CN209776776U - Manta ray mode underwater robotic fish device - Google Patents
Manta ray mode underwater robotic fish device Download PDFInfo
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- CN209776776U CN209776776U CN201920652498.8U CN201920652498U CN209776776U CN 209776776 U CN209776776 U CN 209776776U CN 201920652498 U CN201920652498 U CN 201920652498U CN 209776776 U CN209776776 U CN 209776776U
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 39
- 241001471424 Manta birostris Species 0.000 title claims abstract description 17
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 70
- 241001331491 Myliobatis californica Species 0.000 claims abstract description 28
- 239000000758 substrate Substances 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 210000000006 pectoral fin Anatomy 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 11
- 230000009182 swimming Effects 0.000 claims description 10
- 239000012528 membrane Substances 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 5
- 230000003592 biomimetic effect Effects 0.000 claims 2
- 241000211181 Manta Species 0.000 claims 1
- 239000002775 capsule Substances 0.000 claims 1
- NFGXHKASABOEEW-LDRANXPESA-N methoprene Chemical compound COC(C)(C)CCCC(C)C\C=C\C(\C)=C\C(=O)OC(C)C NFGXHKASABOEEW-LDRANXPESA-N 0.000 claims 1
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 239000000243 solution Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 238000005507 spraying Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 210000000481 breast Anatomy 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Farming Of Fish And Shellfish (AREA)
Abstract
the utility model provides a bat ray mode underwater robot fish device, the device includes: the front end of the base body is provided with a camera shooting cabin, and the bottom of the base body is provided with an electronic cabin and a battery pack cabin in parallel; the bionic manta ray pectoral fins are symmetrically arranged at the side surface of the middle part of the substrate and can swing up and down; the propelling assembly is arranged at the tail part of the base body; and the bionic mantle is attached to the bottom surface of the substrate. The technical scheme of the utility model solved current bat ray robotic fish and had the problem that can not compromise sharp propulsion and turn to in a flexible way.
Description
Technical Field
The utility model relates to an underwater robot technical field particularly, especially relates to a bat mode underwater robot fish device.
Background
Underwater robots are rapidly developing in the direction of miniaturization and intellectualization, and thus they undertake more and more underwater work. The traditional bat ray underwater robotic fish is widely applied to the aspects of submarine environment exploration, marine organism research and the like, has the characteristics of flexible underwater steering and stable swimming speed, but is limited in application and popularization in the research and use fields needing quick response due to the lack of underwater linear acceleration capacity.
Disclosure of Invention
According to the technical problem that the conventional memory alloy driven manta ray robotic fish has low underwater propulsion speed, the manta ray mode underwater robotic fish based on multi-mode propulsion is provided, and the capability of flexibly turning in a narrow water area and linearly accelerating in an open water area is considered.
the utility model discloses a technical means as follows:
A bat ray mode underwater robotic fish device, comprising:
The front end of the base body is provided with a camera shooting cabin, and the bottom of the base body is provided with an electronic cabin and a battery pack cabin in parallel;
The bionic manta ray pectoral fins are symmetrically arranged at the side surface of the middle part of the substrate and can swing up and down;
The propelling component is arranged at the tail part of the base body; and
And the bionic mantle is attached to the surface of the substrate.
Further, the bionic mantle is a v-shaped cloth bionic mantle.
Further, the propulsion assembly comprises:
The water tank is arranged at the tail part of the substrate and comprises a water inlet film attached to the lower part of the water tank and a bionic nozzle arranged in the middle of the water tank; and
the tail fins are arranged on the periphery of the tail part of the base body in a cross shape.
Furthermore, a main control module, a moving propulsion module, a camera control module, a forward mode switching module, a pitching control module, a course detection module and a power supply management module are arranged in the electronic bin; the moving propulsion module, the camera shooting control module, the forward mode switching module, the pitching control module, the course detection module and the power supply management module are all connected with the main control module; the advancing mode switching module is respectively connected with the bionic manta ray pectoral fin and the propelling component.
Furthermore, a wireless transmission module is further arranged in the electronic cabin and connected with the main control module.
Furthermore, the camera cabin comprises a pressure-resistant cover, a camera holder and a camera, and the camera is connected with the camera control module.
Compared with the prior art, the utility model has the advantages of it is following:
1. The utility model provides an underwater robotic fish device combines the bat ray water spray propulsion mode with the bionic mantle of wire cloth organically, on the basis that bat ray formula robotic fish has nimble steering capacity, has improved its sharp acceleration ability under water.
2. the underwater robotic fish device provided by the utility model improves the mobility of underwater movement through the cooperative work of the modules, thereby improving the scientific research functionality of the device; meanwhile, information transmission is realized through the wireless module with the upper computer, and the application range of the wireless module in scientific research work is greatly expanded.
based on the reason, the utility model discloses can explore under water, biological research etc. field extensively promotes under water.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a front view of the robotic fish device of the present invention.
Fig. 2 is a rear view of the robotic fish device of the present invention.
Fig. 3 is a bottom view of the robotic fish device of the present invention.
Fig. 4 is a schematic structural diagram of the robotic fish system of the present invention.
Fig. 5 is a schematic structural diagram of the robotic fish system according to the embodiment of the present invention.
In the figure: 1. a substrate; 2. bionic pallium; 3. a water inlet film; 4. bionic manta ray pectoral fin; 5. a tail fin; 6. a camera shooting cabin; 7. an electronics plant; 8. a water tank; 9. a battery assembly compartment; 10. a bionic nozzle.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The pectoral fin of the bat ray has the spanwise fluctuation from the fin root to the tail end and the chordwise fluctuation backward, and the traditional bat ray robotic fish has simplified partial pectoral fin action when imitating the motion of the pectoral fin of the bat ray, and when the pectoral fin moves, the inertia force of itself and viscous force interact for the bionic pectoral fin takes place to bend and twist, and the pectoral fin can receive along the opposite resistance of swing direction simultaneously, thereby promotes the robotic fish to move forward. Inspired by the above research background, as shown in fig. 1-3, the utility model provides an underwater robotic fish device with bat ray mode, which is characterized by comprising: the bionic bat ray pectoral fin comprises a base body (1), wherein bionic bat ray pectoral fins (4) are symmetrically arranged on the side surface of the middle part of the base body (1), the bionic bat ray pectoral fins (4) can swing up and down, and a propelling component is arranged at the tail part of the bionic bat ray pectoral fin; the surface is attached with a bionic mantle (2). Further, the bionic mantle (2) is a v-shaped cloth bionic film. The propulsion assembly comprises: the water tank (8) is arranged at the tail part of the substrate (2), and comprises a water inlet film (3) attached to the lower part of the water tank and a bionic nozzle (10) arranged in the middle of the water tank (8); and a tail fin (5) which is arranged on the periphery of the tail part of the basal body in a cross shape. The front end of the base body (1) is provided with a camera shooting cabin (6), and the bottom of the base body is provided with an electronic cabin (7) and a battery pack cabin (9) in parallel. A main control module, a moving propulsion module, a camera shooting control module, a forward mode switching module, a pitching control module, a course detection module and a power supply management module are arranged in the electronic bin (7); the main control module is connected with the moving propulsion module, the camera shooting control module, the forward mode switching module, the pitching control module, the course detection module and the power supply management module; the advancing mode switching module is respectively connected with the bionic manta ray pectoral fin and the propelling component. In addition, a wireless transmission module is further arranged in the electronic bin (7), and the wireless transmission module is connected with the main control module. The camera cabin (6) comprises a pressure-resistant cover, a camera holder and a camera, and the camera is connected with the camera control module.
as shown in fig. 4, the invention also provides a ray model underwater robotic fish system using the device, which comprises an upper computer and the robotic fish device, wherein the upper computer is connected with the robotic fish device through a wireless network.
The technical solution of the present invention is further explained by the following specific examples.
Example 1
as an embodiment of the present invention, this embodiment provides a bat ray mode underwater robotic fish system combining v-type wire-cloth bionic mantle jet, as shown in fig. 1-5, including the base body (1), the bionic mantle (2), the water inlet film (3), the bionic nozzle (10), the flexible bionic bat breast fin (4), the tail fin (5), the camera cabin (6), the electronic cabin (7), the water cabin (8), the battery pack cabin (9). The bionic bat ray breast fin device is characterized in that an electronic cabin (7), a camera shooting cabin (6) and a battery pack cabin (9) are arranged inside the base body (1), the base body (1) is wrapped by a bionic mantle (2), the front part of the base body (1) is provided with the camera shooting cabin (6), the side of the base body is provided with a flexible bionic bat ray breast fin (4), and the tail part of the base body (1) is provided with a tail fin (5), a bionic nozzle (10), a bionic water inlet film (10) and a water cabin (8).
the camera cabin (6) comprises a pressure-resistant cover, a camera holder and a camera, and the camera cabin is controlled by the electronic cabin.
The battery pack compartment (9) comprises a lithium battery pack.
The wireless communication module uses a Bluetooth module and can remotely receive real-time data collected by the camera.
the electronic cabin (7) is internally provided with a main control module, a swimming propulsion module, a wireless transmission module, a camera shooting control module, a forward mode switching module, a pitching control module, a course detection module and a power supply management module, wherein the forward mode switching module controls the robot fish to stop swinging, adjust the angle, feed water through the bionic water inlet film and perform film spraying in the process of using the flexible pectoral fins and tail fins. Therefore, the device is switched between two different modes of driving in a common bat ray mode and spraying the bionic mantle, and the capability of flexibly turning in a narrow water area and propelling at a high speed in a wider water area is considered.
When the underwater robot is in a common bat ray robotic fish driving mode, the main control module controls the flexible bionic bat ray pectoral fins (4) to keep regular swinging and keep real-time rotation of the tail fins (5) at any time, when the underwater robot is in a bionic mantle jet state, the main control module controls the flexible bionic bat ray pectoral fins (4) to be furled and close to a base body, a bionic water inlet film starts to enter water, and relative jet frequency is kept to jet through a bionic nozzle, so that the bionic bat ray pectoral fins reach large acceleration in a short time. In this embodiment, adopted independent 360 degrees pivots to connect bionical pectoral fins to being equipped with independent motor and driving, can fully imitate the motion condition of bat ray under water, in addition can also satisfying the requirement that two kinds of drive mode of this robotic fish switch, switch to corresponding membrane injection in-process promptly, can effectively guarantee the level of pectoral fins and fix.
Specifically, when the robotic fish is driven in a traditional bat ray mode, the pectoral fin firstly raises an angle of 45 degrees and then restores a horizontal posture according to a flapping cycle, then the bionic pectoral fin is inclined downwards by an angle of 45 degrees and continuously restores the horizontal posture to complete a continuous motion cycle, when the bionic pectoral fin reaches the maximum vertical pitch angle, the deformation quantity is also the maximum, and when the pectoral fin is in the horizontal posture, the deformation quantity is the minimum, the speed of the robotic fish is the maximum, the flapping frequency of the whole pectoral fin is 1.0Hz, the flapping amplitude is 18 degrees, and when the bionic membrane injection state is switched, an advancing switching module in an electronic cabin sends out a signal, a pitch control module is regulated to adjust the swimming direction of the robotic fish, the inclination angle and a swimming propulsion module control the bionic pectoral fin, and the tail fin keeps horizontal and static. When the bionic spraying system is started, the robot fish mainly completes the bionic membrane shrinkage spraying process and the water flushing process. In the bionic membrane shrinkage and injection process, the SMA body embedded in the bionic mantle shrinks, and the adjacent silica gel materials begin to accumulate energy, and the sealing effect of the bionic water inlet membrane makes the pressure in the cavity rise, and when certain pressure is reached, the water in the cavity is sprayed out by the bionic nozzle, and meanwhile, the horizontal direction and the vector thrust are provided. When the robotic fish is in the flushing process, the elastic potential energy in the silica gel is rapidly released due to the power failure of the SMA wires, the mantle begins to expand at the same time, negative pressure is formed in the cavity, water around the robotic fish enters the cavity through the bionic water inlet film, the bionic mantle finishes the water filling process, and the contraction injection process continues.
In this embodiment, the control system adopts a CAN bus protocol, and includes two different parts, namely an upper computer for sending an instruction and a lower computer placed in the bionic bat robot. The upper computer contains a PC and a wireless transmission module. The lower computer control system comprises a main control module, a moving propulsion module, a wireless transmission module, a camera shooting control module, a moving mode switching module, a pitching control module, a course detection module and a power supply management module which are arranged in the electronic cabin. The main control module in the lower computer can receive the control command sent by the upper computer in real time, and the upper computer can also receive various data related to the machine body, such as depth, speed and the like, transmitted by the lower computer at any time and reflect, store and process the uploaded data.
The main control module CAN receive various command signals sent by the upper computer, decompose and process commands, transmit the commands to various related modules in the lower computer in a CAN bus transmission mode, and receive swimming data uploaded by various control modules.
The pitching control module can control the bionic tail fin and the swinging direction and angle of the bionic flexible pectoral fin according to the instruction received from the main control module, so that buoyancy and angle required by the bat ray robot in the swimming process in water are provided.
the camera shooting control module can control camera shooting equipment in the camera shooting cabin to adjust the shooting angle in real time and transmit real-time field conditions.
The function of the forward mode switching module is to enable the bionic flexible pectoral fins on two sides of the robot to be close under the combined action of the forward mode switching module and the pitching control module after receiving a signal of the upper computer, and the bionic water inlet film is independently used for water inlet and is sprayed out through the bionic spraying device, so that the purpose of short-time acceleration is achieved.
The power management module can receive the instruction sent from the main control module, return the real-time parameters of the power supply, detect the real-time working condition of the power supply of the bat ray robot and provide enough working voltage for other modules.
The course detection module can receive the instruction transmitted by the main control module and sends the course timing detection data of the bionic manta ray robot back to the upper computer.
The swimming propulsion module consists of a bionic flexible pectoral fin control driving part and a V-shaped wire distribution bionic film jet propulsion system control driving part, can receive instructions to adjust the fluctuation frequency, the wave amplitude and the fluctuation speed of the bionic flexible pectoral fin, the swing frequency and the swing direction of the tail fin, and changes the shrinkage and the frequency of the bionic water inlet film and the bending angle and the bending direction of the bionic nozzle according to the main control module and the advancing mode switching module.
in order to realize free swimming in water, the device has good maneuverability, the embodiment uses an efficient propulsion system to control various motion structures such as a bionic nozzle, a flexible bionic bat ray pectoral fin, a tail fin and the like to adjust and control the posture, balance, swimming speed and other parameters of the robot in water, and a detection module is arranged to monitor the underwater state of the robot in real time. The CAN bus protocol has the advantages that any node CAN send information to any other node on the bus, a plurality of different hosts work together, information transmission modes are various, and the like, and the corresponding requirements of the robot CAN be met to form a drive control system.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a bat ray mode underwater robotic fish device which characterized in that includes:
The camera shooting device comprises a base body (1), wherein a camera shooting cabin (6) is arranged at the front end of the base body (1), and an electronic cabin (7) and a battery pack cabin (9) are arranged at the bottom of the base body in parallel;
the bionic manta ray pectoral fin (4) is symmetrically arranged at the side surface of the middle part of the base body (1), and the bionic manta ray pectoral fin (4) can swing up and down;
The propelling component is arranged at the tail part of the base body; and
And the bionic mantle (2) is attached to the surface of the substrate.
2. The manta ray mode underwater robotic fish device of claim 1, wherein the biomimetic mantle (2) is a v-shaped cloth silk biomimetic membrane.
3. The manta ray-mode underwater robotic fish device of claim 1, wherein said propulsion assembly comprises:
The water tank (8) is arranged at the tail part of the substrate (1), and comprises a water inlet film (3) attached to the lower part of the water tank and a bionic nozzle (10) arranged in the middle of the water tank (8); and
And tail fins (5) which are arranged on the periphery of the tail part of the basal body in a cross shape.
4. the manta ray mode underwater robotic fish device of claim 1 or 3, wherein a main control module, a swimming propulsion module, a camera control module, a forward mode switching module, a pitch control module, a course detection module and a power management module are arranged in the electronic cabin (7); the moving propulsion module, the camera shooting control module, the forward mode switching module, the pitching control module, the course detection module and the power supply management module are all connected with the main control module; the advancing mode switching module is respectively connected with the bionic manta ray pectoral fin and the propelling component.
5. The manta ray mode underwater robotic fish device of claim 4, wherein a wireless transmission module is further disposed in the electronic cabin (7), and the wireless transmission module is connected with the main control module.
6. The manta ray mode underwater robotic fish device of claim 4, wherein the camera capsule (6) comprises a pressure-resistant housing, a camera pan-tilt and a camera, the camera being connected to the camera control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920652498.8U CN209776776U (en) | 2019-05-08 | 2019-05-08 | Manta ray mode underwater robotic fish device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920652498.8U CN209776776U (en) | 2019-05-08 | 2019-05-08 | Manta ray mode underwater robotic fish device |
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| CN209776776U true CN209776776U (en) | 2019-12-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391A (en) * | 2019-05-08 | 2019-07-16 | 大连理工大学 | A kind of devil ray mode underwater fish apparatus and system |
| CN111216861A (en) * | 2020-03-24 | 2020-06-02 | 江苏科技大学 | Novel combined vortex-fin-eliminating device of pod propeller and design method thereof |
| CN113734393A (en) * | 2021-09-28 | 2021-12-03 | 深圳先进技术研究院 | Bionic robot fish depth control method and device based on attack angle method |
-
2019
- 2019-05-08 CN CN201920652498.8U patent/CN209776776U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391A (en) * | 2019-05-08 | 2019-07-16 | 大连理工大学 | A kind of devil ray mode underwater fish apparatus and system |
| CN110015391B (en) * | 2019-05-08 | 2023-11-17 | 大连理工大学 | Device and system for underwater robot fish in ray mode |
| CN111216861A (en) * | 2020-03-24 | 2020-06-02 | 江苏科技大学 | Novel combined vortex-fin-eliminating device of pod propeller and design method thereof |
| CN113734393A (en) * | 2021-09-28 | 2021-12-03 | 深圳先进技术研究院 | Bionic robot fish depth control method and device based on attack angle method |
| CN113734393B (en) * | 2021-09-28 | 2022-12-02 | 深圳先进技术研究院 | Bionic robot fish depth control method and device based on attack angle method |
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