CN109987209A - A kind of control circuit of bionic machine fish - Google Patents
A kind of control circuit of bionic machine fish Download PDFInfo
- Publication number
- CN109987209A CN109987209A CN201910126271.4A CN201910126271A CN109987209A CN 109987209 A CN109987209 A CN 109987209A CN 201910126271 A CN201910126271 A CN 201910126271A CN 109987209 A CN109987209 A CN 109987209A
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- mould group
- control circuit
- machine fish
- obstacle avoidance
- battery
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 32
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 14
- 238000007667 floating Methods 0.000 claims abstract description 11
- 238000005183 dynamical system Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 239000000523 sample Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (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)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of control circuits of bionic machine fish, including battery, the battery is connected with Power Management Unit, and the Power Management Unit is connected with wireless image transmission system, high-definition camera, controller power source mould group, bionical dynamical system, three-dimensional laser scanner, floating dive system, underwater sound analog input card and double obstacle avoidance systems；The controller power source mould group, bionical dynamical system, three-dimensional laser scanner, floating dive system, underwater sound analog input card and double obstacle avoidance systems are connect with MCU controller, the MCU controller is also connected with indicator light, IMU mould group, wireless data transmission system, GPS positioning mould group, depth detection mould group and leak water detdction unit, and the battery is connect with the MCU controller.Control circuit of the invention can be realized the control to robot, have the advantages that easy to control；Control circuit of the invention has indicator light, can be realized the control to robot fish movement state.
Description
Technical field
The present invention relates to machine fish technical fields, it particularly relates to a kind of control circuit of bionic machine fish.
Background technique
Bionic machine fish is manufactured and designed according to bionics principle, the fish of machine fish under the promotion of engine back and forth
It swings, and changes with fin and tail the direction of their travelling, machine fish needs obstacle avoidance system and be used to sentence in actual design
Disconnected barrier and timely avoiding obstacles；The dive system that floats is needed, for realizing the floating dive of machine fish, changes machine fish
The distance between water surface；Dynamical system is needed to provide power for the movement of machine fish；Further need exist for corresponding control circuit
For realizing the control to machine fish each side face data and motion state.
Existing machine fish control circuit has the shortcomings that structure is complicated, needs to improve.
Summary of the invention
For above-mentioned technical problem in the related technology, the present invention proposes a kind of control circuit of bionic machine fish, can
Overcome the above-mentioned deficiency of the prior art.
To realize the above-mentioned technical purpose, the technical scheme of the present invention is realized as follows:
A kind of control circuit of bionic machine fish, including battery, the battery are connected with Power Management Unit, the power management
Unit be connected with wireless image transmission system, high-definition camera, controller power source mould group, bionical dynamical system, three-dimensional laser scanner,
Floating dive system, underwater sound analog input card and double obstacle avoidance systems；The controller power source mould group, bionical dynamical system, three-dimensional swash
Photoscanner, floating dive system, underwater sound analog input card and double obstacle avoidance systems are connect with MCU controller, the MCU controller
It is also connected with indicator light, IMU mould group, wireless data transmission system, GPS positioning mould group, depth detection mould group and leak water detdction unit, institute
Battery is stated to connect with the MCU controller.
Further, the wireless image transmission system is connect with the high-definition camera.
Further, the underwater sound analog input card is connected with underwater sound probe.
Further, double obstacle avoidance systems include binocular ranging obstacle avoidance system and ultrasonic evadible system, the binocular
Ranging obstacle avoidance system and ultrasonic evadible system are connect with Power Management Unit, and the ultrasonic evadible system and the nothing
The connection of line Data transfer system.
Further, the battery is connect with the MCU controller by BMS communication interface.
Beneficial effects of the present invention: control circuit of the invention can be realized the control to robot, have easy to control
The advantages of；Control circuit of the invention has indicator light, can be realized the control to robot fish movement state.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of connection block diagram of the control circuit of the bionic machine fish described according to embodiments of the present invention；
Fig. 2 is the circuit diagram of IMU mould group of the present invention；
Fig. 3 is the circuit diagram of underwater sound analog input card.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's every other embodiment obtained belong to what the present invention protected
Range.
As shown in Figure 1, the control circuit of a kind of bionic machine fish, including battery according to embodiments of the present invention, institute
It states battery and is connected with Power Management Unit, the Power Management Unit is connected with wireless image transmission system, high-definition camera, controller
Power supply mould group, bionical dynamical system, three-dimensional laser scanner, floating dive system, underwater sound analog input card and double obstacle avoidance systems；Institute
It states controller power source mould group, bionical dynamical system, three-dimensional laser scanner, floating dive system, underwater sound analog input card and double keeps away
Barrier system is connect with MCU controller, and the MCU controller is also connected with indicator light, IMU mould group, wireless data transmission system, GPS
Positioning module, depth detection mould group and leak water detdction unit, the battery are connect with the MCU controller.
In one embodiment, the wireless image transmission system is connect with the high-definition camera.
In one embodiment, the underwater sound analog input card is connected with underwater sound probe.
In one embodiment, double obstacle avoidance systems include binocular ranging obstacle avoidance system and ultrasonic evadible system,
The binocular ranging obstacle avoidance system and ultrasonic evadible system are connect with Power Management Unit, and the ultrasonic evadible system
It is connect with the wireless data transmission system.
In one embodiment, the battery is connect with the MCU controller by BMS communication interface.
In order to facilitate understanding above-mentioned technical proposal of the invention, below by way of in specifically used mode to of the invention above-mentioned
Technical solution is described in detail.
A kind of control circuit of bionic machine fish according to the present invention, the block diagram contain energy supply (battery),
Power supply conversion and management module and the necessary sensor periphery of bionical equipment etc..In the invention, 5 kinds of power supply types are shared, are united
One is controlled and is transformed by Power Management Unit；Bionical dynamical system is motor, to realize bionical fish body travelling；Underwater 3 D
Laser scanner can complete underwater scene and redraw；Floating dive system can realize the vertically floating of fish body by motor；
High-definition camera can shoot and observe underwater environment in real time；Underwater sound acquisition system is, it can be achieved that underwater 10-20KHz acoustic information
Record；IMU mould group, provides direction and posture information for machine fish；Double obstacle avoidance systems include number ranging avoidance and acoustics avoidance,
Avoidable equipment is collided under water；Wireless data transmission system, realizing can distant bar control of the water surface to machine fish；GPS positioning mould group and
Depth transducer, it can be achieved that equipment surface motions and submerged depth track record；Leak water detdction unit can detect in equipment
Portion seals situation；Indicator light indicates the operation conditions of equipment.
Wherein, the circuit of IMU mould group is as shown in Fig. 2, for providing direction and posture information, MCU controller for machine fish
Model STM32F427VGT6, the model Trimble of GPS positioning mould group, the model MS5837 of depth transducer, water
The model RHS-20 of sonic probe, the circuit diagram of working frequency range 20Hz-100KHz, underwater sound analog input card are as shown in Figure 3；Wirelessly
The model E90-DTU (230N27) of Data transfer system；Binocular identifies ranging model Guidance；High-definition camera model
CM8230；Leak water detdction unit is mainly the detection of bipolar electrode water droplet；Principle is that leak water detdction probe is equipped with inside sealed compartment,
It is open-circuit condition when anhydrous immersion, after having water droplet entrance, two electrodes are short-circuited, and through system detection, determining has water to immerse cabin
Body.
In conclusion control circuit of the invention can be realized the control to robot, have the advantages that easy to control；This
The control circuit of invention has indicator light, can be realized the control to robot fish movement state.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of control circuit of bionic machine fish, which is characterized in that including battery, the battery is connected with power management list
Member, the Power Management Unit be connected with wireless image transmission system, high-definition camera, controller power source mould group, bionical dynamical system,
Three-dimensional laser scanner, floating dive system, underwater sound analog input card and double obstacle avoidance systems；It is the controller power source mould group, bionical
Dynamical system, three-dimensional laser scanner, floating dive system, underwater sound analog input card and double obstacle avoidance systems connect with MCU controller
It connects, the MCU controller is also connected with indicator light, IMU mould group, wireless data transmission system, GPS positioning mould group, depth detection mould group
With leak water detdction unit, the battery is connect with the MCU controller.
2. a kind of control circuit of bionic machine fish according to claim 1, which is characterized in that the wireless image transmission system
It is connect with the high-definition camera.
3. a kind of control circuit of bionic machine fish according to claim 2, which is characterized in that the underwater sound analog input card
It is connected with underwater sound probe.
4. a kind of control circuit of bionic machine fish according to claim 3, which is characterized in that double obstacle avoidance system packets
Include binocular ranging obstacle avoidance system and ultrasonic evadible system, the binocular ranging obstacle avoidance system and ultrasonic evadible system with electricity
The connection of source control unit, and the ultrasonic evadible system is connect with the wireless data transmission system.
5. a kind of control circuit of bionic machine fish according to claim 4, which is characterized in that the battery with it is described
MCU controller is connected by BMS communication interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910126271.4A CN109987209A (en) | 2019-02-20 | 2019-02-20 | A kind of control circuit of bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910126271.4A CN109987209A (en) | 2019-02-20 | 2019-02-20 | A kind of control circuit of bionic machine fish |
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| Publication Number | Publication Date |
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| CN109987209A true CN109987209A (en) | 2019-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910126271.4A Pending CN109987209A (en) | 2019-02-20 | 2019-02-20 | A kind of control circuit of bionic machine fish |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
| CN112666936A (en) * | 2020-12-07 | 2021-04-16 | 江苏科技大学 | Intelligent obstacle avoidance system and method for semi-submersible unmanned ship |
| CN114644098A (en) * | 2022-02-24 | 2022-06-21 | 深圳市吉影科技有限公司 | Novel high-power underwater booster control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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