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A robot fish group formation control system and control method based on zigbee networking

A control system and control method technology, applied in the direction of specific environment-based services, transmission systems, network topology, etc., can solve the problems of low UUV detection efficiency, low detection accuracy, narrow detection range, etc., to improve detection efficiency and accuracy, Increase the search range and improve the effect of IntelliSense

Active Publication Date: 2021-12-28
XI AN JIAOTONG UNIV
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  • Summary
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, underwater detection is performed by a single UUV underwater unmanned submersible vehicle, but the detection efficiency of a single UUV is low, the detection range is narrow, and the detection accuracy is low.

Method used

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  • A robot fish group formation control system and control method based on zigbee networking
  • A robot fish group formation control system and control method based on zigbee networking
  • A robot fish group formation control system and control method based on zigbee networking

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Embodiment

[0036] refer to figure 1 , an underwater robot cluster formation control system based on Zigbee networking, including a PC terminal, a CC2530 communication module 1 equipped with a Z-stack protocol stack, multiple CC2530 communication modules 2, and an underwater bionic robotic fish cluster. The underwater bionic robotic fish cluster includes a plurality of underwater bionic robotic fish 3, and the underwater bionic robotic fish 3 includes a robotic fish body, a CC2530 Zigbee communication module 2 mounted on the fish body, an STM32 single-chip microcomputer 31 and a driving steering gear 32. The STM32 single-chip microcomputer 32 is connected with the CC2530 communication module 2 through the serial port USART1, and connected with the three-way driving servo 32 through the GPIOB10, GPIOB11 and GPIOB12, and the PC is connected with the CC2530 communication module 1 through the serial port. Zigbee communication modules 1 and 2 can self-organize the network in broadcast, multica...

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PUM

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Abstract

A robotic fish swarm formation control system based on Zigbee networking, including a PC terminal, a first communication module, and an underwater bionic robotic fish swarm; the underwater bionic robotic fish swarm includes several underwater bionic robotic fish, and the underwater bionic robotic fish includes The robot fish body, the second communication module, the single-chip microcomputer and the three-way driving steering gear; the single-chip microcomputer is connected with the second communication module through the serial port, and the single-chip computer is connected with the three-way driving steering gear; the PC end is connected with the first communication module through the serial port, and the first The communication module and the second communication module are connected through a Zigbee network. This system integrates STM32 single-chip controller and CC2530 chip equipped with Zigbee network, and connects laser obstacle avoidance sensor and handle receiver on STM32, and realizes various remote cluster control methods of robotic fish by pre-programming the onboard program . In order to flexibly respond to the actual environment, the design and invention are based on Zigbee network broadcast and multicast mode switching for underwater robot fish cluster formation control.

Description

technical field [0001] The invention belongs to the field of underwater robot control systems, and in particular relates to a control system and a control method for robot fish group formation based on Zigbee networking. Background technique [0002] With the development and maturity of underwater unmanned submersible vehicle technology, a single underwater unmanned submersible vehicle can no longer meet the development of demand, which makes it become an underwater task for multiple underwater unmanned submersible vehicles to cooperate with each other in the form of clusters. It is an inevitable trend in the development of unmanned underwater vehicles. At present, underwater detection is performed by a single UUV underwater unmanned submersible vehicle, but the detection efficiency of a single UUV is low, the detection range is narrow, and the detection accuracy is low. Contents of the invention [0003] The purpose of the present invention is to provide a Zigbee-based n...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L29/08H04W4/38H04W84/18
CPCH04L67/10H04W4/38H04W84/18
Inventor 胡桥余雷续丹赵振轶冯兴龙孙帅帅
Owner XI AN JIAOTONG UNIV
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