Multi-joint robotic fish and motion control method thereof

Abstract

The invention discloses a multi-joint robotic fish and a motion control method thereof. The multi-joint robotic fish comprises a closed fish body structure, a sensor set is arranged on the fish body structure, and the two sides of the fish body structure are symmetrically connected with a right pectoral fin and a left pectoral fin which drive the fish body structure to move up and down; a right pectoral fin steering gear joint and a left pectoral fin steering gear joint which are connected with the right pectoral fin and the left pectoral fin respectively and drive the right pectoral fin and the left pectoral fin to move are arranged in the fish body structure, and a controller, a positioning module and a communication module are further arranged in the fish body structure; the tail end of the fish body structure is connected with a tail joint mechanism for driving the fish body structure to horizontally swim, the tail joint mechanism comprises at least three groups of tail steering engine joints which are connected in sequence, and the tail end of the tail steering engine joint at the tail is further connected with a tail fin; and the sensor group at least comprises an infrared sensor, a water quality detection sensor and an inertial navigation sensor. According to the multi-joint robotic fish, accurate, efficient, natural and coordinated automatic cruise and obstacle avoidance of the multi-joint robotic fish can be realized.

Description

technical field [0001] The invention belongs to the field of robot motion control methods, and in particular relates to a multi-joint robot fish and a motion control method thereof. Background technique [0002] With the rapid development of my country's science and technology and economy, the aquaculture industry has ushered in a bright future for development, but in the process of aquaculture still relies on the subjective judgment and participation of professionals, there are problems such as time-consuming, labor-intensive and high rate of misjudgment. It is impossible to achieve scientific breeding. Therefore, in order to improve the economic benefits of aquaculture and the quality of aquatic products, more and more underwater mobile robots are used for water quality testing. Among them, the bionic robotic fish is the most widely used, so how to safely and efficiently control the bionic robotic fish to complete automatic cruising and obstacle avoidance, and to enable th...

AI Technical Summary

Problems solved by technology

Under these control methods, the robot fish has disadvantages such as poor robustness, inflexible swimming, and uncoordinated attitude, and its ability to process environmental information is weak, making it difficult to realize automatic cruise.

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