CN110356536A - A kind of bionic machine fish of Environment Oriented monitoring - Google Patents
A kind of bionic machine fish of Environment Oriented monitoring Download PDFInfo
- Publication number
- CN110356536A CN110356536A CN201910774961.0A CN201910774961A CN110356536A CN 110356536 A CN110356536 A CN 110356536A CN 201910774961 A CN201910774961 A CN 201910774961A CN 110356536 A CN110356536 A CN 110356536A
- Authority
- CN
- China
- Prior art keywords
- fish
- steering engine
- module
- machine fish
- pendulous device
- 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
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 162
- 238000012544 monitoring process Methods 0.000 title claims abstract description 40
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000007667 floating Methods 0.000 claims abstract description 19
- 230000009182 swimming Effects 0.000 claims abstract description 6
- 210000001015 abdomen Anatomy 0.000 claims abstract description 5
- 210000000006 pectoral fin Anatomy 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 14
- 210000004907 gland Anatomy 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 12
- 239000003643 water by type Substances 0.000 abstract description 7
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 abstract description 4
- 238000011161 development Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 238000012827 research and development Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000002146 bilateral effect Effects 0.000 description 3
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of bionic machine fish of Environment Oriented monitoring, fish body including being equipped with counterweight module and battery, it is mounted on fish body one end and is equipped with the pitch module for controlling machine fish floating dive and the fish head equipped with the left and right turning module changed for realizing machine fish swimming direction, the tail fin of the fish body other end is mounted on by module of moving about, it is mounted on the dorsal fin that fish carries portion on the body, it is mounted on the abdomeinal fin in fish belly portion, the present invention can be to the pH value in different waters, solubility, temperature, ammonia-nitrogen content, conductivity, the multiple parameters such as water hardness and turbidity are measured in real time, machine fish of the invention can cruise according to scheduled track, and check the water quality data of setting track position, furthermore, the present invention uses modularized design in Machine Design, not only reduce design iterations, it repeats to process, reduce related development cost, also Shorten the research and development duration.
Description
Technical field
The present invention relates to underwater biomimetic robotic fish technical fields, and in particular to a kind of bionic machine of Environment Oriented monitoring
Fish.
Background technique
As the mankind are to the pay attention to day by day of marine resources development, the demand of related oceanographic equipment is increasingly vigorous, underwater
People is widely used in exploring the every field of ocean.An important branch of the bionic machine fish as underwater robot, also
It has arrived and has flourished.Bionic machine fish combination bionics, Machine Design, materialogy, the multiple technologies such as control subject.Bionic machine
Mostly application is scientific research, popularization exhibitions to fish at present, and for life production using less, in particular for rivers and lakes sea
The water quality monitoring direction of the water environments such as ocean is less.
Water quality monitoring at present is largely certain fixed point setting monitoring sensors, detailed understanding one river or one
The water environment situation in a lake then needs to be arranged many points, and whether cost or duration all can be long in this way.
Summary of the invention
It, can pH value to waters, molten the purpose of the present invention is to provide a kind of bionic machine fish of Environment Oriented monitoring
Xie Du, it temperature, is measured in real time.
The purpose of the present invention is realized using following technical scheme.A kind of Environment Oriented monitoring proposed according to the present invention
Bionic machine fish, including being equipped with the fish body 33 of counterweight module 12 and battery 13, being mounted on fish body one end and be equipped with for controlling
The pitch module 2 of machine fish floating dive and equipped with for realizing machine fish swimming direction change left and right turning module 3 fish
First 1, the fish body other end is mounted on by module 9 of moving about and provides the tail fin 10 of power for the travelling for machine fish, is mounted on
Fish carries the dorsal fin 4 in portion on the body, is mounted on the abdomeinal fin 11 in fish belly portion.
Preferably, the travelling module 9 includes the sealed compartment shell 16 being arranged in inside fish body, is mounted in sealed compartment shell 16
The motor 8 in portion is mounted on the tail fin lid 23 of 16 end of sealed compartment shell；Pacify on the tail fin lid 23 and the contact surface of sealed compartment shell 16
Equipped with the first O-ring 24 for static seal, the tail fin lid 23 is equipped with to 6 internal stretch of sealed compartment shell and end and motor 8
Shell Joint the first extension 231, be formed with for installing motor transmission shaft 17 inside first extension 231
Cavity, one end of the motor transmission shaft 17 and the output shaft Joint of motor 8, it is solid with 19 phase of bevel gear that the other end passes through cavity
It connects, the second extension 232 that the end of the tail fin lid 23 is additionally provided with step 233 and extends to separate 6 direction of sealed compartment shell, institute
The general plug gland 22 being equipped on step 233 for rotatory sealing is stated, on the contact surface of the general plug gland 22 and tail fin lid 23
The second O-ring 25 for static seal is installed, is equipped between one end and motor transmission shaft 17 of the general plug gland 22 general
Plug sealing ring 26 is equipped with bearing 18, second extension 232 between the other end and motor transmission shaft 17 of general plug gland 22
On swinging axle 20 for affixed fish tail fixed frame 21 is installed, the bevel gear 19 be fixed on swinging axle 20 another
Bevel gear is meshed, and is equipped with tail fin 10 on the fish tail fixed frame 21.
Preferably, the left and right turning module 3 is the first pendulous device 35.
Preferably, shown pitch module 2 includes being symmetricly set on 1 two sides of fish head and controlling machine by adjusting itself direction
It two pectoral fins 15 of device fish floating dive, the floating dive frame 32 being mounted on inside fish head and is mounted in floating dive frame 32
Second steering engine 31, the both ends of 31 conveying axis of the second steering engine respectively with two symmetrical 30 Joints of pectoral fin axis, each
The end of pectoral fin axis 30 is pierced by the shell of fish head 2 and 15 Joint of pectoral fin of respective side.
Preferably, first pendulous device 35 includes steering engine fixed frame 27, the steering engine being mounted in steering engine fixed frame 27
28 and the swinging frame 29 that is mounted on 28 output shaft of steering engine, the swinging frame and 1 phase of fish head of first pendulous device 35 it is solid
It connects, the steering engine fixed frame and 33 Joint of fish body of first pendulous device 35.
It preferably, further include the control module 7 being mounted on fish body 33, the water quality for measuring water quality on the machine fish
Monitor sensor 14, the GPS antenna 5 and radio antenna 6 being mounted on dorsal fin, the water quality monitoring sensor 14, GPS days
Line 5, radio antenna 6, battery 13, the motor 8 in travelling module 9, the steering engine in the first pendulous device 35, position
It is electrically connected with control module 7 in the second steering engine 31 in pitch module 2.
Preferably, it is described left and right turning module include wobble segment 34, in wobble segment 34 and be used to be connected with fish body,
Simultaneously for controlling the third pendulous device 37 that machine fish swings.
Preferably, the pitch module includes swinging in wobble segment 34 for controlling the second of machine fish floating dive
Device 36.
Preferably, the third pendulous device 37 is identical as the structure of the second pendulous device 36, include steering engine fixed frame,
The steering engine being mounted in steering engine fixed frame and the swinging frame being mounted on steering engine output shaft, the third pendulous device 37
The steering engine fixed frame of swinging frame and 33 Joint of fish body, third pendulous device 37 is mounted in wobble segment 34；Described second swings
The steering engine fixed frame and steering engine of device 36 are installed in wobble segment 34, the swinging frame of the second pendulous device 36 and 1 phase of fish head are solid
It connects.
It preferably, further include the control module 7 being mounted on fish body 33, the water quality for measuring water quality on the machine fish
Monitor sensor 14, the GPS antenna 5 and radio antenna 6 being mounted on dorsal fin, the water quality monitoring sensor 14, GPS days
Line 5, radio antenna 6, battery 13, positioned at travelling module 9 in motor 8, the steering engine in the second pendulous device 36 and
Steering engine in third pendulous device 37 is electrically connected with control module 7.
A kind of bionic machine fish of Environment Oriented monitoring proposed by the present invention has the advantages that
1, the present invention can pH value to different waters, solubility, temperature, ammonia-nitrogen content, conductivity, water hardness and muddy
The multiple parameters such as turbidity are measured in real time.
2, machine fish of the invention can cruise according to scheduled track, and check the water quality number of setting track position
According to.
3, the present invention uses modularized design in Machine Design, not only reduces design iterations, repeats to process, reduces
Related development cost also shortens the research and development duration.
Described above is only that the general introduction of technical solution of the present invention can in order to better understand technological means of the invention
It is implemented in accordance with the contents of the specification, and for above and other objects, features and advantages of the invention can be become apparent from
It is understandable, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is a kind of overall schematic of the bionic machine fish embodiment one of Environment Oriented monitoring of the present invention.
Fig. 2 is the top view of machine fish shown in Fig. 1.
Fig. 3 is the schematic diagram of pitch module in machine fish shown in Fig. 1.
Fig. 4 is the schematic diagram of the first pendulous device, the second pendulous device, third pendulous device in machine fish shown in Fig. 1.
Fig. 5 is the front schematic view of Fig. 4.
Fig. 6 A to 6C is three kinds of status diagrams of pitch module in machine fish shown in Fig. 1.
Fig. 7 is the connection schematic diagram of plug hatch and tail fin in machine fish shown in Fig. 1.
Fig. 8 is the cross-sectional view of A-A in Fig. 7.
Fig. 9 is the enlarged diagram in Fig. 8 at B.
Figure 10 is a kind of overall schematic of the bionic machine fish embodiment two of Environment Oriented monitoring of the present invention.
Figure 11 is the cross-sectional view of machine fish shown in Figure 10.
[appended drawing reference]
1- fish head, 2- pitch module, 3- left/right rotation module, 4- dorsal fin, 5-GPS antenna, 6- wireless communication antenna, 7- control
Module, 8- motor, 9- travelling module, 10- tail fin, 11- abdomeinal fin, 12- counterweight module, 13- battery, 14- water quality monitoring sensor,
15- pectoral fin, 16- sealed compartment shell, 17- motor transmission shaft, 18- bearing, 19- bevel gear, 20- swinging axle, 21- fish tail fixed frame,
The general plug gland of 22-, 23- tail fin lid, the first extension of 231-, the second extension of 232-, 233- step, the first O-ring of 24-, 25-
Second O-ring, the general plug sealing ring of 26-, 27- steering engine fixed frame, 28- steering engine, 29- swinging frame, 30- pectoral fin axis, the second rudder of 31-
Machine, 32- floating dive frame, 33- fish body, 34- wobble segment, the first pendulous device of 35-, the second pendulous device of 36-, 37- third pendulum
Dynamic device.
Specific embodiment
Further to illustrate the present invention to reach technical means and efficacy used by predetermined purpose, below in conjunction with attached drawing
And preferred embodiments, to a kind of bionic machine fish of Environment Oriented monitoring proposed according to the present invention its specific embodiment, structure,
Feature and its effect, detailed description is as follows.
In the description of the present invention, before being with the direction where " fish head " in the present embodiment, where " tail fin "
After direction is, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right" " preceding " " rear " is
Orientation or positional relationship based on attached drawing, is merely for convenience of description of the present invention and simplification of the description, rather than indicates or imply
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, thus should not be understood as to this
The limitation of invention.
Embodiment one
Fig. 1 to Fig. 2, a kind of bionic machine fish of Environment Oriented monitoring of the present embodiment are please referred to, including is equipped with counterweight module
12 fish body 33, the fish head for being mounted on fish body front end and being equipped with pitch module 2 and left and right turning module 3 are pacified by travelling module 9
Mounted in fish body tail end tail fin 10, be mounted on fish and carry the dorsal fin 4 in portion on the body, be mounted on the abdomeinal fin 11 in fish belly portion.
Please refer to figs. 2 and 3, and shown pitch module 2 is used to control machine fish floating dive, including is symmetrical set
1 two sides of fish head simultaneously control two pectoral fins 15 of machine fish floating dive by adjusting itself direction, are mounted on inside fish head
Distinguish at the both ends of floating dive frame 32 and the second steering engine 31 being mounted in floating dive frame 32,31 conveying axis of the second steering engine
With two 30 Joints of pectoral fin axis of bilateral symmetry distribution, the end of each pectoral fin axis 30 be pierced by the shell of fish head 2 with it is corresponding
15 Joint of pectoral fin of side, the second steering engine 31 make machine fish realize floating or dive by adjusting the position of pectoral fin 15, specifically
Be: pitch module 2 realizes floating or dive by the angle of control pectoral fin 15 to control machine fish, please refers to Fig. 6 A, when
The machine fish when in a horizontal state of pectoral fin 15 normally moves about, and please refers to Fig. 6 B, when pectoral fin 15 rotates down opportunity relative to fish head
Device fish floats, and Fig. 6 C is please referred to, when pectoral fin 15 is relative to machine fish dive when being rotated up with fish head.
The left and right turning module 3 realizes that machine fish or so is turned by the change in the direction of control fish head 1, the left side
Right-hand bend module 3 is the first pendulous device 35, please refers to Fig. 4, Fig. 5, and first pendulous device 35 includes steering engine fixed frame 27,
The steering engine 28 being mounted in steering engine fixed frame 27, and the swinging frame 29 being mounted on 28 output shaft of steering engine, the swinging frame 29
It realizes and swings under the drive of steering engine 28, the swinging frame and 1 Joint of fish head of first pendulous device 35, first pendulum
The steering engine fixed frame and 33 Joint of fish body of dynamic device 35, when travelling, the first pendulous device 35 drives fish head to swing realization
The steering of machine fish.
Fig. 7 to Fig. 9 is please referred to, the travelling module 9 provides power for driving tail fin 10 to swing for the travelling of machine fish,
The travelling module 9 includes the sealed compartment shell 16 being arranged in inside fish body, the motor 8 being mounted on inside sealed compartment shell 16, installation
It is equipped on tail fin lid 23 in 16 rear end of sealed compartment shell, the tail fin lid 23 and the contact surface of sealed compartment shell 16 for static seal
The first O-ring 24, the tail fin lid 23 be equipped with to 6 internal stretch of sealed compartment shell the first extension 231, it is described first extend
The shell Joint of the end in portion 231 and motor 8 is formed with for installing motor transmission shaft inside first extension 231
17 cavity, the output shaft Joint of described 17 one end of motor transmission shaft and motor 8, the other end pass through cavity and 19 phase of bevel gear
The second extension 232 affixed, that the rear end of the tail fin lid 23 is additionally provided with step 233 and extends to separate 6 direction of sealed compartment shell,
General plug gland 22 for rotatory sealing, the contact surface of general the plug gland 22 and tail fin lid 23 are installed on the step 233
On the second O-ring 25 for static seal is installed, be equipped between the front end and motor transmission shaft 17 of the general plug gland 22
General plug sealing ring 26 is equipped with bearing 18, second extension 232 between the rear end and motor transmission shaft 17 of general plug gland 22
On swinging axle 20 for affixed fish tail fixed frame 21, bevel gear 19 and another umbrella tooth being fixed on swinging axle 20 are installed
Wheel is meshed, and is equipped with tail fin 10 on the fish tail fixed frame 21；Starting motor 8, motor 8 drives motor transmission shaft 17 to rotate,
Swinging axle 20 is driven to rotate by one group of bevel gear, the fish tail fixed frame 21 being fixed on swinging axle 20 drives tail fin 10 to swing,
8 positive and negative rotation of motor swings fish tail 10 by bevel gear transmission, provides power for the travelling of machine fish, the motor 8 is one
Motor with encoder can calculate fish tail swing amplitude and specific location, by control motor rotation direction and amplitude come
The swing for realizing fish tail may be implemented bilateral symmetry and swing, unilateral swing also may be implemented.It, can be with when bilateral symmetry is swung
It realizes straight trip, may be implemented when unilateral left swing is dynamic, otherwise turn right.
It is additionally provided in the sealed compartment shell 6 for providing the battery 13 of electric power for machine fish.
Referring to Fig. 1, the control module 7 being mounted on fish body 33 is additionally provided on the machine fish, for measuring water quality
Water quality monitoring sensor 14, the GPS antenna 5 and radio antenna 6 being mounted on dorsal fin, the water quality monitoring sensor 14,
GPS antenna 5, radio antenna 6, battery 13, the motor 8 in travelling module 9, the rudder in the first pendulous device 35
Machine, the second steering engine 31 in pitch module 2 are electrically connected with control module 7.
The water quality monitoring sensor 14 is passed by carrying PH sensor, dissolved oxygen sensor, ammonia nitrogen sensor, conductivity
Sensor and turbidity sensor acquire the water quality relevant parameter around machine fish, so as to the PH in real-time monitoring difference waters
The multiple parameters such as value, solubility, temperature, ammonia-nitrogen content, conductivity, water hardness and turbidity, the water quality monitoring sensor 14
The parameter of acquisition is transferred to control module 7, the data of 7 pairs of control module acquisitions handle and be sent to by LoRa antenna
The remote controler on ground, remote controler saves these water quality numerical value and the display screen passed through on installation remote controler is shown.
Operator can be by GPS antenna 5, can be to machine fish real time location tracking；Operator can also need to detect
Waters map on draw a travelling route, moved about by wireless telecommunications system control machine fish according to setting path, made
Machine fish removes the water quality condition in monitoring objective region according to regulation route.
Embodiment two
Fig. 1 to Fig. 2, a kind of bionic machine fish of Environment Oriented monitoring of the present embodiment are please referred to, including is equipped with counterweight module
12 fish body 33, the fish head for being mounted on fish body front end and being equipped with pitch module 2 and left and right turning module 3 are pacified by travelling module 9
Mounted in fish body tail end tail fin 10, be mounted on fish and carry the dorsal fin 4 in portion on the body, be mounted on the abdomeinal fin 11 in fish belly portion.The present embodiment with
The difference of embodiment one is only that: pitch module and left and right turning module, remaining is consistent, no longer repeats.
Figure 10, Figure 11 are please referred to, the module of left and right turning described in the present embodiment includes wobble segment 34, is located in wobble segment 34
And the third pendulous device 37 for being connected with fish body, the structure of the third pendulous device 37 and the first pendulous device 35
Structure is the same, and the steering engine fixed frame of the swinging frame and 33 Joint of fish body of the third pendulous device 37, third pendulous device is pacified
In wobble segment 34, the output shaft of steering engine extends along the vertical direction in the third pendulous device 37, to drive wobble segment
And fish head 1 swings and realizes the steering of machine fish, in the present embodiment left and right turning module 3 by wobble segment 34 or so turn from
And fish head is driven to realize the change of swimming direction or so.
In the present embodiment, the pitch module includes the second pendulous device 36 in wobble segment 34, second pendulum
As the structure of the first pendulous device 35, the steering engine fixed frame and steering engine of second pendulous device 36 are respectively mounted dynamic device 36
In wobble segment 34, the swinging frame of second pendulous device 36 and 1 Joint of fish head, steering engine is defeated in the second pendulous device 36
Shaft is horizontally extending, and in the present embodiment, pitch module controls fish head 1 by the second pendulous device 36 and swings up and down realization
Machine fish realizes floating person's dive.Certainly the invention is not limited thereto, in other embodiments of the invention, can also pass through third
Pendulous device 37 drives machine fish to snorkel up and down, machine fish realization is driven to swing by the second pendulous device 36, and at this time the
The steering engine output shaft of three pendulous devices 37 is horizontally extending, and the output shaft of 36 steering engine of the second pendulous device prolongs along the vertical direction
It stretches.
Figure 11 is please referred to, the control module 7 being mounted on fish body 33 is additionally provided on the machine fish, for measuring water quality
Water quality monitoring sensor 14, the GPS antenna 5 and radio antenna 6 being mounted on dorsal fin, the water quality monitoring sensor 14,
GPS antenna 5, radio antenna 6, battery 13, the motor 8 in travelling module 9, the rudder in the second pendulous device 36
Machine, the steering engine in third pendulous device 37 are electrically connected with control module 7.
Wireless communication antenna 6 uses the telecommunication of LoRa antenna in the present invention, which communicates in suburb open space
Distance is carried out wireless communication up to 15Km, the wireless communication antenna 6 with Digiplex, and operator is by way of wireless remote control
Remote manual control commander is carried out, makes machine fish swimming to destination, is detected (the waters map that operator can detect in needs
One travelling route of upper picture, machine fish can be detected according to setting path.Hand can also be carried out by way of wireless remote control
It is dynamic to command behind the scenes, detect machine fish swimming with arriving target).
The present invention is the prior art by carrying inertial navigation module, the inertial navigation module on machine fish platform, no longer superfluous herein
It states, machine fish real time position, posture and the direction at place, then the core algorithm by writing and control can be grasped by inertial navigation
System can cruise according to scheduled track, and check the function of the water quality data of setting track position.
In the present invention, machine fish is a movable platform, carries water quality sensor on this platform, can be whenever and wherever possible
The different waters of detection environmental aspect, and the machine fish can cruise according to scheduled track, and check setting track
The water quality data of position；Furthermore it is required to meet different clients to the difference of appearance, the present invention uses in Machine Design
Modularized design, module of moving about, turning module and the module that snorkels individually carry out waterproofing design, pass through shell of different shapes
Carry realizes modularized design in respective modules, reduces design iterations, repeats to process, reduces related development cost, contract
The short research and development durations.
The above described is only a preferred embodiment of the present invention, not doing limitation in any form to the present invention, appoint
What those skilled in the art, without departing from the scope of the present invention, according to the technical essence of the invention to
Any simple modification, equivalent change and modification made by upper embodiment, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of bionic machine fish of Environment Oriented monitoring, it is characterised in that: including being equipped with counterweight module (12) and battery (13)
Fish body (33), be mounted on fish body one end and be equipped with pitch module (2) for controlling machine fish floating dive and equipped with being used for
Realize that the fish head (1) for left and right turning module (3) that machine fish swimming direction changes, module (9) to be mounted on fish body another by moving about
One end simultaneously provides the tail fin (10) of power for the travelling for machine fish, is mounted on fish and carries the dorsal fin (4) in portion on the body, be mounted on fish body
The abdomeinal fin (11) of abdomen.
2. a kind of bionic machine fish of Environment Oriented monitoring according to claim 1, it is characterised in that: the travelling module
(9) include the sealed compartment shell (16) being arranged in inside fish body, be mounted on the internal motor (8) of sealed compartment shell (16), be mounted on close
The tail fin lid (23) of batten down shell (16) end；It is equipped on the tail fin lid (23) and the contact surface of sealed compartment shell (16) for quiet
The first O-ring (24) of sealing, the tail fin lid (23) are equipped with to sealed compartment shell (6) internal stretch and end and motor (8)
The first extension (231) of shell Joint, first extension (231) is internal to be formed with for installing motor transmission shaft
(17) cavity, one end of the motor transmission shaft (17) and the output shaft Joint of motor (8), the other end pass through cavity and umbrella
Gear (19) Joint, the end of the tail fin lid (23) are additionally provided with step (233) and extend to far from sealed compartment shell (6) direction
The second extension (232), the general plug gland (22) for rotatory sealing, the general plug pressure are installed on the step (233)
The second O-ring (25) for static seal, the general plug gland (22) are installed on lid (22) and the contact surface of tail fin lid (23)
One end and motor transmission shaft (17) between be equipped with general plug sealing ring (26), it is general plug gland (22) the other end and motor drive
It is equipped with bearing (18), is equipped on second extension (232) for affixed fish tail fixed frame (21) between axis (17)
Swinging axle (20), the bevel gear (19) are meshed with another bevel gear being fixed on swinging axle (20), and the fish tail is solid
Determine that tail fin (10) are installed on frame (21).
3. a kind of bionic machine fish of Environment Oriented monitoring according to claim 1, it is characterised in that: the left and right turning
Module (3) is the first pendulous device (35).
4. a kind of bionic machine fish of Environment Oriented monitoring according to claim 3, it is characterised in that: shown pitch module
It (2) include two pectoral fins for being symmetricly set on fish head (1) two sides and controlling machine fish floating dive by adjusting itself direction
(15), the floating dive frame (32) being mounted on inside fish head and the second steering engine (31) being mounted in floating dive frame (32), institute
State the both ends of the second steering engine (31) conveying axis respectively with two symmetrical pectoral fin axis (30) Joints, each pectoral fin axis (30)
End be pierced by the shell of fish head (2) and pectoral fin (15) Joint of respective side.
5. a kind of bionic machine fish of Environment Oriented monitoring according to claim 4, it is characterised in that: described first swings
Device (35) includes steering engine fixed frame (27), is mounted on the inner steering engine (28) of steering engine fixed frame (27) and is mounted on steering engine
(28) swinging frame on output shaft (29), the swinging frame and fish head (1) Joint of first pendulous device (35), described first
The steering engine fixed frame and fish body (33) Joint of pendulous device (35).
6. a kind of bionic machine fish of Environment Oriented monitoring according to claim 5, it is characterised in that: on the machine fish
Further include the control module (7) being mounted on fish body (33), the water quality monitoring sensor (14) for measuring water quality, be mounted on back
GPS antenna (5) and radio antenna (6) on fin, the water quality monitoring sensor (14), GPS antenna (5), wireless communication
Antenna (6), the motor (8) being located in travelling module (9), the steering engine being located in the first pendulous device (35), is located at battery (13)
The second steering engine (31) in pitch module (2) is electrically connected with control module (7).
7. a kind of bionic machine fish of Environment Oriented monitoring according to claim 1, it is characterised in that: the left and right turning
Module includes wobble segment (34), is located in wobble segment (34) for being connected with fish body while for controlling machine fish left/right rotation
Curved third pendulous device (37).
8. a kind of bionic machine fish of Environment Oriented monitoring according to claim 7, it is characterised in that: the pitch module
Including being located in wobble segment (34) for controlling the second pendulous device (36) of machine fish floating dive.
9. a kind of bionic machine fish of Environment Oriented monitoring according to claim 8, it is characterised in that: the third is swung
Device (37) is identical as the structure of the second pendulous device (36), includes steering engine fixed frame, the rudder being mounted in steering engine fixed frame
Machine and the swinging frame being mounted on steering engine output shaft, the swinging frame and fish body (33) Xiang Gu of the third pendulous device (37)
It connects, the steering engine fixed frame of third pendulous device (37) is mounted in wobble segment (34)；The steering engine of second pendulous device (36)
Fixed frame and steering engine are installed in wobble segment (34), the swinging frame and fish head (1) Joint of the second pendulous device (36).
10. a kind of bionic machine fish of Environment Oriented monitoring according to claim 9, it is characterised in that: the machine fish
On further include the control module (7) being mounted on fish body (33), the water quality monitoring sensor (14) for measuring water quality, be mounted on
GPS antenna (5) and radio antenna (6) on dorsal fin, the water quality monitoring sensor (14), GPS antenna (5), channel radio
Believe antenna (6), battery (13), the motor (8) being located in travelling module (9), the steering engine being located in the second pendulous device (36), position
It is electrically connected with control module (7) in the steering engine in third pendulous device (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910774961.0A CN110356536A (en) | 2019-08-21 | 2019-08-21 | A kind of bionic machine fish of Environment Oriented monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910774961.0A CN110356536A (en) | 2019-08-21 | 2019-08-21 | A kind of bionic machine fish of Environment Oriented monitoring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110356536A true CN110356536A (en) | 2019-10-22 |
Family
ID=68225139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910774961.0A Pending CN110356536A (en) | 2019-08-21 | 2019-08-21 | A kind of bionic machine fish of Environment Oriented monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110356536A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060667A (en) * | 2019-11-27 | 2020-04-24 | 北京农业智能装备技术研究中心 | Self-generating water pollution three-dimensional measuring device and measuring method |
| CN111204428A (en) * | 2019-12-18 | 2020-05-29 | 杭州电子科技大学 | Towed body suitable for diving area |
| CN112357030A (en) * | 2020-11-16 | 2021-02-12 | 江苏科技大学 | A water quality monitoring machine fish for ocean or inland river lake |
| CN113311848A (en) * | 2021-04-30 | 2021-08-27 | 江苏科技大学 | Underwater detector and surrounding edge obstacle avoidance method thereof |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN103303450A (en) * | 2013-07-01 | 2013-09-18 | 马炼堪 | Bionic underwater scientific investigation platform based on modular design |
| CN205971770U (en) * | 2016-08-30 | 2017-02-22 | 江苏科技大学 | Underwater biomimetic robotic fish |
| US20170152011A1 (en) * | 2014-07-08 | 2017-06-01 | Jiangsu University Of Science And Technology | Bionic Pectoral Fin Propelling Device Based on Planetary Gear Train |
| CN107144677A (en) * | 2017-07-05 | 2017-09-08 | 山东建筑大学 | A kind of freshwater aquiculture water quality monitoring system based on bionic machine fish |
| JP2018075702A (en) * | 2016-11-10 | 2018-05-17 | アイロ インコーポレイテッド | Multi-joint fish robot capable of rapid acceleration propulsion |
| WO2018195918A1 (en) * | 2017-04-28 | 2018-11-01 | 博雅工道（北京）机器人科技有限公司 | Single-joint water machine fish |
| KR20190072232A (en) * | 2017-12-15 | 2019-06-25 | (주)아이로 | Fish robot |
| CN210592383U (en) * | 2019-08-21 | 2020-05-22 | 中国科学院自动化研究所 | Bionic robot fish for environmental monitoring |
-
2019
- 2019-08-21 CN CN201910774961.0A patent/CN110356536A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN103303450A (en) * | 2013-07-01 | 2013-09-18 | 马炼堪 | Bionic underwater scientific investigation platform based on modular design |
| US20170152011A1 (en) * | 2014-07-08 | 2017-06-01 | Jiangsu University Of Science And Technology | Bionic Pectoral Fin Propelling Device Based on Planetary Gear Train |
| CN205971770U (en) * | 2016-08-30 | 2017-02-22 | 江苏科技大学 | Underwater biomimetic robotic fish |
| JP2018075702A (en) * | 2016-11-10 | 2018-05-17 | アイロ インコーポレイテッド | Multi-joint fish robot capable of rapid acceleration propulsion |
| WO2018195918A1 (en) * | 2017-04-28 | 2018-11-01 | 博雅工道（北京）机器人科技有限公司 | Single-joint water machine fish |
| CN107144677A (en) * | 2017-07-05 | 2017-09-08 | 山东建筑大学 | A kind of freshwater aquiculture water quality monitoring system based on bionic machine fish |
| KR20190072232A (en) * | 2017-12-15 | 2019-06-25 | (주)아이로 | Fish robot |
| CN210592383U (en) * | 2019-08-21 | 2020-05-22 | 中国科学院自动化研究所 | Bionic robot fish for environmental monitoring |
Non-Patent Citations (1)
| Title |
|---|
| 梁建宏, 王田苗, 魏洪兴, 陶伟: "水下仿生机器鱼的研究进展II―小型实验机器鱼的研制", 机器人, no. 03, pages 234 - 238 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060667A (en) * | 2019-11-27 | 2020-04-24 | 北京农业智能装备技术研究中心 | Self-generating water pollution three-dimensional measuring device and measuring method |
| CN111204428A (en) * | 2019-12-18 | 2020-05-29 | 杭州电子科技大学 | Towed body suitable for diving area |
| CN112357030A (en) * | 2020-11-16 | 2021-02-12 | 江苏科技大学 | A water quality monitoring machine fish for ocean or inland river lake |
| CN113311848A (en) * | 2021-04-30 | 2021-08-27 | 江苏科技大学 | Underwater detector and surrounding edge obstacle avoidance method thereof |
| CN113311848B (en) * | 2021-04-30 | 2022-12-30 | 江苏科技大学 | Underwater detector and surrounding edge obstacle avoidance method thereof |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
| CN114771785B (en) * | 2022-04-30 | 2024-02-27 | 深圳大学 | Underwater bionic fish |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110356536A (en) | A kind of bionic machine fish of Environment Oriented monitoring | |
| US11059553B2 (en) | Autonomous ocean data collection | |
| CN101337494B (en) | Amphibious bionics robot | |
| CN103085955B (en) | Sea turtle four-fin flapping imitating type autonomous underwater robot | |
| CN110386238A (en) | A kind of complete extra large depth ARV underwater robot structure | |
| CN204979196U (en) | Multiaxis robot under water | |
| CN108639286B (en) | Control method of four-rotor spherical underwater robot | |
| CN106530660A (en) | Underwater unmanned ship control system | |
| CN207052081U (en) | A kind of underwater unmanned boat control system | |
| AU2016301238B2 (en) | Water drone | |
| CN105775082A (en) | Bionic robotic dolphin for water quality monitoring | |
| CN206584514U (en) | A kind of unmanned boat control system under water | |
| CN106737703A (en) | Rescue robot under water and its rescue mode based on wireless telecommunications | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN211139628U (en) | Remote-controlled robot suitable for underwater operation | |
| CN209043886U (en) | A kind of portable multi-function solid water quality detection device | |
| CN112357026A (en) | Carry on underwater robot of multiple function module and ecosystem thereof | |
| CN206243417U (en) | A kind of dish-shaped submarine navigation device based on eddying motion | |
| CN108058797A (en) | A kind of more body cruise systems of the miniature formula that snorkels towards the underwater topography measurement of islands and reefs | |
| CN109367741B (en) | Deformable unmanned submarine vehicle and application method thereof | |
| CN113189670B (en) | Benthonic floating hybrid type underwater mobile detection platform and detection method thereof | |
| CN113799948A (en) | Portable submarine cable inspection unmanned underwater vehicle | |
| CN210592383U (en) | Bionic robot fish for environmental monitoring | |
| CN211731772U (en) | Split towing cable type water surface-underwater unmanned aircraft | |
| CN114407592B (en) | Amphibious unmanned patrol car capable of realizing real-time communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220722 Address after: No.95, Zhongguancun East Road, Haidian District, Beijing 100089 Applicant after: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Address before: 100080 No. 95 East Zhongguancun Road, Beijing, Haidian District Applicant before: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Applicant before: ZHONGKE BUSIDE (LUOYANG) INTELLIGENT CONTROL TECHNOLOGY CO.,LTD. |
|
| TA01 | Transfer of patent application right |