CN207106832U - A kind of Intelligent bionic machinery fish of solar recharging - Google Patents
A kind of Intelligent bionic machinery fish of solar recharging Download PDFInfo
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- CN207106832U CN207106832U CN201720782471.1U CN201720782471U CN207106832U CN 207106832 U CN207106832 U CN 207106832U CN 201720782471 U CN201720782471 U CN 201720782471U CN 207106832 U CN207106832 U CN 207106832U
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Abstract
The utility model discloses a kind of Intelligent bionic machinery fish of solar recharging, including fish head, fish body and fish tail, the fish head and fish body become one, and the fish tail is connected by drive system with fish body；Driving steering wheel, balancing weight, core control panel and lithium battery are set inside the fish body；The top of fish body sets solar charging panel；Fish body bottom sets intelligence sensor.The utility model improves machine fish endurance by installing solar charging panel additional on machine fish surface and internally configuring intelligent charger.Intelligence shooting and intellectual monitoring function are realized respectively by carrying camera and sensor outside machine fish.By installing real-time data transmission system additional and configuring antenna, the communication between machine fish and machine fish and between machine fish and host computer is realized.When wherein several machine fishs cruise together, it can communicate from each other, each other by the signal for sharing oneself collection, it is determined whether need other side to help.
Description
Technical field
A kind of underwater robot is the utility model is related to, specially a kind of Intelligent bionic machinery fish of solar recharging.
Background technology
At present Intelligent bionic machinery fish research and exploitation in intelligent robot industry there is higher application prospect, water
Lower intelligent operation has become the developing direction of following intelligent robot.Most of underwater robots use power supply in the market
Direct charge mode is nonrecoverable fatal when can cause the robot underwater operation to run out of steam without other charge modes
Drawback.
Utility model content
To solve above-mentioned technical problem, a kind of solar recharging that can continue to provide power of the utility model design
Intelligent bionic machinery fish.
To achieve these goals, the technical solution of the utility model is as follows：
A kind of Intelligent bionic machinery fish of solar recharging, including fish head, fish body and fish tail, the fish head and fish body integrate
It is integrated, the fish tail is connected by drive system with fish body；
Three small sircle holes are left at fish body rear, are charging hole, antenna hole and power output hole respectively；
The fish body is provided with square hole, for being assembled to fish body inner body；It is recessed that the square hole is surrounded by one
Groove, groove is interior to set rubber seal, keeps square hole and square cap-shaped into good watertightness；Side's cover-use screw is fastened on fish
With；
Driving steering wheel, balancing weight, core control panel and lithium battery are set inside the fish body；The top of fish body sets the sun
Can charging panel；Fish body bottom sets intelligence sensor.
The fish head is anterior to set intelligent video camera head；Fish head top sets collision prevention sensor；Fish head bottom sets pressure to pass
Sensor；U-shaped axle, one end connection driving steering wheel, the other end connection fish tail of U-shaped axle are installed in the power output hole；It is described dynamic
Power outlet aperture sets mechanical shaft seal to be used to realize the sealing between U-shaped axle and fish body；
Antennal interface and antenna are installed at described antenna hole；
Described core control panel forms control system, integrates a single-chip microcomputer thereon, is responsible for data processing, and then coordinate
Machine fish various pieces work in order；
Described driving steering wheel and U-shaped axle form drive system；
Described collision prevention sensor, pressure sensor and intelligence sensor forms intelligent monitor system, described intelligence biography
Sensor integrated temperature sensor, pH value sensor and dissolved oxygen sensor；
Described intelligent video camera head and the SD storage cards of storage shooting information form intelligent camera system；
Described antenna forms real-time data transmission system with the communication module on antennal interface and core control panel；When
Machine fish cruises in shoal, and antenna rise from the water surface at antennal interface, realize between several machine fishs and machine fish and
Data are transmitted between host computer mutually, real-time Communication for Power is realized, communicates；
Described lithium battery, energy storage battery, solar charging panel and intelligent charger forms self-power supply system, described
Intelligent charger realizes following functions：
Lithium battery voltage signal is gathered to perceive dump energy；
Automatic to activate solar recharging program when lithium battery voltage drops to voltage lower limit value, machine fish floats up to water
Face, by solar energy to lithium cell charging；When voltage is charged to lithium battery ceiling voltage, machine fish stops charging and returns to water
Lower work.
Further, described transmission system, intelligent monitor system, intelligent camera system, real-time data transmission system with
And self-power supply system is all packaged into modular form, and the corresponding interface is reserved, ease of assembly.
Compared with prior art, the utility model has the advantages that：
1st, the utility model is by installing solar charging panel additional on machine fish surface and internally configuring intelligent charger,
Improve machine fish endurance.Intelligence shooting and intellectual monitoring are realized respectively by carrying camera and sensor outside machine fish
Function.By installing real-time data transmission system additional and configuring antenna, realize between machine fish and machine fish and machine fish with
Communication between host computer.It when wherein several machine fishs cruise together, can communicate, be adopted each other by oneself is shared from each other
The signal of collection, it is determined whether need other side to help.
2nd, energy storage battery of the present utility model not only makes solar charging circuit voltage more stable, while also reduces to lithium electricity
The infringement in pond is small.And solar energy can be collected always, can shorten the lithium cell charging time.
Brief description of the drawings
Fig. 1 is outside schematic diagram of the present utility model.
Fig. 2 is internal hardware structure chart of the present utility model.
Fig. 3 is hardware controls block diagram of the present utility model.
Fig. 4 is self energizing circuit schematic diagram of the present utility model.
In figure：1st, fish head, 2, fish body, 3, fish tail, 4, intelligent video camera head, 5, U-shaped axle, 6, pressure sensor, 7, intelligence passes
Sensor, 8, driving steering wheel, 9, balancing weight, 10, solar charging panel, 11, core control panel, 12, lithium battery, 13, antennal interface,
14th, collision prevention sensor.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing, to this reality
It is further elaborated with new.
As Figure 1-3, a kind of Intelligent bionic machinery fish of solar recharging, including fish head 1, fish body 2 and fish tail 3, institute
State fish head 1 and fish body 2 becomes one, the fish tail 3 is connected by drive system with fish body 2；
The upper back of fish body 2 leaves three small sircle holes, is charging hole, antenna hole and power output hole respectively；
The top of fish body 2 is provided with square hole, for being assembled to the inner body of fish body 2；The square hole is surrounded by one
Groove, groove is interior to set rubber seal, keeps square hole and square cap-shaped into good watertightness；Side's cover-use screw is fastened on
On fish body 2；
The inside of fish body 2 sets driving steering wheel 8, balancing weight 9, core control panel 11 and lithium battery 12；The top of fish body 2
Solar charging panel 10 is set；The bottom of fish body 2 sets intelligence sensor 7.
The fish head 1 is anterior to set intelligent video camera head 4；The top of fish head 1 sets collision prevention sensor 14；The bottom of fish head 1 is set
Pressure sensor 6；U-shaped axle 5, one end connection driving steering wheel 8 of U-shaped axle 5, other end connection fish are installed in the power output hole
Tail 3；Mechanical shaft seal is set to be used to realize the sealing between U-shaped axle 5 and fish body 2 at the power output hole；
Antennal interface 13 and antenna are installed at described antenna hole；
Described core control panel 11 forms control system, integrates a single-chip microcomputer thereon, is responsible for data processing, and then assist
Machine fish various pieces are adjusted to work in order；
Described driving steering wheel 8 and U-shaped axle 5 form drive system；
Described collision prevention sensor 14, pressure sensor 6 and intelligence sensor 7 forms intelligent monitor system, described intelligence
Can the integrated temperature sensor of sensor 7, pH value sensor and dissolved oxygen sensor；
Described intelligent video camera head 4 and the SD storage cards of storage shooting information form intelligent camera system；
Described antenna forms real-time Data Transmission system with the communication module on antennal interface 13 and core control panel 11
System；When machine fish cruises in shoal, antenna rises from the water surface at antennal interface 13, realizes between several machine fishs and machine
Data are transmitted between device fish and host computer mutually, real-time Communication for Power is realized, communicates；
Described lithium battery 12, energy storage battery, solar charging panel 10 and intelligent charger forms self-power supply system, institute
The intelligent charger stated realizes following functions：
The voltage signal of lithium battery 12 is gathered to perceive dump energy；
Automatic to activate solar recharging program when the voltage of lithium battery 12 drops to voltage lower limit value, machine fish floats up to
The water surface, charged by solar energy to lithium battery 12；When voltage is charged to 12 ceiling voltage of lithium battery, machine fish stops charging again
Return to underwater operation.
Further, described transmission system, intelligent monitor system, intelligent camera system, real-time data transmission system with
And self-power supply system is all packaged into modular form, and the corresponding interface is reserved, ease of assembly.
As shown in figure 4, the utility model has two kinds of mode of operations, cruise mode and charge mode.The sun under cruise mode
Energy charging panel gives energy storage battery to charge always, and relay connects in circuit as transistor collector load.Single-chip microcomputer during cruise
An I/O port by base stage input low levels of the resistance R1 to NPN type triode Q1, triode is in by state, relay
RL1 does not work, and solar charging panel 10 and energy storage battery do not charge to lithium battery 12.Meanwhile another I/O port of single-chip microcomputer is given
NPN type triode Q2 base stage high level signals, Q2 are turned on, relay RL2 adhesives, the powering load of lithium battery 12, at machine fish
In cruising condition.
When the power consumption of lithium battery 12 gradually increases, the both end voltage of lithium battery 12 declines.ADC0809 timing acquirings lithium battery 12
Voltage passes to single-chip microcomputer, and when reaching lower limit, control triode Q1 I/O port is changed into high level by low level, controls Q2
I/O port low level is changed into by high level.Triode Q1 turn on, Q2 by.Now relay RL1 adhesives, solar recharging electricity
Road turns on, and relay RL2 does not work, and load circuit disconnects.Solar charging panel 10 and energy storage battery pass through the IC that charges during charging
Chip BQ24200 charges to lithium battery 12.Because BQ24200 has wider charging voltage, so the both ends of solar charging panel 10
Voltage with intensity of illumination change on charging influence and it is little.When the voltage of lithium battery 12 reaches higher limit, triode list is controlled
The I/O port level signal of piece machine is overturn again, and machine fish reenters continuation of the journey state.When on the coast, machine fish can be filled by 5V
Power port directly charges to lithium battery 12.
The utility model is not limited to the present embodiment, any equivalent concepts in the technical scope of the utility model disclosure
Or change, it is classified as the scope of protection of the utility model.
Claims (2)
- A kind of 1. Intelligent bionic machinery fish of solar recharging, it is characterised in that：Including fish head (1), fish body (2) and fish tail (3), The fish head (1) and fish body (2) become one, and the fish tail (3) is connected by drive system with fish body (2)；Fish body (2) upper back leaves three small sircle holes, is charging hole, antenna hole and power output hole respectively；Fish body (2) top is provided with square hole, for being assembled to fish body (2) inner body；The square hole is surrounded by one Groove, groove is interior to set rubber seal, keeps square hole and square cap-shaped into good watertightness；Side's cover-use screw is fastened on On fish body (2)；Driving steering wheel (8), balancing weight (9), core control panel (11) and lithium battery (12) are set inside the fish body (2)；Fish body (2) top sets solar charging panel (10)；Fish body (2) bottom sets intelligence sensor (7)；The fish head (1) is anterior to set intelligent video camera head (4)；Fish head (1) top sets collision prevention sensor (14)；Under fish head (1) Portion sets pressure sensor (6)；U-shaped axle (5), one end connection driving steering wheel of U-shaped axle (5) are installed in the power output hole (8), other end connection fish tail (3)；Set at the power output hole mechanical shaft seal be used to realizing U-shaped axle (5) and fish body (2) it Between sealing；Antennal interface (13) and antenna are installed at described antenna hole；Described core control panel (11) forms control system, integrates a single-chip microcomputer thereon, is responsible for data processing, and then coordinate Machine fish various pieces work in order；Described driving steering wheel (8) and U-shaped axle (5) form drive system；Described collision prevention sensor (14), pressure sensor (6) and intelligence sensor (7) forms intelligent monitor system, described Intelligence sensor (7) integrated temperature sensor, pH value sensor and dissolved oxygen sensor；Described intelligent video camera head (4) and the SD storage cards of storage shooting information form intelligent camera system；Described antenna forms real-time Data Transmission system with the communication module on antennal interface (13) and core control panel (11) System；When machine fish cruises in shoal, antenna rises from the water surface from antennal interface (13), realize between several machine fishs and Data are transmitted between machine fish and host computer mutually, real-time Communication for Power is realized, communicates；Described lithium battery (12), energy storage battery, solar charging panel (10) and intelligent charger forms self-power supply system.
- A kind of 2. Intelligent bionic machinery fish of solar recharging according to claim 1, it is characterised in that：Described driving System, intelligent monitor system, intelligent camera system, real-time data transmission system and self-power supply system are all packaged into module shape Formula, and reserve the corresponding interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720782471.1U CN207106832U (en) | 2017-06-30 | 2017-06-30 | A kind of Intelligent bionic machinery fish of solar recharging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720782471.1U CN207106832U (en) | 2017-06-30 | 2017-06-30 | A kind of Intelligent bionic machinery fish of solar recharging |
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| Publication Number | Publication Date |
|---|---|
| CN207106832U true CN207106832U (en) | 2018-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720782471.1U Expired - Fee Related CN207106832U (en) | 2017-06-30 | 2017-06-30 | A kind of Intelligent bionic machinery fish of solar recharging |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545163A (en) * | 2018-06-28 | 2018-09-18 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
-
2017
- 2017-06-30 CN CN201720782471.1U patent/CN207106832U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545163A (en) * | 2018-06-28 | 2018-09-18 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180316 Termination date: 20200630 |
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| CF01 | Termination of patent right due to non-payment of annual fee |