KR20200050123A - Tilt and buoyancy control of robot fish - Google Patents

Abstract

The present invention relates to a robot fish. The robot fish of the present invention configures a buoyancy regulator to inhale or discharge water using a pneumatic cylinder, differentially controls a water inhaling amount to adjust tilt by installing the buoyancy regulator at the front and rear of the center of gravity, and allows buoyancy to be controlled by varying a water inhaling amount. Therefore, the buoyancy and the tilt can be precisely adjusted while swimming. The robot fish is further equipped with a tilt sensor and the buoyancy regulator which can adjust the tilt and the buoyancy together.

Description

Tilt and buoyancy control of robot fish

The present invention relates to a robot fish, and more particularly, to a tilt and buoyancy control device of a robot fish capable of precisely controlling the buoyancy and tilt.

Growing ornamental fish in an aquarium requires careful management, such as aquatic plants, water change and feeding, and can be costly to maintain in many ways. Some ornamental fish are very expensive, and they may not be available because they are either endangered or rare fish banned from trading.

Recently, robot fishes that can mimic the movement of real fishes are often put in an aquarium together with real fishes, or robot fishes are only displayed in aquariums. For example, replacing a predatory fish with a robot fish eliminates the need to constantly supply food, and extinct fish can be reproduced as a robot fish and displayed for educational purposes.

Current robotic fish are being developed so that their fins and torso can move similar to real fish. In order to dive or climb swimming of the robot fish, it is necessary to dive or climb swimming by generating propulsion while adjusting the tilt of the robot fish.

However, since the tilt of the robot fish is adjusted using a weight, it is difficult to precisely adjust the tilt. In addition, there is a disadvantage in that a separate buoyancy control device must be additionally installed to control buoyancy of the robot fish.

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

The present invention is to provide a buoyancy control device for a robot fish that can adjust the buoyancy and tilt in a single device in consideration of the difficulty in adjusting the tilt and buoyancy of the conventional robot fish.

The present invention is an embodiment for achieving the above object,

The fish-shaped body part is connected to the left and right rotationally and fluidly divided by a joint part, and a controller controls the joint part to generate a straight or rotational propulsive force, and controls to swim while avoiding obstacles sensed by an obstacle sensor. In the robot fish to say,

In the robot fish, a tilt detection sensor and a buoyancy regulator that can adjust the tilt and buoyancy are further installed.

The buoyancy regulator is installed with one pneumatic cylinder standing on the front and the rear, respectively, based on the center line of gravity of the robot fish,

A hole is formed upward at the top of the pneumatic cylinder to allow external water intake and discharge, and adjust the buoyancy by contrasting the water intake amount above the piston and the air volume below the piston, and tilt by the difference in buoyancy of the left and right pneumatic cylinders. Characterized in that configured to adjust.

As another embodiment of the installation method of the buoyancy regulator,

A pneumatic cylinder is installed in the robot fish body in the longitudinal direction, and suction or discharge of water by the operation of the pneumatic cylinder is configured to adjust buoyancy and tilt by the amount of water sucked into the cylinder.

In addition, in the present invention, even when the pneumatic cylinder is installed upright, a plurality of pairs may be installed, and when installed horizontally, the plurality of pairs may be installed such that the cylinder water inlets are disposed in opposite directions to each other.

The robot fish,

A pressure sensor (pressure sensor) is further installed, and the control unit measures the depth of the robot fish based on the water pressure of the pressure sensor, and automatically controls the buoyancy regulator to maintain the desired depth and controls the swimming. .

In addition, in the present invention, in order to increase the inclination angle, by installing the weight inclination adjusting device in addition to the buoyancy regulator using a pneumatic cylinder, it is possible to greatly adjust the inclination angle by adjusting both when a steep inclination is required.

According to the present invention, the robot fish is equipped with a buoyancy regulator that can adjust both the tilt and buoyancy, a tilt sensor and a water pressure sensor, and controls the tilt by controlling the buoyancy regulator while detecting the tilt by the tilt sensor. By controlling the buoyancy while sensing the water pressure, it is characterized by controlling the intake and discharge amount of water using a pneumatic cylinder to adjust the slope and buoyancy.

1 is an exemplary modeling diagram of a robot fish according to the present invention.
2 is an exemplary side view of a robot fish according to the present invention.
Figure 3 is a block diagram of a robot fish swimming control device controller according to the present invention.
Figure 4 is a side view for explaining the buoyancy regulator of the robot fish according to the present invention.
5 is an explanatory diagram of buoyancy control of the buoyancy regulator of the robot fish according to the present invention.
6 is an explanatory diagram of another installation form of the buoyancy regulator of the robot fish according to the present invention.
7 is an explanatory diagram of a horizontal installation form of a pair of buoyancy regulators of a robot fish according to the present invention.
8 is a flow chart for controlling diving or ascent swimming of a robot fish according to the present invention.
9 is an exemplary diagram of spiral rotation diving swimming of the robot fish according to the present invention.
10 is a flow chart for setting depth swimming of a robot fish according to the present invention.
11 is a flow chart of the obstacle escape swimming control of the robot fish according to the present invention.

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

Prior to the description of the present invention, the following specific structures or functional descriptions are merely exemplified for the purpose of illustrating the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention may be implemented in various forms, It should not be construed as being limited to the embodiments described herein.

In addition, embodiments according to the concept of the present invention can be applied to various changes and may have various forms, so specific embodiments will be illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosure form, and it should be understood that it includes all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

1 is an exemplary modeling diagram of a robot fish according to the present invention, and FIG. 2 is an exemplary side view of a robot fish according to the present invention.

1 and 2, the robot fish according to the present invention is composed of a plurality of parts, and each part is hinged and configured to be capable of left and right rotational flow by an ultra-small servo motor. Here, the robot fish has a battery power supply device with its own power, drives the driving device using the corresponding power source to swim the robot fish in the water, and installs left and right and front obstacle detection sensors in the fish section to avoid obstacles. As a swimmer, since such a configuration is widely known, a configuration or description is omitted in the present invention.

The robot fish according to the present invention is basically a body part to implement a direction change and propulsive force functions, the body part 11, the central body part 12, the mother part 13, the tail part ( 14). And three joints (51-53) are hingedly connected to each other by a servo motor.

The fish body part 11, on which one side of the central body part 12 is provided with a robot fish's mouth (snout), is rotated by an ultra-compact servo motor to be hinged so as to be angle-adjustable, and the central body part 12 On the other end, the mother part 12 is hinged so that the angle is adjustable while being rotated by an ultra-small servo motor. And at the end of the mother portion 12, the tail portion 14 is hinged to be rotatable by an ultra-small servo motor.

Therefore, the robot fish according to the present invention, between the fish 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 It is a configuration that includes three joints (51-53) hingedly connecting a connection link of a portion adjacent to a rotating link that is rotated by a servo motor.

In addition, the fish section 11 further includes a left sensor 34, a right sensor, a front sensor 36, and a bottom sensor 37 as an obstacle detection sensor, and the three joints 51-53 are all servos. Although it can be driven by a motor, the first joint part can be configured only by connecting a rotating hinge without a servo motor. However, at least one joint portion is configured to be driven to rotate left and right by a servo motor to generate thrust.

Dorsal fin (DF) is formed from the central body portion 12 to the mother portion 13 on the back portion of the robot fish, and the lower sides of the central body portion 12 of the belly portion of the robot fish A pair of pelvic fins (PFs) is formed in, and a pair of anal fins (AF) are formed on both lower sides of the mother part 13 close to the tail part 14 of the robot fish. do.

In addition, in the body portion, as shown in FIG. 2, based on a preset swimming program or a control signal of an external radio controller received through the communication unit, the joint is controlled to generate propulsive force, and an obstacle detection sensor is used. It is configured to include a controller 100 to control the swimming by the obstacle avoidance operation.

Figure 3 is a block diagram of a robot fish swimming control device controller according to the present invention.

The controller 100 is provided with a control unit 110 implemented as a microcomputer, and the control unit 110 is an obstacle detection unit 120 that detects an obstacle detection signal from obstacle detection sensors including left and right sensors, front sensors, and bottom sensors. , Joint driving unit 130 for controlling rotation and propulsion by driving the servo motor of each joint, water pressure sensor 140 for controlling the swimming depth of the robot fish by measuring water pressure from the water pressure sensor 141, bottom The floor distance sensor 150 for detecting the distance from the floor distance sensor 151, the buoyancy regulator 160 for controlling the buoyancy and the tilt of the robot fish by controlling the buoyancy regulator, and the fish of the robot fish Consisting of a tilt detection unit 170 for detecting the tilt through the tilt sensor 171 for detecting the tilt of the male and mother (front and rear) and a communication unit 180 for wireless communication with an external remote controller .

In the robot fish according to the present invention configured as described above, the control unit 110 of the controller 100 controls the joint driving unit 130 to drive the servo motors of each joint unit to generate propulsive force in left and right rotational flow. The joint portion is designed to enable left and right rotational movement at an angle of 90 degrees to the left and right at a 45-degree angle around the centerline, and generates a straight propulsion force through a rotational movement of 90 degrees left and right. If the direction is to be switched in one direction, rotation can be performed by reciprocating rotational flow in a predetermined angle range on the opposite side to be rotated among angles of 45 degrees left and right.

At this time, the obstacle is detected by the obstacle detection signals detected from the front, left, right, and bottom sensors through the obstacle detection unit 120 to control the swimming to avoid obstacles according to the autonomous swimming program.

In addition, when the user manually operates the wireless controller (not shown in the drawing), the controller 110 may receive a wireless control signal through the communication unit 180 to control the swimming of the robot fish.

On the other hand, in order to control the dive or ascent swimming, it is possible to do diving or ascent swimming by generating propulsion while tilting to the front or tail side of the robot fish.

However, the robot fish swims in a space filled with artificial structures, such as an aquarium, and because the width is narrow and the length is short, the robot fish often hits the outer wall when diving. Of course, even if the swimmer is controlled by the obstacle avoidance action, the dive or climb in a narrow space causes a lot of damage or damage to the outer wall due to the inertia force, and it is difficult to dive or swim to the desired depth quickly.

In order to solve this problem, the present invention, when diving and ascent swimming is necessary for the control unit 110, it is possible to effectively dive and ascend swimming even in a narrow space such as an aquarium by programming the spiral rotation to allow diving and ascent swimming. It is possible.

Therefore, the swimming method according to the present invention, the body portion of the robot fish is further equipped with a tilt adjusting means for adjusting the tilt, the controller 100 for controlling the swimming of the robot fish, when diving or rising swimming control of the robot fish In the state in which the tilt adjusting means is adjusted in a diving or ascending direction, the robot fish controls the joint to rotate and swim, thereby generating propulsive force, and controlling to make diving or ascending while rotating.

As the tilt adjusting means, a weight device capable of adjusting the forward and backward directions in the body portion of the robot fish is installed, and the weight of the weight device can be moved forward and backward to adjust the tilt of the robot fish. Since the configuration for adjusting the inclination by moving the weight is a well-known configuration, detailed drawings or detailed description will be omitted.

Although it is possible to adjust the front and rear tilt of the robot fish using the weight device as described above, it is possible to adjust the initial design buoyancy by the weight of the weight itself, but the buoyancy itself does not control the buoyancy during swimming but simply adjusts the front and rear tilt. This becomes possible.

Accordingly, the present invention proposes a buoyancy regulator using a pneumatic cylinder to adjust the tilt along with buoyancy control.

Figure 4 is a side view for explaining the buoyancy regulator of the robot fish according to the present invention, Figure 5 is a diagram illustrating the buoyancy control of the buoyancy regulator of the robot fish according to the present invention.

4 and 5, in the present invention as a method for controlling the buoyancy of a robot fish, a pneumatic cylinder that sucks and discharges water is installed as a buoyancy regulator. 4, two pneumatic cylinders 161 and 162 are installed at the front and rear of the center of gravity of the robot fish, respectively. Pneumatic cylinder 161, 162, as shown in (a) and (b) of Fig. 5, the piston 160-2 is installed inside the cylinder 160-1, the tip of the cylinder 160-1 The hole 160-3 is formed to be configured to allow reciprocation of the piston 160-2. Here, although a pair of pneumatic cylinders has been exemplified by being disposed back and forth, it is possible to install a plurality of pairs of pneumatic cylinders in pairs. It can be designed and installed according to the size of the robot fish and the size (diameter and length) of the pneumatic cylinder.

Usually, a pneumatic cylinder is configured to constitute a piston rod of a piston as a screw rod, and is configured to move the screw rod forward or backward by forward and backward rotation of the motor by combining the screw rod with a rotating gear rotated by a motor, which is generally Since the configuration of the pneumatic cylinder is applied, a detailed structural description is omitted.

However, the inside of the piston rod side is structured to be sealed with the outside, and a hole for communicating with the outside is formed at the tip end portion of the upper cylinder of the piston, so that external water is sucked or discharged according to the forward and backward movement of the piston. That is, in the same way as the principle of the syringe, the buoyancy can be controlled by controlling the amount of water suction into the cylinder.

As shown in (a) of FIG. 5, when the piston is reversed as shown in FIG.

As shown in FIG. 4, the buoyancy control method can control the front and rear tilt of the robot fish by controlling the position of the piston by controlling the two pneumatic cylinders 161 and 162 respectively installed at the front and rear sides. That is, in order to lower the front for diving, the water is further filled in the pneumatic cylinder 161 installed at the front, and the pneumatic cylinder 162 at the rear discharges water to adjust the amount of water sucked into the cylinder to be tilted forward. In the case of ascent, it is controlled in the opposite direction to when diving, so that the fishery part goes upward and the mother part goes down.

Meanwhile, in the embodiment of FIG. 4, two pneumatic cylinders 161 and 162 are installed to control each other to control the inclination, but the structure is not limited thereto.

6 is an explanatory diagram of another installation form of the buoyancy regulator of the robot fish according to the present invention.

As shown in FIG. 6, one pneumatic cylinder 160a is horizontally installed, and the inclination can be adjusted by adjusting the suction amount of water filled in the cylinder. This is to adjust the tilt of the robot fish by varying the amount of water filled in the cylinder by the forward and backward movement of the piston, if the tilt of the robot fish is set to equilibrium when the piston position is the middle position of the cylinder.

In FIG. 6, a configuration in which one buoyancy regulator 160a is horizontally installed is illustrated, but is not limited thereto. As shown in FIG. 7, the two buoyancy regulators are horizontally arranged in pairs to face each other in opposite directions. It may be configured. In this way, a plurality of pairs of pneumatic cylinders can be installed. It can be designed and installed according to the size of the robot fish and the size (diameter and length) of the pneumatic cylinder.

This can adjust the inclination by differentially adjusting the water intake of each of the left and right pneumatic cylinders. In addition, it is possible to control the buoyancy of the entire robot fish by the absolute amount of water to be filled.

In this way, the buoyancy control and tilt adjustment structure using a pneumatic cylinder can finely adjust the tilt adjustment, and quickly adjust the responsiveness compared to a configuration that adjusts the tilt by installing a conventional simple weight and moving the weight. It has the advantage of being able to control the overall buoyancy as well.

In addition, a weight tilt device (not shown in the figure) that can adjust the tilt by moving the weight with the pneumatic cylinder type buoyancy regulator shown in FIGS. 5 to 7 according to the present invention can be installed in parallel. This can be made by adjusting the buoyancy regulator using the pneumatic cylinder and the weight inclination adjusting device together, it is possible to rapidly adjust the inclination.

For example, if the weight tilt control device or the pneumatic cylinder buoyancy regulator can be adjusted to a 45-degree tilt when it is installed alone, it can be adjusted to a near-vertical tilt if the two are installed together and adjusted to the maximum tilt. . Of course, when adjusting the excessive tilt, a problem such as being inverted by the inertia force may occur, so that the maximum tilt can be appropriately adjusted experimentally and the tilt adjusting speed can be adjusted.

Therefore, when the buoyancy regulator and the weight inclination adjusting device are installed together, the diving and ascent angles can be adjusted at a rapid angle, allowing dive or ascent in a narrow space, and providing more diversity in swimming control of robot fish. can do.

On the other hand, if the propulsive force is generated while adjusting the inclination angle during the normal diving or ascent swimming, it is gradually submerged or ascended. Due to this, even if it collides with the outer wall in a small space aquarium and swims with obstacle avoidance action, it may cause several bumps or pinch in the corners until it dives or rises to the desired depth, and may cause damage or breakdown.

In order to improve this problem, in the present invention, as a swimming program of the control unit 110 of FIG. 3, a program for diving and climbing swimming is set to control diving or climbing by rotating swimming when controlling diving or ascent.

8 is a flow chart for controlling the diving or ascent swimming of a robot fish according to the present invention, and FIG. 9 is an exemplary diagram of spiral rotation diving swimming of a robot fish according to the present invention.

Diving or ascent swimming is set to automatically control the rotational diving / ascent swimming in the case of diving or ascent swimming by autonomous swimming or manual adjustment by a wireless remote controller. Diving and climbing swims only control the inclination of each other, and spiral diving swims control diving or climbing.

Diving or ascent swimming control method according to the present invention, the step of determining whether the diving or ascent swimming in autonomous swimming or manual adjustment (S11), and in the case of diving or ascent swimming, adjust the tilt of the robot fish corresponding to diving or ascent Step (S12), and set the direction of rotation based on the detection signals of the obstacle detection sensors, and control the driving of the joint in the direction of rotation (S13) to generate a rotational swimming propulsion, and diving by spiral rotational swimming or Step of determining the end point of diving or ascent by pre-set conditions while controlling so as to make the ascent swim (S14), and if it is determined that the end of diving or ascent swim, release the slope and the rotation swim of the joint to end the diving and ascent swim It characterized in that it comprises (S15).

9 is a virtual diagram of spiral rotation diving swimming of a robot fish according to the present invention. As shown in the figure, the robot fish when swimming in a dive can make a spiral rotation dive by adjusting the tilt and controlling the rotation to swim, and the dive can be terminated by the distance from the bottom surface. Therefore, if you can easily dive or climb to a desired depth even in a narrow space, interference with nearby obstacles can be minimized.

It is determined whether the control unit 110 is diving or ascending (S11). The dive or ascent swim decision determines whether it is a dive or ascent time set by the autonomous swim program. Alternatively, when the user manually controls the robot fish using the radio controller, it is determined whether the command is a diving or ascent. When a dive or ascent command is received from manual control, the dive or ascent is controlled by a spiral swimmer. Of course, in manual adjustment, the user can directly control diving and ascent by rotating swim.

If it is determined to be a diving or ascent swim, the slope is adjusted to a slope corresponding to the diving or ascent (S12). The tilt adjustment method adjusts the tilt using a weight-weight device or a buoyancy controller as shown in FIG. 4. When the inclination is adjusted by installing a pair of pneumatic cylinders in front and rear as shown in FIG. 4, the inclinations of the front and rear are adjusted in a diving direction or an upward direction by controlling the pneumatic cylinders in front and rear correspondingly to each other.

At this time, if a sudden dive or ascent is required, the tilt adjustment is adjusted to the maximum value, and when not a sudden dive or ascent, it is controlled at a preset slope ratio. In addition, the tilt control may be adjusted to a desired tilt at a time, but the tilt range may be gradually adjusted in a certain time range.

The rotation swimmer controls the generation of propulsive force in response to the rotational direction of at least one or more joints including the mother-side joint. By reciprocating only in the left area or the right area of the center line of the left and right rotational flow of the joint, rotation swimming becomes possible.

When rotating, the control unit 110 first determines whether there are obstacles in the vicinity through the obstacle detection unit 120. Obstacles are detected through the left and right sensors, and if an obstacle is detected from either side, the rotation direction is set in the opposite direction.

When the inclination is adjusted in the dive direction (S12), and the rotational swim propulsion is generated (S13), the robotic fish dive into a spiral rotational swimmer as shown in FIG. 9.

While controlling the dive or ascent swim with the spiral rotating swim, it is determined at the end of the dive or ascent (S14). Diving and climbing end determination can be controlled by a set condition.

When it is necessary to dive to the bottom surface, a bottom surface sensor is further installed or a distance to the bottom surface is detected using a bottom surface sensor. At this time, if the distance to the predetermined bottom surface is detected in consideration of the inertia according to the swimming of the robot fish, it is determined as the end time of the dive.

As another method, the water pressure is sensed using a water pressure sensor, and when a preset water pressure is detected, it is determined that the diving is finished.

Another method is to measure or calculate the time it takes to swim a rotating dive from the upper floor to the bottom, control a spiral diving dive for a predetermined period of time from the start of the dive, and when the set time has elapsed, return to the end of the dive. Judge.

Conversely, since the end of the ascent may be difficult to detect the distance of the bottom surface, the bottom surface distance is not utilized, and the end point of the ascent may be determined using a water pressure sensor or a set time.

As described above, when determining the end of diving and ascent, the inclination may be adjusted in a horizontal or opposite direction, and the rotational stream may be released to generate a straight propulsion force or a rotational flow direction in the opposite direction may be generated. This is determined by the established swimming pattern.

If it is desired to control the horizontal swimming after the end of the swimming, the slope can be adjusted to the horizontal state at the end of the swimming, and the rotational swimming can be terminated and the propulsive force can be generated to control the horizontal swimming. Of course, considering the inertia force, a method of temporarily generating a slope or a rotation direction in each reverse direction and then returning to a horizontal state can be used.

When controlling diving and ascent swimming, as a method of controlling the dive depth or ascending height, the dive depth and ascent height can be adjusted using hydraulic pressure measurement, and the dive time from the highest ascending position to the maximum depth in advance, and the maximum diving Set and measure the rise time from the position to the maximum height, calculate the maximum dive depth or the maximum rise height from the position detected by water pressure, and set the dive or ascent time for the child to control the dive or ascent swim for the set time. I can do it.

In general, when operating a robot fish in an aquarium, there is a problem that swimming is not performed at a height desired by a spectator or operator, and swimming is mostly performed at the bottom or the surface of the water.

In the present invention, by controlling the diving or ascent swimming by the spiral rotation swimming method as described above, smooth diving and ascent swimming in a narrow space is possible. Using this, the robot fish can swim at an appropriate depth. That is, when setting up an autonomous swimming program, it is possible to maintain an appropriate depth or swim while repeating diving and ascent.

10 is a flow chart for setting depth swimming of a robot fish according to the present invention.

The constant height swimming control method sets the maximum dive time, sets the depth submerged during the maximum dive time to the maximum dive depth (S21), and sets the rise time from the maximum dive depth to activity up to the height raised. It is characterized by performing a step (S22) of setting a swimming range, and a step of swimming a range of motion (S23) controlling the swimming in the swimming range from the maximum depth to the height. In addition, when the outer wall is detected in the activity range swimming step S23, the obstacle avoiding operation is performed by rotating swimming.

According to the present invention, the step (S21) of setting the maximum submersible depth may be set by the user by measuring the depth of the water, and by setting the maximum submersion time, the submerged depth during the maximum submersion time is the maximum submersible depth. You can also set.

In the present invention, by controlling the diving and ascent swimming by the spiral swimming method as a diving method, it is possible to smoothly dive and ascend swimming in a narrow space. Accordingly, rather than simply measuring the depth from the surface to the bottom surface and utilizing it, the dive time to the bottom surface is measured by performing the dive until the point where the bottom surface is actually detected by the rotating dive swimming. Use to set the maximum dive time.

That is, the maximum dive time is set as a ratio of time (eg, maximum dive time = 90% of the dive time to the bottom surface) compared to the dive swimming time from the top floor to the bottom surface. Therefore, using the robot fish to automatically control the swimming dive in the upper layer, and measures the time taken to the depth at which the bottom surface is detected by the bottom surface sensor. The time of the proper ratio of the time to the measured bottom surface can be set as the maximum dive time.

At this time, it is desirable to set a depth that can prevent collision with the bottom surface. Also, considering the depth of the aquarium or the viewing angle of the viewer, the user sets the maximum dive time appropriately considering the dive time to the bottom surface.

During the maximum dive time set as described above, the maximum dive depth is set by diving with a rotating swimmer. If only the maximum dive time is set, the maximum submersible depth must be set, as it may hit the bottom surface during the dive from the middle. The maximum submersible depth is set by using the water pressure sensor 140 to measure the water pressure.

When the maximum submersible depth is set as described above, a rise time is set from the maximum submersible depth. This sets the ascent to the set time of the appropriate ratio in proportion to the maximum submersible time. Of course, it is also possible to set the maximum elevation height by the water pressure against the elevation height. However, since there is no problem even when rising to the surface of the water in an ascent swimming, when the ascent time is set, the ascent height is more naturally adjusted because the ascent height varies depending on the rotating swim position or obstacle locking.

Therefore, the activity swimming range is defined as the activity swimming range, the maximum dive depth and a section that rises during the rising time set at the maximum dive depth. That is, the diving depth is the depth corresponding to the water pressure measured by the water pressure sensor, and the ascent range is set to the ascent time.

In the present invention, the user sets an appropriate ratio of the swimming range to the depth of the aquarium, for example, to set 80% of the depth from the flat surface to the maximum submersible depth and 10% of the depth from the flat surface to the maximum elevation height. The range of activity can only be set as a percentage of depth.

In this way, the depth is automatically measured by the diving swim, the maximum dive depth of the active swim range is set, and the rise time can be set to the rise time by reaching the set height by swimming upward at the maximum diving depth. have.

When the activity swimming range is set as described above, the maximum submersible depth is submerged to the maximum submersible depth by submerging the water pressure by the water pressure sensor, and when the maximum submersible depth is reached, it is raised for a set ascent time, and then submerged again. Diving to the maximum possible depth and repeating the ascent for the set time to control swimming within the activity range (S23).

In addition, by performing an obstacle detection avoidance operation at the time of diving and climbing, it is possible to prevent obstacles such as diving and constantly hitting the corner of Yuengsi or continuously hitting in either direction.

On the other hand, when a robot fish swims, it often occurs that it cannot get out of an obstacle because it is caught in an edge of an aquarium or is caught in an obstacle. This is because there is no reverse function. Robot fish that obtain a driving force by swinging the joints left and right as in the present invention is usually difficult to impart a reverse function. In order to provide the reverse function, a reverse injection device must be installed, but there are also difficulties such as an increase in parts and a complicated control device.

In order to solve the above problems, in the present invention, when a robot fish that obtains propulsion by swinging the joints left and right is stuck between the left and right obstacles, it is possible to use the tilt control to control the escape of obstacles that can escape from the trapped state by autonomous operation. I want to provide a method.

11 is a flow chart for controlling the escape of obstacles of a robot fish according to the present invention. As shown in Figure 11,

If an obstacle is continuously detected from the left and right obstacle sensors of the robot fish for a predetermined time or more, determining the obstacle as an obstacle (S31), and if it is determined that the obstacle is caught, a predetermined number of times with a predetermined time interval between the front and rear using the buoyancy controller Tilt adjustment step (S32) to repeatedly adjust, and determining the obstacle jam while performing the tilt adjustment step (S32), and if the obstacle jam persists, generate the thrust with the tilt control and then stop the thrust for a certain time The driving force generation repetition step (S33) and the driving force generation repetition step (S33) are performed to determine an obstacle jam, and if the obstacle jam persists, the slope adjustment and the thrust force generation are repeatedly performed, and then for a predetermined time. If it does not deviate from the abnormal obstacle, step S34 of displaying an obstacle jam state is performed.

When a robot fish is operated in an aquarium, it uses a front sensor, left and right sensors, and a bottom sensor to control swimming by obstacle avoidance. However, in some cases, the robot fish may be caught in the corners, making it impossible to move forward, rotate left and right, and dive or climb. That is, an obstacle jam state is generated. If it is in this way, it cannot easily escape because there is no reverse propulsion.

In the present invention, when the left and right obstacle sensors continuously detect an obstacle for a predetermined time or more, it is determined as an obstacle jam (S31). If it is determined that the obstacle is jammed, the propulsion is stopped while releasing the currently controlled pattern swimming. In the state in which the propulsion is stopped, the inclination adjusting means is used to incline the incline to the maximum, and the incline to the maximum is controlled (S32).

In the tilt adjustment step (S32), the robot fish is tilted forward in the absence of thrust, and tilting is repeated again. At this time, it is also possible to repeat tilting back and forth in a continuous motion. Alternatively, it is possible to adjust the inclination in the opposite direction after a predetermined time has elapsed by temporarily stopping at the point of inclination with the maximum inclination. Or, after adjusting the slope to the maximum slope forward, return to the horizontal state by continuous operation, and then maintain the horizontal state for a certain period of time. Tilt again to the maximum slope, return to the horizontal state by continuous operation, and then maintain the horizontal state for a fixed time. Can be.

By adjusting the tilt as described above, the pulsation is generated while the tilt of the robot fish flows, so that the robot fish usually flows along the flow of water and can be pushed back or sideways. This way, you can escape from the obstacle.

However, when the above-described inclination adjustment does not escape from the obstacle, the thrust is intermittently generated along with the inclination adjustment to force the flow of water to generate a flow of water reflected from the obstacle to provide a method for robot fish to escape from the obstacle. can do. That is, the driving force generation step (S33) of repeatedly generating and temporarily stopping the driving force in addition to adjusting the slope may be further included.

This is to enable the robot fish to get out of the obstacle jam by gaining reaction force as it hits the obstacle.

Of course, the propulsive force generated at this time controls the joint motor at a low speed, thereby preventing the robot fish from being damaged or damaged by colliding with the outer wall. Since it is a low-speed propulsion force, it can lightly touch the outer wall and be pushed back by a reaction force by stopping the propulsion force.

In addition, when the propulsive force is generated, the obstacle detection signal of the left and right sensors may be measured to generate a rotating propulsive force that is rotated in either direction. This is to cause the rotational propulsion force to be generated toward the obstacle sensing distance of the obstacle sensor. Or, on the contrary, it is possible to force the romot fish to collide with the obstacle by generating rotational propulsion in the direction of the adjacent obstacle, and to stop the propulsive force and flow back by the reaction force to escape the obstacle.

If the obstacle jam state is maintained for a predetermined time or more even after repeatedly performing the tilt adjustment step (S32) and the thrust generating step (S33) as described above, the obstacle jam state is displayed until it naturally escapes by the flow of water. Of course, even in this case, if the obstacle is successfully separated by continuously performing the obstacle determination step S31 by detecting the obstacle, the autonomous swimming is controlled by the set autonomous swimming pattern.

As described above, the robot fish according to an embodiment of the present invention is a robot fish that segments a body part into a plurality of blocks and generates propulsive force in a left-right rotational flow using a joint part. As a means for adjusting the tilt of the robot fish, a weight device may be used, and a buoyancy regulator for adjusting the buoyancy and tilt by adjusting the suction and discharge amount of water using a public safety cylinder is installed.

In the present invention, it is possible to dive or climb swimming by spiral rotation swimming by adjusting the slope and controlling by rotating swimming so as to enable smooth diving or climbing in places such as an aquarium where the swimming space is narrow in diving or climbing swimming.

In addition, by installing a water pressure sensor for measuring the depth, by setting the maximum submersible depth and rise time to swim in a certain range of depth, it prevents swimming only on the surface or the bottom surface.

In addition, the present invention provides a swimming method to allow the robot fish to stably escape from an obstacle jam even if there is no reverse propulsion means by repeating the tilt adjustment or alternating the tilt adjustment and the propulsion and stopping when the robot fish is caught between the corners or the obstacle. Can be.

11: Fishery part 12: Central body part
13: mother part 14: tail part
34, 36, 37: Obstacle detection sensor
51, 52, 53: joint
100: controller
110: control unit 120: obstacle detection unit
130: joint driving unit 140: water pressure detection unit
150: floor distance detection zone 160: buoyancy control unit
161, 162, 160a: Pneumatic cylinder buoyancy regulator
170: tilt detection unit 180: communication unit
DF, PF, AF: Fin

Claims (8)

The fish-shaped body portion is connected to the left and right rotationally by the joint portion to be segmented into a plurality, and the controller controls the joint portion to generate a straight or rotational propulsive force while controlling the swimmer while avoiding obstacles detected by the obstacle detection sensor. In the robot fish to say,
In the robot fish, a tilt detection sensor and a buoyancy regulator that can adjust the tilt and the buoyancy are further installed.
The buoyancy regulator is installed with one pneumatic cylinder standing on the front and the rear, respectively, based on the center line of gravity of the robot fish,
A hole is formed upward at the upper end of the pneumatic cylinder to allow external water suction and discharge, and adjust the buoyancy by contrasting the water suction amount above the piston and the air amount below the piston, and tilt by the difference in buoyancy of the left and right pneumatic cylinders. Tilt and buoyancy control device of the robot fish, characterized in that configured to adjust.
The method according to claim 1, The robot fish,
A water pressure sensor (pressure sensor) is further installed, and the control unit is configured to measure the depth of the robot fish based on the water pressure of the water pressure sensor and automatically control the buoyancy regulator to maintain the desired water depth while swimming. Robot fish tilt and buoyancy control device.
The method according to claim 1,
Tilt and buoyancy control device of the robot fish, characterized in that further comprising a weight control device for adjusting the tilt by moving the weight with the buoyancy regulator.
The method according to claim 1,
Tilting and buoyancy control device for a robot fish, characterized in that a pair of pneumatic cylinders are installed to be installed in pairs corresponding to the front and rear of the center of gravity.
The fish-shaped body portion is connected to the left and right rotationally by the joint portion to be segmented into a plurality, and the controller controls the joint portion to generate a straight or rotational propulsive force while controlling the swimmer while avoiding obstacles detected by the obstacle detection sensor. In the robot fish to say,
In the robot fish, a tilt detection sensor and a buoyancy regulator that can adjust the tilt and the buoyancy are further installed.
The buoyancy regulator is configured to install a pneumatic cylinder in the longitudinal direction in the body of the robot fish, and suction or discharge water by operating a pneumatic cylinder, so as to adjust the buoyancy and tilt by the amount of water sucked into the cylinder. Robot fish tilt and buoyancy control device.
The method according to claim 5, The horizontal pneumatic cylinder,
Tilting and buoyancy control device for robot fish, characterized in that an even number of pneumatic cylinders are installed so that the water intakes of the cylinders are horizontally arranged to face each other to form a pair.
The method according to claim 5, The robot fish,
A water pressure sensor (pressure sensor) is further installed, and the control unit is configured to measure the depth of the robot fish based on the water pressure of the water pressure sensor and automatically control the buoyancy regulator to maintain the desired water depth while swimming. Robot fish tilt and buoyancy control device.
The method according to claim 5,
Tilt and buoyancy control device of the robot fish, characterized in that further comprising a weight control device for adjusting the tilt by moving the weight with the buoyancy regulator.

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