KR101467288B1 - Underwater Mobile Robot for Aquarium - Google Patents

Abstract

Disclosed is a water mobile robot for an aquarium. The water mobile robot according to an embodiment of the present invention comprises: a body unit (100) equipped with an accommodating unit (111) having a structure therein to be waterproofed and sealed from the outside; a driving unit (200) mounted on both side surfaces or bottom of the body unit (100) to move the body unit (100); an operating unit (300) disposed in the accommodating unit (111) of the body unit (100) to provide the driving unit (200) with a driving force; a water quality purifying unit (400) mounted on the top of the body unit (100) and equipped with a fluid flowing pipe (410) having a feeding hole (411) for feeding water and a discharging hole (412), with a purifying filter (420) disposed in the feeding hole (411), and with a suctioning fan (430) disposed between the purifying filter (420) and the discharging hole (412); a feed supplying unit (500) mounted on the top of the water quality purifying unit (400) and equipped with feed storing chambers (510, 540) connected with the inside of the fluid flowing pipe (410) and storing feed for fish and having feed feeding members (520, 560) feeding a particular quantity of feed into the fluid flowing pipe (410); an obstacle sensing unit (600); a control unit (700); and a power source unit (800).

Description

Underwater Mobile Robot for Aquarium "

The present invention relates to a mobile robot, and more particularly, to an underwater mobile robot for a fishing port.

In the case of a small fish tank that is housed in a typical home, it feeds the fish with human hands. On the other hand, in the case of an aquarium, a large fish tank or a farm, it feeds the fish using a feeding device that automatically feeds.

As a representative example of a feeding device for automatically feeding food, there is a feeding device for cage aquaculture.

On the other hand, when the inside of an aquarium, a fish tank, or a farm is needed to be cleaned, it is cleaned with a human hand or a cleaning robot.

Conventional food feeding devices are a form of supplying food on the surface of water, and can feed food only in a specific area of a fish tank or a farm.

Therefore, such a feeding device has a problem that it is difficult to supply food to a fish species having a low activity or a fish species preferring only to a specific area.

Conventional robots for cleaning inside aquariums, fish tanks or farms require a cable that can receive power from the outside and are driven by a water pump or an infinite track, Lt; / RTI >

Korean Patent Publication No. 10-2010-0074429 (published on Jul. 02, 2010)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide an underwater mobile robot having a specific structure capable of overcoming obstacles at an underwater floor of an aquarium, freely moving, The purpose is to provide.

According to an aspect of the present invention, there is provided an underwater mobile robot including:

An underwater mobile robot capable of moving through an aquarium or a bottom surface of a fish tank,

A body portion having a housing portion having a structure that is sealed in a watertight manner from the outside;

A driving unit mounted on both sides or below the main body to move the main body;

A driving unit located inside the storage unit of the main body and providing driving force to the driving unit;

A water purifier having a fluid flow pipe having an inlet and an outlet for sucking water in the water, a purifying filter located inside the inlet, a suction fan positioned between the purifying filter and the outlet,

A food feeding unit communicating with the inside of the fluid flow pipe and having a feeding chamber for storing food of fish and a feeding member for feeding a predetermined amount of food into the fluid flow pipe,

An obstacle sensing unit mounted on the front or the side of the main body to sense the position of the obstacle and transmit data sensed by the position of the obstacle to the control unit;

A control unit for transmitting a control signal to the driving unit on the basis of the data received from the obstacle sensing unit and located inside the storage unit of the main body unit; And

A power supply unit for supplying power to an electric component or an electric device of the underwater mobile robot;

. ≪ / RTI >

In this case, the traveling unit may be a wheel traveling device, a caterpillar traveling device, or a multi-legged walking device.

In one embodiment, the purifying filter may be a structure in which a plurality of filters having a mash structure shape are mounted in a superimposed manner.

The feeding unit according to the present invention comprises:

A cylindrical food storage chamber; And
A feed input member installed in the food storage chamber and adapted to feed food into the fluid flow pipe by a rotation operation and having a water wheel structure having a radius corresponding to the inner shape of the cylindrical food storage chamber;
. ≪ / RTI >

In another embodiment, the food storage chamber according to the present invention may be of a structure communicating with the fluid flow pipe by the feeding pipe.

In this case, the food supply unit includes:
An inverted conical food storage chamber whose radius decreases from the upper portion to the lower portion;
A feeding pipe installed between the food storage chamber and the fluid flow pipe for communicating the food storage chamber with the feeding pipe; And
A feeding input member mounted on the feeding pipe for blocking or opening an internal passage of the feeding pipe;
. ≪ / RTI >

delete

In one embodiment, the obstacle sensing unit may be an ultrasonic sensor.

The power source unit may be installed inside the storage unit of the main body unit or may extend outside through the power cable to be located outside the tank.

The present invention can also provide an aquarium management system including the underwater mobile robot.

As described above, according to the underwater mobile robot according to the present invention, the bottom of the fish tank can be moved to eight legs, and when the obstacle or the wall faces the water, the direction can be changed. And it is possible to feed easily to a fish species which has low activity or a fish which prefer only a specific region by having a feeding device that can automatically feed the fish in the water.

In addition, by providing a filtering device capable of filtering underwater floats, it is possible to maintain a clean water quality at all times, and it is possible to reduce the time and manpower input required for the maintenance and management of a fish tank due to the functions of the underwater walking robot Can be achieved

1 is a perspective view of an underwater mobile robot according to the present invention.
2 is a perspective view of an underwater mobile robot according to the present invention.
FIG. 3 is a perspective view showing a 3D modeling of the remaining part of the underwater mobile robot shown in FIG. 1, except for the head part.
4 is an exploded perspective view of FIG.
Figure 5 is a side perspective view of Figure 3;
6 is a plan view schematically showing an underwater mobile robot according to the present invention encountering an obstacle.
7 is an exploded perspective view of the main body portion shown in Fig.
8 is a perspective view illustrating an underwater mobile robot according to another embodiment of the present invention.
9 is an exploded perspective view showing a food supply unit according to the present invention.
10 is a side sectional view showing a water purification unit and a food supply unit according to the present invention.
11 is a perspective view showing a water purification unit and a food supply unit according to still another embodiment of the present invention.
12 is a side cut-away view of Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. In the description of the present invention, a detailed description of known configurations will be omitted, and a detailed description of configurations that may unnecessarily obscure the gist of the present invention will be omitted.

FIG. 1 is a perspective view of an underwater mobile robot according to the present invention, and FIG. 2 is a perspective view of an underwater mobile robot according to the present invention. 1 and 2 are conceptual diagrams of an underwater mobile robot according to the present invention. FIG. 3 is a perspective view showing a 3D modeling of the remaining portion of the underwater mobile robot shown in FIG. 1 except for the head portion. FIG. 4 is an exploded perspective view of FIG. 3 is a side perspective view.

Referring to these drawings, an underwater mobile robot 900 according to the present embodiment includes a main body 100, a traveling unit 200, a driving unit 300, a water quality purification unit 400, a food supply unit 500, A sensing unit 600, a control unit 700, and a power supply unit 800.

The traveling unit 200 can be mounted on both side surfaces of the main body 100 to move the main body 100. The driving unit 200 is not particularly limited as long as it is a structure that can be easily moved from the underwater floor. For example, the driving unit 200 may be a wheel drive unit, a caterpillar driving unit, or a multi-walk unit. Preferably, it may be a multi-legged walking apparatus as shown in FIG.

As shown in FIG. 5, the driving unit 300 may be located inside the receiving unit 111 of the main body 100 and may provide a driving force to the driving unit 200. The driving unit 300 is not particularly limited as long as it is a device capable of providing driving force to the driving unit 200, but may be, for example, a motor capable of providing rotational driving force.

FIG. 6 is a plan view schematically showing a case where an underwater mobile robot according to the present invention meets an obstacle.

Referring to FIG. 6 together with FIGS. 1 to 5, the underwater mobile robot according to the present embodiment detects the position of an obstacle mounted on the front or the side of the main body 100, detects the position of the obstacle 10 And an obstacle detection unit 600 for transmitting one data to the control unit 700.

Specifically, the obstacle sensing unit 600 is not particularly limited as long as it is a sensing sensor that senses an obstacle located in the forward direction of the submersible mobile robot 900 and transmits the data to the controller 700. For example, , An ultrasonic sensor.

7 is an exploded perspective view of a main body of an underwater mobile robot according to the present invention.

Referring to FIG. 7 together with FIG. 5, the underwater mobile robot according to the present embodiment may include a main body 100 having a structure that is watertightly sealed from the outside.

Specifically, the main body 100 may include a lower case 110 having an inner storage portion 111 and a cover 120 for sealing the lower case 110 from the outside.

The driving unit 300, the control unit 700, and the power supply unit 800 may be housed in the receiving unit 111 of the main body 100.

On the other hand, the control unit 700 transmits a control signal to the driving unit 300 based on the data received from the obstacle sensing unit 600 and is located inside the receiving unit 111 of the main unit 100, Power can be supplied to the electric parts or electric devices of the underwater mobile robot.

8 is a perspective view of an underwater mobile robot according to another embodiment of the present invention.

Referring to FIG. 8, the power source 800a of the underwater mobile robot according to the present embodiment may extend outside through the power cable 810 and may be located outside the fishing port.

FIG. 9 is an exploded perspective view showing a food supply unit according to the present invention, and FIG. 10 is a side cutaway view showing a water purification unit and a food supply unit according to the present invention.

5, the water purification unit 400 of the underwater mobile robot according to the present embodiment includes a fluid flow pipe 410 having an inlet 411 for sucking in water and an outlet 412 A purifying filter 420 located inside the inlet 411 and a suction fan 430 positioned between the purifying filter 420 and the outlet 412. [ The water purification unit 400 may be mounted on the upper portion of the main body 100.

Specifically, the purifying filter 420 of the water quality purifying unit 400 is not particularly limited as long as it has a structure capable of filtering foreign substances floating in the fluid sucked into the suction port 411 by the suction fan 430, For example, a structure in which a plurality of filters having a mash structure shape are overlapped.

The food supply unit 500 includes a food storage chamber 510a for storing food of fishes and a food storage chamber 510a which is installed at the lower end of the food storage chamber 510a and communicates with the interior of the fluid flow pipe 410, And a feeding device 520a for feeding a predetermined amount of food. The food supply unit 500 may be mounted on the water purification unit 400.

10, the food supply unit 500 according to the present embodiment may include a cylinder-shaped food storage chamber 510 and a food intake member 520 mounted inside the food storage chamber 510 have. Specifically, the feeding input member 520 may be a structure capable of feeding food into the fluid flow pipe 410 by a rotating operation. In addition, the feeding member 520 may be a water wheel structure having a radius d corresponding to the inner shape of the cylindrical food storage chamber 510, or a water hammer shape.

More specifically, the feeding input member 520 having a spinneret shape has a structure in which a plurality of aberrations are combined. The feeding input member 520 can store the food 20 in a space formed between the aberration and aberration and the inner surface of the food storage chamber 510 have. The capacity of the food 20 stored between each aberration and the aberration can be adjusted to a predetermined amount by a hand of a person before driving the submersible mobile robot 900 according to the present embodiment. As shown in FIG. 10, the feed input member 520 in the form of a spinning wheel rotates by a predetermined angle to feed the food into the fluid flow pipe 410. When a large amount of food is required to be fed, the feeding amount of food can be controlled by increasing the rotation angle of the feeding input member 520.

The food 20 injected into the fluid flow pipe 410 by the feeding member 520 can be discharged to the discharge port 412 by the flow of the fluid generated in the suction fan 430.

FIG. 11 is a perspective view showing a water purification unit and a food supply unit according to another embodiment of the present invention, and FIG. 12 is a side sectional view of FIG.

Referring to these figures, the food supply unit 500 of the underwater mobile robot according to the present embodiment includes a food storage chamber 540 for storing food of fish, a feeding pipe for feeding 541, and a feed input member 560 Lt; / RTI > The food supply unit 500 may be mounted on the water purification unit 400.

As shown in FIGS. 11 and 12, the food storage chamber 540 according to the present embodiment may be in the form of an inverted cone having a smaller radius from the upper side to the lower side. The feeding pipe 541 is installed between the food storage chamber 540 and the fluid flow pipe 410 so that the food storage chamber 540 and the feeding pipe 541 can communicate with each other. The feeding member 560 is attached to the feeding pipe 541 and blocks or opens the internal passage of the feeding pipe 541 to feed the food contained in the feeding chamber 540 to the fluid flow pipe 410 ). ≪ / RTI >

More specifically, the feeding member 560 may be in the form of a plate provided with a through-hole 561 having a diameter corresponding to the inner diameter of the feeding pipe 541. In addition, the feeding member 560 having such a structure may be driven by the drive unit 550 mounted thereon to implement the operation of closing or opening the passage of the feeding pipe 541. 11, by making the through-hole 561 coincide with the internal passage of the feeding inlet pipe 541 and communicating the food storage chamber 540 with the fluid flow pipe 410, It can be introduced into the fluid flow pipe 410. Further, when a large amount of food is required to be fed, the feeding time can be controlled by adjusting the length of time that the through-hole 561 coincides with the internal passage of the feeding pipe 530.

The feed 20 inserted into the fluid flow pipe 410 by the feeding member 560 can be discharged to the discharge port 412 by the flow of the fluid generated in the suction fan 430.

Accordingly, the underwater mobile robot according to the present embodiment includes a structure for moving the bottom of the fish tank to eight legs, and can change the direction when facing an obstacle or a wall during underwater movement, By providing a feeding device that can automatically feed food in the water, it is possible to feed easily to a fish species that has low activity or fish that prefer only a specific area. In addition, by providing a filtering device capable of filtering underwater floats, it is possible to maintain a clean water quality at all times, and the above-described functions of the underwater walking robot have technical advantages of not managing the fish tank for a long period of time.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

10: Obstacle 20: Feed
100: main body part 110: lower case
120: cover 111:
200: driving part 300: driving part
400: Water purification unit 410: Fluid flow pipe
411: Inlet port 412: Outlet port
420: purge filter 430: suction fan
500: feeding part 510: feeding storage room
520: feeding input member 530: sealing member
540: Feed storage room 541: Feed feeding pipe
550: drive device 560: feed input member
561: through hole 600: obstacle detection unit
700: control unit 800:
900: Underwater mobile robot 910: Side cover
920: side cover 930: front cover

Claims (8)

An underwater mobile robot (900) capable of moving through an aquarium or a bottom surface of a fish tank,
(100) having a housing part (111) having a structure that is hermetically sealed from the outside;
A traveling part 200 mounted on both sides or below the main body part 100 to move the main body part 100;
A driving unit 300 located inside the storage unit 111 of the main body 100 and providing driving force to the driving unit 200;
A fluid flow pipe 410 having an inlet 411 and an outlet 412 for sucking water in the water, a purifying filter 420 located inside the inlet 411, a purifying filter 420 located between the purifying filter 420 and the outlet 412 A water purification unit 400 having a suction fan 430 located at the upper portion of the main body 100;
Food feeding chambers 510 and 540 communicating with the inside of the fluid flow pipe 410 and storing food of fish and feeding input members 520 and 560 feeding a predetermined amount of food into the fluid flow pipe 410 A food supply unit 500 mounted on the water purification unit 400;
An obstacle sensing unit 600 mounted on the front or the side of the main body to sense the position of the obstacle and transmit data sensed by the position of the obstacle to the controller 700;
A control unit 700 that transmits a control signal to the driving unit 300 based on the data received from the obstacle sensing unit 600 and is located inside the receiving unit 111 of the main body 100; And
A power supply unit 800 for supplying power to an electric component or an electric device of the underwater mobile robot;
Wherein the robot is a mobile robot.
The method according to claim 1,
Wherein the traveling unit (200) is a wheel traveling device, a caterpillar traveling device, or a multi-legged walking device.
The method according to claim 1,
Wherein the purifying filter (420) is mounted with a plurality of filters having a mash structure.
The method according to claim 1,
The food supply unit 500 includes:
A cylindrical food storage chamber 510; And
The food is stored in the food storage chamber 510 and fed into the fluid flow pipe 410 by the rotation of the food storage chamber 510. The auricle A water feeding member 520 composed of a water wheel structure;
Wherein the robot is a mobile robot.
The method according to claim 1,
The food supply unit 500 includes:
An inverted conical food storage chamber 540 having a smaller radius from the upper side to the lower side;
A feeding pipe 541 mounted between the food storage chamber 540 and the fluid flow pipe 410 to communicate the food storage chamber 540 and the fluid flow pipe 410; And
A feeding input member 560 attached to the feeding pipe 541 and closing or opening the internal passage of the feeding pipe 541;
Wherein the robot is a mobile robot.
The method according to claim 1,
Wherein the obstacle sensing unit (600) is an ultrasonic sensor.
The method according to claim 1,
Wherein the power supply unit 800 is mounted inside the storage unit 111 of the main body 100 or extends outside through the power cable 810 and is located outside the fish tank.
An aquarium management system comprising an underwater mobile robot (900) according to any one of claims 1 to 7.

Images