KR20190072211A - Fish robot - Google Patents

Abstract

The present invention relates to a robot fish, and more specifically, to a robot fish which allows easy control of buoyancy, makes swimming underwater free, performs a change in direction by enabling reverse propulsion and rapid acceleration, and increases fun and entertainment of the interaction while increasing an ornamental effect by sensing and reacting to the motions of visitors gathered around an aquarium.

Description

Fish robot {Fish robot}

More particularly, the present invention relates to a fish robot, which is capable of easily controlling the buoyancy, freely swiming under water, capable of reversing and rapidly accelerating, and is capable of changing directions and detecting and responding to the movement of visitors gathered around the aquarium Thereby enhancing the func- tion and amusement according to the interaction while enhancing the coronary effect.

Robot technology has undergone tremendous development in the concept of robotic arm for factory automation in the traditional concept, such as medical, household, industrial, reconnaissance, military use, miniaturization and ultra-precision.

As a result, robotics technology has been used in various industrial fields. As one of them, robot fishes like carp roams like water in a real fish, and various sensors installed on the body are used to detect water pollution as well as ecology and kinds of fish And contribute to marine ecological management by communicating with the control station through wireless communication equipment.

A typical example is a robotic fish that has been researched and developed jointly by the Essex University research team and a technology company called BMT.

As a result of many studies such as this, fish recharging and recharging technology, swimming technology and wireless communication technology have developed rapidly, and now, attempts have been made to utilize the recharging robot as a service for viewing in a large aquarium.

In particular, using a variety of aquarium fish for admiration of aquatic creatures for viewing purposes has many advantages that can reduce the cost of maintaining and maintaining the fish, prevent fish deaths, and provide semi-permanent use.

However, it is necessary to be able to control the buoyancy freely as well as being relatively narrow and deep as the aquarium and to be kept open to viewers at all times. Until now, the inert gas density And it is difficult to control the buoyancy rapidly.

In recent years, a weight movement method using a rack and a pinion has been disclosed, but the structure is complicated and difficult to control.

In addition, there is a disadvantage that control failure occurs frequently because there is no function to come out when it is trapped in a corner of an aquarium.

In addition, it has a limitation that it is relatively simple because it does not have the function of interacting with the viewer, which is only maintained as an ornamental fish.

Korean Patent Registration No. 10-1268239 (2013.05.21.) 'Fish Robot and Fish Robot Charger' Korea Patent Registration No. 10-1329064 (2013.11.07.) 'Gas filled fish robot' Korea Patent Registration No. 10-1744642 (2017.06.01.) 'Fish Robot'

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems in the prior art, and it is an object of the present invention to provide a method and a device for controlling a buoyancy of an aquarium by freely swinging under water, The present invention has been made to provide a fish robot that increases the fun and entertainment according to interaction while enhancing the coronary effect by allowing the robot to sense and respond to the movement of the fish robot.

According to an embodiment of the present invention,

A robot fish having a plurality of fins in a body portion of a fish-like shape,

The body portion is divided into a fish neck portion 11, a central body portion 12, a fish tail portion 13 and a tail portion 14 and hinged to each other to be connected to the micro- The hinge connection portion is rotationally coupled;

A control unit 30, which is a microcomputer for controlling driving of the micro servomotor, is mounted in the central body 12,

The control unit 30 is connected to a memory unit (MOM) for storing and inputting and outputting data and a wireless communication unit (WIR) for transmitting and receiving a radio signal for operation control.

The controller 30 is further connected to a buoyancy controller 38 for controlling buoyancy.

According to another aspect of the present invention,

1. A fish robot comprising a body having a head of fish and a plurality of fins, and a tail having a tail fin,

The body part is divided into a fish neck part (11), a central body part (12), and a fish tail part (13);

The main body part 12 and the main body part 13 are hingedly connected to each other by an ultra small servomotor so that the main body part 12 and the main body part 12 are hinge- Rotatably coupled,

The tail portion (14) is hinged to the end of the mother portion (12) and is rotatably coupled by an ultra small servomotor;

A control unit 30, which is a microcomputer for controlling driving of the micro servomotor, is mounted in the central body 12,

The control unit 30 is connected to a memory unit (MOM) for storing and inputting and outputting data and a wireless communication unit (WIR) for transmitting and receiving a radio signal for operation control.

The controller 30 is further connected to a buoyancy controller 38 for controlling buoyancy.

In this embodiment, the fish-mouth portion and the central body portion, the central body portion and the mother portion, the mother portion and the tail portion 14 are rotatably coupled by the first to third joint portions, respectively. Each of the joints is rotatably coupled by a small-sized servomotor by hinge coupling. That is, the divided parts of the body are rotatably hinged to each other on the basis of three joints driven by the respective micro-servomotors.

On the other hand, in another embodiment, the fish-mouth part and the central body part are combined by a hinge connection without a servo motor so that the fish-bit part is only capable of a small pivoting motion with respect to the central body part, And between the tail portions 14 are formed hinge joints in which the rotation angle is controlled by the micro servo motor. That is, only two servo motors are used for joint control, and only the rotating motion is performed by the movement of the central body portion.

The two servomotors for secondary control are each provided with servo motors adjacent to each other in the mother portion, and rotary links controlled to be rotated by the respective servo motors are provided, and a central body portion and a tail portion 14 are connected to each other by a hinge so as to be rotatable.

However, the present invention is not limited to this, and the servomotor may be attached to the central body portion and the mother portion, or to the mother portion and the tail portion in consideration of the entire center of gravity depending on the type of the fish robot to be implemented, And the connection link of the part to be connected is hinged to a rotation link for transmitting the rotational force of the servo motor so as to be rotatable.

The buoyancy adjuster 38 includes a ball screw arranged in the longitudinal direction of the central body portion 12 from the lower side of the central body portion 12 and a ball screw arranged in the longitudinal direction of the central body portion 12 in accordance with a control signal of the controller 30, And a first buoyancy regulator having at least two weights moving in the rotational direction of the micro servo motor in a state of being coupled to the ball screw.

The buoyancy adjuster 38 may include a first ballast tank installed inside the fishy part 11 and a second ballast tank installed inside the fishy part 13 and a control signal of the control part 30 And a second buoyancy regulator composed of a ballast pump for filling or draining water into the first and second ballast tanks, respectively.

The buoyancy regulator may be designed to have only one buoyancy regulator or a second buoyancy regulator, but both can be installed and correlated to regulate the buoyancy to more effectively control the buoyancy.

Further, a proximity sensor for transmitting a detection signal to the control unit 30 is further provided on both sides of the fish mouth formed on the fishy part 11; A PSD (Position Sensing Device) sensor for measuring a distance to a front obstacle to be swimming and transmitting the measured distance to the control unit 30 is installed on the lower side of the fish mouth; And an ultrasonic sensor for measuring the water depth and transmitting the water depth to the controller 30 at an interval from the PSD sensor. This is because, unlike the case where all of the proximity sensor and the ultrasonic sensor are installed, the left and right sides of the obstacle are detected by the proximity sensor and the front sensor and the bottom sensor measure the distance to avoid the avoidance time, the avoidance direction and the avoidance speed So that an effective avoiding operation can be provided.

Further, a propeller 39 is further connected to the control unit 30, and the propeller 39 has a structure in which a rapid propeller or a deflector or a parallel structure thereof is installed; The rapid thruster is a booster pump (BST) installed at the center of the lower surface of the mother unit 13; The reciprocating unit is also a screw pump (SCP) installed at the center of the lower surface of the central body portion 12. Such rapid thrusters and diverters can be used to rapidly propel and reverse the fish as well as the general swimming of the fish robot.

The luminescent switch 41 is further connected to the control unit 30 and the luminescent switch 41 is connected to the luminescent switch 41 provided on the upper side of the fish mouth of the fish- And also controls the light emission of the LED lamp provided on the lid 17 of the fish mouth or the LED lamp of the band type provided on the lips 17 of the fish mouth or both.

A laser beam driver 42 is further connected to the control unit 30 and a laser beam oscillator 16 for projecting a low level laser beam is further provided below the eye 15, And is driven and controlled by the control unit.

In addition, the control unit 30 is further connected to an ultra-small CCD camera 44 provided on the upper side of the eye 15 so that images photographed are transmitted in real time.

A water fountain driver 43 is further connected to the control unit 30 and the water fountain driver 43 controls the opening and closing of a water fountain nozzle SPR provided above the fish mouth to periodically It also has a feature that it is configured to blow.

On the other hand, fish robots,

An aquarium, a fish robot put into the aquarium, and an audience motion sensing means for sensing an operation of a viewer and transmitting the motion to a control unit of the robot fish,

The control unit of the fish robot may perform an audience response reaction mode in which the fish robot performs a random reaction by a preset program on the basis of the viewer's motion detection signal, collects at an arbitrary point, moves away, or performs rapid acceleration or arbitrary point swing It includes what is set by the program.

Accordingly, when the audience action is detected by the audience action detecting means, the movement of the fish robot in response to the action can be controlled.

According to the present invention, it is possible to easily adjust the buoyancy, to freely swim under water, to be able to reverse and rapidly accelerate, to freely change directions, and to sense and respond to the movement of visitors gathered around the aquarium, It is possible to obtain the effect of increasing the fun and amusement according to the present invention.

1 is an exemplary modeling diagram of a fish robot according to the present invention.
2 is an exemplary side view of a fish robot according to the present invention.
3 is an exemplary view showing a swimming example of a fish robot according to the present invention in a plan view.
4 is an exemplary block diagram showing a control configuration of a fish robot according to the present invention.
5 is an exemplary block diagram showing another control configuration of a fish robot according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

As shown in FIGS. 1 and 2, the fish robot according to the present invention includes a plurality of parts, and each part is hinged to be rotatable by an ultra small servomotor. Here, the fish robot is provided with a battery power source as its own power source, and drives the driving device by using the power source to cause the fish robot to swim in water. Such a configuration is well known in the art, .

The fish robot according to the present invention basically comprises a fish neck 11, a central body 12, a fish tail 13, a tail 13, (14). And three joint portions (51 - 53) hingedly connected to each other by a servo motor.

A fish mouth part 11 provided with a mouth of a fish robot is hinged at one end of the central body part 12 so as to be angularly adjustable while being rotated by a micro servomotor, And the other end is hinged to be able to adjust the angle while the mother portion 12 is rotated by the ultra-small servomotor. The tail portion 14 is hingedly coupled to the end portion of the mother portion 12 by means of an ultra-small servomotor.

Therefore, the fish robot according to the present invention is characterized in that the fish robot comprises a fish body part 11, a central body part 12, a central body part 12 and a mother part 13, and a part between the mother part 13 and the tail part 14 And three joint portions 51 - 53 hinged to the connecting link adjacent to the rotating link rotated by the servomotor, respectively.

Particularly, the fishy part 11, the central body part 12, the mother part 13 and the tail part 14 are made of any one of acrylic resin, ABS resin or polycarbonate resin (PC) so as to have excellent durability and water resistance Or a synthetic resin material having a combination of these.

In addition, a dorsal fin DF is formed on the back of the fish robot from the central body portion 12 to the mother portion 13 to maintain the dorsal fin DF It is preferably made of silicon.

In addition, a pair of pelvic fins PF are formed on both sides of the lower portion of the central body portion 12 of the fishbone portion of the fish robot. The fish pines PF prevent balance- Which is also preferably made of silicon.

In addition, a pair of anal fins AF are formed on both sides of the lower portion of the lower portion 13 of the fish robot close to the tail portion 14, It is also preferable to be made of silicon.

4, a control unit 30 of a microcomputer type is installed inside the central body 12. The control unit 30 is configured to have a watertight structure so as not to be submerged even when the fish robot swims in water do.

The control unit 30 includes a first joint driver 31 for controlling the first joint 51 between the fish body 11 and the central body 12 and a second joint driver 31 for controlling the center body 12 and the mother body 13 And a third joint driver 33 for controlling the third joint 53 between the mother portion 13 and the tail portion 14 for controlling the second joint portion 52 between the tail portion 14 and the tail portion 14. [ Are controlled to be electrically connected to each other.

That is, the first and second joint drivers 31 and 32 and the third joint driver 33 control the rotation speed and the rotation direction of the miniature servo motor in order to adjust the angle of each part.

Particularly, the third joint driver 33 for controlling the rotation of the tail portion 14 must swiftly rotate forward and backward relative to the first and second joint drivers 31 and 32 to shake the tail portion 14 The fish robot can be propelled forward.

3, the control unit (not shown) may swing the tail unit 14 in a state where the fish body unit 11 and the fish body unit 13 are turned to the right with respect to the central body part 12, 30 control the first, second, and third joint drivers 31, 32 and the third joint driver 33, the fish robot is shifted to the right direction to be swimming.

Conversely, if the tail portion 14 is shaken while the fishy portion 11 and the fishy portion 13 are turned to the left side with respect to the center body portion 12, the fish robot swims in the leftward direction.

Each joint driver turns the fishy part 11 and the fishy part 13 in the direction to proceed with respect to the center body part 12 in accordance with the control signal of the control part 30 and then rotates the tail part 14 In a controlled manner, the fish robot can freely turn in the desired direction.

In addition, in the case of the above-described fins, the gyro sensor, the accelerometer, the geomagnetic sensor, and the like are connected to the control unit 30, and these fins are controlled to be tilted to the left or to the right through the tiny servo motor, It is possible to easily achieve the scion control that maintains the vertical state.

In addition, a memory unit (MOM) and a wireless communication unit (WIR) are connected to the control unit 30. The memory unit MOM is a space in which information collected by various sensors or programmed commands are stored. The wireless communication unit (WIR) is a means for wirelessly communicating with a joystick-type remote control or a control sensor and receiving signals for controlling swimming of a fish robot.

Of course, in addition to the wireless adjustment method, it is also possible to pre-program the manner in which the fish robot swims and mount it in software so that the self-learning type control can be performed without controlling the remote from the outside.

In this case, learnable control can follow machine learning techniques, for example.

At this time, machine learning technique is one of machine learning algorithms that collects and analyzes data by computer itself and predicts the future. It first learns computer by algorithm and then inputs new data to predict the result. Is a technique for analyzing vast amounts of big data to judge future actions and possibilities.

When this technique is applied to a fish robot, the fish robot itself learns spatial information on which it is swimming and can learn to swim itself by learning swimming pattern, obstacle information, and water temperature change according to water depth.

The control unit 30 further includes a left sensor 34, a right sensor 35, a front sensor 36, and a bottom sensor 37 as illustrated in FIGS.

At this time, the left sensor 34 and the right sensor 35 are preferably installed on both sides of the mouth of the fish robot. For example, it is possible to detect whether an obstacle or another fish robot is present in front of the fish robot, The proximity sensor may be a proximity sensor. Here, the proximity sensor can use a position detection sensor that detects the object approach using the IR.

In this case, if the micro CCD camera 44 (see FIG. 5) described later is operated in parallel, the discrimination power can be further increased, and the liberation of swimming can be increased.

In addition, the front sensor 36 is preferably disposed directly below the fish mouth, and a PSD (Position Sensing Device) sensor is preferred.

The PSD sensor is an infrared triangulation sensor that measures the distance. The infrared sensor is composed of a system consisting of an infrared light emitting diode, a lens and a one-dimensional CCD sensor so that the distance from the fish mouth to the obstacle can be immediately read. 36 are used as reference data for determining the direction, speed, and the like at the time of switching the direction for the control unit 30 to avoid.

In addition, the lower sensor 37 may be disposed on the lower surface of the fish-eye 11 at a distance from the front sensor 36. For example, the lower sensor 37 may be configured to detect the water depth using an ultrasonic sensor.

Accordingly, the information detected by these sensors is stored in the memory unit MOM in real time, and the controller 30 controls the swimming of the fish robot with reference to these detection values.

In addition, a buoyancy regulator 38 may be connected and controlled to the controller 30.

The buoyancy adjuster 38 may include a ball screw (not shown) arranged in the longitudinal direction of the central body portion 12 in the lower side of the central body portion 12 and an ultra small servomotor (Not shown) moving in accordance with the rotational direction of the micro-servomotor in a state of being coupled to the ball screw, and the control unit 30 may be configured as a so- The buoyancy control can be performed by controlling the driving of the micro servo motor.

That is, when the fish robot tries to swim toward the deep water depth, the fish robot moves to the deeper water depth because the center of gravity is shifted toward the front side when the tail portion .

On the contrary, when the user tries to swim toward the water depth, the fish robot moves toward the water depth because the center of gravity of the tail portion 14 is moved backward when the tail portion 14 is shaken do.

In this way, the buoyancy of the fish robot can be controlled by adjusting the position of the weight to induce the desired swimming.

The buoyancy regulator 38 according to the present invention includes a first ballast tank (not shown) inside the fishy part 11 and a second ballast tank (not shown) inside the fishy part 13, Each of these may be in the form of a second buffer controller with a ballast pump (not shown) that can fill and withdraw water.

In this case, the control of the ballast pump by the control unit 30 directly controls the buoyancy of the fish robot from filling and withdrawing water from the first and second ballast tanks.

For example, when the first ballast tank is filled with water, the fishball portion is inclined toward the water, so that the fish robot is submerged while swimming. When the first ballast tank is drained and the second ballast tank is filled with water, ) Are heard, so they come to the side of the water.

Therefore, the buoyancy of the fish robot can be controlled by adjusting the filling and unloading of the ballast water.

In addition, the buoyancy regulator 38 according to the present invention may be installed in parallel with the first buoyancy regulator of the weight system and the second buoyancy regulator of the ballast water system.

In the case of using only the weight booster system as the first buoyancy regulator, it is possible to control the upward and downward movement at the depth of submerged by the weight of the fish robot itself, but it is difficult to maintain the depth of water at a certain depth. Although the second buoyancy regulator can control the depth of water as well as the descent control by using only the ballast water system, it is difficult to control it sensitively.

Therefore, weights can be used together with the ballast water system, the water depth can be controlled by the ballast water system, and the descent or rise can be controlled by the weight system.

The first and second buoyancy regulators can be controlled individually or interlocked with each other. For this purpose, a gyro sensor is further provided to detect the equilibrium state, and a depth measurement means (for example, an ultrasonic sensor) And the first and second buoyancy regulators can be controlled independently or in conjunction with each other depending on the depth and direction of the water to be swayed so that the upward, downward, or horizontal swim can be accurately and quickly controlled.

In addition, the control unit 30 may be further connected to a propeller 39.

The propeller 39 may have a rapid thruster or a deflector or a structure in which they are installed in parallel.

At this time, the rapid thruster may be a booster pump (BST) (see FIG. 2) installed at the center of the lower surface of the mother unit 13.

The booster pump (BST) is boosted according to the control signal of the control unit (30) so that the fish robot instantaneously and rapidly pushes the water backward to shake the body part and the tail part (14) .

In this way, it is possible to reproduce close to the swimming form of the actual fish, so that the viewer becomes more focused and can perform the function as the ornamental fish faithfully.

In addition, the reciprocating unit may be a screw pump (SCP, see FIG. 2) installed at the center of the lower surface of the center body 12.

In this case, when the fish robot is caught in a floating obstacle or can not get out of the corner, the screw pump (SCP) is driven in accordance with the control signal of the control unit (30) Can be solved.

Of course, in this case, it is also possible to adjust the difference between the force of the reciprocal injection and the force of swinging the tail portion 14 to adjust the turning, stopping or slowing forward.

In addition, as shown in FIG. 5, the control unit 30 may further include a light emitting switch 41.

The light emission switch 41 controls the light emission of the LED lamp provided on the eye 112 (see FIG. 2) provided above the fish mouth of the fishery unit 11 according to the control signal of the control unit 30, We can convey mysteriousness as ornamental fish.

In addition, it is also possible to provide lips 17 (see Fig. 2) in the fish mouth and to provide LED lamps or optical fiber lighting means in the form of strips to be controlled by the light emission switch 41, .

A laser beam driver 42 is further connected to the control unit 30 so as to project a laser beam toward the forward direction of the fish robot in order to further enhance the esthetics. A beam oscillator 16 (see FIG. 2) may be additionally provided and controlled to be driven by the laser beam driver 42.

In this case, the laser beam oscillator 16 may be of various types such as a laser beam diffusion type, a laser beam straight type, etc., for projecting a simple low-level laser beam and turning on the light in front, , A laser can be converted and projected. The conversion filter can be adjusted by selecting a color, pattern, or the like of the projection laser by rotating the filter by a driving means (e.g., an ultra-small servomotor).

Then, the low-level laser beam is radiated toward the forward direction of the fish robot, so that the fish robot performs a function as an ornamental fish.

In addition, the micro CCD camera 44 may be further provided above the eye 15, and the swimming unit of the fish robot may be controlled while the control unit 30 reads the photographed image in real time.

When the ultra-small CCD camera 44 is installed in parallel, it is possible to control more precise fish swimming, and in particular, the learning ability through the machine learning technique can be doubled.

In addition, a water fountain driver 43 may be further connected to the control unit 30 and the water fountain driver 43 may control the opening and closing of the water fountain nozzle SPR installed above the micro CCD camera 44 Control and periodically spray water as if a whale flushes water to create a beautiful sight can further enhance the function as an ornamental fish.

In this case, the water fountain nozzle SPR can be controlled to be opened and closed by a cylinder type or miniature pressurizing pump and a solenoid valve.

Furthermore, if the GPS module 45 is further connected to the control unit 30 and the GPS module 45 is installed at the center of the upper surface of the central body part 12 to enable satellite communication, water quality inspection, It is possible to easily utilize ecosystem environment information such as fish stocks to acquire and analyze ecosystem environment information.

As described above, the fish robot according to the present invention has at least four articulated structures and is capable of quick and easy direction change and further includes a propeller capable of rapid acceleration, so that instantaneous rapid movement is possible. As a result, It provides a noticeable increase in beauty.

In addition, it is useful for solving obstacles because the fish robot can be moved backward by having a separate propeller that makes it possible to reverse when the fish robot is caught in a corner or an obstacle.

In addition, since the buoyancy regulator is provided, easy and quick buoyancy control is achieved, so that free swimming can be realized.

Furthermore, it is possible to detect obstacles correctly and to detect other fish robots that are swimming in adjacent areas through the combination of multiple sensors and CCD cameras, so that it is easy to avoid swimming and provides learning function by machine learning technique. In this case, intelligent swimming becomes possible and realizes movement closer to the swimming of the actual fish.

6, a plurality of fins are provided on a body portion imitating a fish shape, and a control means and a driving means are provided in the body portion A fish robot for driving a driving means for swimming in water,

A body part segmented by a fish neck part (11), a central body part (12), a fish tail part (13) and a tail part (14);

A first joint part (51) hingedly connected to the fisher part (11) and the central body part (12) so as to be swingable in the left and right direction;

The central body portion 12 and the main body portion 13, the main body portion 13 and the tail portion 14 are connected to each other by a second joint portion 52 hingedly connected and rotatably connected by an ultra- A third joint 53;

A control unit 30 mounted inside the central body 12 and being a microcomputer for controlling the driving of the micro servomotors of the second and third joints 52 and 53;

A memory unit (MOM) for data storage and input / output of the control unit 30;

A wireless communication unit (WIR) for transmitting and receiving a radio signal for operation control of the control unit (30);

And a buoyancy controller (38) for controlling the buoyancy of the fish robot under the control of the controller (30).

1 to 4, there is shown an embodiment of the present invention in which the fish-mouth portion 11 and the central body portion 12, the central body portion 12 and the mother portion 13, the mother portion 13 and the tail portion 14 are hingedly coupled to each other so as to be rotatable by an ultra-small servomotor. That is, the three joint portions 51-53 are rotatably hingedly connected by the three ultra-small servomotors.

6, the first joint part 51 connecting the fishy part 11 and the central body part 12 is connected to the fishy part 11 by a hinge connection without a servo motor, Which is connected to the central body portion 12 and the tail portion 14 and between the central body portion 12 and the tail portion 14 and between the central body portion 12 and the tail portion 14, The joint part 52 and the third joint part 53 are constituted so as to be rotatably hinged to each other by controlling the rotational angle by the micro servo motor.

In other words, only two servomotors are used for joint control, and the fisher part 11 is made to rotate only by the movement of the central body part 12. Fig.

The second and third joint parts 52 and 53 of the servomotor are connected to the servomotors 52a and 53a capable of controlling the rotational speed and the rotational angle as shown in Fig. The connection link 52c of the central body 12 and the connection link 53c of the tail are hinged to the pivotal links 52b and 53b to be rotatable do.

The connection link 52c of the central body portion is fixed to the central body portion 12 and an end portion thereof is hingedly connected to an end portion of the rotation link 52b. The servomotor 52a and the turning link 52b are provided in the mother unit 13 as an example. As a result, when the thermo-motor 52a of the second joint 52 rotates, the pivotal link 52b is rotated, and the center torso connecting link 52c hinged to the end of the pivotal link 52b pivots about the hinge And the mother portion 13 is rotated by a rotation angle with respect to the central body portion 12.

The servo motor of the second joint part 52 and the third joint part 53 is installed at the end part 13 of the present invention. However, the present invention is not limited to this, and the servo motor of the second joint part 52a and the turning link 52b may be provided in the central body portion 12 and the connecting link 52c may be constituted by the mother connecting link. Likewise, the third joint 53 may be provided with the servo motor and the pivotal link in the tail portion 14, and the connecting link may be constituted by the mother connecting link. The installation of such a servomotor can be selectively determined by a design that can effectively obtain the center of gravity and the thrust force in consideration of the shape, size, and the like of the fish robot.

Since the central body portion 12, the mother portion 13 and the tail portion 14 are rotated in correspondence with each other by the driving of the second joint part 52 and the third joint part 53, To obtain a streamlined thrust.

Here, in order to generate a movement similar to that of a biological fish, the mother portion 13 must be located at the rear portion of the entire body portion of the fish, and the length of the mother portion 13 is shortened to connect the tail portion 14 with the joint It is.

In this manner, the central body portion 12 is rotated by the mother portion 13, and the tail portion 14 is rotated to obtain the driving force. The direction change can achieve the direction switching torque by fixing the tail portion 13 to the central body portion 12 at an appropriate angle or rotating the tail portion 14 in a predetermined angle range in that direction. At this time, the tail portion 14 can be moved backward by performing the reciprocating rotation, that is, the movement of the tail portion 14, only in the bent direction in a state in which the tail portion 14 is bent and fixed to the central body portion 12 at the maximum angle with respect to the central body portion 12.

7, the control unit 30 is provided with the second joint drive 32 and the third joint drive 33 so that the second joint 52 and the third joint drive 33 are provided, 3 joints 53, that is, two servo motors. That is, in contrast to the embodiment of FIG. 4, the first joint drive may be omitted in the alternative embodiment of FIG. Other configurations can be configured in the same manner as in the embodiment. Similarly, the configuration of FIG. 5 may be applied to the other embodiments of FIG. 6, and the detailed description is omitted in other embodiments since it has been described in detail in one embodiment.

On the other hand, it is also possible to provide a fish robot responsive to the motion of the viewer. (Not shown) for sensing the motion of the viewer and transmitting the motion to the control unit of the robot fish,

The control unit 30 of the fish robot may perform a random reaction by a preset program on the basis of the viewer's motion detection signal, a crowd gathering at an arbitrary point, an audience movement It includes setting the mode by program.

The viewer operation detecting means may be a touch sensor installed in an aquarium, a button, a depth camera, a proximity sensor, and the like. When a photon operation detection signal is transmitted as a wireless signal, the WIR receives the signal, ) Controls the movement of the fish robot.

In addition, it is also possible that the viewer motion detecting means is installed in the body portion of the fish robot (not shown in the figure), and the control unit 30 controls the movement of the fish robot by a predetermined motion based on the detection signal of the audience motion detecting means .

It may be provided on the fishy part 11 or the upper surface or the fins of the central body part 12. [ This can be installed as a sensor type that senses touching or stroking by a user such as a touch sensor, a proximity sensor, a push sensor, or the like. When the viewer directly touches or touches the touch sensor of the robot fish, it senses it and inputs it to the control unit 30. The control unit 30 controls the movement in accordance with the program in advance based on the audience operation signal. That is, if you touch your head, you can control it by shaking the tail, running away, shaking the body, and so on.

Accordingly, when the audience action is detected by the audience action detecting means, the movement of the fish robot in response to the action can be controlled.

As described above, the fish robot according to an embodiment of the present invention includes the body part divided into four blocks divided into a fish mouth part, a central body part, a mother part and a tail part, and the fish robot uses a micro servo motor, And is a robot fish that can control the servo motors of three joints by the control unit to obtain driving force and to be able to swim in the water.

According to another embodiment of the present invention, the first joint part of the three joint parts is constituted only by a hinge connection structure without a servo motor, and the fish part is coupled to the central body part. The second and third joint parts are connected to each other by a hinge- And connected to rotate.

Further, the present invention can be rapidly advanced or reversed by providing a propeller for obtaining a rapid acceleration / deceleration force of a fish robot or a propeller for obtaining a backward force, and a stopping swimming can be performed by combining a backward propeller and a joint control It is.

Further, the present invention is a buoyancy device for a fish robot, in which a weighting device for moving a weight by a motor is installed, or a buoyancy device of a ballast tank type in which water is introduced and discharged by a pump is installed, Direction adjustment and swimming depth can be easily adjusted.

In addition, the present invention may additionally provide a camera to provide an image captured by the sight of a fish robot, or an event adding device such as a laser transmitter, a snow lamp, or a water fountain nozzle.

In addition, an audience motion detecting means may be installed in a fish robot or an aquarium, and the control unit may control the movement of the fish robot on the basis of the motion detection signal of the audience motion detecting means to respond to the viewer's motion.

11: fish mouth 12: central body part
13: mother part 14: tail part
15: eye 16: laser beam oscillator
17: lip 30:
31 - 33: First to third joint drivers
34 - 37: Sensor 38: Buoyancy regulator
39: propeller 41: emission switch
42: laser beam driver 43: water fountain driver
44: CCD camera 45: GPS module
51 - 53: 1st - 3rd joints
MOM: Memory WIR: Wireless communication
SPR: Water Fountain Nozzle DF, PF, AF: Fin
SCP: Rotary screw pump BST: Rapid acceleration booster pump

Claims (11)

A robot fish having a plurality of fins in a body portion of a fish-like shape,
The body portion
Is divided into a fish neck part (11), a central body part (12), a fish part (13) and a tail part (14), and the first to third joint parts And the hinge connection is rotationally controlled by the micro servo motor;
A control unit 30, which is a microcomputer for controlling driving of the micro servomotor, is mounted in the central body 12,
The control unit 30 is connected to a memory unit (MOM) for storing and inputting and outputting data and a wireless communication unit (WIR) for transmitting and receiving a radio signal for operation control.
And a buoyancy controller (38) for controlling the buoyancy is further connected to the control unit (30).
The method according to claim 1,
The buoyancy adjuster 38 includes a ball screw arranged in the longitudinal direction of the central body portion 12 from the lower side of the central body portion 12 and a ball screw arranged to drive the ball screw in accordance with a control signal of the control portion 30. [ Wherein the microcomputer comprises at least two micro servomotors and at least two weights moving in the rotational direction of the micro servomotor in a state of being coupled to the ball screw.
The method according to claim 1,
The buoyancy adjuster 38 may include a first ballast tank installed inside the fishy part 11, a second ballast tank installed inside the fishy part 13, and a second ballast tank installed inside the fishy part 13, And a ballast pump for filling and draining water into and from the ballast tank, respectively.
The method according to claim 1,
A proximity sensor for transmitting a detection signal to the control unit 30 is further provided on both sides of a fish mouth formed in the fishy part 11;
A PSD (Position Sensing Device) sensor for measuring a distance to a front obstacle to be swimming and transmitting the measured distance to the control unit 30 is installed on the lower side of the fish mouth;
Further comprising an ultrasonic sensor for measuring a depth of water with an interval from the PSD sensor and transmitting the measured depth to the controller (30).
The method according to claim 1,
The control unit 30 is further connected to a propeller 39, which has a rapid thruster or a deflector or a parallel structure thereof;
The rapid thruster is a booster pump (BST) installed at the center of the lower surface of the mother unit 13;
Wherein the reciprocating machine is a screw pump (SCP) installed at the center of the bottom of the central body part (12).
The method according to claim 1,
The luminescent switch 41 is further connected to the control unit 30 and the luminescent switch 41 is connected to the eye 15 provided above the fish mouth of the fishy unit 11 in accordance with a control signal of the control unit 30. [ , And controls the light emission of the LED lamp provided in the lid (17) of the fish mouth or the LED lamp in the form of a band provided in the fish mouth.
The method according to claim 1,
A laser beam driver 42 is further connected to the control unit 30 and a laser beam oscillator 16 for projecting a low level laser beam is further provided below the eye 15, Wherein the control unit is driven and controlled.
The method according to claim 1,
Wherein the control unit (30) is further connected to an ultra-small CCD camera (44) installed on an upper side of the eye (15) so that the photographed image is transmitted in real time.
The method according to claim 1,
A water fountain driver 43 is further connected to the control unit 30 and the water fountain driver 43 controls the opening and closing of a water fountain nozzle SPR installed above the fish mouth to periodically water the water. The fish robot is characterized by being composed.
The method according to claim 1,
Wherein the controller controls the movement of the fish robot in accordance with a preset movement based on an operation detection signal detected by the audience movement detecting means, Fish robots.
The method according to claim 1,
An audiovisual motion detecting means is installed in an aquarium into which the robot fish is inserted,
Wherein the control unit of the fish robot receives the motion detection signal detected by the audience motion sensing unit and controls the movement of the fish robot in a predetermined motion.

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