Fish-shaped robot system

Abstract

To provide a fish-type robot system that has a sense of elegance and interacts with a user.SOLUTION: A fish-type robot system includes: a light emission module 1 which is installed in a prescribed closed water area and continuously emits light signals; and a fish-type robot device 2 which moves in the prescribed closed water area. The fish-type robot device 2 includes: a housing which has a leading end section and a plate that extends outward from the leading end section and has light impermeability; a first light reception module 21 which is exposed outward from the leading end section on the left side of the plate; a second light reception module 22 which is exposed outward from the leading end section on the right side of the plate; a drive module 24 which moves the housing in different movement modes; and a processor 23 which is electrically connected to the first light reception module 21, the second light reception module 22, and the drive module 24 and controls the drive module 24 by selecting the movement mode on the basis of the reception conditions of the light signals of the first light reception module 21 and the second light reception module 22.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a fish-type robot system, and more particularly to a fish-type robot system that can interact with humans and has a mood. [Background technology]

[0002] Current biomimetic robotic devices (e.g., dog-type robots, humanoid robots, cat-type robots, etc.) employ positioning systems such as the Global Positioning System (GPS) and Ultra-Wideband System (UWB) described in Patent Document 1. However, when the positioning systems are applied underwater, the accuracy of the transmission of positioning signals is affected by the conductive properties of water.

[0003] In addition, GPS generally has an error of 2 to 3 meters, so it can only be applied to areas much larger than that, and an even wider range is required to perform precise control, such as moving a biomimetic robotic device from one side of an area to the other. For example, if a fish-shaped robot is to be moved from the left side of a pond to the right side of the pond, an area with a maximum width of more than 12 meters on both sides must be prepared in order to move it accurately. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6843248 specification Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, generating mood and user interaction from a biomimetic robotic device for use in water without using the above-mentioned positioning systems is a problem to be solved in the related art.

[0006] It is an object of the present invention to provide a fish-like robotic system that has attitude and user interaction when in use. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides: Define any horizontal plane within a given enclosed water area, and horizontal On the surface From any one position in The horizontal plane The maximum distance to any other location in is within 12 meters The above A fish-type robot system for use in a predetermined closed water area, a light emitting module installed in the predetermined enclosed water area and configured to continuously emit a light signal; a fish-type robotic device arranged to be capable of moving in the predetermined closed water area; The fish-type robot device includes a housing having a front end and a light-impermeable plate extending outward from the front end; a first optical receiving module disposed at the front end of the housing so as to be exposed to the outside while being located to the left of the plate; a second optical receiver module disposed at the front end of the housing so as to be exposed to the outside while being located to the right of the plate; a drive module mounted on the housing and configured to move the housing through the predetermined enclosed body of water in a random mode, a left bank mode, a right bank mode, or a straight line mode; a processor electrically connected to the first optical receiving module, the second optical receiving module, and the driving module and disposed in the housing; The processor further comprises: when only the first light receiving module receives the light signal, controlling the drive module to move the housing closer to the light emitting module in the left tilt mode; when only the second light receiving module receives the light signal, controlling the driving module to move the housing closer to the light emitting module in the right tilt mode; When both the first optical receiving module and the second optical receiving module receive the optical signal, control the driving module to move the housing closer to the optical emitting module in the orthogonal mode; and The present invention provides a fish-type robot system, characterized in that, when neither the first optical receiving module nor the second optical receiving module receives the optical signal, the drive module is controlled to move the housing randomly in the random mode. Effect of the Invention

[0008] In the fish-shaped robot system of the present invention, the location at which the light-emitting module is installed within a specified closed water area is not limited, and the user may install the light-emitting module on a moving or fixed object, and the processor controls the drive module based on the reception status of the optical signal from the light-emitting module 1 by the first light receiving module and the second light receiving module to move the fish-shaped robot device closer to the moving or fixed light-emitting module, thereby creating an atmosphere and interaction with the user when used without using a conventional positioning system. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing a first embodiment of a fish-type robot system according to the present invention. [Diagram 2] FIG. 2 is a top view showing the fish-type robot device in the first embodiment. [Diagram 3] FIG. 2 is a diagram showing a predetermined closed water area in which the fish-type robot system of the first embodiment and a movable object are installed. [Figure 4] FIG. 2 is a block diagram showing a second embodiment of the fish-type robot system of the present invention. [Diagram 5] FIG. 11 is a diagram showing the fish-type robot system of the second embodiment, and a predetermined closed water area in which the fish-type robot device and the light emitting module of the second embodiment are installed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] In order to more clearly describe the objectives, technical means and advantages of the embodiments of the present invention, the following will clearly and completely describe the technical means in the embodiments of the present invention in combination with the accompanying drawings of the embodiments of the present invention. It is clear that the described embodiments are only some embodiments of the present invention, and not all embodiments. Usually, the components of the embodiments of the present invention depicted and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings hereinafter does not constitute any limitation on the protection scope of the present invention, but only represents selected embodiments of the present invention.

[0011] Before describing the present invention in more detail, it should be noted that, where considered appropriate, reference numerals or terminal portions of reference numerals have been repeated among the figures to indicate corresponding or analogous elements, which may optionally have similar characteristics.

[0012] In describing the present invention, terms indicating orientations and positional relationships, such as "upper," "lower," "inner," "outer," "left," "right," "front," and "rear," are based on the orientations and positional relationships shown in the drawings or the orientations and positional relationships customarily placed when using the product of the present invention, for the purpose of easier and clearer description, and are not intended to teach or suggest that the corresponding apparatus or device has a specific orientation, a structure or operation in a specific orientation, etc., and are not intended to be limitations on the present invention.

[0013] Moreover, in describing the present invention, the terms "first", "second", etc. are used for distinguishing purposes only and do not teach or imply any relative importance.

[0014] The term "electrically connected" as used herein may mean both a "wired connection" in which multiple electrical equipment, electrical devices, or electrical devices are connected via a conductive material, and a "wireless connection (i.e., a signal-like connection)" which is a one-way or two-way wireless communication using wireless communication technology. The term "electrically connected" may also mean both a "direct connection" in which multiple electrical equipment, electrical devices, or electrical devices are directly connected to each other, and an "indirect connection" in which multiple electrical equipment, electrical devices, or electrical devices are indirectly connected to each other via another electrical equipment, electrical device, or electrical device.

[0015] The present invention provides a new fish-type robot system, and the features of each embodiment of the present invention can be combined unless they are inconsistent.

[0016] As shown in FIG. 1 and FIG. 3, a first embodiment of a fish-type robot system 100 of the present invention includes: A horizontal plane is defined within a given closed water area 200, and the horizontal plane To From any one position The horizontal plane It is intended for use in a specified enclosed body of water 200 where the maximum distance to any other location in the body of water is within 12 meters.

[0017] Furthermore, the first embodiment of the fish-type robot system 100 of the present invention includes a light emitting module 1 and a fish-type robot device 2 arranged so as to be able to move within a predetermined enclosed water area 200, as shown in Figures 1 and 3.

[0018] In this embodiment, the predetermined enclosed body of water 200 is defined by a predetermined container, A horizontal plane is defined within a given closed water area 200, and the horizontal plane To From any one position The horizontal plane The maximum distance to any other position in the container is within 12 meters, and the fish-shaped robot device 2 cannot move outside the container, and the container is defined by, for example, a pond, an aquarium, a fish breeding container, a home aquarium, etc.

[0019] The light emitting module 1 is installed in a predetermined closed water area 200 and configured to continuously emit a light signal.

[0020] In this embodiment, the light emitting module 1 is an infrared emitting module that emits infrared light as an optical signal.

[0021] In this embodiment, the light-emitting module 1 is attached to an object 4 that can move in a predetermined closed water area 200, that is, there is an interaction in which a user attaches the light-emitting module 1 to an object 4 that can move in a predetermined closed water area 200. The object 4 can be, for example, a duck-shaped toy that can move with power as shown in FIG.

[0022] As shown in FIGS. 1 and 2, the fish-type robot device 2 includes a first light receiving module 21, a second light receiving module 22, a processor 23, a driving module 24, and a housing 26.

[0023] As shown in FIGS. 2 and 3, the housing 26 has a leading end 261 and a light-impermeable plate 262 that extends outwardly and upwardly from the leading end 261.

[0024] As shown in FIG. 2, the first optical receiver module 21 is disposed at the front end 261 of the housing 26 so as to be located on the left side of the plate 262 and exposed to the outside.

[0025] The second optical receiver module 22 is disposed at the front end 261 of the housing 26 so as to be exposed to the outside while being located on the right side of the plate 262 as shown in FIGS.

[0026] In this embodiment, the first optical receiving module 21 and the second optical receiving module 22 are, for example, infrared receiving modules that receive infrared rays, and are both installed on the top side of the housing 26 (i.e., the back side of the fish) as shown in, for example, Figures 2 and 3, but are not limited to this.

[0027] The drive module 24 is installed in the housing 26 and configured to move the housing 26 in a random mode, a left bank mode, a right bank mode, or a direct mode in a predetermined closed water body 200. Specifically, the drive module 24 may include, but is not limited to, a motor assembly (not shown) that generates a propulsive force and a direction-changing assembly (not shown) that controls the moving direction of the housing 26.

[0028] When the drive module 24 operates in a random mode, the drive module 24, for example, causes the motor assembly to output a predetermined rotational speed and move the housing 26 in a trial and error manner.

[0029] When the drive module 24 operates in a left tilt mode, the drive module 24, for example, controls the motor assembly to output a predetermined rotational speed and the steering assembly to move the housing 26 at a predetermined speed and in a direction tilted to the left at a predetermined angle (e.g., within a range of 30 degrees to 50 degrees) from the current direction of movement.

[0030] When the drive module 24 operates in a right tilt mode, the drive module 24, for example, controls the motor assembly to output a predetermined rotational speed and the redirection assembly to move the housing 26 at a predetermined speed and in a direction tilted to the right at a predetermined angle (e.g., within a range of 30 degrees to 50 degrees) from the current direction of movement.

[0031] When the drive module 24 operates in the direct mode, the drive module 24, for example, drives a motor assembly at a predetermined rotational speed and controls a steering assembly to move the housing 26 at a predetermined speed and along the current direction of travel.

[0032] The processor 23 is electrically connected to the first optical receiving module 21, the second optical receiving module 22 and the driving module 24 (shown in FIG. 1), and is mounted in the housing 26.

[0033] In use, the processor 23 is configured to control the driving module 24 based on the signal reception status of the first optical receiving module 21 and the second optical receiving module 22 .

[0034] Hereinafter, how the processor 23 controls the driving module 24 based on the signal receiving conditions of the first optical receiving module 21 and the second optical receiving module 22 will be described.

[0035] When only the first light-receiving module 21 receives the light signal from the light-emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 closer to the light-emitting module 1 in the left-tilting mode.

[0036] In this embodiment, for example, when chasing a movable object 4, such as a duck-shaped toy, when only the first light-receiving module 21 receives a light signal from the light-emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 from the right rear toward the light-emitting module 1 in the left-tilting mode.

[0037] When only the second light receiving module 22 receives the light signal from the light emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 closer to the light emitting module 1 in the right tilt mode.

[0038] In this embodiment, for example, when chasing a movable object 4 such as a duck-shaped toy, when only the second light-receiving module 22 receives a light signal from the light-emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 from the left rear toward the light-emitting module 1 in the right-tilting mode.

[0039] When both the first optical receiving module 21 and the second optical receiving module 22 receive an optical signal from the optical emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 closer to the optical emitting module 1 in the orthogonal mode.

[0040] In this embodiment, when chasing a movable object 4, for example a duck-shaped toy, when both the first light receiving module 21 and the second light receiving module 22 receive light signals from the light emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 from directly behind toward the light emitting module 1 in the orthogonal mode.

[0041] When neither the first optical receiving module 21 nor the second optical receiving module 22 receives an optical signal from the optical emitting module 1, the processor 23 controls the driving module 24 to move the housing 26 randomly in the random mode.

[0042] In this embodiment, for example, when chasing a movable object 4 such as a duck-shaped toy, if neither the first light receiving module 21 nor the second light receiving module 22 receives a light signal from the light emitting module 1, the processor 23 controls the drive module 24 to move the housing 26 randomly in the random mode until either the first light receiving module 21 or the second light receiving module 22 receives a light signal from the light emitting module 1.

[0043] In this embodiment, the processor 23 periodically checks the receiving status of the first light receiving module 21 and the second light receiving module 22. Therefore, during the use period, the fish-shaped robot device 2 often moves to follow the light-emitting module 1 installed on the duck-shaped toy, and the fish appears to be chasing a duck.

[0044] A second embodiment of the fish-type robot system 100 of the present invention is applied to a predetermined closed water area 200, similar to the first embodiment, as shown in Figs.

[0045] In this embodiment, the fish-type robot system 100 includes a light emitting module 1, a fish-type robotic device 2, and an inducement signal generating device 3, as shown in FIG.

[0046] In this embodiment, plate 262 of housing 26 extends outwardly and downwardly from leading end 261, as shown in FIG. 5, and is light impermeable.

[0047] In this embodiment, the processor 23 effects said control of the drive module 24 in response to the received triggering signal as described below.

[0048] In this embodiment, the light emitting module 1 is fixedly installed in the predetermined closed water area 200. That is, the light emitting module 1 is installed at a fixed position in the predetermined closed water area 200. The fixed position is near the boundary of the predetermined closed water area 200, for example, the lower left position on the near side of the predetermined closed water area 200 in FIG. 5, but is not limited thereto.

[0049] In this embodiment, the fish-type robotic device 2 differs from the fish-type robotic device 2 of the first embodiment in that the first optical receiving module 21 and the second optical receiving module 22 are installed on the bottom side of the housing 26 (i.e., on the belly side of the fish and on the left and right sides of the board 262, respectively, as in the first embodiment), and further includes a first communication module 25.

[0050] The first communication module 25 is electrically connected to the processor 23 and is configured to support a predetermined wireless communication protocol (e.g., Wi-Fi (registered trademark), Bluetooth (registered trademark) protocol, radio frequency communication protocol, LoRa (registered trademark) protocol) and to receive an external induction signal via the predetermined wireless communication protocol and transmit the induction signal to the processor 23.

[0051] In this embodiment, the first communication module 25 receives the triggering signal from the triggering signal generating device 3 .

[0052] The induced 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 second communication module 32 and the input module 31 .

[0053] The input module 31 manually generates an input signal related to the induced signal and transmits the input signal to the signal generating module 33 .

[0054] The second communication module 32 supports the predetermined wireless communication protocol and is signal-connected to the first communication module 25 via the predetermined wireless communication protocol.

[0055] The signal generating module 33 is configured to generate an eliciting signal based on the input signal generated and transmitted by the input module 31 and transmit the eliciting signal to the second communication module 32 .

[0056] The second communication module 32 is configured to transmit the inducement signal generated and transmitted by the signal generating module 33 to the first communication module 25 of the fish-type robot device 2 using the predetermined wireless communication protocol. That is, the inducement signal is transmitted from the second communication module 32 to the first communication module 25.

[0057] Therefore, in this embodiment, the processor 23 of the fish-type robot device 2 obtains the inducement signal by having the first communication module 25 receive the inducement signal generated by the signal generating module 33 and transmit it to the processor 23.

[0058] In other embodiments, the induced signal may also be generated by the processor 23 .

[0059] In addition, the induced signal generating device 3 can be implemented by a mobile electronic device, such as a smartphone, tablet, etc. In this case, when using the fish-type robot system, if a user of the induced signal generating device 3 (e.g., a user of a smartphone) is within the receiving range of the first communication module 25 and operates the input module 31 to generate an input signal, the fish-type robot device 2 starts to approach the light-emitting module 1 based on the receiving status of the first light receiving module 21 and the second light receiving module 22 for the light signal from the light-emitting module 1 in response to the induced signal received from the induced signal generating device 3. This further creates an interaction between the user and the fish-type robot device 2 (i.e., the user can manually start to make the fish-type robot device 2 approach the light-emitting module 1).

[0060] In another embodiment, the trigger signal generating device 3 is fixedly installed within the receiving range of the first communication module 25. In that situation, the input module 31 may include input keys or input buttons (not shown) for a user to operate.

[0061] With the above configuration, the fish-shaped robot system 100 of the present invention is not limited to a position where the light-emitting module 1 is installed within a specified closed water area 200, and the user may install the light-emitting module 1 on a movable object (e.g., a duck-shaped toy that can move with power) or on a fixed object (e.g., a fixed position within the specified closed water area 200). Based on the reception status of the light signals from the light-emitting module 1 by the first light receiving module 21 and the second light receiving module 22, the processor controls the drive module 24 to bring the fish-shaped robot device 2 closer to the moving or fixed light-emitting module 1, thereby creating an atmosphere and interaction with the user when used without using a conventional positioning system.

[0062] Furthermore, the user can emit an induction signal by operating the induction signal generating device 3, and after the processor 23 receives the induction signal, the fish-shaped robot device 2 can begin to approach the light-emitting module 1 based on the reception status of the light signal from the light-emitting module 1 by the first light receiving module 21 and the second light receiving module 22 in response to the induction signal from the induction signal generating device 3 received by the fish-shaped robot device 2, thereby further increasing interaction with the user when using the fish-shaped robot system.

[0063] Therefore, the fish-type robot system of the present invention can reliably achieve the object of the present invention.

[0064] While the invention has been described in connection with what are considered to be exemplary embodiments, it is understood that the invention is not limited to the disclosed embodiments, but is intended to cover various arrangements within the broadest spirit and scope so as to encompass all such modifications and equivalent arrangements.

[0065] The above embodiment is illustratively intended to explain the principles and effects of the present invention, and is not intended to limit the present invention. Those skilled in the art may make some changes or modifications to the above embodiment without departing from the spirit and scope of the present invention. Therefore, all changes and modifications made by those skilled in the art without departing from the gist of the present invention should be considered to be within the scope of protection of the present invention. [Industrial Applicability]

[0066] The present invention is suitable for providing a fish-type robot system. [Explanation of symbols]

[0067] 100 Fish-shaped robot system 200 Prescribed closed waters 1. Light emission module 2. Fish-shaped robot device 21 First optical receiving module 22 Second optical receiving module 23 Processing Equipment 24 Drive Module 25 First communication module 26 Housing 261 Leading end 262 board 3. Induced signal generator 31 Input Module 32 Second communication module 33 Signal Generation Module 4. Objects

Claims

1. A fish-shaped robot system for use in a predetermined enclosed water area, which defines an arbitrary horizontal plane within the predetermined enclosed water area, and the maximum distance from any one position on the horizontal plane to any other position on the horizontal plane is within 12 meters, a light emitting module installed in the predetermined enclosed water area and configured to continuously emit a light signal; a fish-type robotic device arranged to be capable of moving in the predetermined closed water area; The fish-type robot device includes a housing having a front end and a light-impermeable plate extending outward from the front end; a first optical receiving module disposed at the front end of the housing so as to be exposed to the outside while being located to the left of the plate; a second optical receiver module disposed at the front end of the housing so as to be located on the right side of the plate and exposed to the outside; a drive module mounted on the housing and configured to move the housing through the predetermined enclosed body of water in a random mode, a left bank mode, a right bank mode, or a straight line mode; a processor electrically connected to the first optical receiving module, the second optical receiving module, and the driving module and disposed in the housing; The processor further comprises: when only the first light receiving module receives the light signal, controlling the driving module to move the housing closer to the light emitting module in the left tilt mode; when only the second light receiving module receives the light signal, controlling the driving module to move the housing closer to the light emitting module in the right tilt mode; When both the first optical receiving module and the second optical receiving module receive the optical signal, control the driving module to move the housing toward the optical emitting module in the orthogonal mode; and A fish-like robot system characterized in that, when neither the first optical receiving module nor the second optical receiving module receives the optical signal, the fish-like robot system is configured to control the drive module to move the housing randomly in the random mode.

2. 2. The fish-type robot system according to claim 1, wherein the light emitting module is an infrared emitting module that emits infrared rays as an optical signal.

3. The fish-type robot system according to claim 1 , wherein the light emitting module is attached to an object capable of moving in the predetermined enclosed water area.

4. 2. The fish-type robot system according to claim 1, wherein the light emitting module is installed at a fixed position within the predetermined enclosed water area.

5. 5. The fish-like robotic system according to claim 4, wherein the fixed location is near a boundary of the predetermined enclosed water body.

6. The fish-type robot system according to claim 1 , wherein the processor controls the drive module in response to a received inducement signal.

7. The fish-like robot system according to claim 6, further comprising a first communication module electrically connected to the processor and configured to receive the external triggering signal via a predetermined wireless communication protocol and transmit the triggering signal to the processor.

8. a second communication module signally connected to the first communication module by the predetermined wireless communication protocol; an input module for generating an input signal by manual operation; a signal generating module electrically connected to the second communication module and the input module, and configured to generate the triggering signal based on an input signal generated by the input module and transmit the triggering signal to the second communication module; The fish-like robot system according to claim 7, characterized in that the second communication module is configured to transmit the induced signal generated by the signal generating module to the first communication module via the predetermined wireless communication protocol.

9. 9. The fish-type robot system according to claim 8, wherein the induced signal generating device is fixedly installed within a receiving range of the first communication module.

10. 9. The fish-like robot system according to claim 8, wherein the induced signal generating device is a mobile electronic device.

Images