CN207410345U - A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish - Google Patents
A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish Download PDFInfo
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- CN207410345U CN207410345U CN201721294421.5U CN201721294421U CN207410345U CN 207410345 U CN207410345 U CN 207410345U CN 201721294421 U CN201721294421 U CN 201721294421U CN 207410345 U CN207410345 U CN 207410345U
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- fish
- module
- unmanned boat
- machine
- host computer
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Abstract
The utility model discloses a kind of unmanned boats and machine shoal of fish principal and subordinate's cooperative system, and including host computer, host and slave, the host computer is communicated by cordless communication network through host with slave；The host computer is arranged on control centre, and the host is arranged on unmanned boat, and the slave is arranged on every machine fish of the machine shoal of fish.Intermediate station is transferred as signal, the underwater detectoscope i.e. detectable signal of machine fish is delivered to host computer through passing unmanned boat since the utility model employs unmanned boat, enhance the power of transmission signal, increase the distance that signal transfers, and the machine shoal of fish and unmanned boat distance are very near, it can in real time communicate with machine fish and unmanned boat in realization water, improve the operant activity radius of signal stabilization and the entire machine shoal of fish.Since the utility model uses the operating mode of more machine fishs cooperation, expand the area of detector detection, improve the efficiency of overall work.
Description
Technical field
The utility model is related to water surface robot cooperation field more particularly to a kind of unmanned boat and the principal and subordinate associations of the machine shoal of fish
Make system.
Background technology
The high speed of machine fish, efficient, height camouflage property, high maneuverability and strong adaptability so that it is in Military Application, life
Detection in object observation and small space etc. has important application and active demand.But because its working environment is answered
Miscellaneous, underwater wireless signal transmission is subject to water environmental impact very big, the information attenuation journey affected by environment in the way of back information
Degree is very big, seriously limits the effect of the underwater execution task of machine fish.
Utility model content
To solve the above problem existing in the prior art, the utility model will design a kind of shielded from water environment and with cable
Limitation, can executive chairman's distance and the unmanned boat of great deep exploration and principal and subordinate's cooperative system of the machine shoal of fish.
To achieve these goals, the technical solution of the utility model is：
A kind of unmanned boat and machine shoal of fish principal and subordinate's cooperative system, including host computer, host and slave, the host computer leads to
Cordless communication network is crossed to communicate with slave through host；The host computer is arranged on control centre, and the host is set
On unmanned boat, the slave is arranged on every machine fish of the machine shoal of fish；Flight tracking control is set on the unmanned boat
Module, wireless communication module, embedded type control module, energy supply control module and powered module are set on the machine fish
Put Track In Track module, wireless communication module, embedded type control module, energy supply control module and powered module；
The host computer further includes wireless communication module；
The host includes embedded main control board, and the embedded main control board controls the wireless communication of host computer respectively
Module, unmanned boat positioning GPS module, unmanned boat gyroscope heading acquisition module, the steering engine of unmanned boat Heading control, unmanned boat speed
Spend motor, machine fish wireless communication module and the machine fish power management module of control.
Further, the unmanned boat is promoted using high performance airscrew, and the machine fish is promoted using bionic fish tail.
Further, the machine fish includes fish head, fish body and fish tail, set inside the fish tail drive module and
Steering engine bionic movement module, fish body inside set centre of gravity adjustment module and power management module, and the fish head is set
Sensor connection interface module and core controller module；With the channel radio to communicate with unmanned boat on the dorsal fin of the fish body
Believe module.
Compared with the prior art, the utility model has the advantages that：
1st, since the utility model employs unmanned boat intermediate station is transferred as signal, by the i.e. machine fish of underwater detectoscope
Detectable signal is delivered to host computer through passing unmanned boat, enhances the power of transmission signal, increases the distance that signal transfers, and machine
The device shoal of fish and unmanned boat distance are very near, can in real time communicate with machine fish and unmanned boat in realization water, improve signal
Stability and the operant activity radius of the entire machine shoal of fish.
2nd, since the utility model employs carrier of the underwater biomimetic robotic fish as undersea detection, bionical machine is made full use of
The flexible and efficient motion mode of device fish improves the ability that detector adapts to complex environment in water, realizes the detection of small space, and
Reduce the influence to former environmental organism.
3rd, since the utility model uses the operating mode of more machine fishs cooperation, the area of detector detection has been expanded, has carried
The high efficiency of overall work.
Description of the drawings
Fig. 1 is the structure diagram of the utility model.
Specific embodiment
The utility model is further described through below in conjunction with the accompanying drawings.As shown in Figure 1, the work side of the utility model
Method is as follows：The software installed in the host computer of the utility model includes real-time unmanned boat TRAJECTORY CONTROL interface, unmanned boat and machine
The position formation relation control system of fish, back information interface；Unmanned boat TRAJECTORY CONTROL interface set unmanned boat flight path and position,
The information such as the position relationship and corresponding detector detection index of unmanned boat and the machine shoal of fish, and the channel radio for passing through unmanned boat
Letter module transfers the instructions to unmanned boat；Unmanned boat obtains the control information of host computer by wireless communication module, handles information
Afterwards, perform respectively control unmanned boat speed, control unmanned boat flight path, transmission machine fish compared with unmanned boat position formation and
Machine fish carries the parameter setting information of sensor, and the instruction for setting machine fish is passed through the wireless communication module with machine fish
Transfer the instructions to machine fish；After machine fish receives the instruction of unmanned boat, speed, the control machine of control machine fish are performed respectively
Fish floating dive height, control machine fish carry the running parameter of sensor；Letter has been gathered in the sensor that machine fish is carried
After number, signal is by the wireless communication module between machine fish and unmanned boat, and by signal return to unmanned boat, unmanned boat summarizes place
Reason corresponding signal simultaneously rejects error code, then signal is transferred to the back information interface of host computer by wireless communication module, upper
The corresponding information collected is arranged and stored by machine.
The flight tracking control module of unmanned boat, flight path navigation is using LOS flight path navigation algorithms.
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 (3)
1. a kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish, it is characterised in that：Including host computer, host and slave, institute
The host computer stated is communicated by cordless communication network through host with slave；The host computer is arranged on control centre, institute
The host stated is arranged on unmanned boat, and the slave is arranged on every machine fish of the machine shoal of fish；On the unmanned boat
Flight tracking control module, wireless communication module, embedded type control module, energy supply control module and powered module are set, it is described
Machine fish on Track In Track module, wireless communication module, embedded type control module, energy supply control module and powered are set
Module；
The host computer further includes wireless communication module；
The host includes embedded main control board, and the embedded main control board controls the radio communication mold of host computer respectively
Block, unmanned boat positioning GPS module, unmanned boat gyroscope heading acquisition module, the steering engine of unmanned boat Heading control, unmanned boat speed
Motor, machine fish wireless communication module and the machine fish power management module of control.
2. a kind of unmanned boat according to claim 1 and principal and subordinate's cooperative system of the machine shoal of fish, it is characterised in that：Described
Unmanned boat is promoted using high performance airscrew, and the machine fish is promoted using bionic fish tail.
3. a kind of unmanned boat according to claim 1 and principal and subordinate's cooperative system of the machine shoal of fish, it is characterised in that：Described
Machine fish includes fish head, fish body and fish tail, and drive module and steering engine bionic movement module are set inside the fish tail, described
Centre of gravity adjustment module and power management module are set inside fish body, and the fish head sets sensor connection interface module and core
Controller module；With the wireless communication module to communicate with unmanned boat on the dorsal fin of the fish body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721294421.5U CN207410345U (en) | 2017-10-09 | 2017-10-09 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721294421.5U CN207410345U (en) | 2017-10-09 | 2017-10-09 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207410345U true CN207410345U (en) | 2018-05-25 |
Family
ID=62406830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721294421.5U Expired - Fee Related CN207410345U (en) | 2017-10-09 | 2017-10-09 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207410345U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN111901379A (en) * | 2020-06-29 | 2020-11-06 | 西安交通大学 | Robot fish cluster formation control system and control method based on Zigbee networking |
-
2017
- 2017-10-09 CN CN201721294421.5U patent/CN207410345U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN111901379A (en) * | 2020-06-29 | 2020-11-06 | 西安交通大学 | Robot fish cluster formation control system and control method based on Zigbee networking |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180525 Termination date: 20191009 |
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| CF01 | Termination of patent right due to non-payment of annual fee |