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

Abstract

The present invention provides a bionic robotic fish system and control method for switching between active and passive modes, belonging to the field of underwater bionic robotics. The system comprises a housing, 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 enables switching between active drive joint modes and flexible passive joint modes. Furthermore, the system utilizes a motion mode selection algorithm to select modes and a bionic control optimization algorithm to control the motion of the bionic robotic fish system. A mode generator controls the active drive joint module and the mode switching joint module to achieve the optimal mode and stable navigation posture of the bionic robotic fish system. This system addresses existing issues such as the single structural mode, complex variable stiffness mechanism, and lack of motion mode switching functionality of bionic robotic fish systems, thereby improving the system's motion performance and adaptability in complex waters.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater bionic robots, and in particular to a bionic robotic 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 robot that achieves underwater locomotion by mimicking the propulsion patterns of aquatic organisms. Fish have evolved exceptional locomotion characteristics through eons of natural selection, and their unique morphological features and propulsion mechanisms have provided significant inspiration and insights for the design of bionic underwater robots. Compared to traditional propeller-driven underwater robots, bionic robotic fish, by incorporating the fish's low-drag shape and wave propulsion mechanism and integrating robotic technology, possess many of the advantages of fish underwater navigation, including high maneuverability, high efficiency, low noise, strong stealth, and environmental friendliness. Therefore, they hold broad application prospects in both military and civilian fields. Most existing bionic robotic fish utilize a tandem propulsion structure with multiple active joints and multiple links. This involves individually controlling each motor to sequentially drive each joint with a specific rotational amplitude and phase difference, driving the corresponding rigid links to oscillate, thereby mimicking the wave motion of the fish's body and achieving underwater navigation. Furthermore, biological research has shown that the high-performance locomotion and environmental adaptability of biological fish are inseparable from the flexible passive properties of their bodies and their 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 robotic fish typically uses a multi-joint structure with multiple motors connected in series. By precisely controlling the rotation speed and angle of each joint, the propulsion motion of biological fish can be simulated. This type of robotic fish often has better maneuverability and stronger motion control accuracy. Secondly, for efficient swimming, bionic robotic fish often use a series connection between motor-driven active joints and flexible passive joints to improve their propulsion efficiency. However, the variable stiffness mechanism is usually complex, significantly increasing the mass and size of the bionic robotic fish system. Moreover, due to the limited range of stiffness variation and the lack of obvious differences in the propulsion mechanism modalities, it is difficult to effectively improve the motion performance. In practical applications, underwater robots often need to operate in complex underwater environments. To meet different water environments and operational tasks, underwater bionic robotic fish should have the ability to switch propulsion structures and achieve different motion modes to better serve application requirements. However, existing bionic robots usually only have one propulsion structure with relatively limited motion modes, which cannot meet the motion mode switching requirements in different environments and tasks. Summary of the Invention

[0004] In order to solve the problems in the above-mentioned prior art, the present invention provides a bionic robotic fish system and control method for realizing active and passive mode switching. The invention includes a shell, 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 stalk 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 mode selection and a bionic control optimization algorithm 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, solving 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, thereby improving the motion performance and adaptability of the bionic robotic fish system in complex waters. To achieve the above-mentioned purpose, the technical solution is as follows:

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

[0006] A shell, used to protect the interior of the bionic robotic fish system and reduce resistance to 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 is used to provide power to the bionic robotic fish system and provide low voltage warning;

[0009] Pectoral fin module, used to achieve the pitching maneuver 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 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 biomimetic undulation;

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

[0014] Optionally, the control module includes:

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

[0016] a perception sensor, configured to perceive current environmental information and self-state information of the bionic robotic fish system, and feed the current environmental information and self-state information of the bionic robotic fish system back 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 power to 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 modal switching joint module includes:

[0023] The mode switching servo is used to provide the 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 modal 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 this shaft is used to realize the power transmission and 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 modal switching joint module, the rear end C-shaped structure is connected to the next modal 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 modal switching joint module, the joint shaft is rotatably installed from bottom to top in sequence with the torsion spring, the limiting ring, the spring, the gear on the shaft, the guide key pin, the limiting ring and the torsion spring, the middle groove structure is fixedly installed with the modal switching servo, the spool and the servo gear are fixedly installed on the drive shaft of the modal switching servo, and the spool 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 from the active drive joint mode to the flexible passive joint mode:

[0038] The mode switching servo drives the reel to rotate clockwise, and the reel 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 guide key pin direction 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 engaged for driving. 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 realizes the switching of the active drive joint mode to the flexible passive joint mode;

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

[0040] The mode switching servo drives the spool 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 spool releases the flexible rope, causing the flexible rope to stretch and loosen 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.

[0041] Optionally, the process of selecting a mode by using a motion mode selection algorithm includes:

[0042] Acquiring current environmental information of the bionic robotic fish system according to the perception sensor to obtain a current environmental information data set;

[0043] According to the current environmental information data set, a large language decision model is used to obtain the current environmental modality 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 used to obtain the expected motion performance of the bionic robotic fish system and the configuration weight encoding 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] Acquiring the self-state information of the bionic robotic fish system according to the sensing sensor to obtain a self-state information data set;

[0048] Obtaining a structural configuration mode of the 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;

[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 the 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] In another aspect, the present invention provides a method for controlling a bionic robotic fish that implements active and passive mode switching. The method is implemented by a bionic robotic fish system that implements active and passive mode switching. The method comprises:

[0052] S1. Obtaining the optimal mode of the bionic robotic fish system through a motion mode selection algorithm based on the perception sensors of the bionic robotic fish system;

[0053] S2. Obtaining a stable navigation posture of the bionic robotic fish system through a bionic control optimization algorithm based on the sensing sensors of the bionic robotic fish system;

[0054] S3. Obtaining a parameter set of a modal 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] On the one hand, the above-mentioned scheme includes a shell, 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 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 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, which solves 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 existing technology, and improves the motion performance and adaptability of the bionic robotic fish system in complex waters. 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 1 is a schematic structural diagram of an embodiment of a bionic robotic fish system for realizing active and passive mode switching according to the present invention;

[0060] Figure 2 1 is a schematic structural diagram of a mode switching joint module in an active drive joint mode in an embodiment of a bionic robotic fish system for realizing active and passive mode switching according to the present invention;

[0061] Figure 3 1 is a schematic structural diagram of a mode switching joint module in a flexible passive joint mode of an embodiment of a bionic robotic fish system for realizing active and passive mode switching according to the present invention;

[0062] Figure 4 1. It is a flow chart of the process of mode selection by 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;

[0063] Figure 5 This is a flow chart of a process of implementing motion control of a bionic robotic fish system that implements active and passive mode switching using a bionic control optimization algorithm according to an embodiment of the present invention;

[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 Schematic diagram of the joint configuration of a bionic robotic fish system for realizing active and passive mode switching according to an embodiment 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 an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0069] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, 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 implementing active and passive mode switching of the present invention is shown. The present invention provides a bionic robotic fish system for implementing active and passive mode switching, which can implement a bionic robotic fish control method for implementing 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 caudal stalk structure 7, and a caudal fin 8;

[0071] Housing 1, used to protect the interior of the bionic robotic fish system and reduce resistance to 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, configured to implement mode selection through a motion mode selection algorithm and 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] Further, if Figure 4 The flowchart of the process of realizing mode selection by 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 is shown. The process of realizing mode selection by the motion mode selection algorithm includes:

[0078] Acquiring current environmental information of the bionic robotic fish system according to the perception sensor to obtain a current environmental information data set;

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

[0080] According to the current environmental information data set, a large language decision model is used to obtain the current environmental modality 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 used 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 figure shows a schematic diagram of the joint configuration of a bionic robotic fish system according to an embodiment of the present invention for realizing active and passive mode switching. The bionic robotic fish system comprises a programmable fish-like tail-swinging propulsion structure composed of one active drive joint module 5 and N mode switching joint modules 6 connected in series, wherein J0 is the active joint of the active drive joint module 5, and J1 to 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 diagram of the embodiment of the bionic robotic fish system for realizing active and passive mode switching of the present invention shown corresponds to the bionic robotic fish system when N=3.

[0083] The configuration weight is encoded as an N-dimensional vector, with each dimension having a weight of 0 or 1, where 0 indicates that the modal switching joint is a flexible passive joint and 1 indicates that the modal switching joint is an actively driven joint. The control parameters of the active joint and the modal switching joint are generated by the processor, including amplitude, frequency, bias, etc. According to the current environmental mode of the bionic robotic fish system, the desired motion performance of the bionic robotic fish system is selected, such as energy efficiency, cruising speed, steering maneuverability, instantaneous explosive power, etc., and the configuration of the active drive joint and the modal switching joint is determined, that is, the configuration weight encoding of the active drive joint module 5 and the modal 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 flowchart of the process of using a bionic control optimization algorithm to implement motion control of the bionic robotic fish system according to an embodiment of the present invention for implementing active and passive mode switching is shown. The process of using the bionic control optimization algorithm to implement motion control of the bionic robotic fish system includes:

[0086] Acquiring the self-state information of the bionic robotic fish system according to the sensing sensor 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 the 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 robotic fish system, the motion 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 robotic fish system and the configuration weight coding 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 robotic 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, configured to perceive current environmental information and self-state information of the bionic robotic fish system, and feed the current environmental information and self-state information of the bionic robotic fish system back 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] Power supply module 3, used to provide power to the bionic robotic fish system and issue a low voltage warning;

[0094] Specifically, the power module includes:

[0095] A lithium battery, used to provide power to 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 the joints and provide the basic power for the propulsion of the bionic robotic fish system;

[0099] A mode switching joint module 6 is used to switch 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 structural 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 is shown in the flexible passive joint mode;

[0102] The modal switching joint module 6 includes:

[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 is used to fix and connect the modal switching joint module.

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

[0106] The front end C-shaped structure is fixedly connected to the joint shaft 606 of the active drive joint module 5 or the previous modal switching joint module 6, and the rear end C-shaped structure is connected to the next modal switching joint module 6. The upper and lower ends of the rear end C-shaped structure are rotatably installed with the joint shaft 606 through circular holes. The joint shaft 606 is fixedly connected to the front end C-shaped structure of the bracket of the next modal 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. The middle groove structure is fixedly installed with the modal switching servo 601. The pulley 604 and the servo gear 605 are fixedly installed on the driving shaft of the modal switching servo 601, and the pulley 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 reel 604 is used to wind and release the flexible rope 603.

[0109] The servo 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 to the next mode switching joint module 6.

[0111] The torsion spring 607 is used to provide elastic restoring force for the modal 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 figure shows a schematic structural diagram of the mode switching joint module of an embodiment of a bionic robotic fish system for achieving active and passive mode switching according to the present invention in an active drive joint mode. In this active drive joint mode, the on-shaft gear 609 is stopped at the highest position by the action of the spring 610 and the limit ring 608, meshing with the servo gear 605. The mode switching servo 601 can directly drive the joint shaft 606 to perform reciprocating and swinging motion. In this active drive joint mode, when the mode switching servo 601 is at a predetermined maximum rotation amplitude, the flexible rope 603 is in a state of being just straightened, that is, the flexible rope 603 has not yet exerted tension on the on-shaft gear 609, and the flexible rope 603 is always in a relaxed state.

[0117] like Figure 3 The diagram shows the structure 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 flexible passive joint mode. In the flexible passive joint mode, the gear 609 on the shaft is disengaged from the servo gear 605, and the mode switching joint module 6 is switched to the flexible passive joint mode. 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. Due to the flexible effect of the torsion spring 607, the flexible propulsion mechanism of the fish can be further imitated to achieve improved performance in terms of efficiency and other aspects.

[0118] like 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 process of switching between the active drive joint mode and the flexible passive joint mode includes:

[0119] The process of switching from 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 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 under the action of the torsion spring 607 to quickly return to the initial position, that is, the joint angle of the joint shaft 606 At the position of 0 degrees, the active drive joint mode is switched to the flexible passive joint mode;

[0121] The process of switching from 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 through 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 a bionic robotic fish control method for realizing active and passive mode switching of the present invention is shown. 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 includes:

[0126] S1. Obtaining the optimal mode of the bionic robotic fish system through a motion mode selection algorithm based on the perception sensors of the bionic robotic fish system;

[0127] S2. Obtaining a stable navigation posture of the bionic robotic fish system through a bionic control optimization algorithm based on the sensing sensors of the bionic robotic fish system;

[0128] S3. Obtaining a parameter set of a modal 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 robotic fish system and control method for realizing active and passive mode switching. The invention includes a shell, 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 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 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 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, thereby solving the problems of the bionic robotic fish system in the prior art such as the single structural mode, the complex variable stiffness mechanism and the lack of motion mode switching function, thereby improving the motion performance and adaptability of the bionic robotic fish system in complex waters.

[0131] It will be appreciated that the present invention is described by way of the above embodiments and should not be construed as limiting the embodiments of the present invention and the scope of the present invention. It will be appreciated by those skilled in the art that various changes or equivalent replacements 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 to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application fall within the scope protected by the present invention.

Claims

1. A bionic robotic fish system that realizes 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 resistance to movement in water; A control module, used to collect data of the bionic robotic fish system and realize mode selection and motion control; A power module, used to provide power to the bionic robotic fish system and issue a low voltage warning; Pectoral fin module, used to achieve the pitching maneuver 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 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 biomimetic undulation; a tail stalk structure, used to connect the mode switching joint module and the tail fin; Wherein, the modal switching joint module includes: A mode switching servo, 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, so that the flexible rope contracts through the guide hole and pulls the gear on the shaft to slide downward along the direction of the guide key pin; a reel for winding and releasing the flexible rope; a servo gear, adapted to mesh with the gear on the shaft in an active drive joint mode; Joint axis, used to connect the next modal switching joint module; a torsion spring, used to provide elastic restoring force for the modal switching joint module; A limiting ring, 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; A 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; The joint shaft is rotated and installed in sequence from bottom to top on the torsion spring, the limiting ring, the spring, the gear on the shaft, the guide key pin, the limiting ring and the torsion spring.

2. The bionic robotic fish system for realizing active and passive mode switching according to claim 1, characterized in that: The control module includes: A processor, configured to implement mode selection through a motion mode selection algorithm and implement motion control of the bionic robotic fish system through a bionic control optimization algorithm; a perception sensor, configured to perceive current environmental information and self-state information of the bionic robotic fish system, and feed the current environmental information and self-state information of the bionic robotic fish system back 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 includes: 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 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 modal switching joint module, the rear end C-shaped structure is connected to the next modal switching joint module, the upper and lower ends of the rear end C-shaped structure are rotatably mounted on 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 modal switching joint module, the middle groove structure is fixedly mounted on the modal switching servo, the spool and the servo gear are fixedly mounted on the drive shaft of the modal switching servo, and the spool and the servo gear are fixedly connected to achieve coaxial rotation.

6. The bionic robotic fish system for realizing active and passive mode switching according to claim 5, 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 guide key pin direction 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 engaged and driven. 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 spool 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 spool releases the flexible rope, causing the flexible rope to stretch and loosen 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.

7. The bionic robotic fish system for realizing active and passive mode switching according to claim 2, characterized in that: The process of selecting a mode by using a motion mode selection algorithm includes: acquiring current environmental information of the bionic robotic fish system according to the perception sensor 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 modal 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 modal 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.

8. The bionic robotic fish system for realizing active and passive mode switching according to claim 7, 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 perception sensor to obtain a self-state information data set; Obtaining a structural configuration mode of the 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 mode 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.

9. A method for controlling a bionic robotic fish capable of switching between active and passive modes, wherein the method is implemented by the bionic robotic fish system capable of switching between active and passive modes according to any one of claims 1 to 8, and wherein: The method comprises: S1. Obtaining the optimal mode of the bionic robotic fish system through a motion mode selection algorithm based on the perception sensors of the bionic robotic fish system; S2. Obtaining a stable navigation posture of the bionic robotic fish system through a bionic control optimization algorithm based on the sensing sensors of the bionic robotic fish system; S3. Obtaining a parameter set of a modal 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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