Piezoelectric wafer driving-based bionic fish and control method thereof

Abstract

The invention discloses a bionic fish driven by piezoelectric wafers and a control method of the bionic fish. The bionic fish comprises a driving part, an appearance structure part and a motion transmission part. The driving part is composed of four sections of base plates which are sequentially connected, and connecting pieces are arranged on the four sections of base plates and can achieve mutual rotation. The appearance structure component is composed of a fish head, and the motion transmission component is composed of four sections of fish bodies and fish tails which are hinged to one another. Wherein the fourth base plate is connected with the motion transmission component fishtail in an external gear meshing mode, and mutual rotation can be achieved. The fish head of the appearance structure component is hinged to the first base plate through a pin, and the fish head and the first base plate can rotate relative to each other. The base plate and the piezoelectric crystal plates are arranged in an array mode, the input voltage of the piezoelectric crystal plates is controlled, and the four-section type fish body turning angle control method and the bionic fish swing speed control method are combined, so that the four-section type bionic fish body turning angle control device has high precision, high maneuverability, high reliability, high dynamic response, good interchangeability and high expansibility.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater bionic fish, and particularly to a bionic fish based on piezoelectric bimorph drive and a control method thereof. Background Art

[0002] The multi-dimensional perception and intelligent development of marine resources have become the strategic high points of global scientific and technological competition. Underwater bionic robots based on bionic hydrodynamics and intelligent material technologies, relying on their low-fluid-resistance morphological design, efficient bionic propulsion mechanism, and multi-modal maneuvering capabilities, have broken through the technical bottlenecks of traditional underwater equipment such as ROV / RUV in terms of complex flow field adaptability, stealthy motion efficiency, and environmental interaction dimensions. Through high-fidelity motion bionics design, such bionic platforms have achieved disruptive applications in key scenarios such as in-situ monitoring of deep-sea environments, fine mapping of seabed topography, and stealthy detection in ecologically sensitive areas. The integrated innovation of their dynamic deformation mechanisms and intelligent motion control systems is driving the underwater operation paradigm towards bionic self-consistency and swarm intelligence. The current technological frontiers focus on directions such as cross-medium motion integration, flexible drive topology optimization, and bio-inspired environmental perception, aiming to build a new generation of autonomous marine cognition and operation systems.

[0003] The published text of the Chinese patent application with publication number CN119190317A discloses that a multi-functional underwater submersible uses a multi-propeller cooperative control technology, and realizes attitude adjustment, variable-speed motion, and cruise state maintenance in three-dimensional space through a differential drive strategy, effectively enhancing the motion control dimension of traditional submersibles. However, this solution still has limitations in terms of propulsion system energy efficiency optimization, maneuver response in complex fluid environments, and modular function expansion architecture design, and has not broken through the inherent technical bottlenecks of traditional submersibles, such as low energy utilization rate, insufficient dynamic agility, and weak system plasticity.

[0004] The published text of the Chinese patent application with publication number CN119460038A discloses that a parallel bionic fish system is based on a multi-degree-of-freedom parallel drive mechanism, and respectively controls the pectoral fin angle-of-attack adjustment mechanism, dorsal fin deflection mechanism, and caudal fin undulation drive unit through distributed motor groups to achieve vertical diving and floating motion, three-dimensional attitude adjustment, and propulsion mode switching of the bionic fish body. Through the coordinated motion reconstruction of bionic fins, this technology significantly improves the motion mimicry ability and environmental adaptability of underwater bionic bodies. However, during the dynamic steering process, the dorsal fin actuator is affected by insufficient fluid dynamic load matching, resulting in a phenomenon of effective driving torque attenuation, leading to limited steering maneuver efficiency; in addition, the multi-stage linked mechanical transmission system has redundant structural mass due to the redundant transmission chain design, which increases the complexity of the mechanism while potentially restricting the system reliability and maintainability. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a bionic fish driven by piezoelectric wafers. The bionic fish is divided into four sections, the traditional motor drive is changed to a piezoelectric wafer drive and the piezoelectric wafers are arranged in an array axially, thereby forming a substrate of a piezoelectric wafer array controlled by four sections of PWM, and by controlling the value of the excitation voltage applied to the piezoelectric wafer array, the horizontal deflection angle of the substrate is controlled. The deflection angle of each section of the substrate corresponds to the deflection angle of the fish body. Finally, the bionic fish can turn and move forward, realizing precise control of the position of the bionic fish, and having the advantages of high control accuracy, high reliability, high replaceability and convenient disassembly and assembly.

[0006] To achieve the above object, the present invention provides a bionic fish driven by piezoelectric wafers, and the bionic fish includes an outer shape component, a driving component and a motion transmission component.

[0007] The driving component includes four substrates hinged in sequence, and piezoelectric wafers are connected to the corresponding substrates. The substrate group includes four substrates connected rotatably in sequence. A second connecting member for connecting with the second substrate is provided at the lower end of the first substrate. The connection modes between adjacent two substrates are the same, and rotation can be realized after connection. Further, taking the connection between the first substrate and the second substrate as an example for the connection between adjacent two substrates, the lower end of the first substrate meshes with the outer gear at the upper end of the second substrate through a gear ring, and the double-hanging-ear type boss provided on the first substrate axially mates with the gear shaft hole on the outer gear of the second substrate through a first connecting card plate, and rotation between them can be realized.

[0008] Piezoelectric wafers, the piezoelectric wafers are arranged on opposite sides of the substrate, and the length of the piezoelectric wafer accounts for 5 / 6 to 2 / 3 of the length of the jet plate connected thereto. Connecting wires are provided on the piezoelectric wafers. Applying a DC voltage to the piezoelectric wafers can deflect the jet plate connected to the piezoelectric wafers.

[0009] The outer shape component includes a fish head, and a double-hanging-ear hinged boss is included at the lower end of the fish head. The fish head is hinged to the first substrate through a fish head pin passing through the double-hanging-ear hinged boss of the fish head, and rotation between the fish head and the first substrate can be realized.

[0010] The motion transmission component includes four sections of fish bodies and a fish tail connected in sequence.

[0011] A fish body group, the fish body group includes four sections of fish bodies connected in sequence, and they are hinged in sequence through the connecting members on each section of the fish body, and rotation between them can be realized, and each section of the fish body is rigidly connected to the corresponding substrate through a fish body pin.

[0012] The fish tail, and a fourth connecting member connected to the fish tail is provided at the lower end of the fourth substrate. The fish tail can be rotatably connected to the fourth substrate through the fourth connecting member. Further, the connection mode between the fourth substrate and the fish tail is that an external gear set is included at the lower end of the fourth substrate. Similarly, an external gear set is also provided at the upper end of the fish tail. The fourth substrate and the fish tail are connected through the fish tail connection card hole shaft, and they can rotate relative to each other.

[0013] Through the above technical solution, the substrates are arranged in an array, and each substrate has a small mass, which can improve the turning accuracy of the bionic fish. Compared with the bionic fish driven by a traditional motor, in terms of structure, this application realizes the high-frequency movement and high-precision control of the substrate corresponding to the fish body with the help of piezoelectric wafers. In terms of the driving method, the turning angle and the forward distance required by the bionic fish can be calculated in real time according to the target point and the current position of the bionic fish. By adjusting the excitation voltage of different substrates, the turning angle and the forward speed of the bionic fish can be accurately adjusted, and thus the precise control of the position of the bionic fish can be realized.

[0014] A driving method of a bionic fish driven by piezoelectric wafers, the substrate group includes four substrates, and the substrates are arranged in sequence as the first substrate, the second substrate, the third substrate and the fourth substrate. The maximum horizontal deflection angle of each substrate is the same as θ max ;

[0015] The control method is as follows:

[0016] Step 1, obtain the target coordinate position (x, y).

[0017] Step 2, input the current position coordinates (x1, y1) of the bionic fish.

[0018] Step 3, calculate the corresponding turning angle θ according to the target coordinate position and the coordinate position of the bionic fish.

[0019] Step 4, judge whether the bionic fish needs to turn according to the calculated required turning angle θ value.

[0020] If the turning angle |θ|≥0.1°, the bionic fish needs to turn, then go to Step 5.

[0021] If the turning angle |θ|<0.1°, the bionic fish does not need to turn, and directly go to Step 17.

[0022] Step 5, judge whether |θ| is less than or equal to 20°.

[0023] If |θ| is less than or equal to 20°, directly go to Step 9.

[0024] If |θ| is greater than 20°, directly go to Step 6.

[0025] Step 6: A voltage U0 needs to be applied to excite the first substrate 28, the second substrate 24, and the third substrate 20. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16, the driving voltage U0 needs to be applied alternately for excitation.

[0026] If the θ value is positive, an excitation voltage U0 is applied to the first left piezoelectric wafer 30, the second left piezoelectric wafer 24, and the third left piezoelectric wafer 22. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltage U0 needs to be applied alternately for excitation.

[0027] If the θ value is negative, an excitation voltage U0 is applied to the first right piezoelectric wafer 29, the second right piezoelectric wafer 25, and the third right piezoelectric wafer 21. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltage U0 needs to be applied alternately for excitation.

[0028] Step 7: Obtain the current position coordinates (x3, y3) of the new bionic fish.

[0029] Step 8: Return to Step 2.

[0030] Step 9: Determine which range the turning angle θ satisfies.

[0031] If 1° ≤ |θ| ≤ 5°, go to Step 10.

[0032] If 5° < |θ| ≤ 10°, go to Step 12.

[0033] If 10° < |θ| ≤ 20°, go to Step 14.

[0034] Step 10: A voltage of 0.25U0 needs to be applied to excite the first substrate 28. No voltage needs to be applied to excite the second substrate 24 and the third substrate 20. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16, the driving voltage 0.25U0 needs to be applied alternately for excitation.

[0035] If the θ value is positive, a voltage of 0.25U0 is applied to the first left piezoelectric wafer 30. No excitation voltage is applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltage 0.25U0 needs to be applied alternately for excitation.

[0036] If the θ value is negative, a voltage of 0.25U0 is applied to the first right piezoelectric wafer 29. No excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltage 0.25U0 needs to be applied alternately for excitation.

[0037] Step 11, directly proceed to Step 15.

[0038] Step 12, a voltage of 0.5U0 needs to be applied to the first substrate 28 for excitation. No voltage needs to be applied to the second substrate 24 and the third substrate 20 for excitation. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the applied driving voltage of 0.25U0 for excitation.

[0039] If the θ value is positive, a voltage of 0.5U0 is applied to the first left piezoelectric wafer 30 for excitation. No excitation voltage is applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the fourth substrate 16 of the forward driving substrate need to exchange the applied driving voltage of 0.25U0 for excitation.

[0040] If the θ value is negative, a voltage of 0.5U0 is applied to the first right piezoelectric wafer 29 for excitation. No excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the fourth substrate 16 of the forward driving substrate need to exchange the applied driving voltage of 0.25U0 for excitation.

[0041] Step 13, directly proceed to Step 15.

[0042] Step 14, a voltage of U0 needs to be applied to the first substrate 28 for excitation. No voltage needs to be applied to the second substrate 24 and the third substrate 20 for excitation. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the applied driving voltage of 0.25U0 for excitation.

[0043] If the θ value is positive, a voltage of U0 is applied to the first left piezoelectric wafer 30 for excitation. No excitation voltage is applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the fourth substrate 16 of the forward driving substrate need to exchange the applied driving voltage of 0.25U0 for excitation.

[0044] If the θ value is negative, a voltage of U0 is applied to the first right piezoelectric wafer 29 for excitation. No excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the fourth substrate 16 of the forward driving substrate need to exchange the applied driving voltage of 0.25U0 for excitation.

[0045] Step 15, obtain the current position coordinates (x2, y2) of the new bionic fish.

[0046] Step 16, return to Step 2.

[0047] Step 17, calculate the distance Length between the current position coordinates (x1, y1) and the target position coordinates (x, y) of the bionic fish.

[0048] Step 18: Determine whether the Length value is less than or equal to 1.

[0049] If Length > 1, the bionic fish needs to move forward, and then enter Step 19.

[0050] If Length ≤ 1, the bionic fish does not need to move forward and directly execute Step 22.

[0051] Step 19: No voltage excitation needs to be applied to the first substrate 28, the second substrate 24, and the third substrate 20. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the applied driving voltage kU0 for excitation.

[0052] Step 20: Obtain the current position coordinates (x4, y4) of the new bionic fish.

[0053] Step 21: Return to Step 2.

[0054] Step 22: Execute the end command.

[0055] With the above technical solutions, the beneficial effects of the present invention are as follows:

[0056] Compared with traditional bionic fish, the driving components of the bionic fish in the present invention are set as four substrates attached with piezoelectric wafer drives. The four substrates are axially arrayed, with small mass and high flexibility. By dividing the movement transmission components of the bionic fish into four sections of fish body and the fish tail, the turning drive and forward drive of the bionic fish are precisely segmented. Each substrate is rigidly connected to the corresponding fish body, so that each section of the fish body can have the corresponding substrate for turning control. The fish tail is connected to the fourth substrate, and the left and right swinging of the fish tail can be realized by controlling the excitation voltage of the piezoelectric wafers on the fourth substrate, flexibly controlling the actions of the fish body corresponding to each substrate, and making the turning angle controllability of the whole fish body higher. And by means of the piezoelectric wafers, high-frequency movement and high-precision regulation can be realized, which can improve the overall rotation accuracy of the bionic fish and is better than that of traditional bionic fish in terms of rotation accuracy;

[0057] Due to the piezoelectric wafer array proposed by the present invention, and by means of the piezoelectric wafers, high-frequency movement and high-precision regulation can be realized, which can improve the overall rotation accuracy of the bionic fish and is better than that of traditional bionic fish in terms of rotation accuracy; in terms of the driving method, the driving combination of the array piezoelectric wafers can be optimally selected according to the turning angle and the front distance corresponding to the target position coordinates to achieve high-precision movement control; by self-selecting a higher-precision piezoelectric wafer driving scheme through the change of the turning angle, the precise control of the position closed-loop of the bionic fish can be realized.

[0058] To make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Brief Description of the Drawings

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0060] Figure 1 It is a two-dimensional cross-sectional view of a mechanical bionic fish driven by a piezoelectric wafer provided by an embodiment of the present invention;

[0061] Figure 2 It is a schematic diagram of the installation of the internal driving components of the mechanical bionic fish provided by an embodiment of the present invention;

[0062] Figure 3 It is a schematic diagram of the external shape of the mechanical bionic fish provided by an embodiment of the present invention;

[0063] Figure 4 It is a schematic diagram of the installation of the first substrate and the second substrate provided by an embodiment of the present invention;

[0064] Figure 5 It is a schematic diagram of the installation of the fourth substrate and the fish tail provided by an embodiment of the present invention;

[0065] Figure 6 It is a schematic diagram of the installation of the first fish body segment and the first substrate provided by an embodiment of the present invention;

[0066] Figure 7 It is a schematic diagram of the installation of the first fish body segment and the second fish body segment provided by an embodiment of the present invention;

[0067] Figure 8 It is a flowchart of the control method provided by an embodiment of the present invention;

[0068] Figure 9 It is a schematic diagram of the movement provided by an embodiment of the present invention.

[0069] Reference numerals in the above figures: 1, fish head; 101, double hanging ear hinge boss; 102, cylindrical hole through hole; 2, fish head pin; 3, first fish body section; 301, left double hanging ear type boss; 302, cylindrical shaft; 303, right double hanging ear type boss; 304, two hanging ear surfaces; 305, single side through hole; 4, first fish body pin; 5, first connecting card plate; 6, second fish body section; 601, left double hanging ear type boss; 602, right double hanging ear type boss; 7, second fish body pin; 8, second connecting card plate; 9, third fish body pin; 10, third fish body section; 11, third connecting card plate; 12, fourth fish body pin; 13, fourth fish body section; 14, fish tail; 15, fish tail connecting card plate; 1501, upper end 3 / 4 snap ring; 1502, lower end 3 / 4 snap ring; 1503, upper end face arc; 1504, lower end face arc; 16, fourth substrate; 1601, gear set; 1602, pinion shaft; 1603, right shaft shoulder; 1604, left shaft shoulder; , large gear shaft; 17, fourth right piezoelectric wafer; 18, fourth left piezoelectric wafer; 19, fourth connecting card plate; 20, third substrate; 21, third right piezoelectric wafer; 22, third left piezoelectric wafer; 23, fifth connecting card plate; 24, second substrate; 2401, 1 / 3 external gear; 2402, gear shaft; 2403, left shaft shoulder; 2404, right shaft shoulder; 25, second right piezoelectric wafer; 26, second left piezoelectric wafer; 27, sixth connecting card plate; 2701, 3 / 4 cylindrical hole; 2702, lower end 3 / 4 cylindrical hole; 28, first substrate; 2801, substrate through hole; 2802, internal gear ring; 2803, hinge boss; 2804, hinge cylindrical hole; 2805, double hanging ear type boss; 2806, shaft; 29, first right piezoelectric wafer; 30, first left piezoelectric wafer; 31, first substrate connecting card plate; 3101, upper end 3 / 4 snap ring; 3102, upper end cylindrical surface; 3103, lower end cylindrical surface; 3104, lower end 3 / 4 snap ring; 32, second substrate connecting card plate; 33, third substrate connecting card plate. Detailed implementation manners

[0070] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0071] It should be noted that in the description of the present invention, the terms first, second, etc. are only used for descriptive purposes and to distinguish similar objects, and there is no sequence between them, nor can they be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0072] Embodiment: A mechanical bionic fish is disclosed in this embodiment, including:

[0073] The structure of the driving component of the mechanical bionic fish mainly includes a substrate group, as Figure 1 , Figure 2 shown. The connection of the substrate group is that the first substrate 28, the second substrate 24, the third substrate 20, and the fourth substrate 16 are connected in sequence. Taking the connection method between the first substrate 28 and the second substrate 24 as an example, as Figure 4 shown, an internal gear tooth ring 2802 is provided at the lower end of the first substrate 28, and a double-hanging ear type boss 2805 is provided at its lower right end. A shaft 2806 is provided on the double-hanging ear type boss, and the shaft 2806 coincides with the center line of the pitch circle diameter of the internal gear tooth ring 2802. A 1 / 3 external gear 2401 is provided at the upper end of the second substrate 24, and a left shoulder 2403 and a right shoulder 2404 are provided on its gear shaft 2402. The first substrate 28 and the second substrate 24 are connected by hole-shaft fitting of the upper 3 / 4 snap ring 3101 and the lower 3 / 4 snap ring 3104 of the first substrate connection card 31. The diameters of the upper cylindrical surface 3102 and the lower cylindrical surface 3103 provided on the first substrate connection card 31 are the same as the diameters of the shaft 2806 and the gear shaft 2402, and the thickness of the first substrate connection card 31 is the same as the distance between the two shoulders of the gear shaft 2402 and the length of the shaft 2806. At this time, the first substrate connection card 31 can rotate around the shaft 2806, and the radial movement is restricted by the two hanging ear surfaces provided on the double-hanging ear type boss 2805. The gear shaft 2402 provided on the second substrate 24 can rotate around the central axis of the lower 3 / 4 snap ring 3104 of the first substrate connection card 31, and the radial movement is restricted by the two shoulders of the gear shaft 2402. The installation methods and cooperation relationships between the second substrate 24, the third substrate 20, and the fourth substrate 16 are the same as those between the first substrate 28 and the second substrate 24.

[0074] As Figure 2 , Figure 4 shown, a hinged boss 2803 is provided at the upper end of the first substrate 28, which contains a cylindrical hole 2804, and it is pin-hinged to the fish head 1 through a fish head pin 2. A double-hanging ear hinged boss 101 structure is provided at the lower end of the fish head, which contains a cylindrical hole through hole 102. The diameters of the two cylindrical holes are the same, and the diameter of the cylindrical hole through hole 102 is the same as the diameter of the hinged cylindrical hole 2804 included in the hinged boss 2803 at the upper end of the first substrate 28. The diameter of the fish head pin 2 is the same as the diameters of the two cylindrical holes of the double-hanging ear hinged boss 101 at the lower end of the fish head 1, and it is inserted into the cylindrical hole through hole 102 and the hinged cylindrical hole 2804 by interference fit. The fish head 1 and the first substrate 28 can rotate relative to each other, and the movement in other degrees of freedom except rotation is restricted.

[0075] As Figure 5As shown in the figure, an external gear set 1601 is provided at the lower end of the fourth substrate 16. The center of its large gear shaft 1605 includes a small gear shaft 1602, and the small gear shaft 1602 and the large gear shaft 1605 are separated by a left shoulder 1603 and a right shoulder 1604. The fourth substrate 16 and the fish tail 14 are connected and matched through the hole shaft of the fish tail connection card plate 15. The upper end of the fish tail 14 is provided with a gear set 1601 structure identical to that of the fourth substrate 16, and their external gear modulus, number of teeth, and pitch circle diameter are all the same. The fish tail connection card plate 15 is provided with a 3 / 4 snap ring 1501 at the upper end, and the diameter of its inner arc 1503 is equal to the diameter of the small gear shaft 1602. The width of the fish tail connection card plate 15 is the same as the distance between the left shoulder 1604 and the right shoulder 1603. Therefore, the radial movement of the fish tail connection card plate 15 is restricted by the two shoulders, but its rotation is not affected. The structure 1502 provided at the lower end of the fish tail connection card plate 15 is the same as the structure of the 3 / 4 snap ring 1501 at the upper end and is assembled on the fish tail 14 in the same way. Thus, the connection of the substrate group with the fish tail 15 and the fish head 1 is completed.

[0076] Piezoelectric wafers are respectively connected to the opposite sides of the substrate group, as Figure 2 shown. On both sides of the first substrate 28, a first right piezoelectric wafer 29 and a first left piezoelectric wafer 30 are bonded by epoxy resin glue; on both sides of the second substrate 24, a second right piezoelectric wafer 25 and a second left piezoelectric wafer 26 are bonded by epoxy resin glue; on both sides of the third substrate 20, a third right piezoelectric wafer 21 and a third left piezoelectric wafer 22 are bonded by epoxy resin glue; on both sides of the fourth substrate 16, a fourth right piezoelectric wafer 17 and a fourth left piezoelectric wafer 18 are bonded by epoxy resin glue.

[0077] Thus, the internal drive components of the mechanical bionic fish have been connected. The connection between the external motion transmission components and the internal drive components of the mechanical bionic fish is as follows: the connection between the fish body and the corresponding substrate and the connection between the fish body groups. The fish body groups include the first fish body segment 3, the second fish body segment 6, the third fish body segment 10, and the fourth fish body segment 13. Among them, the substrate corresponding to the connection of the first fish body segment 3 is the first substrate 28, the substrate corresponding to the connection of the second fish body segment 6 is the second substrate 24, the substrate corresponding to the connection of the third fish body segment 10 is the third substrate 20, and the substrate corresponding to the connection of the fourth fish body segment 13 is the fourth substrate 16. The connection between the fish body groups is the sequential connection among the first fish body segment 3, the second fish body segment 6, the third fish body segment 10, and the fourth fish body segment 13.

[0078] As Figure 6As shown in the figure, the connection between the fish body and the corresponding substrate is exemplified by the connection between the first fish body 3 and the first substrate 28. A single-sided through hole 305 is provided on the left end face of the first fish body 3, and a substrate through hole 2801 is provided on the left end face of the first substrate 28. Then, the first fish body 3 and the first substrate 28 are connected by a pin of the first fish body pin 4. The diameter of the first fish body pin 4, the diameter of the single-sided through hole 305 of the first fish body 3, and the diameter of the substrate through hole 2801 are the same. The first fish body pin 4 rigidly connects the first fish body 3 and the first substrate 28 through interference fit, making them a rigid whole. The installation methods and cooperation relationships of the second fish body 6, the third fish body 10, and the fourth fish body 13 are the same as those between the first fish body 3 and the first substrate 28.

[0079] As Figure 7 shown in the figure, the connection between the fish body groups is exemplified by the connection between the first fish body 3 and the second fish body 6. The lower end of the first fish body 3 is respectively provided with a left double-hanging ear type convex platform 301 and a right double-hanging ear type convex platform 303, and the two convex platforms have the same structure. The upper end of the second fish body 6 is also respectively provided with a left double-hanging ear type convex platform 601 and a right double-hanging ear type convex platform 602, and the structures of the two convex platforms are exactly the same as those of the two double-hanging ear type convex platforms at the lower end of the first fish body 3. Taking the left double-hanging ear type convex platform 301 of the first fish body 3 as an example, it is provided with a cylindrical shaft 302. The first fish body 3 is connected with the 3 / 4 cylindrical hole 2701 of the sixth connection card board 27 by hole-shaft fit. The diameter of the 3 / 4 cylindrical hole 2701 of the sixth connection card board 27 is the same as the diameter of the cylindrical shaft 302 of the left hanging ear type convex platform 301, and the width of the sixth connection card board 27 is the same as the distance between the two hanging ear surfaces 304 of the left hanging ear convex platform 301. Therefore, their radial movement is restricted, but relative rotation can be realized. The connection method of the 3 / 4 cylindrical hole 2702 at the lower end of the sixth connection card board 27 and the left double-hanging ear type convex platform 601 at the upper end of the second fish body 6 is the same. The connection method of the right double-hanging ear type convex platform 303 at the lower end of the first fish body 3, the right hanging ear type convex platform 602 at the upper end of the second fish body 6, and the first connection card board 5 is the same as the connection method of the left double-hanging ear type convex platform and the sixth connection card board 27 of the first fish body 3 and the second fish body 6 mentioned above. The first fish body 3 and the second fish body 6 are connected by hole-shaft fit of the first connection card board 5 and the sixth connection card board 27. The installation methods and cooperation methods among the second fish body 6, the third fish body 10, and the fourth fish body 13 are the same.

[0080] Taking the structural center point where the fish head is located as the current position point (x1, y1) of the bionic fish, and the target point position is (x, y), then the calculation formula for the required deflection angle θ is The first substrate 28, the second substrate 24, the third substrate 20, and the fourth substrate 16 included in the bionic fish driving structure, wherein the first substrate 28, the second substrate 24, and the third substrate 20 are bionic fish turning driving components, and the fourth substrate 16 is a bionic fish forward driving component. The fourth substrate 16 is connected to the fish tail 14 by means of external gear meshing, and the fish tail 14 serves as a motion transmission component of the forward driving component of the fourth substrate 16.

[0081] Let the driving voltage of the substrate be U, the deflection angle be θ, and the maximum driving voltage be U0. The calculation formula of the driving voltage is When independently driving the first substrate 28, the second substrate 24, the third substrate 20, and the fourth substrate 16 with the rated voltage U0, the deflection angles of the respective substrates are all θ. max 。

[0082] Let the swimming speed of the mechanical bionic fish be v, the comprehensive coefficient be C, the swing amplitude of the fish tail be A, and the swing frequency of the fish tail be f. Then the calculation formula of the swimming speed of the mechanical bionic fish is v = C·Af. When independently driving the fourth substrate with the maximum driving voltage U0, the swing amplitude of the fish tail is A. max ,and the swimming speed of the mechanical bionic fish is v0.

[0083] This embodiment also discloses a driving method for a piezoelectric wafer-driven mechanical bionic fish. The driving method is used to achieve the position closed-loop control of the mechanical bionic fish, including achieving high-precision turning control and forward control by controlling the substrate driving voltage U during the process of the bionic fish reaching the target position. Suppose the first substrate 28, the second substrate 24, the third substrate 20, and the fourth substrate 16 all shift to the left. Therefore, voltage excitation needs to be applied to the first right piezoelectric wafer 29, the second right piezoelectric wafer 25, the third right piezoelectric wafer 21, and the fourth right piezoelectric wafer 17. The rated working voltages of the first right piezoelectric wafer 29, the second right piezoelectric wafer 25, the third right piezoelectric wafer 21, and the fourth right piezoelectric wafer 17 are all U0, that is, when applying a voltage excitation with a value of U0 to the first right piezoelectric wafer 29, the second left piezoelectric wafer 25, the third left piezoelectric wafer 21, and the fourth left piezoelectric wafer 17, the first right piezoelectric wafer 29, the second left piezoelectric wafer 25, the third left piezoelectric wafer 21, and the fourth left piezoelectric wafer 17 all reach their maximum deflection angles. Suppose the maximum horizontal deflection angles of the first substrate, the second substrate, the third substrate, and the fourth substrate are all θ. max ,The driving method is as follows:

[0084] Establish a two-dimensional rectangular coordinate system with the current position coordinate point of the bionic fish;

[0085] Obtain the target position coordinates (x, y);

[0086] Obtain the current position coordinates (x₁, y₁) of the bionic fish;

[0087] If x > 0 and y > 0, the calculation method of the turning angle is

[0088] If x < 0 and y > 0, the calculation method of the turning angle is

[0089] If x > 0 and y < 0, the calculation method of the turning angle is

[0090] If x < 0 and y < 0, the calculation method of the turning angle is

[0091] If the turning angle θ > 0.1°, then all the piezoelectric wafers on the driving substrates that need to turn are right piezoelectric wafers, such as the first right piezoelectric wafer 29, the second right piezoelectric wafer 25, and the third right piezoelectric wafer 21, and the forward driving substrate is the fourth substrate 16, and its driving voltage excitation method is that the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 exchange excitation.

[0092] If the turning angle θ < -0.1°, then all the piezoelectric wafers on the driving substrates that need to turn are left piezoelectric wafers, such as the first left piezoelectric wafer 30, the second left piezoelectric wafer 24, and the third left piezoelectric wafer 22, and the forward driving substrate is the fourth substrate 16, and its driving voltage excitation method is that the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 exchange excitation.

[0093] In some feasible embodiments, a controller is used to execute the above driving method:

[0094] Step 1, obtain the target coordinate position (x, y).

[0095] Step 2, input the current coordinate position (x1, y1) of the bionic fish.

[0096] Step 3, calculate the corresponding turning angle θ according to the target coordinate position and the coordinate position of the bionic fish.

[0097] Step 4, judge whether the bionic fish needs to turn according to the calculated required turning angle θ value.

[0098] If the turning angle |θ| ≥ 0.1°, then the bionic fish needs to turn, and go to Step 5.

[0099] If the turning angle |θ| < 0.1°, then the bionic fish does not need to turn, and directly go to Step 17.

[0100] Step 5, judge whether |θ| is less than or equal to 20°.

[0101] If |θ| is less than or equal to 20°, then directly go to Step 9.

[0102] If |θ| is greater than 20°, directly proceed to step 6.

[0103] Step 6: Voltage U0 needs to be applied to excite the first substrate 28, the second substrate 24, and the third substrate 20. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16, the driving voltages U0 need to be exchanged for excitation.

[0104] If the value of θ is positive, the excitation voltage U0 is applied to the first left piezoelectric wafer 30, the second left piezoelectric wafer 24, and the third left piezoelectric wafer 22. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltages U0 need to be exchanged for excitation.

[0105] If the value of θ is negative, the excitation voltage U0 is applied to the first right piezoelectric wafer 29, the second right piezoelectric wafer 25, and the third right piezoelectric wafer 21. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltages U0 need to be exchanged for excitation.

[0106] Step 7: Obtain the current position coordinates (x3, y3) of the new bionic fish.

[0107] Step 8: Return to step 2.

[0108] Step 9: Determine which range the turning angle θ satisfies.

[0109] If 1° ≤ |θ| ≤ 5°, proceed to step 10.

[0110] If 5° < |θ| ≤ 10θ, proceed to step 12.

[0111] If 10° < |θ| ≤ 20°, proceed to step 14.

[0112] Step 10: The first substrate 28 needs to be excited with a voltage of 0.25U0. The second substrate 24 and the third substrate 20 do not need to be excited with voltage. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16, the driving voltages 0.25U0 need to be exchanged for excitation. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 need to exchange the applied driving voltage 0.25U0 for excitation.

[0113] If the value of θ is positive, the first left piezoelectric wafer 30 is excited with a voltage of 0.25U0. The second left piezoelectric wafer 24 and the third left piezoelectric wafer 22 are not excited with voltage. For the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, the driving voltages 0.25U0 need to be exchanged for excitation.

[0114] If the θ value is negative, a voltage of 0.25U0 is applied to the first right piezoelectric wafer 29 for excitation, no excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0115] Step 11, directly go to step 15.

[0116] Step 12, a voltage of 0.5U0 needs to be applied to the first substrate 28 for excitation, no voltage excitation needs to be applied to the second substrate 24 and the third substrate 20, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0117] If the θ value is positive, a voltage of 0.5U0 is applied to the first left piezoelectric wafer 30 for excitation, no excitation voltage is applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0118] If the θ value is negative, a voltage of 0.5U0 is applied to the first right piezoelectric wafer 29 for excitation, no excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0119] Step 13, directly go to step 15.

[0120] Step 14, a voltage of U0 needs to be applied to the first substrate 28 for excitation, no voltage excitation needs to be applied to the second substrate 24 and the third substrate 20, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0121] If the θ value is positive, a voltage of U0 is applied to the first left piezoelectric wafer 30 for excitation, no excitation voltage is applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0122] If the θ value is negative, a voltage of U0 is applied to the first right piezoelectric wafer 29 for excitation, no excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange and apply a driving voltage of 0.25U0 for excitation.

[0123] Step 15, obtain the current position coordinates (x2, y2) of the new bionic fish.

[0124] Step 16, return to Step 2.

[0125] Step 17, calculate the distance Length between the current position coordinates (x1, y1) and the target position coordinates (x, y) of the bionic fish.

[0126] Step 18, determine whether the value of Length is less than or equal to 1.

[0127] If Length > 1, the bionic fish needs to move forward, and then enter Step 19.

[0128] If Length ≤ 1, the bionic fish does not need to move forward and directly execute Step 22.

[0129] Step 19, no voltage excitation needs to be applied to the first substrate 28, the second substrate 24, and the third substrate 20. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the applied driving voltage kU0 for excitation.

[0130] Step 20, obtain the current position coordinates (x4, y4) of the new bionic fish.

[0131] Step 21, return to Step 2.

[0132] Step 22, execute the end command.

[0133] Preferably, this embodiment discloses a bionic fish based on bimorph drive and its motion control method. The motion control method is used to achieve the position closed-loop control of the bionic fish, can realize the real-time tracking of the bionic fish position, and accurately correct its turning angle. Through continuous correction, the accurate control of the bionic fish position can be realized.

[0134] Next, according to the attached Figure 9 Illustrate the motion process of the bionic fish under different target position coordinates (x, y) by way of example:

[0135] Example 1: When the position coordinates of the target point are (50, 50).

[0136] Step 1, obtain the target coordinate position coordinates (50, 50).

[0137] Step 2, input the current position coordinates (0, 0) of the bionic fish.

[0138] Step 3, calculate the corresponding turning angle |θ| to be 45°.

[0139] Step 4, determine whether the bionic fish needs to turn according to the calculated required turning angle θ value.

[0140] If the turning angle |θ| ≥ 0.1°, the bionic fish needs to turn, and then go to step 5.

[0141] If the turning angle |θ| < 0.1°, the bionic fish does not need to turn and directly goes to step 17.

[0142] If the judgment result is that the bionic fish needs to turn, then go to step 5.

[0143] Step 5, judge whether |θ| is less than or equal to 20°.

[0144] If |θ| is less than or equal to 20°, then directly go to step 9.

[0145] If |θ| is greater than 20°, then directly go to step 6.

[0146] If the judgment result is that |θ| is greater than 20°, then directly go to step 6.

[0147] Step 6, voltages U0 need to be applied to excite the first substrate 28, the second substrate 24, and the third substrate 20. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the application of the driving voltage U0 for excitation.

[0148] If the value of θ is positive, the excitation voltage U0 is applied to the first left piezoelectric wafer 30, the second left piezoelectric wafer 24, and the third left piezoelectric wafer 22, while the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate fourth substrate 16 need to exchange the application of the driving voltage U0 for excitation.

[0149] If the value of θ is negative, the excitation voltage U0 is applied to the first right piezoelectric wafer 29, the second right piezoelectric wafer 25, and the third right piezoelectric wafer 21, while the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate fourth substrate 16 need to exchange the application of the driving voltage U0 for excitation.

[0150] Step 7, obtain the new current position coordinates (x3, y3) of the bionic fish.

[0151] Step 8, return to step 2.

[0152] Step 9, judge which range the turning angle θ satisfies.

[0153] If 1° ≤ |θ| ≤ 5°, then go to step 10.

[0154] If 5° < |θ| ≤ 10°, then go to step 12.

[0155] If 10° < |θ| ≤ 20°, then go to step 14.

[0156] Step 10, a voltage of 0.25U0 needs to be applied to the first substrate 28 for excitation, no voltage needs to be applied to the second substrate 24 and the third substrate 20 for excitation, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0157] If the θ value is positive, a voltage of 0.25U0 needs to be applied to the first left piezoelectric wafer 30 for excitation, no excitation voltage needs to be applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 of the forward driving substrate need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0158] If the θ value is negative, a voltage of 0.25U0 needs to be applied to the first right piezoelectric wafer 29 for excitation, no excitation voltage needs to be applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 of the forward driving substrate need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0159] Step 11, directly proceed to Step 15.

[0160] Step 12, a voltage of 0.5U0 needs to be applied to the first substrate 28 for excitation, no voltage needs to be applied to the second substrate 24 and the third substrate 20 for excitation, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0161] If the θ value is positive, a voltage of 0.5U0 needs to be applied to the first left piezoelectric wafer 30 for excitation, no excitation voltage needs to be applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 of the forward driving substrate need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0162] If the θ value is negative, a voltage of 0.5U0 needs to be applied to the first right piezoelectric wafer 29 for excitation, no excitation voltage needs to be applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 of the forward driving substrate need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0163] Step 13, directly proceed to Step 15.

[0164] Step 14, a voltage of U0 needs to be applied to the first substrate 28 for excitation, no voltage needs to be applied to the second substrate 24 and the third substrate 20 for excitation, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the application of a driving voltage of 0.25U0 for excitation.

[0165] If the value of θ is positive, a voltage U0 is applied to the first left piezoelectric wafer 30 for excitation, no excitation voltage is applied to the second left piezoelectric wafer 24 and the third left piezoelectric wafer 22, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange the applied driving voltage of 0.25U0 for excitation.

[0166] If the value of θ is negative, a voltage U0 is applied to the first right piezoelectric wafer 29 for excitation, no excitation voltage is applied to the second right piezoelectric wafer 25 and the third right piezoelectric wafer 21, and the fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 on the forward driving substrate, the fourth substrate 16, need to exchange the applied driving voltage of 0.25U0 for excitation.

[0167] Step 15, obtain the current position coordinates (x2, y2) of the new bionic fish.

[0168] Step 16, return to Step 2.

[0169] Step 17, calculate the distance Length between the current position coordinates (x1, y1) of the bionic fish and the target position coordinates (50, 50).

[0170] Step 18, determine whether the value of Length is less than or equal to 1.

[0171] If Length > 1, the bionic fish needs to move forward, and at this time, enter Step 19.

[0172] If Length ≤ 1, the bionic fish does not need to move forward and directly execute Step 22.

[0173] Step 19, no voltage excitation needs to be applied to the first substrate 28, the second substrate 24, and the third substrate 20. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the applied driving voltage of kU0 for excitation.

[0174] Step 20, obtain the current position coordinates (x4, y4) of the new bionic fish.

[0175] Step 21, return to Step 2.

[0176] Step 22, the bionic fish has reached the position.

[0177] Example 2: When the position coordinates of the target point are (0, 50).

[0178] Step 1, obtain the target coordinate position coordinates (0, 50).

[0179] Step 2, input the current position coordinates (0, 0) of the bionic fish.

[0180] Step 3, calculate the corresponding turning angle |θ| to be 0°.

[0181] Step 4: Determine whether the bionic fish needs to turn according to the calculated required turning angle θ value. If the turning angle |θ| < 0.1°, the bionic fish does not need to turn.

[0182] Step 5: Calculate the distance Length between the current position coordinates (x1, y1) of the bionic fish and the target position coordinates (0, 50).

[0183] Step 6: Determine whether the Length value is less than or equal to 1.

[0184] If Length > 1, the bionic fish needs to move forward, and then enter Step 7.

[0185] If Length ≤ 1, the bionic fish does not need to move forward and directly execute Step 10.

[0186] Step 7: No voltage excitation needs to be applied to the first substrate 28, the second substrate 24, and the third substrate 20. The fourth left piezoelectric wafer 18 and the fourth right piezoelectric wafer 17 provided on the fourth substrate 16 need to exchange the applied driving voltage kU0 for excitation.

[0187] Step 8: Obtain the new current position coordinates (x4, y4) of the bionic fish.

[0188] Step 9: Return to Step 2.

[0189] Step 10: The bionic fish has reached the position.

[0190] Combined with the above embodiments of the horizontal offset amount and Figure 9 It can be seen that the driving method proposed by the present invention can determine whether to enter the fast large-angle turning driving mode according to the input target position coordinates. When the turning angle is reduced to the small-angle high-precision turning driving mode, the turning angle is accurately corrected. Compared with traditional bionic fish, the present invention is equivalent to segmenting the turning driving components of the fish body, which can achieve higher turning angle control accuracy. At the same time, among multiple eligible driving schemes, the substrate actions with higher turning and forward accuracy are preferentially selected, which can improve the position closed-loop control accuracy of the bionic fish.

[0191] Those skilled in the art can understand that all or part of the processes of implementing the above embodiment methods can be completed by writing computer programs into related hardware. The program can be stored in a readable storage medium on the hardware. Among them, the readable storage medium includes, but is not limited to, memories with storage and memory functions such as single-chip microcomputers.

[0192] In the present invention, specific embodiments are used to illustrate the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A piezoelectric wafer-driven bionic fish, characterized in that, Comprising: Fish head; A driving component, the driving component includes a turning driving component and a forward driving component, the turning driving component is connected to the fish head, the turning driving component includes three segmented substrates connected in sequence, the forward driving component includes one substrate, and the three substrates of the turning driving component and the one substrate of the forward driving component are connected in sequence to form a substrate group. Piezoelectric wafers are provided on each substrate; among the four substrates connected in sequence of the substrate group, starting from the one close to the fish head, the substrates are arranged in sequence as the first substrate, the second substrate, the third substrate and the fourth substrate. The connection method between two adjacent substrates is that a gear ring meshes with an external gear. A gear ring and a double-hanging lug type convex platform connecting piece are provided at the lower end of the first substrate, and an external gear and a gear shaft connecting piece are provided at the upper end of the second substrate, and they are rotationally connected through a first connecting card plate; The connection methods between the second substrate and the third substrate, and between the third substrate and the fourth substrate are both the same as the connection method between the first substrate and the second substrate; each of the connecting substrates can rotate with each other through its own connecting piece and an external connecting piece; the piezoelectric wafers are arranged on opposite sides of the substrate, and the piezoelectric wafers are connected with wires. Applying a DC voltage to the piezoelectric wafers can cause the substrate connected to the piezoelectric wafers to deflect; A motion transmission component, the motion transmission component is composed of a fish body group and a fish tail, the fish body group is rigidly connected to the driving component correspondingly, and the fish tail is connected to the forward driving component.

2. The piezoelectric wafer-driven bionic fish according to claim 1, wherein The fish body group includes four fish bodies connected in sequence. The connection method between two adjacent fish bodies is the same. A first lower connecting piece is provided at the lower end of the first fish body, and a second upper connecting piece is provided at the upper end of the second fish body. The two are hinged through an external connecting piece and can rotate with each other. The connection methods between the second fish body and the third fish body, and between the third fish body and the fourth fish body are both the same as the connection method between the first fish body and the second fish body.

3. The bionic fish driven by piezoelectric wafers according to claim 1, wherein The fish body group and the substrate group are correspondingly connected. Among them, each fish body and its corresponding substrate are connected by interference fit of pins, so that the two become a rigid whole, and the deflection of the corresponding substrate is transmitted to the deflection state of the corresponding fish body in the same way.

4. The piezoelectric wafer-driven bionic fish according to claim 1, characterized in that, The connection method between the fourth substrate and the fish tail is external gear meshing connection. Among them, an external gear group is provided at the lower end of the fourth substrate, and a same internal gear group is provided at the upper end of the fish tail. The two can be connected through a fish tail connecting card plate and rotate with each other to realize the forward driving of the bionic fish.

5. The piezoelectric wafer-driven bionic fish according to claim 1, characterized in that, The connection method between the first substrate of the turning driving component and the fish head of the bionic fish external shape structure component is pin hinge; An articulated boss is provided at the upper end of the first substrate, and a double-hanging lug type boss is provided at the lower end of the fish head. The two are articulated through a fish head pin and can rotate with each other.

6. A control method for a piezoelectric wafer-driven bionic fish according to any one of claims 1-5, characterized in that, Including the following steps: (a) Autonomous selection control of motion type: Obtain the target position coordinates (x, y) and the current position coordinates (x1, y1) of the bionic fish, and calculate the turning angle θ based on the deviation: If |θ|≥0.1°, execute step (b); If |θ|<0.1°, execute step (c); (b) Motion attitude precision control: Apply a hierarchical voltage excitation according to the interval range of |θ|: When |θ| > 20°, apply the full voltage U0 to the left / right piezoelectric wafers of the first, second, and third substrates, and exchange the application of U0 to the left / right piezoelectric wafers of the fourth substrate; When |θ| ≤ 20°: If 0° < |θ| ≤ 5°, apply 0.25U0 to the left / right piezoelectric wafers of the first substrate; If 5° < |θ| ≤ 15°, apply 0.5U0 to the left / right piezoelectric wafers of the first substrate; If 15° < |θ| ≤ 20°, apply U0 to the left / right piezoelectric wafers of the first substrate; Do not energize the second and third substrates, and exchange the application of 0.25U0 to the left / right piezoelectric wafers of the fourth substrate; (c) Forward speed accuracy control: Adjust the drive voltage of the left / right piezoelectric wafers of the fourth substrate to kU0 according to the distance between the current position and the target position, where 0 < k ≤ 1; (d) Closed-loop feedback: Update the current position coordinates and return to step (a) until the target position is reached.

7. The control method of the bionic fish regulated by the piezoelectric bimorph according to claim 6, characterized in that, The autonomous selection control of the motion type includes the following steps: Step 1, obtain the target coordinate position (x, y); Step 2, input the current position coordinates (x1, y1) of the bionic fish; Step 3, calculate the corresponding turning angle θ according to the target coordinate position and the coordinate position of the bionic fish; Step 4, judge whether the bionic fish needs to turn according to the calculated required turning angle θ value; If the turning angle |θ| ≥ 0.1°, the bionic fish needs to turn, and then enter step 5; If the turning angle |θ| < 0.1°, the bionic fish does not need to turn and directly enters step 17.

8. The control method of the biomimetic fish regulated by the piezoelectric bimorph according to claim 6, characterized in that, The motion posture accuracy control includes the following steps: Step 5, judge whether |θ| is less than or equal to 20°; If |θ| is less than or equal to 20°, directly enter step 9; If |θ| is greater than 20°, directly enter step 6; Step 6, apply voltage U0 excitation to the first, second, and third substrates, and exchange the application of drive voltage U0 excitation to the fourth left piezoelectric wafer and the fourth right piezoelectric wafer provided on the fourth substrate; If the θ value is positive, apply the excitation voltage U0 to the first left piezoelectric wafer, the second left piezoelectric wafer, and the third left piezoelectric wafer, and exchange the application of drive voltage U0 excitation to the fourth left piezoelectric wafer and the fourth right piezoelectric wafer on the forward drive substrate, the fourth substrate; If the θ value is negative, apply the excitation voltage U0 to the first right piezoelectric wafer, the second right piezoelectric wafer, and the third right piezoelectric wafer, and exchange the application of drive voltage U0 excitation to the fourth left piezoelectric wafer and the fourth right piezoelectric wafer on the forward drive substrate, the fourth substrate; Step 7, obtain the new current position coordinates (x3, y3) of the bionic fish; Step 8, return to step 2; Step 9, judge which range the turning angle θ satisfies; If 1° ≤ |θ| ≤ 5°, enter step 10; If 5° < |θ| ≤ 10°, enter step 12; If 10° < |θ| ≤ 20°, enter step 14; Step 10, apply voltage 0.25U0 excitation to the first substrate, do not apply voltage excitation to the second and third substrates, and exchange the application of drive voltage 0.25U0 to the fourth left piezoelectric wafer and the fourth right piezoelectric wafer provided on the fourth substrate; If the θ value is positive, apply a driving voltage of 0.25U0 to the first left piezoelectric wafer, and do not apply driving voltages to the second and third left piezoelectric wafers. For the fourth left and right piezoelectric wafers on the fourth substrate of the forward driving substrate, exchange and apply a driving voltage of 0.25U0 for excitation; If the θ value is negative, apply a driving voltage of 0.25U0 to the first right piezoelectric wafer, and do not apply driving voltages to the second and third right piezoelectric wafers. For the fourth left and right piezoelectric wafers on the fourth substrate of the forward driving substrate, exchange and apply a driving voltage of 0.25U0 for excitation; Step 11, directly proceed to Step 15; Step 12, a driving voltage of 0.5U0 needs to be applied to the first substrate, no driving voltage needs to be applied to the second and third substrates, and the fourth left and right piezoelectric wafers provided on the fourth substrate need to exchange and apply a driving voltage of 0.25U0 for excitation; If the θ value is positive, apply a driving voltage of 0.5U0 to the first left piezoelectric wafer, and do not apply driving voltages to the second and third left piezoelectric wafers. For the fourth left and right piezoelectric wafers on the fourth substrate of the forward driving substrate, exchange and apply a driving voltage of 0.25U0 for excitation; If the θ value is negative, apply a driving voltage of 0.5U0 to the first right piezoelectric wafer, and do not apply driving voltages to the second and third right piezoelectric wafers. For the fourth left and right piezoelectric wafers on the fourth substrate of the forward driving substrate, exchange and apply a driving voltage of 0.25U0 for excitation; Step 13, directly proceed to Step 15; Step 14, a driving voltage of U0 needs to be applied to the first substrate, no driving voltage needs to be applied to the second and third substrates, and the fourth left and right piezoelectric wafers provided on the fourth substrate need to exchange and apply a driving voltage of 0.25U0 for excitation; If the θ value is positive, apply a driving voltage of U0 to the first left piezoelectric wafer, and do not apply driving voltages to the second and third left piezoelectric wafers. For the fourth left and right piezoelectric wafers on the fourth substrate of the forward driving substrate, exchange and apply a driving voltage of 0.25U0 for excitation; If the θ value is negative, apply a driving voltage of U0 to the first right piezoelectric wafer, and do not apply driving voltages to the second and third right piezoelectric wafers. For the fourth left and right piezoelectric wafers on the fourth substrate of the forward driving substrate, exchange and apply a driving voltage of 0.25U0 for excitation; Step 15, obtain the current position coordinates (x2, y2) of the new biomimetic fish; Step 16, return to Step 2; 9. The control method of the bionic fish regulated by the piezoelectric bimorph according to claim 6, characterized in that, Step 17, calculate the distance Length between the current position coordinates (x1, y1) and the target position coordinates (x, y) of the bionic fish. The forward speed precision control includes the following steps: Step 18, determine whether the Length value is less than or equal to 1; If Length > 1, the biomimetic fish needs to move forward, and then enter Step 19; If Length ≤ 1, the biomimetic fish does not need to move forward, and directly execute Step 22; Step 19, no driving voltage needs to be applied to the first, second, and third substrates, and the fourth left and right piezoelectric wafers provided on the fourth substrate need to exchange and apply a driving voltage of kU0 for excitation; Step 20, obtain the current position coordinates (x4, y4) of the new biomimetic fish; Step 21, return to Step 2; Step 22, execute the end command.

Images