CN109774896A - Bionical sea snake for aquafarm monitoring - Google Patents
Bionical sea snake for aquafarm monitoring Download PDFInfo
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- CN109774896A CN109774896A CN201910099865.0A CN201910099865A CN109774896A CN 109774896 A CN109774896 A CN 109774896A CN 201910099865 A CN201910099865 A CN 201910099865A CN 109774896 A CN109774896 A CN 109774896A
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- cystosepiment
- steering engine
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- 241001136306 Hydrophiidae Species 0.000 title claims abstract description 68
- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
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- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 46
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 13
- 239000000741 silica gel Substances 0.000 claims description 13
- 229910002027 silica gel Inorganic materials 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 8
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
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- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
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- 210000003128 head Anatomy 0.000 description 1
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Abstract
The present invention relates to bio-robot field, providing a kind of bionical sea snake for aquafarm monitoring includes: the snakehead being sequentially connected, snake body and ophiruid；Snakehead is equipped with image acquisition device, for acquiring the image information of bionical sea snake present position；Snake body includes the cystosepiment and rod end bearing of multiple alternately connections；Cystosepiment positioned at first end is connected with snakehead close to the side of snake body far from the side of rod end bearing, and the rod end bearing positioned at the second end is connected with ophiruid close to the side of snake body far from one end of cystosepiment.Bionical sea snake provided by the invention allows bionical sea snake flexible motion in small space, improves the flexibility of bionical sea snake by cystosepiment and rod end bearing structure in snake body using alternately connection；And the snake body structure of this kind of structure type reduces its energy consumption to a certain extent.
Description
Technical field
The present invention relates to bio-robot fields, more particularly to a kind of bionical sea snake for aquafarm monitoring.
Background technique
With the fast development for the sea fishery attached most importance to sea-farming, modern marine engineering technology how is utilized, it is right
It is assessed after the underwater movement state of fish, the underwater repairing effect of natural ecology, the casting of artificial marine habitat and aquafarm water quality
Situations such as situation, is monitored, be exactly at the moment aquafarm must solve the problems, such as.For current modern marine technology, adopt
Monitor under water with underwater robot auxiliary is exactly one of solution.
And underwater robot is mostly traditional type submarine navigation device at present, is pushed away using tradition such as propeller, hydraulic propellers
Into mode, obvious disadvantage is that energy consumption is high, volume is big, the pure rigidly connected environmental harmony of structure is low, therefore its presence pair
, environment limitation stronger the disadvantages of larger in environmental perturbation, biomimetic type submarine navigation device then have that mobility is high, low energy consumption, can
It is adapted to various complicated and narrow space, there is good integration with environment.The stringent working environment of aquafarm with
Job requirement, the bionical flexibility underwater robot of this kind of height have a clear superiority.
But most of bionic underwater vehicles still have the following deficiencies at present: 1, energy consumption high, controllability and flexibility compared with
Difference；2, propulsion capability and speed are lower；3, navigation stability is poor, easily affected by environment.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of bionical sea snakes for aquafarm monitoring, it is intended at least solution prior art
Or the high problem of bionic underwater vehicle energy consumption in the related technology.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of bionical sea snakes for aquafarm monitoring, comprising: according to
Secondary connected snakehead, snake body and ophiruid；The snakehead is equipped with image acquisition device, for acquiring the figure of bionical sea snake present position
As information；The snake body includes the cystosepiment and rod end bearing of multiple alternately connections；Cystosepiment positioned at first end is far from institute
The side for stating rod end bearing is connected with the snakehead close to the side of the snake body, and the rod end bearing positioned at the second end is far from institute
The one end for stating cystosepiment is connected with the ophiruid close to the side of the snake body.
(3) beneficial effect
A kind of bionical sea snake for aquafarm monitoring provided by the invention, passes through the bubble in snake body using alternately connection
Foam plate and rod end bearing structure, allow bionical sea snake flexible motion in small space, improve the spirit of bionical sea snake
Activity；And the snake body structure of this kind of structure type reduces its energy consumption to a certain extent；And by the way that image is arranged on snakehead
Collector can acquire the image information of bionical sea snake place of arrival in real time, improve the intelligent level of bionical sea snake.
Detailed description of the invention
Fig. 1 is the structural representation of a preferred embodiment for the bionical sea snake monitored provided by the present invention for aquafarm
Figure；
Fig. 2 is the structural schematic diagram of a preferred embodiment of snakehead provided by the invention；
Fig. 3 is the view of another angle of snakehead shown in Fig. 2；
Fig. 4 is the structural schematic diagram of a preferred embodiment of luffing mechanism provided by the invention；
Fig. 5 is the structural schematic diagram of a preferred embodiment of power mechanism provided by the invention；
Fig. 6 is the structural schematic diagram of a preferred embodiment of snake body provided by the invention；
Fig. 7 is the structural schematic diagram of a preferred embodiment of ophiruid provided by the invention；
Fig. 8 is the structural schematic diagram of a preferred embodiment of rod end bearing provided by the invention；
Fig. 9 is the structural schematic diagram of a preferred embodiment of cystosepiment provided by the invention；
Figure 10 is the connection relationship of the microcontroller and main control singlechip in bionical sea snake shown in FIG. 1 in waterproof sealing cabin
Figure；
In figure, 1- snakehead；101- image acquisition device；102- water conservancy diversion shell；103- obstacle avoidance sensor；104- deflector；2-
Waterproof sealing cabin；3- luffing mechanism；The first steering engine of 301-；302- third u-bracket；The second steering engine of 303-；The U-shaped branch of 304- the 6th
Frame；The 4th u-bracket of 305-；The 5th u-bracket of 306-；4- power mechanism；The second u-bracket of 401-；The U-shaped branch of 402- first
Frame；The shaft of 403- twin shaft steering engine；404- twin shaft steering engine；5- snake body；501- rod end bearing；502- cystosepiment；521- through-hole；
The 7th u-bracket of 504-；The 8th u-bracket of 505-；6- ophiruid；601- fixes retaining ring；The bionical skeleton of 602-；The second silicon of 603-
Glue；7- microcontroller；8- power line modem；9- host computer；11- main control singlechip；12- multichannel steering engine control panel.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instance
For illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected or can communicate each other；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Fig. 1 shows a preferred embodiment of the present invention for the bionical sea snake of aquafarm monitoring, as shown in Figure 1,
The bionical sea snake includes: the snakehead 1, snake body 5 and ophiruid 6 being sequentially connected；Snakehead 1 is equipped with image acquisition device 101, for acquiring
The image information of bionical sea snake present position；Snake body 5 includes the cystosepiment 502 and rod end bearing 501 of multiple alternately connections；It is located at
The cystosepiment 502 of first end is connected with snakehead 1 close to the side of snake body 5 far from the side of rod end bearing 501, is located at second end
The rod end bearing 501 in portion is connected with ophiruid 6 close to the side of snake body 5 far from one end of cystosepiment 502.
Wherein, rod end bearing 501 is with rod end or loaded on the oscillating bearing of rod end, it belongs to one in oscillating bearing
Class.Oscillating bearing is spherical bearing, and basic model is by having the inside and outside circle on spherical sliding sphere-contact surface to form.It closes
Bearings are mainly made of the inner ring of spherical outside surface and one outer ring of Internal Spherical Surface by one, can bear biggish load.Root
According to its different type and structure, radial load, axial load or radially, axially simultaneous joint load can be born.
Be generally used for the lower pendulum motion of speed, banking motion can also be made within the scope of certain angle, when support shaft and axle housing hole not
When concentricity is larger, remain to work normally.
Specifically, snakehead 1, snake body 5 and ophiruid 6 are sequentially connected, for example, using threaded fastener between snakehead 1 and snake body 5
It is cooperatively connected, is also connected using threaded fastener fits between snake body 5 and ophiruid 6；For example, can be adopted between snake body 5 and ophiruid 6
It is connected with fixed retaining ring 601.The image letter that image acquisition device 101 is used to acquire bionical sea snake present position is set on snakehead 1
Breath, for example, the image acquisition device 101 is high-definition camera head etc..And multiple rod end bearings 501 and multiple are set in snake body 5
Cystosepiment 502, for example, in snake body 5 there are two settings, the rod end bearings 501 such as five or ten and two, five or ten
Equal cystosepiments 502, can be set as needed the quantity of rod end bearing 501 and cystosepiment 502.
It is carried out for 12 rod end bearing 501 and 12 cystosepiments 502 are set in snake body 5 in the present embodiment
The protection scope for illustrating, but being not intended to restrict the invention.For example, the shape of cystosepiment 502 can be set to similar plectane or ellipse
Plectane etc.；Cystosepiment 502 is replaced into connection with rod end bearing 501, for example, opening up in the centre of cystosepiment 502 through cystosepiment
The motion end of rod end bearing 501 is cooperatively connected to be formed with the through-hole machinery on cystosepiment 502 by the through-hole of 502 thickness direction
One moving cell, for example, the two is closed using connection etc., i.e., the trunk vertebra that the cystosepiment 502 is equivalent to snake body 5 is threadedly engaged
Section, rod end bearing 501 are equivalent to the dentata joint of snake body 5.Later, 12 moving cells are sequentially connected, such as Fig. 6 institute
Show.Side of the cystosepiment 502 far from rod end bearing 501 in the moving cell (that is, first moving cell) of first end
It is connected with snakehead 1 close to the side of snake body 5, for example, the two is connected by the 8th u-bracket 505；Positioned at the movement of the second end
The one end of rod end bearing 501 far from cystosepiment 502 and ophiruid 6 in unit (that is, the 12nd moving cell) is close to snake body 5
Side is connected, for example, the two is connected by the 7th u-bracket 504.
When then bionical sea snake moves about in aquafarm, it can be acquired by the image acquisition device 101 on its snakehead 1 and swum over to
The image information of the aquafarm of place；In addition, since 5 part of snake body uses cystosepiment 502 to be alternately connected with rod end bearing 501
Structure so that bionical sea snake can in small space flexible motion；And it can be fitted using 5 structure of snake body of this kind of structure type
When less steering engine quantity, and then reduce the energy consumption of bionical sea snake.
In the present embodiment, by the cystosepiment 502 and 501 structure of rod end bearing in snake body 5 using alternately connection, so that
The bionical sea snake can in small space flexible motion, improve the flexibility of bionical sea snake；And the snake of this kind of structure type
5 structure of body reduces its energy consumption to a certain extent；And it can be acquired in real time by the way that image acquisition device 101 is arranged on snakehead 1
The image information of bionical sea snake place of arrival, improves the intelligent level of bionical sea snake.
In addition, can also be put into the cystosepiment 502 and rod end bearing 501 of alternately connection in snakelike mold and the first silicon is perfused
Glue, for example, forming 5 component of software snake body of drive lacking, i.e., in 501 outer filling zero degree silica gel of cystosepiment 502 and rod end bearing etc.
First silica gel constitutes the myoneural of snake body 5, so that snake body 5 is Coupled Rigid-flexible structure.And the forms of motion of drive lacking, it can be with
Influence of the electromagnetic wave to water fish group is reduced, it is smaller to the disturbance of the shoal of fish.
In addition, ophiruid 6 may include fixed retaining ring 601, bionical skeleton 602 and the second silica gel 603, the bionical skeleton 602
One end be connected with the side of fixed retaining ring 601, the other side of fixation retaining ring 601 is connected with snake body 5 close to one end of ophiruid 6,
As shown in Figure 7；Second silica gel 603 is poured in outside bionical skeleton 602, for example, second silica gel 603 is also zero degree silica gel etc.；Example
Such as, which uses spherical rod bearing；So that the ophiruid 6 forms Coupled Rigid-flexible structure.
Further, as shown in figure 9, offering through-hole 521 on each cystosepiment 502, one end of rod end bearing 501 is worn
Through-hole 521 is crossed to be connected with the one end for the rod end bearing 501 for being located at 502 other side of cystosepiment.For example, one end of rod end bearing 501
To set internal thread port, the other end of rod end bearing 501 is equipped with externally threaded end；Then it is located at a cystosepiment 502
The rod end bearing 501 of side and the connection relationship of rod end bearing 501 for being located at 502 other side of cystosepiment can be with are as follows: wherein one
A rod end bearing 501 passes through the through-hole 521 on cystosepiment 502 with internal thread port, another rod end bearing 501 is with outer
The end of screw thread is connect with one of rod end bearing 501 with internal thread port threads, while cystosepiment 502 is arranged
In the junction of two rod end bearings 501.
Further, distance of the through-hole 521 on cystosepiment 502 to the bottom edge of cystosepiment 502, weight with cystosepiment 501
The ratio of distances constant on the heart to the bottom edge of cystosepiment 501 is 0.62.521 position of through-hole so arranged, so that the center of gravity of cystosepiment 502
Difference in height is formed between the center of gravity of rod end bearing 501, to improve the stability that bionical sea snake moves about in water, and is significantly improved
Flexibility when bionical sea snake floating and dive, and then the bionical sea snake is improved in the complicated narrow underwater environment such as aquafarm
Parade ability and passability.
Further, the bionical sea snake for aquafarm monitoring, further includes: be arranged in cystosepiment 502 and rod end bearing
Layer of silica gel outside 501.That is, the cystosepiment 502 and 501 outer filling silica gel of rod end bearing in bionical sea snake form layer of silica gel, so that
Bionical sea snake forms a kind of connection structure of Coupled Rigid-flexible.For example, the layer of silica gel of the side-walls of cystosepiment 502 with a thickness of 5-
10mm, then in the motion process of bionical sea snake, the transitivity of power is can be improved in the layer of silica gel of the side-walls in cystosepiment 502
Energy；This kind of Coupled Rigid-flexible architectural characteristic is substantially better than the environmental harmony of traditional aircraft, and then improves the driving of bionical sea snake
Efficiency, to reduce the power consumption of bionical sea snake.
Further, bionical sea snake further include: the power mechanism 4 between snakehead 1 and snake body 5 is set；Power mechanism 4
One end be connected with snakehead 1 close to one end of snake body 5, the other end of power mechanism 4 is remote with the cystosepiment 502 for being located at first end
Side from rod end bearing 501 is connected, for driving bionical sea snake to move.It can be then that bionical sea snake mentions by the power mechanism 4
For power, i.e., cystosepiment 502 and rod end bearing 501 in snake body 5 is driven to generate wriggling movement by the power mechanism 4.
Further, as shown in connection with fig. 5, power mechanism 4 includes: at least one movable joint；Movable joint includes the first U
Type bracket 402, the second u-bracket 401 and the twin shaft steering engine 404 being vertically arranged；Positioned opposite is arranged in twin shaft steering engine 404
In the region that one u-bracket 402 and the second u-bracket 401 surround；The shaft 403 of twin shaft steering engine 404 and the first u-bracket 402
Straight flange be connected, the straight flange of the second u-bracket 401 is connected with the side wall of twin shaft steering engine 404；The first u-bracket positioned at end
402 bottom edge is connected with snakehead 1 close to one end of snake body 5, positioned at the other end the second u-bracket 401 bottom edge be located at
The cystosepiment 502 of first end is connected far from the side of rod end bearing 501.
Specifically, which may include the movable joints such as one, two or three, for example, in the present embodiment
The protection scope for being illustrated so that power mechanism 4 includes two movable joints as an example, but being not intended to restrict the invention.Accordingly
Ground, there are two 402, two the second u-brackets 401 of the first u-bracket and two twin shaft steering engines 404.By first u-bracket
402 and second u-bracket 401 be oppositely arranged and surround a region, in the area by the setting of twin shaft steering engine 404；
And the straight flange of the first u-bracket 402 is connected with the shaft 403 of twin shaft steering engine 404, the straight flange and twin shaft of the second u-bracket 401
The side wall of the 403 place side of shaft of steering engine 404 is connected, for example, above-mentioned connection relationship is to be fixedly connected or be detachably connected, from
And constitute a movable joint.
And by the bottom edge of the first u-bracket 402 in first movable joint and second in second movable joint
The bottom edge of u-bracket 401 is connected, and then two movable joints are connected in turn.And by first movable joint
The bottom edge of one u-bracket 402 is connected with snakehead 1 close to one end of snake body 5, and second in second movable joint is U-shaped
The bottom edge of bracket 401 is connected with the cystosepiment 502 for being located at end far from the side of rod end bearing 501, for example, second is moved
The second u-bracket 401 in joint passes through the 8th U-shaped branch far from the side of rod end bearing 501 with the cystosepiment 502 for being located at end
Frame 505 is connected.Two the first u-brackets 402 are arranged parallel, and twin shaft steering engine 404 therein is also arranged parallel, then
Relative velocity can be generated when two twin shaft steering engines 404 all operate, so that the driving generates absolute movement, so that this is bionical
Sea snake has driving capability, i.e., so that the bionical sea snake can produce periodic wobble, for example, the wriggling movement of similar snake；And
It is also possible that 403 direction of shaft of twin shaft steering engine 404 is consistent, so that the driveability of entire power mechanism 4 is consistent
Property is preferable, that is, improves the controllability and power performance of bionical sea snake locomitivity.It is of course also possible to according to use environment
Difference correspondingly changes the quantity of movable joint in power mechanism 4.
Further, bionical sea snake further include: the luffing mechanism 3 between snakehead 1 and power mechanism 4 is set；Pitching machine
One end of structure 3 is connected with snakehead 1 close to one end of power mechanism 4, and the other end is connected with power mechanism 4 close to one end of snakehead 1,
For driving snakehead 1 to make pitching movement.Then snakehead 1 can be driven to swing up and down by the luffing mechanism 3, realize the pitching of snakehead 1
Movement.
Further, luffing mechanism 3 includes: at least one third u-bracket 302, at least one the 4th u-bracket and extremely
Few horizontally disposed first steering engine 301；Third u-bracket 302 and the 4th U positioned opposite is arranged in first steering engine 301
In the region that type bracket 305 surrounds；The shaft of first steering engine 301 is connected with the straight flange of third u-bracket 302, the 4th u-bracket
305 straight flange is connected with the side wall of the first steering engine 301；Positioned at the bottom edge of the third u-bracket 302 of end and snakehead 1 close to dynamic
One end of force mechanisms 4 is connected；Bottom edge positioned at the 4th u-bracket 305 of the other end and the first u-bracket positioned at end
402 bottom edge is connected.
For example, first steering engine 301 such as including one, two or three of luffing mechanism 3；For example, the first steering engine 301 is high turns round
Square steering engine etc..Fig. 1 is the structure chart that luffing mechanism 3 includes first steering engine 301, is now carried out by taking the luffing mechanism of Fig. 13 as an example
The protection scope for illustrating, but being not intended to restrict the invention.Correspondingly, have a third u-bracket 302 and one it is the 4th U-shaped
Bracket 305；One third u-bracket 302 and the 4th u-bracket 305 are oppositely arranged and surround a region, by one
One steering engine 301 is horizontally set in the region surrounded, and by the shaft of the straight flange of third u-bracket 302 and the first steering engine 301
It is connected, the straight flange of the 4th u-bracket 305 is connected with the side wall of the first steering engine 301.And the bottom edge of third u-bracket 302 with
Snakehead 1 is connected close to one end of power mechanism 4, the bottom edge of the 4th u-bracket 305 and the first u-bracket 402 positioned at end
Bottom edge is connected.
When snakehead 1 needs to swing up and down, first steering engine 301 operating drives coupled third u-bracket 302
It swings up and down, so that the third u-bracket 302202 drives coupled snakehead 1 to swing up and down.And by by first
Steering engine 301 is horizontal positioned, the twin shaft steering engine 404 in movable joint is placed vertically so that the twin shaft steering engine 404 in movable joint with
The degree that bionic mechanical snake floats with dive can be improved in 301 quadrature arrangement of the first steering engine in luffing mechanism 3.Certainly, may be used also
To need to increase the quantity of the first steering engine 301 in luffing mechanism 3 according to use environment.
Further, luffing mechanism 3 further include: at least one the 5th u-bracket 306, at least one the 6th u-bracket
304 the second steering engines 303 being vertically arranged at least one；The 5th u-bracket 306 positioned opposite is arranged in second steering engine 303
In the region surrounded with the 6th u-bracket 304；The shaft of second steering engine 303 is connected with the straight flange of the 5th u-bracket 306, and the 6th
The straight flange of u-bracket 304 is connected with the side wall of the second steering engine 303；Positioned at end the 5th u-bracket 306 bottom edge be located at
The bottom edge of 4th u-bracket 305 of the other end；Positioned at the bottom edge of the 6th u-bracket 304 of the other end and positioned at end
The bottom edge of first u-bracket 402 is connected.
Specifically, which can also include one, two or more the second steering engines 303 placed vertically, example
Such as, the second steering engine 303 is high torque steering engine etc..Fig. 4 is that luffing mechanism 3 includes first steering engine 301 and two the second steering engines
The protection scope that 303 structure chart is now illustrated by taking the luffing mechanism of Fig. 43 as an example, but is not intended to restrict the invention.Phase
Ying Di, luffing mechanism 3 further includes two the 5th u-brackets 306 and two the 6th u-brackets 304, by the 5th u-bracket
306 and the 6th u-bracket 304 be oppositely arranged and surround a region, that is, may make up two regions.
One the second steering engine 303 is vertically arranged in the region surrounded, and by the straight flange of the 5th u-bracket 306
It is connected with the shaft of the second steering engine 303, the straight flange of the 6th u-bracket 304 is connected with the side wall of the second steering engine 303.By an area
The bottom edge of the 6th bracket in domain is connected with the bottom edge of the 5th bracket in another region, and then two regions are connected and are constituted
Complete luffing mechanism 3, as shown in Figure 4.And bottom edge and the 4th u-bracket of the 5th u-bracket 306 of end will be located at
305 bottom edge is connected, the bottom edge positioned at the 6th u-bracket 304 of the other end and the first u-bracket 402 positioned at end
Bottom edge is connected.Then the luffing mechanism 3 can also pass through 303 band of the second steering engine while being able to drive snakehead 1 and making pitching movement
Dynamic snakehead 1 makees wriggling movement, i.e. drive snakehead 1 swings, and improves the flexibility of snakehead 1.According to different use environments, just
The first steering engine 301 and 303 number of the second steering engine that commissure connects are different；When bionical sea snake works, the first rudder of orthogonal connection
While machine 301 and 303 structure of the second steering engine generate traveling wave, the swing of bionical sea snake Z-direction is carried out, bionical sea snake is improved
Performance.
Further, it is equipped with waterproof sealing cabin 2 between snakehead 1 and luffing mechanism 3, is equipped in waterproof sealing cabin 2 and to be connected
Microcontroller 7 and power line modem 8；Image acquisition device 101 is connected with microcontroller 7, so that microcontroller 7 is by image
The image information that collector 101 acquires is delivered to host computer 9 by power line modem 8.For example, the image can be adopted
The signal wire and power supply line of storage 101 are connected to the microcontroller 7 in waterproof sealing cabin 2 by waterproof connector；For example, power line
Modem 8 is connected by network interface with microcontroller 7；The image information that then image acquisition device 101 can be acquired is delivered to
Microcontroller 7, and the image information can be stored in the memory module in it by microcontroller 7；And it can also be by this
The image information is transmitted to host computer 9 by power line modem 8, realizes long-range monitoring and long-range control.And due to electric power
The environmental suitability of line modem 8 is stronger, so that the job enlargement of the bionical sea snake, greatly improving the bionical sea snake
Integration.
Further, as shown in connection with fig. 10, connected main control singlechip 11 and multichannel steering engine are additionally provided in waterproof sealing cabin 2
Control panel 12；It is provided with obstacle avoidance sensor 103 in the opposite sides of snakehead 1, obstacle avoidance sensor 103 is for detecting bionical sea snake
Nearby whether there are obstacles for present position；Multichannel steering engine control panel 12 respectively with 301 phase of twin shaft steering engine 404 and the first steering engine
Even, for controlling twin shaft steering engine 404 and the operating of the first steering engine 301；Main control singlechip 11 respectively with obstacle avoidance sensor 103 and micro-control
Device 7 processed is connected, for the testing result of obstacle avoidance sensor 103 to be sent to microcontroller 7, so that microcontroller 7 is according to avoidance
The testing result of sensor 103 sends the instruction of control multichannel steering engine control panel 12 to main control singlechip 11.
For example, obstacle avoidance sensor 103 is infrared distance sensor or ultrasonic distance-measuring sensor.For example, in the eye of snakehead 1
Obstacle avoidance sensor 103 is set at eyeball position；Alternatively, the first folder will be configured between obstacle avoidance sensor 103 and the center line of snakehead 1
Angle, for example, first angle is set as 30 ° -60 °；For example, by first between obstacle avoidance sensor 103 and the center line of snakehead 1
Angle is set as 50 °.For example, carrying out serial communication and master control monolithic between main control singlechip 11 and multichannel steering engine control panel 12
Machine 11 and microcontroller 7 also carry out serial communication；So that main control singlechip 11 and multichannel steering engine control panel 12 and microcontroller 7 it
Between data transmission it is relatively reliable.
And the testing result of obstacle avoidance sensor 103 is sent to microcontroller 7 by main control singlechip 11, if avoidance senses
Device 103 detects bionical sea snake present position nearby when not having barrier, and microcontroller 7 is according to the inspection of the obstacle avoidance sensor 103
The instruction that result issues control multichannel steering engine control panel 12 to main control singlechip 11 is surveyed, so that multichannel steering engine control panel 12 is according to this
Instruction control twin shaft steering engine 404 drives bionic mechanical snake to continue to move ahead.Also, the testing result is also passed through electricity by microcontroller 7
Line of force modem 8 is sent to host computer 9, so that host computer 9 can be with the detection knot of real-time reception to obstacle avoidance sensor 103
Fruit.In addition, the testing result of obstacle avoidance sensor 103 can also be stored in the memory module in it by main control singlechip 11.
If obstacle avoidance sensor 103 detect bionic mechanical snake present position nearby there are when barrier, 7 basis of microcontroller
The testing result of the obstacle avoidance sensor 103 issues the instruction of control multichannel steering engine control panel 12 to main control singlechip 11, so that more
Road steering engine control panel 12 controls the first steering engine 301 of control according to the instruction and twin shaft steering engine 404 drives bionical sea snake retrogressing, a left side
Turn, turn right, float, dive or stopping.When luffing mechanism includes the second steering engine, can also be kept away by microcontroller 7 according to this
The testing result for hindering sensor 103 issues the instruction of control multichannel steering engine control panel 12 to main control singlechip 11, so that multichannel rudder
Machine control panel 12 controls the second steering engine 303 of control according to the instruction.Then the bionical sea snake can be according to the inspection of obstacle avoidance sensor 103
Its traffic direction is adjusted when surveying fructufy, realizes the autonomous cruise function of bionical sea snake.
In addition, the shell of the snakehead 1 is made of water conservancy diversion shell 102 and deflector 104, the setting of obstacle avoidance sensor 103 is being led
It flows on shell 102, as shown in Figures 2 and 3.
In addition, it is additionally provided with power distribution Voltage stabilizing module in the waterproof sealing cabin 2, the output end of the power distribution Voltage stabilizing module
It is connected respectively with multichannel steering engine control panel 12 and obstacle avoidance sensor 103, and the input terminal of the power distribution Voltage stabilizing module and underwater
Cable is connected directly, and is converted into+12V DC and+5VDC output, as multichannel steering engine control panel 12 for leading to 220V alternating current
And obstacle avoidance sensor 103 provides electric energy.
Further, rod end bearing 501 includes spherical rod bearing 501, the structure of the spherical rod bearing 501 such as Fig. 8
It is shown；Cystosepiment 502 includes polyurethane foam board 502.Using spherical rod bearing 501, so that every section movable joint of snake body 5
It can be swung in the range of ± 60 °, improve the flexibility of snake body 5.And cystosepiment 502 is used into polyurethane foam board
502, it is possible to reduce the resistance of motion of snake body 5.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bionical sea snake for aquafarm monitoring characterized by comprising snakehead, snake body and the snake being sequentially connected
Tail；
The snakehead is equipped with image acquisition device, for acquiring the image information of bionical sea snake present position；
The snake body includes the cystosepiment and rod end bearing of multiple alternately connections；
Positioned at first end cystosepiment far from the side of the rod end bearing with the snakehead close to the side phase of the snake body
Even, positioned at the second end rod end bearing far from one end of the cystosepiment with the ophiruid close to the side phase of the snake body
Even.
2. the bionical sea snake according to claim 1 for aquafarm monitoring, which is characterized in that each cystosepiment
On offer through-hole, positioned at the cystosepiment side rod end bearing one end pass through the through-hole be located at the cystosepiment
One end of the rod end bearing of the other side is connected.
3. the bionical sea snake according to claim 2 for aquafarm monitoring, which is characterized in that on the cystosepiment
To the distance on the bottom edge of the cystosepiment, the ratio of distances constant with center of gravity to the bottom edge of the cystosepiment of the cystosepiment is through-hole
0.62。
4. the bionical sea snake according to claim 1 for aquafarm monitoring, which is characterized in that further include: setting exists
Layer of silica gel outside the cystosepiment and the rod end bearing.
5. the bionical sea snake according to claim 4 for aquafarm monitoring, which is characterized in that the side of the cystosepiment
Layer of silica gel at wall with a thickness of 5-10mm.
6. the bionical sea snake according to claim 1-5 for aquafarm monitoring, which is characterized in that also wrap
It includes: the power mechanism between the snakehead and the snake body is set；
One end of the power mechanism is connected with the snakehead close to one end of the snake body, the other end of the power mechanism with
Cystosepiment positioned at first end is connected far from the side of the rod end bearing, for driving bionical sea snake to move；And
Luffing mechanism between the snakehead and the power mechanism is set；
One end of the luffing mechanism is connected with the snakehead close to one end of the power mechanism, the other end and the engine
Structure is connected close to one end of the snakehead, for driving the snakehead to make pitching movement.
7. the bionical sea snake according to claim 6 for aquafarm monitoring, which is characterized in that the power mechanism packet
It includes: at least one movable joint；The movable joint includes the first u-bracket, the second u-bracket and the twin shaft rudder being vertically arranged
Machine；
First u-bracket and second u-bracket are arranged in relative type motor, wherein the twin shaft steering engine is arranged by the
In the region that one u-bracket and the second u-bracket surround；
The shaft of the twin shaft steering engine is connected with the straight flange of first u-bracket, the straight flange of second u-bracket with it is described
The side wall of twin shaft steering engine is connected；
Bottom edge positioned at first u-bracket of end is connected with the luffing mechanism close to one end of the snake body, is located at
The bottom edge of second u-bracket of the other end is with the cystosepiment positioned at first end far from the side phase of the rod end bearing
Even.
8. the bionical sea snake according to claim 7 for aquafarm monitoring, which is characterized in that the luffing mechanism packet
It includes: at least one third u-bracket, at least one the 4th u-bracket and at least one horizontally disposed first steering engine；
First steering engine is arranged in the region that third u-bracket and the 4th u-bracket positioned opposite surround；
The shaft of first steering engine is connected with the straight flange of the third u-bracket, the straight flange of the 4th u-bracket with it is described
The side wall of first steering engine is connected；
Bottom edge positioned at the third u-bracket of end is connected with the snakehead close to one end of the power mechanism；It is located at
The bottom edge of 4th u-bracket of the other end is connected with the bottom edge for first u-bracket for being located at end.
9. it is according to claim 8 for aquafarm monitoring bionical sea snake, which is characterized in that the snakehead with it is described
It is equipped with waterproof sealing cabin between luffing mechanism, connected microcontroller and power line modulation /demodulation are equipped in the waterproof sealing cabin
Device；
Described image collector is connected with the microcontroller, so that the figure that the microcontroller acquires described image collector
As information is delivered to host computer by the power line modem.
10. the bionical sea snake according to claim 9 for aquafarm monitoring, which is characterized in that the waterproof sealing
Connected main control singlechip and multichannel steering engine control panel are additionally provided in cabin；Avoidance is provided in the opposite sides of the snakehead to pass
Sensor, whether there are obstacles for detecting bionical sea snake present position for the obstacle avoidance sensor；
The multichannel steering engine control panel is connected with the twin shaft steering engine and first steering engine respectively, for controlling the twin shaft rudder
Machine and first steering engine；
The main control singlechip is connected with the obstacle avoidance sensor and the microcontroller respectively, is used for the obstacle avoidance sensor
Testing result be sent to the microcontroller so that the microcontroller is according to the testing result of the obstacle avoidance sensor to institute
It states main control singlechip and sends the instruction for controlling the multichannel steering engine control panel.
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| CN201910099865.0A CN109774896A (en) | 2019-01-31 | 2019-01-31 | Bionical sea snake for aquafarm monitoring |
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| CN201910099865.0A CN109774896A (en) | 2019-01-31 | 2019-01-31 | Bionical sea snake for aquafarm monitoring |
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