CN109795648A - A kind of imitative case Puffer machine fish of microminiature height emulation - Google Patents
A kind of imitative case Puffer machine fish of microminiature height emulation Download PDFInfo
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- CN109795648A CN109795648A CN201910089144.1A CN201910089144A CN109795648A CN 109795648 A CN109795648 A CN 109795648A CN 201910089144 A CN201910089144 A CN 201910089144A CN 109795648 A CN109795648 A CN 109795648A
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Abstract
The invention proposes a kind of microminiature height to emulate imitative case Puffer machine fish, it include: machine fish shell identical with true case Puffer bodily form feature, closed interior compartment and tail fin, wherein, artificial lateral-line system is installed on the shell, the artificial lateral-line system is used to perceive the pressure change in stream field, the closed interior compartment is chimeric with the machine fish interior of shell, supplying cell is accommodated in the closed interior compartment, master control electrical system, steering engine, steering wheel, spur gear to and gear position limiting seat, wherein, the steering wheel is mounted on a spur gear of the spur gear pair, the steering engine and the tail fin are by the spur gear to being driven, to drive the tail fin to move.The present invention has high simulation shell, can be with free movement, and the pressure change in perception flow field may be implemented.
Description
Technical field
The present invention relates to underwater robot applied technical field, in particular to a kind of microminiature height emulates imitative case Puffer machine
Fish.
Background technique
Case Puffer is a kind of fish for having box-like shape.Different from common fish, it does not have fairshaped appearance, body
Prismatic is presented in the main body of body, and prismatic edge has the spine of sharp outline.The outwardly protrusion at its back and bottom,
The outer surface of side is recessed inwardly.Such external appearance characteristic makes case Puffer fishing gear for good mobility and stability both phases
Mutual contradictory feature.Because having both two kinds of contradictory motion features simultaneously, phenomenon this present on case Puffer is referred to as case Puffer by educational circles
Antinomy.In recent years, biologist and fluid force scholar gradually begin to focus in disclose case Puffer antinomy there are the reason of.Biologist
It is mainly measured by the vital sign to true case Puffer, capture analysis is carried out to shell swing image, fin is swung
Mode observes and records etc., carries out probing into for case Puffer antinomy.Fluid force scholar mainly passes through whirlpool visualized experiment, probes into true
The vortex of real case Puffer or the high emulation box Puffer shell being fixed in waters in extraneous water impact next week casing body, analysis vortex
To the active force of shell to attempt to disclose case Puffer antinomy.Above-mentioned Preliminary Study shows around when case Puffer antinomy and case Puffer move
Flow field change have relationship.
But in above-mentioned research, there are the following problems:
(1) vital sign of true case Puffer, swing mode etc. are influenced very big by extraneous living environment, can not judge institute
The sign of acquisition, modal data are that case Puffer generates to realize mobility or stability.
(2) there is biggish differences for the case Puffer of the high emulation box Puffer and true free movement that are fixed in waters, to it
The result probed into is short of convincingness to mobility existing for the case Puffer for explaining free movement and stability.
Summary of the invention
The purpose of the present invention aims to solve at least one of described technological deficiency.
For this purpose, it is an object of the invention to propose that a kind of microminiature height emulates imitative case Puffer machine fish.
To achieve the goals above, the embodiment of the present invention provides a kind of imitative case Puffer machine fish of microminiature height emulation, comprising:
Machine fish shell identical with true case Puffer bodily form feature, closed interior compartment and tail fin, wherein be equipped on the shell
Artificial lateral-line system, the artificial lateral-line system are used to perceive pressure change in stream field, the closed interior compartment with
The machine fish interior of shell is chimeric, accommodated in the closed interior compartment supplying cell, master control electrical system, steering engine,
Steering wheel, spur gear to and gear position limiting seat, be divided into accordingly according to the size and shape of accommodated object inside the cabin
Compartment, wherein the steering wheel is mounted on a spur gear of the spur gear pair, and the steering engine and the tail fin are described in
Spur gear is to being driven, and to drive the tail fin to move, the master control electrical system is connect with the supplying cell, wherein
The master control electrical system include: from top to bottom the microprocessor, attitude transducer of arranged stacked, tail fin steering engine control unit,
The artificial lateral-line system and the attitude transducer and the connection, it is described further to be connect with the microprocessor, it is described
It is connect described in tail fin steering engine control unit with the steering engine.
Further, the artificial lateral-line system includes the array constituted for multiple pressure transducers, wherein each pressure
Strong sensor is by the hole location reserved on the shell, and installation is on the housing.
Further, the artificial lateral-line system further comprises IIC-CAN change-over panel, the IIC-CAN change-over panel it is defeated
Enter end to connect with each pressure transducer, the output end of the IIC-CAN change-over panel is connect with the microprocessor, by institute
It states IIC-CAN change-over panel the IIC protocol signal from pressure transducer is converted into CAN bus signal and be sent to the micro process
Device.
Further, letter is carried out using IIC agreement between the microprocessor and attitude transducer and tail fin driving steering engine
Number transmission.
Further, the machine fish shell obtains in the following ways:
By three-dimensional laser scanner by the shell of the true case Puffer of scanning, the bodily form point cloud data of the case Puffer shell is obtained；
Then above-mentioned bodily form point cloud data is solved using three-dimensionalreconstruction algorithm, and is integrally formed using 3D printing technique, obtained
The machine fish shell；
Wherein, the machine fish shell includes: the left outside shell and right casing fastened by screw, and using screw hole in spiral shell
It is filled after clenching admittedly by filling member identical with the machine fish enclosure material.
Further, the closed interior compartment includes: the upper housing fastened by screw and lower case, and using O-shaped
Sealing ring carries out waterproof.
Further, T-shaped notch is set below the gear connecting with the tail fin, it is embedding with the T shape column in tail fin connecting rod
It closes.
Further, the machine fish shell, closed interior compartment and tail fin are all made of photosensitive resin, using 3D printing skill
Art is integrally formed.
Further, the master control electrical system further include: non-steering engine power supply unit and steering engine power supply unit, wherein described
Supplying cell is connect with the input terminal of the input terminal of the non-steering engine power supply unit and steering engine power supply unit, the non-steering engine power supply
The output end of unit is connect with the microprocessor to be powered, and the steering engine power supply unit and tail fin steering engine control are single
Member connection is to be powered.
Further, pass through spur gear between the steering engine and tail fin to being driven, transmission ratio is greater than 1:1.
Microminiature height according to an embodiment of the present invention emulates imitative case Puffer machine fish, has high simulation shell, can freely transport
It is dynamic, and the imitative case Puffer machine fish of flow field perception may be implemented, provide a kind of work for verifying the existing movement antinomy of true case Puffer
Cheng Silu.On the one hand, go the movement antinomy for probing into true fish can be to avoid the true fish of utilization using machine fish of the invention
Carry out the required harsh external environment condition having when experiment.On the other hand, the machine fish that the present invention designs can also be realized
Free movement can make up during current box Puffer antinomy probes into, the defect that height emulation not can be freely moved, so that Experimental Research result
Has convincingness.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 a to Fig. 1 c is the emulation of microminiature height imitative the case Puffer machine fish front view, side view of the embodiment of the present invention, and
Top view；
Fig. 2 is that the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fish overall structure diagram；
Fig. 3 is that the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fish chief component explosive view；
Fig. 4 is that the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fish body diagram；
Fig. 5 is that the imitative closed interior compartment of case Puffer machine fish of microminiature height emulation of the embodiment of the present invention is installed on shell
Schematic diagram；
Fig. 6 a to Fig. 6 d is that the microminiature height of the embodiment of the present invention emulates the closed interior compartment composition of imitative case Puffer machine fish
Schematic diagram；
Fig. 7 is that the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fishtail fin position schematic diagram；
Fig. 8 is the working principle diagram that the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fish；
Fig. 9 is the artificial lateral-line system schematic diagram that the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fish.
Appended drawing reference:
The left outside shell of 1-；2- right casing；3- tail fin；The closed interior compartment of 4-；5- filling member；The first screw of 6-；7- hole location；
8- pressure transducer；The second screw of 9-；10-O type sealing ring；11- attitude transducer
41- upper housing；42- lower case；43- supplying cell；44- master control electrical system；45- is opened；46- tail fin drives rudder
Machine；
47- steering wheel；48- spur gear pair；49- gear position limiting seat；81-IIC-CAN change-over panel
441- microprocessor；442- tail fin steering engine control unit；The non-steering engine power supply unit of 444-；445 steering engine power supply units.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings to the microminiature height of the embodiment of the present invention emulate imitative case Puffer machine fish structure and working principle into
Row is described in detail.
As shown in Fig. 2, the microminiature height of the embodiment of the present invention emulates imitative case Puffer machine fish, comprising: with the true case Puffer bodily form
The identical machine fish shell (1,2) of feature, closed interior compartment 4 and tail fin 3.
In an embodiment of the present invention, machine fish shell is obtained using laser scanning and Three Dimensional Reconfiguration following manner,
For shell identical with true case Puffer bodily form feature.
Specifically, obtaining the bodily form point of the case Puffer shell by the shell of the true case Puffer of scanning by three-dimensional laser scanner
Cloud data；Then above-mentioned bodily form point cloud data is solved using three-dimensionalreconstruction algorithm, and using 3D printing technique one at
Type obtains machine fish shell.Since the machine fish shell in the present invention is to be set by obtaining after the scanning of true case Puffer shell in machinery
During meter, the original shape and size feature invariant of shell should ensure that, the high simulation quality of shell just can be achieved.
As shown in Fig. 1 a to Fig. 1 c, microminiature height of the present invention emulates imitative case Puffer machine fish shell and upper and lower surface is presented outward
Prominent, left and right surface is recessed inwardly, the outwardly projecting general characteristic of eye locations.In addition, leaning on caudal section on shell
It is gradually reduced.
As shown in figure 3, machine fish shell includes: the left outside shell 1 and right casing 2 fastened by the first screw 6, and use spiral shell
Nail hole is filled after screw fastening by filling member 5 identical with machine fish enclosure material, to guarantee the smooth of surface of shell.Its
In, the material of left outside shell 1 and right casing 2 uses photosensitive resin, is integrally formed through 3d printing technique.
Preferably, the size of machine fish shell are as follows: 17.5 centimeter lengths, 10 centimetres wide, 9 centimetres of height.Machine fish adds tail fin
Overall length afterwards is 21.5cm.It should be noted that the size of above-mentioned machine fish shell is only shell for exemplary purposes
Size can also be other numerical value, details are not described herein.
In addition, being equipped with artificial lateral-line system on machine fish shell, artificial lateral-line system is used to perceive the pressure in stream field
Strong variation.As shown in figure 4, artificial lateral-line system includes the array constituted for multiple pressure transducers 8 in the present invention, wherein each
Pressure transducer 8 is by the hole location 7 reserved on machine fish shell, and installation is on the shell.The battle array being made of multiple pressure transducers 8
Column constitute artificial lateral-line system, it can be achieved that in the stream field similar with true fish side line pressure change perceptional function.
Preferably, 8 quantity of pressure transducer can be 9.
The data of single pressure transducer 8 are transmitted by IIC agreement.In order to realize the data to all pressure transducers 8
Transmission, if be mounted on the same iic bus using by all pressure transducers, due to each pressure transducer 8
The address IIC it is different, bus collision can be caused, so that the data of each pressure transducer 8 can not normally be read.In order to
It solves the problems, such as this, needs to design a bus converter, the data conversion that pressure biography IIC is read is at other buses with address
Data.In view of the problem of pressure data amount is big and message transmission rate, the bus mode of CAN is best.
With reference to Fig. 9, artificial lateral-line system further comprises IIC-CAN change-over panel, and the input terminal of IIC-CAN change-over panel is each
Pressure transducer connection, the output end of IIC-CAN change-over panel are connect with microprocessor, will come from pressure by IIC-CAN change-over panel
The IIC protocol signal of sensor is converted to CAN bus signal and is sent to microprocessor.That is, each pressure transducer 8 is also with one
A IIC-CAN change-over panel 81 connects, and the pressure of IIC transmission is passed data conversion and passes data at the pressure that CAN is transmitted.Multiple pressure sensings
Device 8 is parallel in the same CAN bus, by data by CAN bus be transmitted to microprocessor 441 (microprocessor 441 be it is closed
The device of master control electrical system, will be described later in interior compartment 4).Since CAN bus message transmission rate is fast, load
Node it is more, this not only improves pressure and passes the efficiency for reading data, but also can increase as much as possible as needed in follow-up study
Add pressure transducer 8.
With reference to Fig. 4, microminiature height of the present invention emulates the imitative left outside shell 1 of case Puffer machine fish and 2 inside of right casing according to closed
The shape and size of interior compartment 4 have reserved the space of correspondingly-shaped and size, to realize cabin in left outside shell 1 and right casing 2
On it is chimeric.The space reserved can limit position of the interior compartment 4 in left outside shell 1 and right casing 2.That is, in closed
The size and shape of portion's cabin 4 will be by the bodily form feature constraint of machine fish shell.As shown in figure 5, microminiature Gao Fang of the present invention
The closed interior compartment 4 of very imitative case Puffer machine fish is chimeric with left outside shell 1.
As shown in Fig. 6 a to Fig. 6 d, closed interior compartment 4 is chimeric with machine fish interior of shell, including upper housing 41 is under
Shell 42 is fastened by screw 9 between shell, and carries out waterproof by O-ring seal 10, and sealing ring 10 is located at 41 He of upper housing
Between lower case 42, it is placed in the groove of lower case 42.
In closed interior compartment 4 on from fish head to fish tail direction, it is sequentially arranged supplying cell 43, master control electrical system
44, switch 45, tail fin driving steering engine 46, steering wheel 47, spur gear be to 48 and gear position limiting seat 49, wherein the ruler of gear position limiting seat 49
Very little and shape is divided into corresponding compartment.The shapes and sizes setting of compartment plays the work of position restriction to the object accommodated
With.The plane of symmetry of each part mentioned above is overlapped with the plane of symmetry that the left outside shell 1 of machine fish and right casing 2 are bonded back casing.In the present invention
Closed interior compartment 4 use photosensitive resin, be integrally formed through 3d printing technique.
Steering wheel 47 is mounted on spur gear on 48 spur gear, and tail fin driving steering engine 46 and tail fin 3 pass through spur gear
48 pairs are driven, and to drive tail fin 3 to move, master control electrical system 44 is connect with supplying cell 43.
As shown in fig. 7, being driven by spur gear to 48 between the steering engine 46 and tail fin 3 of driving machine fishtail fin, tooth
The size of wheel is determined that transmission ratio requires to be greater than 1:1 by the shape of closed interior compartment 4.Preferably, the tooth in the present invention
Wheel transmission ratio is 23:18.
In one embodiment of the invention, T-shaped notch is set below the gear connecting with tail fin, with tail fin connecting rod
On T shape column it is chimeric.With reference to Fig. 7, the spur gear lower section being connected with tail fin 3 is a cylinder, is provided with T-shaped notch.Tail fin 3
Main includes a fan-shaped fin face and a connecting shaft composition that can be connect with spur gear, has T-shaped column chimeric in connecting shaft.
In an embodiment of the present invention, spur gear is all made of photosensitive resin to 48 and tail fin 3, is integrally formed through 3d printing technique.
As shown in figure 8, master control electrical system includes: microprocessor 441, pressure transducer 8, attitude transducer 11, communication
Unit 4411 and tail fin steering engine control unit 442.The artificial lateral-line system and attitude transducer 11 that pressure transducer 8 forms are by micro-
Processor 441 reads data, and tail fin steering engine control unit 442 is connect with tail fin driving steering engine 46.Communication unit 4411 is integrated in
On microprocessor 441.All data are passed by the communication unit 4411 on microprocessor 441 with external master system
It is defeated.In addition, master control electrical system is reserved with infrared sensor interface etc..
In an embodiment of the present invention, governor circuit system dimension is 55cm long, 55cm wide, 55cm high, belongs to a collection
Accepted way of doing sth microminiature electrical system.Wherein, microprocessor 441 is NanoPi NEO main control board.Microprocessor 441 and posture pass
The transmission of signal is carried out between sensor 11 and tail fin driving steering engine 46 using IIC agreement.
In addition, master control electrical system further include: non-steering engine power supply unit 444 and steering engine power supply unit 445, wherein power supply
Battery 43 is connect with the input terminal of non-steering engine power supply unit 444 and single 445 yuan of the input terminal of steering engine power supply, non-steering engine power supply unit
444 output end is connect with microprocessor 441 to be powered, and steering engine power supply unit 445 and tail fin steering engine control unit 442 connect
It connects to be powered.
The working principle for emulating imitative case Puffer machine fish below with reference to microminiature height of the Fig. 8 to the embodiment of the present invention is said
It is bright: firstly, machine fish by pressure transducer 8 and attitude transducer 11 obtain ambient enviroment flow field change information and itself
Posture information, and send information to master control electrical system 44 and summarized, the information after summarizing is transmitted to micro- by IIC agreement
Processor 441, microprocessor 441 handle these information, then send specific control instruction, packet by IIC agreement
It includes steering engine hunting frequency parameter, amplitude of fluctuation parameter, swing offset parameter etc. to tail fin steering engine control unit 442, control unit
442 send PWM wave to tail fin steering engine 46, realize the swing of steering engine 46.Tail fin drives the swing turn spur of steering engine 46 to 48
Rotation, to drive the swing of tail fin 3.Supplying cell 43 gives microprocessor 441, posture by non-steering engine power supply unit 444
Sensor 11 and pressure transducer 8 are powered, and give tail fin steering engine control unit 442 and tail fin rudder by steering engine power supply unit 445
Machine 46 is powered.
Microminiature height according to an embodiment of the present invention emulates imitative case Puffer machine fish, has high simulation shell, can freely transport
It is dynamic, and the imitative case Puffer machine fish of flow field perception may be implemented, provide a kind of work for verifying the existing movement antinomy of true case Puffer
Cheng Silu.On the one hand, go the movement antinomy for probing into true fish can be to avoid the true fish of utilization using machine fish of the invention
Carry out the required harsh external environment condition having when experiment.On the other hand, the machine fish that the present invention designs can also be realized
Free movement can make up during current box Puffer antinomy probes into, the defect that height emulation not can be freely moved, so that Experimental Research result
Has convincingness.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (10)
1. a kind of microminiature height emulates imitative case Puffer machine fish characterized by comprising machine identical with true case Puffer bodily form feature
Device fish shell, closed interior compartment and tail fin, wherein artificial lateral-line system, the artificial side line are installed on the shell
System is used to perceive the pressure change in stream field,
The closed interior compartment is chimeric with the machine fish interior of shell, accommodates power supply in the closed interior compartment
Battery, master control electrical system, steering engine, steering wheel, spur gear to and gear position limiting seat, according to accommodated object inside the cabin
Size and shape are divided into corresponding compartment, wherein the steering wheel is mounted on a spur gear of the spur gear pair, described
Steering engine and the tail fin by the spur gear to being driven, to drive the tail fin to move, the master control electrical system with
The supplying cell connection, wherein the master control electrical system includes: that the microprocessor of arranged stacked, posture pass from top to bottom
Sensor, tail fin steering engine control unit, the artificial lateral-line system and the attitude transducer are connect with the microprocessor, described
Tail fin steering engine control unit is connect with the steering engine.
2. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the artificial lateral-line system packet
The array constituted for multiple pressure transducers is included, wherein each pressure transducer is by reserving on the machine fish shell
Hole location is mounted on the machine fish shell.
3. microminiature height as claimed in claim 2 emulates imitative case Puffer machine fish, which is characterized in that the artificial lateral-line system into
One step includes IIC-CAN change-over panel, and the input terminal of the IIC-CAN change-over panel is connect with each pressure transducer, described
The output end of IIC-CAN change-over panel is connect with the microprocessor, will be from pressure transducer by the IIC-CAN change-over panel
IIC protocol signal is converted to CAN bus signal and is sent to the microprocessor.
4. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the microprocessor and posture
The transmission of signal is carried out between sensor, tail fin driving steering engine using IIC agreement.
5. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the machine fish shell uses
Following manner obtains:
By three-dimensional laser scanner by the shell of the true case Puffer of scanning, the bodily form point cloud data of the case Puffer shell is obtained；Then
Above-mentioned bodily form point cloud data is solved using three-dimensionalreconstruction algorithm, and is integrally formed using 3D printing technique, is obtained described
Machine fish shell；
Wherein, the machine fish shell includes: the left outside shell and right casing fastened by the first screw, and using screw hole the
It is filled after the fastening of one screw by filling member identical with the machine fish enclosure material.
6. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the closed interior compartment
Include: the upper housing fastened by the second screw and lower case, and waterproof is carried out using O-ring seal.
7. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the tooth being connect with the tail fin
T-shaped notch is arranged in wheel lower section, chimeric with the T shape column in tail fin connecting rod.
8. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the machine fish shell, envelope
Closed internal cabin and tail fin are all made of photosensitive resin, are integrally formed using 3D printing technique.
9. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the master control electrical system is also
It include: non-steering engine power supply unit and steering engine power supply unit, wherein the input of the supplying cell and the non-steering engine power supply unit
End connected with the input terminal of steering engine power supply unit, the output end of the non-steering engine power supply unit connect with the microprocessor with into
Row power supply, the steering engine power supply unit are connect with the tail fin steering engine control unit to be powered.
10. microminiature height as described in claim 1 emulates imitative case Puffer machine fish, which is characterized in that the steering engine and tail fin it
Between by spur gear to being driven, transmission ratio is greater than 1:1.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158319A (en) * | 2020-08-28 | 2021-01-01 | 浙江大学 | Bionic robot fish based on hard magnetic flexible drive body swing drive and manufacturing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158319A (en) * | 2020-08-28 | 2021-01-01 | 浙江大学 | Bionic robot fish based on hard magnetic flexible drive body swing drive and manufacturing method thereof |
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Application publication date: 20190524 |