CN100519331C - Intelligent robot dolphin - Google Patents
Intelligent robot dolphin Download PDFInfo
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- CN100519331C CN100519331C CNB2005100642019A CN200510064201A CN100519331C CN 100519331 C CN100519331 C CN 100519331C CN B2005100642019 A CNB2005100642019 A CN B2005100642019A CN 200510064201 A CN200510064201 A CN 200510064201A CN 100519331 C CN100519331 C CN 100519331C
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Abstract
The invention relates to an intellectual machine dolphin, which is characterized in that it comprises the rigid dolphin head, the Al framework is set in the head, and the power supply equipment, the control equipment, the sensing equipment and the balance are set on the said framework; the elastic dolphin body is composed of the turning device, the back-belly propulsion device and the elastic soft piece; and the fin-imitating equipment comprises the fin equipment, the back fin equipment and the tail fin equipment. The invention through the control of the each DC serving electric machine successfully simulates the typical pendulum propulsion and pendulum turning movements and adjusts the scopes of the pendulums. The invention provides a platform for the water dynamics, the swimming mechanism, the resistance-reducing mechanism and the movement control of dolphin, and also provides the technological base for the research on the high-efficient, fast and invisible underwater propulsion machine.
Description
Technical field
The present invention relates to a kind of multi-articulation driving intelligent robot dolphin.
Background technology
Bionical under water field, dolphin is the performance more more remarkable than fish aspect the performance of moving about, drag reduction mechanism, sonar detection and man-machine interaction, and it is more suitable in the research object that becomes machine entrance, automatic guidance and artificial intelligence.Because fast reserve campaign and the experimental specimen (stable breeding dolphin and wild dolphin) of dolphin are difficult to obtain, and no matter are aspect movement mechanism, drag reduction mechanism or wisdom assessment, people also are in an elementary step to the understanding of dolphin.From the angle of engineering technology, if can utilize means such as existing mechanical, electronics, computing machine, control, develop bionic machine robot system---the robotic dolphin of imitation dolphin motion, will have great theory and practice meaning.On the one hand, the dolphin based on actual bionic system advances mechanism research will help to understand and disclose secret, drag reduction mechanism and the man-machine interaction mode that the dolphin High Performance is moved about; On the other hand, robotic dolphin is as a kind of later-model bionical Mechatronic Systems, compare with common underwater propeller, it has good manoevreability, alerting ability, disguise and high efficiency, has a good application prospect in the monitoring in dangerous, narrow, complicated underwater environment, detective, salvage and the maintenance activity.Simultaneously, robotic dolphin has exercise performance and the intelligence more superior than machine fish, has higher scientific and technological content and displaying degree, in the science popularization of aquarium, science and technology center and recreation good market outlook is arranged.
As the binding site of biology propelling mechanism and engineering technology, robotic dolphin is the multidisciplinary problem that comprises hydrodynamics control and Robotics.In the world, because many difficulties that robotic dolphin is developed, still be in the starting stage at the theory and technology research of robotic dolphin.Though relevant technology exploration was arranged, successfully do not realize the motion of back of the body abdomen formula and the athletic performance of representative type dolphin of robotic dolphin both at home and abroad as yet, need the further bionical dolphin of development, to fill up this blank.
Summary of the invention
At the problems referred to above, main purpose of the present invention provides the intelligent robot dolphin of a kind of energy realistic simulation dolphin representative type back of the body abdomen formula motion and turning motion.
For achieving the above object, the present invention takes following technical scheme: a kind of intelligent robot dolphin, it is characterized in that: it comprises rigidity dolphin head, is arranged on the aluminum skeleton in the described dolphin head, is arranged on supply unit, control setup, sensing device and clump weight on the described aluminum skeleton; The elasticity dolphin body of forming by turning mechanism, the back of the body abdomen formula propulsive mechanism and elastic soft, and the imitative fin apparatus of forming by fin limb mechanism, dorsal fin mechanism and tail fin; Described turning mechanism comprises 1～3 swinging joint, each described swinging joint comprises that a fixed mount, is installed in the swing span that motor and on the described fixed mount is connected described motor output end, the fixed mount in described first joint connects the aluminum skeleton afterbody in the described dolphin head, and the fixed mount in joint, described back connects the swing span in joint, front; Described back of the body abdomen formula propulsive mechanism comprises 3～6 swinging joint, each described swinging joint comprises a fixed mount, one is installed in the swing span that motor and on the described fixed mount is connected described motor output end, the fixed mount in described first joint connects last swing span of described turning mechanism, and motor output end direction of the mouth direction of motor and described turning mechanism differs 90 ° on it, the fixed mount in joint, described back connects the swing span in joint, front respectively, and the motor output end direction on described adjacent two joints differs 180 °, and the swing span in described last joint connects described tail fin by a caudal peduncle; Described elastic soft is made up of with the waterproof crust that is coated on described software skeleton outside the software skeleton that is connected on each joint, and described elastic soft is sealedly connected on the end of described dolphin head; Described fin limb mechanism is arranged on the left and right sides, middle and lower part of described dolphin head, and it comprises that stepping motor drives described fin limb and rotates and pat the transmission device of motion with being connected with described stepping motor.
Described software skeleton comprises elliptical ring that several are made according to the section size of biology dolphin and is connected to spring between each described elliptical ring in turn with fastener, coats described waterproof crust in the outside of each described elliptical ring.
Described software skeleton comprises that one is connected the fusiform deformed spring on each described joint, coats described waterproof crust in the outside of described fusiform deformed spring.
Drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.
Described sensor-based system comprises rang sensor, vision sensor, attitude sensor, pressure sensor and sensor signal processing module, the rang sensor of described sensing device is arranged on the forefront of described dolphin head, described vision sensor is arranged on the position of the anterior eyes of described dolphin head, and described attitude sensor and pressure sensor are arranged on the inner position near the bottom of described dolphin head.
Described control setup comprises a micro controller module, respectively with described micro controller module bonded assembly communication module, sensor information Fusion Module, controlled variable memory module, motor drive module, and is arranged on antenna on the described dolphin head.
Described supply unit is portable rechargeable battery set.
The present invention is owing to adopted above technical scheme, it has the following advantages: 1, the present invention is provided with the dolphin head of rigidity, elastomeric dolphin body and imitative fin limb mechanism, particularly in elasticity dolphin body, be provided with multi-joint flat bank mechanism and multi-joint back of the body abdomen formula propulsive mechanism, therefore can be by control to each DC servo motor, successfully simulate representative type dolphin multi-joint and swing up and down the motion that advances and swing two degree of freedom of turning, the present invention can also regulate hunting frequency and amplitude of fluctuation, makes technology displaying property and sight good especially.2, the present invention is by being fixed on each joint in strict accordance with the elliptical ring that the section size of biology dolphin is made, and the connection spring is formed the software skeleton between each elliptical ring, and the waterproof crust is set in software skeleton outside, make the present invention can simulate natural dolphin more realistically in shape, and in the process of moving about, can keep stable body, make discrete hunting motion level and smooth relatively, thereby reduce the hydrodynamics resistance, improve propulsion coefficient.3, the present invention since be provided with have stepping motor, the fin limb mechanism of transmission gear and backguy, therefore can realize the rotation of natural dolphin flipper and the motion of striking that the water surface is patted by to Stepping Motor Control.4, control setup of the present invention adopts modularization control, and each module is linked together, and utilizes the motion of intelligent control algorithm coordinate turn mechanism, back of the body abdomen formula propulsive mechanism and imitative fin apparatus, realizes the various compound movements of dolphin.One aspect of the present invention provides experiment porch for hydrodynamics, the mechanism of moving about, drag reduction mechanism and the motion control method of the motion of research dolphin; On the other hand, can be efficient, quick, the stealthy underwater propeller of development technical foundation is provided, and the robotic dolphin that can produce man-machine interaction is used for amusement or views and admires.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention
Fig. 2 is that the present invention is arranged on the aluminum skeleton scheme drawing in the dolphin head
Fig. 3 is the turning mechanism scheme drawing of actuating device of the present invention
Fig. 4 is the back of the body abdomen propulsive mechanism scheme drawing of actuating device of the present invention
Fig. 5 is a fin limb structural representation of the present invention
Fig. 6 is the schematic side view of Fig. 5
Fig. 7 is a dorsal fin structural representation of the present invention
Fig. 8 is a control setup structured flowchart of the present invention
The specific embodiment
Below according to preferred embodiment of the present invention, and conjunction with figs. is described further technical scheme of the present invention.
As shown in Figure 1, the present invention includes rigidity dolphin 10, elasticity dolphin body 20, imitative fin apparatus 30, supply unit 40, control setup 50, sensing device 60, turning mechanism 70, back of the body abdomen formula propulsive mechanism 80 and elastic soft 90.
As Fig. 1, Fig. 2, shown in Figure 3, the present invention adopts high alloy of light weight, intensity or glass-felt plastic or organism glass or high-quality pine engraving etc. to be made into the bionical dolphin of fleetline 10.Be to make and easy for installation, the structure of split or split left and right about dolphin 10 can be adopted, the two joint is provided with rubber packing material, and is tightly connected by screw 11 or other parts.Charge repeatedly and fault detection for the ease of the present invention, be reserved with the charging hole 12 and the hole 13 of leaking hunting on dolphin 10, the two is airtight at ordinary times, opens during operation.Connect an aluminum skeleton 14 at dolphin 10 internal fixation, supply unit 40, control setup 50, sensing device 60 and an equilibrate counterweight 15 are screwed respectively on aluminum skeleton 14.
As Fig. 2, Fig. 3, shown in Figure 4, dolphin body 20 of the present invention comprises turning mechanism 70, back of the body abdomen formula driver train 80 and elastic soft 90.
As shown in Figure 4, back of the body abdomen formula propulsive mechanism 80 comprises 3～6 joints, present embodiment is three joints, the joint of the composition in each joint and left and right sides turning mechanism is formed roughly the same, comprise 81,82,83, three swing spans 84,85,86 of three fixed mounts and be installed in DC servo motor C, D, E on three fixed mounts 81,82,83.The mouth of motor C, D, E connects the swing span 84,85,86 in each joint respectively on each joint, the fixed mount 82,83 on the joint, back, the swing span 84,85 in connection joint, front.What back of the body abdomen formula propulsive mechanism 80 and turning mechanism 70 were different is the connection mode in each joint, as shown in Figure 3, Figure 4, the first arthrodesis frame 81 is connected with turning mechanism 70 last swing span 74, but motor C mouth direction on the fixed mount 81 and the motor B mouth direction on the fixed mount 72 differ 90 °, motor D mouth direction on the second joint fixed mount 82 and the motor C mouth direction on the fixed mount 81 differ 180 °, and motor E mouth direction on the 3rd arthrodesis frame 83 and the motor D mouth direction on the fixed mount 82 differ 180 °.If three with upper joint, the rest may be inferred all differs 180 ° for the connection mode in its joint, back.What each motor C, D, the E of back of the body abdomen formula propulsive mechanism 80 rotated realization is the suitable swings of a plurality of joints of dolphin at vertical plane surface, and then simulates the antagonistic force that dolphin utilizes water, promotes whole health by the motion of back of the body abdomen formula and moves about forward.In the said structure, forward and reverse 180 ° connection structure of motor C, D, E is the luffing that occurs in order to reduce to swing up and down in the coordinated movement of various economic factors.
As Fig. 1, shown in Figure 3, elastic soft 90 is made up of with the waterproof crust 91 that is coated on software skeleton outside the software skeleton that is connected on each joint.Software skeleton of the present invention comprises that (elliptical ring 92 made in strict accordance with the profile features size of biology dolphin of C1～C12) for example, material can adopt the thick corrosion-resistant steel of 1.2mm for several.Be connected with spring 93 respectively on the upper and lower, left and right four direction of each elliptical ring 92 inboard, it is the steel wire coiling of 0.5～1.2mm that spring 93 adopts diameter, and is connected with each elliptical ring 92 with fastener 94.Undulatory waterproof crust 91 in that software skeleton outside coats can reduce the hydrodynamics resistance in the process of moving about, and waterproof crust 91 is selected water repellant nylon cloth or rubber or other material covering for use.The junction of elastic soft 90 and dolphin 10 is bonding or use the fastener sealed engagement with seccotine.In reality was implemented, the software skeleton also can directly substitute elliptical ring 92 and spring 93 with a fusiform deformed spring.
As shown in Figure 1, imitative fin apparatus 30 of the present invention mainly comprises fin limb mechanism 31 (pectoral fin mechanism), dorsal fin mechanism 32 and tail fin 33.As shown in Figure 4, tail fin 33 links to each other by caudal peduncle 87 last joint swing span 86 with back of the body abdomen formula propelling unit 80, does the sinusoid swing with swing span 86 in vertical plane surface.As Fig. 5, shown in Figure 6, fin limb mechanism 31 comprises the stepping motor 311 that is installed on the aluminum skeleton 14, be connected the driving gear 312 of motor 311 mouths, with driving gear 312 ingear driven gears 312 ', be connected the output shaft 313 at driven gear 312 ' center, and being connected fin limb 314 on the output shaft 313, the rotation of stepping motor 311 can drive fin limb 314 and rotate.At fin limb 314 side S1 place connection one stay cord 315 near dolphins 10, the other end of stay cord 315 passes the centre hole of output shaft 313, and pass follow the extension arm 316 that output shaft 313 rotates together after, be fixed on the S2 place on the pole 317.When the rotation of motor 311, can also drive fin limbs 314 by stay cord 315 and restrain back and forth, loosen, and then realize the arm stroke of fin limb like this toward dolphin 10 inboard.Fin limb mechanism can determine with reference to the external appearance characteristic of biological dolphin 31 concrete installation sites.Dynamic seal is adopted in being connected of fin limb mechanism 31 and dolphin 10, promptly adds one at water-sealed bearing 318 and contains oil box 319, is filled with lubricating oil in containing oil box 319.Fin limb mechanism 31 comprises left and right two fin limbs 314, therefore two cover identical mechanism can be set respectively by 311 controls of a stepping motor, also can be directly by the 311 whole controls of a motor.The control of fin limb structure 31 mainly is the rotation of control fin limb 314 and claps water, so the motion that realizes the dolphin complexity as roll, anxious stop etc., particularly in moving about at a high speed, fin limb mechanism 31 can also increase the stability of motion.
As Fig. 1, shown in Figure 7, dorsal fin mechanism 32 is installed in dolphin 10 top near dolphin body 20 places, and concrete installation site can be determined with reference to the external appearance characteristic of biological dolphin.Dorsal fin mechanism 32 comprises: with aluminum skeleton 14 bonded assembly carriages 321, be installed in the DC servo motor 322 on the carriage, be connected on motor 322 output shafts 323 lining 324 be connected 325 of dorsal fin.By the rotational angle of control motor 322, can control left-hand rotation, the right-hand rotation of dorsal fin.Dorsal fin mechanism 32 both can left-right rotation so that the centripetal force when turning to be provided, can not move yet, only play decoration function.
Supply unit 40 of the present invention is fixed on dolphin 10, the energy is provided for respectively stepping motor 311, control setup 50, the sensing device 60 of DC servo motor A, B, C, D, E and the fin limb mechanism 31 of turning mechanism 70 and back of the body abdomen formula propulsive mechanism 80.In order to improve the manoevreability of robotic dolphin, control setup 50 and drive motor are powered by portable power supply.Supply unit 40 of the present invention adopts the chargeable battery of low power density, high energy storage, promptly the Ni-MH battery group with 4.8V/4000mAh is control setup 50, DC servo motor A, B, C, D, E, 322 power supplies, and the high cumulative lithium cell that adopts 12V is one or two stepping motor 311 power supplies.Ni-MH battery group and lithium cell all leave charging plug outside charging causes dolphin 10 hole 12, in order to prevent short circuit, coat with sealing shroud at ordinary times, pull down during charging to get final product.
As shown in Figure 1, sensing device 60 of the present invention comprises rang sensor 61, vision sensor 62, attitude sensor 63, pressure sensor 64 and sensor signal processing module 65.Rang sensor 61 is located at the forefront of dolphin 10, and vision sensor 62 is located at the eye position of dolphin 10 front portion, and it is inner near bottom positions that attitude sensor 63 and pressure sensor 64 are located at dolphin 10.Sensing device 60 is responsible for various environmental information collections, the processing of robotic dolphin, and sensor signal processing module 65 is output as Based Intelligent Control abundant information generator is provided.
As Fig. 1, shown in Figure 8, control setup 50 of the present invention mainly comprises micro controller module 51, communication module 52, sensor information Fusion Module 53, controlled variable memory module 54 and motor drive module 55.In order to make control setup 50 can control moving about of robotic dolphin, dolphin 10 is provided with antenna 16, and antenna 16 is fixed near the dorsal fin 32, can obtain the good wireless electric signal.Sensor information Fusion Module 53 main being responsible for to screening, gather, as the input of Autonomous Control from the various information of sensing device 60 inputs.The main data exchanges of being responsible for of communication module 52 receive the control command of sending from upper computer or remote controller, and the sensory information of gathering are transferred to the control center of robotic dolphin outside.The control command that 51 combinations of micro controller module receive from communication module 52 and from the input of sensor information processing module 53 is extracted controlled variable through intelligent computing, provides the electric machine control order.Here, the basic controlled variable of moving about is stored in microcontroller E
2Among the PROM, can carry out real time modifying, refresh by wireless telecommunications.Motor drive module 55 comprises DC servo motor driver module 56 and step motor drive module 57.DC servo motor driver module 56 is converted into the controlled variable that receives the corner of each DC servo motor in real time, utilize PWM (pulse duration modulation) signal to realize the suitable swing of a plurality of motor A, B, C, D, E, thus back of the body abdomen formula motion and the turning of simulation dolphin in water.And step motor drive module 57 is converted into step size exactly with the controlled variable that receives, the rotation of simulation fin limb 314 and bat water.Utilize the motion of intelligent control algorithm coordinate turn mechanism 70, back of the body abdomen formula propulsive mechanism 80 and imitative fin apparatus 30, and then can realize the various compound movements of robotic dolphin.The speed control 58 of moving about of robotic dolphin can be regulated by the hunting frequency and the amplitude of fluctuation that change back of the body abdomen formula propulsive mechanism 80, and its sense of motion control 59 can realize by the attitude of moving about that the different joint side-play amount of turning mechanism 70 stacks of swing is to the left and right adjusted robotic dolphin by force.
According to the said structure explanation, the applicant is a prototype with the white dolphin of the China that is described as " national treasure ", makes the robotic dolphin of 550mm * 70mm * 80mm.This robotic dolphin model has the bionical dolphin head of stream line pattern of glass casting split left and right, connects turning mechanism and back of the body abdomen formula propulsive mechanism with the aluminum skeleton, supports elastic soft outward.The 90 series A VR single chip computer AT mega162 that micro controller has selected for use atmel corp to release drive DC servo motor and stepping motor respectively with two ATmega162, with the frequency realization wireless remote control of 433MHz.The minitype digital FUTUBA motor-driven that volume is little, rotating speed is fast, moment of torsion is big is all adopted in each joint, and stepping motor is selected the bigger 24BYJ48 of moment of torsion for use.The highest trip scooter 0.45m/s of robotic dolphin, minimum turning radius is about 0.5m, and the highest turning speed is 120 °/s.By remote controller pattern or automatic control mode, robotic dolphin can realize realistically that dolphin representative type back of the body abdomen formula advances and basic turning motion.
The present invention is not subjected to the restriction of above each embodiment, and those skilled in the art all should be included within protection scope of the present invention without part replacement and improvement that creative work just can draw.
Claims (13)
1, a kind of intelligent robot dolphin is characterized in that: it comprises rigidity dolphin head, is arranged on the aluminum skeleton in the described dolphin head, is arranged on supply unit, control setup, sensing device and clump weight on the described aluminum skeleton; The elasticity dolphin body of forming by turning mechanism, the back of the body abdomen formula propulsive mechanism and elastic soft, and the imitative fin apparatus of forming by fin limb mechanism, dorsal fin mechanism and tail fin;
Described turning mechanism comprises 1～3 turning mechanism swinging joint, each described turning mechanism swinging joint comprises that a fixed mount, is installed in the swing span that turning mechanism motor and on the described fixed mount is connected described turning mechanism motor output end, the fixed mount in described turning mechanism first joint connects the aluminum skeleton afterbody in the described dolphin head, and the fixed mount in joint, described turning mechanism back connects the swing span in joint, described turning mechanism front;
Described back of the body abdomen formula propulsive mechanism comprises 3～6 propulsive mechanism swinging joint, each described propulsive mechanism swinging joint comprises a fixed mount, one is installed in the swing span that propulsive mechanism motor and on the described fixed mount is connected described propulsive mechanism motor output end, the fixed mount in described propulsive mechanism first joint connects last swing span of described turning mechanism, and mouth direction of propulsive mechanism motor and described turning mechanism motor output end direction differ 90 ° on it, the fixed mount in joint, described propulsive mechanism back connects the swing span in joint, described propulsive mechanism front respectively, and the propulsive mechanism motor output end direction on described adjacent two joints differs 180 °, and the swing span in described last propulsive mechanism joint connects described tail fin by a caudal peduncle;
Described elastic soft is made up of with the waterproof crust that is coated on described software skeleton outside the software skeleton that is connected on each joint, and described elastic soft is sealedly connected on the end of described dolphin head;
Described fin limb mechanism is arranged on the left and right sides, middle and lower part of described dolphin head, and it comprises that stepping motor drives described fin limb and rotates and pat the transmission device of motion with being connected with described stepping motor.
2, intelligent robot dolphin as claimed in claim 1, it is characterized in that: described software skeleton comprises the spring on elliptical ring that 8 or 12 make according to the section size of biology dolphin and the upper and lower, left and right four direction that is connected to each described elliptical ring inboard with fastener in turn, coats described waterproof crust in the outside of each described elliptical ring.
3, intelligent robot dolphin as claimed in claim 1 is characterized in that: described software skeleton comprises that one is connected the fusiform deformed spring on each described joint, coats described waterproof crust in the outside of described fusiform deformed spring.
4, intelligent robot dolphin as claimed in claim 1, it is characterized in that: drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.
5, intelligent robot dolphin as claimed in claim 2, it is characterized in that: drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.
6, intelligent robot dolphin as claimed in claim 3, it is characterized in that: drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.
7, as claim 1 or 2 or 3 or 4 or 5 or 6 described intelligent robot dolphins, it is characterized in that: described sensor-based system comprises rang sensor, vision sensor, attitude sensor, pressure sensor and sensor signal processing module, the rang sensor of described sensing device is arranged on the forefront of described dolphin head, described vision sensor is arranged on the position of the anterior eyes of described dolphin head, and described attitude sensor and pressure sensor are arranged on the inner position near the bottom of described dolphin head.
8, as claim 1 or 2 or 3 or 4 or 5 or 6 described intelligent robot dolphins, it is characterized in that: described control setup comprises a micro controller module, respectively with described micro controller module bonded assembly communication module, sensor information Fusion Module, controlled variable memory module, motor drive module, and be arranged on antenna on the described dolphin head.
9, intelligent robot dolphin as claimed in claim 7, it is characterized in that: described control setup comprises a micro controller module, respectively with described micro controller module bonded assembly communication module, sensor information Fusion Module, controlled variable memory module, motor drive module, and be arranged on antenna on the described dolphin head.
10, as claim 1 or 2 or 3 or 4 or 5 or 6 described intelligent robot dolphins, it is characterized in that: described supply unit is portable rechargeable battery set.
11, intelligent robot dolphin as claimed in claim 7 is characterized in that: described supply unit is portable rechargeable battery set.
12, intelligent robot dolphin as claimed in claim 8 is characterized in that: described supply unit is portable rechargeable battery set.
13, intelligent robot dolphin as claimed in claim 9 is characterized in that: described supply unit is portable rechargeable battery set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100642019A CN100519331C (en) | 2005-04-12 | 2005-04-12 | Intelligent robot dolphin |
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| CNB2005100642019A CN100519331C (en) | 2005-04-12 | 2005-04-12 | Intelligent robot dolphin |
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| CN100519331C true CN100519331C (en) | 2009-07-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202017106352U1 (en) | 2017-10-20 | 2017-10-25 | Geomar Helmholtz-Zentrum Für Ozeanforschung Kiel | buoy |
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| CN1663881A (en) | 2005-09-07 |
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