CN209373433U - A kind of obstacle avoidance system of bionic machine fish - Google Patents
A kind of obstacle avoidance system of bionic machine fish Download PDFInfo
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- CN209373433U CN209373433U CN201920215000.1U CN201920215000U CN209373433U CN 209373433 U CN209373433 U CN 209373433U CN 201920215000 U CN201920215000 U CN 201920215000U CN 209373433 U CN209373433 U CN 209373433U
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- sonar
- bionic machine
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- machine fish
- active sonar
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Abstract
The utility model discloses a kind of obstacle avoidance system of bionic machine fish, including the first active sonar, the front side of bionic machine fish fish head mechanism is arranged in first active sonar, second active sonar, first active sonar and two second active sonars are each provided at left and right sides of bionic machine fish Yu Shen mechanism to arrange in isosceles triangle.The utility model has the beneficial effects that the active sonar arranged using three isosceles triangles, covering surface is bigger, and can monitor the underwater sound by passive sonar to identify object, so that more effective avoidance can be realized.
Description
Technical field
The utility model relates to bionic machine fish accessory technical fields, it particularly relates to which a kind of bionic machine fish is kept away
Barrier system.
Background technique
For bionic machine fish for completing undersea detection task, the obstacle avoidance system covering surface of existing bionic machine fish is smaller,
It cannot achieve effective avoidance.
For the problems in the relevant technologies, currently no effective solution has been proposed.
Utility model content
For above-mentioned technical problem in the related technology, the utility model proposes a kind of obstacle avoidance system of bionic machine fish,
The active sonar arranged using three isosceles triangles, covering surface are bigger, it can be achieved that effective avoidance.
To realize the above-mentioned technical purpose, the technical solution of the utility model is achieved in that
A kind of obstacle avoidance system of bionic machine fish, including the first active sonar, first active sonar are arranged bionical
The front side of machine fish fish head mechanism is each provided with second Active Acoustic at left and right sides of bionic machine fish Yu Shen mechanism
, first active sonar and two second active sonars are arranged in isosceles triangle.
Further, the lower part of the fish head mechanism is provided with passive sonar.
Further, the first active sonar, second active sonar and the passive sonar are respectively connected with sub-controller,
The sub-controller connects master controller.
Further, the master controller and the sub-controller include single-chip microcontroller or CPU.
The utility model has the beneficial effects that the active sonar arranged using three isosceles triangles, covering surface is bigger, and can pass through
Passive sonar monitors the underwater sound to identify object, so that more effective avoidance can be realized.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the schematic diagram of the obstacle avoidance system of the bionic machine fish according to the utility model embodiment；
Fig. 2 is the schematic diagram when obstacle avoidance system of the bionic machine fish according to the utility model embodiment uses.
In figure:
1, fish head mechanism；2, Yu Shen mechanism；51, the first active sonar；52, the second active sonar；53, passive sonar.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art's every other embodiment obtained, all belongs to
In the range of the utility model protection.
As shown in Figs. 1-2, a kind of obstacle avoidance system of bionic machine fish according to the utility model embodiment, including the
The front side of bionic machine fish fish head mechanism 1, the bionic machine fish is arranged in one active sonar 51, first active sonar 51
The left and right sides of Yu Shen mechanism 2 is each provided with second active sonar 52, first active sonar 51 and two described
Two active sonars 52 are arranged in isosceles triangle.
In a specific embodiment of the utility model, the lower part of the fish head mechanism 1 is provided with passive sonar 53.
In a specific embodiment of the utility model, first active sonar 51, second active sonar 52
It is respectively connected with sub-controller with the passive sonar 53, the sub-controller connects master controller.
In a specific embodiment of the utility model, the master controller and the sub-controller include single-chip microcontroller
Or CPU.
In order to facilitate the above-mentioned technical proposal for understanding the utility model, below by way of specifically used mode to the utility model
Above-mentioned technical proposal be described in detail.
The obstacle avoidance system tool of bionic machine fish described in the utility model is there are three active sonar and a passive sonar 53, and three
A active sonar includes first active sonar 51 and two the second active sonars 52, and three active sonars are used for ranging.Quilt
Dynamic sonar 53 can identify object by monitoring the underwater sound for monitoring the underwater sound.Three active sonar time-sharing works, time interval
For 200ms.
Each active sonar matches a sub-controller, and passive sonar 53 matches a sub-controller, and four sub-controllers connect
Connect master controller.Master controller and sub-controller include single-chip microcontroller or CPU.
Three active sonars and passive sonar 53 export the data measured to corresponding sub-controller, the sub-controller into
Master controller is transferred data to after row pretreatment, master controller transfers data to ground work by wireless data transfer module
It stands.
Active sonar is simple beam sonar, is observed in real time by the distance parameter of three active sonars acquisition, then
The anti-barrier general outline released around bionic machine fish is turned to and is swum fast judgement according to barrier general outline, from
And realize avoidance.
In conclusion by means of the above-mentioned technical proposal of the utility model, the active sonar arranged using three isosceles triangles,
Covering surface is bigger, and can monitor the underwater sound by passive sonar to identify object, so that more effective avoidance can be realized.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (4)
1. a kind of obstacle avoidance system of bionic machine fish, including the first active sonar (51), which is characterized in that first Active Acoustic
(51) are arranged in the front side of bionic machine fish fish head mechanism (1), and bionic machine fish Yu Shen mechanism (2) is each side
It is provided with second active sonar (52), first active sonar (51) is in product with two second active sonars (52)
Font arrangement.
2. the obstacle avoidance system of bionic machine fish according to claim 1, which is characterized in that under the fish head mechanism (1)
Portion is provided with passive sonar (53).
3. the obstacle avoidance system of bionic machine fish according to claim 2, which is characterized in that first active sonar
(51), second active sonar (52) and the passive sonar (53) are respectively connected with sub-controller, the sub-controller connection
Master controller.
4. the obstacle avoidance system of bionic machine fish according to claim 3, which is characterized in that the master controller and the son
Controller includes single-chip microcontroller or CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920215000.1U CN209373433U (en) | 2019-02-20 | 2019-02-20 | A kind of obstacle avoidance system of bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920215000.1U CN209373433U (en) | 2019-02-20 | 2019-02-20 | A kind of obstacle avoidance system of bionic machine fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209373433U true CN209373433U (en) | 2019-09-10 |
Family
ID=67827152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920215000.1U Active CN209373433U (en) | 2019-02-20 | 2019-02-20 | A kind of obstacle avoidance system of bionic machine fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209373433U (en) |
-
2019
- 2019-02-20 CN CN201920215000.1U patent/CN209373433U/en active Active
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