14 results about "Robot fish" patented technology

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 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 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 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 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.

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.