WO2003092843A1 - Corps naviguant sous-marin en forme de poisson, systeme de commande correspondant et aquarium - Google Patents

Corps naviguant sous-marin en forme de poisson, systeme de commande correspondant et aquarium Download PDF

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Publication number
WO2003092843A1
WO2003092843A1 PCT/JP2002/004306 JP0204306W WO03092843A1 WO 2003092843 A1 WO2003092843 A1 WO 2003092843A1 JP 0204306 W JP0204306 W JP 0204306W WO 03092843 A1 WO03092843 A1 WO 03092843A1
Authority
WO
WIPO (PCT)
Prior art keywords
fish
underwater vehicle
type underwater
unit
tail
Prior art date
Application number
PCT/JP2002/004306
Other languages
English (en)
Japanese (ja)
Inventor
Ikuo Yamamoto
Yuuzi Terada
Original Assignee
Mitsubishi Heavy Industries, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries, Ltd. filed Critical Mitsubishi Heavy Industries, Ltd.
Priority to PCT/JP2002/004306 priority Critical patent/WO2003092843A1/fr
Priority to US10/398,657 priority patent/US20050235899A1/en
Priority to EP02722888A priority patent/EP1535654A4/fr
Publication of WO2003092843A1 publication Critical patent/WO2003092843A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
    • A63H23/02—Boats; Sailing boats
    • A63H23/04—Self-propelled boats, ships or submarines
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
    • A63H23/08—Cartesian or other divers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
    • A63H23/10—Other water toys, floating toys, or like buoyant toys
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
    • A63H23/10—Other water toys, floating toys, or like buoyant toys
    • A63H23/14—Special drives
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
    • A63H23/10—Other water toys, floating toys, or like buoyant toys
    • A63H23/16—Aquatic toy installations; Harbour arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A63H30/02—Electrical arrangements
    • A63H30/04—Electrical arrangements using wireless transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/20—Steering equipment

Definitions

  • the present invention relates to a fish-type underwater vehicle, a control system for a fish-type underwater vehicle, and an aquarium for displaying a fish-type underwater vehicle.
  • the first conventional underwater vehicle which vibrates the wings like a fish fin to perform propulsion and steering, is disclosed in Japanese Patent Application Laid-Open Publication No. H11-115205. It is known to As shown in Fig. 1, the first conventional underwater vehicle has wings 201a and 201b. The wings 20la and 201b are connected in series. The wings 201a and 201b rotate around the rotation axes 204 and 205, respectively. The vibrations of the wings 201a and 201b are coordinated, and the wings 201a and 201b act as a whole, like a fish's tail fin. . As a result, the underwater vehicle of the first conventional example gains thrust. In addition, the vibrations of the wings 201a and 201b are coordinated and steered. In addition, the underwater vehicle of the first conventional example includes a single tank 207. The control of the ups and downs of the underwater vehicle is performed by injecting and discharging water into tank 2007.
  • the second conventional underwater vehicle is known from the above-mentioned reference.
  • the underwater vehicle of the second conventional example is provided with a plurality of vibrating blades 121 at both ends of a main body 222.
  • the vibrating blades 22 1 are driven by a first actuator 224 and reciprocate around a vertical axis 2 25.
  • the vibrating wings 2 2 1 Driven by the heater 223, it rotates around the horizontal axis 226, and the angle is adjusted.
  • propulsion and steering are performed by a plurality of vibrating blades 22 1.
  • Each vibrating blade 2 2 1 performs both propulsion and steering.
  • fish robots artificial fish
  • Many people are looking for new amusement facilities as recreational items.
  • Such fish robots are highly entertainable and have high needs as new facilities for amusement.
  • An object of the present invention is to provide a fish-type underwater vehicle such as a fish robot simulating a fish having a plurality of fins and tail fins such as pectoral fins and belly fins. That is.
  • Another object of the present invention is to provide a fish-type underwater vehicle, such as a fish robot, having a stable posture while obtaining thrust.
  • Another object of the present invention is to provide a fish-type underwater vehicle such as a fish robot that can be controlled from an external machine.
  • Another object of the present invention is to provide a fish-type underwater vehicle control system for externally controlling a fish-type underwater vehicle such as a fish robot. It is.
  • Another object of the present invention is to realize an aquarium as an ami-usement facility in which a fish-type underwater vehicle, such as a fish robot, swims and is highly effective in attracting customers. It is.
  • a fish-type underwater vehicle has a tail rotating portion provided on a tail portion of a main body, and a pair of first side portions provided below a front side portion of the main body.
  • a rotating portion; and a pair of second side rotating portions provided from a central portion of the main body to a lower portion of the side portion in the tail direction.
  • the fish-type underwater vehicle generates thrust by the rotation of the tail rotating portion. Further, the pair of first side rotation units, the pair of second side rotation units, and the tail rotation unit contribute to attitude control of the fish-type underwater vehicle.
  • the fish-type underwater vehicle may further include a dorsal fin turning unit provided at an upper portion of the main body from the central portion to the tail portion and contributing to the posture control of the fish-type underwater vehicle. You may have it.
  • the fish-type underwater vehicle is provided below the central portion of the main body in the tail direction, and contributes to controlling the attitude of the fish-type underwater vehicle. May be further provided.
  • the tail rotating portion of the fish-type underwater vehicle includes a first tail rotating portion and a second tail rotating portion connected to the first tail rotating portion.
  • the first tail turning portion turns in response to the turning operation of the second tail turning portion, thereby realizing a fish-like operation.
  • the rotation frequency of the tail-rotating part is the speed of the fish-type underwater vehicle and the width of the fish-type underwater vehicle in a direction perpendicular to the direction in which the fish-type underwater vehicle moves. It is preferable to determine based on Further, the fish-type underwater vehicle is further provided with a buoyancy tank, and the floating of the fish-type underwater vehicle is controlled based on the amount of water injected into the buoyancy tank.
  • the buoyancy tank section has a front buoyancy tank section and a rear buoyancy tank section in order to smoothly perform the up-and-down operation.
  • the rear buoyancy tank section has a pair of tank sections for the purpose of left and right noise.
  • the fish-type underwater vehicle has a driving unit that independently drives each of the tail turning unit, the pair of first side turning units, and the pair of second side turning units. And a control unit that controls the driving unit based on the radio command signal, and a control unit that controls the driving unit based on the radio command signal.
  • the frequency of the radio command signal is 100 MHz or less in consideration of attenuation of radio waves in water.
  • the fish-type underwater vehicle further includes a transmission unit that returns the content of the radio command signal when receiving the radio command signal. This makes it possible to determine whether or not the command has arrived correctly.
  • a fish-type underwater vehicle control system transmits the above-described fish-type underwater vehicle and a radio command signal to the fish-type underwater vehicle underwater. And a control unit.
  • the fish-type underwater vehicle has a drive unit that independently drives each of the tail rotation unit, the pair of first side rotation units, and the pair of second side rotation units.
  • the apparatus further includes a receiving unit that receives the radio command signal that propagates in the water, and a drive control unit that controls the driving unit based on the radio command signal.
  • the frequency of the radio command signal is 100 MHz or less. It is preferred that it is.
  • control unit may further include an operation unit, and a transmission unit that outputs the radio wave command signal into the water based on an operation of the operation unit.
  • the fish type underwater vehicle further includes an ultrasonic wave transmitting unit.
  • the fish-type underwater vehicle controls the fish-type underwater vehicle based on ultrasonic signals transmitted from the ultrasonic transmission units of the plurality of fish-type underwater vehicles.
  • a position detection unit for detecting the position of the image.
  • the control section outputs the radio command signal for avoiding a collision with another object based on the position detected by the position detection section.
  • the movement of one of the plurality of fish-type underwater vehicles is determined by the position detection unit. It is preferable to be determined based on the radio command signal transmitted based on the detected position to prevent collision.
  • an aquarium comprises an aquarium and at least one of the fish-type underwater vehicles.
  • the at least one underwater vehicle of the fish type swims in the aquarium.
  • each of the plurality of fish-type underwater running bodies swim in the water tank, and each of the plurality of fish-type underwater running bodies generally moves along one closed circuit.
  • each of the plurality of fish-type underwater vehicles floats and sinks substantially periodically in the direction of gravity in which gravity acts.
  • a radio command signal is transmitted to the fish-type underwater vehicle underwater.
  • a control unit may be further provided.
  • the fish-type underwater vehicle has a drive unit that independently drives each of the tail rotation unit, the pair of first side rotation units, and the pair of second side rotation units.
  • a drive control unit configured to control the drive unit based on the radio wave command signal, the receiving unit receiving the radio wave command signal propagating in the water.
  • the control unit further includes: an operation unit; and a transmission unit configured to output the radio command signal into the water based on an operation of the operation unit.
  • FIG. 1 is a diagram showing a first conventional underwater vehicle.
  • FIG. 2 is a diagram showing another underwater vehicle in the second conventional example.
  • FIG. 3 is a diagram showing an underwater vehicle such as a fish robot according to a first embodiment of the present invention and a control system thereof.
  • FIGS. 4A and 4B are diagrams showing the appearance of the underwater vehicle according to the first embodiment.
  • 5A and 5B are diagrams showing the internal structure of the underwater vehicle according to the first embodiment.
  • FIG. 6 is a diagram showing a control system of the underwater vehicle according to the first embodiment.
  • FIG. 7 is a diagram showing an aquarium exhibiting an underwater vehicle according to the second embodiment of the present invention.
  • FIG. 8 is a diagram showing a control system of the underwater vehicle according to the second embodiment.
  • FIG. 9 is a view showing the appearance of the underwater vehicle according to the second embodiment.
  • FIG. 10A and 10B show the behavior of the underwater vehicle according to the second embodiment.
  • FIG. 11 is a diagram for explaining the operation of the underwater vehicle according to the second embodiment.
  • FIG. 12 is a diagram for explaining the movement of the underwater vehicle according to the second embodiment.
  • FIG. 3 shows a fish robot and its control system according to the present embodiment.
  • the fish robot 1 in the water tank 2 is controlled by a manual control device 3 and an automatic control device 4. Whether or not the fish robot 1 is controlled by the difference between the manual control device 3 and the automatic control device 4 is determined by a cut-off provided in the manual control device 3. It can be switched by switching switch 5.
  • the manual control device 3 is provided with an antenna 6 for transmitting a control radio wave 7 to the fish robot 1.
  • the control radio wave 7 propagates through the water in the water tank 2 and reaches the fish robot 1.
  • the fish robot 1 operates in response to the control radio wave 7. Further, the fish robot 1 transmits the radio wave 8.
  • the echo radio wave 8 includes data transmitted by the control radio wave 7 and is used to determine whether or not the control radio wave 7 has been transmitted normally.
  • the antenna 6 receives the echo radio wave 8.
  • FIG. 4A and 4B show the configuration of fish robot 1.
  • the fish robot 1 simulates the form of a sealance and simulates it.
  • the fish robot 1 also has many fins, corresponding to the fact that the sealance has many fins. It is provided.
  • FIG. 4A is a plan view of the appearance of the fish robot 1
  • FIG. 4B is a side view of the appearance of the fish mouth port 1.
  • the fish robot 1 has a fish robot main body 11.
  • the fish robot body 11 has two pectoral fins 12, 12 2 , two belly fins 13, 13 2 , 1st dorsal fin 14, 2nd dorsal fin 15, 1st dorsal fin Connection 16 is connected.
  • the second neck 17 is connected to the tail of the fish robot main body 11.
  • a tail fin 18 is connected to the second hinge 17 and is connected.
  • each of the tail fin 18 and the tail fin 18 is formed of a metal plate covered with a soft plastic having a resilient surface.
  • FIG. 5A is a plan view showing the internal structure of the fish robot 1.
  • FIG. Ni Let 's that are shown in Figure 5 A, flippers 1 2, 1 2 2, respectively, that is connected to the rotation shaft 1 9, 1 9 2 rotating self standing.
  • the flippers 1 2 i is driven by the motor 2 0, to Ri times the rotation shaft 1 9 1, it vibration (rotation) to the jar by Ru is indicated by the arrow 2.
  • the flippers 1 2 2 is driven by the motors 2 0 2, it vibrates in the jar'll be shown by the arrow 2 1 2 to Ri rotating shaft 1 9 2 times.
  • each of the belly fins 13, 13 2 is connected to one rotating shaft (not shown) in a rotating manner.
  • Ventral fin 1 3, 1 3 2, respectively, motor 2 0 3 which is shown in FIG. 5 B, 2 0 4 by Ri Ru are driven.
  • Second back 15 and the first fin 16 are also connected to their respective rotating shafts (not shown) in a rotating manner.
  • Second dorsal fin 1 5, first Mr. Ri fin 1 6, respectively, 5 by Ri is driven motors 2 0 5, 2 0 6 that will be shown in B, its Rezoreya 2 3, Vibrates as shown in 24.
  • the first dorsal fin 14 is fixed.
  • the first dorsal fin 14 stabilizes the posture of the fish robot 1.
  • one end of the vibrating blade 17 is rotatably connected to a rotating shaft 25 so as to rotate.
  • Vibration wing 1 7 is driven Ri by the Motor 2 0 7, to Ri rotating shaft 2 5 times, you vibrate in the jar'll be shown by the arrow 2 6.
  • the other end of the vibrating blade 17, is connected to a rotating shaft 27.
  • One end of the vibrating blade 17 2 is connected to the rotating shaft 27 so as to be free to rotate.
  • the vibrating wings 17 2 vibrate around the rotation axis 27 as shown by the arrow 26.
  • the phases of the vibrations of the vibrating blade 17 i and the vibrating blade 17 2 are deviated, and the vibrating blade 17 2 operates in response to the operation of the vibrating blade 17.
  • the vibrating wings 17 and 17 2 undulate supplely, as if they were real sea lances.
  • Vibration wing 1 7 ⁇ and the vibrating blade 1 7 2 and the frequency f of the vibration intends row is expressed by the following equation:
  • S is determined from the movement and shape of the real fish.
  • f By defining f in this way, the second numbness 17 also vibrates like a real fish.
  • a tail fin 18 is connected to the second fin 17 as shown in FIG. 5B.
  • the tail fin 18 rotates around a rotation axis (not shown).
  • the tail fin 18 vibrates as indicated by an arrow 26 around a rotation axis (not shown).
  • the thrust of the fish robot 1 is generated substantially only by the second numbness 17.
  • Above fin 1 2 1 1 2 2 , Abdominal fin 1 3! , 13 2 , 2nd dorsal fin 15, 1st fin fin 16, and tail fin 18 do not substantially produce the thrust of fish robot 1.
  • the posture of fish robot 1 is 1 2 i, 1 2 2 , 1 2 2 , and 1 3! , 13 2 , the second dorsal fin 15, and the first dorsal fin 16, as well as the second dorsal fin 17 and the tail fin 18.
  • the manner in which the propulsive force is generated in this way and the attitude is further controlled is similar to that of the actual sea lance, and the reality of the fish robot 1 is The level is raised.
  • Pectoral fins 12, 1 2 2 , belly fins 13 i, 13 2 , 2nd dorsal fin 15, 1st fin fin 16, and tail fin 18 depend on the corresponding motor. It is driven.
  • the fins 16 and the tail fins 18 need not necessarily behave in a complex manner.
  • the degrees of freedom of the pectoral fins 1 2, 1 2 2 , belly fins 1 3 1 , 1 3 2 , 2nd dorsal fin 15, 1st numb fin 16, and tail fin 18 are single And the mechanism to drive them is connected by the force of connection.
  • Fish robot 1 also has a pump 28, as shown in Figure 5B. , 2 8 2 and other emissions-click 2 9, 2 9 2 and the including.
  • Tank 29 ⁇ is located at the head of fish robot 1.
  • Data down click 2 9 2 two parts mosquitoes ⁇ et al Ri, located in the jar by sandwiching the motor 2 0 3-2 0 8 described above.
  • Po down flop 2 8 i, 2 8 2, the motor down click 2 9 j, 2 9 2 Water was poured into, or, you drain water. The position of fish robot 1 in the direction of gravity is adjusted by the amount of water inside the tank. Tank 2 9! 29 92 The water is injected into or discharged from the water tank 2 , so that the fish robot 1 floats and sinks in the direction of gravity, and the posture of the fish robot 1 is changed. Is controlled. This good cormorant more of the other emissions-click 2 9 l 2 9 2 is Bei gills are in Les, and the child Ru, you are to facilitate the control of the posture of the fish robot 1.
  • the fish robot 1 includes a battery 31 as a power supply unit (FIG. 5B).
  • the battery 31 supplies a power supply voltage to the entire fish robot 1.
  • FIG. 6 shows a control system that indicates the operation of the fish robot 1.
  • fish robot 1 further includes a transceiver 30.
  • the transceiver 30 receives a control radio wave 7 for instructing the operation of the fish robot 1.
  • Control Telecommunications 7, that contains information Motor 2 0 L ⁇ 2 0 8 and Bonn flop 2 8 i, 2 8 2 respective control quantity. Motor 2 0 ⁇ - 2 0 8 and pump 2 8, 2 8 2, that runs in response to a control radio wave 7 of that.
  • the above-mentioned pectoral fins 1 2, 1, 2 2 , abdominal fins 13 i, 13 2 , 2nd dorsal fin 15, 1st numbe 16, 2nd numb 17, and tail fin The frequency, phase and amplitude of the vibration 18 are controlled by the control radio wave 7.
  • the frequency, phase and amplitude of the vibrations of the second vibrating blades 17 2 and the tail fin 18 are determined so that the fish robot 1 moves in a desired direction and at a desired speed.
  • the fish robot 1 can sail without being connected to a cable.
  • the reality of the fish robot 1 is enhanced.
  • the information of each control amount is transmitted by the echo radio wave 8.
  • the control radio wave 7 propagating in the water may erroneously convey the control amount.
  • Eco chromatography Telecommunications 8 each motors 2 0 1-2 0 8 and port down-flop 2 8, 2 8 2, positive and have control amount Ru is used to verify whether the transmitted .
  • the operation of the fish robot 1 is controlled by either the manual control device 3 or the auto control device 4.
  • the car whose fish robot 1 is controlled by either the manual control device 3 or the automatic control device 4 is switched by the switching switch 5. available.
  • the manual control device 3 is used by a person who operates the fish robot 1 to instruct the operation of the fish robot 1.
  • the manual control device 3 is selected by the switching switch 5
  • the fish robot is operated according to the operation performed by the operator on the manual control device 3.
  • the control amount is transmitted to the fish robot 1 by the control radio wave 7.
  • the automatic control device 4 is selected by the switching switch 5, the automatic control device 4 is described in the software mounted on the automatic control device 4.
  • the fish robot 1 is controlled according to the algorithm.
  • the automatic control device 4 is provided with a pump 28 included in the fish robot 1! N 2 8 2, shall be specified to control the amount of ⁇ Pi motor 2 0 1-2 0 8.
  • the control amount is transmitted to the manual control device 3 by the control signal 9, and furthermore, the fish robot is transmitted by the control radio wave 7 transmitted by the manual control device 3. It is transmitted to 1.
  • the control radio wave 7 is an FM wave generated by subjecting an electric signal having an amplitude proportional to the control amount to frequency modulation (FM: FreqencyModulatioon). Since the control radio wave 7 is an FM wave, even if the control radio wave 7 is attenuated in water, it is difficult for the control amount to be erroneously transmitted.
  • FM FreqencyModulatioon
  • Control radio wave 7 is received by transceiver 30.
  • Transceiver 3 0, Ri is transmitted by the control radio wave 7, pump 2 8 ⁇ , 2 8 2, and the control amount of the motor 2 0 to 2 0 8, respectively, port emissions-flops 2 8! 28 2 , and the motor SO i SO s.
  • pump 2 2 8 2, and motor 2 0!, 2 0 ⁇ and mode are transmitted by the control radio wave 7, pump 2 8 ⁇ , 2 8 2, and the control amount of the motor 2 0 to 2 0 8, respectively, port emissions-flops 2 8! 28 2 , and the motor SO i SO s.
  • the motors SO i SO s are composed of chest fins 12, 12 2 , belly fins 13, 13 2 , first dorsal fin 14, second dorsal fin 15, and first fins 16, respectively.
  • the first vibrating blade 17 i of the second numbness 17 and the second vibrating blade 17 2 are vibrated. In this way, the fish robot 1 is controlled by the manual control device 3 or the automatic control device 4.
  • the transceiver 30 transmits the control amount transmitted by the control radio wave 7 to the manual control device 3 by the echo radio wave 8.
  • the manual control device 3 transmits the control amount transmitted by the echo radio wave 8 to the automatic control device 4 by the echo signal 10.
  • the automatic control device 4 determines, based on the echo signal 10, whether the control amount to be transmitted has been transmitted correctly.
  • Motodzure to its judgment Te, auto control device 4 are hereinafter set the control amount of fish b Bo Tsu pump 2 8 to be transmitted to the sheet 1, 2 8 2, and motors 2 2 0 8 .
  • an ultrasonic transmitter can be used instead of the antenna 6.
  • an ultrasonic signal is used in place of the control radio wave 7 for controlling the fish robot 1.
  • the control radio wave 7 is used as in this embodiment. It is desirable to control fish robot 1.
  • the attenuation rate of radio waves in water is large, and it is generally considered difficult to transmit signals in water. In most cases, ultrasound is often used. However, it is actually possible to transmit signals using radio waves that propagate in the water. However, the attenuation rate of radio waves in water is about l Od BZ m when the frequency is 10 OMz, and this depends on the radio waves if the distance is within 10 m. This means that communication between the two points is fully possible. However, since the attenuation rate of radio waves in water generally increases as the frequency becomes higher, it is desirable that the control radio waves 7 be 10 OMHz or less.
  • a fish robot having a plurality of fins and more realistically simulating a fish having a fin on its tail.
  • a fish robot-type underwater vehicle that simulates a fish having a plurality of fins is further improved. It becomes a result.
  • the above-mentioned fish robot has the same fish robot swimming in the water tank to form an aquarium.
  • FIG. 7 shows the structure of the aquarium.
  • the aquarium has an aquarium 102 filled with water, and a plurality of fish robots 1 swim in the aquarium 102.
  • FIG. 8 shows a control system of a fish robot in the second embodiment.
  • the aquarium further includes an ultrasonic sensor 103, an operation unit 104, a control device 105, and a radio transmitter 106.
  • the ultrasonic sensor 103 is used for detecting the position of the fish robot 1.
  • the operation section 104 is provided with a joystick 104a and a switching switch (not shown).
  • the switching switch 4b is controlled by a force controlled based on the operation of the fish robot 1 force S joi stick 104a, Alternatively, it specifies whether the control is performed in accordance with the algorithm described in the software mounted on the control device 105.
  • the control device 105 may, according to the state of the switching switch, follow the algorithm described in the installed software, or The fish robot 1 is controlled based on the operation of the joystick 104a.
  • the control device 105 generates a signal for controlling the fish robot 1.
  • the radio wave transmitter 106 transmits the signal to the fish robot 1 by radio waves to transmit the signal.
  • the fish robot 1 transmits an ultrasonic wave a.
  • the ultrasonic wave a is used to detect the position of the fish robot 1.
  • the ultrasonic sensor 103 receives the ultrasonic waves a propagating in the water and converts them into electric signals b.
  • the electric signal b is transmitted to the control device 5.
  • the operation unit 104 transmits an operation signal ci indicating the content of the operation performed by the joystick 104a to the control device 105.
  • the operation unit 104 displays the detected movement of the fish robot 1 and the joystick 104 in accordance with the state of the switching switch. In any Motodzure the Do has been operated in a Te, you Outputs finger constant signal c 2 that specifies whether fish robot 1 that are controlled in the control device 1 0 5.
  • Controller 1 0 5 includes a position detector 1 0 5 i and a control unit 1 0 5 2.
  • the position detecting unit 105 i detects the position of the fish mouth port 1 based on the electric signal b.
  • Position of the fish robot 1 is transmitted by Ri to the control unit 1 0 5 2 to the position signal d.
  • the control unit 1 0 5 that determine the-out movement of the fish robot 1.
  • control section 1 0 5 to determine the movement of the fish robot 1 based on the contents of the operation of di ® Yi scan tape i click 1 0 4 a.
  • the fish robot follows the algorithm described in the software incorporated in the control device 105. If it is specified that 1 is to be controlled, the control device 105 will refer to the position of the fish robot 1 according to the algorithm. Determines the behavior of fish port 1.
  • Control unit 1 0 5 2 generates a control signal e that instructs a-out movement of the fish robot 1, you output to the radio wave transmitter 1 0 6.
  • the radio wave transmitter 106 converts the control signal e into a control radio wave f and transmits it to the fish robot 1. .
  • FIG. 9A is a plan view of the appearance of the fish robot 1.
  • FIG. 9B is a side view of the appearance of the fish robot 1.
  • the fish robot 1 includes a fish robot main body 11.
  • the fish robot body 11 has two pectoral fins 1 2, 1 2 2 , 2 abdominal fins 1 1 3 2 , 1st dorsal fin 14, 2nd dorsal fin 15, 1 sill
  • the length 16 and the second neck 17 are connected.
  • the tail fin 18 is connected to the second fin 17.
  • Pectoral fins 1 2, 1 2 2 , belly fins 13, 13 2 , 1st dorsal fins 14, 2nd dorsal fins 1, 1st fins 16, 2nd fins 1 7 and tail fins 1 8 are all formed of elastic, flexible plastic.
  • the internal structure of the fish robot 1 of the second embodiment is the same as that of the first embodiment shown in FIGS. 5A and 5B. The difference is that the fish robot 1 includes an ultrasonic transmitter 31.
  • the ultrasonic transmitter 31 transmits the above-mentioned ultrasonic wave a.
  • the ultrasonic wave a is used for detecting the position of the fish robot 1 as described above.
  • the fish robot 1 is controlled by the switching switch according to the algorithm described in the software incorporated in the control device 105. If this is specified, fish robot 1 will be instructed to travel approximately along closed circuit 41, as shown in Figure 1OA. It is. That is, the fish robot 1 is, as shown in FIG. 10B, centered on a direction that forms a predetermined angle ⁇ with the center line 1 la of the fish robot main body 11. Then, an instruction is given to vibrate the first vibrating wing 17 and the second vibrating wing 17 2 of the second numbness 17. A centered line 1 1 a, as a centered towards direction which forms a predetermined angle theta, when the first vibrating blade 1 7 and second vibrating blade 1 7 2 that vibrate, fish robot 1 Generally travels along closed circuit 41.
  • the fish robot 1 periodically floats and sinks.
  • the periodic movement of the fish robot 1 causes the movement of the fish robot 1 to be closer to the actual movement of the fish. Therefore, the realizability is enhanced.
  • the fish robot 1 moves to avoid collision. .
  • the distance ⁇ 1 is detected from the position of the fish robot 1 detected by the position detection unit 5 :.
  • Ni will be shown records, Yo Ru in Figure 1 2, the distance between the fish mouth bot 1 and the fish robot 1 2 ⁇ is, the distance ⁇ 1 is also small Ri by the predetermined distance L Ku
  • the first vibrating wing 17 i of the fish robot 1 i and the second vibrating wing 17 2 are at an angle ⁇ with the center line 11 a of the fish robot main body 11. It is controlled to vibrate around the center. Vibration of the first vibration wing 1 7 of the fish robot 1 2 and the second vibration wing 1 7 2, as a fish robot this body 1 1 and the angle ⁇ 2 the such to how heart medium countercurrent It is controlled to move. Ri by the is this, a fish robot and the fish robot 1 2 Ri Do not to and this you exercise in the direction Ru different name, its been et al. Ru is avoided and the child you collision . Furthermore, such a movement makes the viewing of the fish robot 1 enjoyable.
  • the switching robot switches the fish robot 1 according to the operation of the joystick 104a. If specified to be controlled, the fish robot 1 will move in response to the operation of the joystick 104a.
  • the control device 105 moves the fish robot 1 in that direction.
  • Bot 1 was exercising, the pectoral fins 1 2 i, 1 2 2 , the abdominal fins 1 3, 1 3 2 , the 2nd back The movements of the fin 15, the first numbness 16, the second numbness 17, and the tail fin 18 are determined.
  • the fish robot 1 moves the joystick 104a in a direction corresponding to the operation.
  • the operator who operates the joystick 104a will notice that the fish robot 1 moves in response to the operation of the joystick 104a. You can enjoy watching
  • the aquarium of this example has a high entertaining property, and can be expected to attract customers
  • the control radio wave f for controlling the fish robot 1 is used instead of the control radio wave f.
  • a signal from an ultrasonic wave is used.
  • the control of the fish mouth hot 1 using the control radio wave f is performed as in the present embodiment. It is desirable to perform It is generally considered difficult to transmit signals underwater by radio waves because of the high attenuation of radio waves in water, and signals are transmitted underwater. In many cases, ultrasound is often used. It is actually possible to transmit signals by radio waves that propagate underwater.
  • the attenuation rate of radio waves in water is about 10 dB / m when the frequency is 100 Mz, which is within a range of 10 m. This means that communication between two points by radio waves is sufficiently possible.
  • the fish robot 1 is controlled while using the control radio wave f, and the signal processing inside the fish mouth boat 1 is accelerated.
  • the control radio wave f is generated by FM-modulating the control signal e. Desirable.
  • the control wave f which is an FM wave, is less affected by attenuation.
  • the ambience facility which can expect a lot of customer attraction effects is provided.

Abstract

Un corps naviguant sous-marin en forme de poisson comprend une unité d'orientation dans la partie de queue du corps, une paire de premières unités d'orientation latérales aménagée dans une partie inférieure de la partie avant du corps et une paire de deuxièmes unités d'orientation latérales aménagée entre la partie centrale et la partie latérale inférieure, en direction de la partie de queue. Le corps naviguant sous-marin en forme de poisson génère une force de propulsion par la rotation de l'unité d'orientation dans la partie de queue. La paire de premières unités d'orientation latérales, la paire de deuxièmes unités d'orientation latérales et l'unité d'orientation dans la partie de queue facilitent la commande de l'attitude du corps naviguant sous-marin en forme de poisson.
PCT/JP2002/004306 2002-04-30 2002-04-30 Corps naviguant sous-marin en forme de poisson, systeme de commande correspondant et aquarium WO2003092843A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2002/004306 WO2003092843A1 (fr) 2002-04-30 2002-04-30 Corps naviguant sous-marin en forme de poisson, systeme de commande correspondant et aquarium
US10/398,657 US20050235899A1 (en) 2002-04-30 2002-04-30 Fish-shaped underwater navigating body, control system thereof, and aquarium
EP02722888A EP1535654A4 (fr) 2002-04-30 2002-04-30 Corps naviguant sous-marin en forme de poisson, systeme de commande correspondant et aquarium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2002/004306 WO2003092843A1 (fr) 2002-04-30 2002-04-30 Corps naviguant sous-marin en forme de poisson, systeme de commande correspondant et aquarium

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WO2003092843A1 true WO2003092843A1 (fr) 2003-11-13

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US (1) US20050235899A1 (fr)
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