CN112810782A - Underwater bionic robot and motion control system thereof - Google Patents
Underwater bionic robot and motion control system thereof Download PDFInfo
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- CN112810782A CN112810782A CN201911118514.6A CN201911118514A CN112810782A CN 112810782 A CN112810782 A CN 112810782A CN 201911118514 A CN201911118514 A CN 201911118514A CN 112810782 A CN112810782 A CN 112810782A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 50
- 230000033001 locomotion Effects 0.000 title claims description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 239000004945 silicone rubber Substances 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 description 8
- 239000000463 material Substances 0.000 description 7
- 229910052744 lithium Inorganic materials 0.000 description 6
- 230000009182 swimming Effects 0.000 description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 241000772415 Neovison vison Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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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
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种水下仿生机器人，包括机体，设置于所述机体左右两侧的胸鳍及设置于所述机体尾部的尾鳍，所述机体内设有控制器，所述胸鳍包括多个侧鳍条及连接于所述侧鳍条的柔性鳍面，所述尾鳍包括一尾鳍条及连接于尾鳍条的尾鳍软体，每个所述侧鳍条或所述尾鳍条连接于独立的鳍条摆动机构，所述鳍条摆动机构被所述控制器控制运动，以使两侧的所述侧鳍条以相同频率不同相位角上下摆动，所述尾鳍条左右摆动。采用胸鳍推进和尾鳍推进两种推进模式，通过侧鳍条的上下摆动和尾鳍条的左右摆动来产生推进力，可有效提高机器人的机动性和推进效率，有效提高了仿生机器人的综合性能，能更好地适应狭窄、复杂和动态的水下环境，便于开展监测、勘探、搜索及救援等任务。
An underwater bionic robot includes a body, pectoral fins arranged on the left and right sides of the body and a caudal fin arranged at the tail of the body, a controller is arranged in the body, and the pectoral fin includes a plurality of side fin rays and a connection On the flexible fin surface of the side fin ray, the caudal fin includes a caudal fin ray and a caudal fin soft body connected to the caudal fin ray, each of the side fin ray or the caudal fin ray is connected to an independent fin ray swing mechanism, the The fin ray swing mechanism is controlled to move by the controller, so that the side fin rays on both sides swing up and down at the same frequency and different phase angles, and the tail fin rays swing left and right. Using two propulsion modes, pectoral fin propulsion and caudal fin propulsion, the propulsion force is generated by the up and down swing of the side fin rays and the left and right swing of the caudal fin rays, which can effectively improve the maneuverability and propulsion efficiency of the robot, and effectively improve the comprehensive performance of the bionic robot. Better adapt to the narrow, complex and dynamic underwater environment for monitoring, exploration, search and rescue tasks.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an underwater bionic robot and a motion control system thereof.
Background
The traditional propulsion modes of the underwater robot are mainly propeller propulsion and jet propulsion, but the underwater robot has the problems of low fluid propulsion efficiency, inflexible action, high noise and the like, so the underwater bionic robot is gradually valued. The underwater bionic robot is a moving device which simulates the propelling mechanism of underwater biological swimming and realizes underwater propulsion by using mechanical electronic components or intelligent materials. Underwater organisms are of a wide variety, with fish being the most abundant. Most fishes have extraordinary underwater motion capability and have the motion characteristics of high efficiency, high maneuverability, low noise and the like, so the bionic fish robot becomes a research hotspot of scholars at home and abroad.
The underwater bionic robot needs to research the motion propulsion mode of fish and the technical development of the bionic robot. The underwater bionic robot is a product of a plurality of high and new technologies and combines the interdisciplinary technologies of bionics, mechanics, electronics, control, materials science and the like. The underwater robot simulates the structural form, the working principle, the control mechanism and the like of fish, and can improve the propelling speed and the propelling efficiency of the underwater robot. The propulsion mode of most fishes is divided into two modes of tail fin swing propulsion and pectoral fin swing propulsion, wherein the tail fin swing propulsion and the pectoral fin swing propulsion mainly generate propulsion through the swing of tail fins, and the two modes have good instantaneous acceleration performance and strong cruising ability; the latter mainly depends on the swinging of the pectoral fins to generate propelling force, and the maneuvering performance of the device is good. In recent years, with the emergence of bionic materials and flexible materials, flexible driving is gradually a research hotspot of underwater bionic robots. The flexible driving robot is mainly made of soft silicon rubber, so that the flexibility and the durability of the robot are improved.
The existing underwater bionic robot has the following technical defects: (1) the tail fin swinging propulsion mode has good instantaneous acceleration performance and strong cruising capability, but the maneuverability is not very flexible; the pectoral fin swing propulsion mode has good maneuvering performance, but insufficient instantaneous acceleration performance and cruising ability. (2) The flexible driving robot has better flexibility and strong adaptability, but has insufficient propelling capability, and meanwhile, suitable flexible substitute materials are difficult to find on batteries and electronic components, so that a full-flexible structure is difficult to achieve. Therefore, there is a need to design a better underwater bionic robot to solve the above problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the underwater bionic robot and the motion control system thereof, which can effectively improve the maneuverability and the propulsion efficiency and can be well adapted to the ocean complex environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an underwater bionic robot, includes the organism, set up in the pectoral fin of the organism left and right sides and set up in the tail fin of organism afterbody, be equipped with the controller in the organism, the pectoral fin include a plurality of side fin lines and connect in the flexible fin face of side fin line, the tail fin includes a tail fin line and connects in the tail fin software of tail fin line, every side fin line or tail fin line connects in independent fin line swing mechanism, fin line swing mechanism quilt controller controlled motion, so that both sides the side fin line is with the luffing motion of same frequency different phase angle, tail fin line horizontal hunting.
Furthermore, five side fin strips which are evenly spaced are respectively arranged on two sides of the machine body, and the phase difference between every two adjacent side fin strips on the flexible fin surface on each side is pi/2.
Further, the fin ray swinging mechanism comprises a steering engine and a connecting rod, the connecting rod is connected to the side fin ray or the tail fin ray, and the connecting rod drives the side fin ray or the tail fin ray to swing under the control of the steering engine.
Further, the flexible fin surface is made of flexible silicone rubber in a film shape or a plate shape.
Further, a camera for collecting underwater monitoring pictures is arranged at the head of the machine body.
Further, the body is also provided with an attitude instrument for detecting the motion attitude angle.
Further, the machine body is provided with an overflow detector for detecting whether water enters.
Further, the organism is equipped with the sonar that is used for surveying the distance between and the bottom.
The utility model provides a motion control system based on above-mentioned bionic robot under water, includes the controller, controller and PC host computer communication connection, the controller pass through communication joint connect in fin swing mechanism, in order to control the side fin reaches the motion of tail fin, the controller passes through communication joint connects in sonar, overflow detector, gesture appearance and camera, in order to acquire bionic robot is at the real-time data under water, through the controller transmits for the PC host computer.
Further, fin ray swing mechanism includes steering wheel and connecting rod, the connecting rod connect in side fin ray or tail fin ray, the controller pass through communication joint connects in the steering wheel, the controller receives the instruction that the PC host computer sent, and control the swing angle and the speed of side fin ray or tail fin ray.
The invention has the beneficial effects that:
the underwater bionic robot adopts two propulsion modes of pectoral fin propulsion and tail fin propulsion, generates propulsion through the up-and-down swing of the side fin strips and the left-and-right swing of the tail fin strips, can effectively improve the maneuverability and the propulsion efficiency of the robot, can independently control each side fin strip and each tail fin strip through the fin strip swing structure, enables the side fin strips on the two sides to swing up and down at the same frequency and different phase angles, can change the shape of the fin when swimming according to the motion mode of the bionic robot, has good maneuverability, effectively improves the comprehensive performance of the bionic robot, can better adapt to narrow, complex and dynamic underwater environment, and is convenient for developing tasks such as monitoring, exploration, search, rescue and the like.
Drawings
FIG. 1 is a schematic structural diagram of an underwater bionic robot of the invention;
FIG. 2 is a schematic diagram showing the motion state of each lateral fin strip on the pectoral fin surface on one side of the underwater bionic robot;
FIG. 3 is a schematic diagram of the motion control system of the underwater bionic robot of the invention;
in the figure, 1-machine body, 11-controller, 12-camera, 13-sonar, 14-overflow detector, 15-attitude instrument, 16-lithium battery pack, 17-communication connector, 2-pectoral fin, 21-side fin strip, 22-flexible fin surface, 3-tail fin, 31-tail fin strip, 4-fin strip swing mechanism, 41-steering engine, 42-connecting rod and 5-PC host computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Referring to fig. 1, the present invention provides an underwater bionic robot, which includes a body 1, pectoral fins 2 disposed on left and right sides of the body 1, and tail fins 3 disposed at a tail of the body 1. The pectoral fin 2 is a main propulsion body of the robot, the tail fin 3 is an auxiliary propeller of the robot, the underwater bionic robot of the invention refers to a shallow water fish, namely a mink fish, in the morphological structure and the propulsion mechanism, combines two propulsion modes of pectoral fin propulsion and tail fin propulsion, and can effectively improve the maneuverability and the propulsion efficiency of the robot. The robot body 1 is of a rigid structure, the pectoral fin 2 comprises a plurality of side fin lines 21 and flexible fin surfaces 22 connected to the side fin lines 21, the tail fin 3 comprises a tail fin line 31 and tail fin soft bodies 32 connected to the tail fin line 31, and the flexible fin surfaces 22 and the tail fin soft bodies 32 are made of flexible materials, so that the flexibility of the robot is improved. In the embodiment, the flexible fin surface 22 is made of flexible silicon rubber in a film shape or a plate shape, and the comprehensive performance of the bionic robot is optimized by complementing the flexible fin surface with the rigid body 1, so that the bionic robot can better adapt to narrow, complex and dynamic underwater environments, and is convenient for carrying out tasks such as monitoring, exploration, search, rescue and the like.
The body 1 is used as an electronic control cabin of the underwater bionic robot and is responsible for arranging various mechanical and electronic components. The machine body 1 is internally provided with a controller 11, and the controller 11 is a motion control unit of the robot and is mainly responsible for realizing a motion control algorithm of the robot and communication among all functional modules.
As shown in fig. 1 and 2, each side fin-shaped bar 21 or tail fin-shaped bar 31 is connected to a separate fin-shaped bar swinging mechanism 4, and the fin-shaped bar swinging mechanisms 4 are controlled by the controller 11 to swing the side fin-shaped bars 21 on both sides up and down at the same frequency and different phase angles, and the tail fin-shaped bar 31 swings left and right. In this embodiment, two sides of the body 1 are respectively provided with five side fin lines 21 at uniform intervals, and the phase difference between every two adjacent side fin lines 21 on each side fin surface 22 is pi/2. The five side fins 21 have different lengths, wherein the middle side fin 21 is the longest and the side fins 21 on both sides are successively shorter. The lateral fin strips 21 on the two sides of the pectoral fin 2 do sinusoidal oscillation with the same frequency and different phase angles to generate driving force in each motion direction, the single-side pectoral fin surface 22 is in a sinusoidal waveform state during swimming, and the left-right oscillation of the tail fin 3 can increase the instantaneous propulsion acceleration of the bionic robot.
The fin ray swinging mechanism 4 comprises a steering engine 41 and a connecting rod 42, the connecting rod 42 is connected to the side fin ray 21 or the tail fin ray 31, and the connecting rod 42 is controlled by the steering engine 41 to drive the side fin ray 21 or the tail fin ray 31 to swing. The steering gear 41 is connected to the controller 11 via the communication joint 17, so that the controller 11 controls the movement of the steering gear 41 to control the movement of the side fin bars 21 and the tail fin bar 31. In the present embodiment, the steering gear 41 is a digital steering gear, and is responsible for accurately driving the swing angles and speeds of the side fin bars 21 and the tail fin bars 31. The output shaft of the steering engine 41 and the connecting rod 42 are sealed and fastened through a sealing fastener, so that good waterproof and fixation are realized.
The head of organism 1 is equipped with camera 12, sonar 13, overflow detector 14, is equipped with gesture appearance 15 on the organism 1, still is equipped with lithium cell group 16 in the organism 1, and the afterbody of organism 1 is equipped with communication joint 17. The camera 12 is a high-definition camera and is used for collecting a monitoring picture in front of the robot in the swimming process in the water body. Sonar 13 is used to detect the distance between the robot and the water bottom. The overflow detector 14 is used for detecting whether the robot enters water or not and is used as a starting switch of the robot. The attitude instrument 15 is used for detecting a motion attitude angle (euler angle) of the robot in the water space, including a heading angle, a roll angle, and a pitch angle. The lithium battery pack 16 is responsible for power supply and power management of the entire robot. The communication connector 17 is used for communication connection between the robot and the PC upper computer 5, and is formed of a water-tight connector.
The bionic robot combines two propulsion modes of pectoral fin propulsion and tail fin propulsion, the fin surface is made of flexible materials, the propulsion force is generated by swinging of the side fin strips 21 and the tail fin strips 31, each side fin strip 21 and each tail fin strip 31 can be independently controlled, the shape of the fin surface can be changed according to the motion mode of the robot during swimming, the bionic robot has good maneuverability, and the comprehensive performance of the bionic robot is effectively improved. The invention is proved to be feasible through theoretical analysis and simulation test.
The invention also provides a motion control system based on the underwater bionic robot, which comprises a controller 11, an attitude instrument 15, an overflow detector 14, a sonar 13, a lithium battery pack 16, a camera 12, a steering engine 41, a communication joint 17 and the like. The controller 11 is in communication connection with the PC upper computer 5, the controller 11 is connected to the fin-shaped fin swinging mechanism 4 through the communication connector 17 to control the movement of the side fin 21 and the tail fin 31, specifically, the controller 11 is connected to the steering engine 41 through the communication connector 17, the controller 11 receives an instruction sent by the PC upper computer 5 and controls the swinging angle and speed of the side fin 21 or the tail fin 31, and the PC upper computer 5 can set the flapping frequency of each fin to adapt to different fin surface swinging speeds. The controller 11 is further connected to a sonar 13, an overflow detector 14, an attitude instrument 15 and a camera 12 through a communication joint 17 to acquire underwater real-time data of the underwater bionic robot, and the underwater real-time data is transmitted to the PC upper computer 5 through the controller 11.
In this embodiment, the controller 11 uses an ARM microprocessor as a core board, and includes the communication connector 17 of a plurality of peripherals such as I/O, PWM, UART, RS485, CAN, and the like, which has high expandability and CAN meet the requirement of future expansion functions. The attitude instrument 15 adopts an IMU/AHRS, such as a serial port 9-axis sensor MPU9250 attitude module, and communicates with the main control board of the controller 11 through a UART. The overflow detector 14 uses a high sensitivity water pressure sensor and communicates with the main control board of the controller 11 through an I/O port. Sonar 13 uses waterproof ultrasonic sensor, communicates with the main control panel of controller 11 through the UART. The camera 12 is assembled by a customized high-definition mini camera, monitoring videos can be transmitted to the PC upper computer 5 in real time or stored in a memory card in the camera 12, and the video uploading communication mode is an Ethernet mode. The steering engine 41 is a digital steering engine, and may be controlled by a bus method or PWM, and in this embodiment, PWM is used for control. The communication joint 17 adopts a CAN bus mode, has long transmission distance and strong anti-interference capability, and realizes communication with the PC upper computer 5. The lithium battery 16 employs a 7.4V polymer lithium battery.
The bionic robot has the advantages that the rigid body 1 is combined with the flexible fin surface, the pectoral fin propulsion mode and the tail fin propulsion mode are combined at the same time, the comprehensive performance of the bionic robot is optimized, the bionic robot is flexible in movement, the instantaneous propulsion acceleration can be realized, the cruising ability is high, the movement of the side fin strips 21 and the tail fin strips 31 is controlled through the movement control system, the movement speed and the movement angle of the fin strips can be changed according to the movement mode of the robot during swimming, the bionic robot has good maneuverability, can be better suitable for narrow, complex and dynamic underwater environments, and is convenient for carrying out tasks such as monitoring, exploration, search and rescue.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
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| CN201911118514.6A CN112810782A (en) | 2019-11-15 | 2019-11-15 | Underwater bionic robot and motion control system thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305850A (en) * | 2021-06-15 | 2021-08-27 | 西南科技大学 | Flexible robot and design method thereof |
| CN113320665A (en) * | 2021-07-12 | 2021-08-31 | 北京航空航天大学 | Bionic underwater robot propelled by long fin fluctuation |
| CN113428329A (en) * | 2021-07-09 | 2021-09-24 | 哈尔滨工程大学 | Underwater robot imitating batfish propulsion mode |
| CN113602458A (en) * | 2021-08-16 | 2021-11-05 | 中山大学 | Bionic robot fish |
| CN113771565A (en) * | 2021-09-22 | 2021-12-10 | 哈尔滨工程大学 | A flexible wave-fin bionic submersible |
| CN114102624A (en) * | 2021-11-25 | 2022-03-01 | 西安智荣机电科技有限公司 | Multipurpose robot based on bionic principle |
| CN114671000A (en) * | 2022-04-13 | 2022-06-28 | 上海电力大学 | A bionic stingray robot based on sinusoidal oscillating wave fin structure |
| CN115009479A (en) * | 2022-06-22 | 2022-09-06 | 武汉鑫鼎泰技术有限公司 | An underwater split bionic robot based on aluminum power source |
| CN115071935A (en) * | 2022-05-18 | 2022-09-20 | 合肥工业大学 | Bionic inspection device based on Internet of things and inspection method thereof |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113305850B (en) * | 2021-06-15 | 2022-03-08 | 西南科技大学 | Flexible robot and design method thereof |
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| CN114102624B (en) * | 2021-11-25 | 2024-04-23 | 西安智荣机电科技有限公司 | Multipurpose robot based on bionic principle |
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| CN114671000B (en) * | 2022-04-13 | 2025-03-04 | 上海电力大学 | A bionic manta ray robot based on a sinusoidal oscillating fin structure |
| CN115071935A (en) * | 2022-05-18 | 2022-09-20 | 合肥工业大学 | Bionic inspection device based on Internet of things and inspection method thereof |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
| CN115009479A (en) * | 2022-06-22 | 2022-09-06 | 武汉鑫鼎泰技术有限公司 | An underwater split bionic robot based on aluminum power source |
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