A carp-inspired underwater robot

Abstract

This invention discloses a carp-inspired underwater robot, belonging to the field of underwater robot technology. It includes a fish body, a tail fin, an outer shell, and pectoral fins. An electronic compartment is housed within the fish body. Pectoral fins are located on both sides of the fish body, and a tail fin is located at the tail end. The tail fins are wavy, and the pectoral fins are rotatable. The fish body comprises two parts, which are fastened together and fixedly connected by a connecting component. The outer shell has a streamlined surface and is fitted over the fish body, covering some or all of the connecting component. This invention reduces the drag experienced by the overall device during underwater movement by using an outer shell to cover the connecting component on the fish body, thereby increasing the device's endurance without increasing battery capacity.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a carp-inspired underwater robot. Background Technology

[0002] With the continuous development of human society, natural resources are becoming increasingly scarce. Faced with the depletion of land resources, developing and managing the ocean has become one of humanity's urgent tasks. To meet the needs of ocean exploration and resource development, the field of underwater robots has experienced rapid development. Traditional underwater robots mostly use conventional propulsion devices composed of propellers, which are prone to generating a large amount of cavitation and vortices, resulting in high noise and significant environmental disturbance, making them unsuitable for use in environments requiring relatively quiet monitoring. Furthermore, underwater robots using propellers as propulsion generate vector thrust, resulting in poor maneuverability and failing to meet the demands of increasingly complex underwater exploration tasks. To address these issues, related technologies often employ fish-like robots; however, existing equipment has short endurance. Therefore, a new solution is urgently needed to address these problems. Summary of the Invention

[0003] The purpose of this invention is to provide a carp-inspired underwater robot to solve the problems existing in the prior art and improve its endurance.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a carp-inspired underwater robot, comprising a fish body, a tail fin, a tail fin servo motor, pectoral fins, an outer shell, and pectoral fin servo motors. An electronic compartment is housed within the fish body. Pectoral fin servo motors are located on both sides of the fish body, and the tail fin servo motor is located at the tail. The tail fin servo motors drive the tail fin to swing, and the pectoral fin servo motors drive the pectoral fins to rotate. The fish body comprises two parts, which are fastened together and fixedly connected by a connecting assembly. The outer shell has a streamlined surface and is fitted over the fish body, covering part or all of the connecting assembly.

[0006] Preferably, the fish body is further provided with a water inlet chamber, the water inlet chamber is arranged around the electronic chamber, and a water inlet structure is provided on the fish body corresponding to the water inlet chamber. The outer shell includes two sub-outer shells, the two sub-outer shells are fastened together, and water can pass through the fastening seam of the two sub-outer shells.

[0007] Preferably, a sensor mounting position is provided inside the fish body, and a sensor is installed on the sensor mounting position. The sensor is capable of detecting the water quality of the water in the water inlet chamber.

[0008] Preferably, the inner wall of the split body is provided with reinforcing ribs, and the reinforcing ribs are provided with mounting holes for electronic components. The electronic components and counterweights can be arranged according to actual needs to make the fish body mass balanced from left to right.

[0009] Preferably, the inner wall of the split body is provided with a closed, annular protrusion for enclosing the electronic compartment, the protrusions on the inner sides of the two split bodies are positioned correspondingly, and a waterproof gasket is sandwiched between the two protrusions.

[0010] Preferably, the tail fin is made of a flexible material.

[0011] Preferably, the water inlet structure is a water inlet hole.

[0012] The present invention achieves the following technical effects compared to the prior art:

[0013] This invention reduces the resistance experienced by the entire device when moving underwater by covering the connecting components on the fish body with a shell, thereby increasing the device's battery life without increasing the battery capacity. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is an exploded view of the structure of the carp-inspired underwater robot provided in an embodiment of the present invention.

[0016] Figure 2 for Figure 1 Schematic diagram of the inner and outer shell structure;

[0017] Figure 3 for Figure 1 A schematic diagram of the structure of the mesocarp body;

[0018] Figure 4 for Figure 3 A schematic diagram of the split structure;

[0019] Figure 5 A schematic diagram of the tail fin, tail fin servo, and tail fin servo bracket;

[0020] Figure 6 A schematic diagram of the structure by which pectoral fins are attached to the fish's body;

[0021] Figure 7a for Figure 1 A front view of the carp-shaped underwater robot during horizontal movement;

[0022] Figure 7b for Figure 1 A front view of the carp-like underwater robot moving horizontally in another direction;

[0023] Figure 7c for Figure 7a Side view;

[0024] Figure 8a for Figure 1 A front view of the carp-shaped underwater robot performing a diving maneuver.

[0025] Figure 8b for Figure 1 A front view of the carp-shaped underwater robot in the image as it dives in another direction;

[0026] Figure 8c for Figure 8a Side view;

[0027] Figure 9a for Figure 1 A front view of the carp-like underwater robot performing a tumbling maneuver.

[0028] Figure 9b for Figure 1 A front view of the carp-like underwater robot performing a tumbling maneuver in another direction;

[0029] Figure 9c for Figure 9a Side view;

[0030] In the image: 1-shell; 2-fish body;

[0031] 11-Subshell; 12-Cover; 13-Pin; 14-Fishtail decorative piece;

[0032] 21-Electronics compartment; 22-Water inlet compartment; 23-Waterproof gasket; 24-Water inlet hole;

[0033] 31-Pectoral fin; 32-Pectoral fin servo; 33-Pectoral fin servo bracket;

[0034] 41-Caudal fin; 42-Caudal fin servo bracket; 43-Caudal fin servo. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] The inventors discovered that fish-shaped robots in related technologies typically have recessed mounting positions or protruding screw caps or bolt caps on the surface of the fish body due to installation requirements. This increases the resistance when swimming in water, resulting in a short endurance. Based on this, the present invention provides the following embodiments.

[0038] This invention provides a carp-inspired underwater robot, such as... Figures 1-6 As shown, the fish includes a body 2, an outer shell 1, a tail fin 41, a tail fin servo 43, a pectoral fin 31, and a pectoral fin servo 32. An electronic compartment 21 is installed inside the body 2. Pectoral fin servos 32 and pectoral fins 31 are installed on both sides of the body 2, and a tail fin servo 43 is installed at the tail. The tail fin servo 43 drives the tail fin 41 to swing, and the pectoral fin servo 32 drives the pectoral fin 31 to rotate. The body 2 includes two parts, which are fastened together and fixedly connected by a connecting component. The outer shell 1 has a streamlined surface and is fitted over the body 2. The outer shell 1 can cover part or all of the connecting component.

[0039] The caudal fin 41 oscillates to generate swimming propulsion and deflection force, while the pectoral fin 31 rotates to generate deflection force.

[0040] Specifically, the tail fin servo 43 drives the tail fin 41 to sway left and right; the pectoral fin servo 32 drives the pectoral fin 31 to rotate; the tail fin servo 43 and the pectoral fin servo 32 are controlled by the drive signal provided by the main controller, providing the bionic fish with the thrust to rise and dive.

[0041] The present invention reduces the resistance encountered by the whole device when moving underwater by setting a shell on the outside of the fish body 2 to cover the connecting components on the fish body 2, thereby increasing the battery life of the device without increasing the battery capacity.

[0042] Furthermore, while reducing drag, the present invention can also reduce disturbance to the underwater environment, thereby enabling the monitoring of fish schools in the ocean without disturbing them.

[0043] In some embodiments, a water inlet chamber 22 is also provided inside the fish body 2. The water inlet chamber 22 is arranged around the electronic compartment 21. A water inlet structure is provided on the fish body 2 corresponding to the water inlet chamber 22. The outer shell 1 includes two sub-outer shells 11. The two sub-outer shells 11 are fastened together, and water can pass through the fastening seam of the two sub-outer shells 11.

[0044] In this embodiment, the water inlet structure can be a split seam. Specifically, the electronic compartment 21 is sealed, but the water inlet compartment 22 does not need to be sealed. Therefore, water can enter through the installation gap. In some embodiments, an additional water inlet hole 24 can also be provided to ensure water inlet and improve water inlet efficiency.

[0045] In some embodiments, a sensor mounting position is provided inside the fish body 2, and a sensor is installed on the sensor mounting position. The sensor can detect the water quality of the water in the water inlet chamber 22.

[0046] The sensor can be a water quality sensor to measure the pH value of water, or an oxygen sensor to monitor the oxygen content in water. This invention does not limit the type of sensor.

[0047] In addition, an observation window can be set on the fish body 2, and a camera can be set inside the fish body 2 inside the observation window to realize the recording function.

[0048] In some embodiments, the inner wall of the split body is provided with reinforcing ribs, and the reinforcing ribs are provided with mounting holes for electronic components. The electronic components and counterweights can be arranged according to actual needs to make the mass of the fish body 2 balanced from left to right.

[0049] This embodiment improves the stability of the device's movement.

[0050] In some embodiments, the inner wall of the split body is provided with a closed, annular protrusion for enclosing the electronic compartment 21. The protrusions on the inner sides of the two split bodies are positioned correspondingly, and a waterproof gasket 23 is sandwiched between the two protrusions. In this embodiment, the two split bodies are connected by bolts, so tightening the bolts can compress the waterproof gasket 23.

[0051] As can be seen from this embodiment, the bionic fish in the prior art all need to be equipped with an electronic compartment 21, and the electronic compartment 21 must be sealed. Therefore, in order to clamp the sealing gasket, multiple connecting components, such as bolts and screws, are usually set to press the sealing gasket to achieve a better waterproof effect. As a result, the prior art scheme of not setting the outer shell 1 will make the surface of the bionic fish rough, thereby increasing the swimming resistance.

[0052] In some embodiments, the tail fin 41 is made of a flexible material, which is more biomimetic and generates a gentle propulsion force that does not excessively disturb the water.

[0053] In some embodiments, the fish body 2 is provided with a switch slot, and a switch is provided in the switch slot. The switch is connected to the circuit board in the electronic compartment 21 to realize the opening and closing of the entire device. The outer shell 1 covers the switch slot and has an opening at the corresponding position and a cover 12 is provided. The surface of the cover 12 is also streamlined.

[0054] In some embodiments, the pectoral fin servo 32 is mounted inside or on the fish body 2 via the pectoral fin servo bracket 33, and the pectoral fin servo 32 and the connection with the fish body 2 need to be waterproofed to prevent water from entering the electronic compartment 21 inside the fish body 2. Similarly, the caudal fin servo 43 is mounted inside or on the fish body 2 via the caudal fin servo bracket 42 and is waterproofed.

[0055] In some embodiments, the present invention specifically mimics the shape of cyprinid fish, such as carp. Cyprinid fish, through the propulsion and additional torque generated by the flapping of their pectoral fins (31), can adapt to long-distance migration while maintaining agile movement, and can also ensure that they do not impact the environment. These characteristics give them excellent swimming ability and efficient locomotion performance, making them suitable for applications such as fish raft and cage monitoring, seabed archaeology, and seabed topography exploration, where it is necessary to maintain the original state of the monitoring environment.

[0056] Therefore, the embodiments of the present invention take carp fish as the reference object and have a carp-inspired underwater robot with low noise, low energy consumption and high flexibility.

[0057] For ease of understanding, the following describes the movement of the carp-inspired underwater robot: The tail fin 41 is driven by the tail fin servo 43 to swing left and right, propelling the bionic fish forward. The main controller controls the swing angle and frequency of the tail fin 41, providing the bionic fish with propulsion forces of varying heading angles and strengths. Figure 7a , 7b As shown in 7c, when the fish moves forward (with the tail fin 41 pointing towards the head), the pectoral fins 31 on both sides are horizontal, and the water flow has almost no impact on the pectoral fins 31. The bionic fish moves steadily forward on the horizontal surface, and can also turn by changing the angle of the tail fin servo 43. The figure shows a demonstration of the angle of the pectoral fin 31, and the black arrow indicates the direction of the water flow.

[0058] like Figure 8a , 8b As shown in 8c, when the bionic fish prepares to dive, its left fin deflects clockwise by a corresponding angle, and its right fin deflects counterclockwise by a corresponding angle. The impact of the water flow in front creates downward pressure, causing the bionic fish to dive. Using the same principle, the bionic fish can also achieve its surfacing function by modifying the angle of its side fins.

[0059] like Figure 9a , 9b As shown in Figure 9c, when the bionic fish prepares to perform a roll, its left fin deflects counterclockwise by a corresponding angle, and its right fin also deflects counterclockwise by a corresponding angle. Under the impact of the water flow in front, the left fin generates downward pressure, while the right fin generates upward force, enabling the bionic fish to perform a clockwise roll (clockwise in the front view). In addition to enabling the bionic fish to perform a roll, this design can also be used to achieve posture adjustment of the bionic fish within the rolling plane.

[0060] Therefore, it can be seen that the embodiments of the present invention can change the fish's diving, diving, and flipping by adjusting the degree and direction of the swaying angle of the pectoral fins 31 on both sides; change the swimming power by adjusting the swaying frequency of the tail fin 41; and change the swimming direction of the fish by changing the orientation of the tail fin 41.

[0061] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A carp-inspired underwater robot, comprising a fish body, a tail fin, a tail fin servo motor, a pectoral fin, and a pectoral fin servo motor, wherein an electronic compartment is disposed within the fish body, pectoral fin servos are disposed on both sides of the fish body, and the tail fin servo motor is disposed at the tail end; the tail fin servo motor drives the tail fin to swing, and the pectoral fin servo motor drives the pectoral fin to rotate; the fish body comprises two parts, which are fixedly connected by a connecting component after being fastened together, characterized in that: It also includes an outer shell with a streamlined surface, which is fitted over the fish and can cover part or all of the connecting components; a water inlet chamber is also provided inside the fish, which is arranged around the electronic compartment, and a water inlet structure is provided on the fish body corresponding to the water inlet chamber; the outer shell includes two sub-shells that are fastened together, and water can pass through the fastening seam between the two sub-shells; a sensor mounting position is provided inside the fish, and a sensor is installed on the sensor mounting position, which can detect the water quality in the water inlet chamber.

2. The carp-inspired underwater robot according to claim 1, characterized in that: The inner wall of the split body is provided with reinforcing ribs, and the reinforcing ribs are reserved with mounting holes for electronic components. The electronic components and counterweights can be arranged according to actual needs to make the fish body mass balanced from left to right.

3. The carp-inspired underwater robot according to claim 1, characterized in that: The inner wall of the split body is provided with a closed, annular protrusion for enclosing the electronic compartment. The protrusions on the inner sides of the two split bodies are positioned correspondingly, and a waterproof gasket is sandwiched between the two protrusions.

4. The carp-inspired underwater robot according to claim 1, characterized in that: The tail fin is made of a flexible material.

5. The carp-inspired underwater robot according to claim 1, characterized in that: The water inlet structure is a water inlet hole.

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