Underwater monitoring robotic fish

Abstract

The utility model discloses an underwater monitoring robotic fish which comprises a robotic fish body, a monitoring camera is fixedly installed on the top of the front end of the robotic fish body, a dorsal fin is fixedly connected to the middle of the top end of the robotic fish body, and a first connecting block is fixedly connected to one end of the robotic fish body. A driving assembly is rotatably connected to the end, away from the robotic fish body, of the first connecting block, mounting transverse plates are symmetrically and fixedly mounted in the robotic fish body, a control assembly is fixedly connected to one sides of the two mounting transverse plates, and a guide assembly is rotatably connected between the two mounting transverse plates; a buoyancy block is fixedly installed at the top end in the robotic fish body, a balancing weight is fixedly connected to the bottom end in the robotic fish body, and pushing assemblies are symmetrically and fixedly installed at the bottoms of the side faces of the robotic fish body. A streamline fish body structure is adopted, the underwater swimming resistance is reduced, the swimming efficiency and the cruising ability of the robotic fish are improved, and the device is convenient to hover; objects can be observed in detail, and the monitoring quality is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater monitoring robot fish technical field, concretely is underwater monitoring robot fish. BACKGROUND

[0002] With the rapid development of modern science and technology, underwater monitoring technology has become an important part of many fields, in underwater building detection, underwater ship monitoring, waterworks pipeline maintenance and aquaculture fixed point monitoring etc. fields, the traditional monitoring means is often limited by the complexity of underwater environment, the endurance of monitoring equipment and the difficulty of personnel operation, it is difficult to meet the long time, high precision, high efficiency monitoring demand, therefore need a kind of underwater monitoring robot fish to complete the above function. UTILITARY MODEL CONTENT

[0003] The utility model aims at providing a kind of underwater monitoring robot fish to solve the problem that the traditional monitoring means is often limited by the complexity of underwater environment, the endurance of monitoring equipment and the difficulty of personnel operation in the above background art, it is difficult to meet the long time, high precision, high efficiency monitoring demand.

[0004] To achieve the above object, the utility model provides the following technical scheme: a kind of underwater monitoring robot fish, including robot fish main body, the robot fish main body front end top is fixedly installed with monitoring camera, the robot fish main body top end middle part is fixedly connected with dorsal fin, the robot fish main body one end is fixedly connected with first connecting block, the first connecting block is rotationally connected with drive assembly at the end away from robot fish main body, the robot fish main body inside is fixedly installed with installation crosspiece, two the control assembly of installation crosspiece one side fixed connection is rotationally connected with guide assembly between two the installation crosspiece, the robot fish main body inside top is fixedly installed with buoyancy block, the robot fish main body inside bottom is fixedly connected with counterweight, the robot fish main body side surface bottom is fixedly installed with pusher assembly, adopts streamline fish body structure, to reduce the resistance when moving underwater, improve the swimming efficiency and endurance of robot fish, while device is convenient to hover, it is beneficial to detailed observation to object, ensure monitoring quality.

[0005] Preferably, the driving assembly comprises a fixing frame fixedly connected with the end of the first connecting block away from the dorsal fin, one end of the fixing frame is rotationally connected with a driving frame, a driving motor is fixedly installed in the middle of the driving frame, a rotating plate is fixedly connected with the end of the driving motor, a fixed stand is rotationally connected with the end of the driving frame away from the first connecting block, a tail fin is fixedly connected with the middle of the fixed stand, an oscillating frame is rotationally connected with the middle of the fixed stand, a plug-in transmission shaft is fixedly connected with the end of the fixed stand close to the fixing frame, and the plug-in transmission shaft is inserted into the inside of the rotating plate, so that the angle of the driving frame is adjustable, the oscillating frequency of the oscillating frame is controllable, and the swimming speed and the steering of the control device are convenient to control.

[0006] Preferably, the control assembly comprises a control circuit board fixedly installed on one side of the mounting plate, a power supply bag is fixedly installed on the top of one side of the control circuit board, and a sensing module is signal-connected with the bottom of the power supply bag; the power supply bag adopts a high-energy-density battery as a power source to provide long-time endurance; the sensing module is provided with an integrated GPS positioning module, an inertial navigation module and an underwater sensor to realize the autonomous navigation and positioning of the robotic fish in water; the control circuit board is provided with advanced control algorithms, such as a path planning algorithm and an obstacle avoidance algorithm, so that the robotic fish can automatically travel according to a specified track and autonomously cope with various challenges in the underwater environment; and an intelligent energy management system is used to monitor the battery capacity in real time and dynamically adjust the energy consumption according to the working state of the robotic fish to prolong the endurance time.

[0007] Preferably, the guide assembly comprises a telescopic rod rotationally connected between the two mounting plates, second connecting blocks are fixedly embedded on the bottoms of the two sides of the robotic fish body, sealing blocks are fixedly connected in the interiors of the two second connecting blocks, rotating shafts are penetratingly arranged in the interiors of the two sealing blocks, pectoral fins are fixedly connected with the end portions of the rotating shafts, and an arc-shaped transmission frame is transmission-connected between the two rotating shafts and the telescopic rod, so that the angle of the pectoral fin is convenient to adjust, and the floating and diving of the device are convenient to realize.

[0008] Preferably, the pushing assembly comprises four drivers symmetrically embedded at the bottom ends of the sides of the robotic fish body, and protective covers are threadedly connected with the end portions of the four drivers, so that the water bottom impurities are prevented from affecting the drivers.

[0009] Preferably, a plurality of connecting wires are electrically connected with one side of the control circuit board, and the other ends of the plurality of connecting wires are respectively electrically connected with the monitoring camera, the driving motor, the drivers and the telescopic rod, so that the intelligent control is realized.

[0010] Compared with the prior art, the robotic fish has the advantages that:

[0011] Through the fixed frame, drive frame, drive motor, rotating plate, plug-in transmission shaft, fixed stand, swing frame, tail fin, buoyancy block, counterweight, driver, chest fin, arc transmission frame and telescopic rod, the angle of the chest fin and the orientation direction of the tail fin can be changed, so that the device can realize the change of various motion states and be beneficial to complete the underwater patrol.

[0012] Through the monitoring camera, control circuit board, sensing module, power supply package and other components, the GPS positioning module, inertial navigation module and underwater sensor are integrated, the autonomous navigation and positioning of the robotic fish under water are realized, the control algorithm is preset, the robotic fish can automatically travel according to the specified track, the visual intelligent control system is realized, and the flexibility of the device in use is higher.

[0013] Through the streamlined robotic fish main body, driver and protective cover, the streamlined fish body structure is adopted, so that the resistance during underwater swimming is reduced, the swimming efficiency and endurance of the robotic fish are improved, and the driver is protected, so that the influence of impurities in water on the driver is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0015] Figure 2 It is a robotic fish main body internal structure schematic view of the utility model;

[0016] Figure 3 It is an installation horizontal plate position distribution schematic view of the utility model;

[0017] Figure 4 It is a utility model Figure 1 It is a local enlarged structure schematic view of the utility model.

[0018] In the drawing: 1, robotic fish main body; 2, monitoring camera; 3, back fin; 4, first connecting block; 5, fixed frame; 6, drive frame; 7, drive motor; 8, rotating plate; 9, plug-in transmission shaft; 10, fixed stand; 11, swing frame; 12, tail fin; 13, buoyancy block; 14, counterweight; 15, driver; 16, protective cover; 17, installation horizontal plate; 18, control circuit board; 19, sensing module; 20, power supply package; 21, second connecting block; 22, rotating shaft; 23, sealing block; 24, chest fin; 25, arc transmission frame; 26, telescopic rod; 27, connecting wire. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiments of the utility model will be clearly and completely described below by combining with the drawings in the embodiments of the utility model.

[0020] Please refer to Figures 1-4The utility model provides a kind of underwater monitoring robot fish, including robot fish main body 1, monitoring camera 2 is fixedly installed in robot fish main body 1 front end top, monitoring camera 2 can adopt Sony110-7B model camera, camera is ABS plastic material, waterproof design, with gravity balance, can 360 degree rotation, can be manually adjusted lens direction using remote control, also can be set as automatic rotation mode, can clearly and delicately shoot underwater picture, signal connection is connected by connecting wire 27 and control circuit board 18 when using, it is convenient to save, transmission, robot fish main body 1 top middle part is fixedly connected with dorsal fin 3, it is helpful to device when swimming disperses weight, reduces gravity center, to keep the stability of device vertically, prevent side turning, in the device swimming process, dorsal fin 3 can cut water flow, make water flow more smoothly through robot fish main body 1, reduce the generation of turbulence and vortex, reduce the resistance of water flow to fish body, improve swimming efficiency, one end of robot fish main body 1 is fixedly connected with first connecting block 4, one end of first connecting block 4 away from robot fish main body 1 is fixedly connected with drive assembly, symmetrically fixedly installed with installation crossbeam 17 in robot fish main body 1, control assembly is fixedly connected on one side of two installation crossbeams 17, guiding assembly is rotatably connected between two installation crossbeams 17, buoyancy block 13 is fixedly installed in the top end of robot fish main body 1, counterweight 14 is fixedly connected in the bottom end of robot fish main body 1, the gravity of counterweight 14 is greater than the buoyancy of buoyancy block 13, the setting of counterweight 14 and buoyancy block 13 makes that device whole can slowly sink, push assembly is symmetrically fixedly installed on the bottom of the side of robot fish main body 1.

[0021] Further, drive assembly includes fixed frame 5, fixed frame 5 is fixedly connected with the end of first connecting block 4 away from dorsal fin 3, one end of fixed frame 5 is rotatably connected with drive frame 6, double-shaft motor is fixedly connected at the end of drive frame 6, the output shaft of double-shaft motor is drivingly connected with the upper and lower top plates of drive frame 6, while double-shaft motor is fixedly installed in the inside of fixed frame 5, so that drive frame 6 can change angle relative to fixed frame 5, facilitate device to complete steering function, drive motor 7 is fixedly installed in the middle of drive frame 6, rotating plate 8 is fixedly connected at the end of drive motor 7, fixed stand 10 is rotatably connected with the end of drive frame 6 away from first connecting block 4, tail fin 12 is fixedly connected in the middle of fixed stand 10, swing frame 11 is rotatably connected in the middle of fixed stand 10, plug-in transmission shaft 9 is fixedly connected with the end of fixed stand 10 close to fixed frame 5, plug-in transmission shaft 9 is inserted into the inside of rotating plate 8, when driving device swims, drive motor 7 runs and drives rotating plate 8 to rotate, when rotating plate 8 rotates, plug-in transmission shaft 9 rotates in its inside, swing frame 11 at the end of plug-in transmission shaft 9 swings along with rotating plate 8, so that fixed stand 10 drives tail fin 12 to swing repeatedly, provides driving force for device swimming.

[0022] Furthermore, the control components include a control circuit board 18, which is fixedly mounted on one side of the mounting plate 17. A power supply unit 20 is fixedly mounted on the top of one side of the control circuit board 18, and a sensor module 19 is connected to the bottom of the power supply unit 20. The control circuit board 18 integrates an image sensor, which is responsible for collecting image information and converting light signals into electrical signals. An image processing chip processes the raw image data collected by the image sensor. A storage module stores image data and processed results for subsequent analysis and retrieval. A display module displays the processed image information to the staff. The sensor module 19 integrates a satellite positioning module, which receives satellite signals to determine the geographical location information of the device. An inertial measurement unit measures the acceleration and angular velocity information of the device through sensors such as accelerometers and gyroscopes to calculate the attitude and motion state of the device and assist in positioning and navigation. A map data module stores map information to provide geographic information support for positioning and navigation. A navigation algorithm module calculates the precise location, driving direction, and optimal path planning of the device through complex algorithms based on satellite positioning information, IMU data, and map data.

[0023] Furthermore, the guiding assembly includes a telescopic rod 26, which is rotatably connected between two mounting horizontal plates 17. Second connecting blocks 21 are fixedly embedded in the bottom of both sides of the main body 1 of the robotic fish. Sealing blocks 23 are fixedly connected inside each of the two second connecting blocks 21, and rotating shafts 22 pass through the interior of each sealing block 23. Pectoral fins 24 are fixedly connected to the ends of the rotating shafts 22. An arc-shaped transmission frame 25 is drive-connected between the two rotating shafts 22. The arc-shaped transmission frame 25 and the telescopic rod 26 are drive-connected. When it is necessary to control the device to float or dive, the telescopic rod 26 is extended or retracted, pushing the arc-shaped transmission frame 25, the rotating shaft 22, and the pectoral fins 24 to rotate, causing the angle of the pectoral fins 24 to change and the water-cutting angle to change, enabling the device to dive and float while swimming.

[0024] Furthermore, the propulsion component includes four actuators 15, which are symmetrically embedded on the bottom side of the main body 1 of the robotic fish. Each of the four actuators 15 is threaded with a protective cover 16. The actuators 15 push the entire device upward, so that the upward pushing force is equal to the difference between the weight of the counterweight 14 and the buoyancy of the buoyancy block 13, thus keeping the device in a suspended state.

[0025] Furthermore, one side of the control circuit board 18 is electrically connected to multiple connecting wires 27, and the other end of the multiple connecting wires 27 is electrically connected to the monitoring camera 2, the drive motor 7, the driver 15 and the telescopic rod 26 respectively, forming a complete circuit control signal.

[0026] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater monitoring robotic fish, comprising a robotic fish body (1), characterized in that: A monitoring camera (2) is fixedly installed at the top front end of the robotic fish body (1). A dorsal fin (3) is fixedly connected to the middle of the top end of the robotic fish body (1). A first connecting block (4) is fixedly connected to one end of the robotic fish body (1). A drive component is rotatably connected to the end of the first connecting block (4) away from the robotic fish body (1). A mounting plate (17) is symmetrically fixedly installed inside the robotic fish body (1). A control component is fixedly connected to one side of the two mounting plates (17). A guide component is rotatably connected between the two mounting plates (17). A buoyancy block (13) is fixedly installed at the top inside the robotic fish body (1). A counterweight block (14) is fixedly connected to the bottom inside the robotic fish body (1). A push component is symmetrically fixedly installed at the bottom side of the robotic fish body (1).

2. The underwater monitoring robotic fish according to claim 1, characterized in that: The drive assembly includes a fixed frame (5), which is rotatably connected to the end of the first connecting block (4) away from the dorsal fin (3). A drive frame (6) is fixedly connected to one end of the fixed frame (5). A drive motor (7) is fixedly installed in the middle of the drive frame (6). A rotating plate (8) is fixedly connected to the end of the drive motor (7). A fixed column (10) is rotatably connected to the end of the drive frame (6) away from the first connecting block (4). A tail fin (12) is fixedly connected to the middle of the fixed column (10). A swing frame (11) is rotatably connected to the middle of the fixed column (10). A plug-in drive shaft (9) is fixedly connected to the end of the fixed column (10) near the fixed frame (5). The end of the plug-in drive shaft (9) is inserted into the rotating plate (8).

3. The underwater monitoring robotic fish according to claim 1, characterized in that: The control component includes a control circuit board (18), which is fixedly installed on one side of the mounting plate (17). A power supply unit (20) is fixedly installed on the top of one side of the control circuit board (18), and a sensing module (19) is connected to the bottom of the power supply unit (20).

4. The underwater monitoring robotic fish according to claim 1, characterized in that: The guide assembly includes a telescopic rod (26), which is rotatably connected between two mounting horizontal plates (17). The bottom of both sides of the main body of the robotic fish (1) is fixedly embedded with a second connecting block (21). A sealing block (23) is fixedly connected inside each of the two second connecting blocks (21). A rotating shaft (22) passes through the inside of each sealing block (23). A pectoral fin (24) is fixedly connected to the end of the rotating shaft (22). An arc-shaped transmission frame (25) is driven between the two rotating shafts (22). The arc-shaped transmission frame (25) and the telescopic rod (26) are driven together.

5. The underwater monitoring robotic fish according to claim 1, characterized in that: The propulsion assembly includes four actuators (15), which are symmetrically embedded on the bottom side of the main body (1) of the robotic fish. Each of the four actuators (15) is threaded with a protective cover (16).

6. The underwater monitoring robotic fish according to claim 3, characterized in that: The control circuit board (18) has multiple connecting wires (27) electrically connected to one side, and the other end of the multiple connecting wires (27) is electrically connected to the monitoring camera (2), the drive motor (7), the driver (15) and the telescopic rod (26), respectively.

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