Highly maneuverable bionic robotic tuna device and method of steering thereof

Abstract

The application relates to the technical field of underwater robots, and provides a high-maneuverability bionic machine tuna device and a turning method thereof. The device comprises a head cabin, a middle cabin and a tail fin which are sequentially connected. A driving part is arranged in the head cabin, and the driving part is connected with a transmission mechanism. The transmission mechanism is configured to output continuous rotary motion of the driving part as a sine-like swing. A shear damper is arranged in the middle cabin, and the tail fin is movably connected with the shear damper. A microprocessor is further arranged in the head cabin, and the microprocessor is configured to output a predetermined rotation angle through a control output shaft, so as to drive the tail fin to periodically swing in a preset periodical law. Through the mode of arranging an independent driving part connected with a transmission mechanism, the bionic machine tuna can swing in a sine-like law in a wide frequency band. The torque characteristics of the shear damper mechanism are enhanced with the increase of the frequency, so as to offset the water dynamic force obviously enhanced in the high frequency band, and the propelling speed performance of the bionic underwater robot in the wide frequency band is improved.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a highly maneuverable biomimetic tuna robot device and its steering method. Background Technology

[0002] In nature, fish can swim at high speeds and make quick turns in water. For example, tuna have evolved over millions of years to possess remarkable swimming abilities with high efficiency and maneuverability. Biomimetic robotic fish, as a product of bionics and mechatronics, mimic the unique wave-like propulsion mechanism of biological fish to achieve high stealth and low noise performance, thus providing an efficient, safe, and reliable method for underwater operations.

[0003] However, most existing biomimetic robotic fish employ either multi-link series structures or a single DC motor combined with a steering servo for propulsion. The former uses multiple servos to discretize the fish's body waves, resulting in high maneuverability and flexible turning. However, the forward and reverse rotation of the motor limits the driving frequency, thus affecting the robotic fish's propulsion speed. The latter uses a brushless DC motor combined with a transmission mechanism, achieving a wide-frequency oscillation pattern for the joints. However, it uses a steering servo for steering, but the configuration of the steering servo significantly impacts power consumption and load, making it difficult to achieve highly maneuverable turning movements. Therefore, existing biomimetic robotic fish struggle to simultaneously possess both high steering maneuverability and high-speed propulsion.

[0004] Therefore, it is urgent to solve the problem of designing a biomimetic robotic fish with high oscillation frequency, high flexibility, and simple and reliable mechanical structure. Summary of the Invention

[0005] This invention provides a highly maneuverable biomimetic tuna device and its steering method, which solves the problem that it is difficult to balance steering maneuverability and high swimming speed propulsion performance in the prior art, and achieves a balance between steering maneuverability and high swimming speed propulsion performance.

[0006] This invention provides a highly mobile biomimetic tuna device, comprising: a head chamber, a mid-section chamber, and a tail fin connected in sequence;

[0007] The head cabin is equipped with a drive unit, and the output shaft of the drive unit is equipped with a transmission mechanism; the middle cabin is connected to the transmission mechanism, and the transmission mechanism is configured to output the continuous rotational motion of the drive unit as a sinusoidal oscillation.

[0008] The middle compartment is equipped with a shear damper, and the tail fin is movably connected to the shear damper so that the tail fin can swing periodically under the drive of the middle compartment.

[0009] The head compartment is also equipped with a microprocessor, which is configured to control the drive unit to output a predetermined rotation angle to drive the tail fin to oscillate periodically.

[0010] According to the highly mobile bionic tuna device provided by the present invention, the transmission mechanism includes an eccentric member and a sliding member, one end of the eccentric member is connected to the output shaft of the drive unit, and the other end of the eccentric member is slidably connected to the sliding member.

[0011] According to the highly mobile biomimetic tuna device provided by the present invention, the shear damper includes a housing, a rotating shaft is provided through the housing, the two ends of the rotating shaft extend to the outside of the middle compartment and are connected to the tail fin, and torsion springs are respectively sleeved at the connection between the tail fin and the rotating shaft.

[0012] According to the highly mobile biomimetic tuna device provided by the present invention, a limiting part is constructed on the rotating shaft, and a mating part that cooperates with the limiting part is provided inside the housing. The mating part cooperates with the limiting part so that the rotating shaft is damped by the damping agent inside the housing when it rotates.

[0013] The highly mobile biomimetic tuna device provided by the present invention further includes a power supply module for providing electrical energy, the power supply module being disposed below the drive unit.

[0014] According to the highly mobile biomimetic tuna device provided by the present invention, an angle sensing device is connected to one end of the head compartment adjacent to the middle compartment. The angle sensing device is electrically connected to the microprocessor and acts on the transmission mechanism to sense the rotation angle of the transmission mechanism in real time.

[0015] The present invention also provides a method for steering a highly maneuverable biomimetic tuna robot in any of the above embodiments, comprising the following steps:

[0016] Obtain the current swimming state and the swing angle of the transmission mechanism;

[0017] The signal bias value is determined by the current swimming state and swing angle, and the output angle of the transmission mechanism is determined by the signal bias value, thereby realizing steering control.

[0018] The steering method for a highly maneuverable biomimetic tuna robot provided by the present invention, which determines the output angle of the transmission mechanism using the signal bias value, includes:

[0019] Obtain the distance d1 between the shaft center of the transmission mechanism and the shaft center of the sliding part, the distance d2 between the output shaft of the drive unit and the eccentric part, and the current motor speed ω;

[0020] Therefore, the rotation angle of the motor output shaft is According to the formula:

[0021]

[0022] Calculate the output angle of the transmission mechanism According to the formula:

[0023]

[0024] Where A is the output signal amplitude, b is the output signal bias value, t is the unit time, pattern represents the currently selected mode, straight swimming represents the straight swimming mode, slow steering represents the low-speed swimming and steering mode, and fast steering represents the high-speed swimming and steering mode.

[0025] According to the steering method of the highly maneuverable bionic tuna provided by the present invention, the step of determining a signal bias value by the current swimming state and the swing angle, and determining the output angle of the transmission mechanism by the signal bias value, thereby realizing the steering control of the bionic tuna, includes:

[0026] When the current swimming state is low-speed linear swimming and a turning is required, the motor shaft outputs a sinusoidal motion law with a bias signal. After passing through the transmission mechanism, it outputs a sinusoidal oscillating signal with a bias angle. By controlling the motor bias angle to be positive or negative, the low-speed continuous left and right turning motion of the bionic robotic tuna can be realized.

[0027] According to the steering method of the highly maneuverable bionic tuna provided by the present invention, the step of determining a signal bias value by the current swimming state and the swing angle, and determining the output angle of the transmission mechanism by the signal bias value, thereby realizing the steering control of the bionic tuna, includes:

[0028] When the current swimming state is high-speed straight swimming and a turn is required, the motor shaft outputs a fixed bias parameter value, and the transmission mechanism generates a joint signal with a fixed bias angle, causing uneven hydrodynamic forces on the left and right sides of the fish body in the high-speed state. Under the action of inertia, it achieves gliding and turning maneuverability, and under the action of positive and negative bias signals, it has the maneuverability to turn left and right.

[0029] According to any of the above embodiments, the present invention has at least the following beneficial effects:

[0030] The high-mobility bionic tuna steering method and device provided by this invention, by installing an independent drive unit and transmission mechanism, enables the bionic tuna to perform a sinusoidal oscillation pattern in a wide frequency range. It utilizes the torque characteristics that increase with frequency through shear damping mechanism to counteract the significantly enhanced hydrodynamic effect in the high frequency range, thereby improving the propulsion speed performance of the bionic underwater robot in a wide frequency range.

[0031] Furthermore, this invention also provides a steering method for a biomimetic robotic tuna. By controlling the speed and position modes of the drive unit, it achieves steering maneuverability during low-speed and high-speed swimming, solving the problem that existing biomimetic underwater robots cannot simultaneously achieve propulsion speed and steering performance. The mechanical structure is simple and stable, with high reliability and practicality. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a three-dimensional structural schematic diagram of the biomimetic robotic tuna device provided by the present invention;

[0034] Figure 2 This is an internal cross-sectional view of the biomimetic robotic tuna device provided by the present invention.

[0035] Figure 3 This is a schematic diagram of the connection structure at the transmission mechanism in the biomimetic robotic tuna device provided by the present invention.

[0036] Figure 4 This is a flowchart illustrating the steering method for the biomimetic robotic tuna provided by the present invention.

[0037] Figure label:

[0038] 100. Head compartment; 110. Fixed support frame;

[0039] 200, Middle Cabin;

[0040] 300. Tail fin; 310. Connector; 320. Torsion spring;

[0041] 400. Transmission mechanism; 410. Eccentric component; 420. Connecting frame; 430. Limiting rod; 440. Rocker arm; 450. Bushing;

[0042] 500. Angle sensing device;

[0043] 600. Shear damper; 610. Internal hexagonal structure;

[0044] 700. Rotating shaft; 710. Limiting part;

[0045] 800, microprocessor;

[0046] 900. Drive unit; 910. Power module. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] The following is combined Figures 1-2 The present invention describes a highly mobile biomimetic tuna device, comprising: a head chamber 100, a middle chamber 200, and a tail fin 300 connected in sequence; a drive unit 900 is provided in the head chamber 100, and a transmission mechanism 400 is provided on the output shaft of the drive unit 900; the middle chamber 200 is connected to the transmission mechanism 400, and the transmission mechanism 400 is configured to output the continuous rotational motion of the drive unit 900 as a sinusoidal oscillation; a shear damper 600 is provided in the middle chamber 200, and the tail fin 300 is movably connected to the shear damper 600 so that the tail fin 300 can oscillate periodically under the drive of the middle chamber 200; wherein, a microprocessor 800 is also provided in the head chamber 100, and the microprocessor 800 is configured to output a predetermined rotation angle by controlling the output shaft, so that the tail fin 300 is driven by the predetermined rotation angle output by the drive unit 900 to oscillate periodically according to a preset periodic pattern.

[0049] The transmission mechanism 400 is constructed as an intermediate connecting mechanism between the head compartment 100 and the middle compartment 200, and can output the rotational motion of the drive unit 900 as a sinusoidal oscillation, enabling the middle compartment 200 to perform active oscillation under the action of the drive unit 900. In other words, the connection between the drive unit 900 and the transmission mechanism 400 forms the active joint of the entire biomimetic tuna. The tail fin 300 is connected to the middle compartment 200 through a shear damper 600. The movement of the tail fin 300 is not driven by the drive unit 900. Therefore, the tail fin 300 performs a driven oscillation operation during periodic oscillation, and the driven joint formed by the connection between the tail fin 300 and the shear damper 600 is named the caudal peduncle joint.

[0050] The head compartment 100 is constructed as the head section of a tuna, with an internal cavity structure that can accommodate multiple components. For example, as in the above embodiment, a drive unit 900 is installed in the cavity structure of the head compartment 100. By placing the drive unit 900 in the head compartment 100, the output shaft of the drive unit 900 can drive the middle compartment 200 to actively oscillate along the first direction D. y As it swings, the corresponding tail fin 300, driven by the midsection 200, also moves along the first direction D. yOscillation. The oscillation of the tail fin 300 provides sufficient power for the bionic tuna and allows it to change the direction of its movement.

[0051] Understandably, both the head compartment 100 and the middle compartment 200 are hollow structures. The hollow structure allows the bionic robotic tuna to have a lower weight, resulting in lower energy consumption when swimming in water. On the other hand, the hollow structure facilitates the installation of functional components.

[0052] Specifically, the head compartment 100 is a cavity structure formed by connecting upper and lower shells. The upper and lower shells are sealed together using a sealing ring. Inside, a drive unit 900, a power module 910, and a microprocessor 800 are installed. The power module 910, which is a battery, is located below the drive unit 900. Typically, the power module 910 and drive unit 900 are quite heavy. Positioning the power module below the drive unit 900 lowers the center of gravity of the bionic tuna. This arrangement, with both components located in the head compartment 100, ensures the center of gravity of the bionic tuna is within the head compartment, facilitating the steering control of the tail fin 300. The sealing ring can be an O-ring. The drive unit 900 is a brushless DC motor. The output shaft of the drive unit 900 uses a plug seal and is connected to the transmission mechanism 400 via a bearing.

[0053] The material of the caudal fin 300 is not specifically limited. In specific examples, the caudal fin 300 is made of a material with good bending resistance and elasticity. For example, the caudal fin 300 can be designed with carbon fiber material, making the caudal fin 300 lightweight and having good bending resistance and elasticity. Thus, when the caudal fin 300 swings periodically, it undergoes a compression phase and an elongation phase, realizing the storage and release of elastic potential energy.

[0054] In some examples, the transmission mechanism 400 includes an eccentric member 410 and a sliding member. One end of the eccentric member 410 is connected to the output shaft of the drive unit 900, and the other end of the eccentric member 410 is movably connected to the sliding member. Specifically, as shown... Figure 2 As shown, it is slidably connected to the limiting rod 430 in the sliding groove, and the specific structure is as described in the following embodiment.

[0055] It is understandable that mechanisms that output continuous rotational motion as oscillation are widely used in practical applications. For example, crank-rocker mechanisms and crank-slider mechanisms can all convert continuous rotational motion into oscillation. However, in this invention, it is necessary to convert continuous rotational motion into a sinusoidal oscillation operation. Therefore, a sliding groove is used to convert the rotational motion of the eccentric member 410 into a first direction D. y The reciprocating motion on the surface achieves a sinusoidal oscillation. The overall transmission mechanism 400 consists only of an eccentric component 410 and a sliding groove component, which is simple in structure and highly stable.

[0056] In the above embodiment, one end of the eccentric member 410 is fixedly connected to the output shaft of the drive unit 900, and a rocker arm 440 is fixedly connected to the other end of the eccentric member 410. The sliding groove member includes a limiting rod 430 and a connecting frame 420. Both ends of the limiting rod 430 are connected to the connecting frame 420. One end of the connecting frame 420 is fixedly disposed in the middle cabin 200, and the other end of the connecting frame 420 is rotatably connected to the head cabin 100 through a bearing. The limiting rod 430 has a sliding groove processed along its extension direction. The rocker arm 440 can pass through the sliding groove to achieve a sliding connection with the sliding groove, so that the rocker arm 440 in the first direction D y When oscillating, the sliding part is driven in the first direction D y Swinging, thereby enabling the middle cabin 200 to swing in the first direction D. y A sinusoidal oscillation.

[0057] Understandably, the rocker arm 440, driven by the drive unit 900, moves in the first direction D. y The position changes, and one end of the connecting frame 420 is rotatably connected to the head cabin 100, so that the middle cabin 200 can be positioned in the first direction D. y The overall transmission mechanism 400 enables it to convert the continuous rotational motion of the drive unit 900. Compared to reciprocating drive by the drive unit 900, the drive unit 900 of the present invention outputs kinetic energy in a rotational manner, which allows the drive unit 900 to have a longer service life, a higher oscillation frequency, and a higher kinetic energy output efficiency.

[0058] Specifically, the upper and lower parts of the head cabin 100 near the middle cabin 200 are respectively connected to fixed brackets 110. Bearings are connected to the fixed brackets 110 respectively, and swing center shafts are connected to the bearings respectively. One end of the swing center shaft is connected to the connecting frame 420, and the other end of the swing center shaft is connected to the fixed bracket 110, so that the middle cabin 200 can swing around the swing center shaft as the rotation center.

[0059] Furthermore, a bushing 450 is connected to the rocker arm 440. The bushing 450 is fixedly connected to the rocker arm 440 by a set screw. In this specific example, the material of the bushing 450 is not limited. To reduce friction between the rocker arm 440 and the groove in the limiting rod 430, the bushing 450 is made of polytetrafluoroethylene (PTFE). The above limitation on the bushing 450 is merely illustrative and should not be construed as a limitation on the material of the bushing 450 in this invention.

[0060] In some examples, an angle sensing device 500 is connected to one end of the head cabin 100 adjacent to the middle cabin 200. The angle sensing device 500 is electrically connected to the microprocessor 800 and acts on the slide to sense the rotation angle of the current transmission mechanism 400 in real time.

[0061] The angle sensing device 500 can employ various sensing methods, allowing for different configurations depending on the sensing method. For example, in this embodiment, the angle sensing device 500 is used to sense the rotation angle of the swing center axis, thereby achieving angle sensing. In a specific example, the angle sensing device 500 is an angle sensor, and in this embodiment, a rotary potentiometer can be selected.

[0062] It is understood that in this embodiment, the connecting frame 420 and the fixed bracket 110 are rotatably connected by a swing center axis to form an active joint. The angle sensing device 500 and the swing center axis are used to detect the real-time rotation angle of the active joint. The microprocessor 800 receives the angle signal fed back by the angle sensing device 500 and outputs a control signal according to the current state to control the drive unit 900 to output an angle to realize the steering of the tuna.

[0063] In some embodiments, such as Figure 2 As shown, the shear damper 600 includes a housing, which is fixedly connected to the middle compartment 200 by screws. A rotating shaft 700 is provided through the housing, with both ends of the rotating shaft 700 extending outside the middle compartment 200 and connected to the tail fin 300. Torsion springs 320 are respectively fitted at the connection points between the tail fin 300 and the rotating shaft 700. That is, in the structure where the tail fin 300 is connected to the rotating shaft 700, a torsion spring 320 is respectively arranged on one end of the connection.

[0064] The tail fin 300 is movably connected to the rotating shaft 700 via the connector 310, allowing the tail fin 300 to swing around the rotating shaft 700. The connector 310 has two ends that are respectively connected to both ends of the rotating shaft 700. A torsion spring 320 is provided at the position where the two ends are connected to the rotating shaft 700. One end of the torsion spring 320 is connected to the connector 310, and the other end of the torsion spring 320 is connected to the shell of the middle compartment 200, thus forming a double torsion spring 320 structure.

[0065] During the reciprocating oscillation of the tail fin 300, the double torsion spring 320 structure undergoes compression and tension deformation, achieving periodic storage and release of elastic potential energy, thus improving the propulsion efficiency of the biomimetic robotic tuna. It should be noted that because the elastic mechanism can only produce optimal propulsion performance at a specific frequency, tail propulsion performance decreases significantly above or below this specific frequency range. Especially at high-frequency oscillations, water resistance increases significantly, elastic deformation increases rapidly, and the resulting elastic effect cannot counteract the strong hydrodynamic torque. Therefore, the joint oscillation pattern no longer conforms to the movement characteristics of biological fish. The shear damper 600 in this invention constructs a damping mechanism based on the viscous flow of dimethyl silicone oil between the stationary layer and the shear layer of the shear damper 600. The shear damping mechanism is enhanced as the joint oscillation frequency increases. The damping effect generated during high-frequency oscillation can reduce the oscillation amplitude of the tail fin 300 and adjust the phase relationship of the tail fin 300, thereby optimizing the propulsion performance of the biomimetic robotic tuna. The shear damping method can improve the propulsion speed of the robotic tuna in a wide frequency range.

[0066] Specifically, a limiting part 710 is constructed on the rotating shaft 700, and a mating part that cooperates with the limiting part 710 is provided inside the housing. The mating part cooperates with the limiting part 710 so that the rotating shaft 700 is subjected to the damping effect of the damping agent when it rotates.

[0067] More specifically, in the above embodiment, the limiting part 710 is a hexagonal prism boss, and the corresponding mating part is an internal hexagonal structure 610. The hexagonal prism boss and the internal hexagonal structure 610 mate so that when the caudal fin 300 swings, it can drive the rotating shaft 700 to rotate. The rotating shaft 700 mates with the internal hexagonal structure 610, and the internal hexagonal structure 610 is immersed in a damping agent (e.g., dimethyl silicone oil), which causes it to generate shear damping effect when rotating, reducing the swing amplitude of the caudal peduncle joint.

[0068] The turning method of the highly maneuverable bionic tuna provided by the present invention will be described below. The turning method of the highly maneuverable bionic tuna described below can be referred to in correspondence with the highly maneuverable bionic tuna device described above.

[0069] like Figure 4 As shown, a method for steering a highly maneuverable biomimetic tuna robot includes the following steps:

[0070] Step S100: Obtain the current swimming state and the swing angle of the transmission mechanism 400;

[0071] In step S200, the signal bias value is determined by the current swimming state and swing angle, and the output angle of the transmission mechanism 400 is determined by the signal bias value, thereby realizing steering control.

[0072] In step S100, the swimming state is configured as a low-speed swimming state and a high-speed swimming state, and the swing angle of the transmission mechanism 400 is detected and fed back in real time by the angle sensing device 500.

[0073] like Figure 3 As shown, in step S200, determining the output angle of the transmission mechanism using the signal bias value specifically includes:

[0074] Obtain the distance d1 between the shaft center of the transmission mechanism and the shaft center of the sliding part, the distance d2 between the output shaft of the drive unit and the eccentric part, and the current motor speed ω;

[0075] Therefore, the rotation angle of the motor output shaft is According to the formula:

[0076]

[0077] Calculate the output angle of the transmission mechanism According to the formula:

[0078]

[0079] Where A is the output signal amplitude, b is the output signal bias value, t is the unit time, pattern represents the currently selected mode, straight swimming represents the straight swimming mode, slow steering represents the low-speed swimming and steering mode, and fast steering represents the high-speed swimming and steering mode.

[0080] In the above embodiments, there are two modes for configuring the rotation angle ζ of the motor output shaft: a speed mode and a position mode. These two modes enable different oscillation patterns. Specifically, the speed mode corresponds to the linear swimming mode of the bionic tuna, and the position mode corresponds to the turning swimming mode of the bionic tuna. In the turning motion mode, the motor output angle satisfies a sinusoidal signal with an amplitude of A and a bias value of b. To control the output signal bias value, the joint angle collected by the angle sensing device 500 on the active joint is fed back to the microprocessor 800. A closed-loop algorithm is used to achieve real-time control of the active joint bias angle, thereby realizing the turning control of the bionic tuna.

[0081] Furthermore, in step S200, the signal bias value is determined based on the current swimming state and the swing angle, specifically including:

[0082] When the current swimming state is low-speed linear swimming and a turning is required, the motor output shaft angle is changed from speed mode to position mode. The motor shaft outputs a sinusoidal motion law with a bias signal. After passing through the transmission mechanism 400, it outputs a sinusoidal oscillating signal with a bias angle. By controlling the motor bias angle to be positive or negative, the low-speed continuous left and right turning motion of the bionic robotic tuna can be realized.

[0083] Furthermore, in step S200, the signal bias value is determined based on the current swimming state and the swing angle, specifically including:

[0084] When the current swimming state is high-speed straight swimming and a turn is needed, the motor output shaft angle is switched from speed mode to position mode. The motor shaft outputs a fixed offset parameter value, and the active joint generates a joint signal with a fixed offset angle. This causes the hydrodynamic force on the left and right sides of the bionic fish body to be uneven in the high-speed state. Under the action of inertia, it achieves gliding and turning maneuverability. Under the action of positive and negative offset signals, it has the maneuverability to turn left and right.

[0085] Through the above description of the embodiments, those skilled in the art can clearly understand that in each embodiment, the combination of an independent motor and a transmission mechanism 400 achieves a sinusoidal oscillation pattern across a wide frequency range for the active joint of the biomimetic tuna. Furthermore, the transmission mechanism 400 has a simple overall structure, strong transmission stability, and can efficiently convert continuous rotational motion into a sinusoidal oscillation pattern. Furthermore, the increased torque characteristics of the shear damping mechanism with increasing frequency counteract the significantly enhanced hydrodynamic effects at high frequencies, and the optimal adjustment characteristics of the elastic material for the oscillation phase and amplitude of the tail fin 300 within a specific frequency range improve the propulsion speed performance of the biomimetic tuna across a wide frequency range. Moreover, this invention also provides a steering method for the biomimetic tuna, achieving steering maneuverability at both low and high speeds by controlling the speed and position modes of the independent motor. This solves the problem that existing biomimetic underwater robots cannot simultaneously achieve both propulsion speed and steering performance. The mechanical structure is simple and stable, with high reliability and practicality.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering method for a highly maneuverable biomimetic tuna robot, characterized in that, The highly mobile biomimetic tuna device includes: a head chamber, a mid-section chamber, and a tail fin connected in sequence; The head cabin is equipped with a drive unit, and the output shaft of the drive unit is equipped with a transmission mechanism; the middle cabin is connected to the transmission mechanism, and the transmission mechanism is configured to output the continuous rotational motion of the drive unit as a sinusoidal oscillation. The middle compartment is equipped with a shear damper, and the tail fin is movably connected to the shear damper so that the tail fin can swing periodically under the drive of the middle compartment. The head compartment is also equipped with a microprocessor, which is configured to control the drive unit to output a predetermined rotation angle to drive the tail fin to perform periodic oscillation; the transmission mechanism includes an eccentric member and a sliding member, one end of the eccentric member is connected to the output shaft of the drive unit, and the other end of the eccentric member is slidably connected to the sliding member. The steering method includes the following steps: Obtain the current swimming state and the swing angle of the transmission mechanism; The signal bias value is determined by the current swimming state and swing angle, and the output angle of the transmission mechanism is determined by the signal bias value, thereby realizing the steering control of the bionic tuna. Determining the output angle of the transmission mechanism using the signal bias value includes: Obtain the distance between the center of the transmission mechanism shaft and the center of the sliding part shaft. The distance between the output shaft of the drive unit and the eccentric component The drive unit is a motor, and the current motor speed is... ; Therefore, the rotation angle of the motor output shaft is According to the formula: ； Calculate the output angle of the transmission mechanism According to the formula: ； Where A is the output signal amplitude, and b is the output signal bias value. For a unit of time, Indicates the currently selected mode. This indicates a linear movement mode. This indicates a low-speed swimming and turning mode. This indicates a high-speed swimming and steering mode.

2. The steering method of the highly maneuverable bionic tuna robot according to claim 1, characterized in that, The shear damper includes a housing, through which a rotating shaft is provided. Both ends of the rotating shaft extend to the outside of the mid-cabin and are connected to the tail fin. Torsion springs are respectively fitted at the connection between the tail fin and the rotating shaft.

3. The steering method of the highly maneuverable bionic tuna robot according to claim 2, characterized in that, A limiting part is constructed on the rotating shaft, and a mating part that cooperates with the limiting part is provided inside the housing. The mating part cooperates with the limiting part so that the rotating shaft is damped by the damping agent inside the housing when it rotates.

4. The steering method of the highly maneuverable bionic tuna robot according to claim 1, characterized in that, It also includes a power supply module for providing electrical energy, which is located below the drive unit.

5. The steering method of the highly maneuverable bionic tuna robot according to claim 1, characterized in that, An angle sensing device is connected to one end of the head cabin adjacent to the middle cabin. The angle sensing device is electrically connected to the microprocessor and acts on the transmission mechanism to sense the rotation angle of the transmission mechanism in real time.

6. The steering method of the highly maneuverable bionic tuna robot according to claim 1, characterized in that, The process of determining a signal bias value based on the current swimming state and oscillation angle, and then using that signal bias value to determine the output angle of the transmission mechanism, thereby achieving steering control of the bionic tuna, includes: When the current swimming state is low-speed linear swimming and a turning is required, the motor shaft outputs a sinusoidal motion law with a bias signal. After passing through the transmission mechanism, it outputs a sinusoidal oscillating signal with a bias angle. By controlling the motor bias angle to be positive or negative, the low-speed continuous left and right turning motion of the bionic robotic tuna can be realized.

7. The steering method of the highly maneuverable bionic tuna robot according to claim 1, characterized in that, The process of determining a signal bias value based on the current swimming state and oscillation angle, and then using that signal bias value to determine the output angle of the transmission mechanism, thereby achieving steering control of the bionic tuna, includes: When the current swimming state is high-speed straight swimming and a turn is required, the motor shaft outputs a fixed bias parameter value, and the transmission mechanism generates a joint signal with a fixed bias angle, causing uneven hydrodynamic forces on the left and right sides of the fish body in the high-speed state. Under the action of inertia, it achieves gliding and turning maneuverability, and under the action of positive and negative bias signals, it has the maneuverability to turn left and right.

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