CN103895842A - Robotic fish capable of carrying water quality detection sensor - Google Patents
Robotic fish capable of carrying water quality detection sensor Download PDFInfo
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- CN103895842A CN103895842A CN201410128447.7A CN201410128447A CN103895842A CN 103895842 A CN103895842 A CN 103895842A CN 201410128447 A CN201410128447 A CN 201410128447A CN 103895842 A CN103895842 A CN 103895842A
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Abstract
The invention provides a robotic fish capable of carrying a water quality detection sensor. The robotic fish capable of carrying a water quality detection sensor comprises a robotic fish framework, a fishtail dynamics pushing mechanism and a control system, wherein the robotic fish framework is manufactured by simulating body forms of carangidae fish types; the fishtail dynamics pushing mechanism comprises a fishtail power device and a tail fin power device; the fishtail power device drives the whole fishtail to swing; the tail fin power device drives the tail fin to swing; body forms of carangidae fish types are adopted, a crescent-moon-shaped tail fin is adopted as the appearance of a propeller; the robotic fish moves in water, a dissolved oxygen sensor is used for sampling to obtain data, and the data are transmitted to an upper position machine by a wireless radio frequency transceiving module, and the cruise trajectory and relevant parameters are displayed via a visualized window of the upper position machine so as to draw a data analysis diagram. The robotic fish provided by the invention can be used for monitoring the water quality dynamically in real time at different positions of the whole water area and is high in monitoring frequency, and the measured data are good in precision and timeliness.
Description
Technical field
The invention belongs to water quality monitoring field, relate to a kind of artificial intelligence machine fish, relate in particular to a kind of machine fish that carries water quality detection sensor.
Background technology
Along with the quickening of growth, urbanization and the process of industrialization of urban population, a large amount of pollutantss are discharged into river, river, lake, sea, cause water quality sharply to worsen.The deterioration of water quality has influence on health on the one hand, also causes on the other hand large quantities of hydrobiont death.
Florida State fish and conservation of wildlife cuncil show that to fish kills causal investigation result 64% is because LDO causes between 1984-2002.Dissolved oxygen value is the one foundation of research water self-purification capacity, and the low explanation water pollution of dissolved oxygen is serious, and self-purification capacity is poor, a important indicator that therefore can be using dissolved oxygen as water quality monitoring.
Mostly traditional water quality detection method is manual operation, is mainly in some section or the monitoring point timing instantaneous sample of fixing a point, and then sample is taken back to lab analysis or field and is carried out in situ measurement.Because monitoring only limits to several sections and point, monitoring frequency is low, accuracy and the poor in timeliness of the data of surveying, and can not accomplish the water quality dynamic monitoring to waters in region, therefore, the generalization of this method is not strong.
Therefore, be badly in need of a kind of device that can carry out to full waters zones of different water quality real-time dynamic monitoring.
Summary of the invention
The object of the invention is to solve the defect that above-mentioned prior art exists, a kind of machine fish that carries water quality detection sensor is provided, utilize machine fish to cruise and move about and can carry out Real-Time Monitoring to full water area water-quality.
Adopt following scheme for reaching above object:
Carry a machine fish for water quality detection sensor, the machine fish skeleton of being made by imitative Scad section fish build, fish tail dynam pushing mechanism and composition of the control system; Described fish tail dynam pushing mechanism comprises fish tail engine installation and tail fin engine installation, described fish tail engine installation comprises the lower link one that one end is connected with machine fish skeleton, lower link one other end be flexibly connected for the disk that fish tail is installed, eccentric wheel one by driven by motor is installed on lower link one, on first, connecting rod one end is connected with eccentric wheel one, the other end is flexibly connected with disk, drives disk to swing by connecting rod on first; Described tail fin engine installation comprises the lower link two that one end is fixedly connected with disk, lower link two other ends are flexibly connected with tail fin, eccentric wheel two by driven by motor is installed on lower link two, on second, connecting rod one end is connected with eccentric wheel two, the other end is flexibly connected with tail fin, drives tail fin to swing by connecting rod on second; Described control system comprises the microcontroller being installed on machine fish skeleton, the dissolved oxygen sensor being connected with microcontroller respectively, for the radio frequency transceiving module of communicating by letter with upper computer, for fish tail dynam pushing mechanism provides the movable propeller module of power, servo driving module and the power supply for control system power supply.
Described control system also comprises the water tank being arranged on machine fish skeleton and is arranged on the water pump by microprocessor control on water tank.
Described control system also comprises the pH sensor being connected with microcontroller.
Described dissolved oxygen sensor and pH installation of sensors are in machine fish skeleton head.
Described microcontroller adopts cc2530 treater, and described radio frequency transceiving module adopts Zigbee module.
The amplitude peak that described fish tail engine installation and tail fin engine installation drive fish tail pendulum and tail fin to swing is 30 °.
Described microcontroller is also connected with transceiving data temporary storage.
The machine fish that the present invention can be carried water quality detection sensor utilizes machine fish to cruise and moves about water quality is carried out to Real-Time Monitoring, this machine fish adopts Scad section fish build, and adopt lunate tail fin as propelling unit profile, machine fish moves about in water, dissolved oxygen sensor sampling obtains data and transfers to upper computer by radio frequency transceiving module, and show that in upper computer visualization window its cruise track and relevant parameter are to carry out data analysis figure, compare traditional artificial sample mode, utilize machine fish of the present invention to carry out water quality real-time dynamic monitoring at full waters diverse location, monitoring frequency is high, the accuracy of the data of surveying and ageing good.
Accompanying drawing explanation
Fig. 1 is the structural representation of machine fish skeleton of the present invention;
Fig. 2 is the structural representation of fish tail dynam pushing mechanism in the present invention;
Fig. 3 is the structured flowchart of control system of the present invention;
Fig. 4 is the internal drive schematic diagram of steering wheel driver module in the present invention;
Fig. 5 is DO electrode signal modulate circuit of the present invention;
Fig. 6 is control flow chart of the present invention;
Fig. 7 is machine fish sensor-based system block diagram of the present invention;
Fig. 8 is machine fish power system block diagram of the present invention.
The specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawing in the present invention, the technical scheme in the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As Figure 1-3, the present invention is combined Modern Sensor Technology application with artificial intelligence machine fish, organically merge in traditional water quality research, and increase the frequency of original water quality detection, make water quality testing data have more ageing and accuracy, can be used for the variation of dynamic monitoring appointment water area water-quality.
Key problem in technology of the present invention and the key technical indexes: be structure design, radio communication, circuit layout, programming control, visual software Processing System Design etc.Finally to realize the motion upper function control fish, the display device fish track of cruising, and returned data is analyzed etc.
Fig. 1 is the design of the overall skeleton of machine fish, and design and fish tail dynam that the structure of machine fish is divided into overall skeleton promote machine design two parts.Machine fish structure reduces resistance of motion when moving about, the efficiency that makes to swim is high, select imitative Scad flying fish body to make, afterbody power adopts two joints to comprise fish tail engine installation and tail fin engine installation, first segment drives tail swing, second section drives tail fin 6 to swing, and makes that machine fish moves about fast, flexible and high efficiency.
Fig. 2 is the structural representation of fish tail dynam pushing mechanism, described fish tail engine installation comprises the lower link 1 that one end is connected with machine fish skeleton 1, lower link one 2 other ends be flexibly connected for the disk that fish tail is installed, eccentric wheel 1 by driven by motor is installed on lower link 1, on first, connecting rod 4 one end are connected with eccentric wheel 1, the other end is flexibly connected with disk, drives disk to swing by connecting rod 4 on first; Described tail fin engine installation comprises the lower link 25 that one end is fixedly connected with disk, lower link 25 other ends are flexibly connected with tail fin 6, eccentric wheel 27 by driven by motor is installed on lower link 25, on second, connecting rod 8 one end are connected with eccentric wheel 27, the other end is flexibly connected with tail fin 6, drives tail fin 6 to swing by connecting rod 8 on second; It is 30 ° that two joints swing each joint amplitude peak of mechanokinetics, chooses suitable rotating speed ratio and makes its actv. propelling thrust.
The hardware system of machine fish adopts the main control chip that the cc2530 of TI company is kernel, comprise power unit, drive part, five stiffness part circuit layout that sensor is processed and Zigbee wireless communication part grades, design frame chart is as Fig. 3, microcontroller respectively with dissolved oxygen sensor, pH sensor, for the radio frequency transceiving module of communicating by letter with upper computer, servo driving module with provide the movable propeller module of power to be connected for fish tail dynam pushing mechanism, power supply is whole control system power supply, described dissolved oxygen sensor and pH installation of sensors are in machine fish skeleton 1 head, microcontroller is also connected with the temporary memory device of transceiving data.Described control system also comprises the water tank that is arranged on machine fish skeleton 1 and is arranged on the water pump by microprocessor control on water tank, by controlling the water yield of opening and closing regulating tank of water pump, to adjust floating or dive of machine fish in water.
If Fig. 4 is the internal drive schematic diagram of servo driving module, the drive part of machine fish mainly adopts steering wheel to realize, and fish body afterbody is realized power driven with the MG996R steering wheel that three brightness are contained.The pwm signal entering signal that treater provides is reconciled chip BA6688L and is obtained a DC offset voltage, and the voltage ratio of this DC offset voltage and potential device, obtains voltage difference and sends into motor driving integrated chip BAL6686 with drive motor rotating.In the time of electric machine rotation, drive potential device rotation by cascade reducing gear, until voltage difference is 0, motor stops operating.
The characteristic of electrochemical electrode is can directly chemical parameters be become to voltage output after solution in electrode and solution to be measured fully react, do not need external source, internal resistance is high, electric current is very faint, therefore signal condition part need to be amplified sampled value, it is high that the input impedance of measuring is wanted, and General Requirements is greater than 1012.The weak signal of electrode output, through π type CRC filter network, effectively reduces AC compounent, and 2 of front and back filtered electrical capacitance differs between several orders of magnitude, has guaranteed that the transition band of filter is wider, good wave filtering effect.The signal conditioning circuit of DO electrode is shown in Fig. 5.
Fig. 6 is control flow chart of the present invention, and workflow is as follows:
Main program is initialization system first, and the working parameter of initialization system mainly comprises the clock selecting of system bus, frequency setting, and the initialization setting of port, carries out the setting of A/D sample conversion, and compares calculating.In addition, also have the parameter setting of timer, and counting overflows and interrupts entering arranging of other service subprogram etc.Program is controlled the action of fish by reception control signal, will start corresponding motor control module and control the action of fish when receiving system while wanting fish to move.In the time receiving Information Monitoring signal system will start corresponding sensor control module gather corresponding Water-Body Information and preserve.In the time receiving the transmission signal of information, machine fish will transmit the Water-Body Information collecting and send upper computer to.Software flow pattern is shown in Fig. 6.
The previous various test methods of comparing, this experimental set-up not only controllability is good, easy to operate, and can cruise and carry out Real-Time Monitoring specifying in waters, and this brings great convenience for scientific research.
Upper computer sends to machine fish by the order in the orientation of cruising with wireless mode, and machine fish is carried out following operation by its inner microcontroller judgement after receiving order again, and the data that sensor is recorded are passed upper computer in real time back.The sensor-based system of machine fish and power system are shown in Fig. 7, Fig. 8, water tank 9 is installed on machine fish skeleton 1 and is arranged on the water pump 10 by microprocessor control on water tank 9, by the water yield in the opening and closing control water tank of water pump, realize rising and the decline of machine fish.
Main operational motion comprises as follows:
Machine fish rises: water tank water outlet;
Machine fish declines: water tank water intake;
Machine fish is turned right: only swing fish tail left;
Machine fish turns left: only swing fish tail to the right;
Machine fish advances: swing fast a fish tail to from left to right; Carry out balance by left and right pectoral fin simultaneously.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (7)
1. the machine fish that can carry water quality detection sensor, is characterized in that, the machine fish skeleton (1) of being made up of imitative Scad section fish build, fish tail dynam pushing mechanism and composition of the control system;
Described fish tail dynam pushing mechanism comprises fish tail engine installation and tail fin engine installation, described fish tail engine installation comprises the lower link one (2) that one end is connected with machine fish skeleton (1), lower link one (2) other end be flexibly connected for the disk that fish tail is installed, eccentric wheel one (3) by driven by motor is installed on lower link one (2), connecting rod on first (4) one end is connected with eccentric wheel one (3), the other end is flexibly connected with disk, drives disk to swing by connecting rod (4) on first; Described tail fin engine installation comprises the lower link two (5) that one end is fixedly connected with disk, lower link two (5) other ends are flexibly connected with tail fin (6), eccentric wheel two (7) by driven by motor is installed on lower link two (5), connecting rod on second (8) one end is connected with eccentric wheel two (7), the other end is flexibly connected with tail fin (6), drives tail fin (6) to swing by connecting rod (8) on second;
Described control system comprises the microcontroller being installed on machine fish skeleton (1), the dissolved oxygen sensor being connected with microcontroller respectively, for the radio frequency transceiving module of communicating by letter with upper computer, for fish tail dynam pushing mechanism provides the movable propeller module of power, servo driving module and the power supply for control system power supply.
2. machine fish according to claim 1, is characterized in that, described control system also comprises the water tank (9) being arranged on machine fish skeleton (1) and is arranged on the water pump by microprocessor control (10) on water tank (9).
3. machine fish according to claim 1 and 2, is characterized in that, described control system also comprises the pH sensor being connected with microcontroller.
4. machine fish according to claim 3, is characterized in that, described dissolved oxygen sensor and pH installation of sensors are in machine fish skeleton (1) head.
5. machine fish according to claim 3, is characterized in that, described microcontroller adopts cc2530 treater, and described radio frequency transceiving module adopts Zigbee module.
6. machine fish according to claim 3, is characterized in that, the amplitude peak that described fish tail engine installation and tail fin engine installation drive fish tail pendulum and tail fin (6) to swing is 30 °.
7. machine fish according to claim 3, is characterized in that, described microcontroller is also connected with transceiving data temporary storage.
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104724269A (en) * | 2015-03-25 | 2015-06-24 | 江苏科技大学 | Space engine-driven tail swing propelling plant |
| CN105129062A (en) * | 2015-09-29 | 2015-12-09 | 南安市腾龙专利应用服务有限公司 | Robot fish and fishtail working principle thereof |
| CN105539793A (en) * | 2016-03-10 | 2016-05-04 | 上海海洋大学 | Bionic robotic fish tail fin included angle changing mechanism with cruising mode and charging mode capable of being interchanged |
| CN105836083A (en) * | 2016-04-26 | 2016-08-10 | 哈尔滨工程大学 | Bionic fishtail structure driven by eccentric wheel |
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN106218842A (en) * | 2016-08-24 | 2016-12-14 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish detecting river composition |
| CN106980004A (en) * | 2017-05-19 | 2017-07-25 | 福建强闽信息科技有限公司 | A kind of water monitoring device snorkeled, supervisory systems and its application method |
| 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 |
| CN107648865A (en) * | 2017-10-27 | 2018-02-02 | 台山燊乐塑胶电子制造有限公司 | Can automatic cleaning fish tank toy fish |
| CN108169444A (en) * | 2017-12-25 | 2018-06-15 | 湖北华昱天辰环保节能科技股份有限公司 | A kind of machine fish for environmental monitoring |
| CN108512468A (en) * | 2018-04-09 | 2018-09-07 | 重庆东渝中能实业有限公司 | Driving device and driving control system |
| CN108627315A (en) * | 2018-05-21 | 2018-10-09 | 苏州科技大学 | Aquaculture monitors Bionic impeller three-dimensional emulation method and on-line monitoring method |
| CN109050851A (en) * | 2018-08-22 | 2018-12-21 | 重庆三峡学院 | Line drive-type machine fish |
| CN109060885A (en) * | 2018-09-21 | 2018-12-21 | 福州智闽科技有限公司 | A method of water body Monitoring Indexes are carried out using Biomimetic Fish |
| CN109596391A (en) * | 2018-11-14 | 2019-04-09 | 河海大学 | A kind of multi-functional hydrology environment-protective fishing device |
| CN110127016A (en) * | 2019-05-30 | 2019-08-16 | 福州大学 | A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method |
| CN110155283A (en) * | 2019-05-07 | 2019-08-23 | 常州大学 | A kind of unmanned submarine shallow sea detection device that tail-swinging advances |
| CN110539867A (en) * | 2019-09-17 | 2019-12-06 | 吕梁学院 | simulated water quality detection robotic dolphin |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
| 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 |
| CN111792008A (en) * | 2020-07-17 | 2020-10-20 | 威海海洋职业学院 | Aquaculture water quality monitoring bionic robot fish |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
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| CN104724269A (en) * | 2015-03-25 | 2015-06-24 | 江苏科技大学 | Space engine-driven tail swing propelling plant |
| CN105129062B (en) * | 2015-09-29 | 2017-03-15 | 南安市腾龙专利应用服务有限公司 | A kind of Biomimetic Fish and its method for work of fish tail |
| CN105129062A (en) * | 2015-09-29 | 2015-12-09 | 南安市腾龙专利应用服务有限公司 | Robot fish and fishtail working principle thereof |
| CN105539793A (en) * | 2016-03-10 | 2016-05-04 | 上海海洋大学 | Bionic robotic fish tail fin included angle changing mechanism with cruising mode and charging mode capable of being interchanged |
| CN105836083A (en) * | 2016-04-26 | 2016-08-10 | 哈尔滨工程大学 | Bionic fishtail structure driven by eccentric wheel |
| CN105836083B (en) * | 2016-04-26 | 2018-04-17 | 哈尔滨工程大学 | The bionic fish tail structure of eccentric wheel transmission |
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN106218842A (en) * | 2016-08-24 | 2016-12-14 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish detecting river composition |
| CN106218842B (en) * | 2016-08-24 | 2018-03-06 | 合肥凌翔信息科技有限公司 | A kind of Biomimetic Fish for detecting river composition |
| CN106980004A (en) * | 2017-05-19 | 2017-07-25 | 福建强闽信息科技有限公司 | A kind of water monitoring device snorkeled, supervisory systems and its application method |
| 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 |
| CN107648865A (en) * | 2017-10-27 | 2018-02-02 | 台山燊乐塑胶电子制造有限公司 | Can automatic cleaning fish tank toy fish |
| CN108169444A (en) * | 2017-12-25 | 2018-06-15 | 湖北华昱天辰环保节能科技股份有限公司 | A kind of machine fish for environmental monitoring |
| CN108512468A (en) * | 2018-04-09 | 2018-09-07 | 重庆东渝中能实业有限公司 | Driving device and driving control system |
| CN108627315A (en) * | 2018-05-21 | 2018-10-09 | 苏州科技大学 | Aquaculture monitors Bionic impeller three-dimensional emulation method and on-line monitoring method |
| CN109050851A (en) * | 2018-08-22 | 2018-12-21 | 重庆三峡学院 | Line drive-type machine fish |
| CN109050851B (en) * | 2018-08-22 | 2024-02-27 | 重庆三峡学院 | Line-driven robot fish |
| CN109060885B (en) * | 2018-09-21 | 2021-04-02 | 福州智闽科技有限公司 | Method for monitoring water body index by using bionic fish |
| CN109060885A (en) * | 2018-09-21 | 2018-12-21 | 福州智闽科技有限公司 | A method of water body Monitoring Indexes are carried out using Biomimetic Fish |
| CN109596391A (en) * | 2018-11-14 | 2019-04-09 | 河海大学 | A kind of multi-functional hydrology environment-protective fishing device |
| CN109596391B (en) * | 2018-11-14 | 2021-04-27 | 河海大学 | Multi-functional hydrology environmental protection fish device |
| CN110155283A (en) * | 2019-05-07 | 2019-08-23 | 常州大学 | A kind of unmanned submarine shallow sea detection device that tail-swinging advances |
| CN110127016A (en) * | 2019-05-30 | 2019-08-16 | 福州大学 | A kind of doublejointed mechanical fish tail portion propulsive mechanism and its working method |
| CN110127016B (en) * | 2019-05-30 | 2023-12-12 | 福州大学 | Double-joint mechanical fish tail propelling mechanism and working method thereof |
| CN110539867A (en) * | 2019-09-17 | 2019-12-06 | 吕梁学院 | simulated water quality detection robotic dolphin |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
| 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 |
| CN111792008A (en) * | 2020-07-17 | 2020-10-20 | 威海海洋职业学院 | Aquaculture water quality monitoring bionic robot fish |
| CN111792008B (en) * | 2020-07-17 | 2022-05-27 | 威海海洋职业学院 | Aquaculture water quality monitoring bionic robotic fish |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
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Application publication date: 20140702 |