CN1676419A - Small-sized bionic machine fish - Google Patents
Small-sized bionic machine fish Download PDFInfo
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- CN1676419A CN1676419A CN 200510064202 CN200510064202A CN1676419A CN 1676419 A CN1676419 A CN 1676419A CN 200510064202 CN200510064202 CN 200510064202 CN 200510064202 A CN200510064202 A CN 200510064202A CN 1676419 A CN1676419 A CN 1676419A
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Abstract
The present invention relates to a small-type bionic machine fish. It comprises rigid fish head, elastic fish body connected with fish head, imitation fin mechanism, including left and right and pectoral fins and crescent tail fin and power supply device, control device and counterweight block which are placed on the aluminium skeleton in the fish head. It is characterized by that the interior of said fish head is equipped with visual system including video-frequency and audio-frequency sensors, boost up circuit module and voltage-stabilizing circuit module, the mouth portion of said fish head is equipped with a transparent sealed window whose upper portion has 1-2 auxiliary light sources, the transmitting and receiving antennas are respectively placed on the top of fish head and respectively connected with sensors and control device. The visual receiving device, image collection identification module, intelligent movement decision module and control signal transmitting module and placed in the control centre outside of machine fish.
Description
Technical field
The present invention relates to a kind of small-sized bionic machine fish.
Background technology
The fast development of MEMS (Micro Electro Mechanical System, MEMS) technology makes the miniaturization of system architecture and the intellectuality of micro-miniaturisation and information processing become possibility.Based on the MEMS device, advance mechanism and Robotics in conjunction with fish, make up a kind of microminiature operating system---bionic machine fish, for development high efficiency, high maneuverability, low noise and easily hidden submarine navigation device provide a kind of new approaches.With small-sized machine fish is carrier, assembles various microminiature sensors, utilizes modern control and means of communication, can constitute the sensor that moves about of the imitative fish of a cover.The small-sized machine fishing gear of assembling different sensors has good manoevreability and hidden property, can be in narrow space operation and realize the low noise motion, do not upset working environment.These characteristics are not available as angle of rake underwater hiding-machine or naval vessel with screw propeller.In case technology maturation, on the one hand, aspects such as under-water operation, marine monitoring, marine life observation, military surveillance and the removal of mines that microminiature machine fish will be under complex environment, mine-laying performance significant role.On the other hand, microminiature machine fish has good technical displaying property as the integrated product of multiple new and high technology, in fields such as amusement, education, science popularization, exhibitions potential DEVELOPMENT PROSPECT is arranged also.
1994, article one machine fish was succeeded in developing in the U.S. in the world.This fish is about 1.2m, by the swing of body and tail fin, can move about as true fish, and speed reaches as high as 2m/s.At home, in December, 2004, but BJ University of Aeronautics ﹠ Astronautics's robot research and Institute of Automation Research of CAS developed a kind of bionic machine fish of practical application.The long 1.23m of this fish is made up of power propulsion system, image acquisition and image signal radio transmission system, computing machine command and control platform three parts, and has been successfully applied to the shooting archaeology in Zheng Chenggong's battleship ruins.In archaeology is surveyed, by loading onto a pick up camera in the machine fish body, picture signal is passed through " fish " long cable on one's body, is sent to earlier in the projector that floats on the surface, the wireless again image receiving system that passes on the bank, thus the archaeology personnel just can see live broadcast.It no matter is the machine fish that the U.S. machine fish of developing or China develop voluntarily, its body is long all greater than 1 meter, and complex structure, cost is higher, volume is bigger, not integrated airborne camera, the picture signal of being gathered also only is used for monitoring, and is not used in vision control.This is narrow and small to some spaces, need the demanding operation occasion of maneuverability, and existing large-scale machine fish obviously can not meet the demands.Therefore, press for the small-sized bionic machine fish of developing a kind of integrated micro camera, can be used for vision control.Because the entire machine fish system will work long hours under water, on the one hand, little on the volume had higher requirement to appearance design, electronics package, machine up, power supply supply, sealing mechanism and the mode of machine fish; On the other hand, in the planing machine human visual system, adopt the components and parts of low-power consumption, small size, and an integral body is made by itself and camera and lighting system under water the most at last as far as possible.So not only can reach the requirement of reduced volume, reduction power consumption, can also improve the antijamming capability of system.At bionic machine fish field or blank out, remain exploitation before this small-sized machine fish eyes with vision controllable function.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of small-sized bionic machine fish with vision controllable function.
For achieving the above object, the present invention takes following technical scheme: a kind of small-sized bionic machine fish, it comprises rigidity fish head, with a described fish bonded assembly elasticity fish body, comprise a left side, right pectoral fin and crescent tail fin are at interior bionic fin mechanism and be arranged on the supply unit on the aluminum skeleton in the described fish head, control setup and clump weight, it is characterized in that: in described fish head, also be provided with a cover sighting device, described sighting device comprises and is arranged on the procephalic carriage of described fish, be arranged on video and audio sensor on the described carriage, be arranged on the described carriage and connect boosting of described sensor and supply unit, the mu balanced circuit module, corresponding with described sensor, mouth at described fish head is provided with a transparent sealing window, above described window, be provided with 1～2 bundle secondary light source, gather the emitting antenna of video and audio signal and the receiving wire of reception control command and be separately positioned on described fish head, and connect described sensor and control setup, visual reception device respectively, the image acquisition identification module, the smart motion decision-making module, the control signal transmitter module all is arranged on the exterior control center of machine fish.
Described fish body comprises actuating device and elastic soft; Described actuating device comprises a plurality of support frames that are arranged in order and the DC servo motor that is separately positioned on each described support frame, upper and lower being connected alternately on the next support frame of described each adjacent motor output end direction, first described support frame is connected the aluminum skeleton afterbody of described fish head, and last described motor connects described crescent tail fin by a push-and-pull rod; Described elastic soft comprises 1～2 elliptical ring that is connected each support frame outside face, is connected to two spring leafs on each described elliptical ring back of the body, the abdomen in turn, and the undulatory waterproof fish-skin that is coated on each described elliptical ring and spring leaf outside.
Two described spring leafs of the back of the body, abdomen setting are separately positioned on the inside and outside both sides of same elliptical ring, and same described spring leaf is separately positioned on the inside and outside both sides of adjacent two described elliptical rings.
Described fish body comprises actuating device and elastic soft; Described actuating device comprises a plurality of support frames that are arranged in order and the DC servo motor that is separately positioned on each described support frame, upper and lower being connected alternately on the next stage support frame of described each adjacent motor output end direction, first described support frame is connected the aluminum skeleton afterbody of described fish head, and last described motor connects described crescent tail fin by a push-and-pull rod; Described elastic soft comprises a spindle shape deformed spring that is connected to each support frame outside face in turn, and the undulatory waterproof fish-skin that is coated on each described spring outside.
On described aluminum skeleton, a DC servo motor is set, described motor by gear drive connect described about two pectoral fins, described two pectoral fins adopt dynamic seal with being connected of described fish head, promptly add a little Sheng oil box at water-sealed bearing, the lubricating oil of annotating in little Sheng oil box.
Described bionic fin mechanism also comprises the dorsal fin of the joint that is arranged on described fish head and elasticity fish body, is arranged on the abdomeinal fin and the anal fin that is arranged on described elasticity fish body below of described fish head below.
On described aluminum skeleton, connect one and drive the DC servo motor that described dorsal fin rotates.
The present invention is owing to adopted above technical scheme, it has the following advantages: 1, the present invention is owing to be provided with a sighting device, therefore can pass through controlled in wireless mode and high speed data transmission, make machine fish visual surround easily and flexibly, and vision signal handled and discern, extract environmental information exactly, according to the motion of the utilization smart motion control algorithm high-speed decision machine fish of the environmental information around the machine fish in water, the action that small-sized machine fish can be finished march on towards given color target or avoid the obstacle of given color.2, the present invention adopts very compact " collapsible " actuating device of structure, not only occupy little space, and also Stability Analysis of Structures, it is flexible, easy and simple to handle to move, and the craspedodrome of the simulation that can be really true to life fish in water moved about and turning motion.3, the present invention adopts the elliptical ring similar to the fish body section, be connected the elastic soft that spring leaf between the elliptical ring and waterproof fish-skin are formed, make the present invention not only simulate native species in shape more realistically, and in the process of moving about, can keep stable body, make discrete hunting motion level and smooth relatively, thereby reduce the hydrodynamics resistance, improve propulsion coefficient.Small-sized bionic machine fish with vision controllable function provided by the invention has been widened the field of application of machine fish.On the one hand, for the exploitation of small intelligent " pet " fish provides technical foundation, on the other hand, small-sized machine fish can be applied to archaeology, exploration and the scouting etc. under the confine waters.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is that sighting device of the present invention is installed in the structural representation on the fish head
Fig. 3 is a fish body structure scheme drawing of the present invention
Fig. 4 is a control setup structured flowchart of the present invention
Fig. 5 is a pectoral fin structural representation of the present invention
Fig. 6 is a dorsal fin structural representation of the present invention
The specific embodiment
Below according to preferred embodiment of the present invention, and conjunction with figs. is described further technical scheme of the present invention.
As shown in Figure 1, the present invention includes rigidity fish 10, elasticity fish body 20, bionic fin mechanism 30, supply unit 40, control setup 50, and be arranged on the sighting device 60 in the fish 10, form the actuating device 70 and the elastic soft 80 of elasticity fish body 20.
Fish of the present invention 10 employing glass-felt plastic or a pmma material by inblock cast or split leak free mode, are made according to the streamlined contour of biological fish.Fish 10 inner hollow, its internal fixation is provided with aluminum skeleton 11, connects supply unit 40, control setup 50 etc. on aluminum skeleton 11.Supply unit 40 adopts the chargeable battery of low power density, high energy storage, Ni-MH battery group such as 4.8V/4000mAh, the charging plug 12 of battery pack is drawn and is fixed on the fish 10 from fish 10 top, coats with sealing shroud at ordinary times, pulls down during charging and can use.Fish 10 top also are reserved with the hole 13 of leaking hunting, and are used to detect the air-tightness of fish body.Fish 10 top also are provided with video/audio emitting antenna 14 and receiving wire 15.In fish 10 bottom clump weight 16 is housed, is used for regulating the balance of machine fish.
As shown in Figure 1 and Figure 2, sighting device 60 of the present invention is arranged on fish 10 front end, it comprises that one is fixed on carriage 63 on the fish 10 by screw 61,62, at carriage 63 camera as video and audio sensor 64 is installed, can be adjusted the orientation of sensor 64 by micrometer adjusting screw 61 and 62.On saddle 63, also be provided with and connect the boosting of sensor 64, mu balanced circuit module 65, circuit module 65 is by wire connecting power device 40, and the video and audio signal that sensor 64 is gathered is sent to the control center that is arranged on machine fish outside by emitting antenna 14 and is used for vision control.Corresponding with the position of sensor 64, mouth fish 10 is provided with a transparent sealing window 66, window 66 can adopt ultra-thin transparent, unworn organism glass sheet and fish 10 bonding making, between organism glass sheet and sensor 64, leave a fixed gap, so that adjust the focal length and the pose of camera lens.Flake position above window 66 is provided with a pair of secondary light source 67, is used for underwater illumination.Secondary light source 67 can adopt low-power consumption, higher source luminances such as high brightness LED.The reception control part of sighting device 60 is arranged on control center, and this part will be described in conjunction with control setup 50 below together, does not give unnecessary details earlier at this.
As Fig. 1, shown in Figure 3, fish body 20 of the present invention comprises actuating device 70 and elastic soft 80, and actuating device 70 comprises a plurality of support frames 71, fixes a DC servo motor on each support frame 71.The structure of each support frame 71 is existing in the prior art to be described, feature of the present invention is the afterbody that first support frame 71 is fixed on aluminum skeleton 11 in the fish 10, the servomotor A mouth of installing on first support frame 71 is connected downwards on second support frame 71 ', drives second support frame 71 ' and horizontally rotates; Second support frame 71 ' gone up the servo motor B mouth of installing and upwards is connected the 3rd support frame 71 " on, drive the 3rd support frame 71 " horizontally rotate; The 3rd support frame 71 " upward the servomotor C mouth of installation is downward ...; the rest may be inferred; each servomotor A, B, C, D, E with each support frame 71, couple together like this one on the other, forms very compact " collapsible " actuating device 70 of a structure.Elastic soft 80 comprises 1～2 elliptical ring 81 very approximate with fish body 20 cross sectional shapes that is connected on each support frame 71 outside face, connect by being arranged on the back of the body, abdomen both direction upper spring sheet 82,83 mutually between the adjacent elliptical ring 81, and spring leaf 82,83 is connected with elliptical ring 81 in upper and lower staggered mode.The spring leaf 82 that is same elliptical ring C1 back is connected with its outside, the spring leaf 83 of belly and its inboard connection; For adjacent elliptical ring C2, the spring leaf 82 at back and its inboard linking to each other, and the spring leaf 83 of belly is connected with its outside ..., the rest may be inferred.When elastic soft does to imitate the fish swing, each elliptical ring 81 is back of the body abdomen both sides one side tensions with respect to the relation of spring leaf 82 or 83, the opposite side pressurized, an elliptical ring 81 stretches, adjacent elliptical ring 81 is extruded, kinetic energy in the time of both can having stored imitative fish swing can cushion again, level and smooth multiarticulate mechanical type swing, increases the verisimilitude of motion.Elliptical ring 81 can be used toughness and elasticity, and all well corrosion-resistant steel or its elastic composite are made.Coat undulatory waterproof fish-skin 84 in each elliptical ring 81 and spring leaf 82,83 outsides and constitute one and both had globality, it is flexible again to move, and can reduce the elastic soft 80 of the hydrodynamics resistance in the process of moving about.Fish-skin 84 and fish 10 links to each other, and fit sealing or bonding is adopted in the junction.
As shown in Figure 4, control setup 50 of the present invention comprises video and audio signal receiving device 55, image acquisition identification module 56, smart motion decision-making module 57, control signal transmitter module 58 compositions that place a fish in-to-in communication module 51, micro controller module 52, controlled variable memory module 53 and DC servo motor driver module 54 and be arranged on machine fish external control center.The vision signal in machine fish the place ahead that sighting device 60 is gathered is outwards launched by emitting antenna 14, link to each other with computing machine through receiving device 55, after vision signal process image acquisition identification module 56 processing of gathering, can extract the environmental information and the target information in machine fish the place ahead in motion process accurately and real-time.In conjunction with environmental information or the target information of machine fish, the output command of smart motion decision-making module 57 is sent to the machine fish through control signal transmitter module 58.After receiving wire 15 and communication module 51 processing, 52 bases of micro controller module are extracted controlled variable from the control command that communication module 51 receives, and provide the electric machine control order, and then realize decision-making motion well.Here, the basic controlled variable of moving about is stored in 53 li of controlled variable memory modules, can make amendment in real time, refresh by wireless communication module 51.DC servo motor driver module 54 is converted into the corner of DC servo motor in real time with the electric machine control parameter that receives, and utilizes the suitable swing of a plurality of motors to simulate fish moving about in water.
As shown in Figure 1, bionic fin mechanism 30 comprises pectoral fin 31, crescent tail fin 32, dorsal fin 33, abdomeinal fin 34 and anal fin 35.As shown in Figure 5, on the aluminum skeleton 11 in fish 10 DC servo motor 36, two pectoral fins 31 about motor 36 connects by gear drive 37 are set.By the rotational angle of control motor 36, can change the angle of attack and the lifting force of pectoral fin 31, realize come-up and the dive campaign of machine fish.Left and right pectoral fin 31 can one be controlled, and also can adopt two motors to control respectively.Dynamic seal is adopted in the junction of left and right pectoral fin 31 and fish 10, promptly adds a little Sheng oil box 39 at water-sealed bearing 38, and the lubricating oil of annotating little Sheng oil box 39 in reaches water repellant purpose.As shown in Figure 3, crescent tail fin 32 is connected with last servomotor E mouth of actuating device 70 by a push-and-pull rod 72, and does the sinusoid swing with push-and-pull rod 72.Dorsal fin 33 is positioned at fish 10 top, and its installation site is in the joint of fish 10 with elasticity fish body 20.As shown in Figure 6, dorsal fin 33 both can have been driven by a DC servo motor 17 and make left rotation and right rotation so that the centripetal force when turning to be provided, and also can maintain static, and only played decoration function.DC servo motor 17 is placed on the carriage 18, and carriage 18 links to each other with aluminum skeleton 11.As shown in Figure 1, abdomeinal fin 34 is positioned at fish 10 below, and anal fin 35 is installed in elasticity fish body 20 belows, both can play decoration function, can reduce the center of gravity of fish body again, increases the stability of machine fish swimming.
According to the said structure explanation, the applicant has made the small-sized machine fishes in 3 joints " great white shark " of one embedded minisize pick-up head.Use the stream line pattern fish head of the imitative shark profile of glass casting, link minitype digital servo motor set and elastic soft with the aluminum skeleton, made bionical tail fin with soft plastic board, and the miniature video camera system of an energy color image shot has been installed in fish head inside with certain flexibility.The 90 series A VR single chip computer AT mega162 that micro controller has selected for use atmel corp to release have the ability that drives 6 road PWM motor control signals, and the minitype digital FUTUBA motor-driven that volume is little, rotating speed is fast, moment of torsion is big is all adopted in each joint.This machine fish is about 380mm, and the highest trip scooter 0.42m/s, turn radius are that 1 times of body is long.By remote controller pattern or automatic control mode, small-sized machine fish can be finished the action of simply moving about in water, as quickening, slowing down, turn left, turn right, suddenly stop etc., and the vision signal in fish the place ahead can be sent back control center, maximum transmission rate is 500kbit/s.The vision signal that receives is used for the input of machine fish vision control after image recognition processing.The smart motion decision-making module is in real time according to the motion of environmental information decision-making machine fish in water of handling.At present, this small-sized machine fish can be finished the obstacle that marches on towards given color target or avoid given color.
In the foregoing description, the each several part structure all can change, and such as the soft body structure of elliptical ring 81 and spring leaf 82,83 formation, also can adopt a fusiform deformed spring to replace, and the joint quantity of actuating device 70 can be 3～10 joints, even more.The connection of some parts, and the composition of some circuit modules is simultaneously used with being connected to have, and belongs to known technology, or general knowledge as well known to those skilled in the art, so repeat no more.
The present invention is not subjected to the restriction of above each embodiment, and those skilled in the art all should be included within protection scope of the present invention without part replacement and improvement that creative work just can draw.
Claims (9)
1, a kind of small-sized bionic machine fish, it comprises rigidity fish head, with a described fish bonded assembly elasticity fish body, comprise a left side, right pectoral fin and crescent tail fin are at interior bionic fin mechanism and be arranged on the supply unit on the aluminum skeleton in the described fish head, control setup and clump weight, it is characterized in that: in described fish head, also be provided with a cover sighting device, described sighting device comprises and is arranged on the procephalic carriage of described fish, be arranged on video and audio sensor on the described carriage, be arranged on the described carriage and connect boosting of described sensor and supply unit, the mu balanced circuit module, corresponding with described sensor, mouth at described fish head is provided with a transparent sealing window, above described window, be provided with 1～2 bundle secondary light source, gather the emitting antenna of video and audio signal and the receiving wire of reception control command and be separately positioned on described fish head, and connect described sensor and control setup, visual reception device respectively, the image acquisition identification module, the smart motion decision-making module, the control signal transmitter module all is arranged on the exterior control center of machine fish.
2, small-sized bionic machine fish as claimed in claim 1 is characterized in that: described fish body comprises actuating device and elastic soft; Described actuating device comprises a plurality of support frames that are arranged in order and the DC servo motor that is separately positioned on each described support frame, upper and lower being connected alternately on the next support frame of described each adjacent motor output end direction, first described support frame is connected the aluminum skeleton afterbody of described fish head, and last described motor connects described crescent tail fin by a push-and-pull rod; Described elastic soft comprises 1～2 elliptical ring that is connected each support frame outside face, is connected to two spring leafs on each described elliptical ring back of the body, the abdomen in turn, and the undulatory waterproof fish-skin that is coated on each described elliptical ring and spring leaf outside.
3, small-sized bionic machine fish as claimed in claim 2, it is characterized in that: two described spring leafs of the back of the body, abdomen setting are separately positioned on the inside and outside both sides of same elliptical ring, and same described spring leaf is separately positioned on the inside and outside both sides of adjacent two described elliptical rings.
4, small-sized bionic machine fish as claimed in claim 1 is characterized in that: described fish body comprises actuating device and elastic soft; Described actuating device comprises a plurality of support frames that are arranged in order and the DC servo motor that is separately positioned on each described support frame, upper and lower being connected alternately on the next stage support frame of described each adjacent motor output end direction, first described support frame is connected the aluminum skeleton afterbody of described fish head, and last described motor connects described crescent tail fin by a push-and-pull rod; Described elastic soft comprises a spindle shape deformed spring that is connected to each support frame outside face in turn, and the undulatory waterproof fish-skin that is coated on each described spring outside.
5, as claim 1 or 2 or 3 or 4 described small-sized bionic machine fish, it is characterized in that: on described aluminum skeleton, a DC servo motor is set, described motor by gear drive connect described about two pectoral fins, described two pectoral fins adopt dynamic seal with being connected of described fish head, promptly add a little Sheng oil box, the lubricating oil of in little Sheng oil box, annotating at water-sealed bearing.
6, as claim 1 or 2 or 3 or 4 described small-sized bionic machine fish, it is characterized in that: described bionic fin mechanism also comprises the dorsal fin of the joint that is arranged on described fish head and elasticity fish body, is arranged on the abdomeinal fin and the anal fin that is arranged on described elasticity fish body below of described fish head below.
7, small-sized bionic machine fish as claimed in claim 5, it is characterized in that: described bionic fin mechanism also comprises the dorsal fin of the joint that is arranged on described fish head and elasticity fish body, is arranged on the abdomeinal fin and the anal fin that is arranged on described elasticity fish body below of described fish head below.
8, small-sized bionic machine fish as claimed in claim 6 is characterized in that: connect one and drive the DC servo motor that described dorsal fin rotates on described aluminum skeleton.
9, small-sized bionic machine fish as claimed in claim 7 is characterized in that: connect one and drive the DC servo motor that described dorsal fin rotates on described aluminum skeleton.
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| CNB2005100642023A CN100493990C (en) | 2005-04-12 | 2005-04-12 | Small-sized bionic machine fish |
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| CN100386243C (en) * | 2006-06-02 | 2008-05-07 | 浙江大学 | Waving bionic robot fish |
| CN100442185C (en) * | 2006-09-01 | 2008-12-10 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN100465065C (en) * | 2006-12-11 | 2009-03-04 | 北京大学 | Modularized bionic robot fish |
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| CN101486377B (en) * | 2009-02-27 | 2010-11-03 | 北京航空航天大学 | Flexible pectoral fin swing type underwater bionic robot |
| CN102303700A (en) * | 2011-05-26 | 2012-01-04 | 中国科学院自动化研究所 | Multiple control surface robotic fish with embedded vision |
| CN103433927A (en) * | 2013-08-19 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Method for designing shallow water observing level underwater robot |
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| CN100386243C (en) * | 2006-06-02 | 2008-05-07 | 浙江大学 | Waving bionic robot fish |
| CN100442185C (en) * | 2006-09-01 | 2008-12-10 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN100465065C (en) * | 2006-12-11 | 2009-03-04 | 北京大学 | Modularized bionic robot fish |
| CN100584419C (en) * | 2007-01-26 | 2010-01-27 | 梁钟铭 | Underwater driving method of simulated toy fish and simulated toy fish |
| CN101486377B (en) * | 2009-02-27 | 2010-11-03 | 北京航空航天大学 | Flexible pectoral fin swing type underwater bionic robot |
| CN101758916A (en) * | 2010-02-11 | 2010-06-30 | 北京大学 | Autonomous type robotic fish |
| CN101797971A (en) * | 2010-04-08 | 2010-08-11 | 北京航空航天大学 | Imitated codfish robot |
| CN101797971B (en) * | 2010-04-08 | 2012-12-19 | 北京航空航天大学 | Imitated codfish robot |
| CN102303700A (en) * | 2011-05-26 | 2012-01-04 | 中国科学院自动化研究所 | Multiple control surface robotic fish with embedded vision |
| CN103433927A (en) * | 2013-08-19 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Method for designing shallow water observing level underwater robot |
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