CN1976252A - Water surface information relay system used for bionic machine fish - Google Patents
Water surface information relay system used for bionic machine fish Download PDFInfo
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- CN1976252A CN1976252A CN 200510124096 CN200510124096A CN1976252A CN 1976252 A CN1976252 A CN 1976252A CN 200510124096 CN200510124096 CN 200510124096 CN 200510124096 A CN200510124096 A CN 200510124096A CN 1976252 A CN1976252 A CN 1976252A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 83
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 79
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 55
- 230000003592 biomimetic effect Effects 0.000 claims description 9
- 239000003292 glue Substances 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
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Abstract
A water surface information relay system of bionic machinery fish comprises video information relay and digital information relay. It is featured as setting light emitter and level conversion module M1 in machinery fish; setting light receiver, high frequency radio transmission module, level conversion module M2, low frequency radio module W2, double-ring antenna and power supply in water surface floating beacon; connecting units in said beacon to machinery fish, sending video-digital signal to ground control table by radio modules of high frequency and low frequency.
Description
Technical field
The present invention relates to a kind of water surface information relay system, especially relate to the information transmission system between a kind of underwater biomimetic robotic fish and the ground control cabinet.
Background technology
Bionic machine fish is to be the bionical of model with fish.Successfully develop article one bionic machine fish Robotuna truly in the world from MIT in 1994, all constantly develop novel artificial machine fish to current how tame research institution both at home and abroad, the mankind are constantly pursuing and are exploring high performance shipping instrument.Current, under the propelling of subjects such as bionics, material science, control science, the research of bionic machine fish has become robot field's research focus.
Present many bionic machine fish concentrate on the research of the mechanism of moving about, there is not message transmission with the external world, the machine fish is according to prior setting campaign or autokinetic movement to a certain degree, such bionic machine fish operability is not strong, and because the uncertainty and the limitation on the machine fish degree of intelligence of environment make this kind bionic machine fish application scenario be very limited.Existing communication modes mainly contains two kinds.The one, the assembling wireless telecommunications system, but because electromagnetic wave is decayed very serious in water, therefore this device can only play a role on the water surface, this makes the machine fish to move at the water surface, perhaps float to water surface swap data in the timing, limited the continuity of bionic machine fish underwater operation to a great extent.The 2nd, will couple together between bionic machine fish and the ground control cabinet by cable (or optical cable).This mode can guarantee information transmitting speed and order of accuarcy, but because cable can not be oversize, and the range of movement of machine fish is restricted, can only move about around ground control cabinet.Therefore, existing information transferring method is difficult to satisfy the requirement of machine fish grand movement.
Summary of the invention
Purpose of the present invention will provide a kind of exactly and machine fish and ground control cabinet under water can be linked together, and satisfies the water surface information relay system of machine fish three-dimensional motion on a large scale.
For achieving the above object, technical solution of the present invention provides a kind of water surface information relay system that is applied to bionic machine fish, comprises video relay portion and digital signal relay portion; The video information relay portion comprises optical transceiver, optical cable, high frequency wireless sending module, double loop antenna, high frequency wireless receiving module; The digital signal relay portion comprises two agreement level switch module M1, M2, two low frequency wireless module W1, W2; The building block of its video information relay portion and digital signal relay portion is separately positioned in machine fish inside, the water surface float and ground control cabinet, and a power-supply system is arranged in the water surface float; Wherein, between machine fish and the water surface float, by optical cable, cable wired connection, between water surface float and the ground control cabinet, be wireless connections, transmit and realize the transmission of video information that the underwater biomimetic robotic fish camera provides with the full duplex that realizes digital signal between underwater biomimetic robotic fish and the ground control cabinet to ground control cabinet.
The described water surface information relay system that is applied to bionic machine fish, the optical sender of its described optical transceiver, agreement level switch module M1 are located at machine fish inside; Agreement level switch module M1 one end links to each other with the single-chip microcomputer that is packed in machine fish inside, and the other end links to each other with water surface float by cable; Optical sender one end links to each other with the camera that is packed in machine fish body surface, and the other end links to each other with water surface float by optical cable; Machine fish internal electric source is described parts power supply in the machine fish; After assembling, the machine fish seals with rubber glue;
Agreement level switch module M2, low frequency wireless module W2, the optical receiver of optical transceiver, high frequency wireless sending module are located at water surface float inside, wherein, agreement level switch module M2 one end is electrically connected with low frequency wireless module W2, and the other end is electrically connected with agreement level switch module M1 in the machine fish by cable; Optical receiver one end is electrically connected with the high frequency wireless sending module, and the other end is electrically connected with optical sender in the machine fish by optical cable; The antenna of the double loop antenna of high frequency wireless sending module and low frequency wireless module W2 is located on the water surface float housing, erects in the water surface float outside; Power supply in the water surface float power-supply system is the power supplies of parts described in the water surface float; After assembling, water surface float seals with rubber glue;
Ground control cabinet is electrically connected with high frequency wireless receiving module, low frequency wireless module W1, antenna by high frequency wireless receiving module and low frequency wireless module W1, carry out wireless telecommunications with double loop antenna on the water surface float housing and the antenna of low frequency wireless module W2, high frequency wireless receiving module and low frequency wireless module W1 are by the ground control cabinet supply capability.
The described water surface information relay system that is applied to bionic machine fish, its described optical transceiver is letter and promise SV series video image light terminal; Optical cable is a ST interface optical cable.
The described water surface information relay system that is applied to bionic machine fish, its described agreement level switch module M1 and M2 are RS232-TTL agreement level switch module, use the MAX232 chip manufacturing; The high frequency wireless module adopts boat star 4 passage series; The low frequency wireless module is for Huarong converge GW100A low frequency wireless module.
The described water surface information relay system that is applied to bionic machine fish, its described water surface float adopts rigid plastics to make.
The described water surface information relay system that is applied to bionic machine fish, the power supply in the power supply of its described bionic machine fish inside, the water surface float power-supply system is the battery pack of lithium rechargeable batteries composition.
The present invention adopts the mode that has cable and wireless telecommunications to combine, and underwater biomimetic robotic fish has cable to be connected with the water surface float device, adopts wireless communication mode between water surface float and the ground control cabinet, has solved the problem that prior art exists.
Wherein, optical receiver, high frequency wireless sending module, double loop antenna, level switch module M2, low frequency wireless module W2 are placed in the water surface float.Be connected with cable by optical cable between water surface float device and the bionic machine fish, volume is small and exquisite, is fit to the towing of machine fish.Adopt wireless mode to transmit information between water surface float and the ground control cabinet, effectively satisfied the needs of bionic machine fish grand movement.
The present invention can realize that the full duplex of uploading with digital signal of video information between underwater biomimetic robotic fish and the ground control cabinet transmits, the antijamming capability that utilizes little, glitch-free advantage of attenuated optical signal and RS232 agreement to the water surface, has been avoided problems such as transmission attenuation in water and error with video and digital data transmission.
The present invention is simple in structure, and volume is small and exquisite, connects simply, provides effective information transmission mode for manufacturing is applicable to efficient, the high maneuverability of underwater reconnaissance, environmental monitoring, underwater operation, low noise underwater tool.
Description of drawings
Fig. 1 is the water surface information relay system structure chart that is applied to bionic machine fish.
Embodiment
As shown in Figure 1, the water surface information relay system that is applied to bionic machine fish comprises video information relaying and two parts of digital signal relaying.The video information relay portion comprises optical transceiver (optical sender 3 and optical receiver 16), optical cable 8, high frequency wireless sending module 17, double loop antenna 18, high frequency wireless receiving module 11 etc.
The digital signal relay portion comprises two agreement level conversion (RS232-TTL) modules (M1) 5 and (M2) 13, two low frequency wireless modules (W2) 14 and (W1) 12 etc.
The building block of video information relay portion and digital signal relay portion is separately positioned in machine fish 1 inside, the water surface float 9 and ground control cabinet 10.Wherein, optical sender 3, agreement level switch module (M1) 5, be located at machine fish 1 inside; Agreement level switch module (M1) 5 one ends link to each other with the single-chip microcomputer 4 that is packed in machine fish 1 inside, and the other end links to each other with water surface float 9 by cable 7; Optical sender 3 one ends link to each other with the camera 2 that is packed in machine fish 1 body surface, and the other end links to each other with water surface float 9 by optical cable 8.Battery pack 6 is described parts power supply in the machine fish 1.After assembling, the sealing of machine fish 1 usefulness rubber glue.
Agreement level switch module (M2) 13, low frequency wireless module (W2) 14, optical receiver 16, high frequency wireless sending module 17 are located at water surface float 9 inside, wherein, agreement level switch module (M2) 13 1 ends are electrically connected with low frequency wireless module (W2) 14, and the other end is electrically connected by cable 7 and machine fish 1 interior agreement level switch module (M1) 5; Optical receiver 16 1 ends are electrically connected with high frequency wireless sending module 17, and the other end is electrically connected by optical cable 8 and machine fish 1 interior optical sender 3.The antenna of the double loop antenna 18 of high frequency wireless sending module 17 and low frequency wireless module (W2) 14 is located on water surface float 9 housings, erects in water surface float 9 outside.Battery pack 15 is the power supplies of parts described in the water surface float 9.After assembling, the sealing of water surface float 9 usefulness rubber glue.
Ground control cabinet 10 is electrically connected with high frequency wireless receiving module 11, low frequency wireless module (W1) 12, antenna by high frequency wireless receiving module 11 and low frequency wireless module (W1) 12, carry out wireless telecommunications with the double loop antenna 18 on water surface float 9 housings and the antenna of low frequency wireless module (W2) 14, high frequency wireless receiving module 11 and low frequency wireless module (W1) 12 are by ground control cabinet 10 supply capabilities.
The camera 2 that is positioned at machine fish 1 inside is connected to the input of optical sender 3, its output is connected to the input of the optical receiver 16 of water surface float 9 inside by optical cable 8, optical receiver 16 outputs are connected to high frequency wireless sending module 17, and this module 17 is connected with double loop antenna 18.High frequency wireless receiving module 11 inserts in the image pick-up card of ground control cabinet 10.
By said structure, the video information of the camera 2 of bionic machine fish 1 is converted into light signal by optical sender 3, the optical receiver 16 that inserts water surface float 9 by optical cable 8 is converted into the signal of telecommunication, after passing through double loop antenna 18 gain signals by high frequency wireless sending module 17 again, the high-frequency radio frequency signal is launched, send in the image pick-up card of ground control cabinet 10 after high frequency wireless receiving module 11 received signals, thus the transmission of realization video information.
The agreement level switch module (M1) 5 of digital signal relay portion links to each other with the serial ports of the single-chip microcomputer 4 that is arranged in bionic machine fish 1, its output is connected to agreement level switch module (M2) 13 inputs in the water surface float 9 by cable 7, and the output of agreement level switch module (M2) 13 inserts low frequency wireless module (W2) 14.Low frequency wireless module (W1) 12 is connected with the serial ports of ground control cabinet 10.
By said structure, the serial data of the TTL agreement that single-chip microcomputer 4 sends is converted to the serial data of RS232 agreement by agreement level switch module (M1) 5, process cable 7 is sent to the agreement level switch module (M2) 13 in the water surface float 9 and is converted to the serial data of TTL agreement, launches the low frequency radio frequency signal by low frequency wireless module (W2) 14 by antenna again.Send in the serial ports of ground control cabinet 10 after low frequency wireless module (W1) 12 received signals.The digital signal that is sent by ground control cabinet 10 can send underwater biomimetic robotic fish 1 to by the transmission flow path switch opposite with said process.Thereby, realize that the full duplex of digital signal transmits.
Embodiment
According to the present invention illustrated system configuration and annexation, made a water surface information relay that is applied to underwater biomimetic robotic fish 1.Adopt letter and promise SV series video image light terminal (comprising optical sender 3 and optical receiver 16) and ST interface optical cable 8, high frequency wireless module 17 and 11 adopts boat star 4 passage series.Use MAX232 chip manufacturing agreement level switch module (comprising module (M1) 5, module (M2) 13), choosing Huarong, to converge GW100A be low frequency wireless module (W1) 12, (W2) 14.Water surface float 9 adopts rigid plastics to make, and lithium rechargeable batteries is as power supply 6,15.Corresponding machine fish inside, water surface float and the ground control cabinet of being installed in of various piece of the present invention, machine fish and water surface float obtain material object after sealing with rubber glue.
Claims (6)
1, a kind of water surface information relay system that is applied to bionic machine fish comprises video relay portion and digital signal relay portion; The video information relay portion comprises optical transceiver, optical cable, high frequency wireless sending module, double loop antenna, high frequency wireless receiving module; The digital signal relay portion comprises two agreement level switch module M1, M2, two low frequency wireless module W1, W2; It is characterized in that the building block of video information relay portion and digital signal relay portion is separately positioned in machine fish inside, the water surface float and ground control cabinet, the built-in power-supply system of water surface float; Wherein, between machine fish and the water surface float, by optical cable, cable wired connection, between water surface float and the ground control cabinet, be wireless connections, transmit and realize the transmission of video information that the underwater biomimetic robotic fish camera provides with the full duplex that realizes digital signal between underwater biomimetic robotic fish and the ground control cabinet to ground control cabinet.
2, the water surface information relay system that is applied to bionic machine fish as claimed in claim 1 is characterized in that, the optical sender of described optical transceiver, agreement level switch module M1 are located at machine fish inside; Agreement level switch module M1 one end links to each other with the single-chip microcomputer that is packed in machine fish inside, and the other end links to each other with water surface float by cable; Optical sender one end links to each other with the camera that is packed in machine fish body surface, and the other end links to each other with water surface float by optical cable; Machine fish internal electric source is described parts power supply in the machine fish; After assembling, the machine fish seals with rubber glue;
Agreement level switch module M2, low frequency wireless module W2, the optical receiver of optical transceiver, high frequency wireless sending module are located at water surface float inside, wherein, agreement level switch module M2 one end is electrically connected with low frequency wireless module W2, and the other end is electrically connected with agreement level switch module M1 in the machine fish by cable; Optical receiver one end is electrically connected with the high frequency wireless sending module, and the other end is electrically connected with optical sender in the machine fish by optical cable; The antenna of the double loop antenna of high frequency wireless sending module and low frequency wireless module W2 is located on the water surface float housing, erects in the water surface float outside; Power supply in the water surface float power-supply system is the power supplies of parts described in the water surface float; After assembling, water surface float seals with rubber glue;
Ground control cabinet is electrically connected with high frequency wireless receiving module, low frequency wireless module W1, antenna by high frequency wireless receiving module and low frequency wireless module W1, carry out wireless telecommunications with double loop antenna on the water surface float housing and the antenna of low frequency wireless module W2, high frequency wireless receiving module and low frequency wireless module W1 are by the ground control cabinet supply capability.
3, the water surface information relay system that is applied to bionic machine fish as claimed in claim 1 or 2 is characterized in that, described optical transceiver is letter and promise SV series video image light terminal; Optical cable is a ST interface optical cable.
4, the water surface information relay system that is applied to bionic machine fish as claimed in claim 1 or 2 is characterized in that, described agreement level switch module M1 and M2 are RS232-TTL agreement level switch module, uses the MAX232 chip manufacturing; The high frequency wireless module adopts boat star 4 passage series; The low frequency wireless module is for Huarong converge GW100A low frequency wireless module.
5, the water surface information relay system that is applied to bionic machine fish as claimed in claim 1 or 2 is characterized in that, described water surface float adopts rigid plastics to make.
6, the water surface information relay system that is applied to bionic machine fish as claimed in claim 1 or 2 is characterized in that, the power supply in the power supply of described bionic machine fish inside, the water surface float power-supply system is the battery pack of lithium rechargeable batteries composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2005101240963A CN1976252B (en) | 2005-11-28 | 2005-11-28 | Water surface information relay system used for bionic machine fish |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2005101240963A CN1976252B (en) | 2005-11-28 | 2005-11-28 | Water surface information relay system used for bionic machine fish |
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| CN1976252A true CN1976252A (en) | 2007-06-06 |
| CN1976252B CN1976252B (en) | 2011-03-30 |
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| CN2005101240963A Expired - Fee Related CN1976252B (en) | 2005-11-28 | 2005-11-28 | Water surface information relay system used for bionic machine fish |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101609306B (en) * | 2008-06-18 | 2012-01-04 | 中国科学院自动化研究所 | Method for controlling motion of bionic long-fin undulatory propeller |
| CN103427913A (en) * | 2012-05-16 | 2013-12-04 | 中国科学院声学研究所 | Liftable communication relay system and method |
| CN103473914A (en) * | 2013-09-30 | 2013-12-25 | 天津深之蓝海洋设备科技有限公司 | Underwater robot communication signal wireless transmission system |
| CN103814536A (en) * | 2011-09-16 | 2014-05-21 | 国立大学法人东京海洋大学 | Underwater communication system |
| CN104992545A (en) * | 2015-07-08 | 2015-10-21 | 中国科学院声学研究所北海研究站 | Underwater detection relay platform system |
| CN105059485A (en) * | 2015-07-30 | 2015-11-18 | 烟台仁达自动化装备科技有限公司 | System for controlling benthonic home position video and monitoring water quality |
| CN105356925A (en) * | 2015-09-29 | 2016-02-24 | 浙江大学 | Amphibious communication system based on relay buoy |
| CN105577238A (en) * | 2016-03-17 | 2016-05-11 | 天津海之星海洋科技发展有限公司 | Umbilical cable communication system for underwater robot based on power carrier |
| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
| CN105846883A (en) * | 2016-05-11 | 2016-08-10 | 刘慧� | Submersible communication system |
| CN105957987A (en) * | 2016-06-30 | 2016-09-21 | 枣庄科顺数码有限公司 | Lithium battery suitable for underwater |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN108195357A (en) * | 2018-02-12 | 2018-06-22 | 交通运输部天津水运工程科学研究所 | A kind of observation and analysis system for coastal waters wave water level scene |
| CN110254671A (en) * | 2019-05-17 | 2019-09-20 | 河海大学 | It is a kind of to merge wired and wireless underwater communications system |
| CN114379748A (en) * | 2021-12-22 | 2022-04-22 | 青岛五叠纪智能科技有限公司 | Bionic robot fish for monitoring corrosion condition of underwater pile foundation of offshore wind farm |
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| CN1266192A (en) * | 2000-04-30 | 2000-09-13 | 北京三足通讯技术公司 | Vehicle/ship locating tracking navigation mobile communication system |
| CN1480300A (en) * | 2003-07-09 | 2004-03-10 | 中国科学技术大学 | Pisciform biomimetic robot |
-
2005
- 2005-11-28 CN CN2005101240963A patent/CN1976252B/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101609306B (en) * | 2008-06-18 | 2012-01-04 | 中国科学院自动化研究所 | Method for controlling motion of bionic long-fin undulatory propeller |
| CN103814536A (en) * | 2011-09-16 | 2014-05-21 | 国立大学法人东京海洋大学 | Underwater communication system |
| CN103814536B (en) * | 2011-09-16 | 2015-07-15 | 国立大学法人东京海洋大学 | Underwater communication system |
| US9306677B2 (en) | 2011-09-16 | 2016-04-05 | National University Corporation Tokyo University Of Marine Science And Technology | Underwater communication system |
| CN103427913A (en) * | 2012-05-16 | 2013-12-04 | 中国科学院声学研究所 | Liftable communication relay system and method |
| CN103427913B (en) * | 2012-05-16 | 2015-11-18 | 中国科学院声学研究所 | A kind of liftable communication relay system and method |
| CN103473914A (en) * | 2013-09-30 | 2013-12-25 | 天津深之蓝海洋设备科技有限公司 | Underwater robot communication signal wireless transmission system |
| CN104992545A (en) * | 2015-07-08 | 2015-10-21 | 中国科学院声学研究所北海研究站 | Underwater detection relay platform system |
| CN105059485A (en) * | 2015-07-30 | 2015-11-18 | 烟台仁达自动化装备科技有限公司 | System for controlling benthonic home position video and monitoring water quality |
| CN105356925B (en) * | 2015-09-29 | 2018-09-07 | 浙江大学 | A kind of land and water communication system based on relay buoy |
| CN105356925A (en) * | 2015-09-29 | 2016-02-24 | 浙江大学 | Amphibious communication system based on relay buoy |
| CN105577238A (en) * | 2016-03-17 | 2016-05-11 | 天津海之星海洋科技发展有限公司 | Umbilical cable communication system for underwater robot based on power carrier |
| CN105818944B (en) * | 2016-04-01 | 2018-07-17 | 深圳潜水侠创新动力科技有限公司 | A kind of remote control submarine applied to undersea detection |
| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
| CN105846883A (en) * | 2016-05-11 | 2016-08-10 | 刘慧� | Submersible communication system |
| CN105957987A (en) * | 2016-06-30 | 2016-09-21 | 枣庄科顺数码有限公司 | Lithium battery suitable for underwater |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN108195357A (en) * | 2018-02-12 | 2018-06-22 | 交通运输部天津水运工程科学研究所 | A kind of observation and analysis system for coastal waters wave water level scene |
| CN110254671A (en) * | 2019-05-17 | 2019-09-20 | 河海大学 | It is a kind of to merge wired and wireless underwater communications system |
| CN114379748A (en) * | 2021-12-22 | 2022-04-22 | 青岛五叠纪智能科技有限公司 | Bionic robot fish for monitoring corrosion condition of underwater pile foundation of offshore wind farm |
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| CN1976252B (en) | 2011-03-30 |
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