CN113277049A - Multifunctional bionic robot fish for water quality monitoring - Google Patents
Multifunctional bionic robot fish for water quality monitoring Download PDFInfo
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- CN113277049A CN113277049A CN202110710096.0A CN202110710096A CN113277049A CN 113277049 A CN113277049 A CN 113277049A CN 202110710096 A CN202110710096 A CN 202110710096A CN 113277049 A CN113277049 A CN 113277049A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention discloses a water quality monitoring-oriented multifunctional bionic robotic fish, which comprises: a head portion; the mounting bin is fixedly connected with the head part and is internally divided into a gravity center adjusting bin and a lifting bin; the power fishtail is in sealed hinge joint with the mounting bin; the lifting bin is at least internally provided with a driving assembly, and the driving assembly can drive the power fishtail to swing in a reciprocating manner; all imbed at least one water quality monitoring subassembly in the both sides wall in focus regulation storehouse for monitor the collection to different waters quality of water, and feed back to control center through wireless module, control center can control bionical machine fish and continue to gather the monitoring or remove to next waters and gather the monitoring near the waters, later, send the laboratory again and carry out unified categorised collection water and carry out the degree of depth detection, thereby utilize autonomous detection and manual detection to combine together, under the circumstances of the ageing of guaranteeing to detect, promoted the degree of accuracy that detects.
Description
Technical Field
The invention relates to the technical field of bionic robot fish, in particular to a multifunctional bionic robot fish for water quality monitoring.
Background
The problem of water resources is one of the most concerned problems in the world at present, and with the rapid development of economy in China, pollutants such as industrial sewage, domestic wastewater and the like are continuously discharged into rivers and lakes to seriously damage ecological balance, so that regular water quality monitoring is necessary.
In the traditional water quality monitoring process, professional workers usually take samples in field water areas, the samples are sent back to a laboratory to be analyzed by using a professional instrument, and offline or online tests are completed, so that the time is long, the efficiency is low, and the water quality at a certain depth cannot be monitored.
The bionic robot fish is a novel water quality monitoring system, can realize real-time dynamic pollution-free monitoring for water areas with different depths, but the existing bionic robot fish can only use a simple detector due to the limitation of the space structure, and has lower monitoring accuracy; in addition, the whole mobility of the single-power bionic robot fish is poor, and various environments and conditions cannot be quickly handled, while the multi-power bionic robot fish is easy to cause the whole to be overstaffed, the reasonability of structural layout is poor, the investment is high, and the stability and the safety are general.
Disclosure of Invention
Technical problem to be solved
In order to overcome the defects of the prior art, the multifunctional bionic robot fish for water quality monitoring is provided, and the problems of poor mobility and stability and low detection precision of the existing bionic robot fish are solved.
(II) technical scheme
The invention is realized by the following technical scheme: a multifunctional bionic robot fish for water quality monitoring comprises:
a head portion;
the mounting bin is fixedly connected with the head part and is internally divided into a gravity center adjusting bin and a lifting bin; and
the power fishtail is in sealed hinge joint with the mounting bin;
the lifting bin is at least internally provided with a driving assembly, and the driving assembly can drive the power fishtail to swing in a reciprocating manner;
at least one water quality monitoring assembly is embedded into two side walls of the gravity center adjusting bin and used for monitoring and collecting water quality of different water areas.
Preferably, a plurality of partition bins capable of partitioning the internal space of the lifting bin are embedded in the lifting bin, and water storage spaces are formed between the partition bins and the adjacent partition bins;
a sealing bin is formed between the separation bin close to one side of the power fishtail and the installation bin and is used for sealing and installing the driving assembly;
keep away from the separate bin of power fish tail one side with constitute between the installation storehouse and have the surge bin, be provided with the pump body in the surge bin, the pump body is by just reversing motor drive, and the one end and the surge bin of the pump body are linked together, and the other end stretches out the installation storehouse.
Further, as preferred, be located a plurality of compartment in the middle part, be located and all seted up two intercommunicating pores on being close to the compartment of pump body one side to link up each water storage space, just the height of intercommunicating pore is for crisscross arranging from top to bottom, and all not exceed the two-thirds that corresponds the compartment height.
Further, preferably, the driving assembly includes:
a base;
the mounting rack is vertically fixed on the base;
the crank is vertically and rotatably arranged on the mounting rack and is driven to rotate by the driving motor;
one end of the transmission groove is rotatably connected with one end, far away from the mounting rack, of the crank, the other end of the transmission groove is rotatably arranged on the swinging rod, the swinging rod is rotatably arranged between the base and the mounting rack, and the swinging rod can be driven to swing back and forth through the rotation of the crank; and
and one end of the swinging arm is fixedly connected with the swinging rod, and the other end of the swinging arm is fixedly connected with the power fish tail.
Further, as a preferred option, two sides of the lifting bin are also symmetrically and hermetically hinged with adjusting fins, a floating block is fixed on a part of the adjusting fins, which is located on the lifting bin, and the floating block is configured as follows: when the adjusting bin is filled with water to enable the bionic robot fish to be in a descending trend, the floating block drives the adjusting fish fins to incline gradually, and when the adjusting bin discharges water to enable the bionic robot fish to be in an ascending trend, the floating block drives the adjusting fish fins to be level gradually.
Further, as preferred, still be provided with the focus in the focus regulation storehouse and adjust the subassembly, the focus is adjusted the subassembly and is included:
the mounting frame is fixed in the gravity center adjusting bin;
one end of the first hinge rod is rotatably connected with the mounting frame, and the other end of the first hinge rod is rotatably connected with the second hinge plate; and
the gravity center adjusting block is hinged with the hinged plates and is arranged in the gravity center adjusting bin in a sliding manner;
the rotating action of the first hinge rod is controlled by an adjusting motor;
and the center of gravity position of the bionic robot fish can be changed by adjusting the position of the center of gravity adjusting block, so that the head is controlled to keep horizontal, raise and descend.
Further, preferably, a plurality of intercepting strips are arranged on the installation bin at positions corresponding to the water quality monitoring assemblies.
Further, preferably, the water quality monitoring unit includes:
the monitoring bin is fixedly embedded in the side wall of the mounting bin;
the water inlet bin is fixed in the monitoring bin;
the water inlet seat is embedded and communicated with one end of the water inlet bin, and a conical water inlet is formed in one end, close to the water inlet bin, of the water inlet seat;
the sealing plug is matched with the water inlet in shape, is arranged in the water inlet bin in a sliding mode, and is used for sealing and unsealing the water inlet;
the screw nut pair mechanism is fixed in the monitoring bin, and the output end of the screw nut pair mechanism is connected with the sealing plug by a rod body penetrating through a abdicating groove formed in the water inlet bin; and
the detector is embedded in the water inlet bin, can preliminarily detect the water quality of the water body and feeds the water quality back to the control center through the wireless module, and the control center can control the bionic robot fish to continue to collect and monitor in a nearby water area or move to a next water area for collecting and monitoring;
and a cleaning head is also arranged in the monitoring bin.
Further, as preferred, the outside of intaking the seat adopts the connector to be connected with turbo mechanism, turbo mechanism can produce the thrust towards installation storehouse direction.
Further, it is preferable that an image pickup head is provided on the head at an eye position.
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
in the embodiment of the invention, the gravity center adjusting assembly, the pump body and the power fish tail are matched, so that the whole maneuverability of the bionic robot fish can be improved, the quick response can be realized in the movement process, the water quality of a water body can be preliminarily detected by the water quality monitoring assembly and fed back to the control center in real time through the wireless module, the control center can control the bionic robot fish to continuously perform acquisition monitoring in a nearby water area or move to the next water area for acquisition monitoring, and then the bionic robot fish is sent to a laboratory for uniformly and separately collecting the water body for depth detection, so that the combination of autonomous detection and manual detection is utilized, and the detection accuracy is improved under the condition of ensuring the detection timeliness.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic perspective view of a water quality monitoring-oriented multifunctional biomimetic robotic fish;
FIG. 2 is a schematic sectional view of a part of a lifting bin in a multifunctional bionic robot fish for water quality monitoring;
FIG. 3 is a schematic structural diagram of a drive assembly in a multifunctional bionic robot fish for water quality monitoring;
FIG. 4 is a schematic sectional view of a part of a center of gravity adjusting bin in a multifunctional bionic robot fish for water quality monitoring;
FIG. 5 is a schematic structural diagram of a water quality monitoring assembly in a multifunctional bionic robotic fish for water quality monitoring;
in the figure: 1. a base; 2. mounting an arm; 3. a vertical adjustment mechanism; 4. a connecting arm; 5. a telescopic cylinder; 6. a mounting seat; 7. oscillating the compacting assembly; 8. a separation frame; 9. a feeding and discharging mechanism; 10. a micro air pump; 71. a gas supply bin; 72. a transmission bin; 73. a shaft cylinder; 74. a rotating shaft; 75. an oscillating pressing mechanism; 76. an adjustment mechanism; 751. mounting a disc; 752. a guide sleeve; 753. resetting and tensioning the belt; 754. a slide bar; 755. a telescopic rod; 756. a micro-vibrator; 757. oscillating the arc plate; 761. an adjusting seat; 762. a buffer bag; 763. a connecting member; 764. adjusting a rod; 91. a slide base; 92. a lead screw; 93. a servo motor; 94. a nut seat; 95. placing the plate; 96. and limiting and guiding chains.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 5, the present invention provides a water quality monitoring-oriented multifunctional biomimetic robotic fish, comprising:
a head portion 1;
the mounting bin 2 is fixedly connected with the head part 1, and the inside of the mounting bin 2 is divided into a gravity center adjusting bin and a lifting bin; and
the power fishtail 4 is hermetically hinged with the mounting bin 2;
wherein, the lifting bin is at least provided with a driving component 5, and the driving component 5 can drive the power fishtail 4 to swing back and forth;
at least one water quality monitoring assembly is embedded into two side walls of the gravity center adjusting bin and used for monitoring and collecting water quality of different water areas.
It should be explained that the robot fish in the embodiment of the present invention is a bionic robot fish, in the embodiment, as shown in fig. 1, a bionic shark shape can be adopted, and the shark itself is located at the top end of the water area food chain, and the water quality monitoring is performed by using the bionic shark shape, so that the safety of the device is improved to a certain extent;
in addition, utilize water quality monitoring subassembly can preliminary detection water quality to feed back to control center through wireless module 24, control center can control bionical machine fish and continue to gather the monitoring or remove to next waters and gather the monitoring in near waters, later, send the laboratory again and carry out unified categorised collection water and carry out the depth detection.
In this embodiment, as shown in fig. 2, a plurality of separation bins 6 capable of separating the internal space of the lifting bin are embedded in the lifting bin, and a water storage space 8 is formed between each separation bin 6 and each adjacent separation bin;
a sealing bin 9 is formed between the mounting bin 2 and the separation bin 6 close to one side of the power fish tail 4 and is used for sealing and mounting the driving component 5;
keep away from the separate storehouse 6 of 4 one sides of power fishtail with it has surge bin 10 to constitute between the installation storehouse 2, be provided with pump body 11 in the surge bin 10, pump body 11 is by positive and negative motor drive, and the one end of pump body 11 is linked together with surge bin 10, and the other end stretches out installation storehouse 2, when implementing, carries out positive and negative rotation motion through positive and negative motor drive pump body, can realize filling water in the surge bin 10, or takes away the water in the surge bin 10.
As the preferred embodiment, a plurality of compartment 6 that are located the middle part, be located and all seted up two intercommunicating pores 7 on being close to the compartment 6 of pump body 11 one side to link up each water storage space 8, just the height of intercommunicating pores 7 is crisscross the arranging from top to bottom, and does not all exceed the two-thirds that corresponds the compartment height, can separate inside water through setting up compartment 6, reduces the water that bionic machine fish leads to in the motion process and rocks, has promoted the stationarity of motion.
In this embodiment, as shown in fig. 3, the driving assembly 5 includes:
a base 51;
a mounting frame 52 vertically fixed on the base 51;
the crank 53 is vertically and rotatably arranged on the mounting frame 52 and is driven to rotate by the driving motor 54;
one end of the transmission groove 55 is rotatably connected with one end of the crank 53 far away from the mounting frame 52, the other end of the transmission groove is rotatably arranged on a swinging rod 56, the swinging rod 56 is rotatably arranged between the base 51 and the mounting frame 52, and the swinging rod can be driven to swing back and forth through the rotation of the crank 53; and
and one end of the swing arm 57 is fixedly connected with the swing rod 56, and the other end of the swing arm is fixedly connected with the power fish tail 4, so that power can be provided for the bionic robot fish through the reciprocating swing action of the power fish tail.
In a preferred embodiment, two sides of the lifting bin are symmetrically and hermetically hinged with adjusting fins 12, and floating blocks are fixed on the portions, located on the lifting bin, of the adjusting fins 12, and are configured to: when the water body is filled into the adjusting bin 10 to enable the bionic robot fish to be in a descending trend, the floating block drives the adjusting fins 12 to incline gradually, and when the water body is discharged from the adjusting bin 10 to enable the bionic robot fish to be in an ascending trend, the floating block drives the adjusting fins 12 to be level gradually.
In addition, as shown in fig. 4, a center of gravity adjusting assembly is further disposed in the center of gravity adjusting bin, and the center of gravity adjusting assembly includes:
the mounting frame 15 is fixed in the gravity center adjusting bin;
one end of the first hinge rod 14 is rotatably connected with the mounting frame 15, and the other end of the first hinge rod is rotatably connected with the second hinge plate 16; and
the gravity center adjusting block 17 is hinged with the second hinge plate 16 and is arranged in the gravity center adjusting bin in a sliding manner;
the rotating action of the first hinge rod 14 is controlled by the adjusting motor 13;
and, through adjusting the position of focus regulating block 17, can change the focus position of bionic machine fish to control the head and be keeping level, raise, spy down the trend, consequently, through the cooperation of focus regulating assembly, pump body 11 and power fish tail, can improve its holistic mobility, can carry out the quick reaction in the motion process.
In this embodiment, a plurality of intercepting strips 3 are disposed on the installation bin 2 at positions corresponding to the water quality monitoring assemblies.
In this embodiment, as shown in fig. 5, the water quality monitoring module includes:
a monitoring bin 18 fixedly embedded in the side wall of the mounting bin 2;
the water inlet bin 19 is fixed in the monitoring bin 18;
the water inlet seat 20 is embedded and communicated with one end of the water inlet bin 19, and a conical water inlet is formed in one end, close to the water inlet bin 19, of the water inlet seat 20;
the sealing plug 21 is matched with the water inlet in shape, is arranged in the water inlet bin 19 in a sliding mode, and is used for sealing and unsealing the water inlet, and it is noted that the sealing effect can be well realized by matching the conical water inlet with the conical sealing plug, and due to the special shape structure, when water enters the water inlet bin 19, water enters the water inlet bin 19 after being buffered by the inclined surface of the conical sealing plug, so that the impact strength of the water flow can be well controlled, and the protection of parts such as a detector and the like is facilitated;
at least one group of screw nut pair mechanisms 22 are fixed in the monitoring bin 18, the output ends of the screw nut pair mechanisms 22 penetrate through abdicating grooves formed in the water inlet bin 19 by adopting rod bodies to be connected with the sealing plugs 21, the screw nut pair mechanisms are of the existing structures, and the details are not repeated; and
the detector 23 is embedded in the water inlet bin 19, the detector 23 can preliminarily detect the water quality of the water body and feed back the water quality to the control center through the wireless module 24, and the control center can control the bionic robot fish to continue to collect and monitor in a nearby water area or move to a next water area for collecting and monitoring;
and, the said monitoring storehouse 18 also has cleaning heads 25, while implementing, control the sealing plug to keep away from the water inlet seat 20 through the screw nut pair mechanism first, make the water flow into the water inlet storehouse 19 under the water pressure, control the sealing plug to stop up the water inlet seat through the screw nut pair mechanism subsequently, can realize the collection to the water body of this place water area, the detector 23 can detect the water quality of water body preliminarily at this moment, and feedback to the control center through the wireless module 24, the said control center can control the bionic machine fish to continue to gather and monitor or move to the next water area and gather and monitor in the nearby water area, while gathering again, utilize another water quality monitoring assembly, thus realize the independent collection, has improved the accuracy monitored subsequently, after taking out the water body in the laboratory, can also utilize the cleaning head 25 to monitor the inside of the storehouse 18, the water supply pipe of the cleaning head 25 can pass and mount the storehouse and connect the water supply adapter fixedly on the surface of storehouse, the water is supplied through an external water source.
In a preferred embodiment, the outside of the water inlet seat is connected with a turbine mechanism 27 by a connector 26, and the turbine mechanism can generate thrust towards the direction of the mounting bin, so that steering control is realized.
In a preferred embodiment, an image pick-up head is disposed on the head 1 at the eye position.
When concrete implementation, thereby it carries out reciprocal swing to drive power fish tail 4 through crank 53's rotation drive swinging arms, provide the power of advancing for bionical machine fish, in addition, through focus adjusting part, the pump body 11 and the cooperation of power fish tail three, can improve its holistic mobility, and finally, utilize water quality monitoring subassembly preliminary detection water quality, and feed back to control center through wireless module 24, control center control bionical machine fish continues to gather the monitoring or remove to next waters and gather the monitoring in near waters, afterwards, send the laboratory again and carry out unified categorised collection water and carry out the depth detection can.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a multi-functional bionical machine fish towards water quality monitoring which characterized in that: the method comprises the following steps:
a head (1);
the mounting bin (2) is fixedly connected with the head (1), and the interior of the mounting bin (2) is divided into a gravity center adjusting bin and a lifting bin; and
the power fishtail (4) is in sealed hinge joint with the installation bin (2);
wherein, the lifting bin is at least provided with a driving component (5), and the driving component (5) can drive the power fishtail (4) to swing in a reciprocating way;
at least one water quality monitoring assembly is embedded into two side walls of the gravity center adjusting bin and used for monitoring and collecting water quality of different water areas.
2. The multifunctional bionic robotic fish for water quality monitoring as claimed in claim 1, is characterized in that: a plurality of separation bins (6) capable of separating the inner space of the lifting bin are embedded in the lifting bin, and water storage spaces (8) are formed between the separation bins (6) and the adjacent separation bins;
a sealing bin (9) is formed between the separation bin (6) close to one side of the power fish tail (4) and the mounting bin (2) and is used for sealing and mounting the driving assembly (5);
keep away from separate storehouse (6) of power fish tail (4) one side with constitute between installation storehouse (2) and have surge bin (10), be provided with pump body (11) in surge bin (10), pump body (11) are by just reversing motor drive, and the one end of pump body (11) is linked together with surge bin (10), and the other end stretches out installation storehouse (2).
3. The multifunctional bionic robotic fish for water quality monitoring as claimed in claim 2, is characterized in that: the pump body (11) is characterized in that the pump body is provided with a plurality of separation bins (6) at the middle part and two communicating holes (7) are formed in the separation bins (6) close to one side of the pump body (11), so that the pump body is communicated with each water storage space (8), the height of the communicating holes (7) is vertically and alternately distributed, and the height of the communicating holes does not exceed two thirds of the height of the corresponding separation bins.
4. The multifunctional biomimetic robotic fish for water quality monitoring according to claim 1 or 2, characterized in that: the drive assembly (5) comprises:
a base (51);
a mounting frame (52) vertically fixed on the base (51);
the crank (53) is vertically and rotatably arranged on the mounting rack (52) and is driven to rotate by the driving motor (54);
one end of the transmission groove (55) is rotatably connected with one end, far away from the mounting rack (52), of the crank (53), the other end of the transmission groove is rotatably arranged on a swinging rod (56), the swinging rod (56) is rotatably arranged between the base (51) and the mounting rack (52), and the swinging rod can be driven to swing back and forth through the rotation of the crank (53); and
and one end of the swinging arm (57) is fixedly connected with the swinging rod (56), and the other end of the swinging arm is fixedly connected with the power fish tail (4).
5. The multifunctional bionic robotic fish for water quality monitoring as claimed in claim 2, is characterized in that: the two sides of the lifting bin are also symmetrically and hermetically hinged with adjusting fins (12), floating blocks are fixed on the portions, located on the lifting bin, of the adjusting fins (12), and the floating blocks are configured as follows: when the water body is filled into the adjusting bin (10) to enable the bionic robot fish to be in a descending trend, the floating block drives the adjusting fish fins (12) to gradually incline, and when the water body is discharged from the adjusting bin (10) to enable the bionic robot fish to be in an ascending trend, the floating block drives the adjusting fish fins (12) to gradually level.
6. The multifunctional bionic robotic fish for water quality monitoring as claimed in claim 1, is characterized in that: still be provided with the focus adjusting part in the focus adjusting bin, the focus adjusting part includes:
the mounting frame (15) is fixed in the gravity center adjusting bin;
one end of the first hinge rod (14) is rotatably connected with the mounting frame (15), and the other end of the first hinge rod is rotatably connected with the second hinge plate (16); and
the gravity center adjusting block (17) is hinged with the second hinge plate (16) and is arranged in the gravity center adjusting bin in a sliding manner;
the rotating action of the first hinge rod (14) is controlled by an adjusting motor (13);
and the position of the gravity center adjusting block (17) is adjusted to change the gravity center position of the bionic robot fish, so that the head is controlled to keep horizontal, raise and move downwards.
7. The multifunctional bionic robotic fish for water quality monitoring as claimed in claim 1, is characterized in that: and a plurality of interception strips (3) are arranged on the installation bin (2) and correspond to the water quality monitoring assembly.
8. The multifunctional biomimetic robotic fish for water quality monitoring according to claim 1 or 7, characterized in that: the water quality monitoring subassembly includes:
the monitoring bin (18) is fixedly embedded in the side wall of the mounting bin (2);
a water inlet bin (19) fixed in the monitoring bin (18);
the water inlet seat (20) is embedded and communicated with one end of the water inlet bin (19), and a conical water inlet is formed in one end, close to the water inlet bin (19), of the water inlet seat (20);
the sealing plug (21) is matched with the water inlet in shape, is arranged in the water inlet bin (19) in a sliding mode, and is used for sealing and unsealing the water inlet;
the screw-nut pair mechanism (22) is fixed in the monitoring bin (18), and the output end of the screw-nut pair mechanism (22) penetrates through an abdicating groove formed in the water inlet bin (19) by adopting a rod body to be connected with the sealing plug (21); and
the detector (23) is embedded into the water inlet bin (19), the detector (23) can preliminarily detect the water quality of the water body and feed back the water quality to the control center through the wireless module (24), and the control center can control the bionic robot fish to continue to collect and monitor in a nearby water area or move to a next water area for collecting and monitoring;
and a cleaning head (25) is also arranged in the monitoring bin (18).
9. The multifunctional biomimetic robotic fish for water quality monitoring according to claim 8, characterized in that: the outside of intaking the seat adopts connector (26) to be connected with turbo mechanism (27), turbo mechanism can produce the thrust towards installation storehouse direction.
10. The multifunctional bionic robotic fish for water quality monitoring as claimed in claim 1, is characterized in that: an image acquisition head is arranged on the head (1) at the position of eyes.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114563545A (en) * | 2022-03-01 | 2022-05-31 | 山东省林草种质资源中心(山东省药乡林场) | Storehouse garden ecological environment monitoring device and system |
| CN115230925A (en) * | 2022-05-30 | 2022-10-25 | 黄兴中 | Numerical control variable-waveform multi-joint flexible underwater bionic thruster and control method thereof |
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