CN119079084A - An intelligent robot fish based on modular design - Google Patents
An intelligent robot fish based on modular design Download PDFInfo
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- CN119079084A CN119079084A CN202411564409.6A CN202411564409A CN119079084A CN 119079084 A CN119079084 A CN 119079084A CN 202411564409 A CN202411564409 A CN 202411564409A CN 119079084 A CN119079084 A CN 119079084A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
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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
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot fish based on modularized design, which comprises a main control module, a sensing module, a debugging module, a power supply module and a driving module, wherein the main control module, the sensing module, the debugging module, the power supply module and the driving module are independently sealed and are arranged in a modularized mode, the sensing module is used for collecting environmental information around the intelligent robot fish and transmitting the collected environmental information to the main control module, the main control module is used for obtaining the relative position and the swimming speed of the intelligent robot fish based on the environmental information, and then obtaining the control information of the driving module and controlling the driving module based on the relative position and the swimming speed, the debugging module is responsible for debugging a control program of the main control module, the power supply module is used for supplying power for the intelligent robot fish, and the driving module is used for controlling the movement of the intelligent robot fish. Through modular design, can freely change required drive module and perception module according to use the scene, realize "one machine multi-purpose" effect, can save installation and dismantlement time simultaneously and reduce the resource waste that perception module excessively integrated caused.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to an intelligent robot fish with a modularized design.
Background
Ocean is an important field of national development strategy, ocean resource exploration and ocean environment detection are an important ring of ocean resource development, and with the development of integrated circuits, micro-electromechanical technology and AI algorithm, related technologies of robots tend to be mature. Compared with manual diving detection, the robot is used for ocean detection to penetrate into the field which cannot be reached by human beings, and meanwhile, the personnel safety risk is reduced. In order to meet the increasing demands for ocean development, a wide variety of underwater robots are designed to be applied to various fields. The underwater robots are mainly divided into two major categories, one is an unmanned underwater vehicle pushed by a propeller, and the other is a bionic propulsion robot imitating the design of underwater organisms. The propeller can have a faster travelling speed, and the bionic propulsion can better hide the track without affecting surrounding organisms. Aiming at different operation tasks, the robots are often provided with different sensor systems, and most of the robots integrate all the sensors possibly used at the same time, so that the resource waste is caused, and the replacement of the sensors after the failure is complicated.
In the patent document of publication number CN 118182781A, a bionic robot fish of the tetrodidae, which is driven by a flexible fin-tail handle in a cooperative manner, is provided, and the robot fish realizes various underwater movements of the robot fish of the bionic tetrodidae through the cooperation of the pectoral fin, the dorsal fin, the hip fin and the tail fin, but has higher integration level, and the robot fish can move only by the simultaneous action of the pectoral fin, the dorsal fin, the hip fin and the tail fin, and can not normally operate when any links of the robot fish fail.
In patent document CN 118494728A, a bionic robot fish is proposed, which includes a head cabin module, a driving transmission mechanism module, and a tail joint cabin module, and by continuously rotating the driving sub-module, the reciprocating motion of the tail fin can be realized. The invention modularly designs the head cabin and the driving joint, so that the installation is convenient. However, the alternative selection of the driving joint module cannot be realized, one robot fish has only one driving mode, and a pluggable sensing system and an intelligent decision-making computing unit are not provided.
Therefore, if a modularized underwater robot is provided, a proper driver and a sensor can be selected according to the working environment, so that the modularized underwater robot has the common advantages of a propeller and a bionic propeller, and meanwhile, the sensor and other equipment can be installed and replaced according to the needs, the effect of 'one machine with multiple purposes' can be realized, the utilization rate of the robot is improved, and the development cost of the robot is reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the intelligent robot fish based on the modularized design, and the intelligent robot fish is subjected to the modularized design at each key part, and a magnetic structure or an aviation plug is used as a connector, so that the intelligent robot fish can be freely assembled and combined, and is convenient for the maintenance and replacement of a sensor and a driver.
The invention discloses an intelligent robot fish based on modularized design, which comprises a main control module, a sensing module, a debugging module, a power supply module and a driving module, wherein the main control module, the sensing module, the debugging module, the power supply module and the driving module are independently sealed and are arranged in a modularized mode;
The sensing module is used for collecting environmental information around the intelligent robot fish and transmitting the collected environmental information to the main control module;
the main control module is arranged at the middle front part of the intelligent robot fish and is responsible for coordination and management among the modules; the intelligent robot fish control method comprises the steps of obtaining the relative position and the swimming speed of the intelligent robot fish based on the environmental information, obtaining the control information of a driving module in different driving modes based on the relative position and the swimming speed, and controlling the driving module, wherein the driving modes comprise a single-joint tail fin driving mode, a multi-joint tail fin driving mode, a tail fin and pectoral fin mixed driving mode or a propeller driving mode;
the debugging module is responsible for debugging a control program of the main control module;
The power supply module is used for supplying power to the intelligent robot fish;
The intelligent robot fish swimming device comprises a driving module, a driving module and a tail fin structure, wherein the driving module is arranged at the middle and rear part of the intelligent robot fish and is used for controlling the swimming direction and the swimming speed of the intelligent robot fish in different driving modes by using control information generated by the driving module, the driving module comprises one or more joint motors and a tail fin structure, the joint motors comprise horizontal rotation shaft joint motors and/or vertical rotation shaft joint motors, and the tail fin structure drives the intelligent robot fish to swim under the driving of the joint motors.
In a second aspect, the invention discloses a motion control method of intelligent robot fish based on modular design, comprising the following steps:
The sensing module collects environmental information around the intelligent robot fish and transmits the collected environmental information to the main control module; the intelligent computing unit of the main control module obtains the relative position and the swimming speed of the intelligent robot fish based on the environmental information, obtains the expected swimming speed and the expected swimming direction of the robot fish based on the expected position and the expected track of the preset intelligent robot fish and the relative position and the swimming speed, and transmits the expected swimming speed and the expected swimming direction to the bottom layer control unit, and the bottom layer control unit obtains the control information of the driving module based on the expected swimming speed and the expected swimming direction, and enables the intelligent robot fish to move in the expected swimming direction and the expected swimming speed by controlling the driving module.
Compared with the prior art, the invention has the following beneficial effects:
The invention provides an intelligent robot fish based on modularized design, which is characterized in that components such as a sensor, a driver and power supply of the intelligent robot fish are arranged as independent modules, a magnetic structure or an aviation plug is used as a connector, different modules are assembled together to form a robot fish whole, and functions of the robot fish are changed by installing the different modules, so that the intelligent robot fish is suitable for corresponding working environments.
Compared with the existing bionic robot fish, the invention designs each part of the robot fish through a modularized method, can freely combine the sensor and the driver according to the needs, and can quickly finish the module switching and installation through the connection of the magnetic connector and the aviation plug.
Compared with the existing AUV or ROV, the invention combines the advantages of bionic propulsion and propeller propulsion, and can switch different drivers according to the use situation, thereby realizing the task which can not be realized by the traditional AUV and ROV.
Through modularized robot fish design, freely switch sensor and driver, can improve the utilization ratio of equipment, reduce development cost, reach the effect of "one machine is multi-purpose". Meanwhile, the power supply system can be integrated in a modularized manner, so that the power supply can be switched rapidly, and long-time operation of the robot fish is facilitated.
Drawings
FIG. 1 is an assembly diagram of an intelligent robotic fish based on a modular design;
FIG. 2 is a schematic diagram of a single joint tail fin drive mode smart robotic fish;
FIG. 3 is a schematic diagram of a smart robotic fish in a multi-joint tail fin drive mode;
FIG. 4 is a schematic diagram of a smart robotic fish in pectoral fin and caudal fin hybrid drive mode;
fig. 5 is a schematic view of an intelligent robot fish in propeller drive mode.
In the figure, 1 is an ultrasonic sensor, 2 is a camera, 3 is a forward sensor waterproof cabin, 4 is a main control module waterproof cabin, 5 is a radiating fin, 6 is a debugging module waterproof cabin, 7 is an Ethernet interface, 8 is an artificial lateral line system sensor, 9 is a lateral sensor waterproof cabin, 10 is a power supply module waterproof cabin, 11 is a magnetic attraction connection structure, 12 is a mechanical pectoral fin, 13 is a joint motor, 14 is a mechanical tail fin, 15 is an antenna interface, 16 is an aviation plug interface, 17 is a horizontal rotation shaft joint motor, 18 is a vertical rotation shaft joint motor, 19 is a brushless motor, and 20 is a propeller.
Detailed Description
The invention is further illustrated and described below in connection with specific embodiments. The described embodiments are merely exemplary of the present disclosure and do not limit the scope. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
The invention provides an intelligent robot fish based on a modularized design, which mainly comprises a main control module, a sensing module, a debugging module, a power supply module and a driving module, wherein each module is independently sealed through an independent waterproof cabin, the sensing module, the power supply module and the debugging module are connected with the main control module in a magnetic connection mode to form a fish head of the intelligent robot fish, and the driving module is connected with the tail of the main control module through an aviation plug interface to form a fish tail of the intelligent robot fish. Waterproof cabin body of each module of robot fish is ABS material through 3D printing preparation.
The sensing module is used for collecting environmental information around the intelligent robot fish and transmitting the collected environmental information to the main control module, wherein the environmental information comprises one or more of image data, distance information and pressure information;
the main control module is arranged at the middle front part of the intelligent robot fish and is responsible for coordination and management among the modules; the intelligent robot fish control method comprises the steps of obtaining the relative position and the swimming speed of the intelligent robot fish based on the environmental information, obtaining the control information of a driving module in different driving modes based on the relative position and the swimming speed, and controlling the driving module, wherein the driving modes comprise a single-joint tail fin driving mode, a multi-joint tail fin driving mode, a tail fin and pectoral fin mixed driving mode or a propeller driving mode;
the debugging module is responsible for debugging a control program of the main control module;
The power supply module is used for supplying power to the intelligent robot fish;
The intelligent robot fish swimming device comprises a driving module, a driving module and a vertical rotating shaft joint motor, wherein the driving module is arranged at the middle rear part of the intelligent robot fish and is used for controlling the swimming direction and the swimming speed of the intelligent robot fish in different driving modes by using control information generated by the driving module, the driving module comprises one or more joint motors and a tail fin structure, the joint motors comprise horizontal rotating shaft joint motors and/or vertical rotating shaft joint motors, the tail fin structure drives the intelligent robot fish to swim under the drive of the joint motors, the horizontal rotating shaft joint motors vertically rotate, and the vertical rotating shaft joint motors horizontally rotate.
The sensing module is arranged at the forefront part or the side part of the intelligent robot fish and comprises a visual super-sensing unit and an artificial lateral line system sensing unit, wherein the visual super-sensing unit comprises a visual sensing unit and an ultrasonic sensing unit, the visual sensing unit and the ultrasonic sensing unit are positioned in front and are responsible for collecting image data and ranging, the artificial lateral line system sensing unit is positioned at two sides and is responsible for sensing the relative position and swimming speed of the robot fish.
The sensing module is arranged as an independent waterproof cabin body and is connected with the main control module through the magnetic connector. When the intelligent robot fish is used, the sensing module can select whether to install according to the requirement, the normal operation of the robot fish is not influenced by whether to install, and when the robot fish is not installed, the movement of the intelligent robot fish can be controlled in a remote control mode.
The visual perception unit consists of two RGB wide-angle cameras (namely cameras 2), can acquire image information of a range of 120 degrees in front of the robot fish, and can acquire distance information of a range of 60 degrees in front by fusing the two camera data. The ultrasonic sensing unit consists of an underwater ultrasonic module (namely an ultrasonic sensor 1) and can acquire the distance of an obstacle in the range of 5m in front of the robot fish. The visual perception unit and the ultrasonic perception unit are jointly surrounded by the forward sensor watertight compartment 3.
The artificial side line system sensing unit consists of a pressure sensor array and is used for estimating the swimming speed of the robot fish by sensing the pressure received in the swimming process of the robot fish. The artificial side line system sensing unit is the artificial side line system sensor 8, and the artificial side line system sensor 8 is surrounded by the lateral sensor waterproof cabin 9.
The main control module comprises a power management unit, a bottom control unit and an intelligent computing unit, is used as a core component of the robot fish and is arranged at the middle front part of the intelligent robot fish, and is responsible for coordination and management among the modules and data processing and intelligent decision. The main control module is provided with an independent waterproof cabin body, namely a main control module waterproof cabin 4, magnetic connectors and aviation plug interfaces 16 are reserved on the periphery of the waterproof cabin body, specifically, the front, the upper, the left and the right of the cabin body are provided with magnetic connection structures, and the rear of the cabin body is provided with an aviation plug interface. The main control module is connected with the sensing module, the power supply module and the debugging module through the magnetic attraction connecting structure, and is connected with the driving module through the aviation plug interface.
In one embodiment of the invention, an antenna interface 15 is further arranged at the rear of the main control module, and the antenna interface 15 is used for communicating with an upper computer to realize remote control and online debugging.
In one embodiment of the invention, aluminum alloy is used as the radiating fins 5, and heat generated by an intelligent computing unit in the waterproof cabin 4 of the main control module is transferred into water through heat transfer of the intelligent robot fish in the water, so that the temperature of the cabin body is reduced.
The power management unit consists of a voltage stabilizing circuit and an electronic speed regulator and is responsible for converting the power supply voltage provided by the power supply module into the voltage required by the bottom layer control unit and the intelligent computing unit and the voltage required by the sensing module and the driving module. The intelligent computing module consists of a CPU and a GPU, and is responsible for processing the acquired sensor data and making a motion decision of the robot fish. The bottom layer control unit consists of an MCU processor and a gesture sensor and is responsible for gesture control of the intelligent robot fish bottom layer.
The power management unit, the bottom layer control unit and the intelligent computing unit are all manufactured by welding printed epoxy glass fiber boards.
The debugging module can be arranged above the main control module and comprises a USB interface circuit, an Ethernet interface 7 circuit, a video display interface circuit, a program downloading interface circuit and a serial port debugging interface circuit, and is responsible for debugging a bottom control program and an intelligent decision program of the main control module and collecting environment information, relative positions and running speeds. The debugging module is surrounded by the waterproof cabin 6 of the debugging module, and the debugging module is connected with the main control module through the magnetic connector.
The USB interface circuit and the video display interface circuit are used for externally connecting a keyboard and a mouse and a display screen debugging intelligent computing unit. The circuit of the Ethernet interface 7 is used for communication between an external upper computer and the intelligent robot fish. The program downloading interface circuit and the serial port debugging interface circuit are used for debugging the bottom layer control unit.
The power supply module is located the below of main control module, has contained lithium cell, waterproof switch and power adapter, and the lithium cell is as power supply, and power supply module is responsible for supplying power for intelligent robot fish's whole machine, can reduce the barycenter position simultaneously, improves the stability that moves about. The power supply module is provided with an independent waterproof cabin body, namely a power supply module waterproof cabin 10, a lithium battery is placed in the cabin body, a waterproof switch is reserved on the outer side of the cabin body, and the power supply module is connected with the main control module through a magnetic connector.
The driving module is positioned behind the main control module and can be composed of a waterproof joint motor or a waterproof brushless motor, and the driving module is divided into a single joint tail fin driving module, a multi-joint tail fin driving module, a tail fin and pectoral fin mixed driving module and a propeller driving module according to the driving mode. The robot can be freely combined according to the use environment, and comprises a single-joint tail fin drive, a multi-joint tail fin drive, a tail fin and pectoral fin mixed drive and a propeller drive, which are responsible for the motion control of the robot fish. The drive module is connected with the main control module through the aviation plug interface 16.
As shown in fig. 2, it shows that in the single-joint tail fin driving mode, the driving module is a single-joint tail fin driving module, the single-joint tail fin driving module includes a vertical rotation shaft joint motor 18 and a tail fin structure connected behind the joint motor, the tail fin structure is a mechanical tail fin 14, the mechanical tail fin 14 is controlled to periodically swing through the joint motor 13 based on control information, power is provided for the intelligent robot fish, the swimming speed of the intelligent robot fish is adjusted based on the swing frequency and amplitude of the mechanical tail fin 14, and the swimming direction of the intelligent robot fish is adjusted based on the swing bias of the mechanical tail fin 14.
As shown in fig. 3, it shows that in the multi-joint tail fin driving mode, the driving module is a multi-joint tail fin driving module, and the multi-joint tail fin driving module includes three joint motors 13 connected in series with each other and a tail fin structure connected behind the last joint motor, where the joint motor 13 directly connected to the main control module is a horizontal rotation axis joint motor 17, and the horizontal rotation axis joint motor 17 is responsible for pitch angle adjustment of the intelligent robot fish. The other joint motors are vertical rotation shaft joint motors 18, the tail fin structure is a mechanical tail fin 14, the joint motors 13 are controlled through a CPG control model based on control information, periodic swinging of the mechanical tail fin 14 is achieved, and the swimming speed and the swimming direction of the intelligent robot fish are adjusted based on parameters of the CPG control model.
As shown in fig. 4, in the mixed drive mode of the tail fin and the pectoral fin, the drive module is a mixed drive module of the tail fin and the pectoral fin, the mixed drive module of the tail fin and the pectoral fin comprises three joint motors 13, a tail fin structure and two mechanical pectoral fins 12 symmetrically arranged, the tail fin structure and the two mechanical pectoral fins 12 are driven by different joint motors 13, the joint motor 13 for driving the tail fin structure is a vertical rotation shaft joint motor 18, the joint motor 13 for driving the mechanical pectoral fin is a horizontal rotation shaft joint motor 17, and the tail fin structure is a mechanical tail fin 14;
the mechanical tail fin 14 is used for providing power and adjusting the yaw direction of the intelligent robot fish, and the mechanical pectoral fin 12 is used for adjusting the pitch and roll directions of the intelligent robot fish.
As shown in fig. 5, in the propeller driving mode, the driving module is a propeller driving module, and the propeller driving module includes a plurality of joint motors 13 connected in series with each other, and a tail fin structure connected behind the last joint motor 13, wherein the joint motor 13 directly connected with the main control module is a horizontal rotation axis joint motor 17, the rest joint motors 13 are vertical rotation axis joint motors 18, and the tail fin structure includes a brushless motor and a propeller connected behind the brushless motor;
Based on the control information, the joint motor 13 and the brushless motor 19 control the movement of the intelligent robot, the joint motor 13 is responsible for adjusting the swimming direction of the intelligent robot, and the brushless motor 19 drives the propeller 20 to adjust the swimming speed of the intelligent robot. In one embodiment of the present invention, the brushless motor 19 is a waterproof brushless motor.
In one embodiment of the invention, the horizontal rotation axis joint motor 17 is connected in series with the vertical rotation axis joint motor 18, and can provide left-right steering and ascending diving in the multi-joint tail fin driving mode and the propeller driving mode, so that the freedom degree of the robot fish motion is improved.
In a specific embodiment of the invention, the invention also discloses a motion control method of the intelligent robot fish based on the modularized design, which comprises the following steps:
the sensing module collects environmental information around the intelligent robot fish and transmits the collected environmental information to the main control module;
The sensing module collects environmental information around the intelligent robot fish and transmits the collected environmental information to the main control module; the intelligent computing unit of the main control module obtains the relative position and the swimming speed of the intelligent robot fish based on the environmental information, obtains the expected swimming speed and the expected swimming direction of the robot fish based on the expected position and the expected track of the preset intelligent robot fish and the relative position and the swimming speed, and transmits the expected swimming speed and the expected swimming direction to the bottom layer control unit, and the bottom layer control unit obtains the control information of the driving module based on the expected swimming speed and the expected swimming direction, and enables the intelligent robot fish to move in the expected swimming direction and the expected swimming speed by controlling the driving module.
The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (9)
1. The intelligent robot fish based on the modularized design is characterized by comprising a main control module, a sensing module, a debugging module, a power supply module and a driving module which are independently sealed and arranged in a modularized mode, wherein the sensing module, the power supply module and the debugging module are connected with the main control module in a magnetic connection mode to form a fish head of the intelligent robot fish;
The sensing module is used for collecting environmental information around the intelligent robot fish and transmitting the collected environmental information to the main control module;
The intelligent robot fish control system comprises a main control module, a driving module, a control module and a control module, wherein the main control module is arranged at the middle front part of the intelligent robot fish and is responsible for coordination and management among all modules;
The driving mode comprises a single-joint tail fin driving mode, a multi-joint tail fin driving mode, a tail fin and pectoral fin mixed driving mode or a propeller driving mode;
the debugging module is responsible for debugging a control program of the main control module;
The power supply module is used for supplying power to the intelligent robot fish;
The intelligent robot fish swimming device comprises a driving module, a driving module and a tail fin structure, wherein the driving module is arranged at the middle and rear part of the intelligent robot fish and is used for controlling the swimming direction and the swimming speed of the intelligent robot fish in different driving modes by using control information generated by the driving module, the driving module comprises one or more joint motors and a tail fin structure, the joint motors comprise horizontal rotation shaft joint motors and/or vertical rotation shaft joint motors, and the tail fin structure drives the intelligent robot fish to swim under the driving of the joint motors.
2. The intelligent robot fish based on the modularized design according to claim 1, wherein the main control module is sealed by a single waterproof cabin, and the bulkhead of the waterproof cabin is provided with a magnetic connection structure for installing a sensing module, a power supply module and a debugging module and an aviation plug interface for connecting a driving module;
The intelligent robot fish intelligent control system comprises a main control module, a power management unit, a bottom layer control unit and an intelligent computing unit, wherein the power management unit is used for converting voltage provided by the power supply module into voltage suitable for the bottom layer control unit, the intelligent computing unit, a sensing module and a driving module, the intelligent computing unit is used for obtaining the relative position and the swimming speed of the intelligent robot fish based on the environmental information, obtaining the expected swimming speed and the expected swimming direction of the robot fish based on the preset expected position and the expected track of the intelligent robot fish and the relative position and the swimming speed, and transmitting the expected swimming speed and the expected swimming direction to the bottom layer control unit, and the bottom layer control unit is used for obtaining control information of the driving module based on the expected swimming speed and the expected swimming direction and controlling the driving module to enable the intelligent robot fish to move in the expected swimming direction and the expected swimming speed.
3. The intelligent robot fish based on the modularized design according to claim 1, wherein the sensing module is sealed through a single waterproof cabin, the sensing module comprises a visual super sensing unit and/or an artificial lateral line system sensing unit, the visual super sensing unit comprises a visual sensing unit and an ultrasonic sensing unit, the visual sensing unit and the ultrasonic sensing unit are arranged in front of the main control module, the visual sensing unit is used for collecting image data in front of the intelligent robot fish, the ultrasonic sensing unit is used for collecting distance information between the intelligent robot fish and a front obstacle, and the artificial lateral line system sensing unit is arranged on the side of the main control module and used for collecting pressure information around the intelligent robot fish.
4. The intelligent robot fish based on the modularized design according to claim 1, wherein in the single-joint tail fin driving mode, the driving module is composed of a vertical rotating shaft joint motor and a tail fin structure connected to the rear of the vertical rotating shaft joint motor, the tail fin structure is a mechanical tail fin, the mechanical tail fin is controlled to swing periodically based on control information through the joint motor to provide power for the intelligent robot fish, the swimming speed of the intelligent robot fish is adjusted based on the swing frequency and the swing amplitude of the mechanical tail fin, and the swimming direction of the intelligent robot fish is adjusted based on the swing bias of the mechanical tail fin.
5. The intelligent robot fish based on the modularized design according to claim 1, wherein in the multi-joint tail fin driving mode, the driving module is composed of a plurality of joint motors connected in series with each other and a tail fin structure connected behind the last joint motor, wherein the joint motors directly connected with the main control module are horizontal rotation shaft joint motors, the rest joint motors are vertical rotation shaft joint motors, the tail fin structure is a mechanical tail fin, the joint motors are controlled through a CPG control model based on control information, periodic swinging of the mechanical tail fin is achieved, and the swimming speed and the swimming direction of the intelligent robot fish are adjusted based on parameters of the CPG control model.
6. The intelligent robot fish based on modular design according to claim 1, wherein in the mixed drive mode of the tail fin and the pectoral fin, the drive module is composed of three joint motors, one tail fin structure and two mechanical pectoral fins symmetrically arranged, the tail fin structure and the two mechanical pectoral fins are driven by different joint motors, the joint motor driving the tail fin structure is a vertical rotation shaft joint motor, the joint motor driving the mechanical pectoral fin is a horizontal rotation shaft joint motor, and the tail fin structure is a mechanical tail fin;
The mechanical tail fin is used for providing power and adjusting the yaw direction of the intelligent robot fish, and the mechanical pectoral fin is used for adjusting the pitch direction and the roll direction of the intelligent robot fish.
7. The intelligent robot fish based on the modularized design according to claim 1, wherein in the propeller driving mode, the driving module comprises a plurality of joint motors connected in series with each other and a tail fin structure connected behind the last joint motor, wherein the joint motors directly connected with the main control module are horizontal rotation shaft joint motors, the rest joint motors are vertical rotation shaft joint motors, and the tail fin structure comprises a brushless motor and a propeller connected behind the brushless motor;
Based on the control information, the joint motor and the brushless motor control the movement of the intelligent robot fish, the joint motor is responsible for adjusting the swimming direction of the intelligent robot fish, and the brushless motor drives the propeller to adjust the swimming speed of the intelligent robot fish.
8. A modular design-based intelligent robot fish according to any of claims 1 to 3, wherein the hull of the watertight compartment is made of ABS material by 3D printing techniques.
9. The motion control method of the intelligent robot fish based on the modularized design is characterized by comprising the following steps of:
The sensing module collects environmental information around the intelligent robot fish and transmits the collected environmental information to the main control module; the intelligent computing unit of the main control module obtains the relative position and the swimming speed of the intelligent robot fish based on the environmental information, obtains the expected swimming speed and the expected swimming direction of the robot fish based on the expected position and the expected track of the preset intelligent robot fish and the relative position and the swimming speed, and transmits the expected swimming speed and the expected swimming direction to the bottom layer control unit, and the bottom layer control unit obtains the control information of the driving module based on the expected swimming speed and the expected swimming direction, and enables the intelligent robot fish to move in the expected swimming direction and the expected swimming speed by controlling the driving module.
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