CN115107960B - Bionic machine penguin - Google Patents

Abstract

The present invention discloses a bionic robot penguin, which has the bionic characteristics of a penguin, and includes a body, two flippers and a tail. A closed cavity is provided inside the body, and a gravity center adjustment mechanism and an electronic device module are provided in the closed cavity. The gravity center adjustment mechanism is used to change the gravity center position of the bionic robot penguin so that the bionic robot penguin can do pitching motion; the two flippers are symmetrically arranged on the left and right sides of the body, and the two flippers have double degrees of freedom, so that the bionic robot penguin can do forward, turning and backward motion; the tail is connected to the body, and the tail can rotate within the symmetry plane of the body to assist the bionic robot penguin in moving forward; the electronic device module is used to control the operation of the gravity center adjustment mechanism, the two flippers and the tail respectively. The bionic robot penguin of the present invention can simulate the stable, flexible and efficient swimming of a real penguin, and has a broad application prospect.

Description

Bionic Robot Penguin

Technical Field

The invention relates to the technical field of bionic robots, in particular to a bionic robot penguin.

Background technique

Penguins have beautiful streamlined rostral temples, with a body length of about 80 to 120 cm and a maximum cross-section of about 30 cm × 25 cm. Penguins have a unique flapping fin propulsion method, with a maximum speed of 25 to 30 km per hour. Penguins are highly maneuverable when swimming, with a maximum instantaneous burst speed of 27.35 km/h underwater, and can jump 2 meters out of the water; they are flexible and agile in turning, and can move in a small space; penguins are good at diving, with their flippers and trunks cooperating to achieve buoyancy and diving, and it only takes 1.5 minutes to dive 100 meters, and the deepest diving depth is 565 meters. The streamlined body of penguins enables them to swim efficiently in the water. It is calculated that the energy equivalent to 1 liter of gasoline can support penguins to swim 1,500 km in Antarctica.

In the military, robot penguins can be used for marine defense operations. Their high mobility and large size make it easy to carry ammunition for assault operations. In civilian applications, robot penguins can be used for underwater exploration, pipeline maintenance, small logistics transportation, etc. They can also be used for fluid mechanics teaching aids in colleges and universities, the development of smart toys, and service industry tools. Therefore, robot penguins have broad application prospects and huge potential value in the civilian field and marine military. At present, there is no relatively mature robot penguin prototype, nor is there a control function that can automatically stabilize the posture.

Summary of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a bionic robot penguin that can simulate the stable, flexible and efficient swimming of a real penguin.

The bionic robot penguin according to the embodiment of the present invention has penguin bionic characteristics, including:

A body, wherein a closed cavity is provided inside the body, a gravity center adjustment mechanism and an electronic device module are provided in the closed cavity, and the gravity center adjustment mechanism is used to change the gravity center position of the bionic robot penguin so that the bionic robot penguin performs a pitching motion;

Two flippers, the two flippers are symmetrically arranged on the left and right sides of the body, and the two flippers have double degrees of freedom, so that the bionic robot penguin can move forward, turn and move backward;

A tail wing, the tail wing is connected to the body, and the tail wing can rotate within the symmetry plane of the body to assist the bionic robot penguin to move forward;

The electronic device module is used to control the operation of the center of gravity adjustment mechanism, the two fins and the tail wing respectively.

According to the bionic robot penguin of the embodiment of the present invention, the operation of the center of gravity adjustment mechanism is controlled by the electronic device module to change the center of gravity position of the bionic robot penguin, so that the bionic robot penguin can float and dive flexibly and efficiently, and the operation of the two flippers and the tail wing is controlled by the electronic device module, so that the bionic robot penguin can simulate the swimming mode of the real penguin, and can move forward, backward and turn flexibly and efficiently. In other words, the bionic robot penguin of the embodiment of the present invention can realize multiple movement modes such as moving forward, backward, turning, rising, diving, etc., and can swim stably and repeatedly, and has broad application prospects and huge potential value in the marine military and civilian fields. For example, in the military, the bionic robot penguin of the embodiment of the present invention can be used for marine defense operations, and can conveniently carry ammunition for assault operations; in civilian use, the bionic robot penguin of the embodiment of the present invention can be used for underwater exploration, pipeline maintenance, small logistics transportation, etc., and can also be used for the development of fluid mechanics teaching aids, intelligent toys, service industry tools, etc. in colleges and universities. In short, the bionic robot penguin of the embodiment of the present invention swims stably, flexibly and efficiently, and has a wide application prospect.

In some embodiments, the body includes a head, a chest, an abdomen, and a tail which are sealed and connected in sequence from front to back, and the front end of the chest and the rear end of the abdomen are both closed, so that the interior of the chest and the interior of the abdomen together form the closed cavity.

In some embodiments, each of the flippers includes an inner servo mechanism, an outer servo mechanism and a flipper wing surface; the inner servo mechanism is installed on the chest, and the inner servo mechanism is used to drive the outer servo mechanism to rotate within the vertical symmetry plane of the body; the outer servo mechanism drives the flipper wing surface to flap.

In some embodiments, the inner servo mechanism includes an inner disk, an inner servo and a bearing, the inner disk is fixed on the chest, the inner servo is installed on the inner disk, and the turntable of the inner servo is installed on the bearing; the outer servo mechanism includes an outer disk, an outer servo fixing frame, an outer servo and an outer servo connecting frame, the outer disk is located on the outer side of the inner disk and is installed on the chest, the bearing is arranged on the outer disk, the outer servo fixing frame is fixed to the bearing, the outer servo is fixed to the fixing frame, the turntable of the outer servo is fixed to the outer servo connecting frame, and the outer servo connecting frame is fixed to the fin wing surface; the two fins realize the forward, backward, turning and pitching movements of the bionic robot penguin through different actions and movements with different phase differences.

In some embodiments, the tail includes a pitch servo mechanism and a tail wing surface, wherein the pitch servo mechanism is arranged between the rear end of the tail and the front end of the tail wing surface, and is used to drive the tail wing surface to swing within the vertical symmetry plane of the body to assist the bionic robot penguin in moving forward.

In some embodiments, the pitch servo mechanism includes a pitch servo fixing frame, a pitch servo and a pitch servo connecting frame, the pitch servo fixing frame is fixed to the rear end of the tail, the pitch servo is fixed to the pitch servo fixing frame, one end of the pitch servo connecting frame is connected to the pitch servo and the other end is fixed to the front end of the tail wing surface.

In some embodiments, the electronic device module includes an Arduino UNO microprocessor and a Bluetooth module; the Arduino UNO microprocessor is used to control the operation of the two inner servos, the two outer servos, the pitch servo, the center of gravity adjustment mechanism and the Bluetooth module.

In some embodiments, the Arduino UNO microprocessor has CPG control functionality.

In some embodiments, the CPG control function is controlled using a HOPF oscillator equation group, and the HOPF oscillator equation group is:

Among them, θ _i1 and θ _i2 signals represent the output values of the i-th oscillator; ω _i is the frequency of the i-th oscillator; μ determines the amplitude of the oscillator, θ _i1 and θ _i2 are both periodic signals, assuming their amplitude is A; μ determines the amplitude A of the oscillator, α is used to control the speed at which the oscillator converges to the limit cycle; suppose that the time for a servo to move from the initial position to the specified position in a certain action state is t ₁ , and the time for it to return from the specified position to the initial position is t ₂ , t ₁ +t ₂ =T, define/> λ determines the speed of change of Ω between ω _t and ω _w . Given the value of ω _t or ω _w , the period of the output signals θ _i1 and θ _i2 can be adjusted; β is the load factor, 0<β<1. Adjusting β can control the proportion of t ₁ in a period T.

In some embodiments, the chain connection method between the HOPF oscillation equations adopts the following formula:

Where i = 1, 2, 3, represents one of the three oscillators, a _ij is a constant for adjusting the coupling between oscillator i and oscillator j, represents the phase difference between oscillator i and oscillator j, and _Ti represents the set of all neighbors that can affect oscillator i; the current angle values of the outer servo, the inner servo, and the pitch servo are transmitted to the Arduino UNO microprocessor.

Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a front view of a bionic robot penguin according to an embodiment of the present invention.

Fig. 2 is a cross-sectional view taken along line A-A in Fig. 1.

FIG. 3 is a schematic structural diagram of the chest and abdomen connecting parts of the bionic robot penguin according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of the belly and tail connecting member of the bionic robot penguin according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of the flippers in the bionic robot penguin according to an embodiment of the present invention.

FIG. 6 is a schematic structural diagram of the tail wing of the bionic robot penguin according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of a CPG control method in a bionic robot penguin according to an embodiment of the present invention.

Reference numerals:

Bionic Robot Penguin 1000

Body 1 Closed cavity 101 Head 102 Chest 103 Abdomen 104 Tail 105 Chest-abdomen connection piece 106 Abdomen-tail connection piece 107

Fin 2 Inner steering mechanism 201 Inner plate 2011 Inner steering gear 2012 Outer steering mechanism 202 Outer plate 2021 Outer steering gear fixing frame 2022 Outer steering gear 2023 Outer steering gear connecting frame 2024 Fin wing surface 203

Tail 3 Pitch servo mechanism 301 Pitch servo fixing frame 3011 Pitch servo 3012 Pitch servo connecting frame 3013 Tail wing surface 302 Fin 303

Center of gravity adjustment mechanism 4 support frame 401 lead screw 402 weight 403 motor 404

Electronics module 5 Arduino UNO microprocessor 501 Battery module 6

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

The bionic robot penguin 1000 according to an embodiment of the present invention is described below with reference to FIGS. 1 to 7 .

As shown in FIG. 1 and FIG. 2 , the bionic robot penguin 1000 according to the embodiment of the present invention has penguin bionic characteristics. Here, penguin bionic characteristics refer to the characteristics obtained by carefully observing the emperor penguin to establish a model, using the bionic principle, and bionic designing the bionic robot penguin 1000 according to the body shape and bone characteristics of the emperor penguin. The bionic robot penguin 1000 has a streamlined shape, which can reduce swimming resistance and is conducive to efficient swimming in water.

As shown in FIG. 1 and FIG. 2 , the bionic robot penguin 1000 according to the embodiment of the present invention structurally includes a body 1 , two flippers 2 and a tail 3 .

The body 1 is provided with a closed cavity 101, in which a gravity center adjustment mechanism 4 and an electronic device module 5 are provided. The closed cavity 101 is used to accommodate and install the gravity center adjustment mechanism 4 and the electronic device module 5 and to provide waterproof protection. Similarly, the closed cavity 101 can also accommodate a battery module 6 for supplying power to the electronic device module 5 and provide waterproof protection for the battery module 6. The gravity center adjustment mechanism 4 is used to change the gravity center position of the bionic robot penguin 1000 so that the bionic robot penguin 1000 can perform a pitching motion. It can be understood that the misalignment of the gravity center position and the buoyancy center position generates a pitching moment that causes the bionic penguin to raise or lower its head. When the gravity center position is rearward compared to the buoyancy center position, it is beneficial for the bionic robot penguin 1000 to float; when the gravity center position is forward compared to the buoyancy center position, it is beneficial for the bionic robot penguin 1000 to dive, thereby realizing the floating and diving motions of the bionic robot penguin 1000.

The two flippers 2 are symmetrically arranged on the left and right sides of the body 1 (as shown in FIG1 ), specifically, they can be located on the left and right sides of the chest 103 of the body 1. Both flippers 2 have double degrees of freedom, so that the bionic robot penguin 1000 can move forward, turn (including turning on the spot) and move backward. It can be understood that in order to simulate the swimming action of the emperor penguin, the swimming of the bionic robot penguin 1000 of the embodiment of the present invention mainly relies on the two flippers 2 with double degrees of freedom as the main power to move forward, and adopts a flapping propulsion method to swim. The thrust source of the flapping propulsion can be composed of three parts: first, when the flippers 2 swing periodically in the fluid, they are subjected to the resistance of the fluid reacting on the flippers 2 to hinder their movement, and the component of the resistance in the forward direction of the bionic robot penguin 1000 is the thrust; second, the flippers 2 constantly change their postures during the up and down swinging process, forming a dynamic relationship with the incoming flow. At a certain angle of attack, the fluid is divided into two streams when it flows through the leading edge of the fin 2, flowing along the upper and lower surfaces of the fin 2 respectively, and reuniting at the trailing edge of the fin 2 to flow downstream. According to the continuity theorem and Bernoulli's theorem, when the flow velocities on the upper and lower surfaces of the fin 2 are different, a pressure difference will be formed. The pressure difference between the upper and lower surfaces is the lift received by the fin 2, and the component of the lift in the forward direction constitutes a part of the thrust; thirdly, the vortices shed from the trailing edge of the fin 2 are arranged in pairs in order at the tail 105, belonging to the anti-Karman vortex street, with thrust characteristics, and are another important part of the thrust source of flapping wing motion. Therefore, flapping fin propulsion is a coupling propulsion method of lift mode propulsion and drag mode propulsion. The fin 2 of the bionic robot penguin 1000 uses double-degree-of-freedom motion to realize the "8"-shaped swinging motion of the bionic hydrofoil, and the wingtip trajectory of the fin 2 is an "8"-shaped curve, which is consistent with the trajectory characteristics of the biological hydrofoil motion.

The tail 3 is connected to the body 1 and can rotate within the symmetry plane of the body 1, that is, the tail 3 can swing within the symmetry plane of the body 1 to provide auxiliary thrust for the bionic robot penguin 1000 to propel forward. The flapping of the flippers 2 and the swinging of the tail 3 of the bionic robot penguin 1000 can achieve coordinated movement under independent control.

The electronic device module 5 is used to control the operation of the center of gravity adjustment mechanism 4, the two flippers 2 and the tail 3 respectively, so that the bionic robot penguin 1000 can controllably complete the swimming modes such as adjusting posture, floating, diving, moving forward, retreating, turning, etc. For example, the electronic device module 5 controls the operation of the center of gravity adjustment mechanism 4 to change the center of gravity position of the bionic robot penguin 1000, so that the bionic robot penguin 1000 can do pitching motion, thereby realizing the floating and diving motion of the bionic robot penguin 1000; the electronic device module 5 independently controls the operation of the two flippers 2 and the operation of the tail 3 respectively, so that the movement of the two flippers 2 and the movement of the tail 3 cooperate, so that the bionic robot penguin 1000 can move forward, backward or turn, etc.

According to the bionic robot penguin 1000 of the embodiment of the present invention, the operation of the center of gravity adjustment mechanism 4 is controlled by the electronic device module 5 to change the center of gravity position of the bionic robot penguin 1000, so that the bionic robot penguin 1000 can float and dive flexibly and efficiently, and the operation of the two flippers 2 and the tail 3 is controlled by the electronic device module 5, so that the bionic robot penguin 1000 can simulate the swimming mode of a real penguin, and can move forward, backward and turn flexibly and efficiently. In other words, the bionic robot penguin 1000 of the embodiment of the present invention can realize multiple movement modes such as moving forward, backward, turning, rising, diving, etc., and can swim stably and repeatedly, and has broad application prospects and huge potential value in the marine military and civilian fields. For example, in the military, the bionic robot penguin 1000 of the embodiment of the present invention can be used for marine defense operations, and can conveniently carry ammunition for assault operations; in civilian use, the bionic robot penguin 1000 of the embodiment of the present invention can be used for underwater exploration, pipeline maintenance, small logistics transportation, etc., and can also be used for the development of fluid mechanics teaching aids, intelligent toys, service industry tools, etc. in colleges and universities.

In some embodiments, as shown in FIG. 2 , the body 1 includes a head 102, a chest 103, an abdomen 104, and a tail 105 which are sealed and connected in sequence from front to back, and the front end of the chest 103 and the rear end of the abdomen 104 are both closed, so that the interior of the chest 103 and the interior of the abdomen 104 together form a closed cavity 101.

Specifically, the body 1 includes a head 102, a chest 103, an abdomen 104 and a tail 105, and the head 102, the chest 103, the abdomen 104 and the tail 105 are streamlined shells that are processed separately. The rear end of the head 102 is sealed and connected to the front end of the chest 103, and the front end of the chest 103 adopts a closed structure to achieve a sealed and waterproof function. Optionally, the rear end of the head 102 and the front end of the chest 103 can be sealed and connected by a soft rubber sleeve between the head 102 and the chest 103, and then waterproof electrical glue is wrapped around the seam, and finally waterproof glue is used to fill the seam, which can achieve a better waterproof effect. The rear end of the chest 103 is sealed and connected to the front end of the abdomen 104. The chest 103 and the abdomen 104 are connected and fixed by the chest-abdomen connector 106 (see Figures 2 and 3). The front end of the chest-abdomen connector 106 has the same shape as the rear end of the chest 103, and the rear end of the chest-abdomen connector 106 has the same shape as the front end of the abdomen 104. During installation, the rear end of the chest 103 is first buckled with the front end of the chest-abdomen connector 106, and then fixed by bolts, and the center of gravity adjustment mechanism 4 is installed at a fixed position at the bottom of the abdomen 104, and then the battery module 6 and the electronic device module 5 are assembled together and placed in the cavity of the abdomen 104 for fixing, thereby avoiding the problem of small installation space in the abdomen 104 and difficult installation. Afterwards, the front end of the abdomen 104 is buckled with the rear end of the chest-abdomen connector 106, and fixed with bolts. The installation method is simple, fast and stable; optionally, waterproof tape and waterproof glue are used to block the bolts at the connection between the chest 103 and the abdomen 104 to achieve a better waterproof effect. As can be seen from Figure 2, the internal space of the shell formed by the combination of the chest 103 and the abdomen 104 is relatively large. The electronic device module 5 and the center of gravity adjustment mechanism 4 are placed in the chest 103 and the abdomen 104, which is conducive to the bionic robot penguin 1000 to maintain balance and realize the change of center of gravity to change the motion state. The rear end of the abdomen 104 and the front end of the tail 105 are sealed and connected. The rear end of the abdomen 104 and the front end of the tail 105 are fixed by the abdomen tail connector 107 (see Figures 2 and 4). The front end of the abdomen tail connector 107 has the same shape as the rear end of the abdomen 104, and the rear end of the abdomen tail connector 107 has the same shape as the front end of the tail 105. When installing, firstly, the rear end of the abdomen 104 is buckled with the front end of the abdomen tail connector 107, and then fixed by bolts. The closed structure is adopted in the middle of the abdomen tail connector 107, and the rear end of the abdomen 104 can be closed; Optionally, waterproof tape and waterproof cement are used to seal the bolts at the connection between the abdomen 104 and the tail 105 to achieve a better waterproof effect. After the tail 105 connector is installed, the chest 103, the chest-abdomen connector 106, the abdomen 104 and the abdomen-tail connector 107 together form the above-mentioned closed cavity 101, which can achieve a local waterproof function to ensure the safety of functional components in the closed cavity 101, such as the center of gravity adjustment mechanism 4, the electronic device module 5 and the battery module 6. A counterweight at a specific position and with a specific weight is installed in the head 102. The counterweight is calculated after the overall installation of the bionic robot penguin 1000 is completed to ensure the horizontality of the bionic robot penguin 1000 in the water.

In some embodiments, as shown in FIG2 , the center of gravity adjustment mechanism 4 includes a motor 404, a support frame 401, a lead screw 402 and a weight 403, wherein the motor 404 and the support frame 401 are arranged relative to each other with a front-to-back spacing, the front end of the lead screw 402 is connected to the motor 404, the rear end of the lead screw 402 is rotatably supported on the support frame 401, and the weight 403 is arranged on the lead screw 402. When the motor 404 rotates forward and reversely, the lead screw 402 is driven to rotate forward and reverse synchronously, thereby driving the weight 403 to move forward and backward along the lead screw 402. It can be understood that when the weight 403 moves forward, the center of gravity of the bionic robot penguin 1000 moves forward, which is conducive to the penguin's diving; when the weight 403 moves backward, the center of gravity of the bionic robot penguin 1000 moves backward, which is conducive to the penguin's floating.

In some embodiments, as shown in FIG5 , each flipper 2 includes an inner steering mechanism 201, an outer steering mechanism 202, and a flipper wing surface 203; the inner steering mechanism 201 is installed at the chest 103, and the inner steering mechanism 201 is used to drive the outer steering mechanism 202 to rotate in the vertical symmetry plane of the body 1; the outer steering mechanism 202 drives the flipper wing surface 203 to flap. Thus, the "8"-shaped curve motion of the wing tip of the flipper 2 with two degrees of freedom can be achieved, thereby providing the main power for the motion of the bionic robot penguin 1000.

In some embodiments, the inner servo mechanism 201 includes an inner disk 2011, an inner servo 2012 and a bearing, wherein the inner disk 2011 is fixed on the chest 103, the inner servo 2012 is mounted on the inner disk 2011, the turntable of the inner servo 2012 is mounted on the bearing, and the outer servo mechanism 202 is mounted on the bearing. Thus, the inner servo 2012 can drive the outer servo mechanism 202 to rotate in the vertical symmetry plane of the body 1.

In some embodiments, the outer servo mechanism 202 includes an outer disk 2021, an outer servo 2023 fixing frame 2022, an outer servo 2023 and an outer servo connecting frame 2024, the outer disk 2021 is located outside the inner disk 2011 and mounted on the chest 103, the bearing is arranged on the outer disk 2021, the outer servo 2023 fixing frame 2022 is fixed to the bearing, the outer servo 2023 is fixed to the fixing frame, the turntable of the outer servo 2023 is fixed to the outer servo connecting frame 2024, and the outer servo connecting frame 2024 is fixed to the fin wing surface 203. Therefore, the outer servo 2023 can drive the fin wing surface 203 to rotate in a plane perpendicular to the outer disk 2021, that is, drive the fin wing surface 203 to flap.

In some embodiments, the two flippers 2 realize the forward, backward, turning and pitching movements of the bionic robot penguin 1000 through different actions and movements with different phase differences. Specifically, a discrete control method is adopted for the control of the bionic robot penguin 1000. In each swing cycle of the flipper wing surface 203, the outer servo 2023 continuously changes its writing angle by 1°/time, and changes the movement cycle and adjusts the movement frequency by changing the extension time after each writing 1°. When the flapping frequency is small, the swimming speed of the bionic robot penguin 1000 increases with the increase of the frequency. When the flapping frequency is too high, the outer servo 2023 cannot reach the specified swing angle and cannot provide sufficient power; when the bionic robot penguin 1000 turns, the flippers 2 on both sides are differential motion. The two flippers 2 of the bionic robot penguin 1000 have a total of four degrees of freedom. By controlling the two flippers 2, reverse differential motion can be achieved, thereby obtaining a rotational torque, and the turning radius approaches 0, thereby achieving on-the-spot turning; when the phase difference between the flippers 2 on both sides of the bionic robot penguin 1000 is 0, forward movement can be achieved; in the backward movement mode, the flippers 2 are reversed relative to the forward mode, the flippers 2 slap the water forward to obtain backward propulsion, and the tail 3 stops moving, thereby achieving backward movement.

In some embodiments, based on the principles of bionics and optimized calculations, the fin wing surface 20323 adopts the NACA0012 airfoil, which has bionic advantages, has a higher thrust-to-weight ratio underwater, has higher propulsion efficiency, and has a relatively simple appearance and is easy to design and install.

In some embodiments, as shown in FIG6 , the tail 3 includes a pitch servo mechanism 301 and a tail wing surface 302 , wherein the pitch servo mechanism 301 is disposed between the rear end of the tail 105 and the front end of the tail wing surface 302 , and is used to drive the tail wing surface 302 to swing within the vertical symmetry plane of the body 1 to assist the bionic robot penguin 1000 in moving forward.

Specifically, the pitch servo mechanism 301 includes a pitch servo fixing frame 3011, a pitch servo 3012 and a pitch servo connecting frame 3013. The pitch servo fixing frame 3011 is fixed to the rear end of the tail 105. The pitch servo 3012 is fixed to the pitch servo fixing frame 3011. One end of the pitch servo connecting frame 3013 is connected to the pitch servo 3012 and the other end is fixed to the front end of the tail wing surface 302. The tail wing surface 302 is designed in the form of feathers imitating the emperor penguin tail 105 and is a hollow structure. The pitch servo connecting frame 3013 can transmit the movement of the pitch servo 3012, so that the tail wing surface 302 rotates in the symmetric plane of the body 1, providing the bionic robot penguin 1000 with the power to move forward.

Optionally, the tail 3 further includes two flippers 303, which are mounted on the tail wing surface 302 through holes on the tail wing surface 302. The flippers 303 can increase the frontal area of the tail 3, thereby providing higher power for the bionic robot penguin 1000 to move forward faster.

In some embodiments, the bionic robot penguin 1000 ensures that the bionic robot penguin 1000 has a stable motion posture in the water by counterweighting. Specifically, in order to ensure that the bionic robot penguin 1000 has a stable motion posture in the water, the bionic robot penguin 1000 needs to be reasonably counterweighted. By weighing the head 102, chest 103, abdomen 104, tail 105 and tail 3 of the bionic robot penguin 1000, and calculating the volume of each section with Solidworks, the mass of the counterweight that can make the gravity and buoyancy of each section equal is calculated, so that the bionic robot penguin 1000 can be suspended in the water and can achieve balance in front, back, left and right; at the same time, in order to ensure the stability of the bionic robot penguin 1000 during swimming, the counterweight needs to be added to the lower part of the bionic robot penguin 1000 as much as possible to lower the center of gravity of the bionic robot penguin 1000.

In some embodiments, the bionic robot penguin 1000 uses lead bars and counterweights for counterweighting. The lead bars have a large mass and can be used to adjust the counterweights over a large range; the counterweights are small and can be placed in a sealed bag to flexibly change the mass and external shape of the bionic robot penguin 1000, and are used for small-scale fine-tuning. Most of the counterweights are located inside the bionic robot penguin 1000 to ensure the streamlined shape of the bionic robot penguin 1000, and a small part of the counterweights are located outside the bionic robot penguin 1000 to facilitate fine-tuning of the center of gravity position in the later stage.

In some embodiments, the head 102, chest 103, abdomen 104, tail 105, flipper wing surface 203, and tail wing surface 302 are made of photosensitive resin. This is because during the movement of the bionic robot penguin 1000, the body 1, flipper wing surface 203, tail wing surface 302, etc. will be subjected to greater stress, and the photosensitive resin has high strength and toughness, so it can improve the strength and propulsion efficiency of the bionic robot penguin 1000.

In some embodiments, as shown in FIG7 , the electronic device module 5 includes an Arduino UNO microprocessor 501 and a Bluetooth module; the Arduino UNO microprocessor 501 is used to control the operation of the inner servo 2012, the outer servo 2023, the pitch servo 3012, the center of gravity adjustment mechanism 4, and the Bluetooth module. That is, the Arduino UNO microprocessor 501 is connected to the outer servo 2023, the inner servo 2012, and the pitch servo 3012 of the bionic robot penguin 1000 through a breadboard as a power supply board, and controls the rotation angles of the outer servo 2023, the inner servo 2012, and the pitch servo 3012 respectively; the Arduino UNO microprocessor 501 is connected to the center of gravity adjustment mechanism 4 through a breadboard as a power supply board, and is used to control the position of the weight 403. The Arduino UNO microprocessor 501 is also connected to a Bluetooth module to control the operation of the Bluetooth module.

It should be noted that the Arduino UNO microprocessor 501 outputs a PWM signal to control the servos (two inner servos 2012, two outer servos 2023 and one pitch servo 3012). The Arduino UNO microprocessor 501 has six PWM output pins. The six PWM output pins directly output PWM signals by hardware. In fact, any digital IO interface can output PWM signals by software. The Arduino UNO microprocessor 501 has six digital IO interfaces, so that the Arduino UNO microprocessor 501 can control up to 12 servos at the same time. The Vin interface of the Arduino UNO microprocessor 501 inputs an 8.4V voltage to power the Arduino UNO microprocessor 501. The Arduino UNO microprocessor 501 is connected to a USB adapter cable, and an external computer can be used to write and burn programs for the Arduino UNO microprocessor 501; the control program used by the Arduino UNO microprocessor 501 of the present invention calls the servo function library <Servo.h> and the math library <math.h> function, and the core is the button reading function and the servo PWM value writing function servo_pwm. In addition, the Arduino UNO microprocessor 501 is also connected to a Bluetooth module, which is used to receive signals from an external handle for controlling the bionic robot penguin 1000. The Arduino UNO microprocessor 501 continuously receives signals from the mobile phone application for externally controlling the bionic robot penguin 1000 and performs corresponding calculations to obtain the PWM value of each servo and write the changed PWM value into each servo.

In some embodiments, in addition to the external manual control function, the Arduino UNO microprocessor 501 also has a CPG control function, that is, a central pattern generator control function; that is, in addition to manual control, the bionic robot penguin 1000 can also generate a stable output signal in the absence of rhythmic signal input and high-level control commands; it can generate a generally stable motion mode through phase lag and phase locking; it can generate an automatic direction control signal and smooth switching between motion postures when an interference signal is input, so as to achieve a more diverse and stable swimming form of the bionic robot penguin 1000.

Specifically, the CPG control method uses the HOPF oscillator equation group for control, and the HOPF oscillator equation is:

Among them, θ _i1 and θ _i2 signals represent the output values of the i-th oscillator; ω _i is the frequency of the i-th oscillator; μ determines the amplitude of the oscillator, θ _i1 and θ _i2 are both periodic signals, assuming their amplitude is A; μ determines the amplitude A of the oscillator, α is used to control the speed at which the oscillator converges to the limit cycle. The larger the α value is, the faster the convergence speed is, and the faster the attitude switching of the bionic robot penguin 1000 is. Assume that the time for a certain servo (such as the inner servo 2012, the outer servo 2023 or the pitch servo 3012) to move from the initial position to the specified position in a certain action state is t ₁ , and the time for it to return from the specified position to the initial position is t ₂ , t ₁ +t ₂ =T, define λ determines the speed of change of Ω between ω _t and ω _w . Given the value of ω _t or ω _w , the period of the output signal can be adjusted; β is the load factor (0<β<1). Adjusting β can control the proportion of t ₁ in a period T. By modifying the parameters such as μ, α, λ, β, and ω _w , the output value of the oscillator in different swimming modes can be obtained. By writing it as the angle of a single servo, the swimming mode of the flipper 2 in different swimming modes can be obtained. At the same time, due to the continuity of the HOPF oscillator equation group, the continuous change of the output value can be achieved when switching between different modes. After completing the oscillator setting of a single controller, it is also necessary to consider the coupling between different oscillators, that is, the coordinated movement between different drive units of the bionic robot penguin 1000, namely the inner servo 2012, the outer servo 2023, and the pitch servo 3012. Therefore, a CPG control network is needed to realize the coordinated movement of the joints. CPG can be divided into chain connection and network connection according to different connection methods. The connected CPG can realize the coordinated movement of multiple limbs and maintain correlation in the time domain.

In some embodiments, the chain connection method between the HOPF equations adopts the following formula:

According to the chain connection method between the HOPF equations, the current angle values of the outer side servo 2023, the inner side servo 2012, and the pitch servo 3012 of the bionic robot penguin 1000 are transferred to the Arduino UNO microprocessor 501. i=1, 2, 3, respectively representing one of the three oscillators, the formula of the chain connection method is used to couple the angles, and the calculation is performed in the Arduino UNO microprocessor 501 to obtain a new angle value, which is then transferred to each servo in real time. Then, the coupling of the motion between the five servos (i.e., two inner side servos 2012, two outer side servos 2023 and one pitch servo 3012) can be achieved, and then the motion posture of the bionic robot penguin 1000 can be continuously switched to achieve the effect of CPG control.

As shown in FIG7 , in the SIMULINK environment, the formula of the above chain connection method is graphically programmed. The three subsystems on the left are CPG control units of the left fin 2, tail 105, and right fin 2 from top to bottom. Each subsystem is mathematically modeled according to the above HOPF oscillator equation group formula, and the subsystems are coupled according to the formula of the above link method. For the fin 2 subsystem, its θ ₁₁ and θ ₂₁ outputs represent the angle writing of the outer servo 2023, and θ ₁₂ and θ ₂₂ outputs represent the angle writing of the inner servo 2012; for the tail 3 subsystem, θ ₃₁ output is used to represent the angle writing of the tail 105 servo. The five servos on the right side of FIG7 are, from top to bottom, the left outer servo 2023, the left inner servo 2012, the pitch servo 3012, the right outer servo 2023, and the right inner servo 2012. Then, through the "Simulink supportpackage for arduino hardware" support library in the SIMULNK additional function manager, the graphically edited program can be burned to the Arduino Uno microcontroller to complete the CPG control of the bionic penguin.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims (7)

1. A bionic penguin robot, characterized by having penguin bionic characteristics, including: A body, wherein a closed cavity is provided inside the body, a gravity center adjustment mechanism and an electronic device module are provided in the closed cavity, and the gravity center adjustment mechanism is used to change the gravity center position of the bionic robot penguin so that the bionic robot penguin performs a pitching motion; Two flippers, the two flippers are symmetrically arranged on the left and right sides of the body, and the two flippers have double degrees of freedom, so that the bionic robot penguin can move forward, turn and move backward; A tail wing, the tail wing is connected to the body, and the tail wing can rotate within the symmetry plane of the body to assist the bionic robot penguin to move forward; The electronic device module is used to control the operation of the center of gravity adjustment mechanism, the two fins and the tail wing respectively; The body includes a head, a chest, an abdomen, and a tail that are sealed and connected in sequence from front to back, and the front end of the chest and the rear end of the abdomen are both closed, so that the interior of the chest and the interior of the abdomen together form the closed cavity; Each of the flippers comprises an inner steering mechanism, an outer steering mechanism and a flipper wing surface; the inner steering mechanism is installed at the chest, and the inner steering mechanism is used to drive the outer steering mechanism to rotate within the vertical symmetry plane of the body; the outer steering mechanism drives the flipper wing surface to flap; The inner servo mechanism comprises an inner disc, an inner servo and a bearing, wherein the inner disc is fixed on the chest, the inner servo is mounted on the inner disc, and the turntable of the inner servo is mounted on the bearing; the outer servo mechanism comprises an outer disc, an outer servo fixing frame, an outer servo and an outer servo connecting frame, wherein the outer disc is located on the outer side of the inner disc and is mounted on the chest, the bearing is arranged on the outer disc, the outer servo fixing frame is fixed to the bearing, the outer servo is fixed to the fixing frame, the turntable of the outer servo is fixed to the outer servo connecting frame, and the outer servo connecting frame is fixed to the fin wing surface; the two fins realize the forward, backward, turning and pitching movements of the bionic robot penguin through different movements and movements with different phase differences; The bionic robot penguin is controlled by a discrete control method; in each swing cycle of the flipper wing surface, the outer servo continuously changes its writing angle by 1°/time, and changes the movement cycle by changing the extension time after each writing of 1° to adjust the movement frequency; when the flapping frequency is low, the swimming speed of the bionic robot penguin increases with the increase of the frequency, and when the flapping frequency is too high, the outer servo cannot reach the specified swing angle and cannot provide sufficient power; when the bionic robot penguin turns, the flippers on both sides are differential motion, and the two flippers of the bionic robot penguin have a total of four degrees of freedom, and reverse differential motion can be achieved by controlling the two flippers, thereby obtaining a rotational torque, and the turning radius approaches 0, thereby achieving in-situ turning; when the phase difference between the flippers on both sides of the bionic robot penguin is 0, forward movement can be achieved; in the backward movement mode, the flippers are reversed relative to the forward mode, the flippers flap water forward to obtain backward propulsion, and the tail wing stops moving, thereby achieving backward movement. 2. The bionic robot penguin according to claim 1 is characterized in that the tail wing includes a pitch servo mechanism and a tail wing surface, and the pitch servo mechanism is arranged between the rear end of the tail and the front end of the tail wing surface, and is used to drive the tail wing surface to swing within the vertical symmetry plane of the body to assist the bionic robot penguin in moving forward. 3. The bionic robot penguin according to claim 2 is characterized in that the pitch servo mechanism includes a pitch servo fixing frame, a pitch servo and a pitch servo connecting frame, the pitch servo fixing frame is fixed to the rear end of the tail, the pitch servo is fixed to the pitch servo fixing frame, one end of the pitch servo connecting frame is connected to the pitch servo and the other end is fixed to the front end of the tail wing surface. 4. The bionic robot penguin according to claim 3 is characterized in that the electronic device module includes an Arduino UNO microprocessor and a Bluetooth module; the Arduino UNO microprocessor is used to control the operation of the two inner servos, the two outer servos, the pitch servo, the center of gravity adjustment mechanism and the Bluetooth module. 5. The bionic robot penguin according to claim 4, characterized in that the Arduino UNO microprocessor has a CPG control function. 6. The bionic robot penguin according to claim 5, characterized in that the CPG control function is controlled by a HOPF oscillator equation group, and the HOPF oscillator equation group is: Among them, θ _i1 and θ _i2 signals represent the output values of the i-th oscillator; ω _i is the frequency of the i-th oscillator; μ determines the amplitude of the oscillator, θ _i1 and θ _i2 are both periodic signals, and their amplitudes are assumed to be α is used to control the speed at which the oscillator converges to the limit cycle; suppose that the time for a servo to move from the initial position to the specified position in a certain action state is t ₁ , and the time for it to return from the specified position to the initial position is t ₂ , t ₁ +t ₂ =T, define/> λ determines the speed of change of Ω between ω _t and ω _w . Given the value of ω _t or ω _w , the period of the output signals θ _i1 and θ _i2 can be adjusted; β is the load factor, 0<β<1. Adjusting β can control the proportion of t ₁ in a period T. 7. The bionic robot penguin according to claim 6, characterized in that the chain connection method between the HOPF oscillator equation groups adopts the following formula: Where i = 1, 2, 3, represents one of the three oscillators, a _ij is a constant for adjusting the coupling between oscillator i and oscillator j, represents the phase difference between oscillator i and oscillator j, and _Ti represents the set of all neighbors that can affect oscillator i; the current angle values of the outer servo, the inner servo, and the pitch servo are transmitted to the Arduino UNO microprocessor.