CN113371160B

CN113371160B - Wireless reverse charging robotic fish, control system and control method

Info

Publication number: CN113371160B
Application number: CN202110672902.XA
Authority: CN
Inventors: 汪明; 王昆仑; 杜晓彬; 张宜阳; 谢浩田; 孙启凯
Original assignee: Shandong Jianzhu University
Current assignee: Shandong Jianzhu University
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2023-03-28
Anticipated expiration: 2041-06-17
Also published as: CN113371160A

Abstract

The utility model provides a wireless reverse charging robot fish, a control system and a control method, comprising at least two wireless reverse charging robot fish, wherein the at least two robot fish are communicated with each other, when the electric quantity of the first robot fish is lower than a first set value, the first robot fish sends an electric quantity request signal to the surroundings; when the electric quantity of the second robotic fish is higher than a second set value, the second robotic fish receives the electric quantity request signal of the first robotic fish and sends a return signal to determine the cooperative charging relationship of the two robotic fish; the first robotic fish receives the return signal, stops moving after floating to the water surface, and sends the position information to the second robotic fish; after receiving the position information of the first robotic fish, the second robotic fish moves to one side of the charging module of the first robotic fish, the discharging module of the second robotic fish is opposite to the charging module of the first robotic fish, and the two robotic fish establish a cooperative reverse charging connection to carry out wireless charging; the wireless charging system meets the requirement of wireless charging among multiple machine fishes in cooperation.

Description

Wireless reverse charging robotic fish, control system and control method

Technical Field

The disclosure relates to the technical field of underwater detectors, in particular to a wireless reverse charging robotic fish, a control system and a control method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In recent years, with the increasing exhaustion of land resources, people gradually turn their attention to oceans which are rich in resources and have great development value. Because the original underwater detection, operation and carrying devices are difficult to meet the requirements of complex underwater operation tasks, the research and development work of the underwater robot is accelerated. The bionic robot fish is used as a combination point of a fish propulsion mechanism and a robot technology, provides a new idea for developing a novel underwater vehicle, and has important research value and application prospect.

Meanwhile, with the rapid development of the robot technology, the execution force of a single underwater vehicle cannot meet the requirements of people, and the cooperation of multiple robots and fish is provided. However, when multiple robotic fishes cooperate, the problems of uneven distribution of electric quantity, insufficient initial electric quantity, too much electric quantity usage and incapability of returning voyage exist. And robotic fish are often used with severe power limitations, the internal circuitry is susceptible to corrosion, and the complexity of underwater fluid movement makes underwater independent charging particularly challenging.

The inventors have found that the main solutions for autonomous charging of underwater vehicles are generally direct contact charging or non-direct contact charging methods, however, the feasibility of direct contact is at the expense of effectively addressing leakage and corrosion, which is not easily achieved in water; the non-direct contact charging method mainly adopts a wireless coil mode for charging, but the existing wireless charging of the underwater vehicle mostly adopts a mode of 'mother ship + multiple vehicles', namely when the underwater vehicle is in short power, the mother ship is controlled to move towards the vehicle or the underwater vehicle is controlled to return to the position of the mother ship before the electric quantity is exhausted, so that the task execution efficiency is low.

Disclosure of Invention

In order to solve the defects of the prior art, the wireless reverse charging robot fish, the control system and the control method have the advantages that the sealing performance, the compatibility, the safety and the reliability are good, the service life of a battery can be effectively prolonged, the problems of underwater leakage and corrosion of the existing robot fish are solved, the requirement of cooperative mutual wireless charging among multiple robot fish is met, and the execution efficiency of underwater tasks is greatly improved.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

the first aspect of the present disclosure provides a wireless reverse charging robotic fish.

A wireless reverse charging robotic fish, comprising: the robot fish comprises a robot fish body, wherein a power supply module is arranged inside the robot fish body, at least one charging module connected with the power supply module is arranged on one side of the robot fish body, and at least one discharging module connected with the power supply module is arranged on the other side of the robot fish body.

Further, the power supply module is arranged at the bottom of the robot fish body, and the discharge module is arranged at the top of the robot fish body.

Further, the machine fish body at least comprises: control terminal, fish chamber and steering wheel, control terminal and steering wheel are connected and all set up in the fish intracavity, and the steering wheel then drives the motion of machine fish according to control terminal's instruction action.

Furthermore, a positioning module and a wireless communication module which are connected with the control terminal are further arranged in the robot fish body.

Furthermore, a high-impedance voltage divider connected with the control terminal is arranged in the robot fish body.

Further, the charging module comprises a first coil and a charging circuit, and the discharging module comprises a second coil and a discharging circuit.

The second aspect of the present disclosure provides a wireless reverse charging robot fish control system, which includes at least two wireless reverse charging robot fish of the first aspect of the present disclosure, the at least two robot fish are connected in communication with each other, and according to respective electric quantity conditions of the robot fish in communication with each other, mutual charging and discharging control is performed.

The third aspect of the present disclosure provides a method for controlling a wireless reverse charging robotic fish, where there are at least two wireless reverse charging robotic fish according to the first aspect of the present disclosure, and the at least two robotic fish are communicatively connected to each other, including the following steps:

when the electric quantity of the first robot fish is lower than a first set value, the first robot fish sends an electric quantity request signal to the surroundings;

when the electric quantity of the second robotic fish is higher than a second set value, the second robotic fish receives the electric quantity request signal of the first robotic fish and sends a return signal to determine the cooperative charging relationship of the two robotic fish;

the first robot fish receives the return signal, stops moving after floating to the water surface, and sends the position information to the second robot fish;

and after receiving the position information of the first robotic fish, the second robotic fish moves to one side of the charging module of the first robotic fish, the discharging module of the second robotic fish is opposite to the charging module of the first robotic fish, and the two robotic fish establish a cooperative reverse charging relation to carry out wireless charging.

Further, after receiving the position information of the first robotic fish, the second robotic fish submerges to a preset distance below the water surface and then moves to a position below the first robotic fish, wherein the preset distance is the height of the fish body of the first robotic fish.

Further, each robot fish which is cooperatively charged is determined to continuously detect the position information of the other side, and the swimming direction of each robot fish is controlled by the PID control method according to the position information of each robot fish, so that the robot fish can reach a positioning place.

Compared with the prior art, the beneficial effect of this disclosure is:

1. the content disclosed by the disclosure overcomes the defects and shortcomings of the prior art, and the cooperative contact of multiple robotic fishes is established by utilizing the wireless reverse charging device and the accurate positioning navigation device inside the wireless reverse charging device to wirelessly charge the robotic fishes underwater, so that the execution efficiency of underwater tasks is greatly improved.

2. The underwater leakage and corrosion problems of the existing robotic fish can be avoided, the problems of uneven electric quantity distribution and insufficient initial electric quantity when the multiple robotic fish cooperate with each other are solved, and the problem that the underwater robot fish cannot return due to insufficient electric quantity when the certain robotic fish executes underwater tasks can be prevented.

3. The wireless charging has good sealing performance, compatibility and higher safety and reliability, and can conveniently and continuously supplement energy for the battery without the situations of over-charging and over-discharging of the battery, so that the service life of the battery is effectively prolonged.

Advantages of additional aspects of the disclosure 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 disclosure.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to be construed as limiting the disclosure.

Fig. 1 is a schematic structural diagram of a wireless reverse charging robotic fish provided in embodiment 1 of the present disclosure.

Fig. 2 is a schematic structural view of a wireless charging and discharging device provided in embodiment 1 of the present disclosure.

Fig. 3 is a schematic view of underwater wireless charging for a two-robot fish provided in embodiment 1 of the present disclosure.

1-fish cavity; 2-a steering engine; 3-fish tail; 4-fish fins; 5-wireless charging and discharging device; 6-a battery; 7-a coil; 8-control circuit.

Detailed Description

The present disclosure is further described with reference to the following drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

Example 1:

as shown in fig. 1-3, the embodiment 1 of the present disclosure provides a wireless reverse charging robotic fish, which includes a robotic fish body, the robotic fish body is composed of a fish cavity 1 and a steering engine 2, fins 4 are connected to two external sides, a tail is connected to a fish tail 3, and the fish tail and the fin part are made into a tail fin structure, so as to facilitate movement of the robotic fish.

An upper wireless charging and discharging device 5 and a lower wireless charging and discharging device 5 and at least one battery 6 are arranged inside the fish cavity 1, and an embedded microcontroller is placed in the middle of the wireless charging and discharging devices 5 to process instructions and data and execute operation.

And an accurate positioning navigation system is arranged on a circuit board of the microcontroller, and is used for determining the moving direction, the turning angle and the moving distance of the robot fish.

A wireless communication module is arranged on a circuit board of the micro-control, and a User Datagram Protocol (UDP) is adopted as a communication protocol and is used for information transmission among the robotic fish.

The steering gears 2 are respectively a first steering gear, a second steering gear, a third steering gear and a fourth steering gear, the four joints are formed by coupling connection among the steering gears to form a driving module, and the later action of the head of the robot fish is controlled to enable the robot fish to move in a coordinated manner.

The wireless charging and discharging device 5 is divided into a charging module and a discharging module, the charging module is arranged at the bottom of the fish cavity 1, the discharging module is arranged at the top of the fish cavity 1, the charging module and the discharging module are connected with the battery 6 through wires, and the wireless charging and discharging device can be matched with other wireless reverse charging machine fishes to perform a wireless charging and discharging function.

It can be understood that, in some other embodiments, the charging module and the discharging module may also be disposed on two opposite sides of the robotic fish body, such as the left side and the right side, which may be selected by a person skilled in the art according to a specific working condition, and are not described herein again.

Preferably, the wireless charging and discharging device 5 comprises a coil 7 and a control circuit 8, wherein the coil and the charging circuit form a charging module which is arranged at the bottom of the fish cavity 1 and used for receiving and converting electric energy; the coil and the discharge circuit form a discharge module which is arranged at the top of the fish cavity 1 and used for converting and releasing electric energy.

The battery 6 serves as an energy storage element when the robotic fish serves as an electricity receiving party and as a power supply element when the robotic fish serves as an electricity sending party.

The robotic fish comprises a high impedance voltage divider for detecting the battery level; when detecting that the electric quantity of the battery is less than a set value b%, the robot fish sends an electric quantity request signal to the surroundings; when the battery power is detected to be larger than a set value a%, the robot fish receives a power request signal which can be detected around.

The robot fish also comprises a device for accurate positioning and navigation, the position information of the robot fish and the two parties is continuously detected by determining the robot fish charged in a cooperative mode, and the moving direction of the robot fish is controlled by a PID control method according to the position information to reach a positioning place.

Example 2:

the embodiment 2 of the present disclosure provides a wireless reverse charging robot fish control system, including at least two robot fish of embodiment 1 that charge in wireless reverse, at least two robot fish are connected in communication with each other, and according to the respective electric quantity condition of the robot fish that communicates with each other, carry out mutual charge-discharge control.

Example 3:

the embodiment 3 of the present disclosure provides a control method for a wireless reverse charging robot fish, where at least two robot fish in the embodiment 1 of the present disclosure exist, and at least two robot fish are in communication connection with each other.

When the electric quantity of the robotic fish A is lower than a set value b%, the robotic fish A sends an electric quantity request signal to the surroundings;

when the electric quantity of the robotic fish B is higher than a% of a set value, the robotic fish B receives the electric quantity request signal of the robotic fish A and sends a return signal to determine the cooperative charging relationship of the two robotic fish;

the robot fish A receives the return signal, stops moving after floating to the water surface, and sends position information to the robot fish B;

and after receiving the position information of the robot fish A, the robot fish B firstly submerges to a height of C cm below the water surface, wherein C is the height of a fish body, then the robot fish B moves to the position below the robot fish A, and the two robot fishes establish a cooperative reverse charging relation.

It is understood that, in some other embodiments, a plurality of robotic fish may cooperate with each other, for example, three robotic fish or four or more robotic fish cooperate with each other, and during the cooperation, respective electric quantity information and position information are obtained, and according to the electric quantity information and the corresponding position information, multi-objective cooperative optimization is performed with the goal of ensuring the shortest distance, minimizing the work impact on each robotic fish, and maximizing the charging on the underpowered robotic fish, so as to obtain the most suitable pair of robotic fish or obtain the most suitable plurality of cooperative robotic fish, for example, two robotic fish charge one robotic fish together.

The following description takes two robotic fish as an example of mutual cooperation:

each robotic fish having a high impedance voltage divider with an analog to digital converter having a 4.9mV resolution for measuring battery charge (expressed as a percentage) and the controller activating the robotic fish to send a charge request signal when the battery charge falls below 20% of the nominal charge; when the electric quantity of the battery is reduced to or increased to 50% of the rated electric quantity, the controller starts a main task execution program of the robot fish; when the battery power is higher than 80% of the rated power, the controller starts the robotic fish to detect and receive a surrounding power request signal.

The robot fish head comprises four steering gears, wherein the four steering gears are respectively a first steering gear, a second steering gear, a third steering gear and a fourth steering gear, the four steering gears are coupled and connected to form four joints to form a driving module, and the driving module is used for controlling the movement of the head of the robot fish so as to enable the robot fish to move coordinately.

The cooperative wireless reverse charging process of the two robotic fishes is as follows:

an increase in the robotic fish battery level indicates a period of time that the robotic fish is charging, while a decrease indicates that the robotic fish is performing tasks, including a primary task and a cooperative wireless reverse charging task.

When the power of the robot fish A is lower than 20%, a power request signal is sent to the surroundings. And when the electric quantity of the robotic fish B is higher than 80%, detecting and receiving a surrounding electric quantity request signal, and sending a return signal to establish cooperative contact with the robotic fish A. And after receiving the return signal, the robot fish A floats to the water surface to stop swimming, and sends the position information to the robot fish B. After receiving the position information of the robotic fish A, the robotic fish B firstly submerges to a position 10cm below the water surface, then the moving direction is judged through an accurate positioning navigation system, and after the steering angle and the moving distance are judged, the driving module is started through the controller to control the robotic fish B to reach a positioning place. At this time, a certain current is generated in the charging module coil arranged in the cavity of the robotic fish A through electromagnetic induction based on the alternating current with a certain frequency in the discharging module coil arranged in the cavity of the robotic fish B, so that the electric quantity is transferred from the robotic fish B to the battery of the robotic fish A. In the wireless charging stage, when the battery power of the robotic fish A is higher than 50% or the battery power of the robotic fish B is lower than 50%, the charging is finished, and the robotic fish continues to execute the main task program.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A control method of a wireless reverse charging robot fish is characterized by comprising the following steps:

there are at least two wireless machine fishes that charge in reverse, intercommunication is connected between at least two machine fishes, wireless machine fish that charges in reverse includes: the robot fish comprises a robot fish body, wherein a power supply module is arranged in the robot fish body, at least one charging module connected with the power supply module is arranged on one side of the robot fish body, and at least one discharging module connected with the power supply module is arranged on the other side of the robot fish body; the wireless charging and discharging device comprises a coil and a control circuit, wherein the coil and the charging circuit form a charging module which is arranged at the bottom of the fish cavity and used for receiving and converting electric energy; the coil and the discharge circuit form a discharge module which is arranged at the top of the fish cavity and used for converting and releasing electric energy;

the method comprises the following steps:

after receiving the position information of the first robotic fish, the second robotic fish moves to one side of the charging module of the first robotic fish, the discharging module of the second robotic fish is opposite to the charging module of the first robotic fish, and the two robotic fish establish a cooperative reverse charging relation to perform wireless charging; and determining that each robot fish charged in a cooperative manner continuously detects the position information of the other side, and controlling the swimming direction of the robot fish by using a PID control method according to the position information of each robot fish to reach a positioning place.

2. The method for controlling the wireless reverse charging robotic fish as claimed in claim 1, wherein:

the machine fish body includes at least: control terminal, fish chamber and steering wheel, control terminal and steering wheel are connected and all set up in the fish intracavity, and the steering wheel then drives the motion of machine fish according to control terminal's instruction action.

3. The method for controlling the wireless reverse charging robotic fish as claimed in claim 2, wherein:

and a positioning module and a wireless communication module which are connected with the control terminal are also arranged in the robot fish body.

4. The method for controlling the wireless reverse charging robotic fish as claimed in claim 2, wherein:

and a high-impedance voltage divider connected with the control terminal is also arranged in the robot fish body.

5. The method for controlling the wireless reverse charging robotic fish as claimed in claim 1, wherein:

the charging module comprises a first coil and a charging circuit, and the discharging module comprises a second coil and a discharging circuit.

6. The utility model provides a machine fish control system that wireless reverse charge which characterized in that:

the wireless reverse charging robot fish comprises at least two robot fish which are in wireless reverse charging according to claim 1, wherein the at least two robot fish are in communication connection with each other, and mutual charging and discharging control is performed according to respective electric quantity conditions of the robot fish which are in communication with each other.

7. The wireless reverse charging robotic fish control system of claim 6, wherein:

and after receiving the position information of the first robotic fish, the second robotic fish firstly submerges to a preset distance below the water surface and then moves to a position below the first robotic fish, wherein the preset distance is the height of the fish body of the robotic fish.