Fish-like robot device

Abstract

A fish-like robot device includes a fish-like carrying part, a vibratable tail, a wireless power receiving module, a driving module, and at least one functional sensor. The fish-like carrying part includes a head and a pair of sides. The wireless power receiving module is configured to receive wireless power and is disposed on the vibratable tail and the sides. The driving module is disposed on the vibratable tail, wherein the wireless power receiving module transmits the wireless power to the driving module, so that the driving module vibrates the vibratable tail. The at least one functional sensor is disposed on the head and is configured to sense a characteristic of an aquatic environment or detect a living body or a similar biological structure in the aquatic environment, thereby obtaining at least one sensing electrical signal.

Description

[0001] Cross-references to related applications

[0002] This application relates to U.S. Patent Application 18 / 170,566, filed February 17, 2023. The disclosure of that U.S. patent application is incorporated herein by reference. Technical Field

[0003] The present invention generally relates to a robotic device, and more specifically, to a fish-like robotic device for monitoring / sensing characteristics of an aquatic environment (e.g., temperature or liquid quality) and detecting living or biological structures (e.g., viruses) therein. Background Technology

[0004] Aquatic environments occupy a large portion of the Earth's surface, making their exploration extremely important. Due to the unfavorable or dangerous conditions in aquatic environments, humans cannot easily enter them; therefore, robotic exploration becomes a necessary option.

[0005] However, some large robots are particularly constrained by confined environments, making it necessary, yet challenging, to significantly reduce robot size while retaining a variety of intelligent functions. Furthermore, traditional robots are typically powered by batteries. However, the battery configuration can impose limitations on robot miniaturization, for example, placing a significant burden on lightweight soft robots, limiting operational lifespan, and increasing drag. Therefore, it is necessary to develop a new type of robot to address these issues. Summary of the Invention

[0006] The purpose of this invention is to provide a fish-shaped robotic device to solve the above-mentioned technical problems.

[0007] According to a first aspect of the invention, a fish-like robotic device includes a fish-like carrying portion, a vibrating tail, a wireless power receiving module, a drive module, and at least one functional sensor. The fish-like carrying portion includes a head and a pair of sides, each extending from two opposite sides of the base of the head. The vibrating tail is connected to the head and located between the pair of sides. The wireless power receiving module is configured to receive wireless power and is disposed on the vibrating tail and the sides. The drive module is electrically coupled to the wireless power receiving module and disposed on the vibrating tail, wherein the wireless power receiving module transmits wireless power to the drive module, causing the drive module to vibrate the vibrating tail. At least one functional sensor is disposed on the head and configured to sense characteristics of the aquatic environment or detect living or biomorphic structures in the aquatic environment, thereby obtaining at least one sensing electrical signal.

[0008] According to one embodiment of the present invention, the center of mass of the fish-like robot device is matched with the centroid of the fish-like robot device.

[0009] According to another embodiment of the invention, at least one functional sensor includes a sensor for detecting NH4. + Ions and Cl - Multiple chemical ion sensors for ions, and biosensors for sensing the SARS-CoV-2 virus.

[0010] According to another embodiment of the invention, the fish-like robot device is driven by electromagnetic force.

[0011] Based on the foregoing, in embodiments of this disclosure, the robotic device employs a biomimetic design, such as a fish-like shape, to adapt to movement in aquatic environments. The robotic device is equipped with a wireless power receiving module for receiving radio frequency (RF) wireless power, allowing it to be powered wirelessly instead of using batteries. Therefore, the robotic device can be small in size and can move in confined spaces. Furthermore, when the fish-like robotic device moves in an aquatic environment, at least one of its functional sensors can sense at least one parameter of the aquatic environment, such as water temperature or ion concentration. In other embodiments, the functional sensor can detect living or biological structures (e.g., SARS-CoV-2 virus). Attached Figure Description

[0012] The patent or application documents contain at least one color drawing. Upon request and payment of the necessary fees, the Patent Office will provide a copy of this patent application and the color drawing.

[0013] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings, in which:

[0014] Figure 1A The side and bottom views of the fish-like robot device and the mobile phone interface are shown.

[0015] Figure 1B It shows Figure 1A Exploded view of the fish-shaped robot device in the image;

[0016] Figure 2A The exterior of the wireless power receiving module and the actuation coil of the drive module are shown;

[0017] Figure 2B The circuit diagrams of the wireless power transmission module and the wireless power receiving module are shown.

[0018] Figure 2CA flowchart depicting a wireless actuation process according to an embodiment of the present disclosure is provided.

[0019] Figure 2D A schematic diagram is shown showing how a wireless power transmitter module powers the receiver antenna of a wireless power receiver module.

[0020] Figure 3 Simulation results of the magnetic field distribution of the actuation coil and the vibration amplitude of the vibrating tail during electromechanical actuation are shown;

[0021] Figure 4 A robotic device is shown moving through a closed pipe;

[0022] Figure 5 The diagram illustrates the position and time of the robotic device within the circular closed pipe during two laps in a bright environment, as well as the relationship between angle and time during the two laps.

[0023] Figure 6A An exploded view of the sensing module is shown;

[0024] Figure 6B It shows that NH4 is included + and Cl - A schematic diagram of ion detection is shown, along with a cross-sectional scanning electron microscope (SEM) image of the functional sensor.

[0025] Figure 6C A method for detecting NH4 is shown. + Functional ion sensors in different NH4 + The results of the voltage response at different ion concentrations;

[0026] Figure 6D A method for detecting Cl is shown. - Functional sensors for ions in different Cl - The results of the voltage response at different ion concentrations;

[0027] Figure 7 The manufacturing process of a functional sensor for sensing the SARS-CoV-2 virus is described;

[0028] Figure 8 The results show the percentage change in impedance values ​​and the linear relationship between virus concentration and current value under different concentrations of SARS-CoV-2 virus solutions;

[0029] Figure 9 The circuit logic diagram and mobile phone interface for wireless sensing are depicted.

[0030] Figure 10A demonstration of a robotic device according to an embodiment of the present disclosure in a confined pipe is shown; and

[0031] Figure 11 It shows Figure 1A and 1B The image shows a cross-sectional view of a robot device with an 8mm tail length, and the coordinates of the centroid and center of mass of robot devices with different tail lengths. Detailed Implementation

[0032] In the following description, fish-like robotic devices and the like are listed as preferred examples. It will be apparent to those skilled in the art that modifications, including additions and / or substitutions, can be made without departing from the scope and spirit of the invention. Specific details may be omitted to avoid obscuring the invention; however, this disclosure is written so that those skilled in the art can practice the teachings herein without excessive experimentation.

[0033] Figure 1A The side and bottom views of a fish-like robot device 100 with a mobile phone interface are shown. Figure 1B It shows Figure 1A An exploded view of the fish-shaped robot device 100 in the image.

[0034] refer to Figure 1A and 1B In this embodiment, the robot device 100 adopts a biomimetic design, such as a fish-like design, enabling it to adapt to aquatic environments (e.g., water). Specifically, the robot device 100 includes a support portion 110, a vibrating tail portion 120, a wireless power receiving module 130, a drive module 140, a sensing module 150 including multiple functional sensors 152a, 152b, and 152c, and a wireless sensing data reading module 160. The above components and their configuration will be described in detail below.

[0035] The carrying portion 110 may have a fish-like shape. The carrying portion 110 includes a head portion 112 and a pair of side portions 114. The pair of side portions 114 extend from two opposite sides of the bottom of the head 112. The side surface S1 of the head 112 connects to the side surface S2 of the side portions 114, and together they form a larger, continuous, and sloping side surface. The bottom of the side portions 114 may have a convex surface connected to the side surface S2. Generally, the carrying portion 110 has a width W that gradually increases and then decreases from the top of the carrying portion 110 (e.g., the top of the head 112) to the bottom of the carrying portion 110 (e.g., the bottom of the side portions 114). This shape design facilitates the robot device 100 in swimming / moving in aquatic environments.

[0036] A vibrating tail 120 is connected to a head 112 and extends from the bottom of the head 112. The vibrating tail 120 is located / clamped between a pair of sides 114. The vibrating tail 120 is spaced apart from the sides 114 so that the vibrating tail 120 can rotate freely. The shape of the vibrating tail 120 may be, for example, rectangular, and this disclosure is not limited thereto.

[0037] In some embodiments, an exemplary material for the carrying portion 110 may be an elastic / soft material, and the density of the elastic / soft material used is less than that of water. For example, in one embodiment, the elastic / soft material may be an aerogel siloxane foam, which is prepared by curing a mixture of aerogel powder and polydimethylsiloxane (PDMS), and this disclosure is not limited thereto.

[0038] In some embodiments, an exemplary material for the vibrating tail 120 may be an elastic / soft material, such as silicone.

[0039] Figure 2A The exterior of the wireless power receiving module 130 and the actuation coil 142 of the drive module 140 are shown. Figure 2B The circuitry of the wireless power transmitter module TM and the wireless power receiver module 130 is shown. Figure 2C A flowchart illustrating a wireless actuation process according to an embodiment of the present disclosure is provided. Figure 2D A schematic diagram is shown of using the wireless power transmitter module TM to power the receiver antenna RA of the wireless power receiver module 130.

[0040] To make the robot device 100 more suitable for confined spaces / environments, it employs a battery-free design. More specifically, the robot device 100 is wirelessly powered via a wireless power receiving module 130, instead of using batteries. Therefore, the robot device 100 can have a smaller size and can move in confined environments / spaces. The detailed configuration of the wireless power receiving module 130 and the drive module 140 will be fully described below.

[0041] Refer again Figure 1A and 1B Specifically, the wireless power receiving module 130 is disposed on (or covers) a portion of the vibrating tail 120, the side 114, and the head 112. The wireless power receiving module 130 is perpendicularly spaced from the vibrating tail 120 but contacts a portion of the side 114 and the head 112. This configuration allows the wireless power receiving module 130 to be carried by the support portion 110 without affecting the movement of the vibrating tail 120.

[0042] Refer again Figure 1B and 2B The wireless power receiving module 130 includes multiple flexible waterproof films FM1, a receiver antenna 132, and a circuit 134. The circuit 134 includes multiple capacitors C1 and C2, and multiple diodes D1 and D2. In some embodiments, an exemplary material for the films FM1 may be, for example, polyimide (PI), and this disclosure is not limited thereto. The receiver antenna 132 and the circuit 134 are disposed between (or sandwiched between) two flexible waterproof films FM1, such that the receiver antenna 132 and the circuit 134 can be protected by the films FM1.

[0043] In some embodiments, the exemplary material of the receiver antenna 132 may be, for example, a conductive material with excellent ductility, such as copper or gold. Furthermore, the thickness of the receiver antenna 132 is well controlled / formed so that the receiver antenna 132 can be formed as a flexible / bendable receiver antenna 132, such as… Figure 2A The lower part is shown.

[0044] The drive module 140 is positioned directly below the wireless power receiving module 130. The drive module 140 is located on the vibrating tail portion 120. The drive module 140 includes an actuation coil 142 and a magnetic assembly 144. The actuation coil 142 of the drive module 140 is positioned above and adjacent to the magnetic assembly 144. The actuation coil 142 is carried and surrounded by the head portion 112 and the side portion 114. The actuation coil 142 is electrically coupled to the receiver antenna 132 via circuitry 134, such as... Figure 2A and 2B As shown. A magnetic component 144 is disposed at and in contact with the top of the vibrating tail 120. In some embodiments, the actuation coil 142 may be, for example, a circular coil with 1200 turns, and this disclosure is not limited thereto. In some embodiments, the magnetic component 144 may be, for example, a magnet, and this disclosure is not limited thereto.

[0045] refer to Figure 2B Two capacitors, C1 and C2, are connected in parallel with the actuation coil 142 of the drive module 140. In some embodiments, the capacitance of capacitor C1 may be, for example, 6 pF. In some embodiments, the capacitance of capacitor C2 may be, for example, 2.2 μF. The capacitance values ​​of capacitors C1 and C2 can be determined according to device requirements, and this disclosure is not limited thereto.

[0046] The anode of diode D1, capacitor C1, and receiver antenna 132 are electrically connected to the same node. The cathode of diode D1, capacitor C1, and actuator coil 142 are electrically connected to the same node. The anode of diode D2, capacitor C2, and actuator coil 142 are electrically connected to the same node. The cathode of diode D2, capacitor C1, and receiver antenna 132 are electrically connected to the same node. Diodes D1 and D2 are electrically coupled in series in circuit 134 to obtain a unidirectional output voltage.

[0047] The power supply and actuation processes of the robot device 100 disclosed herein will now be described in full.

[0048] First, in this disclosure, a wireless power transmission module™ is used / applied to generate / provide wireless power P to drive the robot device 100. (See again...) Figure 2B The Wireless Power Transmission Module™ includes an Arduino LEONARDO board 1, a waveform generator 2, an amplifier 3, and a transmitter coil TC.

[0049] refer to Figure 2B and 2C Step (1): The Arduino LEONARDO board 1 can generate and send a frequency-adjustable trigger signal F to the waveform generator 2. In some embodiments, the frequency-adjustable trigger signal F can be, for example, an adjustable square wave with a frequency from 2.5 Hz to 40 Hz. The waveform generator 2 can be triggered by the frequency-adjustable trigger signal F to generate a sinusoidal voltage signal in the megahertz (MHz) range (which serves as the input voltage signal). In some embodiments, the sinusoidal voltage signal can be, for example, a 5.3 MHz sinusoidal voltage signal. Next, the sinusoidal voltage signal generated by the waveform generator 2 is amplified by the amplifier 3.

[0050] Step (2): Next, the amplified sinusoidal voltage is used as the source of wireless power P and transmitted to / loaded onto the transmitter coil TC. Then, the wireless power P is wirelessly transmitted / transmitted by the transmitter coil TC in the form of a radio frequency (RF) electromagnetic field, and the receiver antenna 132 can then collect / receive the wireless power P (whose waveform is shown in the image) in a non-contact manner. Figure 2C (as shown in step (2)).

[0051] Step (3): Next, after the receiving antenna 132 receives the wireless power P, the wireless power P can be sent to the circuit 134, allowing the circuit 134 to modify the waveform of the wireless power P. Then, the circuit 134 can output the modified wireless power P to the actuation coil 142. Specifically, the two diodes D1 and D2 in the circuit 134 can be used as rectifiers, so that the wireless power P can be rectified by the diodes D1 and D2. In addition, the capacitor C1 in the circuit 134 can adjust the resonant frequency of the receiving antenna 132, and the capacitor C2 can be used to stabilize the output voltage (i.e., the modified wireless power P) applied to the actuation coil 142 of the drive module 140. Therefore, an output voltage with a single-sided square wave waveform can be generated / obtained and applied to the actuation coil 142.

[0052] Figure 3 Simulation results of the magnetic field distribution of the actuation coil 142 and the vibration amplitude of the vibrating tail 120 during electromechanical actuation are shown. Figure 4 The image shows a robotic device moving through a closed pipe. Figure 5 The diagram illustrates the position and time of a robotic device within a circular closed pipe during two revolutions in a bright environment, as well as the relationship between angle and time during the two revolutions.

[0053] refer to Figure 3 , Figure 3 The left side shows the simulation results of the magnetic field distribution of the actuation coil 142. When the actuation coil 142 is loaded with DC current / powered by DC current, it can generate a magnetic field. The magnetic component 144 below the actuation coil 142 can be attracted or repelled by the actuation coil 142 through the Lorentz force. When the actuation coil 142 is loaded with the aforementioned output voltage output by the circuit 134 / powered by it, an alternating / oscillating magnetic field will be generated by the actuation coil 142. Then, the actuation coil 142 uses the oscillating magnetic field to generate a Lorentz force with periodic characteristics. Under the action of the periodic Lorentz force, the magnetic component 144 on the vibrating tail 120 will oscillate up and down periodically, so that the vibrating tail 120 of the robot device 100 can swing / vibrate. Thus, this soft robot can swim forward in water.

[0054] refer to Figure 4 When the robotic device 100 is placed in an aquatic environment, the oscillating motion of the vibrating tail 120 will propel it forward through the interaction force with the fluid, thus enabling the robotic device 100 to swim in the aquatic environment / fluid. In this way, the robotic device 100, equipped with a receiver antenna 132, can smoothly swim from one end of a pipe to the other under the action of the wireless power P provided by the transmitter coil TC, as... Figure 4As shown in part (a).

[0055] To highlight its advantages in wireless actuation, the robotic device 100 can be placed in a circular, confined conduit, such as... Figure 4 Part (b) and Figure 5 As shown in part (a), within a circular confined tube, the robotic device 100 can repeatedly circle it. In a bright environment, the position and angle of the moving robotic device 100 will be recorded, and the linear relationship between angle and time signifies that its swimming motion is uniform and stable, as... Figure 5 As shown in section (b). On the other hand, in a dark environment, diodes D1 and D2 in circuit 134 can be replaced with two light-emitting diodes (LEDs), so that the robot device 100 can be easily tracked by the flashing LEDs, such as... Figure 4 As shown in part (c), Figure 4 Section (c) shows four circles of circular motion, with the position of the robot device 100 marked by LED highlights in each circle.

[0056] In summary, in this disclosure, through the aforementioned actuation process, the robotic device 100 can swim to numerous locations to obtain water / liquid information at those locations without removing the robot. Wireless power P, provided by the wireless power transmission module TM, can be wirelessly transmitted to the robotic device 100 to actuate it for swimming in an aquatic environment. The aforementioned swimming motion is actuated by electromagnetic induction, converting electrical energy into mechanical energy.

[0057] Please refer back to this. Figure 1A and 1B The sensing module 150 is disposed on the bottom surface BS of the head 112. The sensing module 150 is configured to sense the characteristics of the aquatic environment in which the robotic device 100 is located, or to detect living or biological structures in the aquatic environment. Detailed configuration will be fully described below.

[0058] Figure 6A An exploded view of the sensing module 150 is shown. 6B shows the module including NH4. + and Cl - A schematic diagram of ion detection is shown, along with a cross-sectional image of the functional sensor obtained by scanning electron microscopy (SEM). Figure 6C A method for detecting NH4 is shown. + The functional ion sensor 152a is used in different NH4+ ions. + The results of the voltage response at different ion concentrations. Figure 6D A method for detecting Cl is shown. - The functional ion sensor 152b is used in different Cl- - The results of the voltage response at different ion concentrations. Figure 7The manufacturing process of a functional sensor 152c for sensing the SARS-CoV-2 virus is described. Figure 8 The results show the percentage change in impedance values ​​and the linear relationship between virus concentration and current value under different concentrations of SARS-CoV-2 virus solutions.

[0059] refer to Figure 1B , 6A In detail, as described in 6B, the sensing module 150 includes a plurality of flexible waterproof films FM2, a plurality of functional sensors 152a, 152b, 152c, and a reference electrode R. In some embodiments, an exemplary material for the films FM2 may be, for example, PI, and this disclosure is not limited thereto. The functional sensors 152a, 152b, 152c and the reference electrode R are disposed between (or sandwiched between) two flexible waterproof films FM2, such that the functional sensors 152a, 152b, and 152c can be protected by the films FM2.

[0060] In some cases, the robotic device 100 is designed to monitor water quality and unconventional viral contamination in aquatic environments. This is due to chloride ions (Cl...) - ) and ammonium ions (NH4) + The concentration of chloride ions (Cl-) is an important quality indicator of drinking water; therefore, the functional sensor 152a is configured to sense, for example, chloride ions (Cl-). - Furthermore, the functional sensor 152b is configured to detect, for example, ammonium ions (NH4+). + Functional sensors 152a and 152b are used as chemical sensors.

[0061] Besides inhalation through the air and physical contact with the virus, contaminated drinking water is also a significant transmission route for the novel coronavirus. Therefore, the functional sensor 152c is configured to sense / detect biological structures, such as viruses (e.g., SARS-CoV-2 virus). In other embodiments, the functional sensor 152c can detect living organisms, such as bacteria. The functional sensor 152c functions as a biosensor.

[0062] It should be noted that the substances detected / tested as examples above (e.g., chloride ions (Cl)) - ), ammonium ions (NH4) + (or SARS-CoV-2 virus) is used to meet specific requirements. Functional sensors can detect other detection / testing substances according to different requirements. This disclosure is not limited thereto.

[0063] The detailed configuration of the sensing module 150 will be fully described below.

[0064] refer to Figure 1B and 6AFunctional sensors 152a and 152b are mounted / formed on the underlying flexible waterproof membrane FM2 (see...). Figure 1B A functional sensor 152a for sensing chloride ions includes a circular electrode, interdigitated electrodes connected to the circular electrode, a poly(3,4-ethylenedioxythiophene)polystyrene sulfonate (PEDOT:PSS) layer, and an ion-selective electrode (ISE) for chloride ions. The PEDOT:PSS layer is formed / disposed on the circular electrode. The ISE is formed / disposed on the PEDOT:PSS layer.

[0065] Similarly, the functional sensor 152b for sensing ammonium ions includes a circular electrode, interdigitated electrodes connected to the circular electrode, a poly(3,4-ethylenedioxythiophene)polystyrene sulfonate (PEDOT:PSS) layer, and an ion-selective electrode (ISE) for ammonium ions. The PEDOT:PSS layer is formed / disposed on the circular electrode. The ISE is formed / disposed on the PEDOT:PSS layer.

[0066] The reference electrode R is located between the two functional sensors 152a and 152b. The reference electrode R includes a circular electrode, interdigitated electrodes connected to the circular electrode, an Ag / AgCl layer disposed / formed on the intermediate circular electrode, and a polyvinyl butyral (PVB) reference mixture dropped in to form the reference electrode.

[0067] By configuring the functional sensors 152a and 152b and the reference electrode R, the sensing module 150 can sense the electrochemical potential difference caused by ions between the corresponding functional sensor 152a (or 152b) and the reference electrode R. Therefore, the sensing module 150 can sense NH4+. + and Cl - The concentration of ions, such as Figure 6B As shown. In some implementations, when having 10 -5 M to 10 -1 In an electrolyte solution with a naturally correlated concentration of M, NH4 is used for detection. + The ion functional sensor 152a exhibits good linearity, such as Figure 6C As shown. In a configuration with 10 -5 M to 10 -1 In electrolyte solutions with naturally correlated concentrations of M, used for detecting Cl - The ion-sensor 152b also exhibits good linearity, such as... Figure 6D As shown.

[0068] refer to Figure 6AThe functional sensor 152c is mounted / formed on the flexible waterproof membrane FM2 below (see...). Figure 1B ). refer to Figure 6A The functional sensor 152c for sensing the SARS-CoV-2 virus includes interdigitated electrodes, a graphene layer, a molecular linker layer (e.g., 1-pyrenebutyric acid (PBA)), a blocking layer (e.g., bovine serum albumin (BSA)), and an antibody against a specific virus (e.g., SARS-CoV-2).

[0069] refer to Figure 7 First, interdigitated electrodes are formed on / above / over the PI film. Then, a graphene layer is formed on / above / over the interdigitated electrodes. Next, a molecular linker layer is formed on / above / over the graphene layer to modify it. Subsequently, a barrier layer is formed on / above / over the modified graphene layer using BSA. Finally, an antibody against SARS-CoV-2 virus is formed on / above / over the modified graphene layer to capture the antigen in the SARS-CoV-2 virus. The antibody binding to the spike protein of the SARS-CoV-2 virus causes an impedance change in the functional sensor 152c, enabling this label-free immunosensor to monitor the concentration of SARS-CoV-2 virus. (Reference) Figure 8 The 152c functional sensor exhibits excellent sensing capabilities with high sensitivity and good linearity. Thanks to its advanced structural design and the excellent conductivity of the graphene layer, a significant impedance change is observed on the electrode even at concentrations as low as 10 pg / mL of SARS-CoV-2 virus. Due to the large surface area and good biocompatibility of the graphene layer, sufficient amounts of antibody can be modified onto the electrode to achieve a broad detection range from 10 pg / mL to 100 ng / mL and good linearity.

[0070] Go back and refer to Figure 1A and 1B The wireless sensor data reading module 160 is disposed on the top surface TS of the head 112 of the carrier portion 110. The wireless sensor data reading module 160 includes a plurality of flexible waterproof films FM3, a near field communication (NFC) circuit 162, and a transmitter antenna 164. In some embodiments, the exemplary material of the films FM3 may be, for example, PI, and this disclosure is not limited thereto. The NFC circuit 162 and the transmitter antenna 164 are disposed between (or sandwiched between) two flexible waterproof films FM3, such that the NFC circuit 162 and the transmitter antenna 164 can be protected by the films FM3.

[0071] In some embodiments, the exemplary material of the transmitter antenna 164 may be, for example, a conductive material with excellent ductility, such as copper or gold. Furthermore, the thickness of the transmitter antenna 164 is well controlled / formed so that the transmitter antenna 164 can be formed as a flexible / bendable transmitter antenna 164.

[0072] Figure 9 The circuit logic diagram and mobile phone interface for wireless sensing are depicted.

[0073] refer to Figure 9 Specifically, the NFC circuit 162 includes a controller P, multiple conductive pads E1, E2, E3, an analog-to-digital converter (ADC), and a temperature sensor (not shown). In some embodiments, the controller P may be a microcontroller unit (MCU). The NFC circuit 162 can be electrically coupled to the functional sensors 152a, 152b, 152c of the sensing module 150 via the conductive pads E1, E2, E3, respectively. Therefore, each of the functional sensors 152a, 152b, 152c can send a corresponding sensing signal to the ADC of the NFC circuit 162. Furthermore, the temperature sensor can sense the temperature of the environment in which the robot device 100 is located and then generate a temperature sensing signal. The ADC can convert the corresponding sensing signal into a digital signal and then transmit it to the controller P. The controller P can process these digital signals, for example, using these digital signals to fit smooth curves respectively, and calculate the ion / virus concentration by substituting the acquired ADC signal into the corresponding curve equation. The controller P can then output the sensing result in response to the aforementioned sensing signal. The wireless sensing data reading module 160 can wirelessly transmit the sensing results to the electronic device E via the transmitter antenna 164, wherein the electronic device E can be, for example, such as... Figure 1A , Figure 9 and Figure 10 The smartphone shown is equipped with a display. Therefore, ion / virus concentration data can be displayed on the screen of the electronic device E, and the user can make assessments based on the displayed data regarding water quality or disease risk.

[0074] Figure 10 A robotic device 100 according to an embodiment of the present disclosure is shown in a confined pipe.

[0075] refer to Figure 10The robotic device 100 is placed within a confined plastic tube to simulate inaccessible pipes, allowing for in-situ sampling to test its performance. After tap water is filled into the confined plastic tube, the robotic device 100 can be placed inside. Next, a target solution (e.g., 10 mM NH4Cl and 1 ng / mL SARS-CoV-2 spike protein) is dripped through a thin plastic tube. First, while the robotic device 100 is stationary at one end of the water-filled tube, a set of sensing data is read and displayed on the graphical user interface (GUI) of the electronic device E as comparative data. Then, 1 mL of the target solution is dripped into the confined tube and diffused. Subsequently, the robotic device 100 is actuated to the target solution region by RF wireless power P provided by the transmitter coil TC. When the robotic device 100 enters the electromagnetic field of the electronic device E, the electronic device E can send a read command to the NFC circuit 162. The NFC circuit 162 responds to the read command and powers the sensing module 150. The sensing module 150 can then sense characteristics of the aquatic environment (e.g., water quality or temperature) or detect living or bio-like structures in the aquatic environment to obtain at least one sensing electrical signal. The electronic device E can receive the sensing results (sensing data) from the transmitter antenna 164. The sensing results can be displayed via a GUI / display. The robotic device 100 can monitor the aquatic environment.

[0076] Figure 11 It shows Figure 1A and 1B The cross-sectional view of the robot device 100 shows a tail length of 8 mm and the coordinates of the centroid and center of mass of the robot device with different tail lengths.

[0077] refer to Figure 11 The finite element analysis software Ansys Mechanical can be used to design a robot structure where the centroid and center of mass of the robot device 100 coincide. By carefully designing the shape and size of the carrying unit, the vibrating tail 120, and the sensor module 150, and optimizing the positional relationships of the wireless sensor data reading module (i.e., the NFC module), the actuation coil 142, and the magnetic components through multiple iterations, the centroid and center of mass can be well matched. This design helps the robot device 100 swim smoothly and ensures that its posture remains stable during its swimming motion.

[0078] Based on the foregoing, in the embodiments of this disclosure, the robotic device employs a biomimetic design, such as a fish-like shape, to adapt to movement in aquatic environments. The robotic device is a wireless, battery-free, goldfish-sized soft robot with highly integrated multi-mode sensing capabilities and functions for temperature monitoring, water quality monitoring, and SARS-CoV-2 virus monitoring. This bio-inspired robotic device can swim smoothly in enclosed pipes, its soft tail exhibiting periodic oscillations to mimic the tail-slapping behavior of aquatic animals, enabling it to operate and perform monitoring tasks within narrow or enclosed pipes. Benefiting from an integrated radiochemical sensing system, this robotic device with a multi-functional sensing system can successfully monitor temperature, ion concentration, and SARS-CoV-2 contamination; the data can be synchronously and wirelessly transmitted to and displayed on a smartphone.

[0079] The functional units and modules of the apparatus and methods disclosed herein can be implemented using computing devices, computer processors, or electronic circuits, including but not limited to application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontrollers, and other programmable logic devices configured or programmed according to the teachings of the present invention. The computer instructions or software code running in the computing device, computer processor, or programmable logic device can be readily prepared by those skilled in the art of software or electronics based on the teachings of the present invention.

[0080] All or part of the methods according to the embodiments can be performed in one or more computing devices, including server computers, personal computers, laptop computers, and mobile computing devices (such as smartphones and tablets).

[0081] Embodiments may include computer storage media, transient and non-transient memory devices having computer instructions or software code stored therein, which can be used to program or configure computing devices, computer processors, or electronic circuits to perform any of the processes of the present invention. Storage media, transient and non-transient memory devices may include, but are not limited to, floppy disks, optical disks, Blu-ray discs, DVDs, CD-ROMs and magneto-optical disks, ROMs, RAMs, flash memory devices, or any type of medium or device suitable for storing instructions, code, and / or data.

[0082] Each functional unit and module according to various embodiments can also be implemented in a distributed computing environment and / or cloud computing environment, a local area network (LAN), the Internet and other forms of data transmission media.

[0083] The foregoing description of the present invention is provided for illustrative purposes. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations will be apparent to those skilled in the art.

[0084] The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, thereby enabling others skilled in the art to understand the various embodiments of the invention and the various modifications suitable for the intended particular use.

Claims

1. A fish-like robot device, characterized in that, include: The fish-shaped loading section includes: head; and A pair of sides, which extend from two opposite sides of the bottom of the head, such that the shape design of the fish-like carrying portion is conducive to assisting the fish-like robotic device in swimming or moving in aquatic environments; A vibrating tail portion is attached to the head and located between the pair of sides; A wireless power receiving module, configured to receive wireless power and disposed on the vibrating tail and the side; A drive module, electrically coupled to the wireless power receiving module and disposed on the vibrating tail section, wherein the wireless power receiving module transmits the wireless power to the drive module, causing the drive module to rotate the vibrating tail section; and At least one functional sensor is disposed in the head and configured to sense characteristics of the aquatic environment or detect living or biomorphic structures in the aquatic environment, thereby obtaining at least one sensing electrical signal, wherein the wireless power receiving module further includes: Receiver antenna, configured to receive the wireless power; and A circuit electrically coupled to the receiver antenna and the drive module, wherein the circuit is configured to modify the waveform of the wireless power in order to transmit the modified wireless power to the drive module.

2. The fish-like robot device according to claim 1, characterized in that, The fish-shaped carrying portion has a width that gradually increases and then decreases from the top to the bottom of the fish-shaped carrying portion.

3. The fish-like robot device according to claim 1, characterized in that, The vibrating tail portion is spaced apart from the pair of sides.

4. The fish-like robot device according to claim 1, characterized in that, The drive module further includes: A magnetic component is disposed on and in contact with the vibrating tail portion; and An actuation coil is disposed directly above the magnetic component and electrically coupled to the receiver antenna via the circuit. The actuation coil generates an alternating magnetic field, which drives the magnetic component, thereby causing the vibrating tail to vibrate.

5. The fish-like robot device according to claim 1, characterized in that, The circuit mentioned above includes: At least one capacitor is electrically coupled in parallel to the drive module and the receiver antenna; and At least one rectifier is electrically coupled in series in the circuit.

6. The fish-like robot device according to claim 5, characterized in that, The plurality of rectifiers mentioned therein include a plurality of diodes.

7. The fish-like robot device according to claim 6, characterized in that, The plurality of diodes mentioned therein are a plurality of light-emitting diodes.

8. The fish-like robot device according to claim 1, characterized in that, Further includes: A wireless sensor data reading module is electrically coupled to the at least one functional sensor, enabling the functional sensor to transmit the sensing electrical signal to the wireless sensor data reading module, and the wireless sensor data reading module to wirelessly transmit the sensing result to an electronic device.

9. The fish-like robot device according to claim 8, characterized in that, The wireless sensor data reading module is disposed on the top surface of the head, and the at least one functional sensor is disposed on the bottom surface of the head.

10. The fish-like robot device according to claim 8, characterized in that, The wireless sensor data reading module includes: NFC circuitry, coupled to the at least one functional sensor; and A transmitter antenna electrically coupled to the NFC circuit, wherein the NFC circuit receives sensing electrical signals from the at least one functional sensor and then generates sensing results based on the sensing electrical signals, wherein the transmitter antenna is adapted to wirelessly transmit to an electronic device.

11. The fish-like robot device according to claim 10, characterized in that, The transmitter antenna is capable of receiving wireless power to power the wireless sensor data reading module.

12. The fish-like robot device according to claim 8, characterized in that, The wireless sensor data reading module and the wireless power receiving module are flexible.

13. The fish-like robot device according to claim 1, characterized in that, The at least one functional sensor mentioned above includes multiple chemical ion sensors and biosensors.

14. The fish-like robot device according to claim 13, characterized in that, One of the plurality of chemical ion sensors is configured to sense NH4. + The concentration of ions, and another of the plurality of chemical ion sensors is configured to sense Cl. - The concentration of ions.

15. The fish-like robot device according to claim 13, characterized in that, The biosensor is configured to detect the severe acute respiratory syndrome coronavirus type 2 (SARS-CoV-2) virus.

16. The fish-like robot device according to claim 1, characterized in that, The center of mass of the fish-like robot device is matched with the centroid of the fish-like robot device.

17. A fish-like robot device, characterized in that, include: The fish-shaped loading section includes: head; and A pair of sides, which extend from two opposite sides of the bottom of the head, such that the shape design of the fish-like carrying portion is conducive to assisting the fish-like robotic device in swimming or moving in aquatic environments; A vibrating tail portion is attached to the head and located between the pair of sides; A wireless power receiving module, configured to receive wireless power and disposed on the vibrating tail and the side; A drive module electrically coupled to the wireless power receiving module and disposed on the vibrating tail, wherein the wireless power receiving module transmits the wireless power to the drive module, causing the drive module to cause the vibrating tail to rotate. At least one functional sensor, disposed in the head and configured to sense characteristics of the aquatic environment or detect living or biomorphic structures in the aquatic environment, thereby obtaining at least one sensing electrical signal; and A wireless sensor data reading module is electrically coupled to the at least one functional sensor, enabling the functional sensor to transmit the sensing electrical signal to the wireless sensor data reading module, and the wireless sensor data reading module to wirelessly transmit the sensing result to an electronic device, wherein the wireless sensor data reading module is disposed on the top surface of the head, and the at least one functional sensor is disposed on the bottom surface of the head.

18. A fish-like robot device, characterized in that, include: The fish-shaped loading section includes: head; and A pair of sides, which extend from two opposite sides of the bottom of the head, such that the shape design of the fish-like carrying portion is conducive to assisting the fish-like robotic device in swimming or moving in aquatic environments; A vibrating tail portion is attached to the head and located between the pair of sides; A wireless power receiving module, configured to receive wireless power and disposed on the vibrating tail and the side; A drive module, electrically coupled to the wireless power receiving module and disposed on the vibrating tail section, wherein the wireless power receiving module transmits the wireless power to the drive module, causing the drive module to rotate the vibrating tail section; and At least one functional sensor is disposed in the head and configured to sense the characteristics of the aquatic environment or detect living or bio-like structures in the aquatic environment to obtain at least one sensing electrical signal, wherein the at least one functional sensor includes a plurality of chemical ion sensors and biosensors.

19. The fish-like robot device according to claim 18, characterized in that, One of the plurality of chemical ion sensors is configured to sense NH4. + The concentration of ions, and another of the plurality of chemical ion sensors is configured to sense Cl. - The concentration of ions.

20. The fish-like robot device according to claim 18, characterized in that, The biosensor is configured to detect the severe acute respiratory syndrome coronavirus type 2 (SARS-CoV-2) virus.

Images