CN110745222A - Multifunctional bionic whale shark device - Google Patents
Multifunctional bionic whale shark device Download PDFInfo
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- CN110745222A CN110745222A CN201911180592.9A CN201911180592A CN110745222A CN 110745222 A CN110745222 A CN 110745222A CN 201911180592 A CN201911180592 A CN 201911180592A CN 110745222 A CN110745222 A CN 110745222A
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- whale shark
- whale
- control device
- steering engine
- fish
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a multifunctional bionic whale shark device, which relates to the field of underwater navigation and detection devices and solves the problems of difficult sea exploration and insufficient direct and comprehensive popularization and propaganda of sea knowledge; two sides of the front end of the fish head are provided with fish eyes, and a micro camera for shooting an underwater environment and an infrared obstacle avoidance instrument for detecting and avoiding a front obstacle are fixedly arranged in the fish eyes; a sensor group for detecting an underwater environment and outputting a corresponding sensing signal is fixedly arranged on the whale shark body; the whale shark body is provided with the displayable flexible screen and the touch device on the outer surface in an embedded mode, and therefore the underwater detection device can achieve ocean detection and is convenient for popularization of underwater monitoring and ocean knowledge education.
Description
Technical Field
The invention relates to an underwater navigation and detection device, in particular to a multifunctional bionic whale shark device.
Background
The vast sea occupies about 71% of the entire earth's surface, and in the case where land resources have been mostly developed, human development to the sea has become a necessary trend, and an intelligent underwater navigation robot has become an important tool for modern exploration of the sea. The sea has various landforms, not only has clear seawater, but also has a Marina sea ditch of as much as 11034 m. Under such complicated geographic conditions, it is impossible for human beings to go to the ocean by means of oxygen pipes for exploration research, and a tool for replacing human beings to go to the ocean for exploration and detection is urgently needed in such conditions. Meanwhile, at present, knowledge related to ocean exploration is less popular, requirements for intuitive popularization education are higher, people are not direct and comprehensive in understanding ocean knowledge, and an effective method is urgently needed for education popularization.
Disclosure of Invention
The invention aims to provide a multifunctional bionic whale shark device, which can realize ocean exploration and is convenient for popularization of underwater monitoring and ocean knowledge education.
The technical purpose of the invention is realized by the following technical scheme:
the utility model provides a multi-functional bionical whale shark device, includes whale shark body, characterized by: the whale shark body comprises a fish head, a head-belly connecting part, a fish belly, a body and a tail fin which are sequentially connected; two sides of the front end of the fish head are provided with fish eyes, and a micro camera for shooting an underwater environment and an infrared obstacle avoidance instrument for detecting and avoiding a front obstacle are fixedly arranged in the fish eyes; a sensor group for detecting an underwater environment and outputting a corresponding sensing signal is fixedly arranged on the whale shark body; the external surface of whale shark body is implanted with flexible screen and the point touch device that can show.
By adopting the scheme, the bionic is realized through the sequentially connected structures, the interference to the underwater environment is small when the whale shark moves underwater, the set sensor group enables the whale shark body to detect corresponding underwater environment parameters when the whale shark moves in the sea, the parameters acquired by matching with the bionic mechanism are more real and accurate, and the infrared obstacle avoidance instrument can avoid collision when the whale shark moves; and miniature camera cooperates in the flexible screen of implanting whale shark body surface and touches the device with the point for the whale shark body can shoot dynamic picture when moving about under water, and through flexible screen and touch the device with the point, can show the underwater picture of acquireing more directly perceivedly to people, and realize interdynamic through touching the device, also made things convenient for propaganda and education to ocean knowledge when the effectual required parameter of acquireing the ocean.
Preferably, the first rudder unit for connecting the fish head and the fish belly penetrates through the head and belly connecting part, and the second rudder unit is arranged in the trunk, and one end of the second rudder unit is fixedly connected inside the trunk and the other end of the second rudder unit is fixedly connected to the fish belly.
Preferably, the first steering engine set and the second steering engine set respectively comprise a plurality of brackets fixedly connected in sequence and a plurality of steering engines correspondingly installed in the brackets respectively.
By adopting the scheme, the arrangement of the plurality of supports and the plurality of steering engines of the first steering engine set and the second steering engine set enables the first steering engine combined with the second steering engine set to be multi-joint, so that the whale shark moves more flexibly and more vividly.
Preferably, the control system further comprises a plurality of steering engine control boards coupled to the steering engines to control the steering engines to act, a sensor group arranged on the whale shark body to detect the marine environment and output corresponding sensing signals, a control device coupled to the sensor group and the plurality of steering engine control boards to control, and a wireless transceiver coupled to the control device to perform wireless communication.
By adopting the scheme, the control device can store and control each parameter data of the sensor group; the multi-path steering engine control board can control the steering and angle actions of the steering engine under the control of the control device, and the remote control of the movement of the whale shark body is realized in cooperation with the wireless receiving and transmitting device; and meanwhile, the device is matched with a miniature camera, so that the visual display of marine environment can be realized, people can conveniently know and learn marine knowledge, and the visual popularization of the marine knowledge is realized while marine detection is carried out.
Preferably, the remote control device further comprises a remote control device which receives remote control instructions to the control device through the wireless transceiver and transmits signals to the multi-path steering engine control panel through the control device so as to control the steering engine to act.
By adopting the scheme, the remote control device is matched with the wireless transceiver, so that the control of the multipath steering engine control panel is realized, and the detection and the control are convenient.
Preferably, the control device further controls a smart cruise mode, and the control device starts the smart cruise mode when the wireless transceiver is not connected with the upper computer.
By adopting the scheme, the intelligent cruise mode controlled by the control device can automatically cruise and detect when exceeding the control range of the wireless transceiver.
Preferably, the sensor group stores corresponding motion data to the control device when the intelligent cruise mode is started, the control device calculates the direction distance from the starting point according to the motion data, and controls the whale shark body to return in the original way after the whale shark body reaches the destination.
By adopting the scheme, the control device can be matched with the sensor group in the intelligent cruise mode to save and calculate parameter data, so that the whale shark body can return in the original way.
Preferably, a bait bin for placing baits and controlled by the remote control device to feed baits is further arranged in the whale shark body.
Adopt above-mentioned scheme, this internal bait storehouse that sets up of whale shark can carry out bait under remote control and throw something and feed, improves the bait rate of food of throwing something and feeding, can throw something and feed at required position is convenient, and the operation is also convenient.
Preferably, the whale shark body is internally provided with a watertight barrel provided with a power supply.
Preferably, the head of the whale shark body is made of an aluminum alloy material; the head-belly connecting part, the fish belly, the trunk and the tail fin are all made of cast silica gel materials; the outer surface of the whale shark body is provided with bionic silica gel.
In conclusion, the invention has the following beneficial effects:
the underwater detection and acquisition of various parameters can be realized through the sensor group, and the sensor group is matched with the control device and the steering engine control panel, so that the movement of the whale shark body can be controlled, and the parameters of the position to be detected can be conveniently acquired; the miniature camera cooperates in flexible screen and touches the device with the point, can realize audio-visual developments show the picture under water to people, effectively carries out the popularization of ocean knowledge to cooperate in wireless transceiver, make can also carry out the developments in real time to the environment picture under water and acquire and play in real time when surveying, conveniently carry out the propaganda and the popularization of ocean knowledge.
Drawings
FIG. 1 is a schematic diagram of a structure of a biomimetic whale shark;
FIG. 2 is a schematic diagram of the internal structure of a bionic whale shark;
FIG. 3 is a block diagram of the relationship between the sensing, control, and feedback devices.
In the figure: 1. whale shark body; 11. a head portion; 12. a head-abdomen connecting portion; 13. the abdomen; 14. a torso; 15. a pectoral fin; 16. a tail fin; 17. a dorsal fin; 18. a hip fin; 2. an infrared obstacle avoidance instrument; 3. a miniature camera; 41. a first rudder unit; 42. a second rudder unit; 5. a watertight tub.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The multifunctional bionic whale shark device disclosed by the embodiment comprises a whale shark body 1, wherein the whale shark body 1 is composed of a head 11, a head-abdomen connecting part 12, an abdomen 13, a trunk 14, a pectoral fin 15, a tail fin 16, two back fins 17 and a hip fin 18 of the whale shark, as shown in fig. 1. The head 11 of the whale shark body 1 is provided with fish eyes at two sides.
As shown in figure 2, a first rudder unit 41 and a second rudder unit 42 are installed inside the whale shark body 1, the first rudder unit 41 and the second rudder unit 42 are composed of a plurality of supports and steering engines installed in the supports, the steering engines are sequentially connected through the supports and are fixedly installed inside the whale shark body 1, and the movement of the whale shark body 1 is controlled through the action of the steering engines. The whale shark body 1 is internally provided with at least 7 steering engines and 14 brackets.
Connect through first rudder unit 41 between head 11 and the belly 13 of whale shark body 1, first rudder unit 41 is preferred to be provided with two pairs of supports and two steering engines of corresponding installation thereof, fix and connect the steering engine through the support, the side of two supports at both ends carries out fixed connection with the surface of head 11 and belly 13 respectively, first rudder unit 41 wears to establish in the inside of head belly connecting portion 12, the realization is with head 11 and belly 13 fixed connection, through two steering engines of connection, realize the action that head 11 is nimble.
As shown in fig. 2, the number of the pectoral fins 15 is two, the pectoral fins are distributed on two sides of the whale shark body 1, the two pectoral fins 15 are fixedly connected to two sides of the belly 13 of the whale shark through brackets, and the steering engines are installed in the brackets, so that swing control of the pectoral fins 15 is realized. Be provided with the watertight bucket 5 of installation power in whale shark body's 1 belly 13, seal fixed mounting through watertight bucket 5, realize the stable power supply of power. Still be provided with the bait storehouse of placing bait in order to carry out bait feeding in whale shark body 1, the bait storehouse is established in the both sides (both sides) of the first steering wheel of head and abdomen link portion (all have, respectively one), gets into from the oral area of whale shark when water filters out from the gill hole, complies with the demand, the protecgulum of bait storehouse and the side cap that is close to the gill hole are controlled to be opened, through the input speed of the adjustment control bait of the degree of opening, under the flow of rivers, bait flows along with the rivers in following the gill hole. The bait is stored in the bait bin, underwater feeding is realized when the bait swims underwater, and the utilization rate of the bait is improved.
As shown in fig. 2, the second steering engine is disposed in the trunk 14 and connected to the abdomen 13 along the length direction of the trunk 14, and the second steering engine set 42 is preferably provided with three pairs of brackets and three corresponding steering engines to realize the connection between the trunk 14 and the abdomen 13, and through the installation and connection of the plurality of steering engines and the brackets, a multi-joint structure is realized, which is more flexible when swimming. The carbon frame connecting the tail fin 16 and the second rudder unit 42 is fixedly mounted inside the trunk 14 along the length direction, plays a role in supporting and connecting, and a plurality of frameworks for supporting the trunk 14 are arranged in the trunk 14 at intervals along the direction perpendicular to the length of the trunk 14. The tail fin 16 of whale shark body 1 adopts line drive.
The head 11 of the whale shark body 1 is made of an aluminum alloy material, so that the whale shark body 1 breaks water and moves forward when swimming in water, and the whale shark body 14, the dorsal fin 17, the hip fin 18 and the tail fin 16 are cast by silica gel, so that the whale shark is more flexible and has higher bionic degree; set up bionical class silica gel again on the surface of whale shark body 1, make whale shark body 1 more lifelike through bionical class silica gel cover surface. Be provided with infrared obstacle avoidance instrument 2 and the miniature camera head of high definition 3 at the head 11 front end of whale shark body 1, and install in fisheye department with infrared obstacle avoidance instrument 2 and the miniature camera head of high definition 3. Keep away the detection of dodging of carrying out the barrier of 2 initiatives of barrier appearance through infrared, carry out the collection of dynamic picture signal to the environment under water through miniature camera 3, and implant flexible screen and point touch device on whale shark body 1 surface, LED has still been implanted, the LED lamp is submarine navigation and the lighting device who surveys, make things convenient for the monitoring of each sensor parameter and the acquireing of image information, can click through the touching to the point touch device, the picture of acquireing miniature camera 3 is broadcast, publicity knowledge, be convenient for with people's interdynamic, more audio-visual show.
As shown in fig. 3, the device also comprises a multi-path steering engine control panel, a control device, a wireless transceiver and a remote control device. The sensor group is fixedly installed on the soft whale shark body 1 and used for detecting the marine environment, the sensor group is coupled to the control device and used for transmitting detected sensing signals to the control module so as to perform subsequent control processing, the sensor group is preferably installed in a belly suspension mode through the sound wave sensor installed on the belly 13 of the whale shark body 1, the magnetic field sensor, the acceleration sensor, the temperature sensor and the pressure sensor, and the sensor group is used for detecting and transmitting the distance from the underwater to the seabed, the forward direction data, the forward acceleration, the underwater temperature and the water pressure. The control device adopts Arduino, and the raspberry pi and the SD card are additionally arranged and are respectively used for high-precision calculation and storing acquired information. The remote controller sends an instruction to the wireless receiving device in a remote control mode, then the signal is transmitted to the Arduino, the steering angle of the steering engine is further controlled by the multi-path steering engine control panel, and the swimming posture of the bionic whale shark is achieved. The SD card is connected with the single chip microcomputer, so that various information can be stored and read conveniently. The multi-path signal output end of the multi-path steering engine control panel is electrically connected with the signal input end of each steering engine respectively, the multi-path steering engine control panel is electrically connected with the single chip microcomputer in a two-way mode, and the steering engine action is controlled through the transmission response of electric signals. The power end of the single chip microcomputer, the power end of the multi-channel steering engine control panel, the power end of each sensor of the sensor group, the power end of the steering engine and the power ends of the LED and the flexible screen are respectively electrically connected with the power supply, and sealing is achieved in the watertight barrel 5. Remote control unit carries out remote control through radio signal to whale shark body 1's motion, and wireless transceiver receives corresponding radio signal to controlling means, realizes the whale shark body 1 direction of swimming and the switching remote control of bait storehouse through controlling means's response. The wireless transceiver is multichannel, and the wireless communication end of multichannel steering wheel control panel is connected with the signal end communication of multichannel wireless transceiver respectively.
The infrared obstacle avoidance instrument 2 is coupled to the control device, and when meeting the obstacle, the transmission of corresponding signal is carried out, and when the infrared obstacle avoidance instrument 2 meets the obstacle, the high-frequency electric signal is output, and when receiving the high-frequency electric signal, the multi-path steering engine control panel outputs the action signal of avoiding to avoid in order to control the steering engine action.
The control device also controls an intelligent cruise mode, and the single chip microcomputer of the control module judges the signal transmission between the wireless transceiver and the upper computer and starts the intelligent cruise mode when the wireless transceiver is disconnected with the upper computer. When the intelligent cruise mode is started, the sensor group detects and sends sensing signals of sensing detection to the control device in real time, distance data of the whale shark body 1 from the sea bottom, forward direction data of the soft whale shark and water pressure data collected through the sound wave sensor, the magnetic field sensor and the water pressure sensor are stored in the SD card, the distance and the direction from an initial point are calculated according to the acquired sensing information, and the whale shark body 1 is controlled to return to the original path after the whale shark body reaches a destination.
The operation steps and working conditions are as follows:
the control device receives feedback data of each sensor of the sensor group, stores the data of each sensor in the memory, and uploads the data to the upper computer through the multi-channel wireless signal transceiver to realize detection feedback of underwater environment parameters; the control device receives the image data of the high-definition micro camera 3, stores the image data in the memory, and uploads the image data to the upper computer through the multi-channel wireless signal receiving and sending device to realize feedback display of underwater pictures; the control device judges whether a high-frequency electric signal sent by the infrared obstacle avoidance instrument 2 is received; if the high-frequency electric signal is received, sending a corresponding action signal to a multi-path steering engine control panel to avoid the obstacle, if the high-frequency electric signal is not received, receiving a command sent by a remote control device, sending a corresponding action signal to the multi-path steering engine control panel according to a wireless transmission remote control command comprising corresponding operation adjustment of advancing, ascending, descending, turning left, turning right and speed, and executing the action command through a corresponding steering engine; the device also needs to judge whether the multi-channel wireless transceiver is connected with an upper computer when the underwater tour is performed, the control mode is an intelligent cruise mode when wireless signals cannot be received in the deep underwater place, distance data of the whale shark body 1 from the sea bottom, soft whale shark advancing direction data and water pressure data which are collected through the sound wave sensor, the magnetic field sensor and the water pressure sensor are stored in the storage of the main control single chip microcomputer, the main control single chip microcomputer calculates the distance and the direction from an initial point, and the distance and the direction can be safely returned after the whale shark body reaches a destination.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a multi-functional bionical whale shark device, includes whale shark body (1), characterized by: the whale shark body (1) comprises a fish head, a head-belly connecting part (12), a fish belly, a trunk (14) and a tail fin (16) which are sequentially connected; two sides of the front end of the fish head are provided with fish eyes, and a micro camera (3) for shooting an underwater environment and an infrared obstacle avoidance instrument (2) for detecting and avoiding a front obstacle are fixedly arranged in the fish eyes; a sensor group for detecting an underwater environment and outputting a corresponding sensing signal is fixedly arranged on the whale shark body (1); the external surface of the whale shark body (1) is implanted with a displayable flexible screen and a point contact device.
2. The multi-functional bionic whale shark device as claimed in claim 1, wherein: head and abdomen connecting portion (12) inside through-mounting has first rudder unit (41) of connecting fish head and fish abdomen, still including set up in truck (14) and one end fixed connection in truck (14) inside other end fixed connection in second rudder unit (42) of fish abdomen.
3. The multi-functional bionic whale shark device as claimed in claim 2, wherein: the first rudder unit (41) and the second rudder unit (42) respectively comprise a plurality of brackets which are fixedly connected in sequence and a plurality of steering engines which are correspondingly arranged in the brackets respectively.
4. The multi-functional bionic whale shark device as claimed in claim 3, wherein: the wireless communication device comprises a sensor group, a plurality of steering engine control panels, a sensor group and a wireless transceiver, and is characterized by further comprising a plurality of steering engine control panels coupled with the steering engine to control the steering engine to act, a control device coupled with the sensor group to control the plurality of steering engine control panels, and a wireless transceiver coupled with the control device to perform wireless communication.
5. The multi-functional bionic whale shark device as claimed in claim 4, wherein: the remote control device receives a remote control command to the control device through the wireless transceiver and transmits a signal to the multi-path steering engine control panel through the control device so as to control the steering engine to act.
6. The multi-functional bionic whale shark device as claimed in claim 5, wherein: the control device also controls an intelligent cruise mode, and the control device starts the intelligent cruise mode when the wireless transceiver is not connected with the upper computer.
7. The multi-functional bionic whale shark device as claimed in claim 6, wherein: the sensor group stores corresponding sensing information to the control device when the intelligent cruise mode is started, the control device calculates and judges the direction distance from the starting point according to the sensing information, and controls the whale shark body (1) to return to the original path after the whale shark body reaches the destination.
8. The multi-functional bionic whale shark device as claimed in claim 5, wherein: the whale shark body (1) is also internally provided with a bait bin for placing baits and being controlled by the remote control device to feed the baits.
9. The multi-functional bionic whale shark device as claimed in claim 1, wherein: the whale shark body (1) is internally provided with a watertight barrel (5) provided with a power supply.
10. The multi-functional bionic whale shark device as claimed in claim 1, wherein: the head (11) of the whale shark body (1) is made of an aluminum alloy material; the head-belly connecting part (12), the fish belly, the trunk (14) and the tail fin (16) are all made of cast silica gel materials; the outer surface of the whale shark body (1) is provided with bionic silica gel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911180592.9A CN110745222A (en) | 2019-11-27 | 2019-11-27 | Multifunctional bionic whale shark device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911180592.9A CN110745222A (en) | 2019-11-27 | 2019-11-27 | Multifunctional bionic whale shark device |
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| CN110745222A true CN110745222A (en) | 2020-02-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021212662A1 (en) * | 2020-04-23 | 2021-10-28 | 上海海洋大学 | Bionic sea eel used for marine ranch environment monitoring |
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2019
- 2019-11-27 CN CN201911180592.9A patent/CN110745222A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021212662A1 (en) * | 2020-04-23 | 2021-10-28 | 上海海洋大学 | Bionic sea eel used for marine ranch environment monitoring |
| JP2023517337A (en) * | 2020-04-23 | 2023-04-25 | 上海海洋大学 | Bionic sea eels used for marine ranch environmental monitoring |
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