Control method for non-semidiameter turn of bionic machinery fish

A control method and technology for robotic fish, applied in non-rotating propulsion elements, toys, entertainment, etc., can solve problems such as unpredictable, unable to change direction alone, and achieve the effect of flexible robotic fish

Inactive Publication Date: 2008-07-16
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still some problems in the practical use of robotic fish: there is no soft and powerful drive yet, and it is necessary to realize s-shaped turning, fast start, fast braking, and fast and stable suspension in the water during the dive process. In addition, I do not know how the fish is Controlling the vortex propulsion, it is impossible to predict what actions the robotic fish will make given a command, etc., and there is a turning radius when controlling the turning movement of the robotic fish. The turning radius of the robotic fish is an important factor affecting its maneuverability. A robot fish with a radius turn changes its direction objectively while changing its position, and cannot change its direction alone
It is difficult to achieve in-situ rotation observation in underwater detection or underwater archaeology

Method used

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  • Control method for non-semidiameter turn of bionic machinery fish
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  • Control method for non-semidiameter turn of bionic machinery fish

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Embodiment Construction

[0015] The swimming patterns of fish are divided into two categories: Periodic movement is cyclic movement at different speeds, which is suitable for long-distance cruising; non-periodic movement includes jumping, drilling, flying, jet propulsion, sharp turn, starting, braking, etc. Move, slide, etc. The movement of robotic fish is usually divided into several basic behaviors:

[0016] 1. Cruise: The robotic fish moves along a straight line at a constant speed, accelerating or decelerating.

[0017] 2. Turning during cruising: turn when the direct flight speed is not zero.

[0018] 3. Sharp turn: There is a sudden angular acceleration.

[0019] 4. Quick start: start with great acceleration.

[0020] 5. Fast braking: fast braking with great acceleration.

[0021] 6. Sliding: The body of the robotic fish becomes a straight line and slides forward without power.

[0022] 7. Up and down

[0023] The bionic robotic fish with a radius turn cannot change the direction in situ, ...

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Abstract

The invention relates to a method for controlling no-radius turning of a biomimetic robot fish, relating to an automatic control field. Taking a centroid of the robot fish as an origin, the invention establishes a kinematics model of the robot fish; the robot fish is articulated and a rotation angle of each joint is calculated according to the kinematics model; a control circuit sends a control signal to drive the robot fish to swing from a fishtail joint; a force couple is formed through thrust force F of water, which realizes the no-radius turning of the biomimetic robot fish by taking the centroid as the origin. Through a reaction force of the water to the robot fish, no-radius turning of the robot fish around the centroid is realized. By adopting the method of the no-radius turning of the biomimetic robot fish of the invention, in-situ no-radius turning of the biomimetic robot fish can be realized; when changing direction, position is not affected so that the robot fish can be more flexible. The method, which can well control the change of directions at a certain position, can realize underwater in-situ detection and in-situ photography of underwater archaeology.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a motion control method for a bionic robot fish. Background technique [0002] Underwater thrusters are increasingly used in marine life observation, seabed exploration, marine salvage, oil tank detection, pipeline detection, and military applications. When a traditional propeller swims in water, eddy currents will be generated on its side, which will reduce the speed of the object, increase power consumption, and cause noise. Fish have amazing swimming abilities compared to underwater propellers. It is observed that the swimming of fish has the advantages of no noise, high propulsion efficiency, and strong maneuverability, so the research on fish-like propellers has become an important research topic. [0003] Since the 1990s, there have been bionic robot fish that imitate the movement of fish. From the world's first real bionic tuna successfully developed by the ...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): B63H1/36A63H23/10
Inventor张毅罗元李敏谢颖熊仕勇徐洋曾黔蜀张开碧
OwnerCHONGQING UNIV OF POSTS & TELECOMM