CN105460190A - Bionic under-actuated underwater robot capable of being remotely controlled through computer and control method - Google Patents
Bionic under-actuated underwater robot capable of being remotely controlled through computer and control method Download PDFInfo
- Publication number
- CN105460190A CN105460190A CN201510866391.XA CN201510866391A CN105460190A CN 105460190 A CN105460190 A CN 105460190A CN 201510866391 A CN201510866391 A CN 201510866391A CN 105460190 A CN105460190 A CN 105460190A
- Authority
- CN
- China
- Prior art keywords
- robot
- control
- joint
- bio
- under
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a bionic under-actuated underwater robot capable of being remotely controlled through a computer and a control method. With further development of marine resource exploitation by the human, the requirements for underwater robots are further improved gradually, and a bionic robot which can be remotely controlled through a computer is not available at present. The bionic under-actuated underwater robot capable of being remotely controlled through the computer comprises a bionic robot body (1). An infrared sensor (10) is installed in the middle of the front end of the bionic robot body. A control system (3) is installed inside the front end of the bionic robot body. The upper portion of the control system is connected with a communication system (3) through a wire. The lower portion of the control system is connected with a battery (9) through a wire. The side face of the battery is connected with a switch (8) through a wire. A joint C (7), a joint B (6) and a joint A (5) are installed at the rear end of the bionic robot in sequence. A tail fin (4) is installed on the tail of the bionic robot body. The bionic under-actuated underwater robot can be remotely controlled through the computer.
Description
Technical field:
The present invention relates to a kind of can the bionical drive lacking under-water robot of Computerized remote-control and control method.
Background technology:
Along with further developing of human development marine resources, the mankind also can improve gradually to the requirement of under-water robot, the historic mission that under-water robot is understood as the mankind, utilize the important tool of marine resources to carry is very arduous, and domestic at present do not have a kind of bio-robot that can be operated by Computerized remote-control.This product has the profile, the mode of motion even interactive mode that are similar to occurring in nature fish body, and control system controls under-water robot and completes the subsea tasks such as advance, turning, speed adjustment, carries out the operations such as speed, direction, lifting by computer to it.
Summary of the invention:
The object of this invention is to provide a kind of can the bionical drive lacking under-water robot of Computerized remote-control and control method.
Above-mentioned object is realized by following technical scheme:
A kind of can the bionical drive lacking under-water robot of Computerized remote-control, its composition comprises: bio-robot, described bio-robot front ends midway location is provided with infrared pickoff, described inside, bio-robot front end is provided with control system, be connected with communication system by wire above described control system, be connected with battery by wire below described control system, described battery side is connected with switch by wire, described bio-robot rear end is provided with joint C successively, joint B, joint A, described bio-robot afterbody is provided with tail fin.
Described can the bionical drive lacking under-water robot of Computerized remote-control, described bio-robot outside face has waterproof fish-skin, described two sides, bio-robot front end are separately installed with 2 pectoral fins, and the pectoral fin middle part described in 2 is separately installed with gas filled device, antenna, charging plug.
Can the bionical drive lacking under-water robot of Computerized remote-control and a control method, the method comprises the steps:
First be that bionical drive lacking under-water robot has the profile, the mode of motion even interactive mode that are similar to occurring in nature fish body, control system controls the task that under-water robot completes advance, turning, speed adjustment, under-water robot can be made freely can be moved about as true fish in water by the swing of afterbody, at described bio-robot front ends midway location, infrared pickoff is installed, can automatic dodging obstacle, there is advance, stopping, left-hand rotation, right-hand rotation function; The mode of described control system is, communication system has serial ports/USB and controls and remote controller control, product kernel adopts the programming mode of wireless programming, travelling program can be changed at any time to adapt to actual environment, described serial ports/USB mode can control many machine fishs simultaneously, can be realized mutually chasing between many fishes by simple programming Control, be played;
By the automatic regulating frequency of computer, do not need artificial intervention, communication frequency is adjusted by computer software, Computerized remote-control operates, be used for carrying out remote control and optimum configurations, the operations such as speed, direction, lifting carried out to it, by keyboard operation and interface operation two kinds of modes by computer, the running parameter of machine fish is set, the straightening in each joint, the test in each joint, joint is enable, amplitude of fluctuation, angle of lag, turning angle of inclination.
Beneficial effect:
1. the present invention be a kind of can the bionical drive lacking under-water robot of Computerized remote-control, this product has the profile, the mode of motion even interactive mode that are similar to occurring in nature fish body, control system controls under-water robot and completes the subsea tasks such as advance, turning, speed adjustment, by computer, the operations such as speed, direction, lifting are carried out to it, various work under water can be completed.
The present invention can make under-water robot freely can be moved about as true fish in water by the swing of afterbody, at described bio-robot front ends midway location, infrared pickoff is installed, can automatic dodging obstacle, there is advance, stopping, left-hand rotation, right-hand rotation function.
Control system ground of the present invention mode is, communication system has serial ports/USB and controls and remote controller control, product kernel adopts the programming mode of wireless programming, travelling program can be changed at any time to adapt to actual environment, described serial ports/USB mode can control many machine fishs simultaneously, can be realized mutually chasing between many fishes by simple programming Control, be played.
The present invention carries out the operations such as speed, direction, lifting by computer to it, by keyboard operation and interface operation two kinds of modes, the running parameter of machine fish is set, the straightening in each joint, the test in each joint, joint is enable, amplitude of fluctuation, angle of lag, turning angle of inclination.
Joint A of the present invention, joint B, joint C can freely swing, and bionical drive lacking under-water robot profile can be determined as required simultaneously, and pectoral fin has the bionic machine fish of expanded function.
Bionical drive lacking under-water robot utmost dispatch of the present invention is that 1 times of body is long, minimum turning radius 1 times of body is long, there is advance, stopping, left-hand rotation, right-hand rotation function can by the automatic regulating frequency of computer, do not need artificial intervention, communication frequency can be adjusted by computer software, multi-robot Cooperation platform software also can be used to carry out from master control it.
Accompanying drawing illustrates:
Accompanying drawing 1 is structural representation of the present invention.
Accompanying drawing 2 is birds-eye vieies of accompanying drawing 1.
Detailed description of the invention:
Embodiment 1:
A kind of can the bionical drive lacking under-water robot of Computerized remote-control, its composition comprises: bio-robot 1, described bio-robot front ends midway location is provided with infrared pickoff 10, described inside, bio-robot front end is provided with control system 3, be connected with communication system 2 by wire above described control system, be connected with battery 9 by wire below described control system, described battery side is connected with switch 8 by wire, described bio-robot rear end is provided with joint C7 successively, joint B6, joint A5, described bio-robot afterbody is provided with tail fin 4.
Embodiment 2:
Described in embodiment 1 can the bionical drive lacking under-water robot of Computerized remote-control, described bio-robot outside face has waterproof fish-skin 15, the pectoral fin middle part that described two sides, bio-robot front end are separately installed with described in 11,2,2 pectoral fins is separately installed with gas filled device 12, antenna 13, charging plug 14.
Embodiment 3:
A kind of can the bionical drive lacking under-water robot of Computerized remote-control and control method, first this method is that bionical drive lacking under-water robot has the profile being similar to occurring in nature fish body, mode of motion is interactive mode even, control system controls under-water robot and completes advance, turn, the task that speed regulates, under-water robot can be made freely can be moved about as true fish in water by the swing of afterbody, at described bio-robot front ends midway location, infrared pickoff is installed, can automatic dodging obstacle, there is advance, stop, turn left, right-hand rotation function, described control system ground mode is, communication system has serial ports/USB and controls and remote controller control, product kernel adopts the programming mode of wireless programming, travelling program can be changed at any time to adapt to actual environment, described serial ports/USB mode can control many machine fishs simultaneously, can be realized mutually chasing between many fishes by simple programming Control, be played,
By the automatic regulating frequency of computer, do not need artificial intervention, communication frequency is adjusted by computer software, Computerized remote-control operates, be used for carrying out remote control and optimum configurations, the operations such as speed, direction, lifting carried out to it, by keyboard operation and interface operation two kinds of modes by computer, the running parameter of machine fish is set, the straightening in each joint, the test in each joint, joint is enable, amplitude of fluctuation, angle of lag, turning angle of inclination.
Claims (3)
1. one kind can the bionical drive lacking under-water robot of Computerized remote-control, its composition comprises: bio-robot, it is characterized in that: described bio-robot front ends midway location is provided with infrared pickoff, described inside, bio-robot front end is provided with control system, be connected with communication system by wire above described control system, be connected with battery by wire below described control system, described battery side is connected with switch by wire, described bio-robot rear end is provided with joint C successively, joint B, joint A, described bio-robot afterbody is provided with tail fin.
2. according to claim 1 can the bionical drive lacking under-water robot of Computerized remote-control, it is characterized in that: described bio-robot outside face has waterproof fish-skin, described two sides, bio-robot front end are separately installed with 2 pectoral fins, and the pectoral fin middle part described in 2 is separately installed with gas filled device, antenna, charging plug.
3. described in claim 1-2 can the control method of bionical drive lacking under-water robot of Computerized remote-control, it is characterized in that: the method comprises the steps:
First be that bionical drive lacking under-water robot has the profile, the mode of motion even interactive mode that are similar to occurring in nature fish body, control system controls the task that under-water robot completes advance, turning, speed adjustment, under-water robot can be made freely can be moved about as true fish in water by the swing of afterbody, at described bio-robot front ends midway location, infrared pickoff is installed, can automatic dodging obstacle, there is advance, stopping, left-hand rotation, right-hand rotation function; Described control system ground mode is, communication system has serial ports/USB and controls and remote controller control, product kernel adopts the programming mode of wireless programming, travelling program can be changed at any time to adapt to actual environment, described serial ports/USB mode can control many machine fishs simultaneously, can be realized mutually chasing between many fishes by simple programming Control, be played;
By the automatic regulating frequency of computer, do not need artificial intervention, communication frequency is adjusted by computer software, Computerized remote-control operates, be used for carrying out remote control and optimum configurations, the operations such as speed, direction, lifting carried out to it, by keyboard operation and interface operation two kinds of modes by computer, the running parameter of machine fish is set, the straightening in each joint, the test in each joint, joint is enable, amplitude of fluctuation, angle of lag, turning angle of inclination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510866391.XA CN105460190A (en) | 2015-12-01 | 2015-12-01 | Bionic under-actuated underwater robot capable of being remotely controlled through computer and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510866391.XA CN105460190A (en) | 2015-12-01 | 2015-12-01 | Bionic under-actuated underwater robot capable of being remotely controlled through computer and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105460190A true CN105460190A (en) | 2016-04-06 |
Family
ID=55598455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510866391.XA Pending CN105460190A (en) | 2015-12-01 | 2015-12-01 | Bionic under-actuated underwater robot capable of being remotely controlled through computer and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105460190A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836084A (en) * | 2016-05-20 | 2016-08-10 | 苏州科技学院 | Bionic underwater propeller and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1283535A2 (en) * | 2001-08-10 | 2003-02-12 | H2EYE (International) Limited | Hand controller for a remote operated vehicle |
| CN1663881A (en) * | 2005-04-12 | 2005-09-07 | 北京大学 | Intelligent robot dolphin |
| CN1916800A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN201102625Y (en) * | 2007-07-18 | 2008-08-20 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN102303700A (en) * | 2011-05-26 | 2012-01-04 | 中国科学院自动化研究所 | Multiple control surface robotic fish with embedded vision |
| CN102632984A (en) * | 2012-04-20 | 2012-08-15 | 合肥凌翔信息科技有限公司 | Multifunctional biomimetic robotic fish |
-
2015
- 2015-12-01 CN CN201510866391.XA patent/CN105460190A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1283535A2 (en) * | 2001-08-10 | 2003-02-12 | H2EYE (International) Limited | Hand controller for a remote operated vehicle |
| CN1663881A (en) * | 2005-04-12 | 2005-09-07 | 北京大学 | Intelligent robot dolphin |
| CN1916800A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN201102625Y (en) * | 2007-07-18 | 2008-08-20 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN102303700A (en) * | 2011-05-26 | 2012-01-04 | 中国科学院自动化研究所 | Multiple control surface robotic fish with embedded vision |
| CN102632984A (en) * | 2012-04-20 | 2012-08-15 | 合肥凌翔信息科技有限公司 | Multifunctional biomimetic robotic fish |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836084A (en) * | 2016-05-20 | 2016-08-10 | 苏州科技学院 | Bionic underwater propeller and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2020102302A4 (en) | Underwater robots design and control mechanism using particle swarm optimization algorithm | |
| CN105319987A (en) | Working ROV training simulator motion control simulation system | |
| CN204450529U (en) | A kind of aerial explosive-removal robot | |
| US20160150739A1 (en) | Computerized learning landscaping apparatus and methods | |
| Park et al. | Mapping and localization of cooperative robots by ROS and SLAM in unknown working area | |
| CN101916071A (en) | CPG feedback control method of biomimetic robot fish movement | |
| CN202578697U (en) | High-power automatic coal cutter with memory cutting function for thin coal layers | |
| CN110937092A (en) | CPG control method of multi-mode bionic stay wire robot fish and robot fish | |
| CN105690389A (en) | Universal multi-degree-of-freedom robot test platform and control method | |
| CN102416265A (en) | Transformers robot toy and method | |
| Zhang et al. | Study of manipulator operations maneuvered by a ROV in virtual environments | |
| CN104669254B (en) | A kind of automation localization method of two-in-series mechanical arm type mobile manipulator device | |
| CN206141806U (en) | Bionical underactuated underwater robot that can computer remote control | |
| CN113282053A (en) | Automatic cutting control system of boom-type heading machine | |
| CN105460190A (en) | Bionic under-actuated underwater robot capable of being remotely controlled through computer and control method | |
| Szymak et al. | Conception of research on bionic underwater vehicle with undulating propulsion | |
| CN106182033B (en) | A kind of blind person leads the way with self-navigation humanoid robot | |
| Kim et al. | Way-point tracking for a hovering AUV by PID controller | |
| Shin | Robot fish tracking control using an optical flow object-detecting algorithm | |
| CN111438691A (en) | Bionic six-foot robotic crab control system | |
| Zhou et al. | The posture control and 3-D locomotion implementation of biomimetic robot fish | |
| Kim et al. | Parent-child underwater robot-based manipulation system for underwater structure maintenance | |
| CN107980686A (en) | Aquaculture manages robot and its application method | |
| CN107756402A (en) | A kind of intelligent avoidance grasping system based on deep learning | |
| Shin et al. | Realization of Fish Robot Tracking Control Using Position Detecting Algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160406 |
|
| WD01 | Invention patent application deemed withdrawn after publication |