including fish body casing, setting pectoral fin and the tail fin of locating fish body casing afterbody of fish body casing both sides, correspond in the inside cavity of fish body casing and installed pectoral fin control assembly, tail fin control assembly, float and dive module and control module, pectoral fin control assembly links to each other with the pectoral fin, tail fin control assembly links to each other with the tail fin, float and dive the module including floating and dive cabin and float and dive drive assembly, control module includes computer, controller and information acquisition subassembly, the information acquisition subassembly with the input of controller links to each other, and the output links to each other with pectoral fin control assembly, tail fin control assembly and float and dive drive assembly respectively, the information interconnection is realized through wireless optical communication under water to computer and controller.
2. The pectoral fin and tail fin cooperative control system of the bionic robot fish as claimed in claim 1, wherein the pectoral fin control assembly comprises four pectoral fin steering engines in a group of two by two, one group is a left-right swing driving steering engine, the other group is an up-down swing driving steering engine, the left-right swing driving steering engine is fixed on the fish body shell side by side through a connecting piece and is connected with the up-down swing driving steering engine through a rudder arm, the up-down swing driving steering engine is connected with a fin strip through a connecting piece, and the fin strip is connected with the pectoral fin.
3. The pectoral fin and tail fin cooperative control system of the bionic robot fish as claimed in claim 1 or 2, wherein the tail fin control assembly comprises three groups of driving joints which are sequentially connected, each driving joint comprises a front U-shaped support, a rear U-shaped support and a tail fin steering engine, the three groups of driving joints are connected through the front U-shaped support and the rear U-shaped support, the front U-shaped support and the rear U-shaped support are respectively connected with the front side and the rear side of the tail fin steering engine, the front U-shaped support of the driving joint at the front end is fixed on the fish body shell, and the rear U-shaped support of the driving joint at the rear end is connected with the tail fin.
4. The cooperative pectoral fin and caudal fin control system of a biomimetic robotic fish of claim 3, wherein the floating and submerging driving assembly comprises a motor and a peristaltic pump, the motor drives the peristaltic pump to operate, and the peristaltic pump is communicated with the floating and submerging cabin.
5. The pectoral fin and tail fin cooperative control system of the bionic robot fish as claimed in claim 1 or 4, wherein the information acquisition component comprises a fish eye camera and a gyroscope sensor for respectively acquiring water area environment information and orientation information of the robot fish.
6. A pectoral fin and tail fin cooperative control method of a bionic robot fish is characterized by comprising the following contents:
s1) multi-modal gear shifting: the bionic robot fish is provided with five directional gears of straight trip, left turn, right turn, floating and diving, fuzzy control analysis is carried out by judging the deviation of an expected pose and the current pose, the swinging of the pectoral fin and the tail fin and the water suction and drainage of a floating and diving cabin are respectively controlled, and the switching of different gears is realized;
s2) variable speed motion control: the numerical value of a timer is changed through the control of a computer and a controller, delay function parameters are set, the time interval between every two turns of the tail fin steering engine is controlled, and different swimming speeds are realized through different swing frequencies.
7. The cooperative pectoral fin and tail fin control method of the biomimetic robotic fish as claimed in claim 6, wherein the control method for each gear in step S1 is as follows:
and (3) direct current control: : substituting parameters into a fish body wave curve, dividing a period into ten equal parts, calculating by Matlab to obtain the corresponding rotation angle of the tail fin steering engine at each moment, and setting parameters in a controller to finish straight-swimming motion;
and (3) turning control: on the basis of straight trip, offsetting each tail fin steering engine to the left or right by 22.5 degrees at each moment of the tail fins, and realizing turning and turning;
floating and submerging: the pectoral fins and the peristaltic pump are matched to move, and when the gravity of the robotic fish is equal to the buoyancy by the water amount absorbed by the floating and submerging cabin, the robotic fish is in a suspended state; the pectoral fins swing downwards, a peristaltic pump drains water, when the water volume of the floating and submerging cabin is smaller than that of the floating state, the buoyancy is larger than the gravity, and the robotic fish floats upwards; the pectoral fins are upward, the peristaltic pump absorbs water, when the water quantity of the floating and diving cabin is larger than that of the floating state, the buoyancy is smaller than the gravity, and the machine fish sinks.
8. The cooperative control method for the pectoral fin and the tail fin of the bionic robot fish as claimed in claim 6 or 7, wherein in step S2, three speeds are set for three gears in the straight-swimming direction, the left-turning direction and the right-turning direction, and the time intervals between each turning of the tail fin steering engine are respectively controlled as follows: 100ms, 110ms, 120 ms.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113636048A (en) * | 2021-08-19 | 2021-11-12 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN113734393A (en) * | 2021-09-28 | 2021-12-03 | 深圳先进技术研究院 | Bionic robot fish depth control method and device based on attack angle method |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN115042940A (en) * | 2022-03-24 | 2022-09-13 | 中国舰船研究设计中心 | Flapping type underwater robot driven by artificial muscle |
| CN115871901A (en) * | 2023-02-14 | 2023-03-31 | 山东科技大学 | Sturgeon-imitated robot and submarine cable fault detection method |
| CN116002022A (en) * | 2022-12-27 | 2023-04-25 | 中国科学院自动化研究所 | Adsorption type bionic robot fish |
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2021
- 2021-03-15 CN CN202110275280.7A patent/CN112918646A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113636048A (en) * | 2021-08-19 | 2021-11-12 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN113734393A (en) * | 2021-09-28 | 2021-12-03 | 深圳先进技术研究院 | Bionic robot fish depth control method and device based on attack angle method |
| CN113734393B (en) * | 2021-09-28 | 2022-12-02 | 深圳先进技术研究院 | Bionic robot fish depth control method and device based on attack angle method |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN115042940A (en) * | 2022-03-24 | 2022-09-13 | 中国舰船研究设计中心 | Flapping type underwater robot driven by artificial muscle |
| CN116002022A (en) * | 2022-12-27 | 2023-04-25 | 中国科学院自动化研究所 | Adsorption type bionic robot fish |
| CN115871901A (en) * | 2023-02-14 | 2023-03-31 | 山东科技大学 | Sturgeon-imitated robot and submarine cable fault detection method |
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