CN114701627B - Danger avoiding robotic fish based on electromagnetic generator and danger avoiding method - Google Patents
Danger avoiding robotic fish based on electromagnetic generator and danger avoiding method Download PDFInfo
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- CN114701627B CN114701627B CN202210353964.9A CN202210353964A CN114701627B CN 114701627 B CN114701627 B CN 114701627B CN 202210353964 A CN202210353964 A CN 202210353964A CN 114701627 B CN114701627 B CN 114701627B
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- fish
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- head
- instruction
- electromagnetic generator
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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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- 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
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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
Abstract
The invention relates to an danger avoiding machine fish based on an electromagnetic generator and a danger avoiding method, wherein a plurality of scale rings are uniformly distributed outside the head part of the machine fish and correspond to induction coil rings inside the head part of the machine fish one by one, and are tightly attached to the head part of the machine fish through electromagnetic adsorption force.
Description
Technical Field
The invention belongs to the technical field of underwater bionic robotic fish, and particularly relates to an electromagnetic generator-based risk avoiding robotic fish and a risk avoiding method.
Background
With the continuous development of marine resources, people put higher requirements on the detection effect of marine resource types and the real-time monitoring of marine development environments. Meanwhile, with continuous exploration of the sea, the seabed environment is more diversified and complicated, so that the structural design and function realization of the underwater biomimetic robotic fish tend to be complicated and diversified, and the cost is increased.
Robotic fish are typically provided with power means, communication means and control means. The communication device is used for signal connection with a user, the power device is used for providing swimming power for the robot fish, and the control device is used for controlling the power device.
The applicant finds that most of traditional underwater biomimetic robotic fish adopt a fixed gravity device to realize buoyancy balance of the robotic fish under water, and the intellectualization of gravity change of the robotic fish is not considered, so that the underwater biomimetic robotic fish cannot be intelligently displayed in emergency. It has the following technical problems:
1. the robot fish has poor rigidity and is easy to be damaged by collision;
2. the friction resistance of the robot fish during underwater tour is large, and the energy utilization rate is low;
3. after receiving a user instruction, the robotic fish is difficult to quickly float out of the water surface from the water to realize emergency danger avoidance;
4. when the robotic fish cannot receive the user instruction, the robotic fish cannot quickly float out of the water from the water, often loses control and is lost in the water, and the manual searching and salvaging cost is increased.
Disclosure of Invention
Aiming at the technical problems in the prior art, one of the purposes of the invention is as follows: the danger avoiding robotic fish based on the electromagnetic generator can quickly float out of the water surface to realize emergency danger avoiding when receiving a user instruction or cannot receive the user instruction.
Aiming at the technical problems in the prior art, the second purpose of the invention is as follows: provides a danger avoiding method of danger avoiding machine fish based on an electromagnetic generator.
The purpose of the invention is realized by the following technical scheme:
an danger avoiding robotic fish based on an electromagnetic generator comprises a robotic fish head and a battery;
the head of the robot fish is provided with a communication device, a control device, an electromagnetic generator and a fish scale ring which can be magnetically adsorbed, wherein the communication device is used for being connected with an external signal;
the electromagnetic generator is connected with the battery and used for generating electromagnetic adsorption force;
the scale ring is adsorbed on the surface of the head of the robot fish through the electromagnetic adsorption force generated by the electromagnetic generator;
the control device is used for receiving a first power-off instruction and disconnecting the battery from the electromagnetic generator according to the first power-off instruction so as to enable the scale ring to slide off the surface of the head of the machine fish;
the first power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value.
Further, the fish scale ring is provided with a plurality of fish scale rings, each fish scale ring comprises a plurality of closely spliced fish scales, and the plurality of fish scale rings are arranged at the head of the robot fish at intervals.
Further, the electromagnetic generator comprises a plurality of induction coil rings, and the plurality of induction coil rings and the plurality of fish scale rings are arranged in a one-to-one correspondence mode.
Furthermore, the machine fish head is provided with a shielding device, and the electromagnetic generator is arranged outside the shielding device.
Further, the shielding device comprises a plurality of coil baffles, and the plurality of coil baffles and the plurality of induction coil rings are arranged in a one-to-one correspondence manner.
Further, a pool containing device is arranged below the head of the robot fish, the battery is installed in the pool containing device, the head of the robot fish is provided with a rigid fixed electric connector, the pool containing device is correspondingly provided with a separation and falling electric connector, the pool containing device and the head of the robot fish are connected through the adsorption force between the rigid fixed electric connector and the separation and falling electric connector, and the control device disconnects the rigid fixed electric connector from the separation and falling electric connector according to a second power-off instruction; the second power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of the communication between the communication device and the outside is greater than a preset value.
Furthermore, the rigid fixed electric connector and the separation and falling electric connector are provided with corresponding meshing surfaces, so that the electric adsorption contact area of the rigid fixed electric connector and the separation and falling electric connector is increased, and the pool containing device cannot fall off from the robot fish when the robot fish patrols.
A danger avoiding method for danger avoiding machine fish based on an electromagnetic generator comprises the following steps of receiving a first power-off instruction, disconnecting a battery from the electromagnetic generator according to the first power-off instruction, so that a fish scale ring slides off the surface of the head of the machine fish, the weight of the machine fish is reduced, the gravity center of the machine fish is back, and the head of the machine fish is upward, so that the machine fish can quickly float out of the water from the water to realize emergency danger avoiding;
the first power-off instruction is obtained by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value.
The method further comprises the following steps of receiving a second power-off instruction, and disconnecting the pool containing device from the head of the robot fish according to the second power-off instruction to reduce the weight of the robot fish, so that the robot fish can quickly float out of the water surface from the water to realize emergency danger avoidance; the second power-off instruction is obtained by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value.
Further, the first power down command is prioritized over the second power down command.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the fish scale ring is adsorbed on the surface of the head of the robot fish through the electromagnetic adsorption force generated by the electromagnetic generator, so that the rigidity of the head of the robot fish is improved, the head of the robot fish is not easily damaged by collision, the fish scale ring also reduces the friction resistance of the head of the robot fish during underwater tour, and the energy utilization rate is high. When an emergency occurs, a user can send a first power-off command to the control device of the robotic fish through communication with the robotic fish, so that the control device disconnects the battery from the electromagnetic generator. If the robotic fish cannot receive the first power-off instruction of the user, when the interval duration of the communication between the communication device and the outside calculated by the timer exceeds a preset value, the control device automatically disconnects the battery from the electromagnetic generator. After the battery and the electromagnetic generator are disconnected, the electromagnetic generator stops generating electromagnetic adsorption force, the fish scale ring can slide from the head of the robot fish after losing the electromagnetic adsorption force, the weight of the head of the robot fish is reduced, the gravity center of the robot fish is enabled to be close to the back, the head of the robot fish faces upwards, the robot fish can quickly float out of the water from the water through the power system to realize emergency danger avoidance, and the manual searching and fishing cost is saved.
When the power system of the robot fish breaks down, the control device of the robot fish disconnects the tank containing device from the head of the robot fish according to the second power-off instruction, the weight of the robot fish is further reduced after the tank containing device is thrown down, so that the buoyancy force borne by the robot fish is larger than the self weight of the robot fish at the moment, and the robot fish can automatically float upwards by means of the buoyancy force to realize emergency danger avoidance.
The first power-off instruction is prior to the second power-off instruction, under the condition that a power system of the machine fish is free of faults, the quick floating emergency danger avoidance can be realized only by throwing down the scale ring, the pool container can be reserved, and the loss is reduced.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural view of a battery assembly separating unit according to an embodiment of the present invention.
Fig. 3 is an exploded view of a robotic fish head according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of the rigid fixed electrical connector and the separable electrical connector according to the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a separable electrical connector according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an electromagnetic generator according to an embodiment of the present invention.
In the figure, 1-robotic fish head; 2-first fish scale ring; 3-second fish scale ring; 4-third fish scale ring; 5-fourth fish scale ring; 6-fifth fish scale ring; 7-sixth fish scale ring; 8-waterproof joint A; 9-waterproof joint B; 10-a pool container; 11-water joint C; 12-water joint D; 13-a cover plate of the pool container; 14-a charging aperture; 15-a battery module; 16-a separation drop end mounting seat; 17-separation drop end sealing ring mounting groove; 18-separating and dropping end through hole; 19-separation drop end mounting holes; 20-waterproof joint C connection hole; 21-waterproof joint B connection hole; 22-well lid plate lug; 23-a head cover plate; 24-head cover plate lugs; 25-a first coil baffle; 26-a second coil baffle; 27-a third coil baffle; 28-fourth coil baffle; 29-fifth coil baffle; 30-a sixth coil baffle; 31-separating the drop electrical connector; 32-a rigid fixed electrical connector; 33-rigid fixed end mount; 34-rigid fixed end seal ring mounting groove; 35-rigid fixed end through hole; 36-rigid fixed end mounting holes; 37-water joint E; 38-water tight joint F; 39-electrical connector mounting bracket; 40-a sealing ring cover plate; 41-electrical connector mating face; 42-a watertight joint connection hole; 43-electrical connector mounting holes; 44-a first induction coil; 45-a second induction coil; 46-a third induction coil; 47-a fourth induction coil; 48-armature bar; 49-fifth induction coil; 50-a sixth induction coil; 51-seventh induction coil; 52-eighth induction coil.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
The utility model provides a keep away dangerous machine fish based on electromagnetic generator, when emergence emergency, the battery pack separation unit and the urgent dropping of fish scale envelope unit can adjust machine fish body whole gravity and focus to make machine fish float out of the water surface fast, realize machine fish's urgent danger of keeping away under water.
As shown in fig. 2, 4 and 5, the battery pack separating unit includes a cell container 10, a cell container cover plate 13, a charging hole 14, a battery module 15, a separation falling end mounting seat 16, a separation falling end sealing ring mounting groove 17, a separation falling end through hole 18, a separation falling end mounting hole 19, a waterproof joint C connecting hole 20, a waterproof joint B connecting hole 21, a cell container cover plate lug 22 and a separation falling electric connector 31, the battery pack separating unit is mounted below the robotic fish head 1, the cell container 10 is internally provided with the battery module 15, the battery module 15 is circularly charged through the charging hole 14, the cell container cover plate 13 is hermetically connected with the cell container 10 through the cell container cover plate lug 22, the separation falling electric connector 31 is fixedly connected with the separation falling end mounting seat 16 through the separation falling end mounting hole 19, an electric connector mounting frame 39 and an electric connector mounting hole 43, the sealing ring cover plate 40 is tightly attached to the sealing ring mounting groove 17 at the separation and falling end to realize sealing, the waterproof joint F38 is fixed on the electric connector meshing surface 41 through the waterproof joint connecting hole 42, the outgoing line of the battery module 15 penetrates through the waterproof joint F38 through the separation and falling end through hole 18, the waterproof joint C11 is fixedly connected with the waterproof joint C connecting hole 20, the waterproof joint B9 is fixedly connected with the waterproof joint B connecting hole 21, the rigid fixed electric connector 32 is positioned under the head part 1 of the robotic fish and is fixedly connected with the rigid fixed end mounting seat 33 through the rigid fixed end mounting hole 36, the electric connector mounting frame 39 and the electric connector mounting hole 43, the sealing ring cover plate 40 is tightly attached to the rigid fixed end sealing ring mounting groove 34 to realize sealing, the waterproof joint E37 is fixed on the electric connector meshing surface 41 through the waterproof joint connecting hole 42, and the outgoing line of the waterproof joint F38 passes through the waterproof joint E37, the waterproof joint F38, the rigid fixing end through hole 35 enters the inside of the robotic fish head 1. When an emergency occurs, the battery module 15 stops working, the electric connector engagement surface 41 of the separation and falling electric connector 31 and the rigid fixed electric connector 32 is disengaged, and the pool container 10 is quickly disengaged from the head 1 of the robot fish under the action of self gravity, so that the overall gravity and gravity center of the robot fish are quickly changed, the robot fish quickly floats out of the water, and the underwater emergency danger avoidance of the robot fish is realized.
As shown in fig. 1, the scale enveloping unit includes a plurality of scale rings evenly spaced and enveloped on the surface of the machine fish head 1, and in this embodiment, the scale enveloping unit includes a first scale ring 2, a second scale ring 3, a third scale ring 4, a fourth scale ring 5, a fifth scale ring 6 and a sixth scale ring 7. Each scale ring comprises a plurality of closely spliced scales. The fish scale ring can enhance the rigidity of the machine fish, the damage of the machine fish caused by collision is avoided as much as possible, meanwhile, the bionic design of the fish scale ring reduces the swimming resistance, reduces the movement energy consumption of the machine fish, and improves the energy utilization rate.
As shown in fig. 6, the electromagnetic generator includes a plurality of induction coil loops corresponding to the plurality of fish scale loops, and in this embodiment, each induction coil loop includes a first induction coil 44, a second induction coil 45, a third induction coil 46, a fourth induction coil 47, an armature bar 48, a fifth induction coil 49, a sixth induction coil 50, a seventh induction coil 51, and an eighth induction coil 52.
As shown in fig. 3, the shielding device includes a plurality of coil baffles corresponding to the plurality of induction coil loops one to one, and in this embodiment, includes a first coil baffle 25, a second coil baffle 26, a third coil baffle 27, a fourth coil baffle 28, a fifth coil baffle 29 and a sixth coil baffle 30, which are uniformly distributed inside the robotic fish head 1, so as to shield the influence of the induction coil loops on the electronic devices inside the robotic fish head.
The robotic fish outer body portion includes a robotic fish head 1, a head cover plate 23, and a head cover plate lug 24. Machine fish head 1 and head apron 23 pass through head apron lug 24 sealing connection, rigidity stiff end mount pad 33 is located machine fish head 1 under, water joint A8, water joint D12 is with water joint B, inside water joint C11's lead-out wire leading-in machine fish, provide the energy for the induction coil ring, when the machine fish is in the normal tour under water, the fish scale ring tightly laminates the machine fish head 1 outside under the effect of electromagnetic adsorption force, when emergency takes place, battery module 15 stop work, the electromagnetic adsorption force that the electromagnetism generator produced disappears, the fish scale ring drops fast under self action of gravity, thereby change the whole gravity of machine fish and focus fast, make the machine fish float out of the water surface fast, realize the urgent danger of avoiding under water of machine fish.
A danger avoiding method for danger avoiding machine fish based on an electromagnetic generator comprises the following steps of receiving a first power-off instruction, disconnecting a battery from the electromagnetic generator according to the first power-off instruction, so that a fish scale ring slides off the surface of a head part 1 of the machine fish, the weight of the machine fish is reduced, the gravity center of the machine fish is back, and the head part 1 of the machine fish is upward, so that the machine fish can quickly float out of the water from the water to realize emergency danger avoidance;
the first power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value.
Further, the method comprises the following steps of receiving a second power-off instruction, disconnecting the pool container 10 from the head part 1 of the robot fish according to the second power-off instruction to reduce the weight of the robot fish, so that the robot fish can quickly float out of the water surface from the water to realize emergency danger avoidance; the second power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of the communication between the communication device and the outside is greater than a preset value.
Further, the first power down command is prioritized over the second power down command.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (4)
1. The utility model provides a keep away dangerous machine fish based on electromagnetic generator which characterized in that: comprises a robotic fish head and a battery;
the head of the robot fish is provided with a communication device, a control device, an electromagnetic generator and a fish scale ring which can be magnetically adsorbed, wherein the communication device is used for being connected with an external signal;
the electromagnetic generator is connected with the battery and used for generating electromagnetic adsorption force;
the scale ring is adsorbed on the surface of the head of the robot fish through the electromagnetic adsorption force generated by the electromagnetic generator;
the control device is used for receiving a first power-off instruction and disconnecting the battery from the electromagnetic generator according to the first power-off instruction so as to enable the fish scale ring to slide off the surface of the head of the robotic fish;
the first power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value;
the fish scale rings are multiple, each fish scale ring comprises multiple closely spliced fish scales, and the multiple fish scale rings are arranged at the head of the robot fish at intervals;
the electromagnetic generator comprises a plurality of induction coil rings, and the induction coil rings are arranged in one-to-one correspondence with the fish scale rings;
the head part of the robot fish is provided with a shielding device, and the electromagnetic generator is arranged outside the shielding device;
the shielding device comprises a plurality of coil baffles, and the coil baffles and the induction coil rings are arranged in a one-to-one correspondence manner;
a pool container is arranged below the head part of the robotic fish, the battery is arranged in the pool container, the head part of the robotic fish is provided with a rigid fixed electric connector, the pool container is correspondingly provided with a separation and falling electric connector, the pool container and the head part of the robotic fish are connected through the adsorption force between the rigid fixed electric connector and the separation and falling electric connector, and the control device disconnects the rigid fixed electric connector from the separation and falling electric connector according to a second power-off instruction; the second power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value;
the rigid fixed electric connector and the separation and falling electric connector are provided with corresponding meshing surfaces.
2. A danger avoiding method of danger avoiding machine fish based on an electromagnetic generator is characterized by comprising the following steps: the danger avoiding robotic fish based on the electromagnetic generator as claimed in claim 1, comprising the steps of receiving a first power-off instruction, disconnecting the battery from the electromagnetic generator according to the first power-off instruction, so that the scale ring slides off the surface of the head of the robotic fish, the weight of the robotic fish is reduced, the center of gravity of the robotic fish is backward and the head of the robotic fish is upward, and the robotic fish can quickly float out of the water from the water to realize emergency danger avoidance;
the first power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of communication between the communication device and the outside is greater than a preset value.
3. The danger avoiding method for the dangerous robotic fish based on the electromagnetic generator as claimed in claim 2, characterized in that: the method also comprises the following steps of receiving a second power-off instruction, and disconnecting the pool container from the head of the robot fish according to the second power-off instruction so as to reduce the weight of the robot fish, so that the robot fish can quickly float out of the water surface from the water to realize emergency danger avoidance;
the second power-off instruction is acquired by the communication device receiving an external signal, or is generated when the interval duration of the communication between the communication device and the outside is greater than a preset value.
4. The danger avoiding method for the danger avoiding robotic fish based on the electromagnetic generator as claimed in claim 3, characterized in that: the first power down command is prioritized over the second power down command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353964.9A CN114701627B (en) | 2022-04-06 | 2022-04-06 | Danger avoiding robotic fish based on electromagnetic generator and danger avoiding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353964.9A CN114701627B (en) | 2022-04-06 | 2022-04-06 | Danger avoiding robotic fish based on electromagnetic generator and danger avoiding method |
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| Publication Number | Publication Date |
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| CN114701627A CN114701627A (en) | 2022-07-05 |
| CN114701627B true CN114701627B (en) | 2023-03-21 |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110001199A (en) * | 2009-06-29 | 2011-01-06 | 재단법인 포항지능로봇연구소 | Underwater exploration robot and navigation method using the same |
| US9738360B2 (en) * | 2015-01-25 | 2017-08-22 | Cam Habeger | Submersible remote controlled vehicle |
| CN109178266A (en) * | 2018-10-12 | 2019-01-11 | 上海彩虹鱼深海装备科技有限公司 | Attitude adjusting method and system |
| CN110065607B (en) * | 2019-05-17 | 2021-07-06 | 中国科学院自动化研究所 | Auxiliary bionic robot fish |
| CN114056522A (en) * | 2021-12-27 | 2022-02-18 | 中国航天空气动力技术研究院 | Long-endurance autonomous underwater vehicle |
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