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A method for controlling the motion trajectory of robotic fish group for floating object transportation

A technology of movement trajectory and control method, applied in toys, water toys, dolls, etc., can solve the problems of lack of cooperative cooperation technology of applied robot fish group, inability to accurately control the movement of transported objects according to the trajectory, and avoid close-range edge rubbing , Shorten delivery time and improve efficiency

Active Publication Date: 2020-11-06
北京世喜母婴用品有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to solve the problem of the lack of cooperative cooperation technology of the applied robotic fish group and the inability to accurately control the movement of the transported object according to the trajectory, the present invention provides a method for controlling the movement trajectory of the robotic fish group for floating object transportation

Method used

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  • A method for controlling the motion trajectory of robotic fish group for floating object transportation
  • A method for controlling the motion trajectory of robotic fish group for floating object transportation
  • A method for controlling the motion trajectory of robotic fish group for floating object transportation

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specific Embodiment approach 1

[0030] Specific implementation mode one: combine figure 2 , image 3 , Figure 4 , Figure 5 Describe this embodiment mode, a kind of data collection method used in wireless sensor network that this embodiment mode provides, specifically comprises the following steps:

[0031] S1. On the extension line from the target position C to the position B of the object to be conveyed, set the distance d from the object to be conveyed 1 is the point to be hit A, let the distance to be transported be d 2 is the pre-impact point G; d 2 >d 1 ;d 1 It is longer than the length of a fish body; the positions of points A and G change with the change of B;

[0032]S2. Schedule one robot fish Fish1 in the robot fish group to move to point A, and the other robot fish Fish2 to move to point G; during the collision process, when the distance between the two fish and point A is close, the two fish may collide; For this reason, point G is set as the preliminary impact point; as figure 2 As ...

specific Embodiment approach 2

[0055] Embodiment 2: This embodiment differs from Embodiment 1 in that in step S2, the fish that can reach point A the fastest in the robotic fish group is selected as Fish1.

[0056] Other steps and parameters are the same as those in the first embodiment.

specific Embodiment approach 3

[0057] Specific Embodiment 3: The difference between this embodiment and specific embodiments 1 or 2 is that the point A to be hit is specifically centered on A and d 3 A circular area with radius; d 3 The calculation formula is:

[0058]

[0059] When encoding, because the system of collecting coordinates is not accurate, if only the coordinates of point A are given, it is difficult for the robot fish to reach point A, and it is easy to cause the situation of spinning around point A. It can be seen from the above that when the angle between the fish body direction M and Line L is less than β, the fish can hit the floating object and swim forward in the direction BC more accurately; therefore, in this embodiment, point A is the circular area, and only need It is enough that the circular area is in the Hit Region area; for example Figure 4 Shown, with DA (equal to d 3 ) is the radius, which is set as the area to be hit. The area to be hit is in the Hit Region area. When ...

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Abstract

The invention provides a method for controlling a movement trajectory of a robotic fish group for floating object transportation, and belongs to the technical field of robotic fish control. The double-fish alternating impact strategy is combined on the basis of the long-distance posture adjustment strategy; the long-distance posture adjustment strategy improves probability of three-point-and-one-line of robotic fishes, a to-be-transported object and the target position by setting the distance of a fish body to a point to be impacted and the posture adjustment strategy; and the double-fish alternating impact strategy strengthens the cooperation between the two fishes by formulating a strategy that when one of the robotic fishes hits a floating object, the other robotic fishes migrate. The problems of lack of application-type robotic fish group cooperation technology and the inability to accurately control the transported object to move along the trajectory in the prior art are solved. The method for controlling the movement trajectory of the robotic fish group for floating object transportation can be used for the rapid and accurate transportation of materials by the robotic fishes.

Description

technical field [0001] The invention relates to a method for controlling the motion trajectory of a robot fish group, and belongs to the technical field of robot fish control. Background technique [0002] With the rapid development of marine science and technology, people have turned their attention to the ocean with rich resources and great development value, and underwater robots that adapt to various unstructured environments have developed rapidly. The robot fish, which combines the perfect underwater movement ability of fish, is widely used in resource detection, military reconnaissance, and ocean monitoring due to its high efficiency, strong concealment, excellent fluid performance, high propulsion efficiency, good maneuverability, and low noise. , environmental protection, entertainment viewing and many other fields. The bionic robotic fish is mainly divided into three parts: fish head 1, fish body 2, and fish tail 3; figure 1 As shown, the fish head 1 part is comp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63H23/10A63H3/26
CPCA63H3/26A63H23/10
Inventor 王超徐悦凡
Owner 北京世喜母婴用品有限公司
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