CN210734464U - Multi-fin cooperation driving robotic fish based on vision - Google Patents

Abstract

The utility model provides a many fins of vision based cooperation drive machine fish, including shell, fish tail power module, fin auxiliary module, camera module, focus adjusting module and be used for controlling the control module and the power module of machine fish operation, the camera module includes the camera, and one side of camera is installed and is driven the camera and rotate about and two axle cloud platform subassemblies; the gravity center adjusting module comprises a left gravity center block, a right gravity center block, a front gravity center block and a rear gravity center block, and a left gravity center adjusting steering engine for driving the left gravity center block and the right gravity center block to swing left and right is arranged on one side of the left gravity center block and the right gravity center block; the two sides of the front and rear gravity center blocks are respectively provided with a driving belt wheel and a driven belt wheel, the driving belt wheel is connected with the driven belt wheel through a first synchronous toothed belt, the upper side of the driving belt wheel is connected with a front and rear gravity center adjusting steering engine, the lower side of the first synchronous toothed belt is provided with a linear rail, and the front and rear gravity center blocks are in sliding connection with the linear rail. The robot fish has the functions of preventing shaking and enabling the robot fish to ascend, descend and turn flexibly, and the swimming flexibility is improved.

Description

Multi-fin cooperation driving robotic fish based on vision

Technical Field

The utility model relates to a bionical machine fish equipment field, concretely relates to many fins cooperation drive machine fish based on vision.

Background

The bionic robot fish pushes surrounding water by simulating the shape and the motion rule of the fish to realize propulsion and turning, has the characteristics of low noise and small disturbance to the environment, and is suitable for underwater tasks without energy supplement and long-distance conditions for a long time. Therefore, the bionic robot fish can be applied to marine surveying, marine exploration, submarine pipeline detection, underwater detection and tracking, water pollution monitoring and the like, and has a very wide application prospect.

The bionic robot fish designed at present mainly comprises a shell, a head, fins, a framework and a motion control unit, and the motion control unit is used for controlling the swinging of the fins and the framework so as to improve the simulation degree of the actions of the bionic robot fish. Wherein, the fin mainly includes dorsal fin, pectoral fin, ventral fin, buttockss fin and tail fin, and different fins have different functions: the pectoral fins function to move, balance and master the direction of motion; the ventral fin is used for assisting dorsal fins and hip fins to maintain the balance of the fish body and has the functions of assisting the lifting and turning of the fish body; the tail fin has the functions of balancing, propelling and steering, and the propelling force of the forward movement of the fish body is generated by the swinging of the tail fin.

The existing bionic robot fish have different structures, but the aim of propelling movement is fulfilled by simulating and controlling the movement of a fish fin. However, floating, submerging and turning of the robot fish cannot be achieved through mutual matching of the fins in the existing research. In addition, in the process that the robot fish moves in water, the head stability is possibly poor due to the swinging of the fins and the flowing of the water, so that the imaging picture of the camera is easily unclear, the situation in the water cannot be clearly detected, and the intelligent movement of the robot fish is influenced.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, an object of the utility model is to provide a many fins cooperation drive machine fish based on vision, this machine fish mainly plays the function of anti-shake through the connection structure of camera with the biaxial cloud platform, helps the aquatic condition of real-time detection, acquires the image, and realize that intelligence moves about according to the image that acquires, moreover, through mutually supporting between the auxiliary module of fin and the focus adjusting module, make the machine fish can realize rising, dive and arbitrary plane straight trip isopathletics in the aquatic.

In order to achieve the above object, the technical solution of the present invention is as follows.

A vision-based multi-fin cooperative driving robotic fish comprises a shell, a fish tail power module, a fin auxiliary module, a camera module, a gravity center adjusting module, a control module and a power module, wherein the control module and the power module are used for controlling the robotic fish to operate;

the gravity center adjusting module comprises a left gravity center block, a right gravity center block, a front gravity center block and a rear gravity center block, wherein a left gravity center adjusting steering engine and a right gravity center adjusting steering engine for driving the left gravity center block and the right gravity center block to swing left and right are arranged on one side of the left gravity center block and the right gravity center block; the center of gravity piece install in about the downside of center of gravity piece, the both sides that the center of gravity piece extends along the shell around, are equipped with driving pulley and driven pulleys respectively, driving pulley through first synchronous cog belt with driven pulleys connects, the upside of driving pulley is connected with around the focus and adjusts the steering wheel, the downside of first synchronous cog belt is equipped with the line rail, around the center of gravity piece with line rail sliding connection.

Further, two cloud platform subassemblies include first motor, second motor and are used for connecting first motor with the L type support frame of second motor, the outside of camera is equipped with the camera shell, one side of camera shell is equipped with the drive camera shell pivoted first motor, and with the connection can be dismantled in the pivot of first motor, the opposite side of first motor with the connection can be dismantled to the vertical portion of L type support frame, there is the drive the downside of L type support frame through supporting seat connection L type support frame pivoted second motor, and with the connection can be dismantled in the pivot of second motor, the camera base is installed to the downside of second motor.

Further, the focus adjusting module still includes the installation casing of C type, control the focus and adjust the steering wheel pass through the steering wheel support frame with the connection can be dismantled to the upper end of installation casing, the spool with the connection can be dismantled to the lower tip of installation casing, the middle part of installation casing is equipped with horizontal installation board, around the focus adjust the steering wheel install in horizontal installation board's upside, driving pulley with from the driven pulleys all install in horizontal installation board's downside, and all with horizontal installation board rotatable coupling, from the driven pulley shaft of driven pulleys lower extreme with the one end rotatable coupling of line rail, control the shape of focus piece and be the pyriform. (pendulum shape, pendulum structure)

Furthermore, the line rail is an I-shaped rail, the lower sides of the front gravity center block and the rear gravity center block are provided with grooves matched with the I-shaped rail, and the grooves are clamped on the I-shaped rail.

Further, the control module comprises a control circuit board, and the power supply module comprises a plurality of batteries; the power module is electrically connected with the control module, and the control module is respectively electrically connected with the camera module, the gravity center adjusting module, the fish tail power module and the fin auxiliary module.

Further, the fishtail power module comprises a fishtail which is rotatably arranged at the tail part of the shell and a fishtail steering engine which controls the fishtail to swing; the fin auxiliary module comprises a dorsal fin, a dorsal fin steering engine, pectoral fins and pectoral fin steering engines, the dorsal fin is positioned on the back of the shell, the dorsal fin passes through the dorsal fin steering engine and the shell is rotatably connected, and the pectoral fins are positioned on two sides of the chest of the shell, the pectoral fins pass through the pectoral fin steering engine and the shell is rotatably connected.

Furthermore, a fishtail fixing seat is arranged on one side of the fishtail steering engine, the upper end of the fishtail steering engine is detachably connected with the fishtail fixing seat through a steering engine fixing cylinder, the lower end of the fishtail steering engine is detachably connected with the fishtail fixing seat through a steering engine fixing frame, a fishtail shaft is arranged on one side of the fishtail fixing seat close to the fishtail, and the fishtail shaft is rotatably connected with the fishtail fixing seat through a second bearing; one of fishtail is served and is installed the fishtail connecting plate, the fishtail connecting plate with the fishtail axle can be dismantled and be connected, the lower extreme of fishtail axle pass through the bevel gear subassembly with the fishtail steering wheel is connected.

Furthermore, the bevel gear component comprises a first bevel gear and a second bevel gear, one side of the fishtail steering gear is provided with a fishtail steering gear connector which is detachably connected with the second bevel gear through the fishtail steering gear connector, and the first bevel gear is arranged on the lower side of the fishtail shaft and is in tooth-shaped meshing with the second bevel gear; the upper end of the fishtail shaft is provided with a fishtail shaft fixing cylinder which is rotatably connected with the fishtail shaft fixing cylinder through a first bearing.

Furthermore, a dorsal fin connecting shaft is installed on the lower side of one end of the dorsal fin, a shaft gear is arranged at one end of the dorsal fin connecting shaft, the shaft gear is connected with a rotating shaft of the dorsal fin steering engine through a second synchronous toothed belt, and the dorsal fin connecting shaft is rotatably connected with the shell through a third bearing.

Furthermore, one side of pectoral fin steering wheel is equipped with pectoral fin steering wheel connector, pectoral fin steering wheel connector has the pectoral fin connecting axle through the coupling joint, the pectoral fin mount is installed to one side of pectoral fin steering wheel, the pectoral fin connecting axle pass through the fourth bearing with pectoral fin mount rotatable coupling, one of pectoral fin is served and is installed the pectoral fin connecting plate, the pectoral fin connecting axle with the connection can be dismantled to the pectoral fin connecting plate.

The utility model has the advantages that:

compared with the prior art, the utility model provides a many fins cooperation drive machine fish based on vision has following beneficial effect:

1. the utility model provides a machine fish, install high definition digtal camera and two-axis cloud platform subassembly at fish body head, two-axis cloud platform include two direct current brushless motor for control camera is in the rotation of horizontal direction and vertical direction, provide a stable shooting environment for the camera, can offset the phenomenon of the picture shake of shooing that leads to because of the fish body rocks, even the fish body moves about in the water or the flow of water itself, can make and shoot and reach stable effect; through the high definition digtal camera and the two-axis fish platform subassembly of fish front portion installation, can survey the aquatic condition in real time, acquire high definition image to can realize intelligence according to the image that acquires and move about.

2. The utility model provides a machine fish has focus adjusting module at fish body mid-mounting, can change about the machine fish, around the focus, again through with fish tail, pectoral fin, dorsal fin mutually support realize fish body come-up, dive and nimble turn, make the fish body can move about in the arbitrary plane of aquatic, and improved the flexibility that the machine fish moved about.

Drawings

Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.

Fig. 2 is a cross-sectional view of embodiment 1 of the present invention.

Fig. 3 is an exploded view of the camera module according to embodiment 1 of the present invention.

Fig. 4 is a schematic structural view of a camera module according to embodiment 1 of the present invention.

Fig. 5 is a schematic structural diagram of the center-of-gravity adjusting module in embodiment 1 of the present invention.

Fig. 6 is a schematic structural diagram of the control module and the power module in embodiment 1 of the present invention.

Fig. 7 is an exploded view of the fishtail power module in embodiment 1 of the present invention.

Fig. 8 is a schematic structural view of a fishtail power module in embodiment 1 of the present invention.

Fig. 9 is a schematic structural diagram of a dorsal fin portion of a fin auxiliary module according to embodiment 1 of the present invention.

Fig. 10 is a schematic structural view of a pectoral fin portion of a fin auxiliary module according to embodiment 1 of the present invention.

Fig. 11 is a schematic structural diagram of a fin auxiliary module in embodiment 1 of the present invention.

In the figure: 1. camera module, 101, camera shell; 102. a camera; 103. a first motor; 104. an L-shaped support frame; 105. a supporting seat; 106. a second motor; 107. a camera head base;

2. a center of gravity adjusting module; 201. installing a shell; 202. a steering engine is adjusted by the left and right gravity centers; 203. a steering engine support frame; 204. a left and a right center block; 205. the front and rear gravity centers are adjusted to form a steering engine; 206. a horizontal mounting plate; 207. a driving pulley; 208. a wire track; 209. a first synchronous toothed belt; 210. front and rear center blocks; 211. a driven pulley shaft; 212. a driven pulley;

3. a housing; 4. a fishtail power module; 401. a fishtail steering engine; 402. a fishtail shaft; 403. a first waterproof pad; 404. a first bearing; 405. a steering engine fixing cylinder; 406. a fishtail shaft fixing cylinder; 407. a fishtail connecting plate; 408. fish tail; 409. a fish tail fixing seat; 410. a bevel gear shaft; 411. a steering engine fixing frame; 412. a first bevel gear; 413. a second bearing; 414. a second waterproof pad; 415. a second bevel gear; 416. a fishtail steering engine connector;

5. a fin assist module; 501. a shaft gear; 502. a third bearing; 503. a third water cushion; 504. a dorsal fin connecting shaft; 505. a dorsal fin; 506. a second timing belt; 507. a dorsal fin steering engine; 511. pectoral fin steering engines; 512. pectoral fin fixing frame; 513. a pectoral fin steering engine connector; 514. a coupling; 515. a pectoral fin connecting shaft; 516. a fourth bearing; 517. a fourth waterproof pad; 518. a pectoral fin connecting plate; 519. a pectoral fin; 6. a control module; 7. and a power supply module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The description in this application as relating to "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In the description of the present invention, "a number" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example 1

Referring to fig. 1-2, the multi-fin cooperative driving robot fish based on vision provided by the embodiment of the present invention includes a housing 3, a tail power module 4, a fin auxiliary module 5, a camera module 1, a center of gravity adjusting module 2, and a control module 6 and a power module 7 for controlling the operation of the robot fish.

As shown in fig. 6, the control module 6 includes a control circuit board, and the power module 7 includes a plurality of batteries; the power module 7 is electrically connected with the control module 6, and the control module 6 is electrically connected with the camera module 1, the gravity center adjusting module 2, the fish tail power module 4 and the fin auxiliary module 5 respectively. Enough space is reserved at the fish tail for storing a control circuit board and a battery so as to control the operation of the whole robotic fish system.

The movement mode of the robot fish is as follows: the power module (tail fin) provides power, and the fish can realize ascending and descending, and any plane straight swimming and other motions in water through the mutual matching of the fin auxiliary module (pectoral fin and dorsal fin) and the gravity center adjusting module.

As shown in fig. 3, the camera module 1 includes a camera 102, a two-axis pan-tilt assembly for driving the camera 102 to rotate up and down, left and right is installed on one side of the camera 102, and the control module 6 is electrically connected with the two-axis pan-tilt assembly; through high definition digtal camera and two cloud platform subassemblies, the aquatic condition is surveyed in real time, acquires the image to realize moving about intelligently according to the image of acquireing.

Wherein, two-axis cloud platform subassembly includes first motor 103, second motor 106 and be used for connecting first motor 103 and the L type support frame 104 of second motor 106, camera 102 installs in camera shell 101, one side of camera shell 101 can be dismantled with the pivot of first motor 103 and be connected, and first motor 103 can drive camera shell 101 and take place vertical rotation, the opposite side of first motor 103 can be dismantled with the vertical portion of L type support frame 104 and be connected, the downside of L type support frame 104 passes through supporting seat 105 and can be dismantled with the pivot of second motor 106 and be connected, and second motor 106 can drive L type support frame 104 and take place horizontal rotation, camera base 107 is installed to the downside of second motor 106.

Here, the first motor and the second motor are both direct current brushless motors, a base of the first motor is connected with one side of the L-shaped support frame through a bolt, and the lower end of the L-shaped support frame is connected with the support base through a bolt. The base of the second motor is connected with the camera base through a bolt, and finally the camera base is connected to the bottom plate of the robot fish shell through a bolt. After assembly is complete as shown in fig. 4. The position of a camera is stabilized and adjusted by controlling two direct current brushless motors through a control circuit, wherein the first direct current brushless motor is capable of controlling the camera to rotate up and down, and the second direct current brushless motor is capable of controlling the camera to rotate left and right. Therefore, even if the robot fish shakes for a certain time in the water, the normal shooting work of the camera cannot be influenced. Can further improve the stability that the camera was shot through this two cloud platform subassembly structures.

As shown in fig. 5, the center of gravity adjusting module 2 includes a left and right center of gravity block 204 and a front and rear center of gravity block 210, and a left and right center of gravity adjusting steering engine 202 for driving the left and right center of gravity block 204 to swing left and right is disposed at one side of the left and right center of gravity block 204; the front and rear gravity center blocks 210 are mounted on the lower sides of the left and right gravity center blocks 204, a driving pulley 207 and a driven pulley 212 are respectively arranged on two sides of the front and rear gravity center blocks 210 extending along the shell, the driving pulley 207 is connected with the driven pulley 212 through a first synchronous toothed belt 209, a front and rear gravity center adjusting steering engine 205 is connected to the upper side of the driving pulley 207, a linear rail 208 is arranged on the lower side of the first synchronous toothed belt 209, and the front and rear gravity center blocks 210 are in sliding connection with the linear rail 208.

In order to connect the left gravity center block and the right gravity center block and the front gravity center block and the rear gravity center block, the gravity center adjusting module 2 is convenient to adjust the gravity center of the robot fish, the C-shaped mounting shell 201 is further included, the left gravity center adjusting steering engine 202 and the right gravity center adjusting steering engine 202 are detachably connected with the upper end portion of the mounting shell 201 through the steering engine support frame 203, the mounting shell and the steering engine support frame are a whole, the left gravity center adjusting steering engine and the right gravity center adjusting steering engine are mounted on the steering engine support frame through bolts, the left gravity center block and the right gravity center block are mounted on the head portion of the steering.

The line rail 208 is detachably connected with the lower end part of the installation shell 201, a horizontal installation plate 206 is arranged in the middle of the installation shell 201, a front-back gravity center adjusting steering engine 205 is installed on the upper side of the horizontal installation plate 206, a driving belt wheel is installed on the head of the front-back gravity center adjusting steering engine, the driving belt wheel 207 and a driven belt wheel 212 are both installed on the lower side of the horizontal installation plate 206 and are both rotatably connected with the horizontal installation plate 206, a driven belt wheel shaft 211 at the lower end of the driven belt wheel 212 is rotatably connected with one end of the line rail 208, the left-right gravity center block 204 is pear-shaped and can also be selected to be pendulum-shaped, the gravity center at the bottom deflects towards the left-right direction of the shell of the robot fish.

The front and rear gravity center blocks 210 are mounted on the linear rail 208, and the front and rear gravity center blocks 210 can be driven to slide by the first timing toothed belt 209. The linear rail 208 is an I-shaped rail, the lower sides of the front and rear gravity center blocks 210 are provided with grooves matched with the I-shaped rail, and the grooves are clamped on the I-shaped rail so as to improve the installation stability of the linear rail and the front and rear gravity center blocks. When the control circuit controls the left and right gravity center adjusting steering engines, the angles of the left and right gravity center adjusting steering engines are changed, so that the left and right gravity center blocks are deflected, and the left and right gravity centers of the robot fish are changed; when the control circuit controls the front and rear gravity center adjusting steering engines, the angles of the front and rear gravity center adjusting steering engines are changed, the front and rear gravity center adjusting steering engines are transmitted to the front and rear gravity center blocks through the belt wheel and the synchronous belt, the gravity center blocks are made to slide, the front and rear gravity centers of the robot fish are changed, and floating and diving actions of the robot fish are conveniently adjusted.

The overall detailed movement form of the robot fish is as follows: 6 steering gears and 2 direct current brushless motor of installing inside machine fish by control circuit control, the tail fin, pectoral fin, the back of the body fin of machine fish are controlled respectively to the steering gear, around focus and control focus, direct current brushless motor is the control cloud platform, provides a stable shooting environment for the camera, can offset the shooting picture shake phenomenon that leads to because of the fish body rocks.

The power of the robot fish is provided by the fishtail part, and when the robot fish moves forward, only the steering engine of the fishtail part needs to be controlled, the duty ratio of the steering engine is changed all the time, and the fishtail swings.

If when turning, the robot fish can be turned by changing the swing angle of the fish tail for the fish tail part, but if turning is carried out only by the fish tail part, the turning radius is large, in order to reduce the turning radius, if turning to the left, the fish tail firstly swings at a left-inclined position to provide a left-inclined and forward power, the control circuit controls the steering engine of the left and right gravity centers inside the control circuit to control the weight to incline to the left, and meanwhile, the control module also controls the steering engine of the dorsal fin part to change the angle of the dorsal fin of the fish, so that the fish turns from three aspects, and the robot fish turns more flexibly and reduces the turning radius.

When the machine fish need dive, the focus steering wheel around the control part control inside of machine fish changes the front and back position of installing at line rail top shoe through the steering wheel rotation, and the slider slides forward, and the machine fish can incline forward the power of in addition the fish tail, and the machine fish will dive downwards, for make more smooth and rapid of dive, just also need to change the steering wheel of the pectoral fin part of machine fish this moment to this changes the angle of pectoral fin, thereby supplementary machine fish's dive.

When the robot fish needs to float, the front and rear gravity center slide blocks in the robot fish slide backwards, the robot fish can tilt backwards, the angle of the fins of the robot fish is changed, the tail provides floating power, and the robot fish can float upwards.

Therefore, floating, submerging and flexible turning of the robot fish are realized by mutual matching of the fish tail, the pectoral fin and the dorsal fin. When the aquatic condition is observed to needs, can open the camera and shoot, the camera is equipped with cloud platform anti-shake function, even the machine fish moves about in the aquatic or the influence that the flow of water itself caused, shoots and also can reach stable effect.

As shown in fig. 7, the fishtail power module 4 includes a fishtail 408 rotatably mounted at the tail of the housing 3 and a fishtail steering engine 401 for controlling the swinging of the fishtail 408. One side of fish tail steering wheel 401 is equipped with fish tail fixing base 409, and the upper end of fish tail steering wheel 401 is passed through steering wheel fixed cylinder 405 and can be dismantled with fish tail fixing base 409 and be connected, and is connected with the fish tail fixing base through the bolt to improve the stability of connecting. The lower extreme of fish tail steering wheel 401 passes through steering wheel mount 411 and can dismantle with fish tail fixing base 409 and be connected, and strengthen the steadiness of being connected with the fish tail fixing base through the bolt.

One side that fishtail fixing base 409 is close to fishtail 408 is equipped with fishtail shaft 402, first waterproof pad 403 and first bearing 404 are equipped with to fishtail shaft 402 upper end, second waterproof pad 414 and second bearing 413 are equipped with to the lower extreme, then install in the bearing hole of fishtail fixing base 409, and fishtail shaft 402 passes through second bearing 413 and fishtail fixing base 409 rotatable coupling, can improve the waterproof leakproofness of fishtail 408 in the shell junction of machine fish through first waterproof pad 403 and second waterproof pad 414. One end of the fish tail 408 is provided with a fish tail connecting plate 407, the fish tail connecting plate 407 is detachably connected with the fish tail shaft 402, and the lower end of the fish tail shaft 402 is connected with a fish tail steering engine 401 through a bevel gear component.

Here, the middle part of fish tail axle is equipped with the inside sunken joint portion in both sides, is equipped with the U type draw-in groove mouth towards fish tail axle middle part on the fish tail connecting plate, and draw-in groove mouth joint on the fish tail connecting plate is in the joint portion at fish tail axle middle part, and through bolt fixed connection, has improved the stability of being connected between fish tail connecting plate and the fish tail axle, avoids the wobbling in-process of fish tail to take place to deflect, influences the accurate directional control of machine fish in aqueous.

The bevel gear assembly comprises a first bevel gear 412 and a second bevel gear 415, a fishtail steering engine connector 416 is arranged on one side of the fishtail steering engine 401 and detachably connected with the second bevel gear 415 through the fishtail steering engine connector 416, and an inner shaft hole in the other end, far away from the fishtail steering engine connector 416, of the second bevel gear 415 is inserted into the bevel gear shaft 410 so as to realize rotatable connection of the second bevel gear 415; a first bevel gear 412 is arranged at the lower side of the fishtail shaft 402 and is in tooth-shaped engagement with a second bevel gear 415; the upper end of the fishtail shaft 402 is provided with a fishtail shaft fixing cylinder 406, and is rotatably connected with the fishtail shaft fixing cylinder 406 through a first bearing 404.

Specifically, the upside of first bevel gear 412 is equipped with the bearing that cup joints on fishtail axle 402, bearing and fishtail fixing base 409 fixed connection, and fishtail fixing base 409 is connected with bevel gear shaft 410 with the bearing mode, and bevel gear shaft 410 can rotate relative fishtail fixing base 409, and bevel gear shaft 410 keeps away from fishtail steering wheel 401's one side fixed connection with second bevel gear 415. The installation stability of the second bevel gear is enhanced by the bevel gear shaft 410, and the rotation of the first bevel gear, the second bevel gear and the fishtail shaft is not affected.

After assembly is complete as shown in figure 8. Reciprocating rotation back and forth through control circuit control fish tail steering wheel passes to second bevel gear with rotating, then passes to first bevel gear, arrives the fish tail axle again, and the fish tail axle passes to the fish tail through the fish tail connecting plate, just can control the swing of fish tail to provide power for the machine fish.

The dorsal fin part of the fin auxiliary module 5 is shown in fig. 9 and comprises a dorsal fin 505 and a dorsal fin steering gear 507, the dorsal fin 505 positioned at the back of the outer shell 3 is rotatably connected with the outer shell 3 through the dorsal fin steering gear 507,

a dorsal fin connecting shaft 504 is installed on the lower side of the front end of the dorsal fin 505, a shaft gear 501 is arranged at the lower end of the dorsal fin connecting shaft 504, the shaft gear 501 is connected with a rotating shaft of a dorsal fin steering gear 507 through a second synchronous toothed belt 506, and the dorsal fin connecting shaft 504 is rotatably connected with the shell 3 through a third bearing 502. Here, a third bearing 502 and a third waterproof pad 503 are mounted on the dorsal fin connecting shaft 504, and are mounted on the housing of the robotic fish, and the dorsal fin connecting shaft 504 is fixedly connected to the dorsal fin 505 by bolts. The control circuit controls the dorsal fin steering engine, the dorsal fin steering engine rotates and transmits the rotation to the dorsal fin through the second synchronous toothed belt, the shaft gear and the dorsal fin connecting shaft, and therefore the dorsal fin also rotates together to change the angle of the dorsal fin.

The pectoral fin part of the fin auxiliary module 5 is shown in fig. 10 and comprises pectoral fins 519 and pectoral fin steering engines 511, and the pectoral fins 519 on the two sides of the chest of the shell 3 are rotatably connected with the shell 3 through the pectoral fin steering engines 511.

One side of pectoral fin steering wheel 511 is equipped with pectoral fin steering wheel connector 413, and pectoral fin steering wheel connector 513 is connected with pectoral fin connecting axle 515 through shaft coupling 514, and pectoral fin mount 512 is installed to one side of pectoral fin steering wheel 511, and pectoral fin connecting axle 515 passes through fourth bearing 516 and pectoral fin mount 512 rotatable coupling, and pectoral fin 519 one is served and is installed pectoral fin connecting plate 518, and pectoral fin connecting axle 515 can dismantle with pectoral fin connecting plate 518 and be connected.

Here, the pectoral fin connection shaft 515 is provided with a fourth bearing 516 and a fourth waterproof pad 517, and is mounted on the fin fixing frame 512. The assembled parts of the fin aid module are shown in fig. 11. The pectoral fin steering engine is controlled by the control circuit to rotate, and is transmitted to the pectoral fin connecting plate 518 through the pectoral fin connecting shaft 515 and then to the pectoral fin, so that the pectoral fin also rotates to change the angle of the pectoral fin.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A multi-fin cooperative drive robot fish based on vision comprises a shell (3), a fish tail power module (4), a fin auxiliary module (5), a camera module (1), a gravity center adjusting module (2), a control module (6) and a power module (7) which are used for controlling the robot fish to operate, and is characterized in that the camera module (1) comprises a camera (102), a two-axis pan-tilt assembly used for driving the camera (102) to rotate up and down and left and right is installed on one side of the camera (102), and the control module (6) is electrically connected with the two-axis pan-tilt assembly;

the gravity center adjusting module (2) comprises a left gravity center block, a right gravity center block (204) and a front gravity center block, a rear gravity center block (210), wherein a left gravity center adjusting steering engine (202) used for driving the left gravity center block, the right gravity center block (204) and the left gravity center adjusting steering engine to swing left and right is arranged on one side of the left gravity center block, the right gravity center block (204) and the left gravity center adjusting; front and back gravity center piece (210) install in the downside of controlling gravity center piece (204), front and back gravity center piece (210) are equipped with driving pulley (207) and driven pulley (212) respectively along the both sides that the shell extends, driving pulley (207) through first synchronous cog belt (209) with driven pulley (212) are connected, the upside of driving pulley (207) is connected with front and back gravity center regulation steering wheel (205), the downside of first synchronous cog belt (209) is equipped with linear rail (208), front and back gravity center piece (210) with linear rail (208) sliding connection.

2. The vision-based multi-fin cooperative driving robotic fish of claim 1, wherein the two-axis pan-tilt assembly comprises a first motor (103), a second motor (106) and an L-shaped support frame (104) for connecting the first motor (103) and the second motor (106), a camera housing (101) is arranged outside the camera (102), a first motor (103) for driving the camera housing (101) to rotate is arranged on one side of the camera housing (101) and is detachably connected with a rotating shaft of the first motor (103), the other side of the first motor (103) is detachably connected with a vertical part of the L-shaped support frame (104), a second motor (106) for driving the L-shaped support frame (104) to rotate is connected with a lower side of the L-shaped support frame (104) through a support base (105) and is detachably connected with a rotating shaft of the second motor (106), and a camera base (107) is arranged on the lower side of the second motor (106).

3. The vision-based multi-fin cooperative driving robotic fish of claim 1, wherein the gravity center adjusting module (2) further comprises a C-shaped mounting housing (201), the left and right gravity center adjusting steering engines (202) are detachably connected with the upper end of the mounting housing (201) through steering engine support frames (203), the linear rail (208) is detachably connected with the lower end of the mounting housing (201), a horizontal mounting plate (206) is arranged in the middle of the mounting housing (201), the front and rear gravity center adjusting steering engines (205) are mounted on the upper side of the horizontal mounting plate (206), the driving pulley (207) and the driven pulley (212) are both mounted on the lower side of the horizontal mounting plate (206) and are both rotatably connected with the horizontal mounting plate (206), and a driven pulley shaft (211) at the lower end of the driven pulley (212) is rotatably connected with one end of the linear rail (208), the left gravity center block and the right gravity center block (204) are pear-shaped.

4. The vision-based multi-fin cooperative driving robotic fish of claim 3, wherein the line rail (208) is an I-shaped rail, and the lower sides of the front gravity block and the rear gravity block (210) are provided with grooves matched with the I-shaped rail, and the grooves are clamped on the I-shaped rail.

5. The vision-based multi-fin cooperative driving robotic fish of claim 1, wherein the control module (6) comprises a control circuit board, and the power module (7) comprises a number of batteries; the power module (7) is electrically connected with the control module (6), and the control module (6) is electrically connected with the camera module (1), the gravity center adjusting module (2), the fishtail power module (4) and the fin auxiliary module (5) respectively.

6. The vision-based multi-fin cooperative driving robotic fish of claim 1, wherein the fish tail power module (4) comprises a fish tail (408) rotatably mounted at the tail part of the outer shell (3) and a fish tail steering engine (401) for controlling the fish tail (408) to swing; fin auxiliary module (5) include dorsal fin (505), dorsal fin steering wheel (507), pectoral fin (519) and pectoral fin steering wheel (511), are located shell (3) back dorsal fin (505) pass through dorsal fin steering wheel (507) with shell (3) rotatable coupling is located the chest both sides of shell (3) pectoral fin (519) pass through pectoral fin steering wheel (511) with shell (3) rotate and are connected.

7. The vision-based multi-fin cooperative driving robotic fish according to claim 6, wherein a fishtail fixing seat (409) is arranged on one side of a fishtail steering engine (401), the upper end of the fishtail steering engine (401) is detachably connected with the fishtail fixing seat (409) through a steering engine fixing cylinder (405), the lower end of the fishtail steering engine (401) is detachably connected with the fishtail fixing seat (409) through a steering engine fixing frame (411), a fishtail shaft (402) is arranged on one side of the fishtail fixing seat (409) close to the fishtail (408), and the fishtail shaft (402) is rotatably connected with the fishtail fixing seat (409) through a second bearing (413); one end of the fishtail (408) is provided with a fishtail connecting plate (407), the fishtail connecting plate (407) is detachably connected with the fishtail shaft (402), and the lower end of the fishtail shaft (402) is connected with the fishtail steering engine (401) through a bevel gear component.

8. The vision-based multi-fin cooperative driving robotic fish of claim 7, wherein the bevel gear assembly comprises a first bevel gear (412) and a second bevel gear (415), a tail steering gear connector (416) is arranged on one side of the tail steering gear (401) and is detachably connected with the second bevel gear (415) through the tail steering gear connector (416), and the first bevel gear (412) is installed on the lower side of the tail shaft (402) and is in tooth-shaped engagement with the second bevel gear (415); the upper end of the fishtail shaft (402) is provided with a fishtail shaft fixing cylinder (406) which is rotatably connected with the fishtail shaft fixing cylinder (406) through a first bearing (404).

9. The vision-based multi-fin cooperative driving robotic fish of claim 6, wherein a back fin connecting shaft (504) is installed at the lower side of one end of the back fin (505), a shaft gear (501) is arranged at one end of the back fin connecting shaft (504), the shaft gear (501) is connected with a rotating shaft of the back fin steering engine (507) through a second synchronous toothed belt (506), and the back fin connecting shaft (504) is rotatably connected with the housing (3) through a third bearing (502).

10. The vision-based multi-fin cooperative driving robotic fish is characterized in that a pectoral fin steering engine connector (513) is arranged on one side of a pectoral fin steering engine (511), the pectoral fin steering engine connector (513) is connected with a pectoral fin connecting shaft (515) through a coupler (514), a pectoral fin fixing frame (512) is installed on one side of the pectoral fin steering engine (511), the pectoral fin connecting shaft (515) is rotatably connected with the pectoral fin fixing frame (512) through a fourth bearing (516), a pectoral fin connecting plate (518) is installed on one end of a pectoral fin (519), and the pectoral fin connecting shaft (515) is detachably connected with the pectoral fin connecting plate (518).

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