CN2628239Y - Bionic robot fish - Google Patents
Bionic robot fish Download PDFInfo
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- CN2628239Y CN2628239Y CN 03259442 CN03259442U CN2628239Y CN 2628239 Y CN2628239 Y CN 2628239Y CN 03259442 CN03259442 CN 03259442 CN 03259442 U CN03259442 U CN 03259442U CN 2628239 Y CN2628239 Y CN 2628239Y
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- fish
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- sink
- float
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Abstract
The utility model relates to bionic robot fish swimming in the water. Between the body and the tail, a flexible connection is arranged there; a sink-float mechanism, a wobble mechanism, an information perception mechanism, a controller and a power supply are arranged in the frame; the sink-float mechanism is positioned in the head of the fish; the sink-float is connected with the driving lead screw; the upper part of a pressed compact is sleeved with the lead screw; the lower part of the pressed compact press on the side of a water bag; the cavity of the water bag is connected with the outside by a catheter; with regard to the wobble mechanism, a wobble motor is connected with the crank and rocker mechanism of the driving four-bar linkage while the crank and rocker mechanism is connected with the extension bar and the external part of the extension is connected with the fins; two devices are arranged in the wobble mechanism symmetrically; the wobble mechanism comprise a wobble motor and a driving derived bar(the two are connected with each other); the external connection driver of the derived bar is fixed on the wobble connecting piece of the tail; the range sensor in the information perception mechanism is arrange on the front part of the head of the fish; the vision sensor is arranged on place where the eyes locate; the attitude sensor and the pressure sensor are arranged inside the body of the fish; the controller and the power supply are arranged inside the body of the fish, too.
Description
One, technical field
The utility model relates to bio-robot, especially a kind of fish-shape robot that can cruise in water.
Two, background technology
Existing all kinds of what is called " machine fish " (for example novel remote control multi-joint bionic machine fish described in the CN2476316Y), though it is more approaching with actual fish on appearance and modeling, but they are when underwater exercise, its motion feature is because there is very big gap in the influence of factors such as mechanism, sports coordination with actual fish, the obstacle avoidance in can not autonomous realization moving about, function such as sink-float in real time.
Three, summary of the invention
1, technical problem
The purpose of this utility model is to provide a kind of bionic machine fish that can imitate fish swimming in water fully.
2, technical scheme
Bionic machine fish of the present utility model is made up of shell and control section and drive division branch, it is characterized in that this bionic machine fish is made of fish shape shell and framework, sink-float mechanism, wabbler mechanism, swing mechanism, information perception mechanism, controller and power supply; Be flexible connection between fish body and the fish tail; Frame seal is in fish shape shell, and sink-float mechanism, wabbler mechanism, information perception mechanism, controller and power supply are installed in the framework; Sink-float mechanism places in the fish head, is connected by fish head sink-float motor to drive leading screw, and the top of briquetting is enclosed within and drives on the leading screw, and it is other that the bottom of briquetting is pressed in water bag (34), and the water bag inner chamber is communicated with by conduit with extraneous; Wabbler mechanism connect to drive the crank and rocker mechanism of four connecting rods by waving motor, and crank and rocker mechanism connects and drives extension bar, and the outer end of extension bar connects fin, this part be about each one be symmetrical arranged; Swing mechanism connects the driving export bar by the swing motor and forms, and the outer end connection of export bar drives the swing connector that is fixed on the fish tail; Range sensor in the information perception mechanism is located at the forefront of fish head, and vision sensor is located at the procephalic flake of fish position, and attitude transducer, pressure sensor are located in the fish body; Controller and power supply are located in the fish body.
Described fish tail part can be a joint, two joints or more piece more, is connected with the rear portion of fish body by the double rocking lever transmission mechanism between the joint.Fish head sink-float motor in the described sink-float mechanism links to each other with motor-drive circuit in the controller by feedback potentiometer again; Swing motor in the swing mechanism links to each other with motor-drive circuit in the controller by feedback potentiometer again.Described vision sensor is installed in a fish both sides, is the binocular miniature CCD camera.The described range sensor that is installed in a fish forefront position is a sonac.Described attitude transducer is the high accuracy gyroscope instrument, is installed in the detection storehouse at fish body position.Described pressure sensor is a fluid pressure sensor, is installed in equally in the detection storehouse at fish body position.Fish body hermetically-sealed construction can be made up of a body annular seal space and tail annular seal space.The tail annular seal space can be a joint, two joint or more pieces more.
Described controller comprises microprocessor, signal picker, signal adapter and motor-drive circuit, corresponding sensor links to each other with signal picker respectively, signal picker links to each other with microprocessor, microprocessor links to each other with motor-drive circuit by signal adapter again, and motor-drive circuit links to each other with corresponding motor; Power supply is from charged pool, links to each other with corresponding sensor, motor and controller respectively.
Fish body of the present utility model moves about as power by the swing of fish tail and tail fin, thereby this motion is to be rotated by the swing motor to drive the swing that the motion of double rocking lever transmission mechanism finally realizes fish tail and tail fin, makes the fish body move about freely.The balance of fish body is mainly come back rotation (promptly waving) by what wave that thereby crank and rocker mechanism motion that motor rotate to drive four connecting rods finally realizes fin, fin utilize waving of himself and when advancing current to the active force of fin, the waving of control fish body.Thereby the sink-float of fish body then drives the weight that volume that briquetting changes water bag changes the fish head by sink-float motor-driven leading screw and realizes.A series of sensors such as the vision of settling on the fish body, distance, attitude, pressure can the real-time perception ambient conditions, obtain environmental information; By what be installed on the fish body is that control core device and control corresponding software make above-mentioned various piece co-ordination with the microprocessor, and the simulation fish is three-dimensional swimming under water, functions such as the obstacle avoidance during autonomous realization is moved about, real-time sink-float.
3, beneficial effect
Bionic machine fish of the present utility model can imitate fish swimming fully in water, the cruising of the specific fish that can autonomous full imitation set, the motion of automobile and evade obstacle, functions such as sink-float automatically in real time, thereby the intellectuality that has realized bionic machine fish is moved about, and possesses the peculiar property of reduction drag of this fingerling and tail characteristic, propulsive efficiency on motion feature.
Four, description of drawings
Fig. 1 is the general structure schematic diagram of the utility model bionic machine fish.
Fig. 2 is the general structure vertical view of the utility model bionic machine fish.
Fig. 3 is the structural representation of the sink-float mechanism 3 of the utility model bionic machine fish.
Fig. 4 is the structural representation of fish body 11 parts of the utility model bionic machine fish.
Fig. 5 is the forward sight structural representation of the wabbler mechanism 4 of the utility model bionic machine fish among Fig. 4.
Fig. 6 is the structural representation of the controller 7 of the utility model bionic machine fish.
Fig. 7 is the motor-drive circuit schematic diagram (only provided the drive circuit of one of them motor among the figure, remaining is all identical) of the utility model bionic machine fish.
Fig. 8 is the control software flow pattern of the utility model bionic machine fish.
Fish shape shell 1, fish body 11 are arranged among the above figure, detect storehouse 10, fish tail 12; Framework 2; Sink-float mechanism 3, fish head sink-float motor 31, driving leading screw 32, briquetting 33, water bag 34, conduit 35, potentiometer 36; Wabbler mechanism 4, wave motor 41, crank and rocker mechanism 42, extension bar 43, fin 44; Swing mechanism 5, swing motor 51, export bar 52, swing connector 53, potentiometer 54; Information perception mechanism 6, range sensor 61, vision sensor 62, attitude transducer 63, pressure sensor 64; Controller 7; Power supply 8.
Five, the specific embodiment
Below in conjunction with example the utility model is described in detail:
As can be seen from the figure, bionic machine fish general structure of the present utility model mainly is made up of four parts:
The fish head has mainly been settled briquetting 33, driving leading screw 32, water bag 34 and some hot noses in the sink-float mechanism 3, is specially range sensor 61, vision sensor 62;
The fish body is equipped with controller 7 and power supply, fin waves the crank and rocker mechanism 42 of motor 41 and four connecting rods, fish head sink-float motor 31, fish tail swing motor 51 and export bar 52 double rocking lever transmission mechanisms, and some fish body sensors, be specially pressure sensor 64, attitude transducer 63, all be installed in this part, sensor is installed in and detects in the storehouse.
Main part is based on the cuboid external form, is enclosed within outside the main part with the shell 1 of light material, uses marine glue to be connected with the main part of rectangular configuration, the streamline profile of realization fish, the also profile of design voluntarily.Tail fin then can directly be made suitable shape with light material.
In Fig. 3, the sink-float mechanism 3 that is placed in fish head position is made up of fish head sink-float motor 31, leading screw 32, briquetting 33, water bag 34, potentiometer 36.Water bag 34 is by the member that can change volume, for example leather bag constitutes, (motor of present embodiment all adopts 12 volts of DC servo motors of the EN22-H12G58 of Canon type to motor during work, obtain rotation command down together), drive briquetting 33 extruding or loosen leather bag by leading screw 32, the leather bag inner chamber is in communication with the outside (stainless steel pipe that present embodiment adopts internal diameter 2mm) by internal diameter greater than the hard conduit 35 of 1.5mm, water can free in and out, and so just makes the weight (the especially weight of head) of whole bionic machine fish that change has taken place.Simultaneously, the number of turns that leading screw 32 rotates links to each other with counter mechanism by motor output shaft, and counter mechanism is the potentiometer 36 of gear or cog belt transmission (present embodiment is the cog belt transmission), links to each other with motor-drive circuit in the controller 7 by its holding wire again.By potentiometer 36 the rotation number of turns of leading screw 32 is fed back to motor-drive circuit, the real time position of record briquetting 33 is realized accurately control.Be to realize preferably the sink-float function, the water bag maximum volume of sink-float mechanism should be whole fish body displacement of volume 1/10th to 1/8th between, present embodiment is 1/10th.
The main cause that sink-float mechanism is placed in head is that the center of gravity of fish body is moved forward and backward.For the fish body, the point of resultant force of buoyancy is fixed, and through counterweight, can make the fish body remain on the equilbrium position, and when water tank becomes big, then head becomes heavy, and it is heavy that not only whole fish body can become, and fish body center of gravity also can move forward, but the sinking of fish tail swing accelerating fish.On the contrary, fish then floats.
The fish body is the main body of fish, most of structures all are positioned in fish body part, as shown in Figure 4, except the feedback device (counter mechanism for example same as above) of sink-float motor 31, fish tail swing motor 51 and correspondence, also comprise fin drives structure, power supply 8, controller 7 and fish body state-detection storehouse 10 etc., introduced the structure and the function of each major part below respectively.
1. fin structure, sealing and effect thereof
As shown in Figure 5, the concrete shape of fin 16 can be made according to user's needs.Two fins 44 are controlled by the left and right motor 41 that waves respectively, oscillate by the crank in the crank and rocker mechanism 42 of four connecting rods composition, drive the fin extension bar 43 of fixedlying connected with crank and come back rotation, the rotation of waving motor 41 has just become fin 44 (present embodiment is 37 degree) in the certain angle scope and has come back rotation.Because the power that fin 44 does not provide the fish body to advance, so load is less, the structure that adopts O type circle, sealing ring compressing tablet to be constituted to extension bar seals.The main effect of fin 44 is balances of control fish body.Utilize the swing of himself and when advancing current to the active force of fin, the waving of control fish body, the balance that fish shape emulated robot is moved about in water is better and more attitude arranged.
2. fish tail, tail fin structure and sealing thereof
The swing of fish tail realizes (motor 51 is by potentiometer 54 FEEDBACK CONTROL) by fish tail swing motor 51 by the double rocking lever transmission mechanism.The swing of fish tail is the same with the swing of tail fin, is the important moving component that power is provided for fish.Because be to move under water, sealing is the major issue of design.Conventional method is that fish integral body is encased with covering, and prop up covering with the more piece skeleton centre, but reaches requirement simultaneously because elasticity, toughness, sealing and the resistance to compression deformability of covering are very difficult usually, so material selects there is more problem very difficult the realization.The rotation that the utility model will be sealed in the swing motor 51 in the casing by double rocker mechanism is delivered to the rotation of non-sealed regions fish tail by the translation of export bar 52, the export bar of translation then use telescopic rubber on bar and casing, to fix respectively to link and sealing just passable, owing to do not need to guarantee profile, the junction does not have relative motion yet, so realize easily.Also can fill up soft pad when described hermetically-sealed construction is installed, and be coated with fluid sealant, to reach good sealing effectiveness at the place, composition surface.
According to the fish body profile or the actual needs that set, fish tail part can be a joint, two joints or more piece more, is connected with the next unit of fish body by the double rocking lever transmission mechanism between the joint.That is described double rocking lever transmission mechanism links to each other with swing connector on being fixed on fish body next unit.
The swing of tail fin is to swing motor 51 by the driving (swing motor 51 by potentiometer 54 FEEDBACK CONTROL) of 52 realizations of the export bar in the double rocking lever transmission mechanism to tail fin by tail fin, and the structure of other structure and last joint is identical, no longer describes in detail here.Tail fin is a joint normally, and its swing connector 53 directly is fixed on the tail fin.
3. power supply and counterweight
The present embodiment battery adopts jumbo Li battery, and multi-section serial reaches 24v, gives each circuit supply.Battery is not only the source of robot energy, also is relative heavier part, therefore, the center of gravity that can adopt the mode that changes the battery putting position to regulate the fish body, the whole fish body weight heart occupy fish body middle part when making balance.
4. sensor
Present embodiment has been installed range sensor 61, vision sensor 62 in fish head position, with the residing surrounding environment of perception fish body, in time evade obstacle; Pressure sensor 64 and attitude transducer 63 are installed in the detection storehouse 10 at fish body position so that sealing (detect the storehouse and can be arranged on the optional position of fish body, install and wiring as long as be convenient to), with the perception fish body depth of water of living in and self attitude.(the present embodiment range sensor adopts Echomax XRS-5 Transducer ultrasonic sensor, it is the KAI-0330D imageing sensor that vision sensor adopts binocular miniature CCD camera, concrete model, pressure sensor adopts the YX-PS-500 pressure sensor, and attitude transducer adopts the accurate gyroscope of IMU 400CA)
5. controller system
The whole control system is core with the controller.Described controller comprises that (microprocessor that present embodiment adopts is the PC104 industrial computer for microprocessor, electrical signal collection device, electric signal transducer, picture intelligence collector and motor-drive circuit; PC104 self contains the picture intelligence acquisition module, does not therefore need to be provided with separately the picture intelligence collector again; Electrical signal collection device and electric signal transducer then adopt DMM-16-AT type A/D-D/A card, and this integrated circuit board has been incorporated into both together).The corresponding sensor-signal line links to each other with signal picker respectively, signal picker links to each other with microprocessor again, and (wherein vision sensor directly links to each other with the image acquisition port of PC104 industrial computer, pressure, attitude, range sensor all link to each other by the input port of holding wire with DMM-16-AT type A/D-D/A card, the A/D-D/A card then directly is inserted in the PCI slot of microprocessor), microprocessor links to each other with motor-drive circuit by the delivery outlet of A/D-D/A card again, and motor-drive circuit links to each other with corresponding motor; Corresponding process software (software flow pattern as shown in Figure 8 in the embodiment) is housed in the microprocessor of controller, by gathering, analyze, handle the information that each sensor obtains, carry out the information fusion of multisensor, finish understanding to environment, self-position, attitude, to determine motor pattern, the final driving that realizes each function motor.The actual conditions that drive in conjunction with mechanical system adopt voltage to drive to motor in the present embodiment.At first, controller provides the voltage of representing the required turned position of motor to each motor-drive circuit, motor-drive circuit compares the voltage that this position voltage amount and feedback device feed back, rotate with regard to drive motors if both are inconsistent, till reaching control and requiring the position.Power supply is from charged pool, links to each other with corresponding sensor, motor and controller respectively.The power line of sensor, microprocessor, motor-drive circuit all links to each other with battery by flexible duct, and motor power-supply wire links to each other with motor-drive circuit by flexible duct.
The utility model is by the co-ordination of above various piece, the cruising of the specific fish that can autonomous full imitation set, the motion of automobile and evade obstacle, functions such as sink-float automatically in real time, thereby the intellectuality that has realized bionic machine fish is moved about, and possesses the peculiar property of reduction drag of this fingerling and tail characteristic, propulsive efficiency on motion feature.
Claims (7)
1, a kind of bionic machine fish, form by shell and control section and drive division branch, it is characterized in that this bionic machine fish is made of fish shape shell (1) and framework (2), sink-float mechanism (3), wabbler mechanism (4), swing mechanism (5), information perception mechanism (6), controller (7) and power supply; Be flexible connection between fish body (11) and the fish tail (12); Framework (2) is sealed in the fish shape shell (1), and sink-float mechanism (3), wabbler mechanism (5), information perception mechanism (6), controller (7) and power supply are installed in the framework (2); Sink-float mechanism (3) places in the fish head, connect driving leading screw (32) by fish head sink-float motor (31), the top of briquetting (33) is enclosed within and drives on the leading screw (32), and it is other that the bottom of briquetting (33) is pressed in water bag (34), and water bag (34) inner chamber is communicated with by conduit (35) with extraneous; Wabbler mechanism (4) connect to drive the crank and rocker mechanism (42) of four connecting rods by waving motor (41), and crank and rocker mechanism (42) connects and drives extension bar (43), and the outer end of extension bar (43) connects fin (44), this part be about each one be symmetrical arranged; Swing mechanism (5) connects driving export bar (52) by swing motor (51) and forms, and the outer end connection of export bar (52) drives the swing connector (53) that is fixed on the fish tail (12); Range sensor (61) in the information perception mechanism (6) is located at the forefront of fish head, and vision sensor (62) is located at the procephalic flake of fish position, and attitude transducer (63), pressure sensor (64) are located in the fish body (11); Controller (7) and power supply are located in the fish body (11).
2, bionic machine fish according to claim 1 is characterized in that described fish tail (12) part can be a joint, two joints or more piece more, is connected with the rear portion of fish body (11) by the double rocking lever transmission mechanism between the joint.
3, bionic machine fish according to claim 1 is characterized in that the fish head sink-float motor (31) in the described sink-float mechanism (3) links to each other with motor-drive circuit in the controller (7) by feedback potentiometer (36) again; Swing motor (51) in the swing mechanism (5) links to each other with motor-drive circuit in the controller (7) by feedback potentiometer (54) again.
4, bionic machine fish according to claim 1 is characterized in that described vision sensor (62) is installed in a fish both sides, is the binocular miniature CCD camera.
5, bionic machine fish according to claim 1 is characterized in that the described range sensor (61) that is installed in a fish forefront position is a sonac.
6, bionic machine fish according to claim 1 is characterized in that described attitude transducer (63) is the high accuracy gyroscope instrument, is installed in the detection storehouse (10) at fish body (11) position.
7, bionic machine fish according to claim 1 is characterized in that described pressure sensor (64) is a fluid pressure sensor, is installed in the detection storehouse (10) at fish body (11) position equally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03259442 CN2628239Y (en) | 2003-07-09 | 2003-07-09 | Bionic robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03259442 CN2628239Y (en) | 2003-07-09 | 2003-07-09 | Bionic robot fish |
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| CN2628239Y true CN2628239Y (en) | 2004-07-28 |
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| CN 03259442 Expired - Fee Related CN2628239Y (en) | 2003-07-09 | 2003-07-09 | Bionic robot fish |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100423987C (en) * | 2005-09-26 | 2008-10-08 | 中国科学院自动化研究所 | Bionic robot fish |
| CN100442185C (en) * | 2006-09-01 | 2008-12-10 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN100458625C (en) * | 2007-03-23 | 2009-02-04 | 北京大学 | Underwater bionic robot cooperated transportation method |
| CN101301926B (en) * | 2008-04-18 | 2010-10-06 | 哈尔滨工业大学 | Bionic robot fish having up-down movement module and tail module |
| CN101486377B (en) * | 2009-02-27 | 2010-11-03 | 北京航空航天大学 | Flexible pectoral fin swing type underwater bionic robot |
| CN101870109B (en) * | 2009-04-22 | 2011-10-19 | 中国科学院自动化研究所 | Fish swimming imitating robot movement control device and method |
| CN105292409A (en) * | 2015-10-09 | 2016-02-03 | 山东科技大学 | Multifunctional underwater moving device |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN106005317A (en) * | 2016-05-16 | 2016-10-12 | 浙江大学 | Automatic fish school chasing robot fish for fish school breeding industry and control method thereof |
| CN106143844A (en) * | 2016-07-12 | 2016-11-23 | 上海理工大学 | Chargeable machine fish |
| WO2016200092A1 (en) * | 2015-06-09 | 2016-12-15 | (주)아이로 | Fish robot |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN109383725A (en) * | 2018-11-30 | 2019-02-26 | 长安大学 | A kind of Magnetic driving machine fish |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| US20230067723A1 (en) * | 2021-09-01 | 2023-03-02 | X Development Llc | Calibration target for ultrasonic removal of ectoparasites from fish |
-
2003
- 2003-07-09 CN CN 03259442 patent/CN2628239Y/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100423987C (en) * | 2005-09-26 | 2008-10-08 | 中国科学院自动化研究所 | Bionic robot fish |
| CN100442185C (en) * | 2006-09-01 | 2008-12-10 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN100458625C (en) * | 2007-03-23 | 2009-02-04 | 北京大学 | Underwater bionic robot cooperated transportation method |
| CN101301926B (en) * | 2008-04-18 | 2010-10-06 | 哈尔滨工业大学 | Bionic robot fish having up-down movement module and tail module |
| CN101486377B (en) * | 2009-02-27 | 2010-11-03 | 北京航空航天大学 | Flexible pectoral fin swing type underwater bionic robot |
| CN101870109B (en) * | 2009-04-22 | 2011-10-19 | 中国科学院自动化研究所 | Fish swimming imitating robot movement control device and method |
| WO2016200092A1 (en) * | 2015-06-09 | 2016-12-15 | (주)아이로 | Fish robot |
| CN105292409A (en) * | 2015-10-09 | 2016-02-03 | 山东科技大学 | Multifunctional underwater moving device |
| CN106005317A (en) * | 2016-05-16 | 2016-10-12 | 浙江大学 | Automatic fish school chasing robot fish for fish school breeding industry and control method thereof |
| CN106005317B (en) * | 2016-05-16 | 2017-11-17 | 浙江大学 | Autonomous pursuit shoal of fish machine fish and its control method for shoal of fish aquaculture |
| CN106005336B (en) * | 2016-07-11 | 2018-06-05 | 大连海事大学 | Bionic machine fish |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN106143844A (en) * | 2016-07-12 | 2016-11-23 | 上海理工大学 | Chargeable machine fish |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN109383725A (en) * | 2018-11-30 | 2019-02-26 | 长安大学 | A kind of Magnetic driving machine fish |
| CN109383725B (en) * | 2018-11-30 | 2024-04-05 | 长安大学 | Magnetically driven robot fish |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| CN113277049B (en) * | 2021-06-25 | 2022-09-23 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| US20230067723A1 (en) * | 2021-09-01 | 2023-03-02 | X Development Llc | Calibration target for ultrasonic removal of ectoparasites from fish |
| US11700839B2 (en) * | 2021-09-01 | 2023-07-18 | X. Development | Calibration target for ultrasonic removal of ectoparasites from fish |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |