The invention provides a bionic robotic fish pectoral fin and tail fin cooperative control system and method. The bionic robotic fish pectoral fin and tail fin cooperative control system comprises a fish body shell, a pectoral fin and a tail fin, a pectoral fin control assembly, a tail fin control assembly, a snorkeling module and a control module are correspondingly installed in an inner cavity of the fish body shell, and the snorkeling module comprises a snorkeling cabin and a snorkeling driving assembly. The control module comprises a computer, a controller and an information acquisition assembly, the information acquisition assembly is connected with the input end of the controller, the output end of the controller is connected with the pectoral fin control assembly, the tail fin control assembly and the snorkeling driving assembly, and the computer and the controller achieve information interconnection through underwater wireless optical communication. By means of the bionic robotic fish pectoral fin and tail fin cooperative control system, straight swimming, turning, floating and diving of fishes are achieved, and meanwhile, multi-mode control is additionally arranged, so that switching among different gears is achieved.

    本发明提出一种仿生机器鱼的胸鳍与尾鳍协同控制系统及方法,包括鱼身壳体、胸鳍以及尾鳍,鱼身壳体内部空腔中对应安设有胸鳍控制组件、尾鳍控制组件、浮潜模块和控制模块,浮潜模块包括浮潜舱和浮潜驱动组件,控制模块包括计算机、控制器和信息采集组件,信息采集组件与控制器的输入端相连,输出端分别与胸鳍控制组件、尾鳍控制组件和浮潜驱动组件相连,计算机与控制器通过水下无线光通信实现信息互联,本发明实现鱼类直游、转弯及上浮下潜的运动,同时增设多模态控制,实现不同挡位之间的切换。


    Access

    Download


    Export, share and cite



    Title :

    Bionic robotic fish pectoral fin and tail fin cooperative control system and method


    Additional title:

    一种仿生机器鱼的胸鳍与尾鳍协同控制系统及方法


    Contributors:
    SHI TING (author) / PENG LIJUN (author) / HU RUINAN (author) / MIAO FENGYI (author) / GAO XIANG (author) / GAO XINCHI (author) / QI JINGYUAN (author) / WU JIAXU (author) / MEI JIE (author)

    Publication date :

    2021-06-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



    Bionic robotic fish synergistically propelled by pectoral fins and tail fins and control method of bionic robotic fish

    CAI YUERI / CHEN LIN / BI SHUSHENG et al. | European Patent Office | 2024

    Free access

    Bionic robotic fish synergistically propelled by tail and pectoral fins

    WANG LIANMING / CHEN LEI | European Patent Office | 2021

    Free access

    Auxiliary driving movement method for pectoral fins of tail fin driving type bionic robotic fish

    DENG FANG / LI LIN / WANG CHEN et al. | European Patent Office | 2024

    Free access

    Driving device of bionic robotic fish tail and bionic robotic fish tail

    CHANG WENKAI / WU ZHENGXING / ZHOU CHAO et al. | European Patent Office | 2024

    Free access

    Three-degree-of-freedom pectoral fin driven bionic robotic fish

    LI YAJING | European Patent Office | 2021

    Free access