Bionic robotic fish system

Abstract

A bionic robotic fish system is suitable for a limited water area and comprises a light emitting module and a bionic robotic fish device. The bionic robotic fish device comprises a first light receiving module, a second light receiving module, a driving module and a processor, wherein the first light receiving module and the second light receiving module are arranged on the left side and the right side of a light-proof baffle extending from the head end of a shell in an adjacent and exposed mode, and the driving module and the processor are arranged on the shell. The processor confirms whether each of the first light receiving module and the second light receiving module receives a light signal emitted by the light emitting module in an effective area of the first light receiving module or the second light receiving module, and enables the driving module to drive the shell to move in the limited water area in a random mode, a left deviation mode, a right deviation mode or a straight movement mode according to the confirmation result. Therefore, the interestingness of the bionic robotic fish system in use and the interactivity between the bionic robotic fish system and a user are presented.

Description

Technical Field

[0001] The invention relates to a bionic robot fish system, in particular to a bionic robot fish system which can interact with humans and is interesting. Background Art

[0002] The positioning technologies currently used by bionic robotic devices (such as robot dogs, robots, robot cats, etc.) on the market include, for example, the Global Positioning System (GPS), Ultra-Wideband (UWB), etc. However, when the above positioning technologies are applied in water areas, the accuracy of the positioning signal transmission is not conducive due to the conductive properties of the water medium.

[0003] Therefore, how to invent a method that does not use the above-mentioned positioning technology but can make the bionic machine device used in water present interestingness and interactivity is one of the issues that the relevant technical field wants to solve. Summary of the invention

[0004] The object of the present invention is to provide a bionic robotic fish system which can be interesting and interactive with users when in use.

[0005] The invention provides a bionic robot fish system, which is suitable for a limited water area and comprises a light emission module and a bionic robot fish device.

[0006] The optical transmitting module is arranged in the limited water area and is configured to continuously send out an optical signal to an effective area in the limited water area.

[0007] The bionic robot fish device can be movably placed in the limited water area, and comprises a shell, a first light receiving module, a second light receiving module, a driving module and a processor.

[0008] The shell has a head end and a light-proof baffle extending outward from the head end.

[0009] The first light receiving module is disposed adjacent to and exposed at the head end of the housing and is located at the left side of the baffle.

[0010] The second light receiving module is disposed adjacent to and exposed at the head end of the housing and is located at the right side of the baffle.

[0011] The driving module is disposed on the shell and is assembled to drive the shell to move in the limited water area in a random mode, a left-biased mode, a right-biased mode or a straight mode.

[0012] The processor is disposed in the housing and is electrically connected to the first light receiving module, the second light receiving module and the driving module.

[0013] The processor of the bionic robotic fish device performs the following multiple operations: when the shell is located in the effective area and the first light receiving module receives the light signal, the driving module drives the shell to move in the left-biased mode so that the shell is close to the light transmitting module; when the shell is located in the effective area and the second light receiving module receives the light signal, the driving module drives the shell to move in the right-biased mode so that the shell is close to the light transmitting module; when the shell is located in the effective area and the first light receiving module and the second light receiving module both receive the light signal, the driving module drives the shell to move in the straight-ahead mode so that the shell is close to the light transmitting module; and when neither the first light receiving module nor the second light receiving module receives the light signal, the driving module drives the shell to move in the random mode.

[0014] In some implementations, the light signal is an infrared signal.

[0015] In some implementations, the light emitting module is installed on an object that can be moved in the limited water area, so that the effective area is a movable area.

[0016] In some implementations, the light emitting module is disposed at a fixed position within the limited water area, so that the effective area is a fixed area.

[0017] In some implementations, the fixed location is near a boundary of the limited water area.

[0018] In some implementations, the processor of the bionic robotic fish device performs the operation in response to a trigger signal obtained.

[0019] In some implementations, the bionic robotic fish device further includes a first communication module, which is electrically connected to the processor and utilizes a specific wireless communication protocol to receive the trigger signal from the outside, so that the processor obtains the trigger signal via the first communication module.

[0020] In some embodiments, the bionic robotic fish system further includes a trigger signal generating device. The trigger signal generating device includes a second communication module, an input module and a signal generating module. The second communication module is connected to the first communication module by using the specific wireless communication protocol. The input module generates an input signal through manual operation. The signal generating module is electrically connected to the second communication module and the input module, and is configured to generate the trigger signal according to the input signal generated by the input module, and transmit the trigger signal to the first communication module through the second communication module.

[0021] In some implementations, the trigger signal generating device is fixedly disposed within a communication range with the first communication module.

[0022] In some implementations, the trigger signal generating device is a portable electronic device.

[0023] The beneficial effect of the present invention is that since the light emitting module can be arranged in different ways (movable or fixed), and the processor controls the driving module according to the light signal reception conditions of the first and second light receiving modules after obtaining the trigger signal, so that the bionic robotic fish device gradually approaches the movable or fixed light emitting module, thereby presenting the fun of the bionic robotic fish system when in use and the interactivity with the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0025] Figure 1 is a block diagram exemplarily illustrating the configuration of the bionic robotic fish system according to the first embodiment of the present invention;

[0026] Figure 2 is a schematic top view, exemplarily illustrating the bionic robotic fish device in the first embodiment;

[0027] Figure 3 is a schematic diagram, exemplarily illustrating a limited water area where the first embodiment and a movable object are set;

[0028] Figure 4 is a block diagram exemplarily illustrating the configuration of a bionic robotic fish system according to a second embodiment of the present invention;

[0029] Figure 5 2 is a schematic diagram, which exemplarily illustrates the second embodiment and a limited water area in which the bionic robotic fish device and the light emitting module of the second embodiment are disposed. DETAILED DESCRIPTION

[0030] Before the present invention is described in detail, it should be noted that in the following description, similar elements are represented by the same number. If not specifically defined, the "electrical connection" described in this specification generally refers to the "wired electrical connection" achieved by connecting multiple electronic devices / devices / elements to each other through conductive materials, and the "radio connection" for single / bidirectional wireless signal transmission through wireless communication technology. On the other hand, the "electrical connection" described in this specification also generally refers to the "direct electrical connection" formed by directly connecting multiple electronic devices / devices / elements to each other, and the "indirect electrical connection" formed by indirectly connecting multiple electronic devices / devices / elements to each other through other electronic devices / devices / elements.

[0031] See also Figure 1 and Figure 3The bionic robotic fish system 100 of the first embodiment of the present invention is suitable for a limited water area 200 (see Figure 3 ), and includes a light emitting module 1 and a bionic robot fish device 2. In this embodiment, the limited water area 200 is defined by a pool, a fish tank or an aquarium, for example.

[0032] The light emitting module 1 is disposed in the limited water area 200 and is configured to continuously emit a light signal to an effective area in the limited water area 200. In this embodiment, the light signal is, for example but not limited to, an infrared signal. It is worth noting that in this embodiment, the light emitting module 1 is installed on an object 4 that can move in the limited water area 200, such as a powered water duck toy (see Figure 3 ) so that the effective area is a movable area (not a fixed area).

[0033] See also Figure 1 and Figure 2 The bionic robot fish device 2 can be movably placed in the limited water area 200 (see Figure 3 ), and includes a housing 26, a first light receiving module 21, a second light receiving module 22, a driving module 24, and a processor 23.

[0034] The housing 26 has a head end 261 and a light-proof baffle 262 extending outward and upward from the head end 261 .

[0035] The first light receiving module 21 is disposed at the head end 261 of the housing 26 and is located on the left side of the baffle 262. The second light receiving module 22 is disposed at the head end 261 of the housing 26 and is located on the right side of the baffle 262. It should be noted that in this embodiment, the first light receiving module 21 and the second light receiving module 22 are implemented as infrared receivers, and are both installed on a top side (i.e., the fish back side) of the housing 26, but this example is not limited thereto.

[0036] The driving module 24 is disposed on the housing 26 and configured to drive the housing 26 to move in the limited water area 200 in a random mode, a left-biased mode, a right-biased mode, or a straight mode. More specifically, the driving module 24 may include, for example, a motor assembly (not shown) for generating propulsion force, and a rudder assembly (not shown) for controlling the moving direction of the housing 26, but is not limited thereto. In addition, when the drive module 24 operates in the random mode, the drive module 24 drives the shell 26, for example, to output at a predetermined rotational speed and to move in a random direction according to, for example, a trial and error method; when the drive module 24 operates in the left-biased mode, the drive module 24 drives the shell 26, for example, to move at the predetermined rotational speed and in a direction of a predetermined angle to the left of the current moving direction (for example, within the angle range of 30° to 50°); when the drive module 24 operates in the right-biased mode, the drive module 24 drives the shell 26, for example, to output at the predetermined rotational speed and to move in a direction of a predetermined angle to the right of the current moving direction (for example, within the angle range of 30° to 50°); and when the drive module 24 operates in the straight-ahead mode, the drive module 24 drives the shell 26, for example, to output at the predetermined rotational speed and to keep moving in the current moving direction.

[0037] The processor 23 is disposed in the housing 26 and is electrically connected to the first light receiving module 21 , the second light receiving module 22 , and the driving module 24 .

[0038] When in use, the processor 23 controls the driving module 24 according to the signal reception conditions of the first and second optical receiving modules 21, 22. Hereinafter, how the processor 23 controls the operation of the driving module 24 according to the optical signal reception conditions of the first and second optical receiving modules 21, 22 will be described in detail.

[0039] When the shell 26 is located in the effective area and the first light receiving module 21 receives the optical signal, the processor 23 enables the driving module 24 to drive the shell 26 to move in the left-biased mode so that the shell 26 gradually approaches the light emitting module 1 from the right rear.

[0040] When the shell 26 is located in the effective area and the second light receiving module 22 receives the optical signal, the processor 23 enables the driving module 24 to drive the shell 26 to move in the right-biased mode so that the shell 26 gradually approaches the light emitting module 1 from the left rear.

[0041] When the shell 26 is located in the effective area and the first light receiving module 21 and the second light receiving module 22 both receive the optical signal, the processor 23 enables the driving module 24 to drive the shell 26 to move in the straight-ahead mode so that the shell 26 gradually approaches the light transmitting module 1 from directly behind the light transmitting module 1.

[0042] When neither the first light receiving module 21 nor the second light receiving module 22 receives the optical signal, it means that the shell 26 is outside the effective area. The processor 23 enables the driving module 24 to drive the shell 26 to move in the random pattern so that the shell 26 can enter the effective area.

[0043] It is worth noting that in this embodiment, the processor 23 periodically confirms the light signal reception status of the first and second light receiving modules 21, 22. Therefore, during use, the bionic robotic fish device 2 generally moves in a manner of following the light emitting module 1 (i.e., the water duck toy), thereby presenting the fun of fish chasing duck.

[0044] Figure 4 and Figure 5 A bionic robotic fish system 100' according to a second embodiment of the present invention is schematically depicted, which is similar to the first embodiment and is also applicable to the limited water area 200 (see Figure 5 In this embodiment, the bionic robotic fish system 100 ′ includes the light emitting module 1 , a bionic robotic fish device 2 ′, and a trigger signal generating device 3 .

[0045] In this embodiment, the baffle 262 , unlike the first embodiment, extends downward from the head end 261 .

[0046] In this embodiment, the light emitting module 1 is different from the first embodiment and is fixed in the limited water area 200. That is, the light emitting module 1 is set in a fixed position in the limited water area 200, such as but not limited to the lower left corner of the front side of the limited water area 200 (see Figure 5 ) so that the effective area is a fixed area.

[0047] In this embodiment, the bionic robot fish device 2' is substantially similar to the bionic robot fish device 2 of the first embodiment in function and configuration, and the difference between the two is that the first and second light receiving modules 21, 22 are both installed on the bottom side of the housing 26 (see Figure 5 , i.e., the ventral side of the fish) and are respectively located on the left and right sides of the baffle 262; and the bionic robotic fish device 2' further includes a first communication module 25. The first communication module 25 is electrically connected to the processor 23 and supports a specific wireless communication protocol (e.g., Wi-Fi, Bluetooth protocol, wireless radio frequency protocol, LoRa protocol).

[0048] The trigger signal generating device 3 includes, for example, an input module 31 , a second communication module 32 , and a signal generating module 33 electrically connected to the input module 31 and the second communication module 32 .

[0049] The input module 31 generates an input signal related to a trigger signal through manual operation, and outputs the input signal to the signal generating module 33 .

[0050] The second communication module 32 also supports the specific wireless communication protocol, and utilizes the specific wireless communication protocol to communicate with the first communication module 25 of the bionic robotic fish device 2 ′.

[0051] The signal generating module 33 is configured to generate the trigger signal according to the input signal from the input module 31, and transmit the trigger signal to the first communication module 25 via the second communication module 32. Therefore, in this embodiment, the processor 23 of the bionic robotic fish device 2', unlike the first embodiment, obtains the trigger signal by receiving the trigger signal from the trigger signal generating device 3 via the first communication module 25.

[0052] It should be particularly noted that, in this embodiment, the trigger signal generating device 3 can be implemented in a portable electronic device, such as a smart phone, a tablet computer, etc. In this case, when in use, once the user of the trigger signal generating device 3 (e.g., the user of the smart phone) enters a communication range with the first communication module 25 and operates the input module 31 to generate the input signal, the bionic robot fish device 2' responds to the trigger signal received from the signal generating device 3 and begins to gradually approach the light signal transmitting module 1, thereby presenting the interactivity between the user and the bionic robot fish device 2' (i.e., the user manually calls the bionic robot fish device 2' to approach the light transmitting module 1). However, in other embodiments, the trigger signal generating device 3 can also be fixed at a position within the communication range (with the first communication module 25), in which case the input module 31 can include an input key or input button (not shown) that can be operated by the user.

[0053] In summary, since the light emitting module 1 can be arranged in different ways (movable or fixed), and the processor 23 controls the driving module 24 according to the light signal receiving conditions of the first and second light receiving modules 21 and 22 after obtaining the trigger signal, so that the bionic robot fish device 2, 2' gradually approaches the movable or fixed light emitting module 1, thereby presenting the fun and interactivity of the bionic robot fish system 100, 100' when in use. Therefore, the bionic robot fish system 100, 100' of the present invention can indeed achieve the purpose and effect of the present invention.

[0054] However, the above is only an embodiment of the present invention and should not be used to limit the scope of the present invention. All simple equivalent changes and modifications made according to the claims and description of the present invention are still within the scope of the present invention.

Claims

1. A bionic robotic fish system, suitable for use in a limited water area, characterized by: And contains: an optical transmission module, disposed in the limited water area and configured to continuously emit an optical signal to an effective area in the limited water area; and A bionic robot fish device is movably placed in the limited water area and comprises: A housing having a head end and a light-proof baffle extending outward from the head end; A first light receiving module is disposed adjacent to and exposed at the head end of the housing and located on the left side of the baffle; a second light receiving module, disposed adjacent to and exposed at the head end of the housing and located on the right side of the baffle; a driving module, disposed on the housing and configured to drive the housing to move in the limited water area in a random mode, a left-biased mode, a right-biased mode, or a straight mode; and a processor, disposed in the housing and electrically connected to the first light receiving module, the second light receiving module and the driving module; The processor of the bionic robotic fish device performs the following operations: When the housing is located in the effective area and the first light receiving module receives the optical signal, the driving module drives the housing to move in the left-biased mode so that the housing approaches the light emitting module; When the housing is located in the effective area and the second light receiving module receives the optical signal, the driving module drives the housing to move in the right-biased mode. so that the housing is close to the light emitting module; When the housing is located in the effective area and the first light receiving module and the second light receiving module both receive the optical signal, the driving module drives the housing to move in the straight-moving mode so that the housing approaches the light emitting module; and When neither the first light receiving module nor the second light receiving module receives the optical signal, the driving module drives the housing to move in the random pattern.

2. The bionic robotic fish system according to claim 1, characterized in that: The optical signal is an infrared signal.

3. The bionic robotic fish system according to claim 1, characterized in that: The light emitting module is installed on an object which can be moved in the limited water area, so that the effective area is a movable area.

4. The bionic robotic fish system according to claim 1, characterized in that: The light emitting module is arranged at a fixed position in the limited water area, so that the effective area is a fixed area.

5. The bionic robotic fish system according to claim 4, characterized in that: The fixed position is close to a boundary of the limited water area.

6. The bionic robotic fish system according to claim 1, characterized in that: The processor of the bionic robotic fish device performs the operation in response to an obtained trigger signal.

7. The bionic robotic fish system according to claim 6, characterized in that: The bionic robotic fish device further includes a first communication module, which is electrically connected to the processor and receives the trigger signal from the outside by using a specific wireless communication protocol, so that the processor obtains the trigger signal via the first communication module.

8. The bionic robotic fish system according to claim 6, characterized in that: Also includes: A trigger signal generating device, comprising: a second communication module, communicating with the first communication module using the specific wireless communication protocol; an input module, generating an input signal through manual operation; and A signal generating module is electrically connected to the second communication module and the input module, and is configured to generate the trigger signal according to the input signal generated by the input module, and transmit the trigger signal to the first communication module via the second communication module.

9. The bionic robotic fish system according to claim 7, characterized in that: The trigger signal generating device is fixedly arranged within a communication range with the first communication module.

10. The bionic robotic fish system according to claim 7, characterized in that: The trigger signal generating device is a portable electronic device.

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