Determining method and system for fin-propulsive robotic-fish movement energy consumption
A determination method and technology of robotic fish, which can be used in instruments, special data processing applications, electrical digital data processing, etc., and can solve problems such as low level, complicated operation, time-consuming precision
Active Publication Date: 2018-03-20
CHENGDU UNIV OF INFORMATION TECH
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[0002] At present, in the prior art, there are usually two ways to study the energy consumption of robotic fish movement. One is to use the formula E=UIt to calculate, but there is no movement parameters related to the caudal fin (such as the swing angle of the tail fin, the swing amplitude and the swing value). frequency), which leads to a measurement of energy consumption every time the motion parameters of the tail fin of the robotic fish are changed, which is time-consuming and has low accuracy
Another way is to determine the relationship between tail fin swing angle, swing amplitude and swing frequency and energy consumption through experiments, but there are differences among robotic fish, such as the quality and size of robotic fish, so this method establishes The energy consumption model still needs to be calibrated, and the operation is cumbersome
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[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0048] The purpose of the present invention is to provide a method and system for determining the energy consumption of the fin-propelled robotic fish, which can correlate the energy consumption of the caudal fin of the robotic fish with the motion parameters of the caudal fin, and is time-consuming, high-precision, and easy to operate.
[0049] In order to make the above objects, features and advantages of the present invention more comprehensible, the present...
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The invention discloses a determining method and system for fin-propulsive robotic-fish movement energy consumption. The method includes the steps that the swinging deflection angle, the swinging amplitude and the swinging frequency of a robotic-fish tail fin are obtained; an energy-consumption model of a robotic fish is determined; according to the swinging deflection angle, the swinging amplitude and the swinging frequency of the robotic-fish tail fin and the energy-consumption model of the robotic fish, robotic-fish movement energy consumption is calculated. According to the determining method and system for fin-propulsive robotic-fish movement energy consumption, a calculation model of robotic-fish movement energy consumption is provided, the movement energy consumption model is relevant to the swinging deflection angle, the swinging amplitude and the swinging frequency of the robotic-fish tail fin, and according to the movement energy consumption model and the swinging deflectionangle, the swinging amplitude and the swinging frequency of the robotic-fish tail fin, movement energy consumption of the robotic fish can be calculated. The determining method and system have the advantages of being easy, fast and convenient to calculate and high in accuracy.
Description
technical field [0001] The invention relates to the field of robotic fish, in particular to a method and system for determining energy consumption of a fin-propelled robotic fish. Background technique [0002] At present, in the prior art, there are usually two ways to study the energy consumption of robotic fish movement. One is to use the formula E=UIt to calculate, but there is no movement parameters related to the caudal fin (such as the swing angle of the tail fin, the swing amplitude and the swing value). frequency), which leads to a measurement of energy consumption every time the motion parameters of the caudal fin of the robotic fish are changed, which is time-consuming and has low accuracy. Another way is to determine the relationship between tail fin swing angle, swing amplitude and swing frequency and energy consumption through experiments, but there are differences among robotic fish, such as the quality and size of robotic fish, so this method establishes The ...
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IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor沈艳许启新章洁张榕
OwnerCHENGDU UNIV OF INFORMATION TECH