Bionic robotic fish pectoral fin and tail fin cooperative control system and method

Abstract

The invention provides a bionic robotic fish pectoral fin and tail fin cooperative control system and method. The bionic robotic fish pectoral fin and tail fin cooperative control system comprises a fish body shell, a pectoral fin and a tail fin, a pectoral fin control assembly, a tail fin control assembly, a snorkeling module and a control module are correspondingly installed in an inner cavity of the fish body shell, and the snorkeling module comprises a snorkeling cabin and a snorkeling driving assembly. The control module comprises a computer, a controller and an information acquisition assembly, the information acquisition assembly is connected with the input end of the controller, the output end of the controller is connected with the pectoral fin control assembly, the tail fin control assembly and the snorkeling driving assembly, and the computer and the controller achieve information interconnection through underwater wireless optical communication. By means of the bionic robotic fish pectoral fin and tail fin cooperative control system, straight swimming, turning, floating and diving of fishes are achieved, and meanwhile, multi-mode control is additionally arranged, so that switching among different gears is achieved.

Description

technical field [0001] The invention belongs to the technical field of robotic fish control, in particular to a system and method for coordinated control of pectoral fins and tail fins of bionic robotic fish. Background technique [0002] The underwater bionic robot fish is becoming more and more mature. From the original Lighthill fish body wave curve, various forms of fish and different control methods have been derived. According to the fish propulsion method, it can be divided into two modes: Body and / or Caudal Fin (BCF for short) and Median and / or Paired Fin (MPF for short). Summarizing the swimming performance of the existing bionic robotic fish, the bionic robotic fish using the BCF mode has the advantages of fast swimming speed and high maneuverability, but the disadvantages are poor maneuverability at low speed, easy shaking of the body, and poor stability; the bionic robotic fish using the MPF mode The advantage of the robotic fish is good low-speed maneuverabilit...

AI Technical Summary

Problems solved by technology

Summarizing the swimming performance of the existing bionic robotic fish, the bionic robotic fish using the BCF mode has the advantages of fast swimming speed and high maneuverability, but the disadvantages are poor low-speed maneuverability, easy body shaking, and poor stability; the bionic robotic fish using the MPF mode The advantage of the robot fish is that it has good low-speed maneuverability and good body stability, but the disadvantage is that the swimming speed is slow

Most of the prior art only adopt tail fin control

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