Bionic robotic fish system for realizing active and passive mode switching and control method

Abstract

The invention provides a bionic robotic fish system for realizing active and passive mode switching and a control method, and belongs to the technical field of underwater bionic robots. The robot comprises a shell, a control module, a power module, a pectoral fin module, an active driving joint module, a mode switching joint module, a tail fin and a tail handle structure, and the mode switching joint module can achieve switching between an active driving joint mode and a flexible passive joint mode; modal selection is achieved through a motion modal selection algorithm, motion control of the bionic robotic fish system is achieved through a bionic control optimization algorithm, the active driving joint module and the modal switching joint module are controlled through the modal generator, and the optimal modal and the stable navigation posture of the bionic robotic fish system are obtained. The problems that in the prior art, a bionic robotic fish system is single in structural mode, a variable stiffness mechanism is complex, and the motion mode switching function is insufficient are solved, and the motion performance and the adaptive capacity of the bionic robotic fish system in complex water area operation are improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater bionic robots, and in particular to a bionic robot fish system and a control method for realizing active and passive mode switching. Background Art

[0002] Underwater bionic robots are a new type of underwater robots that achieve underwater movement by imitating the propulsion mode of aquatic organisms. After billions of years of natural selection, fish have evolved excellent motion characteristics. Their unique morphological characteristics and propulsion mechanisms provide a lot of inspiration and enlightenment for the design of underwater bionic robots. Compared with traditional underwater robots that use propellers for propulsion, bionic robot fishes have many advantages of fish underwater navigation, such as high maneuverability, high efficiency, low noise, strong concealment, and environmental friendliness, by borrowing the low-resistance shape of fish and the wave propulsion mechanism of fish bodies, and integrating robot technology. Therefore, they have broad application prospects in military and civilian fields. Most of the existing bionic robot fishes adopt a multi-active joint-multi-link series propulsion structure design, that is, each motor is controlled to drive each joint in turn with a certain rotation amplitude and phase difference, and drive the corresponding rigid link to swing, thereby imitating the wave motion of the fish body to achieve underwater navigation. In addition, biological research shows that the high-performance motion characteristics and environmental adaptability of biological fishes are inseparable from the flexible passive characteristics of their bodies and the active-passive switching mechanism. Therefore, some bionic robotic fish prototypes integrate a single flexible passive joint into the end of the propulsion structure to improve movement efficiency.

[0003] The propulsion mechanism of existing bionic robot fish usually adopts a multi-motor series structure to form a multi-joint robot fish, and imitates the wave propulsion motion of biological fish by precisely controlling the rotation speed and angle of each joint. Such robot fish often have good maneuverability and stronger motion control accuracy; secondly, for efficient swimming, bionic robot fish also often adopts motor-driven active joints and flexible passive joints in series to improve their propulsion efficiency; however, the variable stiffness mechanism is usually complex in structure, which significantly increases the mass and size of the bionic robot fish system, and due to the limited range of stiffness variation and the unclear modal difference of the propulsion mechanism, it is difficult to effectively improve the motion performance; in practical applications, underwater robots usually need to work in complex underwater environments. For different water environments and operation tasks, underwater bionic robot fish should have the ability to switch propulsion structures and realize different motion modes, so as to better serve the application needs. However, existing bionic robots usually have only one propulsion structure, and the motion modes they have are relatively limited, which cannot meet the motion mode switching requirements under different environments and task operations. Summary of the invention

[0004] In order to solve the problems in the above-mentioned prior art, the present invention provides a bionic robot fish system and control method for realizing active and passive mode switching. The invention includes a housing, a control module, a power module, a pectoral fin module, an active drive joint module, a mode switching joint module, a tail fin and a tail handle structure. The mode switching joint module can realize the switching of the active drive joint mode and the flexible passive joint mode, and adopts a motion mode selection algorithm to realize the mode selection and a bionic control optimization algorithm to realize the motion control of the bionic robot fish system. The active drive joint module and the mode switching joint module are controlled by a mode generator to obtain the optimal mode and stable navigation posture of the bionic robot fish system, which solves the problems of the single structural mode, complex variable stiffness mechanism and lack of motion mode switching function of the bionic robot fish system in the prior art, and improves the motion performance and adaptability of the bionic robot fish system in complex waters. To achieve the above purpose, the technical scheme is as follows:

[0005] In one aspect, the present invention provides a bionic robotic fish system for realizing active and passive mode switching, the system comprising:

[0006] A shell, used to protect the interior of the bionic robotic fish system and reduce the resistance of movement in water;

[0007] A control module, used to collect data of the bionic robotic fish system and realize mode selection and motion control;

[0008] A power module, used to provide power to the bionic robotic fish system and provide low voltage warning;

[0009] The pectoral fin module is used to realize the pitch and roll maneuvering of the robotic fish;

[0010] An active drive joint module is used to achieve high-precision motion control of the joints and provide the basic power for the propulsion motion of the bionic robotic fish system;

[0011] Mode switching joint module, used to switch between active drive joint mode and flexible passive joint mode;

[0012] a tail fin, used to provide propulsion through bionic wave motion;

[0013] The tail handle structure is used to connect the mode switching joint module and the tail fin.

[0014] Optionally, the control module includes:

[0015] A processor, used to implement mode selection through a motion mode selection algorithm and to implement motion control of the bionic robotic fish system through a bionic control optimization algorithm;

[0016] A perception sensor, used for sensing the current environment information and self-state information of the bionic robotic fish system, and feeding back the current environment information and self-state information of the bionic robotic fish system to the processor;

[0017] The modal generator is used to control the active drive joint module and the modal switching joint module according to the instructions of the processor.

[0018] Optionally, the power module includes:

[0019] A lithium battery, used to provide electrical energy for the bionic robotic fish system;

[0020] The power management unit is used to detect the power level of the lithium battery and issue a low voltage warning.

[0021] Optionally, the number of the modal switching joint modules is not less than 1.

[0022] Optionally, the mode switching joint module includes:

[0023] The mode switching servo is used to provide power for mode switching of the main flexible passive joints of the bionic robotic fish system.

[0024] A bracket is used to fix and connect the modal switching joint module.

[0025] The flexible rope is used to transmit the power of the mode switching servo to the gear on the shaft.

[0026] A reel for winding and releasing the flexible rope,

[0027] The servo gear is used to mesh with the gear on the shaft in the active drive joint mode.

[0028] Joint axis, used to connect the next mode switching joint module,

[0029] The torsion spring is used to provide elastic restoring force for the modal switching joint module.

[0030] The limiting ring is used to limit the axial position of the gear and spring on the shaft.

[0031] The gear on the shaft is used to realize the power transmission and the precise movement of the joint module in the active drive joint mode.

[0032] The spring is used to provide auxiliary elastic force for the gear on the shaft to ensure the accuracy of mode switching.

[0033] The guide key pin is used to guide the up and down movement of the gear on the shaft to ensure that the gear on the shaft drives the joint shaft to move.

[0034] Optionally, the bracket includes: a front C-shaped structure, a middle groove structure and a rear C-shaped structure;

[0035] The front end C-shaped structure is fixedly connected to the joint shaft of the active drive joint module or the previous mode switching joint module, the rear end C-shaped structure is connected to the next mode switching joint module, the upper and lower ends of the rear end C-shaped structure are rotatably installed with the joint shaft through a circular hole, the joint shaft is fixedly connected to the front end C-shaped structure of the bracket of the next mode switching joint module, the joint shaft is rotatably installed with the torsion spring, the limit ring, the spring, the gear on the shaft, the guide key pin, the limit ring and the torsion spring in sequence from bottom to top, the middle groove structure is fixedly installed with the mode switching servo, the wire wheel and the servo gear are fixedly installed on the driving shaft of the mode switching servo, and the wire wheel and the servo gear are fixedly connected to achieve coaxial rotation.

[0036] Optionally, the process of switching between the active drive joint mode and the flexible passive joint mode includes:

[0037] The process of switching the active drive joint mode to the flexible passive joint mode:

[0038] The mode switching servo drives the wire wheel to rotate clockwise, and the wire wheel is wound around the flexible rope, so that the flexible rope shrinks through the guide hole and pulls the gear on the shaft to slide downward along the direction of the guide key pin until the gear on the shaft and the servo gear are completely disengaged, so that the gear on the shaft and the servo gear cannot be meshed and driven, and the joint shaft drives the next mode switching joint module to quickly return to the initial position under the action of the torsion spring, that is, the position where the joint angle of the joint shaft is 0 degrees realizes the switching of the active drive joint mode to the flexible passive joint mode;

[0039] The process of switching the flexible passive joint mode to the active drive joint mode:

[0040] The mode switching servo drives the wire wheel to rotate counterclockwise rapidly, and the servo gear returns to the initial position, that is, the position where the joint angle is 0 degrees. The wire wheel releases the flexible rope, so that the flexible rope stretches and loosens the gear on the shaft. Under the action of the spring, the gear on the shaft slides upward along the direction of the guide key pin until the gear on the shaft and the servo gear are meshed, so that the servo gear drives the gear on the shaft to move, thereby realizing the switching of the flexible passive joint mode to the active drive joint mode.

[0041] Optionally, the process of implementing mode selection through a motion mode selection algorithm includes:

[0042] According to the perception sensor, current environmental information of the bionic robotic fish system is acquired to obtain a current environmental information data set;

[0043] According to the current environment information data set, a large language decision model is adopted to obtain the current environment mode of the bionic robotic fish system;

[0044] According to the current environmental mode of the bionic robotic fish system, the optimal mode decision algorithm is adopted to obtain the expected motion performance of the bionic robotic fish system and the configuration weight coding of the active drive joint module and the mode switching joint module;

[0045] According to the expected motion performance of the bionic robotic fish system and the configuration weight coding of the active drive joint module and the modal switching joint module, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain the optimal mode of the bionic robotic fish system.

[0046] Optionally, the process of implementing motion control of the bionic robotic fish system by using a bionic control optimization algorithm includes:

[0047] According to the sensing sensor, the self-state information of the bionic robotic fish system is acquired to obtain a self-state information data set;

[0048] According to the self-state information data set and the configuration weight coding of the active drive joint module and the mode switching joint module, a structural configuration mode of the bionic robotic fish system is obtained;

[0049] According to the structural configuration mode of the bionic robotic fish system, a motion performance optimization algorithm based on reinforcement learning is used to obtain a parameter set of the mode generator of the bionic robotic fish system under the current topological structure;

[0050] According to the parameter set of the modal generator of the bionic robotic fish system under the current topological structure, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain a stable navigation posture of the bionic robotic fish system.

[0051] On the other hand, the present invention provides a bionic robotic fish control method for realizing active and passive mode switching, the method is implemented by a bionic robotic fish system for realizing active and passive mode switching, the method comprising:

[0052] S1. According to the perception sensor of the bionic robotic fish system, the optimal mode of the bionic robotic fish system is obtained through a motion mode selection algorithm;

[0053] S2. According to the perception sensor of the bionic robot fish system, a stable navigation posture of the bionic robot fish system is obtained through a bionic control optimization algorithm;

[0054] S3, obtaining a parameter set of a mode generator through a processor of a control module according to the optimal mode of the bionic robotic fish system and the stable navigation posture of the bionic robotic fish system;

[0055] S4. According to the parameter set of the modal generator, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain the optimal mode and stable navigation posture of the bionic robotic fish system.

[0056] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0057] The above scheme includes, on the one hand, a shell, a control module, a power module, a pectoral fin module, an active drive joint module, a mode switching joint module, a caudal fin and a caudal stalk structure. The mode switching joint module can realize the switching of the active drive joint mode and the flexible passive joint mode. On the other hand, a motion mode selection algorithm is used to realize the mode selection and a bionic control optimization algorithm is used to realize the motion control of the bionic robotic fish system. The active drive joint module and the mode switching joint module are controlled by a mode generator to obtain the optimal mode and stable navigation posture of the bionic robotic fish system. The problems of the single structural mode, complex variable stiffness mechanism and lack of motion mode switching function of the bionic robotic fish system in the prior art are solved, and the motion performance and adaptability of the bionic robotic fish system in complex waters are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 It is a structural schematic diagram of an embodiment of a bionic robotic fish system for realizing active and passive mode switching of the present invention;

[0060] Figure 2 It is a structural schematic diagram of a mode switching joint module of an embodiment of a bionic robotic fish system for realizing active and passive mode switching of the present invention in an active driving joint mode;

[0061] Figure 3 It is a structural schematic diagram of a mode switching joint module of an embodiment of a bionic robotic fish system for realizing active and passive mode switching of the present invention in a flexible passive joint mode;

[0062] Figure 4 It is a process flow chart of the motion mode selection algorithm of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention to realize mode selection;

[0063] Figure 5 is a process flow chart of a bionic control optimization algorithm of an embodiment of a bionic robotic fish system for realizing active and passive mode switching of the present invention to realize motion control of the bionic robotic fish system;

[0064] Figure 6 It is a flow chart of an embodiment of a bionic robotic fish control method for realizing active and passive mode switching of the present invention;

[0065] Figure 7 It is a schematic diagram of the joint configuration of the bionic robotic fish system of an embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention.

[0066] Explanation of the numbers in the figure: housing 1, control module 2, power module 3, pectoral fin module 4, active drive joint module 5, mode switching joint module 6, tail fin 8, tail handle structure 7, mode switching servo 601, bracket 602, flexible rope 603, reel 604, servo gear 605, joint shaft 606, torsion spring 607, limit ring 608, gear on shaft 609, spring 610, guide key pin 611, guide hole 612. DETAILED DESCRIPTION

[0067] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0068] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0069] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0070] like Figure 1 The structure diagram of an embodiment of a bionic robotic fish system for realizing active and passive mode switching of the present invention is shown. The present invention provides a bionic robotic fish system for realizing active and passive mode switching. The system can realize a bionic robotic fish control method for realizing active and passive mode switching. The system includes: a housing 1, a control module 2, a power module 3, a pectoral fin module 4, an active drive joint module 5, a mode switching joint module 6, a tail stalk structure 7 and a tail fin 8;

[0071] Shell 1, used to protect the interior of the bionic robotic fish system and reduce the resistance of movement in water;

[0072] Furthermore, the shell 1 adopts a streamlined design, and at the same time, prevents water from entering the body of the bionic robotic fish system, and is used to protect the control module 2, power module 3, active drive joint module 5 and mode switching joint module 6 of the bionic robotic fish system.

[0073] Control module 2, used to collect data of the bionic robotic fish system and realize mode selection and motion control;

[0074] Specifically, the control module 2 includes:

[0075] A processor, used to implement mode selection through a motion mode selection algorithm and to implement motion control of the bionic robotic fish system through a bionic control optimization algorithm;

[0076] The processor uses the OMAP-L138 model processor;

[0077] Furthermore, if Figure 4 The process flow chart of the motion mode selection algorithm of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention to realize mode selection is shown. The process of realizing mode selection by the motion mode selection algorithm includes:

[0078] According to the perception sensor, current environmental information of the bionic robotic fish system is acquired to obtain a current environmental information data set;

[0079] The current environment information data set includes: visual data, depth data, speed data and pressure data;

[0080] According to the current environment information data set, a large language decision model is adopted to obtain the current environment mode of the bionic robotic fish system;

[0081] According to the current environmental mode of the bionic robotic fish system, the optimal mode decision algorithm is adopted to obtain the expected motion performance of the bionic robotic fish system and the configuration weight coding of the active drive joint module 5 and the mode switching joint module 6;

[0082] Furthermore, if Figure 7 The joint configuration diagram of the bionic robotic fish system of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention is shown. The bionic robotic fish system is a programmable fish-like tail-swinging propulsion structure composed of an active driving joint module 5 and N mode switching joint modules 6 connected in series, wherein J0 is the active joint of the active driving joint module 5, J1~JN are the mode switching joints of the N mode switching joint modules 6, is the joint angle of J1 joint, is the joint angle of J2 joint. Figure 1 The structural schematic diagram of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention corresponds to the bionic robotic fish system when N=3.

[0083] The configuration weight is encoded as an N-dimensional vector, and the weight of each dimension is 0 or 1, 0 indicates that the mode switching joint is a flexible passive joint, and 1 indicates that the mode switching joint is an active drive joint. The control parameters of the active joint and the mode switching joint are generated by the processor, including amplitude, frequency, bias, etc. According to the current environmental mode of the bionic robot fish system, the expected motion performance of the bionic robot fish system is selected, such as energy efficiency, cruising speed, steering maneuverability, instantaneous explosive force, etc., and the configuration of the active drive joint and the mode switching joint is decided, that is, the configuration weight encoding of the active drive joint module 5 and the mode switching joint module 6 is generated.

[0084] According to the expected motion performance of the bionic robotic fish system and the configuration weight coding of the active drive joint module 5 and the modal switching joint module 6, the active drive joint module 5 and the modal switching joint module 6 are controlled by the modal generator to obtain the optimal mode of the bionic robotic fish system.

[0085] like Figure 5 The process flow chart of the bionic control optimization algorithm of the bionic robotic fish system embodiment of the present invention for realizing active and passive mode switching to realize the motion control of the bionic robotic fish system is shown. The process of realizing the motion control of the bionic robotic fish system by the bionic control optimization algorithm includes:

[0086] According to the sensing sensor, the self-state information of the bionic robotic fish system is acquired to obtain a self-state information data set;

[0087] According to the self-state information data set and the configuration weight coding of the active drive joint module 5 and the mode switching joint module 6, the structural configuration mode of the bionic robotic fish system is obtained;

[0088] According to the structural configuration mode of the bionic robotic fish system, a motion performance optimization algorithm based on reinforcement learning is used to obtain a parameter set of the mode generator of the bionic robotic fish system under the current topological structure;

[0089] Furthermore, according to the structural configuration mode of the bionic robot fish system, the action vector is defined by the parameters of the modal generator of each active joint angle, and rewards and penalties are set according to the expected motion performance of the bionic robot fish system and the configuration weight encoding of the active drive joint module 5 and the modal switching joint module 6. Training and parameter optimization of the modal generator are carried out through real-time performance data feedback to ensure the adaptability of the bionic robot fish system to the environment.

[0090] According to the parameter set of the modal generator of the bionic robotic fish system under the current topological structure, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain a stable navigation posture of the bionic robotic fish system.

[0091] A perception sensor, used for sensing the current environment information and self-state information of the bionic robotic fish system, and feeding back the current environment information and self-state information of the bionic robotic fish system to the processor;

[0092] The modal generator is used to control the active drive joint module 5 and the modal switching joint module 6 according to the instructions of the processor.

[0093] The power module 3 is used to provide power to the bionic robotic fish system and to provide a low voltage warning;

[0094] Specifically, the power module includes:

[0095] A lithium battery, used to provide electrical energy for the bionic robotic fish system;

[0096] The power management unit is used to detect the power level of the lithium battery and issue a low voltage warning.

[0097] Pectoral fin module 4, used to realize the pitching maneuvering movement of the robotic fish;

[0098] Active drive joint module 5, used to achieve high-precision motion control of joints and provide basic power for propulsion of the bionic robotic fish system;

[0099] A mode switching joint module 6, used for switching between an active drive joint mode and a flexible passive joint mode;

[0100] Specifically, the number of the modal switching joint modules 6 is no less than one.

[0101] like Figure 2 The structure diagram of the mode switching joint module of the bionic robotic fish system embodiment of the present invention for realizing active and passive mode switching in the active drive joint mode is shown in FIG. Figure 3 The schematic diagram of the structure of the mode switching joint module of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention in the flexible passive joint mode is shown;

[0102] The modal switching joint module 6 comprises:

[0103] The mode switching servo 601 is used to provide power for mode switching of the main flexible passive joints of the bionic robotic fish system.

[0104] Bracket 602, used to fix and connect the modal switching joint module,

[0105] Further, the bracket 602 includes: a front C-shaped structure, a middle groove structure and a rear C-shaped structure;

[0106] The front end C-type structure is fixedly connected to the joint shaft 606 of the active drive joint module 5 or the previous mode switching joint module 6, and the rear end C-type structure is connected to the next mode switching joint module 6. The upper and lower ends of the rear end C-type structure are rotatably installed with the joint shaft 606 through a circular hole. The joint shaft 606 is fixedly connected to the front end C-type structure of the bracket of the next mode switching joint module 6. The joint shaft 606 is rotatably installed with the torsion spring 607, the limiting ring 608, the spring 610, the gear 609 on the shaft, the guide key pin 611, the limiting ring 608 and the torsion spring 607 from bottom to top in sequence. The middle groove structure is fixedly installed with the mode switching servo 601. The wire wheel 604 and the servo gear 605 are fixedly installed on the driving shaft of the mode switching servo 601, and the wire wheel 604 and the servo gear 605 are fixedly connected to achieve coaxial rotation.

[0107] The flexible rope 603 is used to transmit the power of the mode switching servo 601 to the gear 609 on the shaft.

[0108] The wire wheel 604 is used to wind and release the flexible rope 603.

[0109] The steering gear 605 is used to mesh with the gear 609 on the shaft in the active drive joint mode.

[0110] Joint axis 606 is used to connect the next mode switching joint module 6.

[0111] The torsion spring 607 is used to provide elastic restoring force for the mode switching joint module 6.

[0112] The limiting ring 608 is used to limit the axial position of the gear 609 and the spring 610 on the shaft.

[0113] The gear 609 on the shaft is used to realize the power transmission and the precise movement of the mode switching joint module 6 in the active drive joint mode.

[0114] The spring 610 is used to provide auxiliary elastic force for the gear 609 on the shaft to ensure the accuracy of mode switching.

[0115] The guide key pin 611 is used to guide the up and down movement of the gear on the shaft to ensure that the gear on the shaft drives the joint shaft to move.

[0116] like Figure 2The structure diagram of the mode switching joint module of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention is shown in the active drive joint mode. In the active drive joint mode, the gear 609 on the shaft stops at the highest position under the action of the spring 610 and the limit ring 608, and meshes with the steering gear 605. The mode switching steering gear 601 can directly drive the joint shaft 606 to perform reciprocating swinging motion; in the active drive joint mode, when the mode switching steering gear 601 is at a predetermined maximum rotation amplitude, the flexible rope 603 is in a state of just being straightened, that is, the flexible rope 603 has not yet generated tension on the gear 609 on the shaft, and the flexible rope 603 is always in a relaxed state;

[0117] like Figure 3 The structure diagram of the mode switching joint module of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention is shown in the flexible passive joint mode. In the flexible passive joint mode, the gear 609 on the shaft is disengaged from the steering gear 605, the mode switching joint module 6 is switched to the flexible passive joint mode, and the flexible component is two symmetrically installed torsion springs 607. Under the drive of the active drive joint module 5 or the previous mode switching joint module 6, and the interaction between the bionic robotic fish system and the fluid, a swinging motion can be generated to realize the fish-like propulsion motion, and due to the flexible effect of the torsion spring 607, the flexible propulsion mechanism of the fish can be further imitated to achieve the improvement of efficiency and other performance.

[0118] like Figure 7 The schematic diagram of the joint configuration of the bionic robotic fish system of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention is shown, and the process of switching between the active drive joint mode and the flexible passive joint mode includes:

[0119] The process of switching the active drive joint mode to the flexible passive joint mode:

[0120] The mode switching servo 601 drives the reel 604 to rotate clockwise, and the reel 604 winds around the flexible rope 603, causing the flexible rope 603 to shrink and pull the gear 609 on the shaft to slide downward along the guide key pin 611 through the guide hole 612 until the gear 609 on the shaft and the servo gear 605 are completely disengaged, so that the gear 609 on the shaft and the servo gear 605 cannot be engaged and driven, and the joint shaft 606 drives the next mode switching joint module 6 to quickly return to the initial position under the action of the torsion spring 607, that is, the joint angle of the joint shaft 606 The active drive joint mode is switched to the flexible passive joint mode when the active drive joint mode is at 0 degrees.

[0121] The process of switching the flexible passive joint mode to the active drive joint mode:

[0122] The mode switching servo 601 drives the reel 604 to rotate counterclockwise rapidly, and the servo gear 605 returns to the initial position, that is, the position where the joint angle is 0 degrees. The reel 604 releases the flexible rope 603, so that the flexible rope 603 stretches and loosens the gear 609 on the shaft. Under the action of the spring 610, the gear 609 on the shaft slides upward along the direction of the guide key pin 611 until the gear 609 on the shaft and the servo gear 605 are engaged, so that the servo gear 605 drives the gear 609 on the shaft to move, thereby realizing the switching of the flexible passive joint mode to the active drive joint mode.

[0123] a tail fin 8 for providing propulsion by means of bionic wave motion;

[0124] The tail handle structure 7 is used to connect the mode switching joint module 6 and the tail fin 8.

[0125] like Figure 6 The flowchart of an embodiment of the bionic robotic fish control method for realizing active and passive mode switching of the present invention is shown in FIG. The present invention provides a bionic robotic fish control method for realizing active and passive mode switching, which is realized by a bionic robotic fish system for realizing active and passive mode switching, and the method includes:

[0126] S1. According to the perception sensor of the bionic robotic fish system, the optimal mode of the bionic robotic fish system is obtained through a motion mode selection algorithm;

[0127] S2. According to the perception sensor of the bionic robot fish system, a stable navigation posture of the bionic robot fish system is obtained through a bionic control optimization algorithm;

[0128] S3, obtaining a parameter set of a mode generator through a processor of a control module according to the optimal mode of the bionic robotic fish system and the stable navigation posture of the bionic robotic fish system;

[0129] S4. According to the parameter set of the modal generator, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain the optimal mode and stable navigation posture of the bionic robotic fish system.

[0130] The present invention provides a bionic robot fish system and a control method for realizing active and passive mode switching. The invention comprises a shell, a control module, a power module, a pectoral fin module, an active drive joint module, a mode switching joint module, a caudal fin and a caudal stalk structure. The mode switching joint module can realize the switching of the active drive joint mode and the flexible passive joint mode. At the same time, the present invention adopts a motion mode selection algorithm to realize mode selection and a bionic control optimization algorithm to realize the motion control of the bionic robot fish system. The active drive joint module and the mode switching joint module are controlled by a mode generator to obtain the optimal mode and stable navigation posture of the bionic robot fish system, thereby solving the problems of the single structural mode, complex variable stiffness mechanism and lack of motion mode switching function of the bionic robot fish system in the prior art, and improving the motion performance and adaptability of the bionic robot fish system in complex waters.

[0131] It is to be understood that the present invention is described by the above embodiments and should not be construed as limiting the embodiments of the present invention and the scope of the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A bionic robotic fish system for realizing active and passive mode switching, characterized in that: The system comprises: A shell, used to protect the interior of the bionic robotic fish system and reduce the resistance of movement in water; A control module, used for collecting data of the bionic robotic fish system and realizing mode selection and motion control; A power module, used to provide power to the bionic robotic fish system and to provide a low voltage warning; The pectoral fin module is used to realize the pitch and roll maneuvering of the robotic fish; An active drive joint module is used to achieve high-precision motion control of the joints and provide the basic power for the propulsion motion of the bionic robotic fish system; Mode switching joint module, used to switch between active drive joint mode and flexible passive joint mode; a tail fin, used to provide propulsion through bionic wave motion; The tail handle structure is used to connect the mode switching joint module and the tail fin.

2. The bionic robotic fish system for realizing active and passive mode switching according to claim 1, characterized in that: The control module comprises: A processor, used to implement mode selection through a motion mode selection algorithm and to implement motion control of the bionic robotic fish system through a bionic control optimization algorithm; A perception sensor, used for sensing the current environment information and self-state information of the bionic robotic fish system, and feeding back the current environment information and self-state information of the bionic robotic fish system to the processor; A modal generator is used to control the active drive joint module and the modal switching joint module according to the instructions of the processor.

3. The bionic robotic fish system for realizing active and passive mode switching according to claim 1, characterized in that: The power module comprises: A lithium battery, used to provide electrical energy for the bionic robotic fish system; The power management unit is used to detect the power level of the lithium battery and issue a low voltage warning.

4. The bionic robotic fish system for realizing active and passive mode switching according to claim 1, characterized in that: The number of the modal switching joint modules is no less than 1.

5. The bionic robotic fish system for realizing active and passive mode switching according to claim 1, characterized in that: The modal switching joint module comprises: The mode switching servo is used to provide power for mode switching of the main flexible passive joints of the bionic robotic fish system. A bracket, used for fixing and connecting the modal switching joint module, A flexible rope is used to transmit the power of the mode switching servo to the gear on the shaft, A wire wheel for winding and releasing the flexible rope, The servo gear is used to mesh with the gear on the shaft in the active drive joint mode. Joint axis, used to connect the next mode switching joint module, a torsion spring, used to provide elastic restoring force for the modal switching joint module, The limiting ring is used to limit the axial position of the gear and the spring on the shaft. The gear on the shaft is used to realize power transmission and precise movement of the mode switching joint module in the active drive joint mode. The spring is used to provide auxiliary elastic force for the gear on the shaft to ensure the accuracy of mode switching. The guide key pin is used to guide the up and down movement of the gear on the shaft to ensure that the gear on the shaft drives the joint shaft to move.

6. The bionic robotic fish system for realizing active and passive mode switching according to claim 5, characterized in that: The bracket comprises: a front C-shaped structure, a middle groove structure and a rear C-shaped structure; The front end C-shaped structure is fixedly connected to the joint shaft of the active drive joint module or the previous mode switching joint module, the rear end C-shaped structure is connected to the next mode switching joint module, the upper and lower ends of the rear end C-shaped structure are rotatably installed with the joint shaft through circular holes, the joint shaft is fixedly connected to the front end C-shaped structure of the bracket of the next mode switching joint module, the joint shaft is rotatably installed with the torsion spring, the limit ring, the spring, the gear on the shaft, the guide key pin, the limit ring and the torsion spring in sequence from bottom to top, the middle groove structure is fixedly installed with the mode switching servo, the wire wheel and the servo gear are fixedly installed on the driving shaft of the mode switching servo, and the wire wheel and the servo gear are fixedly connected to achieve coaxial rotation.

7. The bionic robotic fish system for realizing active and passive mode switching according to claim 6, characterized in that: The process of switching between the active drive joint mode and the flexible passive joint mode includes: The process of switching the active drive joint mode to the flexible passive joint mode: The mode switching servo drives the wire wheel to rotate clockwise, and the wire wheel is wound around the flexible rope, so that the flexible rope shrinks through the guide hole and pulls the gear on the shaft to slide downward along the direction of the guide key pin until the gear on the shaft and the servo gear are completely disengaged, so that the gear on the shaft and the servo gear cannot be meshed and driven, and the joint shaft drives the next mode switching joint module under the action of the torsion spring to quickly return to the initial position, that is, the position where the joint angle of the joint shaft is 0 degrees, thereby realizing the switching of the active drive joint mode to the flexible passive joint mode; The process of switching the flexible passive joint mode to the active drive joint mode: The mode switching servo drives the wire wheel to rotate counterclockwise rapidly, and the servo gear returns to the initial position, that is, the position where the joint angle is 0 degrees. The wire wheel releases the flexible rope, so that the flexible rope stretches and loosens the gear on the shaft. Under the action of the spring, the gear on the shaft slides upward along the direction of the guide key pin until the gear on the shaft and the servo gear are engaged, so that the servo gear drives the gear on the shaft to move, thereby realizing the switching of the flexible passive joint mode to the active drive joint mode.

8. The bionic robotic fish system for realizing active and passive mode switching according to claim 2, characterized in that: The process of implementing mode selection through the motion mode selection algorithm includes: According to the perception sensor, current environmental information of the bionic robotic fish system is acquired to obtain a current environmental information data set; According to the current environmental information data set, a current environmental modality of the bionic robotic fish system is obtained by using a large language decision model; According to the current environmental mode of the bionic robotic fish system, an optimal mode decision algorithm is used to obtain the expected motion performance of the bionic robotic fish system and the configuration weight coding of the active drive joint module and the mode switching joint module; According to the expected motion performance of the bionic robotic fish system and the configuration weight coding of the active drive joint module and the modal switching joint module, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain the optimal mode of the bionic robotic fish system.

9. The bionic robotic fish system for realizing active and passive mode switching according to claim 8, characterized in that: The process of implementing motion control of the bionic robotic fish system by using a bionic control optimization algorithm includes: Acquiring the self-state information of the bionic robotic fish system according to the sensing sensor to obtain a self-state information data set; Obtaining a structural configuration mode of a bionic robotic fish system according to the self-state information data set and the configuration weight coding of the active drive joint module and the modal switching joint module; According to the structural configuration mode of the bionic robotic fish system, a motion performance optimization algorithm based on reinforcement learning is used to obtain a parameter set of a mode generator of the bionic robotic fish system under the current topological structure; According to the parameter set of the modal generator of the bionic robotic fish system under the current topological structure, the active drive joint module and the modal switching joint module are controlled by the modal generator to obtain a stable navigation posture of the bionic robotic fish system.

10. A bionic robotic fish control method for realizing active and passive mode switching, wherein the bionic robotic fish control method for realizing active and passive mode switching is realized by the bionic robotic fish system for realizing active and passive mode switching according to any one of claims 1 to 9, and is characterized in that: The method comprises: S1. According to the perception sensor of the bionic robotic fish system, the optimal mode of the bionic robotic fish system is obtained through a motion mode selection algorithm; S2. According to the perception sensor of the bionic robot fish system, a stable navigation posture of the bionic robot fish system is obtained through a bionic control optimization algorithm; S3, obtaining a parameter set of a mode generator through a processor of a control module according to the optimal mode of the bionic robotic fish system and the stable navigation posture of the bionic robotic fish system; S4. According to the parameter set of the modal generator, the modal generator is used to control the active drive joint module and the modal switching joint module to obtain the optimal mode and stable navigation posture of the bionic robotic fish system.

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