AU2020103022A4 - Autonomous Robotic Fish - Google Patents
Autonomous Robotic Fish Download PDFInfo
- Publication number
- AU2020103022A4 AU2020103022A4 AU2020103022A AU2020103022A AU2020103022A4 AU 2020103022 A4 AU2020103022 A4 AU 2020103022A4 AU 2020103022 A AU2020103022 A AU 2020103022A AU 2020103022 A AU2020103022 A AU 2020103022A AU 2020103022 A4 AU2020103022 A4 AU 2020103022A4
- Authority
- AU
- Australia
- Prior art keywords
- steering engine
- lower shell
- camera
- output shaft
- tail fin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 39
- 241000251468 Actinopterygii Species 0.000 claims abstract description 38
- 238000007789 sealing Methods 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000011121 hardwood Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 12
- 239000011664 nicotinic acid Substances 0.000 abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 8
- 238000011160 research Methods 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000009182 swimming Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000014121 butter Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to an autonomous robotic fish, which comprises a sealed main cabin
body, wherein two sides of the main cabin body are respectively connected with a pectoral fin
through a dynamic sealing device, the rear end part of the main cabin body is connected with
a fan-shaped tail fin through an upper connecting rod and a lower connecting rod, a dynamic
sealing structure is arranged between the upper connecting rod and the tail fin driving output
end of the main cabin body, the main cabin body comprises an upper shell and a lower shell,
the upper shell is hermetically connected with the lower shell, a steering device and a
communication module are arranged in the upper shell, a camera rotating mechanism is
arranged in the front part of the lower shell, a pair of a left and right pectoral fin pushing
mechanism are arranged in the middle part of the lower shell, and a tail fin propulsion
mechanism is arranged in the rear part of the lower shell; a logic power supply is arranged
below the tail fin propulsion mechanism, and a power supply is arranged below the sealing box
and above two steering engines of the pectoral fin propulsion mechanism, and a power supply
module is arranged on one side of the steering engine of the tail fin propulsion mechanism. The
invention adopts a plurality of bionic propulsion modes, has a plurality of motion forms in the
water environment, can be freely switched, and can realize the functions of autonomous
positioning, autonomous decision making and the like. The invention can be widely applied to
the tasks of environmental monitoring, seabed exploration, salvage and rescue, military
reconnaissance and the like.
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Figure 1
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Figure 2
Description
1/4
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137
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16 18 15 16 12 30 Figure 2
Autonomous Robotic Fish
[01] The invention relates to an underwater bionic robotic fish, in particular to an autonomous robotic fish based on a cloud table type vision system.
[02] Human beings are facing three difficult problems: population, resources and environment. In order to survive and develop, marine exploitation is imperative. The ocean is rich in mineral resources and biological resources, and is an important wealth for the sustainable development of human beings. With the continued decrease of resources on land, the ocean will play a crucial role in human development and social progress. The exploration, investigation and effective use of marine space and seabed resources is a higher challenge to the economic development and military strategic equipment of all countries.
[03] There are many kinds ofunderwater creatures, which have excellent ability of information perception and movement, so the bionic underwater robot has attracted the attention of researchers in many countries. According to the motion mechanism of underwater organisms, the development of new bionic underwater robot with high speed, low noise and flexibility has become an important research direction in the field of underwater vehicles. Considering from the perspective of production cost and research and development time, the small underwater bionic robot becomes the first choice of many scientific research institutions and enterprises, because it not only can realize the motion modes of various large underwater vehicles, but also has shorter development period and lower cost, and its mechanism can be more popularized to large underwater vehicles, thus effectively saving the scientific research cost.
[04] After hundreds of millions of years of natural selection, fish has become a key bionic object in the field of underwater robots because of its good adaptability to water environment and various propulsion modes. With the continuous improvement of related fields, the technology of bionic robotic fish has been developed rapidly. The autonomous robotic fish not only has flexible and mobile underwater three-dimensional motion capability, but also has certain intelligence so as to adapt to the complex and variable underwater environments, and the research value of the autonomous robotic fish mainly comprises the following steps:(1) applying a fish propulsion mechanism to an underwater vehicle so as to improve the propulsion efficiency and the maneuverability of the underwater vehicle; (2) revealing the mystery of excellent motion capability of the fish by researching an underwater bionic robot; (3) enabling the robotic fish to have underwater three-dimensional motion capability so as to complete various underwater tasks; (4) adding information acquisition equipment so that the autonomous robotic fish has certain intelligence, and can independently complete the tasks under the condition of no interaction with people; (5) small in shape and low energy consumption enable the autonomous robotic fish can work for a long time with limited energy support. Bionic object is the first problem in the development of robotic fish. It is the key to the successful development of robotic fish to select the bionic object which has excellent motion ability and is easy to realize in engineering. In addition, at present, the means that the robot obtains the external information mainly depends on the camera, namely monocular vision, the influence of hardware equipment is large, and the visual field range is narrow, so how to enlarge the visual field range of the robotic fish is an urgent problem to be solved in the design of the autonomous robotic fish.
[05] In view of the above problems, the object of the invention is to provide an autonomous robotic fish that are capable of autonomous positioning, autonomous decision making, and easy for the function expansion and secondary development.
[06] In order to achieve the above purpose, the invention adopts the following technical schemes: the autonomous robotic fish comprises a sealed main cabin body, wherein two sides of the main cabin body are respectively connected with a pectoral fin made of hard wood material through a dynamic sealing device; the rear end part of the main cabin body is connected with a fan-shaped tail fin made of soft rubber material through an upper connecting rod and a lower connecting rod; an oil-sealed dynamic sealing structure is arranged between the upper connecting rod and the tail fin driving output end of the main cabin body; the main cabin body comprises an upper shell and a lower shell; the upper shell is fixedly connected with the lower shell in a sealing way, a sealing box is arranged in the upper shell, a control device and a communication module connected with an antenna are arranged in the sealing box, a camera rotating mechanism is arranged at the front part in the lower shell, a pair of left and right pectoral fin propulsion mechanisms which are symmetrically distributed are arranged at the middle part, and a tail fin propulsion mechanism is arranged at the rear part; a logic power supply is arranged; a power supply is arranged below the sealing box and above two steering engines of the pectoral fin propulsion mechanism; and a power supply module arranged in the sealing box is arranged on one side of the steering engine of the tail fin propulsion mechanism.
[07] The pectoral fin propulsion mechanism of the left pectoral fin and the right pectoral fin is of a symmetrical structure and comprises a steering engine bracket, wherein the steering engine bracket is fixed on the lower shell through screws; a steering engine of the pectoral fin propulsion mechanism is fixedly arranged on the steering engine bracket; output torque of the steering engine is transmitted to a large gear through a coupler; the large gear is meshed with a small gear; the small gear is fixedly arranged on an output shaft connected with a bearing seat through a bearing; the bearing seat is fixedly connected with a top cover through screws; the top cover is fixed on the lower shell; and the other end of the output shaft passes through the top cover and a flange cover which is tightly matched with the top cover and is respectively connected with the left and right pectoral fins.
[08] The gear ratio of the large gear to the small gear is 2: 1, and the rotation angle of the steering engine is 180 degrees.
[09] The tail fin propulsion mechanism of the fan-shaped tail fin comprises a steering engine, wherein the steering engine is arranged between a front bracket of the steering engine and a rear bracket of the steering engine; an output end of the steering engine transmits output torque to an output shaft through a coupler; the output shaft is sequentially connected with the fan-shaped tail fin through the dynamic sealing mechanism and an upper connecting rod; a driven output shaft connected with the lower shell is coaxially arranged with the output shaft; and the driven output shaft is connected with the fan-shaped tail fin through the lower connecting rod.
[010] The camera rotating mechanism comprises a pair of steering engine brackets fixed on the lower shell, a steering engine is arranged on the steering engine bracket, the output end of the steering engine is connected with a camera output shaft through a coupler, the camera output shaft is connected with the camera bracket, and the camera bracket is fixedly connected with a camera.
[011] The body of the autonomous robotic fish is provided with a streamline cube, and the front end and the rear end of the upper shell and the lower shell are both provided with circular-arc-shaped cube shape.
[012] Due to the adoption of the above technical scheme, the invention has the following advantages: 1, the invention takes the box fish as a design prototype, adopts a plurality of bionic propulsion modes, has a plurality of motion forms in the water environment, and can be freely switched, so that has good environmental adaptability; 2, the invention adopts a rotary camera to collect environmental information, has wider visual field range and can realize the functions of autonomous positioning, autonomous decision making and the like; 3, the left pectoral fin propulsion mechanism and the right pectoral fin propulsion mechanism are adopted, when the robotic fish is at rest, the pectoral fin swing wings are horizontally arranged at two sides, the forward and the backward are realized by the symmetrical swing of the pectoral fin swing wings with the same amplitude and frequency, the turning is realized by the asymmetrical swing, and the brake is realized by the vertical arrangement at the same time, therefore, small disturbance is caused to the water surface, and the robotic fish has a certain degree of concealment; 4, the invention adopts a tail fin propulsion mechanism, the pectoral fin swing wings are horizontally arranged at two sides, the forward and turning are realized by the swing of fan-shaped tail fin, which has high propulsion efficiency and good maneuverability performance; 5, the invention can realize the swimming by combining the pectoral fin and the fan-shaped tail fin, for example, the pectoral fin realizes the propulsion, the fan-shaped tail fin is used as a rudder to change the motion direction, or the pectoral fin forms a certain attack angle, and the propulsion is realized by the fan shaped tail fin to finish the ascending and diving motion, the various swimming gaits enable the robotic fish can choose different swimming gait according to the specific situation in the water environment, which further improves the adaptability of the robotic fish to the complex environment; 6, the invention adopts a rechargeable lithium battery with higher specific energy as a power supply and a logic power supply to supply power to a power source (a steering engine) and a control system (a control circuit board) respectively, thereby ensuring the stable operation of the system; 7, the invention adopts a special sealing box to seal the control board, thus avoiding the situation that the control board cannot be started stably due to the poor waterproof effect of the robotic fish body; 8, the invention has simple mechanical structure, comprehensive functions and good control effect, and realizes the underwater three dimensional complex motion of the robotic fish, therefore, the invention can be widely applied to the tasks of environmental monitoring, seabed exploration, salvage and rescue, military reconnaissance and the like.
[013] Figure 1 is a schematic view showing the overall structure of the invention.
[014] Figure 2 is an exploded view of the main cabin structure of the invention.
[015] Figure 3 is a schematic view of the pectoral fin propulsion mechanism of the invention.
[016] Figure 4 is a schematic view of a tail fin propulsion mechanism of the invention.
[017] Figure 5 is a schematic view of a camera rotation mechanism of the invention.
[018] The invention will now be described in detail with reference to the accompanying drawings and embodiments.
[019] As shown in Figure 1, the invention includes a sealed main cabin body 10, two sides of the main cabin body 10 are respectively connected with a pectoral fin 40 made of hardwood material through a dynamic sealing device 30, the rear end of the main cabin body 10 is connected with a fan-shaped tail fin 60 made of soft rubber material through an upper connecting rod 50 and a lower connecting rod 51, and an oil- sealed dynamic sealing structure 70 is arranged between the upper connecting rod 50 and the tail fin driving output end of the main cabin body 10.
[020] As shown in Figure 2, the main cabin body 10 of the invention includes an upper shell 11 and a lower shell 12, and the whole robotic fish body is designed into an approximately streamlined cube while the front and rear ends of the upper and lower shells 11, 12 are each provided in a circular-arc-shaped cube shape in order to reduce resistance. The upper shell 11 is fixed on the lower shell 12 through a0-shaped sealing ring thread, and the upper shell 11 and the lower shell 12 are sealed by straight ports. A sealing box 13 is provided in the upper shell 11, and a control device and a communication module connected to the antenna 14 are provided in the sealing box 13. A camera rotating mechanism 15 is arranged at the front part in the lower shell 12, a pair of left and right pectoral fin propulsion mechanisms 16 which are symmetrically distributed are arranged at the middle part of the lower shell 12, and a tail fin propulsion mechanism 17 is arranged at the rear part of the lower shell 12. In order to improve the use efficiency of the power supply equipment, a logic power supply 18 is arranged below the steering engine of the tail fin propulsion mechanism 17, and a power supply 19 is arranged below the sealing box 13 and above the steering engine of the two pectoral fin propulsion mechanisms 16. In order to save space and to conveniently use various power supply equipment, the power supply part in the control system is separately isolated to form a power supply module 20, and the power supply module is arranged on one side of the steering engine of the tail fin propulsion mechanism 17 and is separately sealed in a sealing box. The control system of the invention consists of a power module 20 and a control device in a sealing box 13.
[021] As shown in Figure 3, the pectoral fin propulsion mechanism 16 of the left pectoral fin 40 of the invention includes a steering engine bracket 41 fixed to the lower shell 12 by screws, and a steering engine 42 of the pectoral fin propulsion mechanism 16 is fixed to the steering engine bracket 41. The output torque of the steering engine 42 is transmitted to a large gear 44 through a coupling 43, the large gear 44 is meshed with a small gear 45, and the small gear 45 is fixedly arranged on an output shaft 47 connected with a bearing seat 46 through a bearing, thereby realizing the transmission of the output shaft 47. And the bearing seat 46 is fixedly connected with a top cover 48 through screws, the top cover 48 is fixed on the lower shell 12, and the other end of the output shaft 47 sequentially passes through the top cover 48 of the dynamic sealing device 30 and a flange cover 49 which is tightly matched with the top cover 48 and then is connected with the left pectoral fin 40, so that the moment of the steering engine 42 is transmitted to the pectoral fin 40. The pectoral fin propulsion mechanism 16 of the right pectoral fin 40 is the same structure as the pectoralfin propulsion mechanism 16 of the left pectoral fin 40, and each component is positioned corresponding to the left pectoral fin 40. Wherein the top cover 48 is filled with butter and the top cover 48 and the flange cover 49 constitute a dynamic sealing device 30.
[022] In the above embodiment, the ratio of the number of teeth of the large gear 44 and the small gear 45 is 2: 1, and the angle of rotation of the steering engine 42 is 180 degrees, so that the two pectoral fins 40 can be rotated by 360 degrees.
[023] As shown in Figure 4, the tail fin propulsion mechanism 17 of the fan shaped tail fin 60 of the invention includes a steering engine 61 disposed between a steering engine front bracket 62 and a steering engine rear bracket 63. The output end of the steering engine 61 transmits the output torque to an output shaft 65 through a coupling 64. After the output shaft 65 passes through the dynamic sealing mechanism (shown in Figure 1), the output shaft 65 is connected with the fan-shaped tail fin 60 through an upper connecting rod 50. A driven output shaft (not shown) connected with the lower shell 12 is coaxially arranged with the output shaft 65, and the driven output shaft is connected with the fan-shaped tail fin 60 through a lower connecting rod 51. When the steering engine 61 rotates, the torque is transmitted to the fan-shaped tail fin through the output shaft 65 through the coupling 64, so that the fan-shaped tail fin can swing at 90 degrees from left to right.
[024] As shown in Figure 5, in the above embodiment, the camera rotation mechanism 15 includes a pair of steering engine supports 151 fixed on the lower shell 12, the steering engine support 151 is provided with a steering engine 152, the output end of the steering engine 152 is connected with a camera output shaft 154 through a coupling 153, and the camera output shaft 154 is connected with a camera support 155 to drive the camera support 155 to rotate. The camera support 155 is fixedly connected with a camera 156, so that the camera 156 can rotate 90 degrees from left to right with the camera support 155.
[025] Although the invention has been described with reference to specific examples, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms, in keeping with the broad principles and the spirit of the invention described herein.
[026] The present invention and the described embodiments specifically include the best method known to the applicant of performing the invention. The present invention and the described preferred embodiments specifically include at least one feature that is industrially applicable
Claims (8)
1. The invention relates to an autonomous robotic fish, which is characterized by comprising a sealed main cabin body, wherein two sides of the main cabin body are respectively connected with a pectoral fin made of hardwood material through a dynamic sealing device; the rear end part of the main cabin body is connected with a fan-shaped tail fin made of soft rubber material through an upper connecting rod and a lower connecting rod; and an oil-sealed dynamic sealing structure is arranged between the upper connecting rod and the tail fin driving output end of the main cabin body.
The main cabin body comprises an upper shell and a lower shell, the upper shell is fixedly connected with the lower shell in a sealing way, a sealing box is arranged in the upper shell, a control device and a communication module connected with an antenna are arranged in the sealing box, a camera rotating mechanism is arranged at the front part in the lower shell, a pair of left and right pectoral fin propulsion mechanisms which are symmetrically distributed are arranged at the middle part, and a tail fin propulsion mechanism is arranged at the rear part; a logic power supply is arranged below the tail fin propulsion mechanism, and a power supply is arranged below the sealing box and above two steering engines of the pectoral fin propulsion mechanism, and a power supply module arranged in the sealing box is arranged on one side of the steering engine of the tail fin propulsion mechanism.
The pectoral fin propulsion mechanism of the left pectoral fin and the right pectoral fin is of a symmetrical structure and comprises a steering engine bracket, wherein the steering engine bracket is fixed on the lower shell through screws; a steering engine of the pectoral fin propulsion mechanism is fixedly arranged on the steering engine bracket; output torque of the steering engine is transmitted to a large gear through a coupler; the large gear is meshed with a small gear; the small gear is fixedly arranged on an output shaft connected with a bearing seat through a bearing; the bearing seat is fixedly connected with a top cover through screws; the top cover is fixed on the lower shell; and the other end of the output shaft passes through the top cover and a flange cover which is tightly matched with the top cover and is respectively connected with the left and right pectoral fins.
2. The autonomous robotic fish according to claim 1, is characterized in that the gear ratio of the large gear and the small gear is 2: 1, and the rotation angle of the steering engine is 180 degrees.
3. The autonomous robotic fish according to claim 1 or 2, is characterized in that the tail fin propulsion mechanism of the fan-shaped tail fin comprises a steering engine which is arranged between a front bracket of the steering engine and a rear bracket of the steering engine; the output end of the steering engine transmits output torque to an output shaft through a coupling; the output shaft is sequentially connected with the fan shaped tail fin through the dynamic sealing mechanism and an upper connecting rod; a driven output shaft connected with the lower shell is coaxially arranged with the output shaft; and the driven output shaft is connected with the fan-shaped tail fin through the lower connecting rod.
4. The autonomous robotic fish according to claim 1 or 2, is characterized in that the camera rotating mechanism comprises a pair of steering engine brackets fixed on the lower shell, the steering engine bracket is provided with a steering engine, the output end of the steering engine is connected with a camera output shaft through a coupler, the camera output shaft is connected with a camera bracket, and the camera bracket is fixedly connected with a camera.
5. The autonomous robotic fish according to claim 3, is characterized in that the camera rotating mechanism comprises a pair of steering engine brackets fixed on the lower shell, the steering engine bracket is provided with a steering engine, the output end of the steering engine is connected with a camera output shaft through a coupler, the camera output shaft is connected with a camera bracket, and the camera bracket is fixedly connected with a camera.
6. The autonomous robotic fish according to claim 1, is characterized in that the body of the autonomous robotic fish is provided with a streamline cube, and the front end and the rear end of the upper shell and the lower shell are both provided with an circular-arc-shaped cube shape.
7. The autonomous robotic fish according to claim 3, is characterized in that the body of the autonomous robotic fish is provided with a streamline cube, and the front end and the rear end of the upper shell and the lower shell are both provided with a circular-arc-shaped cube shape.
8. The autonomous robotic fish according to claim 4, is characterized in that the body of the autonomous robotic fish is provided with a streamline cube, and the front end and the rear end of the upper shell and the lower shell are both provided with a circular-arc-shaped cube shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2020103022A AU2020103022A4 (en) | 2020-10-27 | 2020-10-27 | Autonomous Robotic Fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2020103022A AU2020103022A4 (en) | 2020-10-27 | 2020-10-27 | Autonomous Robotic Fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2020103022A4 true AU2020103022A4 (en) | 2020-12-24 |
Family
ID=73838760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2020103022A Ceased AU2020103022A4 (en) | 2020-10-27 | 2020-10-27 | Autonomous Robotic Fish |
Country Status (1)
| Country | Link |
|---|---|
| AU (1) | AU2020103022A4 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113384854A (en) * | 2021-06-30 | 2021-09-14 | 深圳市白狐工业设计有限公司 | Underwater boosting device |
| CN114537629A (en) * | 2022-02-28 | 2022-05-27 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
| CN115042940A (en) * | 2022-03-24 | 2022-09-13 | 中国舰船研究设计中心 | Flapping type underwater robot driven by artificial muscle |
-
2020
- 2020-10-27 AU AU2020103022A patent/AU2020103022A4/en not_active Ceased
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113384854A (en) * | 2021-06-30 | 2021-09-14 | 深圳市白狐工业设计有限公司 | Underwater boosting device |
| CN114537629A (en) * | 2022-02-28 | 2022-05-27 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
| CN114537629B (en) * | 2022-02-28 | 2023-03-10 | 武汉大学 | Tail fin propulsion self-swimming bionic robot fish based on composite link mechanism |
| CN115042940A (en) * | 2022-03-24 | 2022-09-13 | 中国舰船研究设计中心 | Flapping type underwater robot driven by artificial muscle |
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|---|---|---|---|
| FGI | Letters patent sealed or granted (innovation patent) | ||
| MK22 | Patent ceased section 143a(d), or expired - non payment of renewal fee or expiry |