CN209905022U - Ornamental bionic squid based on ocean hall - Google Patents

Abstract

The utility model relates to a bionical device field discloses a bionical squid of type of vwatching based on ocean hall, include: a squid body, a head, a skeg and a foot-touching part; the sleeve-fish body and the head are respectively of a hollow shell structure, the first end of the sleeve-fish body is rotatably connected with the first end of the head through a first steering engine, the second end of the head is connected with the foot touching part, and the two sides of the second end of the sleeve-fish body are respectively connected with the meat fins through a second steering engine. The utility model provides a pair of view and admire type bionical squid based on ocean hall divide into four bibliographic categories according to the shape of squid for wholly be close more and imitate the squid, can fully imitate and utilize the characteristic of moving about of squid itself, improve the flexibility. The sleeve-fish body and the head part are arranged to be hollow structures, so that the weight of the sleeve-fish structure can be reduced; set up between squid body and the head, link to each other through the steering wheel between squid body and the meat fin, the free action of the squid structure of being convenient for strengthens the ability of moving about of this squid structure, improves the flexibility.

Description

Ornamental bionic squid based on ocean hall

Technical Field

The utility model relates to a bionical device field especially relates to a based on bionical squid of type is vwatched in ocean hall.

Background

The vast ocean accounts for 70.8% of the surface area of the earth, is a treasury of earth resources, but many areas are not areas where people can be involved, and many existing artificial intelligent robots can solve some problems on the land, but are difficult to develop underground or deep sea, or cause changes and differences of components of some research objects because inappropriate organisms enter local ocean biospheres.

An Autonomous Underwater Vehicle (AUV) is very important for developing ocean resources for human beings, and a propeller as a key component generally adopts the principle of a propeller and an impeller, so that the defects of low mechanical efficiency, high noise, poor maneuvering and moving performance and the like exist. The fish has high swimming capacity after hundred million years of natural evolution, the perfect underwater motion mode of the fish is reasonably applied to an underwater propulsion system, and the development of the AUV technology can be greatly promoted.

Nowadays, the robotic fish is only used for ocean exploration, and the interaction requirements of people on the robotic fish and human beings are also improved. Most of the existing robotic fishes have the problems of low simulation degree and flexibility.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model aims at providing a bionical squid of type of vwatching based on ocean hall for solve or partially solve current machine fish fidelity and the lower problem of flexibility.

(II) technical scheme

In order to solve the technical problem, the utility model provides a bionical squid of type of vwatching based on ocean hall, include: a squid body, a head, a skeg and a foot-touching part; the squid body with the head is hollow shell structure respectively, the first end of squid body through first steering wheel with the first end of head rotates to be connected, the second end of head links to each other with the foot of touching the both sides of the second end of squid body are respectively through second steering wheel connection skein.

On the basis of above-mentioned scheme, one kind still includes based on bionical squid of type is vwatched in ocean hall: an image pickup unit; the camera shooting part is connected with the second end of the squid body and is integrally streamlined, the side wall of the camera shooting part is transparent, and a camera is arranged in the camera shooting part; the meat fin is connected with the camera shooting part.

On the basis of the scheme, the foot touching part comprises a chassis, a short foot and a long foot; a plurality of first notches are uniformly formed in the chassis along the circumferential direction of the chassis, two second notches are symmetrically formed in the middle of the chassis, one ends of a plurality of short feet are respectively inserted into the first notches in a one-to-one correspondence mode, one ends of two long feet are inserted into the second notches in a one-to-one correspondence mode, one end of each short foot and one end of each long foot are respectively connected with a third steering engine, and the third steering engines are connected with the second end of the head; the short foot and the long foot are respectively of flexible structures; the volume of the other end of the long foot is larger than that of one end of the long foot.

On the basis of the scheme, the meat fin is of a flexible structure, a carbon plate is arranged inside one side, connected with the second steering engine, of the meat fin, and the ratio of the area of the carbon plate to the area of the section, in contact with the meat fin, of the carbon plate is 0.5-0.8.

On the basis of the scheme, the method further comprises the following steps: the gravity center balancing device comprises a sensor assembly, a gravity center balancing instrument and a controller; gravity balance appearance and controller setting are in the inside of squid body, the controller respectively with sensor assembly, gravity balance appearance, first steering wheel, second steering wheel, camera and third steering wheel link to each other.

On the basis of the scheme, the inside setting of squid body holds the bucket, it is upper and lower equal open-ended hollow structure to hold the bucket, the upper end and the lower extreme that hold the bucket respectively with cabin cover sealing connection hold the inside support that sets up of bucket, the focus balancing appearance with the controller passes through respectively the support is fixed.

On the basis of the scheme, the sensor assembly comprises: set up obstacle avoidance sensor, the setting of the second end surface of squid body are in photosensitive sensor, the quick sensor of sound, chemical sensor, temperature sensor, water pressure sensor, ultrasonic wave module and setting on squid body surface are in among the inside magnetic field sensor of squid body, the at least one of acceleration sensor.

On the basis of the scheme, the outer surface of the squid body is provided with a bionic silica gel layer; the outside on the bionical silica gel layer of squid body is followed the circumference of squid body sets up the flexible screen of round, flexible screen with the controller links to each other.

On the basis of above-mentioned scheme, one kind still includes based on bionical squid of type is vwatched in ocean hall: a water spraying device and a head balancing and adjusting bin; the water spraying device comprises a water spraying propeller and a support frame, the water spraying propeller is fixed through the support frame, the support frame is connected with the first end of the squid body, and the water spraying propeller is connected with the controller; the head balancing adjusting bin is arranged inside the head, and a buoyancy block and a balancing weight are arranged inside the head balancing adjusting bin.

On the basis of above-mentioned scheme, one kind still includes based on bionical squid of type is vwatched in ocean hall: a power supply and a magnetic control switch; the power sets up inside the squid body, the power with magnetic switch links to each other, and be provided with wired or wireless charging device on the squid body.

(III) advantageous effects

The utility model provides a pair of view and admire type bionical squid based on ocean hall divides for four bibliographic categories according to the shape of squid for wholly be close more and imitate the squid, can fully imitate and utilize the characteristic of moving about of squid itself, improve the flexibility. Set up squid body and head and be hollow structure, can alleviate the weight of squid structure, improve whole flexibility. Set up between squid body and the head, link to each other through the steering wheel between squid body and the meat fin, be convenient for control the regulation to the angle of head and meat fin, the free action of the squid structure of being convenient for strengthens the ability of moving about of this squid structure, improves the flexibility.

Drawings

Fig. 1 is an overall schematic view of an ornamental type bionic squid based on a marine stadium according to an embodiment of the present invention;

fig. 2 is a schematic view of the squid body in the embodiment of the present invention;

fig. 3 is a schematic view of the inner holding barrel of the squid body in the embodiment of the utility model;

FIG. 4 is a schematic view of a head according to an embodiment of the present invention;

FIG. 5 is a schematic view of an embodiment of the present invention;

fig. 6 is a schematic view of a carbon plate in a skeg of the present invention;

FIG. 7 is a schematic view of a foot contacting portion in an embodiment of the present invention;

fig. 8 is a schematic view of a water spraying device according to an embodiment of the present invention.

Description of reference numerals:

1-squid body; 2-head; 3-meat fin;

4-touching feet; 5, a water spraying device; 101-an image pickup unit;

102-a camera; 103-a containment drum; 104-a bracket;

105-a flexible screen; 106-hatch cover; 201-a first steering engine;

202-head trim adjustment bin; 301-a second steering engine; 302-carbon plate;

401 — a first notch; 402-a chassis; 403 — short foot;

404 — long foot; 405 — a second notch; 501, a water jet propeller;

502-a support frame; 303-steering engine support.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

According to the embodiment of the utility model provides a based on bionical squid of type is vwatched in ocean hall, refer to fig. 1, should include based on bionical squid of type is vwatched in ocean hall: the squid comprises a squid body 1, a head part 2, a skeg 3 and a foot touching part 4. The sleeve-fish body 1 and the head 2 are respectively of a hollow shell structure. The first end of squid body 1 is connected with the first end rotation of head 2 through first steering wheel 201. The second end of the head portion 2 is connected to the foot contacting portion 4. The two sides of the second end of the squid body 1 are respectively connected with the skegs 3 through a second steering engine 301.

The utility model provides a bionical squid of type is vwatched based on ocean hall, divides for four bibliographic categories according to the shape of squid for whole is more close and imitates the squid, can fully imitate and utilize the characteristic of swimming of squid itself, improves the flexibility.

Set up squid body 1 and head 2 and be hollow structure, can alleviate the weight of squid structure, be favorable to this bionical squid to keep balance in aqueous, improve whole flexibility. Set up between squid body 1 and the head 2, link to each other through the steering wheel between squid body 1 and the meat fin 3, be convenient for control the regulation to the angle of head 2 and meat fin 3, the free action of the squid structure of being convenient for strengthens the ability of moving about of this squid structure, improves the flexibility.

On the basis of the above embodiment, further, with reference to fig. 2, an ornamental type bionic squid based on a marine stadium further includes: an imaging unit 101. The camera part 101 is connected with the second end of the sleeve-fish body 1 and is streamline as a whole. The side wall of the imaging unit 101 is transparent and a camera 102 is provided therein. The skeg 3 is connected to the image pickup portion 101.

The second end of the squid body 1, namely the end far away from the head 2, is connected with the camera part 101. The image pickup section 101 may also have a hollow housing structure. The camera part 101 and the squid body 1 can be detachably connected by bolts or the like. The streamline shape of the camera part 101 can reduce the resistance of the squid structure in the swimming process.

A camera 102 may be installed inside the camera portion 101. Shoot or record a video through this squid structure with first visual angle to aquatic environment, can watch on feeding, reproduction, the growth condition of shoal of fish, do benefit to simultaneously and overhaul under water, carry out the photography under water. The underwater environment or other underwater creatures can be known in a closer angle, the understanding of the underwater environment and creatures is enhanced, and the interaction with people is enhanced.

Further, the side wall of the image pickup portion 101 may be a glass rigid structure.

On the basis of the above embodiment, further, referring to fig. 7, the present embodiment specifically explains the structure of the foot contact portion 4. The haptic portion 4 includes a chassis 402, a short foot 403 and a long foot 404. The base plate 402 is uniformly provided with a plurality of first notches 401 along the circumferential direction of the base plate 402. The first notch 401 is provided at an edge portion of the bottom chassis 402. Two second notches 405 are symmetrically arranged in the middle of the bottom plate 402.

One end of each of the short legs 403 is inserted into the first slot 401 in a one-to-one correspondence. I.e. one end of one short foot 403 is inserted into one first slot 401. The short legs 403 and the first notches 401 are connected in a one-to-one correspondence. Likewise, a total of two long feet 404 are provided. One ends of the two long feet 404 are inserted into the second notches 405 in a one-to-one correspondence.

One end of each short foot 403 and one end of each long foot 404 are respectively connected with a third steering engine. I.e. one end of each short foot 403 is connected to a third steering engine. One end of each long foot 404 is also connected to a third steering engine. A third steering engine is located on opposite sides of the chassis 402 from the short foot 403 and the long foot 404. The total number of third steering engines is the same as the sum of the number of short feet 403 and long feet 404.

And the third steering engine is connected with the second end of the head part 2. The third steering engine can control the swinging direction of the short foot 403 and the long foot 404. Further, the short foot 403 and the long foot 404 are respectively in a strip shape, and imitate the contact foot shape of a squid. The short foot 403 and the long foot 404 are each flexible structures. The swing is convenient to carry out flexible swing according to the swimming condition. Soft biomimetic silica gel can be injected into the short foot 403 and the long foot 404 to form a flexible structure, which is not limited specifically.

The volume at the other end of the long foot 404 is greater than the volume at one end of the long foot 404. Facilitating the maintenance of the squid structural body balance by the two long feet 404.

On the basis of the above embodiment, further, with reference to fig. 5, the skeg 3 is of a flexible structure. The inside carbon plate 302 that sets up of one side that the meat fin 3 is connected second steering wheel 301. The skeg 3 mimics the skeg arrangement of a squid. The skegs 3 can be arranged on two sides of the camera part 101 and are connected with the side wall of the camera part 101 through a second steering engine 301.

Referring to fig. 6, a carbon plate 302 is inserted into one side of the meat fin 3 connected to the second steering gear 301, and the carbon plate 302 is connected to the second steering gear 301. The carbon plate 302 can be connected with a steering engine bracket 303, and the steering engine bracket 303 is connected with a second steering engine 301. The carbon plate 302 may support one side of the skeg 3, facilitating control of the rocking of the skeg 3 by the carbon plate 302. Further, the skeg 3 can be made of human silica gel. Steering wheel support 303 can be 3D prints the support.

Further, the carbon plate 302 is shaped like the skeg 3. The ratio of the area of the carbon plate 302 to the cross-sectional area of the skeg 3 in contact with the carbon plate 302 is 0.5-0.8. I.e., the area of the carbon plate 302 is slightly smaller than the cross-sectional area of the skeg 3 in which the carbon plate 302 is located. The carbon plate 302 can effectively support the meat fins 3, so that stress is prevented from being applied when the second steering engine 301 rotates, and the second steering engine 301 is prevented from being broken due to excessive stress; the carbon plate 302 can also increase the interaction force between the squid fins 3 and water during swinging.

On the basis of the embodiment, further, the ornamental bionic squid based on the ocean hall further comprises a sensor assembly, a gravity center balancing instrument and a controller. A gravity center balancing instrument and a controller are arranged inside the sleeve-fish body 1. The controller is respectively connected with the sensor assembly, the gravity center balancing instrument, the first steering engine 201, the second steering engine 301, the camera 102 and the third steering engine.

The sensor assembly and the controller are arranged to facilitate automatic intelligent control of the moving of the squid structure. The gravity center balancing instrument is arranged to control the balance of the squid structure in the swimming process.

The sensor assembly can monitor the environment and the like of the squid structure in the swimming process in real time. Simultaneously with monitoring result transmission to controller, the controller can control each steering wheel according to sensor assembly's monitoring result and adjust to can carry out intelligent control to moving about of squid structure.

The camera 102 can monitor the feeding, reproduction and growth conditions of the fish shoals, and is beneficial to underwater maintenance and underwater photography.

A communication module and a wireless signal receiver can be arranged. The controller is convenient to establish contact with the shore, the controller is convenient to send information to the shore in real time and send a control instruction to the controller on the shore, so that the swimming of the squid structure is controlled on the shore, and the interactivity with people on the shore is enhanced.

The gravity center balancing instrument can be a gyroscope and is used for controlling the balance of the squid structure.

On the basis of the above embodiment, further, the sensor assembly includes: at least one of an obstacle avoidance sensor, a photosensitive sensor, a sound sensitive sensor, a chemical sensor, a temperature sensor, a magnetic field sensor, an acceleration sensor, a water pressure sensor and an ultrasonic module. Wherein, keep away barrier sensor and should set up the surface of keeping away from the one end of head 2 at squid body 1. Photosensitive sensor, sound sensitive sensor, chemical sensor, temperature sensor, water pressure sensor and ultrasonic wave module can set up on the surface of squid body 1.

The magnetic field sensor and the acceleration sensor may be provided inside the squid body 1. Furthermore, various sensor interfaces can be reserved at relevant parts of the bionic squid, and different types of sensors can be connected according to different working requirements for adapting to the replacement of different working requirements.

On the basis of the above embodiment, further, referring to fig. 2 and fig. 3, the present embodiment specifically explains the arrangement of each component in the squid body 1. Barrel 103 is held in the inside setting of squid body 1, holds barrel 103 and be equal open-ended hollow structure from top to bottom, holds barrel 103's upper end and lower extreme respectively with cabin cover 106 sealing connection. The hatch 106 may be acrylic. A holder 104 is provided inside the accommodating tub 103. The gravity center balancer and the controller are fixed by a bracket 104.

The two ends of the accommodating barrel 103 can be provided with flange mechanisms for realizing sealing. The brackets 104 may be arranged in 5 layers and 3 columns, and the brackets 104 may be connected and fixed with the hatch 106. Notches of 62 x 30mm may be provided in the upper and lower hatches 106, respectively, and the upper end of the bracket 104 may be inserted into the notch of the upper hatch 106 for fixation. The notch that is located on the cabin cover 106 of below can be used for connecting first steering wheel 201, can set up the link and insert in the notch on the cabin cover 106 of below, and first steering wheel 201 links to each other fixedly through link and below cabin cover 106.

Further, the specific structure of the support 104 is not limited, and may be any structure to support and fix the devices.

On the basis of above-mentioned embodiment, further, the surface of squid body 1 sets up bionical silica gel layer. Bionic silica gel layer parcel can make this squid structure more vivid at the surface of squid body 1, is fit for being used for supplying the people to vwatch and visit.

The outside on the bionical silica gel layer of squid body 1 sets up the flexible screen 105 of round along squid body 1's circumference, and flexible screen 105 links to each other with the controller. The flexible screen 105 can display some information related to the swimming of some squid structures or the aquatic environment under the control of the controller, for example, time and the swimming time of the squid structures can be displayed, or scenes shot through the camera 102 can be displayed, so that the vividness of the squid structures can be increased, and the interactivity can be improved.

Further, the flexible screen 105 can display the scene in the surrounding water and simulate the surrounding environment information, so that the stealth effect can be achieved, and the stealth of the bionic squid can be realized. The flexible screen 105 may be disposed in the middle of the squid body 1. The flexible screen 105 may also be used to interact with guests. For example, the tourists can be identified through the background big data, and the tourists can interact with the tourists by displaying some information after obtaining the information of the tourists. For example, the name of the guest or some slogan may be displayed or some game play may be performed.

On the basis of the above embodiment, further, with reference to fig. 8 and 4, an ornamental type bionic squid based on a marine stadium further includes: a water injector 5 and a head trim adjustment bin 202. The water spraying device 5 comprises a water spraying propeller 501 and a support frame 502, the water spraying propeller 501 is fixed through the support frame 502, and the support frame 502 is connected with the first end of the squid body 1. The water spraying device 5 can provide partial propelling force for the squid structure to move, and vector control can be performed through the steering engine. The controller may intelligently or remotely control the operation of the waterjet 501.

A head trim adjustment bin 202 is disposed inside the head 2. The head trim adjustment bin 202 is bolted to the chassis 402. The head balancing adjustment bin 202 is internally provided with a buoyancy block and a balancing weight. The buoyancy block provides buoyancy; the weight of the counter weight increases. The head balancing adjustment bin 202 is provided for keeping the squid in balance in water in a natural state. The buoyancy block can be yellow and is ground to be square. The squid structure is convenient to control to move in water, so that sinking and poor control are prevented. The bottom of the head balancing adjustment bin 202 can be communicated with the outside, and water can enter the head balancing adjustment bin 202. While also balancing in containment drum 103, body balancing is performed in containment drum 103. The posture of the squid is coordinated and adjusted by the two.

On the basis of the above embodiment, further, an ornamental type bionic squid based on a marine stadium further comprises: a power supply and a magnetic control switch; the power supply is arranged inside the squid body 1 and can be fixed on the bracket 104. The power supply is connected with the magnetic control switch. The switch of the power supply can be remotely and intelligently controlled through the magnetic control switch. The power supply is used for supplying power to each electric appliance. And a line or wireless charging device is arranged on the squid body 1. Can charge the power, realize the repeated reuse of this squid structure.

Further, the magnetic switch can be arranged in the sealed accommodating barrel 103 for waterproof isolation, so that normal operation is guaranteed. Hold bucket 103 internally mounted magnetic switch, the magnet device is through holding the power break-make of the bionical squid of bucket 103 outside contact magnetic switch position control.

Further, the charging device may be disposed on the surface of the squid body 1, and a sealing cover may be disposed on the charging device. When the squid structure moves about in the aquatic, can cover the lid, carry out waterproof isolation to this charging device. When charging is needed, the cover body can be opened for charging.

Further, the controller can monitor the electric quantity of the power supply in real time; the real-time power of the power supply may also be displayed on the flexible screen 105. Can set up the electric quantity threshold value, when the electric quantity of power was less than this threshold value, steerable each steering wheel played this squid structure to the surface of water on, was convenient for take out and charges. Bionic squid swims to the installation of marine hall aquatic and is fixed with charging device department, carries out wireless charging. In addition, an alarm device can be arranged, when the squid structure is played to the water surface when the power supply is damaged or fails, an alarm signal can be sent out, and charging or maintenance is required.

Further, the bionic squid can swim to the water surface or sink through each steering engine. The process of the bionic squid specifically swimming to the water surface is as follows:

and the rotation central axis of each third steering engine connected with the short feet is controlled to upwards deviate from the axis direction, the swimming attitude of the bionic squid upwards deviates, and the floating attitude is influenced by the speed.

Controlling a second steering engine to rotate upwards at a constant speed by a maximum angle of 60 degrees to reach the highest phase of the steering engine, wherein the rotating angular speed is 0.69 rad/s; then the second steering engine moves periodically, in a period, the second steering engine reversely rotates downwards at a constant speed for 90 degrees to reach the lowest phase of the steering engine, the angular speed is 2.6rad/s, and then rotates outwards at a constant speed for 90 degrees, and the angular speed is 0.5 rad/s; the steering engine stops for 0.75 second, keeps the upward walking posture of the skeg 3, and then carries out the next periodic motion.

And controlling the water jet propeller to work periodically, wherein in one period, when the third steering engine connected with the short foot rotates at the angular speed of 6.3rad/s, the third steering engine starts to work, and stops working when the third steering engine rotates at the angular speed of 1.26 rad/s.

The specific submergence process of the bionic squid into water is as follows:

and the rotation central axes of the eight third steering engines connected with the short feet are controlled to deviate downwards from the axis direction, the swimming attitude of the bionic squid deviates downwards, and the submerging attitude is influenced by the speed.

And controlling a second steering engine to rotate downwards at a constant speed by a maximum angle of 30 degrees to reach the lowest phase of the steering engine, wherein the rotating angular speed is 0.69rad/s, then the second steering engine rotates upwards at a constant speed by 90 degrees in a reverse direction to reach the highest phase of the steering engine in a periodic manner, the angular speed is 2.6rad/s, then the second steering engine rotates downwards at a constant speed by 90 degrees, the angular speed is 0.5rad/s, the steering engine stops for 0.75 second, the downward moving posture of the meat fin 3 is kept, and then the next periodic movement is carried out.

And controlling the water jet propeller to work periodically, wherein in one period, when the third steering engine connected with the short foot rotates at the angular speed of 6.3rad/s, the third steering engine starts to work, and stops working when the third steering engine rotates at the angular speed of 1.26 rad/s.

On the basis of above-mentioned embodiment, furtherly, one kind is based on bionical squid of type of vwatching in gymnasium includes squid body 1, squid head 2, flexible skein 3, and the squid touches foot 4, and water jet equipment 5 installs 3D portion 101 of making a video recording, and sealed waterproof holds bucket 103, microcontroller singlechip, focus balancing appearance, vector water jet 501.

The head 2 and the sleeve-fish body 1 are controlled by a first steering engine 201, more than three formation modes are supported to move about, and clustering behaviors can be simulated. When the electric quantity is insufficient, the alarm is automatically lifted. The flexible screen 105 of squid body 1 installation can carry out the multi-angle live, and the aquatic is shot, and the image can be transmitted to the bank. The swimming range is 0-10 m deep, and the bottom can be sunk. The meat fins 3 can simulate gill movement and can be remotely controlled to change the direction on the shore.

The long feet 404 and the short feet 403 swing flexibly when touching the feet, so that the fluid resistance in water is reduced, and the body balance of the bionic squid can be kept. The bionic squid body 1 is provided with the vector water spraying device 5, so that the propelling force and the flexibility are increased.

This bionical squid full charge condition based on type is vwatched in gymnasium can move about 4 hours more in succession, can float the warning suggestion automatically and require to charge when the electric quantity is not enough. There may be wireless and wired charging devices. This bionical squid of type of vwatching based on ocean hall has good disguise, and the performance of making an uproar is fallen, and the flexibility can the superiority. The device is provided with an obstacle avoidance sensor, a photosensitive sensor, a temperature sensor, an ultrasonic module and the like.

The flexible screen 105 surrounds the squid body 1 for a circle. Various sensors, a wireless signal receiver and a microcontroller single chip microcomputer are arranged in the sleeve-fish body 1. Bionic silica gel is wrapped at the periphery.

The squid head 2 comprises two first steering engines 201 and a head trim adjustment bin 202. The two first steering gears 201 are a group of structural steering gears. Squid body 1 is rotated by two first steering engines 201 with squid head 2 and is connected. Can set up two link joints of rotation connection, one links to each other with squid body 1, and another links to each other with first steering wheel 201. Further, the second steering engine 301 may also be connected to the imaging unit 101 through a connecting frame.

The skeg 3 consists of a second steering engine 301 and a carbon plate 302. The squid tentacle part 4 comprises a third steering engine, a chassis 402, a short foot 403 and a long foot 404. The chassis 402 is hollowed out with 10 62 x 30mm slots, 8 circumferential arrays, 2 in the center. The short foot 403 and the long foot 404 are injected with soft bionic silica gel. The number of the short legs 403 is eight and the number of the long legs 404 is two. The tail end of the long foot 404 is enlarged to maintain the body balance of the squid. The short feet 403 are arranged in a circumferential array on the chassis 402 and the long feet 404 are located in the center of the chassis 402.

Referring to fig. 8, the water spray device 5 may be a 3D print. The mounting vector water jet 501 can be provided with a support frame 502, and is connected with the squid body 1 through the support frame 502. The vector waterjet 501 is controlled by a steering engine.

The squid device also comprises a power supply. The power end of the master control singlechip, the power end of the multi-path steering engine control panel, the power end of the magnetic field sensor, the power end of the acceleration sensor and the power end of the steering engine are respectively and electrically connected with a power supply.

The steering engine in each embodiment comprises a speed change gear set, a small direct current motor, a position feedback potentiometer and a control circuit board. The microcontroller is characterized in that a power line, a bottom line and a signal receiving line are arranged on the microcontroller singlechip.

Further, an antifogging coating may be provided on the outer surface of the image pickup section 101. Sealed waterproof bucket 103 that holds, microcontroller and focus balancing appearance are installed in squid body 1. Vector water jet equipment 5 installs 1 first end at the squid body. An obstacle avoidance sensor is arranged on the surface of the second end of the squid body 1 of the bionic squid; the surface of the squid body 1 can be provided with a photosensitive sensor, a sound sensitive sensor, a chemical sensor, a temperature sensor, a water pressure sensor and an ultrasonic module; a magnetic field sensor and an acceleration sensor are arranged in the squid body 1.

The sleeve-fish head 2 and the sleeve-fish body 1 are controlled by a steering engine; and the multipath signal output ends of the multipath steering engine control plates are respectively and electrically connected with the signal input end of each steering engine, and the multipath steering engine control plates are electrically connected with the microcontroller in a bidirectional way. Keep away barrier sensor, photosensitive sensor, sound sensitive sensor, chemical sensor, temperature sensor, magnetic field sensor, acceleration sensor, water pressure sensor, the signal output part of ultrasonic module is connected with each signal input part electricity of microcontroller respectively, and microcontroller's wireless communication end, the wireless communication end of multichannel steering wheel control panel are connected with the signal end communication of multichannel wireless transceiver respectively.

The microcontroller works as follows: firstly, processing by multiplexing simultaneously and respectively: the first path receives feedback data of each sensor, stores the feedback data of each sensor in a memory of the microcontroller, uploads the feedback data to an upper computer through the multi-channel wireless signal transceiver, and then returns to the step of receiving the feedback data of the sensors.

The second path receives the image data of the high-definition micro camera 102 and stores the image data in a memory of the microcontroller.

The third path judges whether a high-frequency electric signal sent by the infrared obstacle avoidance instrument is received, and if the high-frequency electric signal is received, the step of sending a corresponding action signal to a plurality of paths of steering engine control panels is carried out; if the high-frequency electric signals are not received, the remote controller receives the commands sent by the remote controller and then judges the commands of the remote controller, wherein the commands comprise forward, ascending, descending, left turning, right turning and speed, and the corresponding steering engine execution action commands are sent to the multi-path steering engine control panel by corresponding action signals.

And the fourth path is used for judging whether the multi-channel wireless transceiver is connected with an upper computer or not, and the control mode is an intelligent cruise mode when the multi-channel wireless transceiver cannot receive wireless signals from deep underwater. The method comprises the steps of calculating the actual water depth through a formula according to distance data, squid advancing direction data and water pressure data of the squids from the sea bottom collected by a sound wave sensor, a magnetic field sensor and a water pressure sensor, uploading the water depth data to a microcontroller, sending an instruction by the microcontroller, and judging various instructions of the microcontroller, wherein the instructions comprise the steps of controlling a power system to float and submerge. Then the squid is stored in the storage of the microcontroller, the distance and the direction from the starting point are calculated, and the squid can safely return after the squid reaches the destination.

The ornamental type bionic squid based on the ocean park has high simulation degree and good ornamental property, can be put in ornamental areas such as the ocean park, and spreads the marine scenery, data and the like at a first visual angle. After the program is input in the body, the intelligent and interactive functions are realized. The system saves manpower and material resources, has the functions of environmental monitoring, temperature sensing and the like, and has good development prospect in the future.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a bionical squid of type of vwatching based on ocean hall which characterized in that includes: a squid body, a head, a skeg and a foot-touching part; the squid body with the head is hollow shell structure respectively, the first end of squid body through first steering wheel with the first end of head rotates to be connected, the second end of head links to each other with the foot of touching the both sides of the second end of squid body are respectively through second steering wheel connection skein.

2. The ornamental type bionic squid based on the marine pavilion as claimed in claim 1, further comprising: an image pickup unit; the camera shooting part is connected with the second end of the squid body and is integrally streamlined, the side wall of the camera shooting part is transparent, and a camera is arranged in the camera shooting part; the meat fin is connected with the camera shooting part.

3. The pavilion based ornamental biomimetic squid according to claim 2, wherein the palpation section comprises a chassis, a short leg and a long leg; a plurality of first notches are uniformly formed in the chassis along the circumferential direction of the chassis, two second notches are symmetrically formed in the middle of the chassis, one ends of a plurality of short feet are respectively inserted into the first notches in a one-to-one correspondence mode, one ends of two long feet are inserted into the second notches in a one-to-one correspondence mode, one end of each short foot and one end of each long foot are respectively connected with a third steering engine, and the third steering engines are connected with the second end of the head;

the short foot and the long foot are respectively of flexible structures; the volume of the other end of the long foot is larger than that of one end of the long foot.

4. An ornamental bionic squid based on a marine stadium according to any one of claims 1 to 3, wherein the skeg is of a flexible structure, a carbon plate is arranged inside one side of the skeg, which is connected with the second steering engine, and the ratio of the area of the carbon plate to the area of the cross section of the skeg, which is in contact with the carbon plate, is 0.5-0.8.

5. The ornamental type bionic squid based on the ocean hall as claimed in claim 3, further comprising: the gravity center balancing device comprises a sensor assembly, a gravity center balancing instrument and a controller; gravity balance appearance and controller setting are in the inside of squid body, the controller respectively with sensor assembly, gravity balance appearance, first steering wheel, second steering wheel, camera and third steering wheel link to each other.

6. The ornamental bionic squid based on the marine hall as claimed in claim 5, wherein a containing barrel is arranged inside the squid body, the containing barrel is of a hollow structure with an upper opening and a lower opening, the upper end and the lower end of the containing barrel are respectively connected with a cabin cover in a sealing manner, a support is arranged inside the containing barrel, and the gravity center balancing instrument and the controller are respectively fixed through the supports.

7. The marine-pavilion based ornamental biomimetic squid according to claim 6, wherein the sensor assembly comprises: set up obstacle avoidance sensor, the setting of the second end surface of squid body are in photosensitive sensor, the quick sensor of sound, chemical sensor, temperature sensor, water pressure sensor, ultrasonic wave module and setting on squid body surface are in among the inside magnetic field sensor of squid body, the at least one of acceleration sensor.

8. The ornamental bionic squid based on the marine stadium according to claim 5, wherein a bionic silica gel layer is arranged on the outer surface of the squid body; the outside on the bionical silica gel layer of squid body is followed the circumference of squid body sets up the flexible screen of round, flexible screen with the controller links to each other.

9. The ornamental type bionic squid based on the ocean hall as claimed in claim 5, further comprising: a water spraying device and a head balancing and adjusting bin; the water spraying device comprises a water spraying propeller and a support frame, the water spraying propeller is fixed through the support frame, the support frame is connected with the first end of the squid body, and the water spraying propeller is connected with the controller; the head balancing adjusting bin is arranged inside the head, and a buoyancy block and a balancing weight are arranged inside the head balancing adjusting bin.

10. The ornamental type bionic squid based on the ocean hall as claimed in claim 5, further comprising: a power supply and a magnetic control switch; the power sets up inside the squid body, the power with magnetic switch links to each other, and be provided with wired or wireless charging device on the squid body.

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