25 results about "Robot fish" patented technology

The invention, which belongs to the technical field of intelligent breeding equipment, discloses an underwater bionic robotic fish school cooperative breeding environment dynamic monitoring and regulation system comprising a bionic robotic fish body core module, a group cooperative control core module and an intelligent regulation core module. The bionic robotic fish module simulates a real fish swimming mode and carries various water quality sensors to autonomously cruise, so that interference to cultured fishes is reduced; the group cooperation module utilizes a cluster intelligent algorithm and an underwater acoustic communication technology to realize coordinated movement of multiple robotic fishes and full coverage of a monitoring area; the intelligent adjusting module is based on an abnormal detection algorithm, and integrates a miniature oxygenation device, a pH adjusting device and the like to achieve precise regulation and control of the local environment. By the adoption of the system, dynamic sensing and active regulation and control of the culture environment are achieved, a bionic monitoring regulation and control solution is provided for modern aquaculture through intelligent cooperation of the robot fish school and the management system, and the system has the important value of improving the culture efficiency and improving the growth environment.

The invention relates to the technical field of bionic robots, in particular to a PVC gel efficient composite swing propelling structure for medium and large bionic fishes, which comprises a plurality of swing joints connected in series; each swing joint comprises a structural part and two swing units, and each structural part comprises a driving force collecting plate, a cover plate, a bottom plate and a ridge plate; the two swing units are arranged between the cover plate and the bottom plate, and each swing unit comprises a PVC gel driver and a displacement amplification mechanism; one end of the PVC gel driver is fixed to the bottom plate, the other end of the PVC gel driver is connected with the displacement amplifying mechanism through the driving force collecting plate, and the displacement output tail end of the displacement amplifying mechanism makes contact with the boss of the cover plate. The displacement amplification mechanism is used for increasing the width (in the z direction) of the swing joint under the same PVC gel deformation condition so as to maintain or amplify the bending swing angle, so that the body type and the propelling performance of the bionic robotic fish are improved, and the bionic robotic fish has the advantages that the structure and the process are simple, and the swing angle and the bending moment can be well regulated and controlled.

The application discloses a reconfigurable bionic robot fish and a combined bionic fish. The reconfigurable bionic robot fish comprises a main body mechanism and a tail mechanism. The main body mechanism comprises a sealed shell and an electrically controlled permanent magnet device which are connected with each other. The electrically controlled permanent magnet device comprises a magnetized state and a demagnetized state. The tail mechanism is used to drive the sealed shell to move. The tail mechanism can drive the main body mechanism to realize movement with at least one degree of freedom. When the electrically controlled permanent magnet device is in the magnetized state, the electrically controlled permanent magnet device can be connected with other reconfigurable bionic robot fish or other driving components, so that the structure after splicing can realize flexible movement in multiple movement directions. When facing a narrow use environment, the electrically controlled permanent magnet device can be controlled to be in the demagnetized state, so that the components connected with the electrically controlled permanent magnet device through magnetism are released, and then the reconfigurable bionic robot fish can be restored to the original size, so as to adapt to the use requirement of the narrow environment.

The invention provides a bionic fugu robot fish cooperatively propelled by a tail handle and a propeller. The bionic fugu robot fish comprises a fish head cabin, a data acquisition device is installed in the fish head cabin, the data acquisition device is connected with small high-definition cameras arranged on the two sides of the fish head cabin, and attitude sensors are further arranged on the two sides of the fish head cabin; the fish body cabin I is connected with the fish head cabin, and a control device and an energy storage device are mounted in the fish body cabin I; the second fish body cabin is connected with the first fish body cabin, and a counterweight device is mounted in the second fish body cabin; the second fish body cabin is connected with the fishtail cabin through a tail handle, and a steering engine set is installed in the tail handle. A motor device is mounted in the fishtail cabin; the propeller is installed at the tail of the fishtail cabin and connected with the motor device. Through coordinated movement of the tail handle and the propeller thruster, a series of underwater movement of the bionic fugu robot fish is achieved, the tail handle is used for advancing, retreating, ascending, sinking and direction control of the bionic fish, the bionic fish is rapidly moved through coordination of the double propellers, and the capability of executing diversified movement underwater is achieved.

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

The invention discloses a bionic robotic fish based on magnetic driving and a propelling method thereof, and relates to the technical field of fish bionics, the bionic robotic fish is composed of a bionic fish body, a magnetic driving device and a fish tail, and the magnetic driving device drives the fish tail to swing back and forth to propel the fish body to advance; according to the magnetic driving device, the magnetic field direction of the electromagnetic module is periodically changed through the control module, the magnetic driving device interacts with the permanent magnet module to generate torque, the swing module and the fishtail are driven to perform efficient and smooth reciprocating motion, and the driving mode is simple in structure and higher in reliability, durability and maintainability; the crescent-shaped structure of the fish tail simulates the swimming mechanism of real fishes, strong propulsive force is provided, and the bionic fish body is completed according to bionics, so that the bionic fish body has excellent adaptive capacity and flexible movement performance in complex submarine topography and high-current environment, and can easily pass through narrow space or execute fine operation.

The invention discloses a multifunctional bionic robotic fish for marine new pollutant monitoring, and relates to the technical field of underwater robots, the multifunctional bionic robotic fish comprises a fish body, a swing assembly and a rigidity-adjustable fish tail; the front end of the fish body is provided with a channel cavity, an electromagnetic valve and a storage part and is used for collecting new pollutant fragment samples at different depths, and meanwhile, a built-in drainage channel assists in water circulation; a camera and a pectoral fin driven by a motor are arranged on two sides of the fish body; the swing assembly is of a multi-section annular outer bone and inner bone hinged structure, and flexible swing is achieved by pulling a pull rope system with a clamping ball through a rotating motor. A pressure sensor is arranged in the fish tail, an inflatable bag body is arranged, the air pressure adjusting function of an air storage tank in the fish body and an air pressure adjusting function of a miniature air pump are combined, the rigidity of the tail fin can be dynamically changed to adapt to the complex ocean current environment, and therefore driving energy consumption is reduced.

The application relates to a fish-shaped underwater robot driven in a multi-mode, and relates to a fish-shaped underwater robot. The application is used to solve the problems of low swimming efficiency, poor stability, poor maneuverability and the incapability of avoiding obstacles in time of the existing bionic robots. The application comprises a fish head, an upper shell plate, a lower shell plate, a fish tail, two first driving mechanisms, two second driving mechanisms, a tail fin assembly, a propeller and an electronic cabin. The upper shell plate and the lower shell plate are connected to form a fish body, the fish head, the fish body and the fish tail are sequentially connected in a head-to-tail mode, the two first driving mechanisms are respectively arranged on the two sides of the fish body close to the fish head end and are connected with the fish body, the two second driving mechanisms are respectively arranged on the two sides in the fish tail and are connected with the fish tail, the electronic cabin is arranged in the fish body, and the propeller is connected with the tail end of the fish tail through the tail fin assembly. The application has the vector propulsion driving of the propeller and the bionic tail swing driving, and the multi-mode switching swimming greatly improves the functional characteristics of the robot fish.

The utility model relates to an underwater robotic fish obstacle detection and avoidance device, which comprises a robotic fish body, a propulsion mechanism, a sensor array and a processor, the processor is integrated inside the robotic fish body, the processor comprises a master control core unit and a hardware acceleration unit, the master control core unit adopts a single chip microcomputer, and the hardware acceleration unit adopts a hardware acceleration unit. The cloud server is a global resource scheduling and decision-making center and is used for multi-source data fusion and real-time control instruction issuing; the hardware acceleration unit adopts an FPGA, is connected with the master control core unit and the sensor array, and is specially used for parallel obstacle avoidance decision calculation. According to the utility model, the master control single-chip microcomputer is cooperated with FPGA hardware for parallel calculation, so that the resources of the single-chip microcomputer can be released to guarantee the control During synchronous acquisition of multiple sensors, competition packet loss is avoided, signal loss is avoided, and ranging errors are eliminated; and meanwhile, storage pressure is shared, decision making and motion control focused on the single-chip microcomputer are released, and overall power consumption is optimized.

The application relates to a manta ray robot fish roll control method based on Q learning and pectoral fin amplitude bias, compared with a traditional control method, the application does not need to establish a control object model, collects experimental data, trains a Q table offline, then transplants the table into a prototype controller, obtains a control variable through table lookup, and controls the prototype to swim at a fixed depth. Compared with other reinforcement learning control methods, the application has low requirements on hardware resources, small space demand, low power consumption and convenient realization. The application has the beneficial effects that the application has low requirements on the hardware of a controller, and an ordinary single-chip microcomputer can be used for realization, thereby saving cost, space and energy. The application does not need to establish a mathematical model of a control object, can save a large amount of time cost, and is difficult to establish a bionic model. The application can realize roll control of the robot fish without expert experience for establishing a rule base, and the Q table can learn "expert experience" during training.

The present application belongs to the field of underwater bionic robots, and particularly relates to a double-joint flexible robot fish based on hydraulic drive. In the present application, the fish tail of the robot fish adopts a flexible joint, the flexible joint comprising a flexible matrix and a driving unit located inside the flexible matrix, the driving unit being arranged on the left and right sides of the central axial surface of the flexible joint and arranged along the axial direction of the fish body; when driving medium is pumped into the driving unit, the driving unit is axially contracted, and when the driving medium is sucked out of the driving unit, the driving unit is radially expanded; the driving medium is pumped into the driving unit on one side of the central axial surface of the flexible joint through a driving assembly, while the driving medium is sucked out of the driving unit on the other side of the central axial surface of the flexible joint, so that the whole flexible joint is deflected to the side where the driving medium is pumped in; by alternately pumping in from one side and sucking out from the other side of the driving medium, the fish tail is driven to swing.

The application discloses a boxfish type bionic robot fish driven by a shape memory alloy, which comprises a bionic fish base body, a pectoral fin, a flexible skin, a stroke amplification mechanism and a shape memory alloy wire driving mechanism arranged in the base body, and the stroke amplification mechanism is connected with the pectoral fin and the shape memory alloy wire driving mechanism at two ends respectively; the pectoral fin comprises upper and lower swing parts in Z-shaped structure, and the vertically extended two ends are a water-encountering part and a connecting part respectively; the front surface of the water-encountering part is arc-shaped, and the back surface is planar; when electric current is applied, the shape memory alloy wire contracts, the stroke amplification mechanism drives the pectoral fin to swing backward, the back water flow pushes the back surface of the water-encountering part, and the pectoral fin is opened to provide forward power for the bionic fish; when the application of electric current is stopped, the shape memory alloy wire restores to the original length, a spring pushes the sliding block and the shape memory alloy wire to the initial position, the stroke amplification mechanism drives the pectoral fin to swing forward, the front water flow pushes the front surface of the water-encountering part of the swing structure, the pectoral fin is closed, and the resistance is reduced.

The invention discloses a pipeline inspection bionic robotic fish based on a double-vision system and a control method thereof, and relates to the technical field of underwater robots. The robotic fish comprises a machine body and actuator unit, a measuring dual-camera subsystem, an upper processing and man-machine interaction unit, a control unit and a power supply unit. The machine body and actuator unit comprises a single-joint bionic fish body shell, a steering engine and a tail fin; the dual-camera subsystem comprises a line patrol subsystem and an identification subsystem; the upper processing unit is used for interaction and event summarization; and the control unit controls the steering engine according to the segmented adaptive control law. The control method comprises the steps of system initialization, image acquisition and return, line patrol and recognition image processing, upper computer event processing and the like. Through dual-vision function decoupling and segmented adaptive control, stable line patrol, rapid steering and reliable event detection in a complex pipeline environment are realized, and the system has the advantages of high real-time performance, stable control, low cost and the like, and is suitable for a pipeline patrol scene.

The utility model relates to bionic robot fish technical field, concretely is a kind of storage device of recycling pipeline detection bionic robot fish, including storage box, the box cover is hinged in storage box upper surface one side, bionic robot fish body is placed in the inside of storage box, the storage box includes box body, the two batteries of placing in the inside lower surface left and right sides of box body, the partition plate of placing in the battery upper side, recycling mechanism is installed in the middle position of the upper surface of partition plate and the placement board of placing in the top end of recycling mechanism. The utility model is when using bionic robot fish to detect water quality in pipeline, if bionic robot fish appears unexpected and cannot move, can pull out robot fish from pipeline by recycling mechanism, prevent robot fish from being unable to recycle, bionic robot fish can be conveniently taken out by recycling line, and in the use process, recycling mechanism will pre-emit part of recycling line to prevent recycling line from affecting robot fish swing.

The application discloses a kind of dual wave water wing hydrodynamic interference measurement and flow field visualization experimental device and method, belong to bionics engineering technical field.The experimental device of two water wing position adjusting structure is detachably installed side by side parallel on the circulating water tank, the high-speed camera is installed outside the circulating water tank, the water wing position adjusting structure includes horizontal sliding beam, vertical lifting rod and connecting slider, the horizontal sliding beam is connected with the vertical lifting rod by the connecting slider, the horizontal sliding beam is located at the top of the circulating water tank, the vertical lifting rod is located inside the circulating water tank, the six-component force sensor is installed on the vertical lifting rod, and the wave water wing is installed at the bottom of the vertical lifting rod.Wave motion of machine fish can be simulated accurately, and it is not dependent on post-processing program, real-time three-dimensional flow display can be conveniently provided in test, and a large number of dual-robot fish wave water wing dynamics test can be quickly carried out.

The application discloses a multifunctional bionic robot fish for monitoring new marine pollutants, relates to the technical field of underwater robots, and comprises a fish body, a swing assembly and a fish tail with adjustable rigidity; the front end of the fish body is provided with a channel cavity and is equipped with an electromagnetic valve and a storage part, is used for collecting new pollutant fragment samples at different depths, and simultaneously assists water flow circulation through the built-in drainage channel; cameras and motor-driven pectoral fins are arranged on the two sides of the fish body; the swing assembly adopts a multi-section annular outer bone and inner bone hinged structure, realizes flexible swing through a rotating motor traction rope system with a clamping ball, and is provided with a pressure sensor and an inflatable capsule body; in combination with the air pressure adjusting function of the gas storage tank and the micro air pump in the fish body, the rigidity of the tail fin can be dynamically changed to adapt to complex ocean current environment, so that the driving energy consumption is reduced.

The invention relates to a multi-degree-of-freedom bionic Dharmor shark robotic fish and a control method thereof, and belongs to the technical field of underwater bionic robots. Based on the biological form and movement mechanism of the bionic Dammox shark, through the collaborative structure of the fish head module, the fish body module and the fish tail module and the multi-joint propelling system driven by the three-steering-engine grading line, the problems that a traditional propeller is large in noise, too high in rigidity and difficult to adapt to complex terrains are effectively solved; meanwhile, the built-in gravity center adjusting module dynamically adjusts the counter weight position through a stepping motor and a lead screw mechanism, autonomous pitching balance and posture optimization of the robotic fish in the movement process are achieved, the maneuverability and stability of the robotic fish in a complex water area are improved, in addition, a sensing module is integrated, and the control module is combined, so that the control precision is improved. The robot fish has the capabilities of environment perception, obstacle avoidance and precise pose control, the application boundary of the underwater robot is expanded, and a high-flexibility and low-disturbance integrated solution is provided for tasks such as marine resource exploration and military reconnaissance.

The application relates to a manta ray robot fish heading control method based on Q learning and pectoral fin amplitude, compared with a traditional control method, the application does not need to establish a control object model, Q table is trained offline through collection of experimental data, then the table is transplanted into a prototype controller, a control variable is obtained through table lookup, and the prototype is controlled to swim at a fixed depth. Compared with other reinforcement learning control methods, the application has low requirements on hardware resources, small space demand, low power consumption and convenient realization. The application has the beneficial effects that the hardware requirements of the controller are low, and an ordinary single-chip microcomputer can be used to realize the application, the cost is saved, and the space and energy are saved. Compared with a heading control method based on fuzzy control, the application can realize the heading control of the robot fish without the need of expert experience to establish a rule base, and the Q table can learn the expert experience during the training.

The present application relates to building and downhole anti-seepage detection bionic robot fish, belongs to underwater robot technical field, solve the existing bionic underwater robot adopts single propulsion mode, it is difficult to give consideration to the demand of efficient movement and accurate detection and other technical problems. Solution: building and downhole anti-seepage detection bionic robot fish, including; Fish body cavity is arranged in fish body shell, fish body cavity inside is used for accommodating sensing assembly and control module;Fish body shell cover and fish body shell between magnetic attraction connection;Camera assembly, camera assembly is arranged at the front end of fish body shell;Bionic pectoral fin is connected with fish body shell through the pectoral fin drive assembly that is symmetrically arranged on both sides of fish body shell;Antenna assembly is arranged at the top of the rear end of fish body shell;Bionic fish tail is connected between fish tail drive assembly;Fish tail drive assembly includes a plurality of fish tail drive units. Compared with the prior art, the present application has the advantages of high mobility, low cost, intelligent control, high efficiency, safety and the like.

1. Name of the product in this design: Teaching Robot (Fish-shaped Transparent). 2. Purpose of this design: For educational purposes, the transparent shell visually reflects the internal structure and presents the motion mechanism. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The carangidae-imitating robotic fish based on the DEMES structure comprises a driving unit (1), a fish head frame (2) and a tail fin (3), and the driving unit (1) is formed by symmetrically fixing a pair of connecting angle mechanisms (5) on the outer side of a DEMES bending actuator (4) which is symmetrically arranged. The DEMES bending actuator (4) comprises a PET frame (6), a dielectric elastomer (7), a reinforcing piece (8), an electrode (9) and a wire, the PET frame (6) is a rectangle provided with a square circular center hole (10), and the center hole (10) is in the shape that a rectangle is arranged between two semicircles; the dielectric elastomer (7) covers the PET frame (6), and the electrode (9) is coated on the dielectric elastomer (7) at a position corresponding to a central hole (10) of the PET frame. The device is high in propelling efficiency, good in position controllability, not prone to winding with aquatic organisms, compact in structure, fast in response and high in efficiency.

The application relates to a manta ray robot fish heading control method based on Q learning and pectoral fin phase difference. Compared with a traditional control method, the application does not need to establish a control object model, collects experimental data, trains a Q table offline, then transplants the table into a prototype controller, obtains a control variable through table lookup, and controls the prototype to swim at a fixed depth. Compared with other reinforcement learning control methods, the application has low requirements on hardware resources, small space demand, low power consumption and convenient realization. The application has the beneficial effects that the application has low requirements on the hardware of a controller, and an ordinary single-chip microcomputer can be used to realize the application, thereby saving cost, space and energy, saving a large amount of time cost, being simple to realize, having strong generalization ability, and being applicable to not only a bionic underwater robot but also a traditional underwater AUV.

The application discloses a carp attracting method based on an analog wake path bionic robot fish, and provides a complete scheme for precisely attracting carps. The robot fish is 40 cm in full length, is divided into four parts such as a fish head and a fish body, is internally provided with three rudders as movable joints, is externally covered with soft rubber waterproof fish skin, has motor noise controlled in 60-80 dB, and supports remote control through Bluetooth. The working process of the robot fish is as follows: first, light and water flow speed information is collected; then, four behavior parameters such as carp swimming speed and speed synchronism are obtained through a quantitative formula; subsequently, the swimming speed, tail swing frequency and trajectory are adjusted according to the environment and parameters; the light environment adopts a circular trajectory, and the dark environment adopts a close-range circling trajectory; finally, the wake path of the carp is simulated to induce the carps to form leading and following behaviors. The scheme realizes dynamic adaptation of fish attracting strategies, greatly improves the success rate of fishway fish attracting, and is suitable for carp migration guiding and breeding management.

The invention discloses a carangidae-imitating robotic fish based on a DEMES structure and a manufacturing method thereof.The carangidae-imitating robotic fish comprises a driving unit (1), a fish head frame (2) and a tail fin (3), the front end of the driving unit (1) is connected with the fish head frame (2), the tail end of the driving unit (1) is connected with the tail fin, and the driving unit (1) comprises at least one pair of symmetrically-arranged DEMES bending actuators (4) and a connecting angle mechanism (5); the pair of connecting angle mechanisms (5) is symmetrically fixed to the outer side of the DEMES bending actuator (4) which is symmetrically arranged. The DEMES bending actuator (4) comprises a PET frame (6), a dielectric elastomer (7), a reinforcing piece (8), an electrode (9) and a wire, the PET frame (6) is made of a high-toughness PET sheet, the reinforcing piece (8) is made of a PET material, and the dielectric elastomer (7) is made of a 3M VHB acrylic acid series film. The device has the advantages of being high in propelling efficiency, good in position controllability, not prone to winding with aquatic organisms, compact in structure, fast in response and high in efficiency.

The present application belongs to the technical field of underwater bionic robots, and particularly relates to a deformable tail fin of a robot fish based on hydraulic drive and a working method thereof. The robot fish based on hydraulic drive is designed, a four-cylinder plunger pump is arranged in a fish head as a hydraulic power source, a fish body comprises three connecting bodies of large, medium and small, the large connecting body divides hydraulic oil into a bionic drive unit group of joint I, left and right bending of the fish body is realized, the hydraulic oil is delivered to the medium connecting body through an oil delivery pipe, after pressure synchronization is ensured through an internal pressure equalizing annular pipeline, a piston of joint II is driven to move, the fish tail is designed as a deformable tail fin, the tail arm is rotated through the piston in synchronous movement, and then the tail edge pipe is deformed and relatively displaced, so that the fish tail can dynamically change area, camber and shape in swimming, thereby adapting to different swimming speeds and maneuverability requirements. Through centralized hydraulic system and bionic structure design, active controllable adjustment of the deformable tail fin form is realized.