CN106364650A - Bionic robot fish - Google Patents

Abstract

The invention provides a bionic robot fish. The bionic robot fish comprises a robot fish body. The robot fish body comprises a shell, a head, fins, a framework and a motion control unit. The framework is wrapped by the shell. The head is installed at one end of the shell. The fins are connected to the shell. An action executing component is installed on the framework. The action executing component is controlled by the motion control unit, and the head, the fins and the framework are connected with the action executing component. The motion control unit controls the action executing component to move, thereby driving the head to complete opening and closing actions and a turning action, driving the fins to complete a swinging action and driving the tail of the framework to complete a swinging action. The bionic robot fish is flexible in motion control and high in control accuracy, and the action simulation degree of the bionic robot fish is greatly improved.

Description

Bionic machine fish

Technical field

The present invention relates to emulated robot is and in particular to bionic machine fish.

Background technology

It it is within 2016 artificial intelligence's first year, the alphago of Google makes a stir all over the world.Machine is the carrier of artificial intelligence technology, Thus, institute all over the world or company also release Duo Kuan robot, and from humanoid robot, service robot arrives the military War preparedness robot is it may be said that machine People's Bank of China vigorously intimately develops as mobile Internet then.Robot on the market How based on industrial robot and service robot, these robots are usually according to specific customizing functions, such as weld Robot, sweeping robot etc., it is just extremely difficult to make modification upgrading further in these robots, substantially will be again Design.And general robot developing platform introduction is relatively higher, and it is substantially major company's monopolization, expensive, some Little enterprise or individual are essentially without consideration.Those little robot developing platforms often provide only some development boards or exploitation Module, is only suitable for for learning or making easy toy.At present, it is badly in need of a kind of robot that exploitation is easy, the degree of modularity is high Development platform.In robot developing platform, motion process is the core of robot motion, how from single repeated action To intelligent high simulated actions, it is all the blank of current research field.

Conventional machine fish design is complicated, and execution is single, bionical low degree.

Content of the invention

It is an object of the invention to the problem above overcoming prior art to exist, provide bionic machine fish, the present invention moves Control flexibly, action simulation of robot degree is high.

For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:

Bionic machine fish, including machine fish, described machine fish includes shell, head, fin, skeleton, motor control list Unit；The described skeleton of described shell parcel；Described head is installed and described shell one end；Described fin is connected to shell On；Action executing element is provided with described skeleton；Described action executing element is by motion control unit control, described Head, fin, skeleton are connected with described action executing element respectively；Described motion control unit control action executive component Motion, drives described head to complete opening and closing movement, go to action, drives described fin to complete wobbling action, drives described Skeleton afterbody complete wobbling action.

Further, described machine fish also includes the device that rises and falls；Described sink-float device includes rise and fall controller, water pump Box, pressurized tank；It is provided with water pump, valve body in described water pump box；It is provided with water pocket, described water pocket and pressure in described pressurized tank It is tightly connected between tank；It is sealed with gas between described water pocket and pressurized tank；Described water pump, valve body are connected with sink-float controller Connect；Described water pump is connected by pipeline with water pocket；Pipeline between described water pump and pressurized tank is provided with valve body；Described Sink-float controller controls water feeding of water pump, application valve body switch.

Further, described machine fish also includes fault avoidnig device；Described fault avoidnig device includes avoidance obstacle device, distance Detector, transfer；Described avoidance obstacle device is connected with distance detector, transfer；Described distance detector inspection Survey in horizontal plane distance value and feed back to described avoidance obstacle device, described avoidance obstacle device judges according to distance value and controls Transfer processed turns to.

Further, described skeleton includes multiple hinged skeleton joints；Described skeleton joint includes one first Supporting part, one second supporting part and a connecting portion, described first supporting part and the second supporting part are parallel to each other, described connecting portion Two ends respectively with described first supporting part and the second supporting part is vertical is connected；Two the first supporting parts of two neighboring skeleton joint It is stacked up and down and by vertically arranged hinge, two the second supporting parts of two neighboring skeleton joint are stacked and logical up and down Cross vertically arranged hinge.

Further, described shell includes some shell joints；In shell joint described in two adjacent sections, near head The shell joint rear end of side is provided with a projection, and described raised thickness is less than the thickness in shell joint, two adjacent sections shell joint In be provided with a groove away from the front end in the shell joint of head side, described projection is contained in described groove, described raised thickness Degree makes to form a gap between two adjacent sections shell joint less than the thickness of described groove.

Further, described each shell joint includes a housing and at least and is fixed on the reinforcement in described inner walls Structure, each described skeleton joint be fixedly connected with the reinforcement structure in shell joint described in two and be located at shell joint described in two it Between.

Further, described action executing element includes motor, reel mounting seat, reel；Described reel By reel mounting seat and motor connection；Described motor rotates and drives described reel to turn to；Wire one end is fixed on On reel, the other end is fixed on skeleton or fin；Described action executing element also include power steering wheel, steering-engine, Auxiliary steering wheel；Described power steering wheel is connected with described skeleton afterbody；Skeleton head described in described steering-engine connects； Described auxiliary steering wheel is connected with fin.

Further, described machine fish also includes wire installation；Described wire installation includes outgoing line guide wheel, line excessively is led Wheel；Described outgoing line guide wheel is installed on action executing element and goes out on the skeleton of lead location, and described wire carrier excessively is installed on non- Action executing element goes out on the skeleton of lead location.

Further, described fin includes a fin skeleton, a fin shell；Described fin shell is coated on described fish Fin skeleton；Described fin skeleton includes a substrate, and described substrate is provided with least one groove；Described fin skeleton also includes some limits Bit architecture, described position limiting structure extends from described substrate, and described position limiting structure limits the bending degree of described groove.

Further, described machine fish also includes interactive system；Described interactive system includes:

Detection module, for detecting working signal；

Voice module, for when described working signal is detected, sending greeting voice；

First judge module, is used for judging whether to receive and the described greeting corresponding reply voice of voice；

Invite module, for when receiving with the described greeting corresponding reply voice of voice, sending invitation voice；

Second judge module, is used for judging whether to receive and the described invitation corresponding interactive voice of voice；

Interactive module, for when receiving with the described invitation corresponding interactive voice of voice, according to described interactive voice Enter corresponding interactive state；

Handover module, for according to the switching voice switching interactive state receiving；

Acquisition module, for gathering ambient parameter；

Prompting module, for reminding user environment change and points for attention according to ambient parameter.

The invention has the beneficial effects as follows: the present invention provides bionic machine fish, and including machine fish, described machine fish includes outer Shell, head, fin, skeleton, motion control unit；The described skeleton of described shell parcel；Described head install with described Shell one end；Described fin is connected on shell；Action executing element is provided with described skeleton；Described action executing By motion control unit control, described head, fin, skeleton are connected element respectively with described action executing element；Described Motion control unit control action actuator movement, drive described head to complete opening and closing movement, go to action, drive institute The fin stated completes wobbling action, drives described skeleton afterbody to complete wobbling action.Motor control of the present invention flexibly, controls essence Accuracy is high, greatly improves the emulator of bionic machine fish action.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after. The specific embodiment of the present invention is shown in detail in by following examples and its accompanying drawing.

Brief description

Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this Bright schematic description and description is used for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is the bionic machine fish perspective exploded view of the present invention；

Fig. 2 is the bionic machine fish enclosure structural representation of the present invention；

Fig. 3 is the apparatus structure schematic diagram that rises and falls on the bionic machine fish skeleton of the present invention；

Fig. 4 is the water pump box internal structure schematic diagram of the present invention；

Fig. 5 is the sink-float principle of device schematic diagram of the present invention；

Fig. 6 is the sink-float device pipeline schematic diagram of the present invention；

Fig. 7 is the action executing component structure decomposing schematic representation of the present invention；

Fig. 8 is guider and the skeleton joint assembling schematic diagram of the present invention；

Fig. 9 is the guider structural representation of the present invention；

Figure 10 is the fault avoidnig device avoidance principle schematic of the present invention；

Figure 11 is the bionic machine fish steering principle schematic diagram of the present invention；

Figure 12 is an axonometric chart of right one side of something shell of described bionic machine fish fish body structure.

Figure 13 is the axonometric chart of another angle of right one side of something shell of bionic machine fish fish body structure shown in Figure 12.

Figure 14 is an axonometric chart of the general shell in a shell joint of bionic machine fish fish body structure.

Figure 15 is an axonometric chart of shell at the fin in a shell joint of bionic machine fish fish body structure.

Figure 16 is an axonometric chart of the fitting-type shell in a shell joint of bionic machine fish fish body structure.

Figure 17 is the installation diagram with corresponding skeleton joint for the shell joint of bionic machine fish fish body structure.

Figure 18 is the complete installation diagram of a section of bionic machine fish fish body structure.

Figure 19 is the axonometric chart of the two adjacent sections shell of bionic machine fish fish body structure.

Figure 20 is a kind of bionic machine fish interactive system schematic flow sheet of the present invention；

In figure label: 1, shell；10th, shell joint；10a, general shell；Shell at 10b, fin；10c, cooperation shell； 11st, housing；12nd, reinforcement structure；121st, connecting hole；122nd, fixing hole；123rd, hollow out；13rd, key；14th, installing hole；15th, preposition outer Shell；151st, raised；16th, rearmounted shell；161st, groove；2nd, head；21st, lower jaw；22nd, distance detector；23rd, detection zone；3、 Afterbody；4th, Biomimetic Fish Fin；41st, fin skeleton；5th, skeleton；511st, the first supporting part；512nd, the second supporting part；513rd, connecting portion； 6th, action executing element；60th, power steering wheel；61st, reel mounting seat；62nd, reel；63rd, steering-engine；64th, assist steering wheel； 7th, rise and fall device；71st, water pump box；72nd, pressurized tank；711st, water pump；712nd, pressure transducer；713rd, valve body；721st, water pocket；722、 Gas；81st, outgoing line guide wheel；82nd, cross wire carrier；83rd, wire；100th, machine fish.

Specific embodiment

Below with reference to the accompanying drawings and in conjunction with the embodiments, to describe the present invention in detail.

Shown in reference picture 1-20, bionic machine fish, as shown in figure 1, being machine fish 100 structural decomposition diagram, machine fish 100 include shell 1, head 2, afterbody 3, Biomimetic Fish Fin 4, skeleton 5, as shown in Fig. 2 being provided with action executing element on skeleton 5 6, including power steering wheel 60, steering-engine 63, auxiliary steering wheel 64, skeleton 5 middle part is respectively provided with a power steering wheel 60 with afterbody；Institute The direction instruction that the steering-engine 63 responsive movement control unit stated sends；Described power steering wheel 60 responsive movement control unit The advancement commands sending.Skeleton 5 is also equipped with 4 auxiliary steering wheels 64；4 auxiliary steering wheels 64 are in each pair Biomimetic Fish Fin 4 in front and back It is arranged symmetrically；Described auxiliary steering wheel 64 connects Biomimetic Fish Fin 4；As shown in fig. 6, when machine fish 100 turns to, unilateral auxiliary steering wheel The unilateral Biomimetic Fish Fin 4 of 64 motion drives is moved, when such as machine fish 100 turns to the right, on the left of the auxiliary steering wheel 64 motion drive of left side Biomimetic Fish Fin 4 is moved, and completes auxiliary and turns to the right；Steering principle is ibid to the left.Meanwhile, Biomimetic Fish Fin 4 is also as auxiliary power Steering wheel, when machine fish 100 does not execute divertical motion, both sides auxiliary steering wheel 64 drives both sides Biomimetic Fish Fin 4 to move, motion mode Move about with asynchronous for synchronous moving about.

Control with reference to the sink-float that Fig. 3-Fig. 6 describes sink-float device 7 in detail:

As shown in Figure 3, Figure 4, rise and fall device 7, including sink-float controller, water pump box 71, pressurized tank 72, sets in water pump box 71 There are water pump 711, valve body 713；It is provided with water pocket 721 in pressurized tank 72, be tightly connected between water pocket 721 and pressurized tank 72；Water pocket 721 It is sealed with gas 722 and pressurized tank 72 between；Water pump 711, valve body 713 are connected with sink-float controller；Water pump 711 and water pocket 721 Connected by pipeline；Pipeline between water pump 711 and pressurized tank 72 is provided with valve body 713；As shown in Fig. 2 sink-float controller peace It is loaded in water pump box 71；Water pump 711 is intake, application valve body 713 switchs for sink-float controller control.

Preferably, valve body 713 is electromagnetism check valve.

Preferably, the quantity of pressurized tank 72 is more than 2.The quantity of valve body 713 is the twice of the quantity of pressurized tank 72.

Preferably, water pump box 71 is additionally provided with effusion meter；Effusion meter one end is connected with water pump 711 by pipeline, and the other end leads to Cross pipeline to connect with extraneous waters；Effusion meter is electrically connected with sink-float controller.

Preferably water pump box 71 is additionally provided with pressure transducer 712；Pressure transducer 712 is controlled by sink-float controller.

Water pump box 71 and two pressurized tanks 72 form the whole system that rises and falls by connecting line, equipped with sink-float in water pump box 71 Controller, depth and the depth of actual setting that the depth transducer detection machine fish 100 being provided with by skeleton 5 is currently located To adjust the charge and discharge water of two water tanks, to change the gravity of machine fish 100 and the relation of buoyancy, realize machine fish 100 in water Floating and dive.

Sink-float control flow is as follows: depth transducer first detects current depth value, then with setting that master control borad sends over Put depth value to compare, when setting depth ratio current depth value hour, valve body 73 is opened, and in pressurized tank 72, gas 722 pressure is more than Hydraulic pressure in water pocket 721, in water pocket 721, water is extruded, and machine fish 100 floats, and detects, every 0.2s, the speed that machine fish 100 floats Degree, when ascent rate is less than 1cm/s, continues draining, and slowly force of gravity is big for buoyancy, and ascent rate is gradually increased, when floating depth When value is equal to 1cm/s, valve body 73 is closed, and water pocket 721 stops draining.When ascent rate is more than 1cm/s, water pump 711 is opened, water Capsule 721 is intake, and gravity is increasingly greater than buoyancy, and ascent rate slows down, and controls machine fish 100 to float with the speed of 1cm/s, is not having When reaching set depth, the dynamic charge and discharge water of water pocket 721, set depth is floated to the ascent rate close to 1cm/s.Reach and set After depth, detect current speed, if current ascent rate value is more than 0.1cm/s, water pocket 721 is intake, if subsidence velocity is more than 0.1cm/s, water pocket 721 discharges water, dynamic regulation, allows machine fish 100 to stablize near setting depth value；When setting depth ratio is current When depth value is big, water pump 711 is opened, and valve body 73 is opened, and water pocket 721 is intake, and gravity is more than buoyancy, and machine fish 100 sinks, every The depth that 200ms detection is sunk, when the speed sunk is more than 2cm/s, outlet valve is opened, and subsidence velocity is worked as in water pocket 721 draining Equal to 2cm/s, water pump 711 cuts out, and valve body 73 is closed, and machine fish 100 is sunk with the speed of about 2cm/s, reaches set depth attached Closely, water pocket 721 starts dynamic charge and discharge water, controls ascent rate and subsidence velocity all in 0.1cm/s, allows machine fish 100 to be suspended in Near setting depth.

As shown in figure 3, a kind of preferred scheme, in the device that drifts along installation and skeleton 5, in water pump box 71 installation and skeleton 5 Portion.Skeleton 5 is provided with 2 pressurized tanks 72, is located at skeleton 5 rear and skeleton 5 head section respectively.And it is equipped with a high-pressure high-flow Water pump 711, by quick change water in water pocket 721 in pressurized tank 72 number, adjust gravity and the buoyancy of machine fish 100 body Between relation, realize the motion of machine fish 100 floating dive.When water pocket 721 water-filling, the big machine of gravity of machine fish 100 body Device fish 100 buoyancy, machine fish 100 sinks in the presence of relying on gravity, and difference is bigger, and acceleration is bigger.When water pocket 721 draining, Buoyancy is more than gravity, and machine fish 100 relies on the effect of buoyancy to float.When gravity with buoyancy is equal and the speed of machine fish 100 etc. When 0, machine fish 100 can freely be suspended in water.In actual control process, machine fish is detected by water depth sensor 100 depth being currently located, by the depth ratio of current depth and setting relatively, when arranging depth more than current depth, sink-float Controller opens water pump 711 and valve body 73, and water pocket 721 is added water, and allows machine fish 100 heavy sensation of the body power big machine fish 100 buoyancy, realizes Dive, the speed that real-time detection is sunk during dive, when dive is too fast, sink-float controller controls water pump 711 to discharge water, Control the diving speed of machine fish 100 body, when near machine fish 100 dive is to setting position, water pump 711 passes through ceaselessly to fill Discharge water, allow machine fish 100 upper and lower fuctuation within a narrow range near set depth, realize machine fish 100 and be suspended in a certain depth in water.When When the depth setting is less than current depth, sink-float controller controls water pump 711 to discharge water, and floats to set depth, is then suspended in Near this depth.

The reason controlled using double tanks be in order to allow machine fish 100 float in water sinking attitude more life-like.Float When machine fish 100 head near pressurized tank 72 first discharge water, allow head first to float up, when the angles of machine fish 100 floating reach During to angle set in advance, rear pressurized tank 72 starts to discharge water, and machine fish 100 tail and then floats, when giving people sensation floating, Machine fish 100 first lifts, and slowly trip comes up, floating-upward process lifelike image.It is also machine fish 100 head section pressurized tank during sinking 72 first intake, and machine fish 100 first sinks, and then rear pressurized tank 72 is intake, and machine fish 100 afterbody is followed, under entirety Heavy process lifelike image.

As shown in Fig. 3, Fig. 4, Fig. 5, on machine fish 100 skeleton, former and later two pressurized tanks 72, are equiped with water pump in the middle of skeleton Box 71, water pump 711 and control the valve body 73 of flow direction to be incorporated into the inner sealing of water pump box 71, water pump 711 and pass through two pipelines and two Pressurized tank 72 connects, and a middle short tube is connected with extraneous waters, and short tube is as water pump 711 water inlet.Sink-float is by two Water pocket 721 volume size in pressurized tank 72 is controlling.Pressurized tank 72 is built with a water pocket 721, water pocket 721 and pressurized tank It is sealed with the gas 722 of certain pressure, extraneous water is pumped into water pocket 721 volume after pressurized tank 72 and increases by water pump 711 between 72 outer walls, Compression ambient gas 722 are so that machine fish 100 overall buoyancy reduces.Drainage procedure passes through compressed gas 722 in pressurized tank 72 Pressure, by water extrusion pressure tank 72, increases buoyancy.In pressurized tank 72, the pressure of gas 722 is adjustable, to adapt to different Waters, such as in the environment of the 10m depth of water, pressurized tank 72 internal gas pressure need 0.15～0.2mp water body in pipe can be extruded, In pressurized tank 72 under the deep environment of 20m, gas needs 0.2～0.3mp.

Pipeline circulates as shown in fig. 6, pressurized tank 72 is divided into water pot a, water pot b, and valve body 73 is provided with 4, respectively valve a, valve B, valve c, valve d, are respectively provided with an effusion meter on two loops, in the stage of feedwater tank a water inlet, valve a, valve b, valve d be turned off, Valve c opens, and in the presence of water pump 711, the water in extraneous waters is entered through water pump 711, valve 3 by the effusion meter on the left side again Water pot a.During water pot a discharges water, shutoff valve b, valve c, valve d simultaneously open valve a, and the water in water pot a is in the presence of tank internal gas pressure Discharge, and outside waters is entered by effusion meter.The water inlet of b tank, draining are in the same manner.When water pot a water inlet, water pot b draining are entered simultaneously OK, shutoff valve a, valve d, opens valve b, valve c, and in the presence of water pump 711, the water in extraneous waters passes through the effusion meter on the left side again Enter water pot a through water pump 711, valve c；Water pot a draining, water pot b are intake in the same manner；When water pot a, water pot b are intake simultaneously, shutoff valve A, valve b, open valve c, valve d, and in the presence of water pump 711, the water in extraneous waters passes through the effusion meter on the left side again through water pump 711st, valve c, valve d enter water pot a, water pot b；When water pot a, water pot b draining simultaneously, shutoff valve c, valve d, open valve a, valve b, water pot Water in a, water pot b is discharged in the presence of tank internal gas pressure, and enters outside waters by effusion meter.

In conjunction with Fig. 7-Figure 11 detailed description machine fish 100 fault avoidnig device:

Preferably, as shown in figure 1, being additionally provided with open-and-close mechanism in machine fish 100 head 2, it is provided with described open-and-close mechanism Pressure transducer.A kind of preferred version is that in the tooth of open-and-close mechanism, during open-and-close mechanism closure, pressure passes pressure transducer Sensor is not felt by pressure change, and when open-and-close mechanism bites object, pressure transducer experiences pressure change, feeds back to avoidance Controller, avoidance obstacle device controls open-and-close mechanism to open, and unclamps object, in order to avoid impact fault avoidnig device work.

As shown in Fig. 4, Fig. 6, Fig. 7, Figure 11, transfer includes steering-engine 63, wire 83, described steering-engine 63 It is installed on skeleton 5, described action executing element 6 includes motor, reel mounting seat 61, reel 62, described wire 83 one end and reel 62 fixing and be wound around with reel 62 on, it is anterior that described wire 83 other end is fixed on skeleton 5.Assembling During described reel 62, a wire 83 passes through string holes, can reduce the abrasion of described wire 83.During using described reel 62, when When go to action executive component 63 rotating shaft drives described reel 62 rotation, side screws in tension, and side screws out and is in lax shape State, makes machine fish 100 turn, realizes swinging of fish body, effect is true to nature.

As shown in figure 9, described transfer also includes guide roller, described guide roller includes outgoing line guide wheel 81, crosses line Guide wheel 82；Described outgoing line guide wheel 81 is installed on go to action executive component 63 and goes out on the skeleton 5 of wire 83 position, described mistake Wire carrier 82 is installed on non-go to action executive component 63 and goes out on the skeleton 5 of wire 83 position.Preferably, 83 points of described wire For power leads and steering wire.

Described fault avoidnig device is connected with machine fish 100 power set, and described machine fish 100 power set include power Steering wheel 60.Described machine fish 100 power set also include power leads, guide roller；Described power leads one end is fixed on Power steering wheel 60, the other end is fixed on skeleton 5 afterbody；Described guide roller includes outgoing line guide wheel 81, crosses wire carrier 82；Described Outgoing line guide wheel 81 is installed on power action executing element 60 and goes out on the skeleton 5 of power lead location, and described wire carrier 82 of crossing is pacified It is loaded on non-powered steering wheel 60 to go out on the skeleton 5 of power lead location.As shown in figure 3, in the middle part of machine fish 100, afterbody is respectively provided with one Power action executing element 60, when power action executing element 60 rotating shaft drives described reel 62 rotation, side screws in tension, Side screws out and is in relaxed state, makes machine fish 100 tail swing, realizes machine fish 100 and advance, effect is true to nature.

As shown in Figure 10, described distance detector 22 is sonar sensor or ultrasonic sensor or infrared ray sensing Device.Preferably, the quantity of sonar sensor is more than 2, and the sonar sensor described in two is respectively arranged in lower jaw 21 bottom surface Both sides；Sonar sensor is a kind of sensor in subaqueous ranging for specialized application, and Sonar Signal is not easy to decline in water transmission Subtract, the good stability of signal.Two sonar sensors are arranged on the lower section of lower jaw 21, about 20 degree of the angle of two sonars, are formed Two detection zones 23, are respectively intended to detect the distance change of left front and right front.When emulation machine moves about, avoidance obstacle device Batch (-type) controls sonar sensor transmitting Sonar Signal, and the return signal of real-time reception sonar is it is preferable that launch Sonar Signal Transmission interval is set to 10hz-50hz, transmission speed in water for the time difference and sonar being received after calculating sonar transmitting, that is, Emulation the distance between machine 1 and barrier can be calculated, to receive reflected signal this period be exactly sonar one to sonar from being transmitted into The individual time back and forth, this time is exactly actual distance value with the result of product of sonar transmission speed in water divided by 2.Avoidance The change of controller real-time judge distance, controls left-hand rotation or the right-hand rotation of emulation machine 1 in advance, realizes the work(of avoiding obstacles Energy.

Preferably, a kind of control method flow process of fault avoidnig device is as follows:

Apart from test initialization, whether measuring distance sensors work is normal；Distance value sets, and sets warning distance value； Distance value detects, detection fault avoidnig device current both sides distance value under water；Two lateral extents compare, and relatively current both sides distance value is big Little；Distance value compares, compare in the distance value of both sides less then with warning distance value；Steering-engine turns to, and is compared according to distance value Judge steering direction.

Preferentially, the control method of fault avoidnig device also includes under water: velocity amplitude sets, and sets maximum avoidance speed；Speed Detection, detects current pace；Speed ratio relatively, compares present speed and maximum avoidance velocity magnitude.According to described speed Relatively, adjust steering-engine steering angle.

Preferably, the control method of described fault avoidnig device under water also includes pressure detecting, and fault avoidnig device has under water for detection No it is wound around barrier.

Preferably, two lateral extents relatively after, left side distance value is little, compare left side distance value with warning distance value 2m；Left side Distance value is less than or equal to warning distance value 2m, and steering-engine 63 is to right rotation；Left side distance value is more than warning distance value 2m, turns to Steering wheel 63 does not work；Two described lateral extents relatively after, right side distance value is little, compare right side distance value with warning distance value 2m； Right side distance value is less than or equal to warning distance value 2m, and steering-engine 63 is to anticlockwise；Right side distance value is more than warning distance value 2m, Steering-engine 63 does not work；Two described lateral extents relatively after, two described lateral extents are equal, compare both sides distance value and warning Distance value 2m；Right side distance value is less than or equal to warning distance value 2m, Random-Rotation direction, and Random-Rotation direction pressed by steering-engine 63 Rotation；Both sides distance value is more than warning distance value 2m, and steering-engine 63 does not work.When both sides distance value is less than or equal to warning distance During value 2m, detect current pace, current pace is more than maximum avoidance speed, reduces by 60 turns of power action executing element Speed increases steering-engine steering angle simultaneously.

As shown in Fig. 1, Figure 12, Figure 13, it is the machine fish 100 fish body structure of the present invention, including a shell 1 and a skeleton 5. For convenience described machine fish 100 fish body structure is described, initially sets up a rectangular coordinate system, and specify x direction along fish The direction advanced and be horizontal direction, y direction is vertical with x direction and for horizontal direction, and z direction is vertical direction, and fish is along z Direction rises or dive.

Described shell 1 is symmetrical structure in y-direction, now described shell 1 is carried out taking right one side of something shell as a example Description.Described shell 1 includes some shell joints 10 in the x-direction, and the global shape due to described shell 1 is according to extinct plants and animal Profile is designed, so the shape in shell joint 10 of various location in the x-direction is different from structure, Ke Yifen For shell 10b, tri- kinds of fitting-type shell 10c at general shell 10a, fin.Now taking general shell 10a as a example, to described shell The structure in joint 10 is specifically described.

As shown in figure 14, be described shell joint 10 a general shell 10a structural representation.Described general shell 10a Including a housing 11 and be arranged at a reinforcement structure 12 on described housing 11 inwall, described reinforcement structure 12 and described housing 11 It is integrally formed, or described reinforcement structure 12 is welded on described housing 11.Described reinforcement structure 12 is provided with a connection in the y-direction Hole 121 and a fixing hole 122, described connecting hole 121 runs through described reinforcement structure 12 and housing 11.Described reinforcement structure 12 is along x Direction is provided with a hollow out 123, lays float for adjusting the floading condition of machine fish in described hollow out 123.Described general shell 10a Structure includes two reinforcement structures 12, is located at the upper and lower ends of described housing 11 inwall respectively.The lower edges of described housing 11 It is equipped with a key 13, the corresponding position of left shell 11 symmetrical therewith is provided with a groove being mated with described key 13 and (schemes not Show).

As shown in figure 15, be described shell joint 10 a fin at shell 10b structural representation.Shell at this fin 10b is with the difference of above-mentioned general shell 10a, and the lower end of its housing 11 is not provided with described reinforcement structure 12, and is provided with One installing hole 14, described installing hole 14 is used for installing fin, as shown in Figure 1.

As shown in figure 16, be described shell joint 10 a fitting-type shell 10c structural representation.This fitting-type shell 10c is with the difference of above-mentioned general shell 10a, and it is only provided with reinforcement structure 12 in housing 11 inwall upper end.

As shown in figure 17, described skeleton 5 includes multiple hinged skeleton joints 51 to form this skeleton 5.Described Skeleton joint 51 is in u-shaped, includes in the form of sheets and horizontally disposed first supporting part 511, parallel with the first supporting part 511 and in piece Second supporting part 512 of shape and two ends respectively with described first supporting part 511 and the second supporting part 512 connection connected vertically Portion 513.Described skeleton joint 51 also includes at least one locating part and at least one connecting shaft, described locating part and described first support It is threadably secured connection, described locating part is provided with a spacing hole, described connecting shaft between portion 511 or the second supporting part 512 It is inserted in described spacing in the hole.Described connecting portion 513 offers one in the end near described first supporting part 511 and crosses mouth, phase The first supporting part 511 in adjacent one of skeleton joint 51 of two skeleton joints 51 inserts another skeleton joint 51 Crossing in mouth on connecting portion 513, and the hinge that two the first supporting parts 511 are leant and arranged by vertical direction, The bearing pin that second supporting part of two adjacent skeleton joints 51 is distributed about 512 and mutually conflicts and arranged by vertical direction Hinged, so it is achieved that being articulated and connected between adjacent two skeleton joint 51, and two adjacent skeleton joints 51 Bearing pin between them swings for rotating shaft.

As shown in Fig. 8, Figure 18, the assembling mode between described shell joint 10 and corresponding skeleton joint 51 is: described Fixing hole 122 in reinforcement structure 12 is provided with female thread, and described connecting shaft is provided with external screw thread, and described connecting shaft inserts described fixation In hole 122, and by screw thread, described shell joint 10 is fixedly connected with corresponding skeleton joint 51.Left and right two is symmetrical outer Closely connected by keyway arrangements between shell joint 10, the connecting hole 121 in described reinforcement structure 12 is provided with female thread, and one is provided with Externally threaded screw (not shown) passes through the connecting hole 121 on two symmetrical shell joints 10, and will be symmetrical by screw thread Joint 10 is fixedly connected, and makes left and right two shell joint 10 form an annular entirety it is ensured that the integrity of outward appearance, is formed simultaneously One complete outer rigid housing.Assembling mode between described shell joint 10 and corresponding skeleton joint 51 can be protected effectively Demonstrate,prove the corresponding skeleton joint 51 in motor process in described shell joint 10 and keep geo-stationary, and with described skeleton joint 51 swing and swing.

As shown in figure 19, for the ease of the assembly relation between description two adjacent sections shell joint 10, by outside two adjacent sections In shell joint 10, the section near fish head is referred to as preposition shell 15, and the section near fish tail is referred to as rearmounted shell 16.Described preposition The rear end of shell 15 is provided with a projection 151, and described raised 151 thickness is less than the thickness of described preposition shell 15.Described rearmounted The front end of shell 16 is provided with a groove 161, and described raised 151 are contained in described groove 161, and described raised 151 thickness is little Thickness in described groove 161 makes to form a gap between described preposition shell 15 and rearmounted shell 16.Described raised 151 with recessed Groove 161 inwall located at described shell joint 10 or simultaneously located at the outer wall in described shell joint 10 simultaneously.In the present embodiment, Described raised 151 inwalls being arranged at described preposition shell 15, described groove 161 is arranged at the inwall of described rearmounted shell 16. Described preposition shell 15 is fixedly installed on corresponding skeleton joint 51 respectively with rearmounted shell 16, due to described preposition shell 15 Form a gap and rearmounted shell 16 between, so when adjacent skeleton joint 51 swings, described preposition shell 15 with Therewith relative to the changing of the relative positions, such more piece shell joint 10 cooperates and just can form fish body and integrally swing described rearmounted shell 16 Movement effects.

Preferably, fin 4 includes a fin skeleton 41 and a fin shell.

Described fin skeleton 41 is acrylic sheet.Described fin skeleton 41 includes connecting plate and a substrate.Described connection Plate is integrally formed with described substrate, and described substrate is provided with two grooves.The bearing of trend of described groove and the length side of described fish body To vertical.One blind hole is provided with described connecting plate, described blind hole aperture direction is vertical with described groove bearing of trend.Described fish Fin skeleton 41 is connected with the skeleton of described machine fish fish body by described blind hole.Described fin skeleton 41 also includes six spacing knots Structure.Described position limiting structure extends from described substrate, and each described position limiting structure all includes two position-limiting units.Described two is spacing Form a gap, described gap is located at described groove central authorities between unit.When described groove occurs bending, each described spacing Position-limiting unit described in the two of structure is inconsistent, limits the bending degree of described groove, prevents described fin 4 from rolling in described groove Disconnected.Some reinforcements are also included on described fin skeleton 41, strengthens the intensity of described fin skeleton 41.Preferably, described reinforcement Muscle bearing of trend is vertical with the bearing of trend of described groove.Some through holes 15 are additionally provided with described fin skeleton 41, mitigate described The weight of fin skeleton 41.

Described fin shell is one end open, the housing of other end closing.Described fin shell includes a connecting portion, described Connecting portion is in corrugated tube shape, is easy to be connected with machine fish fish body.

Described fin shell is coated on described fin skeleton 41.Outside the outer ledge of described fin skeleton 41 and described fin The inwall of shell is conflicted, and supports the profile of described fin shell.

Described fin 4 is symmetrically arranged on described machine fish fish, as front fin and skeg, controls under the floating of machine fish Dive and direct of travel.Described connecting portion is socketed on described machine fish fish body, and described fin skeleton 41 is watched with one by described blind hole The output shaft taking motor is connected, under the driving of described servomotor, the swing of described fin skeleton 41, and control machine fish Direct of travel, floating dive and gait of march.Because described groove lamella thickness is less than the lamella thickness of described body 122, Bent at described depression 121 by water impact during described emulation fin motion, coordinate the driving of described servomotor, real Existing described fin 4 simulates the swing of fin.

Preferably, the sensor being provided with machine fish 100 includes gyro sensor, acceleration transducer, Distance-sensing Device, angular transducer, humidity sensor, temperature sensor, hydraulic pressure sensor, current sensor, Hall element；Described top Spiral shell instrument sensor sensing machine fish posture information feeds back to motion control unit；Described acceleration transducer sensing machine fish fortune Dynamic acceleration information feeds back to motion control unit；Described range sensor includes infrared distance sensor, ultrasonic ranging Sensor, sonar distance measuring sensor；Described range sensor senses machine fish and feeds back to fortune with the range information of external environment Dynamic control unit；Described angular transducer sensing steering wheel rotation angle information feeds back to motion control unit；Described humidity In sensor sensing steering wheel, humidity feedback of the information is to motion control unit；Described temperature sensor senses rudder built-in temperature information Feed back to motion control unit；In described hydraulic pressure sensor sensing sink-float motor unit, hydraulic pressure feedback of the information is to motor control list Unit；In described current sensor sensing steering wheel, phase current feedback of the information is to motion control unit；Described Hall element sense Answer in steering wheel motor rotor position feedback of the information to motion control unit.Sonar sensor is a kind of specialized application in subaqueous ranging Sensor, Sonar Signal is not easy to decay in water transmission, the good stability of signal.In the application two sonars are sensed Device is arranged on the lower section of fish head, about 20 degree of the angle of two sonars, is respectively intended to detect the distance change of left front and right front. During machine fish swimming, motion control unit batch (-type) controls sonar sensor transmitting Sonar Signal, and the returning of real-time reception sonar Write in reply number, the transmission speed in water of time difference and sonar being received after calculating sonar transmitting, you can calculate machine fish and The distance between barrier, from being transmitted into, to receive reflected signal this period be exactly one time back and forth of sonar to sonar, this Time is exactly actual distance value with the result of product of sonar transmission speed in water divided by 2.Motion control unit real-time judge The change of distance, controls left-hand rotation or the right-hand rotation of machine fish 100 in advance, realizes the function of avoiding obstacles.Gyro sensor, Acceleration transducer, hydraulic pressure sensor, the sonar ranging (front and lower section) of cooperation both direction, can be with real-time detection machine fish 100 athletic postures and programming movement path.Effusion meter is used for measuring inflow and the water yield of water tank, and liquidometer is used for detecting Depth in pond for the machine fish, hydraulic pressure sensor is used for detecting the reservoir storage in water tank.

Several visible optical inductors are respectively installed in machine fish 100 body both sides, and induction apparatuss can detect intensity of illumination, machine Fish passes through to contrast both sides light intensity, controls direction of advance, realizes light or photophobotaxis.Machine fish body installs laser pickoff, For receiving the laser beam through particular modulation, user using laser pen irradiate different receptors can trigger machine fish make right The action answered；Some motive position of machine fish 100 are likely to contact or hurt people and other animals, add at these positions Pressure transducer and microswitch, can prevent the generation of contingency；Current sensor detects brushless electric machine in steering wheel Phase current, the position of brushless electric motor rotor in Hall element steering wheel, temperature sensor detects motor module temperature, humidity sensor In device detection steering wheel, whether motor intakes, the motor anglec of rotation in magnetic degree sensor detection steering wheel.

Preferably, sensor communication is transmitted using bus communication protocol.A data structure defined in sensor struct{data1；data2；data3；data4；data5；data6；data7；data8}；8 words are had inside data structure The data of section is respectively sensing numerical value a+ sensing numerical value b+ fault bit+preferential power and position+instruction+reserved place a+ sensing reserved place b+ and passes Sense reserved place c, in different sensing units, the meaning represented by each byte is also different:

(1) sonar sensor: the distance of data1 byte representation sonar measurement；The electric current of data2 byte representation sonar； The fault message of data3 byte representation sonar module；Data4 represents the id of sonar module；Data5 represents order, data6, Data7, data8 reserve.

(2) video sensor: the color of data1 byte representation image；The brightness of data2 byte representation image；Data3 word Section represents the fault message of video module；Data4 represents the id of video module；Data5 represents order, data6, data7, Data8 reserves.

(3) ultrasonic distance-measuring sensor: the most-significant byte of data1 byte representation measured distance；Data2 byte representation represents real Find range from least-significant byte；The fault message of data3 byte representation ultrasonic wave module；Data4 represents the id of ultrasonic wave module；data5 Represent order, data6, data7, data8 reserve.

(4) infrared distance sensor: the most-significant byte of data1 byte representation measured distance；Data2 byte representation represents actual measurement The least-significant byte of distance；The fault message of data3 byte representation infrared module；Data4 represents the id of infrared module；Data5 represents life Order, data6, data7, data8 reserve.

(5) Temperature and Humidity sensor: data1 byte representation measurement temperature value；Data2 byte representation represents measurement humidity Value；The fault message of data3 byte representation humiture module；Data4 represents the id of humiture module；Data5 represents order, Data6, data7, data8 reserve.

Preferably, motion control unit comprises action response method, moving communication method, described action response method bag Containing user action response, free action response；Described user action responds the action command for responding user side definition；Institute The free action response stated is used for responding the free action command of machine fish idle condition；Described moving communication adopts bus communication Agreement is transmitted；Described moving communication includes instruction transmission, command reception；Described command reception is used for receiving described Action command；Described instruction is sent and is sent with action command form.

Preferably, described user action response comprises the steps of initialization of variable, parses action command (action class Type judgement, operating state judgement, sending action instruct, execute action command, action synchronously judgement, the overtime judgement of action, action Cycle criterion) judge whether it is real-time testing action, according to classification, give different pointers to movement structure body pointer to be resolved Value.Next parsing action step by step, according to type of action, overtime, action number of repetition, the sync bit of each operating state, Action control pattern etc., sets steering wheel angle, steering wheel speed etc., after having executed one-off parsing, it will judge type of action, Release semaphore, tells that motion control unit can start to continue to run with, and updates machine fish state, and false judgment simultaneously deletes action Instruction.

Preferably, described free action response flow process is as follows: first, in priority, this special circumstances of contextual model Highest priority, detects sensing unit data, comprehensive descision, if meeting a certain contextual model, will directly execute this scene mould The action command of formula setting, when the contextual model not met, first goes to judge sensing unit value, carries out avoidance operation, if Do not need avoidance, then judge current machine fish state, execute corresponding action, if free state, then firstly generate dynamic Make the random number in the range of instruction number, calculate random number execution probability to decide whether to execute this action simultaneously, reach and occur After number of times, the order of the corresponding random number of execution.

Moving communication includes data is activation, data receiver, and moving communication is transmitted with action command packet, as shown in table 1, Action command data packet format be frame head+machine code name+instruction type+data length+subcommand+subcommand data+verification frame+ Postamble.

Table 1

User side data packet format illustrates:

(1) frame head, with two byte representations, is 0xfe, 0xef respectively；

(2) machine code name, different equipment, define different code names to distinguish；

(3) instruction type, for representing this packet function to be performed by, can be with self-defining；

(4) data length, removes frame head, the data length after four bytes of postamble；

(5) subcommand, the subcommand class below instruction type, i.e. secondary command；

(6) subdata, user's end data of transmission；

(7) verify frame, using crc verification, after frame head, arrive end value after crc calculating for the data before crc check value.

(8) postamble, with two byte representations, is 0xfd, 0xdf respectively.

Preferably, data is activation is asked according to the transmission of user side, according to action command data form, data is formed one String data bag, and this string data bag is gone out by wireless transmission, wait answer logo to receive, the time-out to be answered meter such as unlatching Number.If time-out count completes the answer logo mistake not receiving answer logo or receiving, resend data, if receive should Answer mark correct, and have not timed out, then terminate this transmission.

Data receiver judges after receiving first character section whether this byte is 0xfe, if it is continues to second Individual byte, judges that second byte is 0xef, and frame head is correct, starts to preserve the valid data receiving below, and records reception Data length.When the data receiving is 0xfd, and when the data that receives of the next one is 0xdf, represent and receive postamble, this data End-of-packet, compares length value in packet and whether the length value of receiving record is equal, if unequal, illustrates that data is being sent out Have loss during sending, the data of this packet wrong it is impossible to use.If both equal lengths, show data packet length just Really, then by crc calculate check value, the crc check value contrast in the check value data bag calculating, if equal, number is described According to correct, if, illustrate data in transmission process because other reasonses malfunction, this packet is unavailable, and request is sent out again Send.If the data receiving is correct through inspection, return correct answer logo, otherwise return the answer logo of mistake, request is sent out Sending end resends data it is ensured that the data communicating each time is all correct.

It is instruction type in table 2.

Table 2

It is subcommand type in table 3.

Table 3

Subcommand types value	Definition
		0x01	Machine fish state updates
0x02	Static
		0x03	Freely move about
0x11	Inquiry machine fish information
		0x12	Inquiry steering wheel information
0x13	Inquiry sink-float module information
		0x14	Inquiry can miscommunication rate
0x21	Servos control in real time
		0x31	Write basic actss combination
0x32	Test basic actss combination
		0x33	Write user configuring data
0x34	Erasing order flash
		0x35	Iap upgrade command
0x36	User configuring reads
		0x37	Action command reads
0x38	Set steering wheel absolute position
		0x39	Set machine fish freedom of entry pattern
0x3a	Machine fish is made to enter idle condition
		0x41	Machine fish error code
0x41	Equipment is made to enter can programming pattern
		0x42	Master control is made to enter can programming pattern

Preferably, a data structure struct { data1 defined in action data bag；data2；data3；data4； data5；data6；data7；data8}；The data respectively action executing numerical value a+ having 8 bytes inside data structure moves Make the execution preferential power and position+fault bit+instruction of numerical value b+ action executing numerical value c++action executing reserved place a+ action executing reserved place B, in different action executing elements, the meaning represented by each byte is also different:

(1) steering wheel performing module: data1 represents the angle of steering wheel；Data2 represents the speed of steering wheel；Data3 represents steering wheel Electric current；Data4 represents the id of steering wheel module；Data5 represents order, and data6 represents the fault message of steering wheel, data7, Data8 reserves.

(2) servomotor performing module: data1 represents the angle of servomotor；Data2 represents the speed of servomotor； Data3 represents the electric current of servomotor；Data4 represents servomotor module id；Data5 represents order, and data6 represents servo electricity The fault message of machine, data7, data8 reserve.

(3) motor module: data1 represents the angle of motor；Data2 represents the speed of motor；data3 Represent the electric current of motor；Data4 represents the id of motor module；Data5 represents order, and data6 represents motor Fault message, data7, data8 reserve.

Under taking a kind of machine fish as shown in Figure 3 as a example, forward motion instruction code is as follows:

fe ff 00 06 45 00 32 00 00 bf fb 00 00 00 00 40 00 02 00 02 00 00 00 03 00 18 00 03 00 40 0d 07 00 00 00 01 50 3c 00 02 3c 32 00 03 1e 14 00 03 00 18 00 03 00 40 0d 07 00 00 00 01 50 c4 ff 02 3c ce ff 03 1e ec ff 00 00 00 da f3 9a 40 fd df

By controlling machine fish 100 fish head direction steering wheel 63 with speed 30, angular range -20 is spent to 20 degree for this order, Machine fish 100 fish body power steering wheel 60 with speed 60, spend to 50 degree by angular range -50, machine fish 100 fish tail power steering wheel 60 with Speed 80, angular range -60 is spent and is realized parade advance to 60 degree of the swing that is set for.

In bus free, all of action executing element can send data, the first acquisition control accessing at first. In bus protocol, all of message is all sent with fixing form.During bus free, all action executings being connected with bus Element can start to send new information.When plural action executing element starts simultaneously at transmission message, according to identifier Id determines priority.Id is not to represent the destination address sending, but represents the priority of the message accessing bus.Two with On unit when starting simultaneously at transmission message, each position of each message id is arbitrated one by one and is compared.Arbitration is won and (is determined For highest priority) unit can continue send message, arbitration failure unit then at once stop send and carry out receive work. When multiple action executing elements send information simultaneously, each position of each message id is arbitrated one by one and is compared.Arbitration is won The action executing element of (being judged as highest priority) can continue send feedback information to main control module, the action of arbitration failure Executive component then stops at once sending and enters reception state.

Bus may determine that the type making mistake is temporary transient error in data (as external noise etc.) in bus or continues Error in data (as unit internal fault, driver malfunction, broken string etc.).By this function, when in bus, generation duration data is wrong Mistake, the unit causing this fault can be isolated away from bus.Bus is the bus that can be simultaneously connected with multiple units.Can connect The unit sum connecing theoretically does not have conditional.But actually attachable unit number is subject to time delay in bus and electrically The restriction of load.Reduce communication speed, attachable unit number increases；Improve communication speed, then attachable unit number reduces.

Actively make the packet that executive component is defined by structure during communication, by the communication mode of bus, data is passed Transport in bus, carry can comprise this Frame of automatic identification from the bus filter of action executive component in bus Id non-master action executive component, this packet can be filtered, and no longer receives data below.If filter identifies this frame Data id is that this actively makees executive component, then receive whole frame data, the command functions in parsing packet, from action executive component Corresponding action is executed according to command code data, and feedback information is needed to feed back to user side.

Preferably, user action response mode includes single action response, continuous action response；Concrete form command code Form, as shown in table 4:

Table 4

Preferably, during continuous action response, user side is wanted to generate the various combination of actions needing, can be in job control Certain one action group of several composition in the command code being established above chosen by window, and multiple action group equally can be chosen to form phase The compound command code answered.After compound command code generates, you with hit testing button, can test the action of your generation either with or without reaching The effect of your anticipation, if do not met, can also adjust parameter above, till reaching your requirement.Create sensor Connect with action group, when the value of sensor meets the threshold range of setting, just execute corresponding action group command code.When User will name and be saved in local data base when generating a satisfactory compound command code in time, download other use simultaneously Family action group command code is updated to the machine fish hardware platform of this user, and the translation of command code is entered in hardware system OK.User can also select to upload to shared on Cloud Server by compound command code or sell.

Preferably, interactive system includes, first detection module, voice module, the first judge module, invite module, second Judge module and interactive module, main working process is as follows:

Described first detection module, detects working signal；

Preferably, described working signal includes: human body signal, voice signal and radio signal.

Described voice module, when detection module is to described working signal, sends greeting voice；

Preferably, send greeting voice, specifically include: according to the different periods in different red-letter days and a day, send not Same greeting voice.

Specifically, different voices are sent according to the different periods in a day, comprising: good morning, good afternoon, good night Deng.

Described first judge module, judges whether to receive and the described greeting corresponding reply voice of voice；

Described invitation module, when receiving with the described greeting corresponding reply voice of voice, sends invitation voice；

Described second judge module, judges whether to receive and the described invitation corresponding interactive voice of voice；

Described interactive module, when receiving with the described invitation corresponding interactive voice of voice, according to described interactive voice Enter corresponding interactive state.

Preferably, described interactive state includes: chat state, performance state and game state etc..

Preferably, described interactive state also includes User Defined pattern, can be carried out secondary according to user's different demands Exploitation.

Preferably, described system also includes handover module.

Described handover module, according to the switching voice switching interactive state receiving.

Specifically, in interactive process, if receiving switching voice, interactive according to the switching language switching receiving State.

For example, in chat process, receive voice requirement and sing, be then switched to singing state, according to the needs of user Start to sing, and support song ordering function.

Acquisition module, gathers ambient parameter.

Preferably, described ambient parameter includes temperature, humidity and illuminance etc..

Preferably, described system also includes:

Prompting module, reminds user environment change and points for attention according to described ambient parameter.

Preferably, described system also includes:

Second detection module, does not receive voice when detecting in standby signal or Preset Time, then enter holding state；

Preferably, described standby signal includes: goodbye voice, good-by voice etc..

Preferably, the energy consumption of described holding state is very low, enters holding state, can energy saving to greatest extent.

Preferably, machine fish exchange method as shown in figure 20, comprises the following steps:

Step 110, detection working signal, send greeting voice；

Preferably, described working signal includes: human body signal, voice signal and radio signal.

Preferably, send greeting voice, specifically include: according to the different periods in different red-letter days and a day, send not Same greeting voice.

Specifically, different voices are sent according to the different periods in a day, comprising: good morning, good afternoon, good night Deng.

Step 120, judge whether to receive and described greeting the corresponding reply voice of voice, if so, then send invitation language Sound；

Step 130, judge whether to receive and the described invitation corresponding interactive voice of voice, if so, then according to described mutually Dynamic voice enters corresponding interactive state；

Preferably, described interactive state includes: chat state, performance state and game state etc..

Preferably, described interaction also includes User Defined pattern, can carry out secondary development according to user's different demands.

Preferably, methods described also includes:

The switching voice switching interactive state that step 140, basis receive；

Specifically, in interactive process, if receiving switching voice, interactive according to the switching language switching receiving State.

For example, in chat process, receive voice requirement and sing, be then switched to singing state, according to the needs of user Start to sing, and support song ordering function.

Preferably, methods described also includes:

Step 150, do not receive voice in standby signal or Preset Time when detecting, then enter holding state；

Preferably, described standby signal includes: goodbye voice, good-by voice etc..

Preferably, the energy consumption of described holding state is very low, enters holding state, can energy saving to greatest extent.

Preferably, methods described also includes:

Collection ambient parameter, reminds user environment change and points for attention according to described ambient parameter.

Preferably, described ambient parameter includes temperature, humidity and illuminance etc..

The present invention provide bionic machine fish, including machine fish, described machine fish include shell, head, fin, skeleton, Motion control unit；The described skeleton of described shell parcel；Described head is installed and described shell one end；Described fin It is connected on shell；Action executing element is provided with described skeleton；Described action executing element is by motion control unit Control, described head, fin, skeleton are connected with described action executing element respectively；Described motion control unit controls Action executing member motion, drives described head to complete opening and closing movement, go to action, drives described fin to complete swing dynamic Make, drive described skeleton afterbody to complete wobbling action.Motor control of the present invention flexibly, controls precision high, greatly improves The emulator of bionic machine fish action.

The above, only presently preferred embodiments of the present invention, not the present invention is made with any pro forma restriction；All The those of ordinary skill of the industry all can shown in by specification accompanying drawing and the above and swimmingly implement the present invention；But, all Those skilled in the art, in the range of without departing from technical solution of the present invention, are done using disclosed above technology contents The a little change going out, the equivalent variations modified and develop, are the Equivalent embodiments of the present invention；Meanwhile, all according to the present invention The change of any equivalent variations, modification and differentiation that substantial technological is made to above example etc., all still fall within the skill of the present invention Within the protection domain of art scheme.

Claims (10)

1. bionic machine fish, including machine fish (100), described machine fish (100) includes shell (1), head (2), fin (4), skeleton (5), motion control unit；It is characterized in that: the described skeleton (5) of described shell (1) parcel；Described head (2) install and described shell (1) one end；Described fin (4) is connected on shell (1)；It is provided with dynamic on described skeleton (5) Make executive component (6)；Described action executing element (6) by motion control unit control, described head (2), fin (4), Skeleton (5) is connected with described action executing element (6) respectively；Described motion control unit control action executive component (6) Motion, drives described head (2) to complete opening and closing movement, go to action, drives described fin (4) to complete wobbling action, band Dynamic described skeleton (5) afterbody completes wobbling action.

2. bionic machine fish according to claim 1 it is characterised in that: described machine fish (100) also include sink-float dress Put (7)；Described sink-float device (7) includes sink-float controller, water pump box (71), pressurized tank (72)；In described water pump box (2) It is provided with water pump (711), valve body (713)；It is provided with water pocket (721), described water pocket (721) and pressure in described pressurized tank (72) Tank is tightly connected between (72)；It is sealed with gas (32) between described water pocket (721) and pressurized tank (72)；Described water pump (711), valve body (713) is connected with sink-float controller；Described water pump (711) is connected by pipeline with water pocket (721)；Described Pipeline between water pump (711) and pressurized tank (72) is provided with valve body (713)；Described sink-float controller controls water pump (711) Water inlet, application valve body (713) switch.

3. bionic machine fish according to claim 1 it is characterised in that: described machine fish (100) also include avoidance dress Put；Described fault avoidnig device includes avoidance obstacle device, distance detector, transfer；Described avoidance obstacle device and distance inspection Survey device, transfer connects；Distance value feed back to described avoidance obstacle in described distance detector detection level plane Device, described avoidance obstacle device judges according to distance value and controls transfer to turn to.

4. bionic machine fish according to claim 1 it is characterised in that: described skeleton (5) includes multiple being hinged on one Play skeleton joint (51)；Described skeleton joint (51) includes one first supporting part (511), one second supporting part (512) and one even Socket part (513), described first supporting part (511) and the second supporting part (512) are parallel to each other, the two ends of described connecting portion (513) Respectively with described first supporting part (511) and the second supporting part (512) is vertical is connected；Two of two neighboring skeleton joint (51) First supporting part (511) is stacked and up and down by vertically arranged hinge, two of two neighboring skeleton joint (51) the Two supporting parts (512) are stacked and up and down by vertically arranged hinge.

5. bionic machine fish according to claim 4 it is characterised in that: described shell (1) includes some shell joints (10)；In shell joint (10) described in two adjacent sections, it is provided with one near shell joint (10) rear end of head (2) side raised (151), the thickness of described projection (151) is less than the thickness in shell joint (10), away from head (2) in two adjacent sections shell joint The front end in the shell joint (10) of side is provided with a groove (161), and described projection (151) is contained in described groove (161), described The thickness that the thickness of raised (151) is less than described groove (161) makes to form a gap between two adjacent sections shell joint (10).

6. bionic machine fish according to claim 5 it is characterised in that: described each shell closes (11) section and includes a housing And at least one be fixed on reinforcement structure (12) on described housing (11) inwall, each described skeleton joint (51) and two institutes (11) The reinforcement structure (12) stating shell joint (10) is fixedly connected and is located at described in two between shell joint (10).

7. bionic machine fish according to claim 1 it is characterised in that: described action executing element (6) include motor, Reel mounting seat (61), reel (62)；Described reel (62) passes through reel mounting seat (61) and motor connection；Institute The motor stated rotates and drives described reel (62) to turn to；Wire (83) one end is fixed on reel (62), and the other end is solid On skeleton (5) or fin (4)；Described action executing element (6) also include power steering wheel (60), steering-engine (63), Auxiliary steering wheel (64)；Described power steering wheel (60) is connected with described skeleton (5) afterbody；Described steering-engine (63) is described Skeleton (5) head connect；Described auxiliary steering wheel (64) is connected with fin (4).

8. bionic machine fish according to claim 7 it is characterised in that: described machine fish (100) also include wire dress Put；Described wire installation includes outgoing line guide wheel (81), crosses wire carrier (82)；Described outgoing line guide wheel (81) is installed on action and holds Units (6) go out on the skeleton (5) of wire (83) position, and described wire carrier (82) of crossing is installed on non-action executive component (6) Go out on the skeleton (5) of wire (83) position.

9. bionic machine fish according to claim 1 it is characterised in that: described fin (4) includes a fin skeleton (41) a, fin shell；Described fin shell is coated on described fin skeleton (41)；Described fin skeleton (41) includes a base Plate, described substrate is provided with least one groove；Described fin skeleton also includes some position limiting structures, and described position limiting structure is from described base Plate extends, and described position limiting structure limits the bending degree of described groove.

10. according to bionic machine fish described in one of them for the claim 1 to 9 it is characterised in that described machine fish (100) Also include interactive system；Described interactive system includes:

Detection module, for detecting working signal；

Voice module, for when described working signal is detected, sending greeting voice；

First judge module, is used for judging whether to receive and the described greeting corresponding reply voice of voice；

Invite module, for when receiving with the described greeting corresponding reply voice of voice, sending invitation voice；

Second judge module, is used for judging whether to receive and the described invitation corresponding interactive voice of voice；

Interactive module, for when receiving with the described invitation corresponding interactive voice of voice, entering according to described interactive voice Corresponding interactive state；

Handover module, for according to the switching voice switching interactive state receiving；

Acquisition module, for gathering ambient parameter；

Prompting module, for reminding user environment change and points for attention according to ambient parameter.