CN109491407A - A kind of intelligent bionic fish that realizing images match and its multi-agent synergy work system - Google Patents
A kind of intelligent bionic fish that realizing images match and its multi-agent synergy work system Download PDFInfo
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 141
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 66
- 239000003795 chemical substances by application Substances 0.000 title description 19
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000007789 sealing Methods 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 14
- 210000000006 pectoral fin Anatomy 0.000 claims description 10
- 238000005192 partition Methods 0.000 claims description 4
- 230000009182 swimming Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000003592 biomimetic effect Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 238000007667 floating Methods 0.000 description 8
- 238000012546 transfer Methods 0.000 description 7
- 230000000386 athletic effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000003643 water by type Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000252233 Cyprinus carpio Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
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Abstract
本发明属于水下检测装置技术领域，解决现有技术中仿生鱼操作系统的运行速率低、仿生鱼的水下运动灵活性不足、水下密封性能不足以及工作效率低的问题。一种实现图像匹配的智能仿生鱼及其群体协同工作系统，包括上位机(13)和鱼群(14)，鱼群(14)包括第一智能仿生鱼(15)和第二智能仿生鱼(16)，上位机(13)只与第一智能仿生鱼(15)相互通信，第二智能仿生鱼(16)只与第一智能仿生鱼(15)相互通信，当上位机(13)与第一智能仿生鱼(15)断开通信时，鱼群(14)的单个体会以轮询的方式与附近的其他个体相互通信。具有高度的机动灵活性和水下密封性，多系统模块分担主要工作，且能够短时间内完成大批量水下作业。
The invention belongs to the technical field of underwater detection devices, and solves the problems in the prior art that the operating speed of the bionic fish operating system is low, the underwater movement flexibility of the bionic fish is insufficient, the underwater sealing performance is insufficient, and the work efficiency is low. An intelligent bionic fish and a group cooperative working system thereof for realizing image matching, comprising a host computer (13) and a school of fish (14), wherein the school of fish (14) includes a first intelligent bionic fish (15) and a second intelligent bionic fish ( 16), the host computer (13) only communicates with the first intelligent bionic fish (15), and the second intelligent bionic fish (16) only communicates with the first intelligent bionic fish (15). When an intelligent bionic fish (15) disconnects from communication, a single body of the fish group (14) communicates with other nearby individuals in a polling manner. It has a high degree of maneuverability and underwater sealing, and multiple system modules share the main work, and can complete large-scale underwater operations in a short time.
Description
Technical field
The present invention relates to underwater detection device technology fields, more particularly, to a kind of intelligent bionic fish for realizing images match
And its multi-agent synergy work system.
Background technique
Biomimetic Fish is that scientists are designed according to bionic principle, and travelling mode is similar to common carp, fish in
It swings back and forth under the promotion of engine, and changes the direction of travelling using fin and fish tail, travelling speed can achieve
Half meter per second, this Biomimetic Fish is internally provided with detection sensor, can detect the various pollutants in waters automatically and adopt
Collect the data of other substances of waters, when a Biomimetic Fish detects the polluter in some waters, Biomimetic Fish will pass through
Data are real-time transmitted to researcher by GPS device, and researcher can draw real-time water pollution 3D using these data and scheme,
So that environmental protection administration is taken most convenient, efficiently method removes the waters of pollution, and Biomimetic Fish also can search and know under water
Other article.
At this stage, although Biomimetic Fish possesses many technological merits, before it need to consider environmental factor and equipment requirement
It puts, the generally existing following disadvantage of Biomimetic Fish:
1, the operating rate of Biomimetic Fish operating system is low, Biomimetic Fish be collect data acquisition, image recognition and motion control in
The product of one, the burden that system module is born is very big, needs to configure expensive high performance system module；
2, the flexibility of Biomimetic Fish sub-aqua sport is insufficient, and water flow rapidly will affect the traveling of Biomimetic Fish, if Biomimetic Fish
It can not nimbly elude or using water flow, can not just carry out good detection and search, or even can be damaged by water flow impact pressure；
3, the underwater sealing performance of Biomimetic Fish is insufficient, and Biomimetic Fish uses height Bionic Design, according to the travelling side of common fish
Formula is moved, fish body swing joint generally can use flexible material, be conducive to bionical fish swimming advance, but water flow,
Hydraulic pressure and under the influence of itself swinging back and forth, flexible material is easy by a degree of abrasion, when flexible material breakage
Afterwards, water will enter the inside of Biomimetic Fish, and interior arrangement can be immersed in water damage.
4, the working efficiency of Biomimetic Fish is low, and for single Biomimetic Fish when searching submarine target article, time-consuming and searches for search
Accuracy is low, is not suitable for high-volume or large-scale underwater operation；
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent bionic fish for realizing images match and its multi-agent synergy work system,
Its maneuverability and underwater sealing with height, multi-system module shares groundwork, and can complete in the short time
High-volume or large-scale underwater operation.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of intelligent bionic fish for realizing images match, includes fish head, fish body and fish tail, and one end of fish body connects fish
Head, the other end of fish body connect fish tail, and the surface of fish head is equipped with transparent panel, and the inside of fish head is equipped with image processing apparatus and snorkels
Device, the inside of fish body are equipped with sealed compartment, sealed compartment be equipped with left-right balance device, transfer, floating device, control device and
Battery；
Image processing apparatus includes infrared light spot sensor module and camera module；
The device that snorkels includes the first support, the second support, the first steering engine, the first crank, the first clump weight, the first guide rail
The top of the first support, two the first guide-rail plates are arranged in plate, the first crankshaft and the first clump weight shifting axle, the second support
The two sides of the first support are separately positioned on, the top of the second support is arranged in the first steering engine, and the first steering engine is turned by the first crank
The first crank of axis connection, the first crank are equipped with the first guide rail hole, and the first guide-rail plate is equipped with the second guide rail hole, and the first clump weight is mobile
Axis passes through the first guide rail hole and the second guide rail hole and affixed first clump weight；
Sealed compartment is equipped with through-hole, sliding slot, baffle and sealing ring, and baffle is clamped sliding slot, and sealing ring setting is in baffle and sealing
Between cabin；
Left-right balance device is led including the second steering engine, the second clump weight, the second crank, the second clump weight shifting axle, second
Rail plate and the second crankshaft, the second steering engine connect the second crank by the second crankshaft, and the second crank is equipped with third guide rail
Hole, the second guide-rail plate are equipped with the 4th guide rail hole, and the second clump weight shifting axle passes through third guide rail hole and the 4th guide rail hole and affixed
Second clump weight；
Transfer includes third steering engine and pectoral fin, and third steering engine connects pectoral fin；
Floating device connects including the 4th steering engine, motor, tail fin, tail fin oscillating rod, rotating crank, transmission shaft, pin shaft, flexibility
One end of fitting and limit element, tail fin oscillating rod connects the 4th steering engine, and the other end of tail fin oscillating rod passes through flexible connecting member
Tail fin is connected, one end of rotating crank connects motor, and the other end of rotating crank passes through one end of the hinged transmission shaft of pin shaft, limit
The affixed sealed compartment of element, tail fin oscillating rod are equipped with driving hole, and limit element is equipped with the first limit hole and the second limit hole, tail fin pendulum
Lever passes through the first limit hole, and the other end of transmission shaft passes through driving hole and the second limit hole；
Control device includes main control module, steering engine control module, motor drive module, Voltage stabilizing module, radio communication mold
Block, GPS module and six axle sensor modules.
Realization process of the invention is as follows: including host computer and the shoal of fish, the shoal of fish includes the first intelligent bionic fish and the second intelligence
Energy Biomimetic Fish, host computer are only in communication with each other with the first intelligent bionic fish, the second intelligent bionic fish and the first intelligent bionic fish phase
Mutual communication, when host computer is disconnected with the first intelligent bionic fish to be communicated, the single of the shoal of fish is known from experience in a manner of poll and nearby
Other individuals are in communication with each other.
The present invention is equipped with image processing apparatus and control device, and image processing apparatus is responsible for image recognition and data acquisition,
Control device is responsible for motion control and travelling route planning, dual processor of the invention and cooperates, and improves motion control and figure
As the accuracy of processing, accelerate data processing speed.
Six axle sensor modules are equipped with inside control device, six axle sensor modules can sense the current fortune of the present invention
Dynamic posture, when the athletic posture that water impact is of the invention and causes the present invention current changes, control device will be to it
He issues instruction by device, so that the present invention is carried out a degree of steering or is snorkeled, image processing apparatus includes infrared light spot
Sensor module, infrared light spot sensor module can identify surrounding environment, realize the function of automatic avoiding obstacles, greatly mention
Maneuverability when high movement of the present invention.
The present invention is sealed waterproof by the way of piecemeal sealing, and the present invention is equipped with sealed compartment, needs to seal waterproof
Device can be placed on the inside of sealed compartment, even if shell joint damage and water inflow of the invention, will not soak the internal dress of damage
It sets.
Underwater operation, the PC control shoal of fish are carried out in a manner of more shoals of fish, the shoal of fish is distributed in space net structure, establishes
Cooperative operation system, the shoal of fish can be divided into several groups, there is a first intelligent bionic fish and several second intelligence in group
Energy Biomimetic Fish, the first intelligent bionic fish are responsible for tidal data recovering, data processing and data forwarding, the second intelligence as information node
Energy Biomimetic Fish is responsible for underwater operation, and host computer, the first intelligent bionic fish and the second intelligent bionic fish form work assembly line, significantly
Improve work efficiency and expand working range.
Detailed description of the invention
Fig. 1 is the external structure of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Schematic diagram；
Fig. 2 is the internal structure of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
One of schematic diagram；
Fig. 3 is the internal structure of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
The two of schematic diagram；
Fig. 4 is the image procossing of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Apparatus structure schematic diagram；
Fig. 5 is the device that snorkels of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Structural schematic diagram；
Fig. 6 is the left-right balance of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Apparatus structure schematic diagram；
Fig. 7 is the transfer of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Structural schematic diagram；
Fig. 8 is the floating device of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Structural schematic diagram；
Fig. 9 is the partial sectional view in Fig. 8 at A；
Figure 10 is the enlarged diagram in Fig. 8 at B；
Figure 11 is the sealed compartment of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Structural schematic diagram；
Figure 12 is to control dress in a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
The system module figure set；
Figure 13 is that the advance of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system is shown
It is intended to；
Figure 14 is that the steering of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system is shown
It is intended to；
Figure 15 is the communication system of a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
System schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out further
Description.
As shown in Figure 1, a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system, including
There are fish head 1, fish body 2 and fish tail 3, one end of fish body 2 connects fish head 1, and the other end of fish body 2 connects fish tail 3, and fish body 2 is equipped with back
Fin 201, shape of the invention are designed according to the shape of fish, and the travelling mode that the present invention can imitate fish moves,
Concealment with perfect fluid property and height.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the surface of fish head 1 is equipped with transparent panel 4, and the inside of fish head 1 is equipped with image procossing
Device 5, transparent panel 4 can not only avoid water-soaked image processing apparatus 5, and be conducive to the view built in image processing system 5
Feel that system external circle environment is searched and identified, image processing apparatus 5 includes infrared light spot sensor module 501 and camera
Module 502, when infrared light point sensor module 501 captures target object, infrared light spot sensor module 501 can be swept repeatedly
Target object is retouched, camera module 502 can then shoot target object, and the figure of target object and researcher is pre-
The image first inputted is matched, and when similarity is higher than the threshold value of setting, camera module 502 will be by the figure of target object
Host computer as uploading to researcher's control.
The inside of fish head 1 is equipped with the device 6 that snorkels, and the inside of fish body 2 is equipped with sealed compartment 7, and sealed compartment 7 is filled equipped with left-right balance
8, transfer 9, floating device 10, control device 11 and battery 12 are set, the device 6 that snorkels, left-right balance device 8, transfer
9, floating device 10 and control device 11 collectively constitute kinetic control system of the invention, and the device 6 that snorkels is responsible for of the invention
It floats or dive, left-right balance device 8 and transfer 9 is responsible for divertical motion of the invention, floating device 10 can be this hair
Bright to generate the power to advance and assist divertical motion of the invention, control device is then that can plan row as main control centre
Into route and control other four devices.
As shown in Figure 1, Figure 2 and shown in Figure 11, sealed compartment 7 is equipped with through-hole 701, sliding slot 702, baffle 703 and sealing ring 704, gear
Plate 703 is clamped sliding slot 702, and sealing ring 704 is arranged between baffle 703 and sealed compartment 7, and baffle 703 is under the action of sliding slot 702
Sealing ring 704 is squeezed, this design can make not having a gap between baffle 703 and sealing ring 704, to realize this hair
The sealing and waterproof of bright interior arrangement.
As shown in Fig. 1, Fig. 3 and Fig. 5, the device 6 that snorkels include the first support 601, the second support 602, the first steering engine 603,
First crank 604, the first clump weight 605, the first guide-rail plate 606, the first crankshaft 607 and the first clump weight shifting axle 608,
The top of the first support 601 is arranged in second support 602, and two the first guide-rail plates 606 are separately positioned on the two of the first support 601
The top of the second support 602 is arranged in side, the first steering engine 603, and the first steering engine 603 passes through the first crankshaft 607 connection first
Crank 604, the first crank 604 are equipped with the first guide rail hole 609, and the first guide-rail plate 606 is equipped with the second guide rail hole 610, the first counterweight
Block shifting axle 608 passes through the first guide rail hole 609 and the second guide rail hole 610 and affixed first clump weight 605, under the present invention needs
When latent, the first steering engine 603 rotates the first crankshaft 607, and the first crankshaft 607 makes one end of the first crank 604 to fish head 1
Front position it is mobile, under the drive of the first crank 604, the first clump weight 605 also can be mobile to the front position of fish head 1,
Under the weight effect of first clump weight 605, fish head 1 can be moved down, and the present invention realizes the movement of dive, when on this practical needs
When floating, the first clump weight 605 can be mobile to the position of fish body 2, and fish head 1 can move up, and the present invention realizes the movement floated.
As shown in Fig. 1, Fig. 3 and Fig. 6, left-right balance device 8 includes the second steering engine 801, second the 802, second song of clump weight
Handle 803, the second clump weight shifting axle 804, the second guide-rail plate 805 and the second crankshaft 806, the second steering engine 801 pass through second
Crankshaft 806 connects the second crank 803, and the second crank 803 is equipped with third guide rail hole 807, and the second guide-rail plate 805 is equipped with the 4th
Guide rail hole 808, the second clump weight shifting axle 804 pass through third guide rail hole 807 and the 4th guide rail hole 808 and affixed second clump weight
802, the second steering engine 801 rotates the second crank 803, and under the drive of the second crank 803, the second clump weight 802 can be in fish body 2
Two sides move back and forth, this design makes entire fish body 2 carry out a degree of side-shift, is conducive to steering fortune of the invention
It is dynamic.
As shown in Fig. 1, Fig. 3, Fig. 7 and Figure 14, transfer 9 includes third steering engine 901 and pectoral fin 902, third steering engine 901
Pectoral fin 902 is connected, third steering engine 901 and pectoral fin 902 are respectively provided with 2, and the two sides of fish body 2 are arranged in pairing, when the present invention needs
When steering, third steering engine 901 can be such that pectoral fin 902 is swung, since 902 swing angle of pectoral fin and swing speed will affect this hair
The bright active force generated backward, therefore when the swing angle of the pectoral fin 902 of 2 side of fish body is larger or swing speed is very fast,
The active force that 2 side of fish body generates can be bigger than 2 other side of fish body, and the present invention will be mobile to another side direction of fish body 2, from
And realize whole divertical motion.
As shown in Fig. 1, Fig. 3, Fig. 8, Fig. 9 and Figure 13, floating device 10 includes the 4th steering engine 1001, motor 1002, tail fin
1003, tail fin oscillating rod 1004, rotating crank 1005, transmission shaft 1006, pin shaft 1007, flexible connecting member 1008 and limit element
1009, one end of tail fin oscillating rod 1004 connects the 4th steering engine 1001, and the other end of tail fin oscillating rod 1004 passes through flexible connection
Part 1008 connects tail fin 1003, and one end of rotating crank 1005 connects motor 1002, and the other end of rotating crank 1005 passes through pin
One end of the hinged transmission shaft 1006 of axis 1007, the affixed sealed compartment 7 of limit element 1009, tail fin oscillating rod 1004 are equipped with driving hole
1010, limit element 1009 is equipped with the first limit hole 1011 and the second limit hole 1012, and tail fin oscillating rod 1004 passes through the first limit
Position hole 1011, the other end of transmission shaft 1006, which passes through driving hole 1010 and the second limit hole 1012, motor 1002, makes rotating crank
1005 rotations, the rotating crank 1005 of rotation can make to swing at left and right sides of transmission shaft 1006, and tail fin oscillating rod 1004 will be with
The transmission shaft 1006 of swing is swung together, and tail fin 1003 generates the work that the present invention travels forward under the effect of tail fin oscillating rod 1004
Firmly.
When the present invention travels forward, tail fin oscillating rod 1004 can be located at the center of the first limit hole 1011, and
It swings in the range of the first limit hole 1011, the active force that tail fin 1003 is swung can form one directly with fish body 2
Line, when the present invention needs to turn to, the 4th steering engine 1001 can make tail fin oscillating rod 1004 shift to the side of fish body 2, then tail fin
1004 meetings of oscillating rod are swung between the side and center of the first limit hole 1011, the effect that tail fin 1003 is swung
Power will be located at the side of fish body 2, and active force can help the present invention mobile to the direction of 2 side of fish body.
As shown in figs, tail fin oscillating rod 1004 is equipped with connecting plate 1013, and one end of flexible connecting member 1008 is affixed
The lower section of connecting plate 1013, the affixed tail fin 1003 of the other end of flexible connecting member 1008, flexible connecting member 1008 is equipped with support plate
1014, first partition 1015, flexible connecting member 1008 and tail fin 1003 are equipped between flexible connecting member 1008 and connecting plate 1013
Between be equipped with second partition 1016, the making material of flexible connecting member 1008 selects soft drop glue, swings in tail fin oscillating rod 1004
When, the amplitude that the flexibility meeting tail fin 1003 of soft drop glue is swung is bigger, and the onward impulse that tail fin 1003 generates also can be bigger, greatly
This is improved with novel working efficiency.
As shown in figure 12, control device 11 includes main control module 1101, steering engine control module 1102, motor drive module
1103, Voltage stabilizing module 1104, wireless communication module 1105, GPS module 1106 and six axle sensor modules 1107, main control module
1101 be the control centre of control device (11), and for managing and controlling other operational modules, steering engine control module 1102 can
Control steering engine is turned on or off, and motor drive module 1103 can control being turned on or off for motor 1002, pressure stabilizing mould
Block 1104 can control the discharge capacity of battery 12, the host computer phase intercommunication that wireless communication module 1105 can be controlled with researcher
Letter, GPS module 1106 can plan travelling route of the present invention, and six axle sensor modules 1107 can sense of the invention current
Athletic posture.
As shown in figures 1-15, a kind of intelligent bionic fish for realizing images match of the present invention and its multi-agent synergy work system
Working principle: when infrared light point sensor module 501 is when capturing detection target, control device 11 can calculate the present invention and inspection
The distance between target is surveyed, and cooks up optimal route, then telecontrol equipment is issued and is instructed, telecontrol equipment will make this hair
Bright proximity test target, after proximity test target, infrared light spot sensor module 501 can be repeatedly scanned with detection target, camera shooting
Head module 502 then can shot detection target, both can matching correct personnel be previously entered image of the invention, when image is similar
When degree is more than the threshold value of setting, camera module 502 will upload to the host computer of researcher's control, beat convenient for researcher
Fishing and goal in research ontology, image procossing and motion control are separately handled by two processors, motion control and image recognition
Accuracy and data processing speed it is relatively high.
Six axle sensor modules are equipped with inside control device 11, six axle sensor modules can sense of the invention current
Athletic posture, when the athletic posture that fierce water impact is of the invention and causes the present invention current changes, control device
11 will issue instruction to telecontrol equipment, and telecontrol equipment can make the current position of the invention that speeds away, infrared light spot sensor
Module 501 can identify surrounding environment, realize the function of automatic avoiding obstacles, greatly improve motor-driven when the present invention moves
Flexibility.
Host computer 13 controls the shoal of fish 14, establishes cooperative operation system, the shoal of fish 14 in the shoal of fish 14 that space net structure is distributed
Several groups can be divided into, there is a first intelligent bionic fish 15 and several the second intelligent bionic fishes 16 in group, it is upper
13 meetings of machine are in communication with each other with the first intelligent bionic fish 15, the number that 13 primary recipient of host computer is handled by the first intelligent bionic fish 15
Work order is sent accordingly and to the first intelligent bionic fish 15, the second intelligent bionic fish 16 also only can be with the first intelligent bionic fish 15
It is in communication with each other, the second intelligent bionic fish 16 is responsible for underwater detection and search, and sends to the first intelligent bionic fish 15
The data collected under water, the first intelligent bionic fish 15 are then responsible for the data preparation collected and are sent to host computer 13, and
The work order of host computer 13 is forwarded, host computer 13, the first intelligent bionic fish 15 and the second intelligent bionic fish 16 have explicitly
Work, three form elongated work assembly line, improve the working efficiency of the shoal of fish 14 and expand the work model of the shoal of fish 14
It encloses.
When host computer 13 and the first intelligent bionic fish 15 disconnect communication exchanges, each of shoal of fish 14 individual can pass through
GPS module searches neighbouring individual, a to know from experience the IP address that other side is obtained using wireless communication module, and carries out data transmission
And data backup, after host computer 13 reconnects communication, even if individual is losing 13 control period of host computer loss data,
Host computer 13 can also obtain the data of backup from other individuals, guarantee the integrality of data well.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910069957.4A CN109491407B (en) | 2019-01-24 | 2019-01-24 | Intelligent bionic fish for realizing image matching and group cooperative work system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910069957.4A CN109491407B (en) | 2019-01-24 | 2019-01-24 | Intelligent bionic fish for realizing image matching and group cooperative work system thereof |
Publications (2)
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