Bionic fish path control method and device and bionic fish

A technology of path control and bionic fish, which is applied in the direction of vehicle position/route/height control, control/regulation system, non-electric variable control, etc., can solve the problem of low precision of path control of bionic fish

Active Publication Date: 2022-05-27
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0004] The invention provides a bionic fish path control method, device and bionic fish to solve the defect of low accuracy of bionic fish path control in the prior art

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  • Bionic fish path control method and device and bionic fish
  • Bionic fish path control method and device and bionic fish
  • Bionic fish path control method and device and bionic fish

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Embodiment Construction

[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0054]At present, the bionic fish is controlled by the following methods in the prior art: First, the bionic fish is developed by using an ion-conducting polymer membrane as the actuator to realize three-dimensional swimming. The second is to use the air-borne electrolyzer to generate gas to control the depth change, and realize the three-dimensional swimming of the bionic fish. The third is to design a two-dimens...

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Abstract

The invention provides a bionic fish path control method and device and bionic fish, and the method comprises the steps: determining a kinetic model of the bionic fish based on mechanical structure parameters, motion parameters and stress parameters of the bionic fish; determining a control law in a two-dimensional direction and a control law in a three-dimensional direction based on the kinetic model and the target position; determining a tail fin offset angle of the bionic fish based on the control law in the two-dimensional direction, and determining a propeller rotation speed of the bionic fish based on the control law in the three-dimensional direction; and based on the tail fin offset angle and the propeller rotation speed, the bionic fish is controlled to move to the target position. The bionic fish is controlled on the basis of the offset angle of the tail fin and the rotating speed of the propeller, so that the bionic fish is accurately controlled in the two-dimensional direction and the three-dimensional direction, and the bionic fish can accurately move to the target position.

Description

technical field [0001] The invention relates to the technical field of underwater robot control, in particular to a bionic fish path control method, device and bionic fish. Background technique [0002] In recent years, the underwater bionic robot is gradually developing into an excellent underwater operation platform that takes into account maneuverability, concealment and propulsion efficiency by imitating the excellent movement ability of natural creatures, and has broad development prospects. Among them, small underwater bionic robots are expected to be applied in the fields of water quality monitoring, target search and cluster detection in narrow waters because of their compact and flexible design, good maneuverability in narrow spaces, concealment and low cost. [0003] In order to perform tasks more efficiently, the autonomy of bionic fish as a small underwater bionic robot has also received attention, including autonomous cruise, underwater obstacle avoidance, path ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 吴正兴王健李思捷闫帅铮谭民
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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