CN101612987A - A kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator - Google Patents

Abstract

A kind of small-sized machinery fish system of the present invention based on the ion exchange polymer metal composite actuator, belong to the intellectual material applied technical field, this system is made up of locating base station 1, locating base station 2, locating base station 3 and machine fish 1, machine fish 2, remote controller and upper computer.Machine fish 2 passes to machine fish 1 with temperature and the angle information that collects; Machine fish 1 receives locating base station information, machine fish 2 information, and information is passed to remote controller; Super sonic infrared ray on the locating base station receives Measuring Time information and the temporal information that measures is passed to machine fish 1; Remote controller receives the full detail that machine fish 1 is sent, and passes to upper computer by the RS232 interface.Advantage of the present invention is that the high and low density of light weight, corresponding deformation, high tenacity, the response force output of IPMC is smaller, existing be to have increased a plurality of Circuits System on the machine fish basis of actuator with IPMC, make the more perfect function of machine fish.

Description

A kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator

Technical field

The invention belongs to the intellectual material application, designed a small-sized machinery fish system for actuator with a kind of ion exchange polymer metal composite.

Background technology

Ion exchange polymer metal composite (Ion-exchange polymer-metal composites is called for short IPMC) is the electroactive polymer material that a class is called as artificial-muscle, and it has the characteristic of low driving voltage, high strain-responsive.During making alive, it mechanically deform will occur on the IPMC material thickness.When IPMC was added alternating-current voltage/AC voltage, IPMC vibratory movement, its displacement were not only relevant with voltage magnitude also relevant with excitation frequency.Utilize this characteristic of IPMC can be with its tail fin actuator as bionic machine fish.The machine fish of researching and developing IPMC at present and be actuator also belongs to the exploratory stage, and the product that does not still have moulding comes out.

Summary of the invention

At the problem that prior art exists, system of the present invention proposes a kind of small-sized machinery fish system and control method based on the ion exchange polymer metal composite actuator.

Apparatus of the present invention are made up of locating base station 1, locating base station 2, locating base station 3 and machine fish 1, machine fish 2, remote controller and upper computer.Locating base station 1, locating base station 2, locating base station 3, machine fish 2, remote controller are by Zigbee and 1 communication of machine fish, and remote controller links to each other with upper computer by the RS232 interface from node, as shown in Figure 1.

Machine fish 1 is identical with the structure of machine fish 2, comprises singlechip controller, IPMC driving circuit, infrared transmitter, ultrasonic transmitter, digital compass, temperature sensor and radio frequency communications circuitry, as shown in Figure 2.

Described IPMC driving circuit comprises voltage stabilizer, two input nand gates, 4 half H bridge drivers.The input and output side of voltage stabilizer is connected to 255 electric capacity and plays pressure stabilization function, inserts NPN type aerotron between two input nand gates and singlechip controller pin, to the voltage gain of micro controller system.

Locating base station 1, locating base station 2 are identical with the structure of locating base station 3, are referred to as locating base station, comprise singlechip controller, infrared receiver, ultrasonic receiver and radio frequency communications circuitry, as shown in Figure 3.

Described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator, concrete control method is as follows: machine fish 1 is as combinator, and 2 conducts of machine fish are from node.Machine fish 1 outwards sends infrared ray and ultrasonic signal, receives the information of base station and the information of machine fish 2 simultaneously, and data message of itself gathering and the information that receives are passed to controller.

Data handle.

The method of the super sonic infrared radiation receiving circuit Measuring Time on the locating base station is as follows:

1) ultrasonic emitting head on the machine fish 1 and infrared diode send signal simultaneously, and infrared ray is different with the aerial propagation speed of super sonic, arrive the asynchronism(-nization) of locating base station.

2) infrared receiving terminal of locating base station receives infrared signal earlier, then the time meter of micro controller system is opened timing, stops time meter when locating base station receives ultrasonic signal.

The concrete grammar of machine fish coordinate was as follows during upper computer calculated:

Because the aerial speed of infrared signal is 3*10 ⁸M/s is much larger than the aerial propagation speed 340m/s of super sonic, so can think that the signal of infrared diode emission is received at once, the time of multiply by timing with hypracoustic speed is exactly the length of machine fish apart from locating base station then, and its location is to scheme shown in 26.

Can set up rectangular coordinate system as 26 figure according to the position of locating base station, the distance by L1, L2 and L3 can calculate the coordinate of machine fish in rectangular coordinate system, realizes the location of machine fish.The system of axes that to be set up by locating base station as shown in figure 27.

Establishing its coordinate at the A of Figure 27 point for the position of machine fish is (x, y, z), locating base station 1 is the origin of coordinates, locating base station 2 is (a for the M point coordinate, 0,0), locating base station 3 is (0 for the N point coordinate, b, 0), wherein a and b are that the value of known quantity L1, L2 and L3 can be calculated by the distance-finding method that preamble is mentioned, and can obtain following formula according to the geometric relationship shown in the last figure:

L1 ²＝x ²+y ²+z ² (1)

L2 ²＝(a-x) ²+y ²+z ²(2)

L3 ²＝x ²+(b-y) ²+z ²(3)

Above three equations of simultaneous can solve following result:

$x=\frac{{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="A2009100126970017H3.png,A2009100126970018H1.png"\; state="\{\{state\}\}">L</figure-callout>}1}^2-{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="A2009100126970017H2.png"\; state="\{\{state\}\}">L</figure-callout>}2}^2+a^2}{2a}---\left(4\right)$

$y=\frac{{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="A2009100126970017H3.png,A2009100126970018H1.png"\; state="\{\{state\}\}">L</figure-callout>}1}^2-{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="A2009100126970017H2.png"\; state="\{\{state\}\}">L</figure-callout>}2}^2+b^2}{2b}---\left(5\right)$

$z=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="A2009100126970017H2.png"\; state="\{\{state\}\}">L</figure-callout>}2}^2-x^2-y^2}---\left(6\right)$

Promptly can calculate the coordinate that A is ordered according to the value of the L1 that measures, L2 and L3.Since when upper computer shows demonstration be so that the calculating of plane coordinates z value can be omitted.

A kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator has embedded driver control software in the singlechip controller in the machine fish, be used to drive IPMC material promotion machine fish and advance; Positioning signal emission software is used to launch super sonic and infrared diode signal and digital compass Control Software, is used for control figure lining angle.

Wherein, singlechip controller drives the IPMC material and promotes the process that the machine fish advances in the machine fish, and method is as follows, as shown in figure 11:

Step 1. beginning;

The initialization of step 2.TIM2 time meter, pre-frequency division is set to 256;

Step 3.RD4=1, RD5=0;

Step 4.TIM2 time meter picks up counting;

Step 5.TIM2 time meter overflows counting variable and adds 1;

Step 6. judges whether count value reaches setting value 200, if execution in step 7 then;

Step 7. counter-rotating RD4 and RD5, the zero clearing of timing variable.

Singlechip controller emission super sonic and infrared diode signal process in the machine fish, concrete grammar is as follows, as shown in figure 12:

Step 1, beginning;

Step 2, the initialization of TIM2 time meter, pre-frequency division is set to 256;

Step 3, RD=1;

Step 4, TIM2 time meter pick up counting;

Step 5, TIM2 time meter overflow, and counting variable adds 1;

Step 6, counting variable are 98 o'clock, RD=0;

Step 7., counting variable are 100 o'clock RD=1, counting variable zero clearing, execution in step 4;

Control figure lining angle process in the singlechip controller in the machine fish, method is as follows, as shown in figure 13:

Step 1, beginning;

Step 2, close the positioning signal transmitting terminal, TIM3 picks up counting;

Step 3, when RD6=1 and RD6=0, wait for;

Step 4, the zero clearing of TIM3 timer value;

Step 5, TIM3 timing when RD6=1 stop during RD6=0;

Step 6, the chronometric data among the TIM3 is preserved;

Step 7, end.

Described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator has embedded reception positioning signal software in the singlechip controller in the locating base station, receive infrared ray and ultrasonic signal that the machine fish is launched.Infrared ray and ultrasonic signal method that reception machine fish is launched are as follows, as shown in figure 14:

Step 1, beginning;

Step 2, judge whether the value of RB5 is 0, if be 0 then execution in step 3, if be not 0, then execution in step 10;

Step 3, forbid that RB interrupts;

Step 4, the initialization of TIM3 time meter, frequency dividing ratio is set to 1: 4 frequency division;

Step 5, open the TIM3 time meter;

Step 6, judge whether TIM3 overflows (machine is judged automatically), and execution in step 10 if the time overflows, otherwise execution in step 7;

Step 7, judge whether RD7 is 1, if be 1 then execution in step 8, otherwise execution in step 6;

Step 8, close the TIM3 time meter, preserve the timing numeral;

Step 9, startup TIM2 time meter were delayed time 0.03 second;

Step 10, end.

Described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator, realize in the temperature sensor that AD conversion concrete steps are as follows:

Step 1, beginning;

Step 2, AD change initialization;

Step 3, startup AD conversion, and wait for and finishing;

Step 4, preservation transformation result;

Step 5, end.

Described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator, the main program design of each several part device is as follows:

1. machine fish 1 initial method control step is as follows, as shown in figure 16:

Step 1. beginning;

Step 2. initialization mainboard;

Step 3. starts the beat manager;

Step 4. configuration combinator address is in ROM;

Step 5. initializtion protocol stack module;

Step 6. initialization enables protocol stack module and radiofrequency signal transceiver;

Step 7. initialization starts new network;

Step 8. enters major cycle.

Machine fish 1 major cycle control method is as follows, as shown in figure 17:

Step 1. beginning;

Step 2. is called application layer cotasking function;

Step 3. starts building network, and the wait networking is finished;

Step 4. judges whether there is mistake in the networking process, if having mistake then execution in step 3, otherwise execution in step 5;

Step 5. starts network, allows interrupting device to insert;

Step 6. starts pseudo channel, opens TIM3 and TIM2 time meter;

Step 7. starts power function;

Step 8. judges whether satisfy to send data qualification, if execution in step 9 then, otherwise execution in step 10;

Step 9. is called the S2Task function and is launched data to remote controller;

Step 10. is called the D1Task function and is received data.

The control method of described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator, after machine fish 1 receives the data message of machine fish 2 and locating base station, whether send data qualification when judging enough, send data to remote controller as satisfying then.The S2Task function is as follows to the step of remote controller emission data, as shown in figure 18:

Step 1. beginning;

Step 2. is provided with active endpoint;

Step 3. judges whether the KVP transmission mechanism sets up success, if success then execution in step 4, otherwise execution in step 5;

Step 4. collecting temperature and angle-data send the data to remote controller;

Step 5. shows mistake;

Step 6. is returned.

The control method of described a kind of small-sized machinery fish system based on ion-exchange polymer metal composite actuator, machine fish 1 receive the data (D1Task function) that locating base station and machine fish 2 are sent, and the concrete operations step is as follows, as shown in figure 19:

Step 1. beginning;

Whether step 2. setting receives data, receives then execution in step 3 of data, otherwise execution in step 11;

Step 3. judges whether it is the locating base station header, is then execution in step 4 of locating base station header, otherwise execution in step 5; Wherein the locating base station header is used to distinguish locating base station and machine fish, shows with 82 system numerical tables.Locating base station 1 header is set to 1, and locating base station 2 headers are set to 2, and locating base station 3 headers are set to 3, and machine fish 2 headers are set to 4;

Step 4. data are kept in the locating base station variable;

Step 5. data are kept at from node machine fish variable;

Step 6. discharges communication data;

Step 7. judges whether to receive 3 range finding times, and its time is less than designated value 10ms, if receive then execution in step 8, otherwise execution in step 11;

Step 8. judge whether be coordinator machine fish 1 apart from the time, be execution in step 9 then, otherwise execution in step 10.Being meant apart from the time of combinator machine fish 1 wherein: combinator machine fish 1 receives the time of locating base station data for the first time;

Step 9. takes measurement of an angle and temperature, preserves data and adds header 1.Header 1 is meant the header of machine fish to the remote controller emission, is used to distinguish the data of machine fish 1 and machine fish 2;

Step 10. is preserved from node machine fish data, and adds header;

Step 11. is returned principal function.

Described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator, the concrete steps of machine fish 2 initialization procedures are as follows, as shown in figure 20:

Step 1. beginning;

Step 2. initialization mainboard;

Step 3. starts the beat manager;

The initialization of step 4. protocol stack module;

Step 5. initialization enables protocol module and radiofrequency signal transceiver;

Step 6. enters major cycle.

Machine fish 2 major cycle methods are as follows, as shown in figure 21:

Step 1. beginning;

Step 2. is called application layer cotasking function;

Step 3. initialization binding, receiver function and transmission function;

Step 4. judges whether to start configuration, if execution in step 6 then, otherwise execution in step 5;

Step 5. is configured;

Step 6 starts the node function and adds existing network.;

Step 7. judges whether the adding network is successful;

Step 8. starts TIM3 and TIM2 time meter;

Step 9. judges whether satisfy to send data qualification, satisfied then execution in step, otherwise execution in step;

Step 10. is called the S2Task function and is sent data to major joint machine fish;

Step 11. enters sleep pattern.

The process that machine fish 2 sends (function S 2Task) temperature and angle-data is as follows, as shown in figure 22:

Step 1. beginning;

Step 2. is measured temperature and angle-data;

Step 3. is provided with moving point;

Step 4. adds the base station header for the data that measure;

Step 5. sends data to combinator;

Step 6. finishes.

Described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator, the initialization of remote controller main program is identical with machine fish 2, and its major cycle step is as follows, as shown in figure 23:

Step 1. beginning;

Step 2. is called application layer cotasking function;

Step 3. initialization binding, receiver function and transmission function;

Step 4. judges whether to start configuration, if execution in step 6 then, otherwise execution in step 5;

Step 5. is configured;

Step 6. starts the node function, adds existing network;

Success when step 7. judge to add network, if success then execution in step 8, otherwise execution in step 6;

Step 8. is called the D1Task function and is received data;

Step 9. enters sleep pattern, execution in step 8.

Remote controller receiver function D1Task implementation method is as follows, as shown in figure 24:

Step 1. beginning;

Step 2. is provided with moving point;

Step 3. is called the data sink function, and the data separation that is about to receive is that machine fish 1 still is a machine fish 2, and preserves data;

Step 4. is called serial ports function output data and is given upper computer;

Step 5. empties data buffer;

Step 6. finishes.

The upper computer data processing method is as follows, as shown in figure 25:

Step 1. beginning;

Step 2. initialization interface;

Step 3. is waited for serial data;

Step 4. has judged whether serial data, if having then execution in step 5, otherwise execution in step 3;

Whether step 5. judge data validity, if effectively then execution in step 6, if invalid then execution in step 3.Wherein, data effectively are meant the header that meets machine fish 1 and machine fish 2.

Step 6. data handing, the coordinate of computing machine fish;

Step 7. shows operation result.

The light weight that beneficial effect: IPMC has, the high and low density of corresponding deformation, high tenacity, response force are exported smaller advantage, existing be to have increased a plurality of Circuits System on the machine fish basis of actuator with IPMC, make the more perfect function of machine fish.

Description of drawings

Fig. 1 is a kind of small-sized machinery fish system constructional drawing based on the ion exchange polymer metal composite actuator.

Fig. 2 is the functional module structure figure of machine fish from node and major joint machine fish.

Fig. 3 is locating base station functional module structure figure.

Fig. 4 is a remote-controller function module machine composition.

Fig. 5 is the microcontroller power supply circuit diagram.

Fig. 6 is an IPMC driver module circuit diagram.

Fig. 7 is a positioning signal transmission circuit scheme drawing.

Fig. 8 is a positioning signal acceptor circuit scheme drawing.

Fig. 9 is digital compass TC1047A and micro controller system PIC18F4620 junction circuit scheme drawing.

Figure 10 is the circuit diagram that temperature sensor links to each other with micro controller system.

Figure 11 is the driver module program flow diagram.

Figure 12 is a positioning signal launching procedure diagram of circuit.

Figure 13 receives program flow diagram for positioning signal.

Figure 14 is the temperature sensor program flow diagram.

Figure 15 is the temperature sensor program flow diagram.

Figure 16 is a major joint machine fish initialize routine diagram of circuit.

Figure 17 is a major joint machine fish main circulating program diagram of circuit.

Figure 18 is a S2Task function program diagram of circuit.

Figure 19 is a major joint machine fish receiver function program flow diagram.

Figure 20 is from node machine fish initialization flowchart.

Figure 21 is from node machine fish major cycle diagram of circuit.

Figure 22 sends the function program diagram of circuit from the node machine fish.

Figure 23 is a remote controller main circulating program diagram of circuit.

Figure 24 is a remote controller receiver function program flow diagram.

Figure 25 is the host computer procedure diagram of circuit.

Figure 26 is a machine fish positioning function scheme drawing.

Figure 27 is an elements of a fix schematic diagram calculation.

The specific embodiment

Embodiment:

Present embodiment selects for use the PIC18F4620 micro controller system as controller, and the peripheral pin of this micro controller system is illustrated in fig. 5 shown below, and the LP2981 among the figure is the voltage stabilizing chip of micro controller system, and its output voltage is 3.3V, is used for the power supply of micro controller system and radio frequency chip volume.Input end at the voltage stabilizing chip is connected to a Xiao Te diode 1N5817, and this diode is used for anti-backflow.The external 16M crystal oscillator of micro controller system.

The IPMC driving circuit is used to drive IPMC material promotion machine fish and advances, as shown in Figure 6.Wherein PIC18F4620 is a singlechip controller, and 7400 is two input nand gates, and 754410 is 4 half H bridge drivers, and 2941 is voltage stabilizer.

Power line voltage is that 9V gives 2941, is connected to the effect that 225 electric capacity plays voltage stabilizing at 2941 input and output sides, can regulate 2941 output voltage by regulating slide rheostat, and this voltage offers 754410 VCC2 pin.754410 is 4 half H bridge circuits, can be connected into a H bridge circuit according to the connection among the figure, its output valve is identical with VCC2, make 1 and 2 port be operated in paired pattern 1.2EN connect high level, 1Y is output as VCC2 when 1A is high level, when 2A is that high level is that 2Y is output as VCC2 during for high level, so just realized the counter-rotating of IPMC both end voltage.

Because 754410 outputs is power, directly controls its under power by the micro controller system pin, so control by 7400.7400 comprise wherein a pair of of 4 two input nand gates is used to control 754410, and another is to being used to control the infrared ray ultrasonic circuit.If the input of 3A and 3B is high level then 3Y output is level in 7400, if wherein to have one be low level then be output as high level.So because the height variation that the pin level of 3A is drawn high by control 3B level just can be controlled the output of 3Y, thereby control 754410.The output of 4Y mouth is identical with 3Y stomatodeum reason.

Because the operating voltage of micro controller system is 3.3V, so its magnitude of voltage can not surpass 3.3V when its RD4 or RD5 pin are output as high level, and 7400 input pin voltage should be higher than 3.3V, so 7400 and the micro controller system pin between inserted 8050 NPN type aerotron, when RD4 or RD5 pin were output as high level, the voltage of aerotron conducting output was added in enough drivings 7400 on the pin of 3B and 4B.

Be installed in the positioning signal transmission circuit on the machine fish body, regularly send infrared ray and super sonic by Single-chip Controlling, as shown in Figure 7, the pin of 555 timers can send square wave according to the connection shown in the top circuit diagram, can regulating cycle and dutycycle by the resistance of regulating slide rheostat.With the frequency adjustment of square wave to the 1A pin that obtains transmitting behind the 40KHz 7400.

Micro controller system pin RD0 and triode 8050 base stages are joined, and diode current flow device collecting electrode links to each other with 7400 1B pin when the leg signal of micro controller system is high level, and the signal of 40KHz and the control signal of micro controller system carry out passing to the 2A pin after the NAND operation.The 2B pin links to each other with anode, and the input of the input of 2A pin and 2B pin is carried out being exported by 2Y after the NAND operation again.Through twice with non-logic operation when the pin of micro controller system is output as 0,2Y exports the square-wave signal of 40KHz; When the pin of micro controller system was output as 1,2Y was output as 0.

When the pin control signal of micro controller system is 0, the square wave of 7400 2Y pin output 40KHz, this square wave is delivered to 4069 1A pin, and 4069 according to the formation of the connection shown in schematic diagram modulate circuit, can make ultrasonic transmitter produce resonance and send super sonic.

The base stage that the square wave of 7400 2Y pin output 40KHz is used for controlling triode 9013 simultaneously makes its continuous conducting or ends, thereby control infraluminescence diode is launched the signal of 40KHz.

Be installed in the positioning signal acceptor circuit on the locating base station, be used for the signal that receiving infrared-ray and super sonic send.Its circuit as shown in Figure 8, infrared receiving terminal links to each other with the RB5 pin, the voltage with RB5 after receiving infrared signal is set to low level.Super sonic receives head and receives behind the ultrasonic signal through passing to 311 after 5332 enough 10000 times of amplifications of two-stage.Through the signal after amplifying is the sinusoidal signal of 40KHz, is handled by 311 voltage comparators, by regulating a reference value that slide rheostat can the regulating voltage comparator, passes to the RD7 pin.When RD7 received ultrasonic signal, its pin level was changed to high level.

The digital compass of selecting for use is the CMPS30 digital compass, the KMZ51 magnetic field sensor of Philip has been installed on the digital compass has been surveyed the geomagnetic field, and be furnished with the PIC16F822 chip, and being used for processing data and output control, its output valve is the positive dirction of digital compass and the angle between the geomagnetic field.Digital compass is connected as shown in Figure 9 with the circuit of micro controller system, and the PWM ripple of CMPS30 output passes to the RD6 pin.

Temperature sensor adopts the TC1047A temperature sensor of little core company, and operating voltage is between 2.5～5.5V.The annexation of TC1047A and PIC18F4620 as shown in figure 10.Wherein VCC is an input voltage, and the output result of TC1047A passes to the RB0 pin of micro controller system.

Claims (10)

1, a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator is characterized in that: be made up of locating base station 1, locating base station 2, locating base station 3 and machine fish 1, machine fish 2, remote controller and upper computer; Locating base station 1, locating base station 2, locating base station 3, machine fish 2, remote controller are by Zigbee and 1 communication of machine fish, and remote controller links to each other with upper computer by the RS232 interface; Machine fish 1 is identical with the structure of machine fish 2, comprise singlechip controller, IPMC driving circuit, infrared transmitter, ultrasonic transmitter, digital compass, temperature sensor and radio frequency communications circuitry, wherein, embed driver control software in the singlechip controller, drive IPMC material promotion machine fish and advance; Embed positioning signal emission software, emission super sonic and infrared diode signal; The digital compass Control Software, control figure lining angle; The IPMC driving circuit comprises voltage stabilizer, two input nand gates, 4 half H bridge drivers, and the input and output termination electric capacity of voltage stabilizer inserts NPN type aerotron between two input nand gates and singlechip controller pin; Locating base station 1, locating base station 2 are identical with the structure of locating base station 3, comprise singlechip controller, infrared receiver, ultrasonic receiver and radio frequency communications circuitry, wherein singlechip controller embeds and receives positioning signal software, receives infrared ray and ultrasonic signal that the machine fish is launched.

2, the described small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 1 is characterized in that: singlechip controller drives the IPMC material and promotes the driving process that the machine fish advances in the described machine fish, and step is as follows:

Step 1. beginning;

The initialization of step 2.TIM2 time meter;

Step 3. makes RD4=1, RD5=0;

Step 4.TIM2 time meter picks up counting;

Step 5.TIM2 time meter overflows counting variable and adds 1;

Step 6. judges whether count value reaches setting value, if execution in step 7 then;

Step 7. counter-rotating RD4 and RD5, the zero clearing of timing variable.

3, the described small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 1 is characterized in that: singlechip controller emission super sonic and infrared diode signal process in the described machine fish, and step is as follows:

Step 1, beginning;

Step 2, the initialization of TIM2 time meter;

Step 3, make RD=1;

Step 4, TIM2 time meter pick up counting;

Step 5, TIM2 time meter overflow, and counting variable adds 1;

Step 6, counting variable are 98 o'clock, RD=0;

Step 7, counting variable are 100 o'clock RD=1, counting variable zero clearing, execution in step 4.

4, the described small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 1 is characterized in that: singlechip controller control figure lining angle process in the described machine fish, and method is as follows:

Step 1, beginning;

Step 2, close the positioning signal transmitting terminal, TIM3 picks up counting;

Step 3, when RD6=1 and RD6=0, wait for;

Step 4, the zero clearing of TIM3 timer value;

Step 5, TIM3 timing when RD6=1 stop during RD6=0;

Step 6, the chronometric data among the TIM3 is preserved;

Step 7, end.

5, the described small-sized machinery fish system of claim 1 based on the ion exchange polymer metal composite actuator, its feature in: singlechip controller in the described locating base station receives infrared ray and the ultrasonic signal that the machine fish is launched, and method is as follows:

Step 1, beginning;

Step 2, judge whether the value of RB5 is 0, if be 0 then execution in step 3, if be not 0, then execution in step 10;

Step 3, forbid that RB interrupts;

Step 4, the initialization of TIM3 time meter;

Step 5, open the TIM3 time meter;

Step 6, judge whether TIM3 overflows, and execution in step 10 if the time overflows, otherwise execution in step 7;

Step 7, judge whether RD7 is 1, if be 1 then execution in step 8, otherwise execution in step 6;

Step 8, close the TIM3 time meter, preserve the timing numeral;

Step 9, startup TIM2 time meter were delayed time 0.03 second;

Step 10, end.

6, the control method of the described small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 1, it is characterized in that: machine fish 1 is as combinator, 2 conducts of machine fish are from node, and digital compass takes measurement of an angle, the temperature sensor collecting temperature; Machine fish 2 outwards sends infrared ray and ultrasonic signal, simultaneously temperature and the angle information that collects is passed to machine fish 1; Machine fish 1 outwards sends infrared ray and ultrasonic signal, receives locating base station information, machine fish 2 information simultaneously, and data message of itself gathering and the information that receives are passed to remote controller; Super sonic infrared ray on the locating base station receives Measuring Time information and the temporal information that measures is passed to machine fish 1; Remote controller receives the full detail that machine fish 1 is sent, and passes to upper computer by the RS232 interface, and upper computer is handled data.

7, the control method of the described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 6 is characterized in that: described machine fish 2 passes to machine fish 1 with the temperature that collects and angle information and carries out according to the following steps:

Step 1. beginning;

Step 2. is measured temperature and angle-data;

Step 3. is provided with moving point;

Step 4. adds header for the data that measure;

Step 5. sends data to combinator;

Step 6. finishes.

8, the control method of the described small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 6 is characterized in that: the concrete steps that described machine fish 1 receives locating base station information, machine fish 2 information are as follows:

Step 1. beginning;

Whether step 2. setting receives data, receives then execution in step 3 of data, otherwise execution in step 11;

Step 3. judges whether it is the locating base station header, is then execution in step 4 of locating base station header, otherwise execution in step 5;

Step 4. data are kept in the locating base station variable;

Step 5. data are kept at from node machine fish variable;

Step 6. discharges communication data;

Step 7. judges whether to receive 3 range finding times, and its time is less than designated value, if receive then execution in step 8; Otherwise execution in step 11;

Step 8. judge whether be combinator machine fish apart from the time, be execution in step 9 then, otherwise execution in step 10;

Step 9. takes measurement of an angle and temperature, preserves data and adds header;

Step 10. is preserved from node machine fish data, and adds header;

Step 11. is returned principal function.

9, the control method of the described a kind of small-sized machinery fish system based on the ion exchange polymer metal composite actuator of claim 6 is characterized in that: described machine fish 1 is as follows with the concrete steps that the data message of itself gathering and the information that receives pass to remote controller:

Step 1. beginning;

Step 2. is provided with active endpoint;

Step 3. judges whether the KVP transmission mechanism sets up success, if success then execution in step 4, otherwise execution in step 5;

Step 4. sends data;

Step 5. shows mistake;

Step 6. is returned.

10, the control method of the small-sized machinery fish system based on the ion exchange polymer metal composite actuator according to claim 6, it is characterized in that: described upper computer is as follows to the data processing method:

Step 1. beginning;

Step 2. initialization interface;

Step 3. is waited for serial data;

Step 4. has judged whether serial data, if having then execution in step 5, otherwise execution in step 3;

Whether step 5. judge data validity, if effectively then execution in step 6, if invalid then execution in step 3;

Step 6. data handing;

Step 7. shows operation result, draws a diagram.

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