JP2006326054A - Fish robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fish robot, having a simple floating/sinking control mechanism for retaining a fixed or almost fixed water depth and facilitating its control. <P>SOLUTION: When surrounding water is fed to a tank 61, in which air is sealed by an attachment pump 63, a water depth detection value Dt by a water depth sensor which detects the water depth of the fish robot, constituted to sink is smaller than a target water depth Ds and the sinking velocity B, is less than a set value Vs, the pump 63 under the rest is controlled to start or the pump 63 under the operation is controlled to successively operate; whereas, when the water depth detection value Dt is smaller than the target water depth Ds and the sinking velocity B is the set value Vs or larger, or the water depth detection value Dt is the target water depth Ds or larger, the pump 63 under the operation is controlled to stop or the pump 63 under the rest is controlled to rest successively. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention has a fish-like appearance and is covered with an integral or substantially integral rubber-like elastic skin, and a built-in drive mechanism swings the back of the trunk including the tail fin, thereby swimming in the water. The present invention relates to a fish robot that is configured to be able to perform a simple and easy control of a rise and fall control mechanism.

  Conventionally, various artificial fish or fish robots have been proposed, some of which have been put into practical use. As a mechanism for controlling the rise and fall of the fish robot, a tank that contains air and a pump that changes the apparent specific gravity of the entire fish robot by supplying and discharging water to the tank has been proposed so that it acts like a natural fish float. Yes (for example, see Patent Documents 1 to 3).

  In more detail, each of Patent Document 1 includes a water supply / drainage circuit including a pipe and a water supply / drainage valve, and a buoyancy control device for controlling the same, in addition to the tank and pump, and the water around the fish robot. The fish robot has either the water supply valve opened and the drain valve closed or the water supply valve closed and the drain valve opened by the buoyancy control device. When the pump is driven in this state, water is supplied to and drained from the tank and floats and sinks. Although the expressions are different, Patent Document 2 also describes a substantially similar configuration. Also, Patent Document 3 describes that two sets of front and rear tanks and pumps are built in, although details are not clear.

However, as described above, the conventional fish robot has a complicated water supply / drainage circuit of the rise / sink control mechanism, and it is necessary to switch between opening and closing of the valve so that the water path is different between the water supply to the tank and the water discharged from the tank. In addition to the cumbersome operation, there is a problem that the volume occupied by the floating / sink control mechanism is so large that it cannot be neglected by a narrow fish robot. In addition, not only the case that tightly houses the drive mechanism, etc. in the fish robot, but also a rigid body such as a tank, air is confined (remains) on the outside of the fish robot. Since the volume changes due to the change and the change in water temperature, and the apparent specific gravity of the fish robot changes accordingly, the following problems arise.

Even if the amount of water in the tank is adjusted by water supply and drainage to keep the fish robot at the same depth, and the apparent specific gravity of the fish robot is the same as that of the water, for example, if the water temperature changes, the volume of the remaining air will change. The robot rises or sinks. Once the water temperature rises and begins to rise, the volume of the remaining air in the fish robot gradually increases due to the decrease in water depth and water pressure, and the apparent specific gravity of the fish robot gradually decreases (the air in the tank (The apparent specific gravity of the tank is constant even if the temperature changes because it is cut off from water.) That is, once it begins to surface, the water depth and water pressure are gradually reduced, and the speed is increased. On the other hand, once the temperature drops and begins to settle, it settles with increasing speed. This shows not only the change in water temperature but also the same effect as described above even if the fish robot floats slightly or sinks depending on the movement.

In such a case, the buoyancy control device opens (or closes) the water supply valve and closes the drain valve as described above based on the water depth and water pressure detected by the water depth sensor in order to keep the fish robot at the same water depth. (Or open), it is necessary to start (or stop) the pump, but depending on the control, if you think that the fish robot has surfaced greatly, then it will sink greatly, so that it will wave greatly up and down There is a problem that it vibrates more vigorously.

  Natural fish lowers its head and sinks, and its head rises and rises, while a fish robot, for example, floats and sinks with its front and rear approximately horizontal, or raises its head and sinks or lowers its head There is a problem that it behaves like an unnatural feeling.

  However, the remaining air trapped in the outer skin of the fish robot is helpful in reducing the apparent specific gravity of the fish robot to be equal to water corresponding to the drive mechanism and other high specific gravity portions. Therefore, as the residual air is reduced, the apparent specific gravity of the fish robot increases, so how to reduce the apparent specific gravity is another problem.

Japanese Patent Application Laid-Open No. 11-152085 JP 2002-137791 A Japanese Patent Application Laid-Open No. 2002-136776

  In view of the above, in order to eliminate the above-described drawbacks of the prior art, the present invention provides a fish robot that has a simple ups and downs control mechanism for keeping the water depth constant or substantially constant and that can be easily controlled. is there.

In order to achieve the above object, the kite robot according to the first aspect of the present invention is covered with an integral or substantially united rubber-like elastic skin whose appearance is formed in a fish shape, and at least the underwater movement of the caudal fin is underwater. A fish robot configured to sink by surrounding water being sent by a pump attached to a tank in which air is sealed,
The tank is set so that the fish robot can float underwater even when the pressure of the air sealed in the tank is higher than the surrounding water pressure,
Moreover, if the water depth detection value by the water depth sensor that detects the water depth of the fish robot is smaller than the target water depth and the sedimentation speed is less than the set value, the stopped pump is started or the operating pump is continuously operated. On the other hand, if the water depth detection value by the water depth sensor is smaller than the target water depth and the sedimentation speed is not less than a set value, or if the water depth detection value by the water depth sensor is not less than the target water depth, the pump in operation Is stopped, or the stopped pump is controlled to be stopped.

According to a second aspect of the present invention, the fish robot is covered with a skin of an integral or substantially integral rubber-like elastic body having a fish-like appearance, and swims in the water by at least the swaying of the caudal fin, and the air is sealed. A fish robot configured to sink when surrounding water is sent by a pump attached to the tank,
The tank is set so that the fish robot can float underwater even when the pressure of the air sealed in the tank is higher than the surrounding water pressure,
Moreover, if the water depth detection value by the water depth sensor for detecting the water depth of the fish robot is smaller than the target water depth, it is controlled that the stopped pump is started or the operating pump is continuously operated, while the water depth by the water depth sensor is controlled. If the detected value is equal to or greater than the target water depth, the pump being operated is stopped or the pump being stopped is controlled to be stopped.

According to a third aspect of the invention, in addition to the configuration of the first or second aspect of the invention, the pump is configured to be rotatable in either the forward or reverse direction.

According to a fourth aspect of the invention, in addition to the configuration of the third aspect of the invention, the pump is a gear type.

According to a fifth aspect of the invention, in addition to the configuration of any of the first to fourth aspects of the invention, the tank or the tank group is arranged such that its center of gravity is located on or near a vertical line passing through the center of gravity of the fish robot. In addition, the water supply / drainage entrance to the tank is disposed so that the center of gravity is located on the lower surface of the fish robot and in front of the center of gravity of the tank.

   According to the first aspect of the present invention, the ups and downs control mechanism has a very simple structure, and can be arbitrarily selected as long as not only the fish robot is allowed to swim substantially horizontally but also the target water depth is set without switching valves or the like. It can be easily settled or levitated to the depth of water. Further, if the pumps 63 and 63 are continuously operated at the time of sedimentation, the apparent specific gravity of the fish robot is greatly reduced, and it is possible to suppress the sedimentation speed from being significantly increased, and to gently sediment it. In addition to the air sealed in the tank, even if there is residual air in the fish robot and the water temperature may change, the above effect is not impaired. The tank volume is reduced accordingly. When the pumps 63 stop for some other reason, the water in the tank 61 leaks out and the fish robot floats on the water surface even if it is left, so that the subsequent treatment is easy.

According to the second aspect of the present invention, there is no means for gently sinking the fish robot, but there is substantially the same effect as that of the first aspect of the invention.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, it is possible to increase the ascent speed by rotating the pump in the reverse direction.

According to the invention of claim 4, in addition to the effect of any of the inventions of claim 3, the structure is simple and inexpensive, and is optimal for the object of the present invention.

According to the invention of claim 5, in addition to the effect of any of the inventions of claims 1 to 4, when sinking, the surrounding water is sucked upward into the tank from the entrance before the center of gravity of the fish robot, The reaction lowers the head, and on the other hand, the fish robot behaves like a natural fish, such as when the ascending water is pushed downward from the entrance in front of the center of gravity of the fish robot, the head rises due to the reaction.

  The entire fish robot relating to the best mode for carrying out the present invention will be described with reference to FIG. 2 first. Reference numeral 10 denotes an outer portion, which is made of a hollow rubber-like elastic body, and has a shape, pattern, color, It is built to resemble the natural fish as much as possible until tactile sensation, and has a built-in working part (described later) that activates it to resemble the natural fish. Reference numeral 20 denotes a front portion of the outer portion 10, and a front end is provided with a mouth drive unit 80 for opening and closing the mouth in the vertical direction. Reference numeral 30 denotes a middle part of the body that contains most of the operating part, and a rear part and a caudal part that can swing in the horizontal direction as will be described later.

  Next, an ups and downs control mechanism 60 for controlling the ups and downs of the fish robot will be described with reference to FIGS. 61 is a water tank for ups and downs disposed in the middle part 30 of the trunk, 62 is an oscillating body drive control unit including control of the ups and downs disposed behind it, and includes a servo motor, a control unit, etc. (all not shown). It is stored watertight. 63 and 63 are gear pumps that are arranged on both the left and right sides of the water pump 61 to feed water into and out of the water tank 61, and 65 and 65 are water pumps into the water tank 61. The water inlet / outlet L, L provided on the lower surface of the outer portion 10 is connected to the water inlet / outlet 65 65 via the gear pump 63 63 so that the water is discharged therefrom. It is a piping line. In addition, a storage battery for supplying electric power to the oscillator drive control unit 62 and the like is incorporated (not shown). The gear pumps 62 and 63 can rotate in either the forward or reverse direction.

The position of the tank 61 and the water inlet / outlet ports 65 and 65 will be described. The gravity center Gt of the tank 61 and the gravity center Gr of the fish robot are on or near the vertical plane perpendicular to the longitudinal direction, and water supply / drainage to the tank 61 is performed. Are located in front of the vertical plane perpendicular to the longitudinal direction, including the lower surface of the fish robot and the center of gravity Gt of the tank 61.

Next, 67 is a water depth sensor provided in the outer portion 10, and 68 is an A / D converter that converts an analog signal detected by the water depth sensor 67 into a digital signal and sends it to the control unit 62. In FIG. 2, two systems of pump 63 and piping line L are provided symmetrically with respect to one floating and sinking water tank 61 due to arrangement restrictions, and the two pumps 63 and 63 are controlled to start and stop simultaneously. However, the present invention is not limited to this, and one system may be used. In some cases, at least one system pump and piping line are combined in each of the two front and rear water tanks, and the front and rear pumps may be combined simultaneously or separately. It may be controlled to start or stop.

The ups and downs control mechanism 60 is configured to operate as follows. That is, the tank 61 is set so that the fish robot can float in the water even when the pressure of the air sealed in the tank 61 is higher than the surrounding water pressure, and the water depth for detecting the water depth of the fish robot is set. If the water depth detection value by the sensor 67 is smaller than the target water depth (for example, 1 meter water depth) and the sedimentation speed is less than the set value, the stopped pumps 63 and 63 are started by the oscillator drive control unit 62 or The operating pumps 63 and 63 are controlled so as to continue to operate. On the other hand, even if the water depth detection value by the water depth sensor 67 is smaller than the target water depth, if the settling speed is not less than the set value, or if the water depth detection value by the water depth sensor 67 is not less than the target water depth, the oscillator drive control is performed. It is controlled by the unit 62 that the operating pumps 63 and 63 are stopped or the stopped pumps are continuously stopped.

Here, a swinging mechanism for swinging the rear part 40 and the tail part 50 will be briefly described. First, in the body rear portion 40, a symmetric conductor 71 that is symmetric to the oscillating body drive control unit 62 and a symmetric conductor 72 that is also symmetric to the oscillating conductor 71 are provided on the vertical symmetry plane and forward, respectively. By being connected in series via the arranged pins P, P, it is configured to be rotatable in the left-right direction around it. A caudal part moving body 51 for moving the caudal part 50 is integrally coupled to the rear end of the rocking conductor 72. In addition, the rocking body 71 and the rocking body 72 can swing left and right with respect to the rocking body drive control unit 62 and the rocking body 71, respectively. It is composed of isosceles sides sandwiching one obtuse angle.

Reference numeral 75 denotes a linear chain that extends in the front-rear direction and can bend and stretch. When the reciprocating motion is performed in the front-rear direction, the rear rocking body 72 is pulled or pushed to cause the rear rocker 72 to move on the axis P. The front end of the oscillating body 72 or one side of the symmetry plane (right side facing the front in the figure) is pivotally attached to the rear end of the linear chain 75 so as to rotate around the rear end of the linear chain 75. It should be noted that the swing mechanism of the rear trunk portion 40 and the caudal fin portion 50 is an example, and the present invention is not limited to this as long as it does not impair the action and effect of the fish robot's ups and downs control mechanism 60. .

The operation of the torso rear part 50 will be briefly described. For example, the fish robot does not bend in either the left or right direction, and is pulled or pushed by the linear chain 75 from a straight state, so that the rear rocker When 72 rotates left and right, the left and right sides of its front end alternately advance and retreat and rotate. When either one side of the rocking body 72 moves forward, the rear end of the rocking body 71 in front of the rocking body 72 abuts on the same side and pushes it. As a result, the rocking body 71 and the Owase oscillating body 51 are also rotated in the same direction. That is, the two swinging bodies 71 and 72 (including the Owase swaying body 51) can be swung by one drive mechanism, and it is not particularly necessary to balance the both, and the drive control system is simplified accordingly.

  The operation of the subject floating / sink control mechanism 60 will be described. As shown in FIG. 3, when the switch is turned on, the operation is started (S01), and if the target water depth Ds is set (S02), the water depth sensor 67 detects (S03) and the detected water depth Dt ( It is determined whether (water pressure) is equal to or greater than the target water depth Ds (S04). For example, if the fish robot is floating on the water surface, the determination is NO. Furthermore, it is first determined whether the fish robot is sinking or not (R04), but again NO, and since the pumps 63 and 63 are initially stopped (R05), the pumps 63 and 63 are turned on. It is activated (R06). Along with this, water is taken in from the water inlet / outlet ports 65, 65 and sent to the tank 61 (R08), and the air enclosed in it is compressed and its volume is reduced. This increases the apparent specific gravity of the fish robot.

  Since it has just started, the target water depth maintenance is YES (S09), the water depth Dt is detected again (S03), and it is determined whether the fish robot is submerging (S04). A determination is made as to whether it is equal to or greater than the target water depth Ds (R04). If the target water depth Ds has not yet been reached, the pumps 63 and 63 that are in operation (R05) continue to operate (R07), and the air in the tank 61 is further compressed. By repeating the same operation thereafter, the fish robot has an apparent specific gravity higher than that of water and starts to settle. At this time, the tank 61 needs to be designed so that the air pressure in the tank 61 becomes larger than the water pressure at the bottom of the water tank, for example, by compression.

Further, when the settling velocity obtained by the calculation of the control unit 62 becomes equal to or higher than the set value Vs (R04) and the pumps 63 and 63 are in operation, they are stopped (S05 and S07). However, while the pumps 63 and 63 are stopped, the air pressure in the tank 61 is higher than the water pressure based on the water depth as described above, so that the water in the tank 61 passes through the gaps between the pipe lines L and L and the gear pumps 63 and 63. Then, the water leaks from the water outlets 65 and 65 (S08). Along with this, the air in the tank 61 expands and the apparent specific gravity of the fish robot starts to decrease, but the fish robot continues to sink while the apparent specific gravity is greater than the water. Returning to the determination (R04) during this time, if the sedimentation speed is equal to or higher than the set value Vs (R05), the pumps 63 and 63 are stopped as they are (R06), but if the sedimentation speed is less than the set value Vs. For example, the pumps 63 and 63 are restarted, and the fish robot continues to sink in either case.

The fish robot settles as described above, but until it is determined that the detected water depth Dt (water pressure) is equal to or greater than the target water depth Ds (S04), the pumps 63 and 63 are settling velocity. Is stopped if it is greater than or equal to the set value Vs (S05, S06), and if it is less than the set value Vs, it is operated (R05 to R07), while the fish robot continues to sink. When the water depth Dt reaches the target water depth Ds, the pumps 63 and 63 are stopped (S05 to S07).

However, when the pumps 63 and 63 are further stopped (S06), water leakage from the tank 61 continues, the fish robot rises, and the water depth Dt becomes equal to or less than the target water depth Ds (S04). Then, since the pumps 63 and 63 are restarted and water is again sent into the tank 61, the enclosed air is compressed, the fish robot increases in apparent specific gravity (R08), starts to sink, and again reaches the water depth. Dt approaches the target water depth Ds (S04). As described above, by repeating the water depth determination and the start and stop of the pumps 63 and 63, the fish robot swims substantially horizontally across the target water depth Ds while slightly swinging in the vertical direction.

  If it is necessary to change the target water depth for the above fish robot sinking and subsequent horizontal swimming, set the target water depth to NO (SO9), set the continuation of operation (SO10) to YES, and set the new target water depth. What is necessary is just to set (S03). In the case of stopping the operation, if the operation continuation (SO10) is set to NO, the switch is turned off (S11), and the pumps 63 and 63 are of course stopped, so that the water in the tank 61 leaks and the fish robot appears to be apparent. As specific gravity decreases, it rises to the surface. Furthermore, when the pumps 63 and 63 are stopped for some reason, the water in the tank 61 leaks out and the fish robot floats on the water surface even if it is left alone, so that the subsequent treatment is easy.

This ups and downs control mechanism can cope with a change in water temperature without any problem. That is, for example, as the water temperature rises, the enclosed air expands, the apparent specific gravity decreases, the fish robot rises, and if it deviates from the target water depth Ds, the pumps 63 and 63 are operated, and the water is supplied to the tank 61. The apparent specific gravity increases, sinks and tries to return. On the other hand, if the water temperature drops, the fish robot sinks, the pump 63, 63 continues to stop when it deviates from the target water depth Ds, water leaks from the tank 61, and the fish robot has an apparent specific gravity lower than that of water. Ascend and try to return. Therefore, it is possible to leave air inside, and the tank volume may be small. In order to further increase the ascent speed, it is only necessary to reversely rotate the pumps 63, 63. In contrast, the gear pump can rotate in either the forward or reverse direction, and is optimal. Of course, pawls for preventing excessive draining of the water in the tank 61 are necessary.

  As described above, this ups and downs control mechanism has a very simple configuration, and it is extremely easy to make the fish robot swim substantially horizontally without switching valves or the like, as long as the target water depth Ds is set. Can easily settle or float on the surface. The pumps 63 and 63 are stopped when the sedimentation speed becomes equal to or higher than the set value Vs. If the pumps 63 and 63 are continuously operated while being left as they are, the apparent specific gravity of the fish robot is greatly reduced, and the sedimentation speed is remarkably increased. This is to prevent the fish robot from sinking slowly and settling down slowly.

Further, when sinking, the surrounding water is sucked upward into the tank 61 from the entrances 65 and 65 before the gravity center Gr of the fish robot. The fish robot can float and sink like a natural fish because it is pushed downward from the entrances 65, 65 before Gr and the head rises due to the reaction.

In contrast to the above embodiment, regardless of the settling speed of the fish robot, as shown in FIG. 4, if the detected water depth value is smaller than the target water depth, is the stopped pump activated? Alternatively, the pump in operation can be configured to be controlled to continue to operate. According to this, the pump continues to be operated whenever the depth value detected by the depth sensor is smaller than the target depth, so the apparent specific gravity of the fish robot may be greatly reduced and its sinking speed may be increased. This has the same effect as the above embodiment.

It is a block diagram of the ups and downs control mechanism which shows the example of the best form for implementing the fish robot of this invention. It is a horizontal sectional view of the fish robot including FIG. It is a flowchart which shows the action | operation of the rise-and-fall control mechanism of FIG. It is a flowchart which shows another action | operation of an ups and downs control mechanism.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Outer part of fish robot 20 Front part 30 trunk middle part 40 trunk rear part 50 caudal part 51 caudal part moving body 60 Floating / sinking control mechanism 61 Floating / sinking tank 62 rocking body drive control part 63 pump 65 water inlet / outlet 67 depth sensor 68 A / D Transducer 71 Drive body 72 Drive body 75 Linear chain 80 Mouth drive unit Ds Water depth target Dt Water depth detection value Gr Fish robot center of gravity Gt Tank center of gravity V Settling speed set value Vs Settling speed set value L Piping line P Pin

Claims (5)

It is covered with an outer or outer skin of a rubber-like elastic body that looks like a fish, and at least swims in the water by the swaying of the caudal fin and is surrounded by a pump attached to a tank containing air. The fish robot is configured to sink when the water is sent to the tank, and the fish robot can float in the water even when the pressure of the air enclosed in the tank is higher than the surrounding water pressure. If the water depth detection value by the water depth sensor that detects the water depth of the fish robot is smaller than the target water depth and the sedimentation speed is less than the set value, the stopped pump is started or is operating The water depth detection value by the water depth sensor is smaller than the target water depth and the sedimentation speed is not less than the set value, or If serial the water depth detection value less than the target depth by depth sensors, fish robot, wherein the pump in or stop the pump in operation is stopped is controlled to continue to be stopped. It is covered with an outer or outer skin of a rubber-like elastic body that looks like a fish, and at least swims in the water by the swaying of the caudal fin and is surrounded by a pump attached to a tank containing air. The fish robot is configured to sink when the water is sent to the tank, and the fish robot can float in the water even when the pressure of the air enclosed in the tank is higher than the surrounding water pressure. If the water depth detection value by the water depth sensor that detects the water depth of the fish robot is smaller than the target water depth, the stopped pump is started or the operating pump is controlled to continue to be operated, On the other hand, if the water depth detection value by the water depth sensor is equal to or greater than the target water depth, the pump being operated is stopped or the pump being stopped is continuously stopped. Fish robot, wherein the Rukoto. The fish robot according to claim 1, wherein the pump is configured to be rotatable in both forward and reverse directions. The fish robot according to claim 3, wherein the pump is a gear type. The center of gravity of the tank and the center of gravity of the fish robot are on or near a vertical plane perpendicular to the longitudinal direction, and the water supply / drainage entrance to the tank includes the bottom surface of the fish robot and the center of gravity of the tank in the longitudinal direction. The fish robot according to claim 1, wherein the fish robot is located in front of a vertical vertical plane.

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