Vision-based multi-fin cooperation drive robotic fish

Abstract

The invention provides a vision-based multi-fin cooperation drive robotic fish which comprises a shell, a fishtail power module, a fin auxiliary module, a camera module, a gravity center adjusting module, a control module and a power module. The control module is used for controlling movement of the robotic fish. The camera module comprises a camera, and a two-axis pan-tilt assembly used for driving the camera to rotate up and down and left and right is mounted on one side of the camera. The gravity center adjusting module comprises a left-and-right gravity center block and a front-and-back gravity center block, and a left-and-right gravity center adjusting steering engine used for driving the left-and-right gravity center block to swing left and right is arranged on one side of the left-and-right gravity center block. A driving belt wheel and a driven belt wheel are arranged on the two sides of the front-and-back gravity center block. The driving belt wheel is connected with the driven belt wheel through a first synchronous toothed belt. The upper side of the driving belt wheel is connected with a front-and-back gravity center adjusting steering engine. A linear rail is arranged on the lower side of the first synchronous toothed belt. The front-and-back gravity center block is in sliding connection with the linear rail. The functions that shaking is prevented, and the roboticfish ascends, dives and flexibly turns are achieved, and swimming flexibility is improved.

Description

technical field [0001] The invention relates to the field of bionic robot fish equipment, in particular to a vision-based multi-fin cooperative driving robot fish. Background technique [0002] The bionic robot fish pushes the surrounding water by imitating the shape and motion of fish to achieve propulsion and turning. It has the characteristics of low noise and little disturbance to the environment. Execute the task below. Therefore, the bionic robot fish can be applied to ocean surveying, ocean exploration, submarine pipeline detection, underwater detection and tracking, water pollution monitoring, etc., and has very broad application prospects. [0003] The currently designed bionic robotic fish mainly includes a shell, a head, fins, a skeleton and a motion control unit. The motion control unit is used to control the swing of the fins and skeleton to improve the simulation degree of the bionic robotic fish. Among them, the fins mainly include dorsal fin, pectoral fin, ...

AI Technical Summary

Problems solved by technology

However, in the existing research, it is still impossible to realize the floating, diving and flexible turning of the robotic fish through the mutual cooperation of the fins.

In addition, when the robot fish swims in the water, due to the swing of the fins and the flow of the water itself, the stability of the head may be poor. Intelligent swimming of robotic fish

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