CN110937092A - CPG control method of multi-mode bionic stay wire robot fish and robot fish - Google Patents
CPG control method of multi-mode bionic stay wire robot fish and robot fish Download PDFInfo
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- CN110937092A CN110937092A CN201911273234.2A CN201911273234A CN110937092A CN 110937092 A CN110937092 A CN 110937092A CN 201911273234 A CN201911273234 A CN 201911273234A CN 110937092 A CN110937092 A CN 110937092A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 17
- 238000004804 winding Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000009182 swimming Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 6
- 238000005491 wire drawing Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
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- 230000004069 differentiation Effects 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
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- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000000006 pectoral fin Anatomy 0.000 description 1
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- 238000007789 sealing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- 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
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- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention discloses a CPG control method of a multi-mode bionic wire-pulling robot fish, belongs to the technical field of bionic robot fish, and mainly solves the technical problems of multiple parameters and complex control of the existing bionic robot fish. The invention also discloses a robotic fish for implementing the method. The invention has the advantages of few parameters, simple control and high model efficiency.
Description
Technical Field
The invention relates to the technical field of bionic robotic fish, in particular to a CPG control method of a multi-mode bionic guy line robotic fish and the robotic fish.
Background
Over millions of years of natural selection and evolution in the water world on earth, fish have possessed extraordinary underwater locomotor capabilities. The underwater navigation robot can swim fast, efficiently and sensitively, can flexibly pass through a complex underwater environment, has excellent swimming performance such as high swimming speed, high acceleration, high efficiency, low noise and the like, and greatly exceeds the existing underwater navigation robot. With the development of bionics and robotics, researchers design a series of models of bionic robot fish to convert the biological structure and underwater motion capability of fish into an autonomous underwater robot which can be controlled by human beings, called robot fish for short.
At present, some robot fish research teams adopt CPG control, but because of a driving structure of a multi-joint multi-steering engine, the CPG control has more input parameters and output parameters and complex analysis.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and aims to provide a CPG control method of a multi-modal bionic wire-drawing robotic fish with simple parameters and high model efficiency.
The invention also aims to provide the robotic fish which is simple in structure and simple to control.
In order to achieve the first purpose, the invention provides a CPG control method of a multi-modal bionic wire-pulling robot fish, which is characterized in that a rotation angle is obtained by inputting a CPG model according to the set fish body swinging amplitude, the fish body swinging frequency, the fish body swinging deviation value and the fish body swinging time ratio, and a steering engine is controlled according to the rotation angle to drive a wire-pulling mechanism to control the swimming of the robot fish.
As a further improvement, the CPG model specifically is:
α＝b+mcos(φ)
β＝b+msin(φ)
where b denotes an offset value of a low-level command, kbRepresents the normal number of the gain of the offset value, B represents the fish body sway offset value, m represents the amplitude of the low-level command, kmRepresents the normal number of the amplitude gain, M represents the fish body swinging amplitude, phi represents the phase, R represents the fish body swinging time ratio, omega represents the fish body swinging frequency, α represents the rotation angle, β is an intermediate variable;
when the CPG model reaches a steady state, B approaches B and M approaches M.
Further, obstacle information around the robot fish is obtained in real time, and the obstacle avoidance rule base is inquired according to the obstacle information to obtain the fish body swing amplitude, the fish body swing frequency, the fish body swing deviation value and the fish body swing time ratio.
And further, the robot fish control system also comprises a PID (proportion integration differentiation) model, the yaw angle of the robot fish is obtained in real time, and the PID model adjusts the fish body swing deviation value in real time according to the deviation between the yaw angle and the target yaw angle so as to control the directional tour of the robot fish.
In order to achieve the second purpose, the invention provides a robot fish, which comprises a head part, a tail part and a plurality of joints which are sequentially hinged, wherein the head part is hinged with a first joint, and the tail part is hinged with a last joint; the head part comprises a support and a wire drawing mechanism, the wire drawing mechanism comprises a winding wheel arranged on the support, a first wire drawing and a second wire drawing, the first wire drawing and the second wire drawing are wound on two sides of the winding wheel, one ends of the first wire drawing and the second wire drawing are fixedly connected with the winding wheel, the other ends of the first wire drawing and the second wire drawing respectively sequentially penetrate through two sides of the support and two sides of each joint and are fixedly connected with two sides of the tail part, the support is provided with a first steering engine connected with the winding wheel, and the support is provided with a control circuit board electrically connected with the first steering engine; the control circuit board realizes the CPG control method.
As a further improvement, the upper end and the lower end of the head part are respectively provided with an elastic sheet, the elastic sheet positioned above is sequentially connected with the upper end of each joint and the upper end of the tail part, and the elastic sheet positioned below is sequentially connected with the lower end of each joint and the lower end of the tail part.
Furthermore, the front end and the two sides of the bracket are respectively provided with an obstacle sensor which is electrically connected with the control circuit board.
Furthermore, an inertia measurement unit is welded on the control circuit board.
Further, a wireless module is welded on the control circuit board.
Furthermore, the head part further comprises pectoral fins positioned on two sides of the support, a second steering engine connected with the pectoral fins is arranged on the support, and the second steering engine is electrically connected with the control circuit board.
Advantageous effects
Compared with the prior art, the invention has the advantages that:
1. the robot fish swimming control system obtains a rotation angle through inputting the fish body swinging amplitude, the fish body swinging frequency, the fish body swinging deviation value and the fish body swinging time ratio into the CPG model for calculation, controls a steering engine to drive the wire pulling mechanism to control the robot fish to swim according to the rotation angle, and is simple in input parameters and output parameters, simple in structure, simple to control, high in model efficiency and easy to realize.
2. According to the invention, the obstacle information around the robot fish is obtained in real time, and the obstacle avoidance rule base is inquired according to the obstacle information to obtain the fish body swing amplitude, the fish body swing frequency, the fish body swing deviation value and the fish body swing time ratio, so that the robot fish can conveniently realize various modal motion modes of linear tour, turning and obstacle avoidance.
3. According to the method, the yaw angle of the robot fish is obtained in real time, the PID model is used for adjusting the fish body swing deviation value in real time according to the deviation between the yaw angle and the target yaw angle, so that the robot fish can be controlled to directionally patrol, the directional obstacle avoidance can be realized by combining the obstacle avoidance rule base, the capability of the robot fish for autonomously dealing with the surrounding environment is greatly improved, and the maneuvering and flexible autonomous swimming of the bionic robot fish is realized.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic diagram of the CPG model of the present invention;
fig. 4 is a control block diagram of the present invention.
Wherein: 1-head, 2-tail, 3-joint, 4-bracket, 5-reel, 6-first pull wire, 7-second pull wire, 8-first steering engine, 9-control circuit board, 10-elastic sheet, 11-obstacle sensor, 12-pectoral fin, 13-second steering engine, IMU-inertial measurement unit.
Detailed Description
The invention will be further described with reference to specific embodiments shown in the drawings.
Referring to fig. 1-4, a CPG control method of a multi-modal bionic wire-pulling robot fish is characterized in that a rotation angle is calculated by inputting a set fish body swing amplitude, a set fish body swing frequency, a set fish body swing deviation value and a set fish body swing time ratio into a CPG model, and a steering engine is controlled to drive a wire-pulling mechanism according to the rotation angle to control the swimming of the robot fish.
The CPG model is specifically as follows:
α＝b+mcos(φ)
β＝b+msin(φ)
where b denotes an offset value of a low-level command, kbDenotes the normal number of the gain of the offset value, B denotes the fish body sway offset value, m denotes the amplitude of the low level command, kmRepresenting the normal number of the amplitude gain, M representing the swing amplitude of the fish body, phi representing the phase, R representing the ratio of the swing time of the fish body, omega representing the swing frequency of the fish body, α representing the rotation angle, β representing the intermediate variablebAnd the time t taken for it to return to the initial positionrThe inverse of the ratio of (a), i.e. R ═ tr/tb。
When the CPG model reaches a steady state, B approaches B and M approaches M.
In the embodiment, the obstacle information around the robot fish is obtained in real time, and the obstacle avoidance rule base is queried according to the obstacle information to obtain the fish body swing amplitude, the fish body swing frequency, the fish body swing deviation value and the fish body swing time ratio, so that the robot fish can conveniently realize various modal motion modes of linear tour, turning and obstacle avoidance. The obstacle avoidance rule base comprises: if no obstacles exist around, the tour is forward; if the front part has an obstacle, the vehicle turns to the left; if the left side has an obstacle, turning to the right; if the right side has an obstacle, turning to the left; if the front part and the left side are both provided with obstacles, the vehicle turns to the right; if the front part and the right side are both provided with obstacles, the vehicle turns to the left; if the left side and the right side are both provided with obstacles, the tour is carried forward; if there are obstacles on the front, left and right sides, the vehicle turns to the left.
During linear tour, the relatively proper fish body swing amplitude M of the CPG parameters is 20-30 degrees, the fish body swing deviation value B is 0, namely the central axis of the fish body swing is consistent with that in a static state, and has no deviation, the fish body swing deviation value B is bilaterally symmetrical, the time ratio R is 1, namely the time for the fish body to swing back and forth is the same, the robot fish swims forwards, the normal fish body swing frequency omega is 1-2.5 Hz, the frequency can be properly increased according to needs, and the faster swimming speed is obtained. When turning, the normal values of the fish body swing amplitude M and the fish body swing deviation value B are 20-30 degrees, the fish body swing amplitude M and the fish body swing deviation value B can be properly increased according to needs to obtain smaller turning radius, and the left turning and the right turning can be realized by the positive and negative values of the fish body swing deviation value B; the fish body swinging frequency omega is 1 Hz-2 Hz, the fish body swinging time ratio R is more than 1 and is 1.5-2.5, and the larger the R value is, the smaller turning radius can be obtained.
The method also comprises the steps that a PID model realizes closed-loop control, the yaw angle of the robot fish is obtained in real time, the PID model adjusts the fish body swing deviation value B in real time according to the deviation between the yaw angle and the target yaw angle so as to control the robot fish to directionally patrol, the fish body swing amplitude M, the fish body swing frequency omega and the fish body swing time ratio R are set to be constant values, and the PID model is as follows:
and (3) using the difference e (t) between the real-time yaw angle of the robot fish read by the inertial measurement unit IMU and the set target yaw angle as deviation signal input of the PID, and respectively using Kp, Ki and Kd as proportional, integral and differential coefficients of the PID. Preferably, Kp is set to 0.7, Ki to 0, and Kd to 0.05 in this embodiment, i.e., only PD control is employed.
The utility model provides a machine fish, includes head 1, afterbody 2 and a plurality of articulated joint 3 in proper order, and head 1 articulates with first joint 3, and afterbody 2 articulates with last joint 3, and the axis of head 1, afterbody 2 and each joint 3 is unanimous, and the periphery of joint 3 is equipped with the waterproof layer of its parcel, and the both ends of waterproof layer respectively with head 1, afterbody 2 sealing connection. The head part 1 comprises a support 4 and a wire drawing mechanism, a waterproof shell is arranged on the periphery of the support 4, the wire drawing mechanism comprises a winding wheel 5 arranged on the support 4, a first wire drawing 6 and a second wire drawing 7 wound on two sides of the winding wheel 5, and the rotation center of the winding wheel 5 is positioned on the central axis of the head part 1. The one end of first acting as go-between 6, the second acting as go-between 7 is all fixed connection reel 5, and the other end of first acting as go-between 6, the second acting as go-between 7 passes support 4 both sides, each joint 3 both sides and fixed connection afterbody 2 both sides respectively in proper order, and first acting as go-between 6, the second acting as go-between 7 symmetrical arrangement are in the axis both sides of head 1. A first steering engine 8 connected with the winding wheel 5 is arranged on the support 4, and a control circuit board 9 electrically connected with the first steering engine 8 is arranged on the support 4; the control circuit board 9 implements the above-described CPG control method. The output shaft of the first steering engine 8 drives the winding wheel to rotate to drive the first pull wire 6 and the second pull wire 7, so that one of the first pull wire and the second pull wire is tensioned, and the other one of the first pull wire and the second pull wire is loosened, thereby realizing the swinging of the fish body of the robot fish. In this embodiment, the first and second wires 6 and 7 are steel wire ropes.
The upper end and the lower end of the head part 1 are respectively provided with an elastic sheet 10, the elastic sheet 10 positioned above is sequentially connected with the upper end of each joint 3 and the upper end of the tail part 2, the elastic sheet 10 positioned below is sequentially connected with the lower end of each joint 3 and the lower end of the tail part 2, and the elastic sheets 10 can improve the overall stability of the robot fish. In the present embodiment, the elastic sheet 10 is a spring steel sheet.
The front end and the two sides of the bracket 4 are respectively provided with an obstacle sensor 11 which is electrically connected with the control circuit board 9 and used for detecting the condition of surrounding obstacles, and the obstacle sensor 11 is an analog quantity infrared sensor with the model number of GP2Y0A 21. Of course, the obstacle sensor 11 may be an ultrasonic sensor.
An inertia measurement unit IMU is welded on the control circuit board 9 and used for acquiring attitude information of the robot fish, and the inertia measurement unit IMU is a six-axis attitude measurement sensor with the model of MPU 6050.
The control circuit board 9 is welded with a wireless module for communication between a computer and a robot fish, and the wireless module is a full-duplex wireless module with the model number of E62-433T 20D. The input parameters of the CPG and the swimming instruction of the robot fish can be set on a LabVIEW upper computer of the computer and are sent to the robot fish through the radio frequency module, and the robot fish processes and reacts to the received information.
The head part 1 further comprises pectoral fins 12 positioned on two sides of the support 4, a second steering engine 13 connected with the pectoral fins 12 is arranged on the support 4, and the second steering engine 13 is electrically connected with the control circuit board 9. The floating or sinking of the robot fish can be conveniently controlled by controlling the rotation of the pectoral fin 12.
The robot fish provided by the invention can drive the fish body of the robot fish to swing only by adopting one steering engine, the input parameter and the output parameter of the CPG model are simple, the model efficiency is high and easy to realize, and on the basis of the input parameter and the output parameter, the robot fish can move in various modes such as linear tour, turning, obstacle avoidance, directional tour, directional obstacle avoidance and the like, the capability of the robot fish to autonomously cope with the surrounding environment is greatly improved, and the maneuvering and flexible autonomous swimming of the bionic robot fish is realized.
The above is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that several variations and modifications can be made without departing from the structure of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (10)
1. A CPG control method of a multi-modal bionic wire-pulling robot fish is characterized in that a rotation angle is obtained by inputting a set fish body swing amplitude, a fish body swing frequency, a fish body swing deviation value and a fish body swing time ratio into a CPG model for calculation, and a steering engine is controlled to drive a wire-pulling mechanism according to the rotation angle to control the swimming of the robot fish.
2. The CPG control method of the multi-modal bionic guy line robot fish according to claim 1, wherein the CPG model is specifically as follows:
α＝b+mcos(φ)
β＝b+msin(φ)
where b denotes an offset value of a low-level command, kbRepresents the normal number of the gain of the offset value, B represents the fish body sway offset value, m represents the amplitude of the low-level command, kmRepresents the normal number of the amplitude gain, M represents the fish body swinging amplitude, phi represents the phase, R represents the fish body swinging time ratio, omega represents the fish body swinging frequency, α represents the rotation angle, β is an intermediate variable;
when the CPG model reaches a steady state, B approaches B and M approaches M.
3. The CPG control method of the multi-modal bionic guy line robot fish as claimed in claim 1 or 2, wherein the obstacle information around the robot fish is obtained in real time, and the obstacle avoidance rule base is queried according to the obstacle information to obtain the fish body swing amplitude, the fish body swing frequency, the fish body swing deviation value and the fish body swing time ratio.
4. The CPG control method of the multi-modal bionic guyed robot fish according to claim 1 or 2, characterized in that the CPG control method further comprises a PID model, the yaw angle of the robot fish is obtained in real time, and the PID model adjusts the fish swing deviation value in real time according to the deviation of the yaw angle and the target yaw angle so as to control the directional tour of the robot fish.
5. A robotic fish is characterized by comprising a head (1), a tail (2) and a plurality of joints (3) which are sequentially hinged, wherein the head (1) is hinged with a first joint (3), and the tail (2) is hinged with a last joint (3); the head (1) comprises a support (4) and a wire pulling mechanism, the wire pulling mechanism comprises a winding wheel (5) arranged on the support (4), a first pull wire (6) wound on two sides of the winding wheel (5) and a second pull wire (7), one ends of the first pull wire (6) and the second pull wire (7) are fixedly connected with the winding wheel (5), the other ends of the first pull wire (6) and the second pull wire (7) respectively penetrate through two sides of the support (4) and two sides of each joint (3) in sequence and are fixedly connected with two sides of the tail (2), a first steering engine (8) connected with the winding wheel (5) is arranged on the support (4), and a control circuit board (9) electrically connected with the first steering engine (8) is arranged on the support (4); the control circuit board (9) implements a CPG control method according to any of claims 1-4.
6. The robotic fish as claimed in claim 5, wherein the head (1) has elastic pieces (10) at its upper and lower ends, the upper elastic piece (10) is connected to the upper end of each joint (3) and the upper end of the tail (2), and the lower elastic piece (10) is connected to the lower end of each joint (3) and the lower end of the tail (2).
7. The robotic fish as claimed in claim 5, wherein the front end and both sides of the frame (4) are provided with obstacle sensors (11) electrically connected to the control circuit board (9), respectively.
8. A robotic fish as claimed in claim 5, characterized in that an Inertial Measurement Unit (IMU) is soldered to the control circuit board (9).
9. A robotic fish as claimed in claim 5, characterized in that a wireless module is soldered to the control circuit board (9).
10. The robotic fish of any one of claims 5-9, wherein the head (1) further comprises pectoral fins (12) located on both sides of the support (4), a second steering engine (13) connected with the pectoral fins (12) is arranged on the support (4), and the second steering engine (13) is electrically connected with the control circuit board (9).
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Cited By (7)
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| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112572740A (en) * | 2020-12-16 | 2021-03-30 | 北京机电工程研究所 | Bionic robot fish navigation state smooth switching method |
| CN113325858A (en) * | 2021-06-08 | 2021-08-31 | 西北工业大学 | Simulated bat aircraft course control method based on flapping wing amplitude |
| CN113415402A (en) * | 2021-06-18 | 2021-09-21 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN115195978A (en) * | 2022-07-06 | 2022-10-18 | 深圳职业技术学院 | Intelligent bionic robot fish |
| WO2023039724A1 (en) * | 2021-09-14 | 2023-03-23 | 西湖大学 | Bionic aircraft |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113325858A (en) * | 2021-06-08 | 2021-08-31 | 西北工业大学 | Simulated bat aircraft course control method based on flapping wing amplitude |
| CN113415402A (en) * | 2021-06-18 | 2021-09-21 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113415402B (en) * | 2021-06-18 | 2022-07-12 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| WO2023039724A1 (en) * | 2021-09-14 | 2023-03-23 | 西湖大学 | Bionic aircraft |
| CN115195978A (en) * | 2022-07-06 | 2022-10-18 | 深圳职业技术学院 | Intelligent bionic robot fish |
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Application publication date: 20200331 |