Robot fish school system for underwater autonomous obstacle avoidance and path planning

Abstract

The invention discloses a robotic fish school system for underwater autonomous obstacle avoidance and path planning, and relates to the technical field of robotic fish schools. The robot fish comprises a plurality of robot fish single bodies, and each robot fish single body comprises a head detection system, a control system, a middle power and steering engine bionic movement system and a tail balance system; the head detection system comprises a front sonar, a bottom sonar, two-side sonars and a binocular camera; the control system comprises a motion control module, and a data acquisition module, an image analysis module, a motor and a double-steering-engine motion module are electrically connected with the control device; the back of the robotic fish is provided with a dorsal fin and a wireless communication module. The environment is monitored through the sonar and the binocular camera, obstacles in the environment are recognized through the control system, a path is planned, and the motor and the double steering engines are driven to conduct obstacle avoidance operation. Compared with a traditional obstacle avoidance mode, the effective obstacle avoidance range is wider, modular design is adopted, and disassembly and later maintenance are easy.

Description

Technical Field

[0001] This invention relates to the field of robotic fish technology, and in particular to an underwater autonomous obstacle avoidance and path planning robotic fish system. Background Technology

[0002] Underwater robotic fish technology has made significant progress in recent years, demonstrating great potential, particularly in exploring deep-sea resources, conducting scientific research, performing rescue missions, and monitoring environmental changes. Underwater robotic fish swarms enhance the efficiency and flexibility of underwater operations by mimicking the behavior patterns of fish in nature. However, the complexity and uncertainty of the underwater environment pose significant challenges to the obstacle avoidance capabilities and path planning of robotic fish swarms. Limited visibility, current disturbances, and the diversity of obstacles in the underwater environment make obstacle avoidance exceptionally difficult for robotic fish swarms. Traditional bionic robotic fish obstacle avoidance systems have limited coverage, cannot achieve effective obstacle avoidance, and are functionally limited, lacking binocular recognition capabilities. Furthermore, existing bionic robotic fish can only transmit underwater images to the ground, unable to scan underwater topography. Dynamic obstacle avoidance is ineffective, and the cooperation and collision avoidance among swarm members are poor, resulting in low underwater operational efficiency.

[0003] Traditional obstacle avoidance methods using visual sensors face limitations due to underwater light propagation, especially in murky or deep water environments with extremely low visibility. This impacts the sensor's recognition capabilities, and the absorption characteristics of underwater light lead to color distortion, affecting object color recognition and classification. Fusing data from different types of sensors (such as acoustic, optical, and inertial measurement units) requires complex algorithms and computational resources to achieve accurate target localization and obstacle avoidance. Furthermore, the processing and fusion of multi-sensor data takes time, potentially affecting the robotic fish's immediate response to obstacles. Depending on specific needs, high-performance sensors typically consume significant power, limiting the operating time and range of battery-powered underwater robotic fish. High-precision underwater sensors and related signal processing equipment are often expensive, increasing the research, development, and operational costs of underwater robotic fish.

[0004] Furthermore, in actual use, the infrared camera's monitoring width is only about 80°, covering a small area and making it unsuitable for open underwater areas. The obstacle avoidance area is also small, preventing dynamic obstacle avoidance, and fish may collide with each other. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater autonomous obstacle avoidance and path planning robotic fish swarm system to solve the problems mentioned in the background art.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] An underwater autonomous obstacle avoidance and path planning robotic fish swarm system, including

[0008] Multiple robotic fish units, each of which includes a head detection system, a control system, a mid-section power and servo bionic motion system, and a tail balancing system;

[0009] The head detection system includes a front sonar, a passive sonar at the bottom, and binocular cameras on both sides of the outer shell. The head shell in front of the binocular cameras is made of transparent material.

[0010] The control mechanism includes a control device located inside the outer casing. The control device includes a motion control module for analyzing and processing the collected information data, a data acquisition and reception module for receiving sonar data, and an image analysis module for generating a 360° environmental image monitored by the binocular camera. The motor and the dual servo motor bionic motion module are electrically connected to the control device.

[0011] Preferably, the control module has a dorsal fin on its upper part and is equipped with a wireless communication module, which can realize information interaction between fish and enable cooperative work among fish.

[0012] Preferably, the waterproof housing of the camera includes a front housing and a rear cover, and a groove is provided at the connection between the front housing and the rear cover, the groove being filled with sealant.

[0013] Preferably, the main body has three outer shells: the outermost shell is smooth to reduce the running resistance of the robotic fish; the middle shell is a waterproof layer to prevent water from entering the robotic fish and damaging the internal instruments; and the innermost shell is a sealing layer to further protect the internal instruments from water seepage.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This invention integrates front and bottom sonar with a binocular camera through a head detection module, enabling 360° obstacle avoidance without blind spots. Compared to the traditional method of using a single sonar and sensor, this invention uses a combination of dual sonar and binocular camera to expand the effective obstacle avoidance space and range. Furthermore, the sonar on both sides effectively prevents collisions between fish, achieving all-round obstacle avoidance.

[0016] The control mechanism of this invention analyzes and processes information collected by sonar and binocular cameras, uses particle swarm optimization for dynamic path planning, and transmits the information to the electrically connected motors and dual servo bionic motion modules to drive the robotic fish to turn. Compared with traditional obstacle avoidance and path planning methods, this invention can dynamically respond to complex underwater environments.

[0017] This invention utilizes a dual-servo module for biomimetic motion. The first servo controls the swing of the central control and power module, while the second servo controls the tail swing. Combined with a tail balancing system, the center of gravity is adjusted to achieve timely and effective obstacle avoidance. Compared to traditional swing modules, this allows for dynamic obstacle avoidance in the surrounding environment.

[0018] This invention features a modular design that facilitates disassembly and subsequent maintenance. Attached Figure Description

[0019] Figure 1 A schematic diagram of the appearance of a robotic fish swarm system for autonomous obstacle avoidance and path planning underwater;

[0020] Figure 2 A schematic diagram of the overall modules of a robotic fish swarm system for underwater autonomous obstacle avoidance and path planning;

[0021] Figure 3 This is a block diagram of the internal system of a robotic fish swarm system for underwater autonomous obstacle avoidance and path planning.

[0022] Figure 4 This is a schematic diagram of a robotic fish swarm system that enables autonomous obstacle avoidance and path planning underwater.

[0023] In the diagram: 100, front housing; 200, head detection system; 201, front sonar; 202, bottom sonar; 203, binocular camera; 204, side sonar; 300, control mechanism; 301, motion control module; 302, data acquisition module; 303, image analysis module; 400, power module; 401, motor; 402, battery compartment; 500, first group of servo bionic motion system; 501, first servo; 600, second group of servo bionic motion system; 601, second servo; 700, tail balance system; 701, tail balance control device; 800, wireless communication module. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figures 1-4 As shown, this invention is an underwater autonomous obstacle avoidance and path planning robotic fish swarm system, including...

[0026] The head detection system 200, control mechanism 300, middle power and servo bionic motion system 400, 500, 600, and tail balance system 900. The head detection system 200 includes a front sonar 201, a bottom sonar 202, and a binocular camera 203.

[0027] The control mechanism 300 includes a control device disposed inside the outer casing 100. The control device includes a motion control module 301, a data acquisition module 302, an image analysis module 303, a motor 401, and dual servo bionic motion modules 501 and 601, all of which are electrically connected to the control device.

[0028] The dual-servo bionic motion modules 501 and 601 have dorsal fins on their upper parts and are equipped with wireless communication modules 800, which can realize information interaction between fish and enable fish to work together.

[0029] Specifically, the head detection system 200 integrates the front sonar 201 and the bottom sonar 202 with the binocular camera 203, enabling 360° obstacle avoidance without blind spots and expanding the effective obstacle avoidance space. Compared with the traditional method of using a single sonar and sensor, and with sonar 204 on both sides, it effectively avoids collisions between fish and achieves all-round obstacle avoidance. The image analysis module 303 can correct and stitch the images captured by the binocular camera 203.

[0030] The control mechanism 300 analyzes and processes the information collected by the front sonar 201, bottom sonar 202, side sonars 204 and binocular camera 203, and uses particle swarm optimization algorithm for dynamic path planning. The information is then transmitted to the motor 401 and the dual servo bionic motion modules 500 and 600 that are electrically connected to it, driving the robotic fish to turn. Compared with traditional obstacle avoidance and path planning methods, the present invention can make dynamic responses to complex underwater environments.

[0031] The dual-servo bionic motion modules 500 and 600 include a first servo 501 and a second servo 601. The first servo 501 is responsible for the central control and the swing of the power module 400, while the second servo 601 controls the tail swing and, in conjunction with the tail balance system 700, adjusts the center of gravity to achieve dynamic avoidance of obstacles in the surrounding environment.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic fish swarm system for underwater autonomous obstacle avoidance and path planning, characterized in that: include The system includes a head detection system (200), a control mechanism (300), a central power and servo bionic motion system (400, 500, 600), and a tail balance system (700); the head detection system (200) includes a front sonar (201), a bottom sonar (202), side sonars (204), and a binocular camera (203). The control mechanism (300) includes a control device disposed inside the outer shell (100). The control device includes a motion control module (301), a data acquisition module (302), an image analysis module (303), a motor (401), and a dual-servo bionic motion module (501, 601), all of which are electrically connected to the control device. The dual-servo bionic motion module (501, 601) has a dorsal fin on its upper part and is equipped with a wireless communication module (800), which can be used for information interaction between fish schools to realize collaborative work among fish schools.

2. The underwater autonomous obstacle avoidance and path planning robotic fish swarm system according to claim 1, characterized in that: The head detection system (200) integrates the front sonar (201), bottom sonar (202), and side sonars (204) with a binocular camera (203), enabling 360° obstacle avoidance without blind spots and expanding the effective obstacle avoidance space; the image analysis module (303) can correct and stitch the images captured by the binocular camera (203).

3. The underwater autonomous obstacle avoidance and path planning robotic fish swarm system according to claim 1, characterized in that: The control mechanism (300) analyzes and processes the information collected by the front sonar (201), bottom sonar (202), side sonars (204) and binocular camera (203), uses particle swarm optimization algorithm to perform dynamic path planning, and transmits the information to the motor (401) and dual servo bionic motion module (500, 600) that are electrically connected to it, driving the robotic fish to turn and making dynamic responses to complex underwater environments.

4. The underwater autonomous obstacle avoidance and path planning robotic fish swarm system according to claim 1, characterized in that: The dual-servo bionic motion module (500, 600) includes a first servo (501) and a second servo (601). The first servo (501) is responsible for the central control and the swing of the power module (400). The second servo (601) controls the swing of the tail and, in conjunction with the tail balance system (700), adjusts the center of gravity to achieve dynamic avoidance of obstacles in the surrounding environment.

5. The underwater autonomous obstacle avoidance and path planning robotic fish swarm system according to claim 1, characterized in that: The dorsal fin is encapsulated with a wireless communication module (800), which enables information exchange between individual robotic fish, avoids collisions between individual fish, and enables collaborative work among fish groups; the invention adopts a modular design, which is easy to disassemble and maintain.

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