U.S. patent application number 10/398657 was filed with the patent office on 2005-10-27 for fish-shaped underwater navigating body, control system thereof, and aquarium.
Invention is credited to Terada, Yuuzi, Yamamoto, Ikuo.
Application Number | 20050235899 10/398657 |
Document ID | / |
Family ID | 29287937 |
Filed Date | 2005-10-27 |
United States Patent
Application |
20050235899 |
Kind Code |
A1 |
Yamamoto, Ikuo ; et
al. |
October 27, 2005 |
Fish-shaped underwater navigating body, control system thereof, and
aquarium
Abstract
A fish-type underwater navigation body includes a caudal turning
section provided for a caudal section of a main unit, a pair of
first side turning sections provided in front lower sections of the
main unit, and a pair of second side turning sections provided in
side lower sections between a center section and the caudal section
in the main unit. The fish-type underwater navigation body gets
propulsion by turning the caudal turning section. Also, the pair of
first side turning sections, the pair of second side turning
sections and the caudal turning section function for attitude
control of the fish-type underwater navigation body.
Inventors: |
Yamamoto, Ikuo;
(Nagasaki-ken, JP) ; Terada, Yuuzi; (Hyogo-ken,
JP) |
Correspondence
Address: |
ARMSTRONG, KRATZ, QUINTOS, HANSON & BROOKS, LLP
1725 K STREET, NW
SUITE 1000
WASHINGTON
DC
20006
US
|
Family ID: |
29287937 |
Appl. No.: |
10/398657 |
Filed: |
April 14, 2003 |
PCT Filed: |
April 30, 2002 |
PCT NO: |
PCT/JP02/04306 |
Current U.S.
Class: |
114/337 |
Current CPC
Class: |
A63H 30/04 20130101;
A63H 23/16 20130101; B63H 1/36 20130101; A63H 23/08 20130101; B63G
8/001 20130101; A63H 23/04 20130101; A63H 23/14 20130101; A63H
23/10 20130101; B63G 8/20 20130101 |
Class at
Publication: |
114/337 |
International
Class: |
B63G 008/08 |
Claims
1-23. (canceled)
24. A fish-type underwater navigation body comprises: a main unit;
a caudal section turnably connected to a caudal section of said
main unit; a first pair of side sections, each of which is turnably
connected to a forward section of said main unit; a forward tank
section provided in said forward section of said main unit; and
rear tank sections provided in a backward section of said main
unit.
25. The fish-type underwater navigation body according to claim 24,
wherein propulsion of said navigation body is generated by turning
said caudal section.
26. The fish-type underwater navigation body according to claim 24,
wherein said first pair of side sections and said caudal section
function to control attitude of said fish-type underwater
navigation body.
27. The fish-type underwater navigation body according to claim 24,
further comprising: a second pair of side sections turnably
connected in lower side sections between said first pair of side
sections and said caudal section in said main unit; a dorsal
section turnably connected to an upper section between said first
pair of side sections and said caudal section in said main unit;
and a lower caudal section provided in a lower section between said
second pair of side sections and said caudal section in said main
unit.
28. The fish-type underwater navigation body according to claim 24,
wherein said caudal section comprises: a first caudal section
turnably connected to said caudal section; and a second caudal
section turnably connected with said first caudal section, and said
second caudal section turns in response to a turning operation of
said first caudal section.
29. The fish-type underwater navigation body according to claim 28,
wherein a turning frequency of said caudal section is determined
based on a moving speed of said fish-type underwater navigation
body and a width of said fish-type underwater navigation body in a
direction perpendicular to a direction of movement of said
fish-type underwater navigation body.
30. The fish-type underwater navigation body according to claim 24,
wherein up and down movement of said fish-type underwater
navigation body is controlled based on a quantity of water in said
forward tank section and said rear tank sections.
31. The fish-type underwater navigation body according to claim 24,
further comprising: a driving section provided in said main unit;
and a receiving section provided in said main unit to receive a
radio wave instruction signal propagated through underwater, and
wherein said driving section drives said caudal section and said
first pair of side sections independently based on said radio wave
instruction signal.
32. The fish-type underwater navigation body according to claim 31,
wherein a frequency of said radio wave instruction signal is equal
to or less than 100 MHz.
33. The fish-type underwater navigation body according to claim 32,
further comprising: a transmitting section which replies a content
of said radio wave instruction signal when said radio wave
instruction signal is received.
34. A fish-type underwater navigation body control system
comprising: a fish-type underwater navigation body which comprises:
a main unit; a caudal section turnably connected to a caudal
section of said main unit; a first pair of side sections, each of
which is turnably connected to a forward section of said main unit;
a forward tank section provided in said forward section of said
main unit; rear tank sections provided in a backward section of
said main unit; and a receiving section provided in said main unit
to receive a radio wave instruction signal; and a driving section
provided in said main unit to drive said caudal section and said
first pair of side sections independently based on said radio wave
instruction signal; and a control unit which transmits said radio
wave instruction signal to said fish-type underwater navigation
body through underwater.
35. The fish-type underwater navigation body according to claim 34,
wherein said driving section drives said caudal section to generate
propulsion of said navigation body.
36. The fish-type underwater navigation body control system
according to claim 34, wherein said fish-type underwater navigation
body further comprises: a second pair of side sections turnably
connected in lower side sections between said first pair of side
sections and said caudal section in said main unit; a dorsal
section turnably connected to an upper section between said first
pair of side sections and said caudal section in said main unit;
and a lower caudal section provided in a lower section between said
second pair of side sections and said caudal section in said main
unit. wherein said driving section drives said first pair of side
sections, said second pair of side sections, said dorsal section,
said lower caudal section and said caudal section
independently.
37. The fish-type underwater navigation body control system
according to claim 36 said first pair of side sections, said second
pair of side sections, said dorsal section, said lower caudal
section and said caudal section function to control attitude of
said fish-type underwater navigation body.
38. The fish-type underwater navigation body control system
according to claim 34, wherein said caudal section comprises: a
first caudal section turnably connected to said caudal section; and
a second caudal section turnably connected with said first caudal
section, and said second caudal section turns in response to a
turning operation of said first caudal section.
39. The fish-type underwater navigation body control system
according to claim 38, wherein a turning frequency of said caudal
section is determined based on a moving speed of said fish-type
underwater navigation body and a width of said fish-type underwater
navigation body in a direction perpendicular to a direction of
movement of said fish-type underwater navigation body.
40. The fish-type underwater navigation body control system
according to claim 34, wherein up and down movement of said
fish-type underwater navigation body is controlled based on a
quantity of water in said forward tank section and said rear tank
sections.
41. The fish-type underwater navigation body control system
according to claim 34, wherein said radio wave instruction signal
is a FM signal having a frequency equal to or less than 100
MHz.
42. The fish-type underwater navigation body control system
according to claim 34, wherein said control unit comprises: an
operation unit; a control section which generates said radio wave
instruction signal based on an operation of said operation unit;
and a transmitting section which transmits said radio wave
instruction signal to said fish-type underwater navigation body
through said underwater.
43. The fish-type underwater navigation body control system
according to claim 34, wherein said control unit automatically
generates said radio wave instruction signal, and said control
system further comprises: a transmitting section which transmits
said radio wave instruction signal to said fish-type underwater
navigation body through said underwater.
44. The fish-type underwater navigation body control system
according to claim 34, wherein said fish-type underwater navigation
body further comprises: a supersonic transmitting section which
generates a supersonic signal, said fish-type underwater navigation
body control system comprises: a plurality of said fish-type
underwater navigation bodies, and further comprises: a position
detecting section which detects a position of each of said
plurality of fish-type underwater navigation bodies based on said
supersonic signals outputted from said supersonic transmitting
sections of said plurality of fish-type underwater navigation
bodies.
45. The fish-type underwater navigation body control system
according to claim 44, wherein said control unit outputs said radio
wave instruction signals to said plurality of fish-type underwater
navigation bodies for prevention of collision of said plurality of
fish-type underwater navigation bodies based on the positions
detected by said position detecting section.
46. An aquarium comprising: a water tank; and a fish-type
underwater navigation body which swims in said water tank, and
comprises: a main unit; a caudal section turnably connected to a
caudal section of said main unit; a first pair of side sections,
each of which is turnably connected to a forward section of said
main unit; a forward tank section provided in said forward section
of said main unit; rear tank sections provided in a backward
section of said main unit; and a receiving section provided in said
main unit to receive a radio wave instruction signal; and a driving
section provided in said main unit to drive said caudal section and
said first pair of side sections independently based on said radio
wave instruction signal; and a control unit which transmits said
radio wave instruction signal to said fish-type underwater
navigation body through underwater.
47. The aquarium according to claim 46, wherein an outward
appearance of said fish-type underwater navigation body imitates
coelacanth.
48. The aquarium according to claim 46, wherein a plurality of said
fish-type underwater navigation body swim in said water tank, and
each of said plurality of fish-type underwater navigation bodies
moves along a closed loop.
49. The aquarium according to claim 46, wherein each of said
plurality of fish-type underwater navigation bodies sinks and
floats periodically in a gravity direction.
50. The aquarium according to claim 46, wherein the control unit
comprises: an operation section; and a transmitting section which
transmits said radio wave instruction signal generated based on an
operation of the operation section into the underwater.
51. The fish-type underwater navigation body control system
according to claim 46, wherein said control unit automatically
generates said radio wave instruction signal, and said control
system further comprises: a transmitting section which transmits
said radio wave instruction signal to said fish-type underwater
navigation body through said underwater.
52. The aquarium according to claim 46, wherein said caudal section
comprises: a first caudal section; and a second caudal section
connected with said first caudal section, and said first caudal
section turns in response to a turning operation of said second
caudal section.
53. The aquarium according to claim 52, wherein a turning frequency
of said caudal section is determined based on a moving speed of
said fish-type underwater navigation body and a width of said
fish-type underwater navigation body in a direction perpendicular
to a direction of movement of said fish-type underwater navigation
body.
54. The aquarium according to claim 46, wherein said radio wave
instruction signal is a FM signal having a frequency equal to or
less than 100 MHz.
Description
TECHNICAL FIELD
[0001] The present invention is relates to a fish-type underwater
navigation body, a control system of the fish-type underwater
navigation body, and an aquarium to exhibit a fish-type underwater
navigation body.
BACKGROUND ART
[0002] A first conventional example of an underwater navigation
body is known in Japan Laid Open Patent Application (JP-A-Heisei
11-152085), in which a wing is vibrated like the fin of a fish for
propulsion and steering. The first conventional example of the
underwater navigation body is composed of wing portions 201a and
201b, as shown in FIG. 1. The wing portions 201a and 201b are
connected in series. The wing portions 201a and 201b are turned
around rotation axes 204 and 205, respectively. The vibration of
the wing portions 201a and 201b is controlled in cooperation to
each other, and the wing portions 201a and 201b operate flexibly
like a caudal fin of the fish as a whole. Thus, the first
conventional example of the underwater navigation body acquires
propulsion. Also, the vibration of the wing portions 201a and 201b
is controlled in the cooperation to each other and the steering is
carried out. The first conventional example of the underwater
navigation body contains a single tank 207. The up and down control
of the underwater navigation body is carried out by water filling
and drainage to the tank 207.
[0003] A second conventional example of the underwater navigation
body is known in the above-mentioned reference. The second
conventional example of the underwater navigation body is composed
of a plurality of vibration wings 121 on the both edges of a main
unit 222, as shown in FIG. 2. The vibration wings 221 are driven by
a first actuator 224 to rotate around a vertical axis 225. In
addition, the vibration wings 221 are driven by a second actuator
223 to turn around an axis 226. Thus, an angle is adjusted. In the
second conventional example of the underwater navigation body, the
propulsion and steering are carried out by the plurality of
vibration wings 221. Either of the vibration wings 221 contributes
both of the propulsion and the steering.
[0004] One of the application fields of such an underwater
navigation body includes a fish robot (artificial fish). A lot of
people expect new amusement facilities for their leisure. Such a
fish robot has a high entertainment and a high needs as the new
amusement facilities.
[0005] However, the amusement facilities in which the plurality of
fish robots swim while imitating ecology in actual undersea do not
exist conventionally, and the amusement facilities can be expected
in collection of many visitors. Especially, the visitor collecting
is effected in the amusement facilities where an ancient fish which
does not exist like coelacanth swims.
DISCLOSURE OF INVENTION
[0006] Therefore, an object of the present invention is to provide
a fish-type underwater navigation body like a fish robot imitating
a fish having a plurality of fins such as pectoral fins, pelvic
fins and a caudal fin.
[0007] Another object of the present invention is to provide a
fish-type underwater navigation body like a fish robot which is
stable in the attitude while swimming to generate propulsion.
[0008] Another object of the present invention is to provide a
fish-type underwater navigation body like a fish robot which can be
controlled externally.
[0009] Another object of the present invention is to provide a
fish-type underwater navigation body control system which controls
a fish-type underwater navigation body like a fish robot
externally.
[0010] Another object of the present invention is to realize an
aquarium in which a fish-type underwater navigation body like a
fish robot swims, and which is an amusement facilities having a
high visitor collecting effect.
[0011] In a first aspect of the present invention, a fish-type
underwater navigation body includes a caudal turning section
provided for a caudal section of a main unit, a pair of first side
turning sections provided in front lower sections of the main unit,
and a pair of second side turning sections provided in side lower
sections between a center section and the caudal section in the
main unit.
[0012] Here, the fish-type underwater navigation body generates
propulsion by turning the caudal turning section. Also, the pair of
first side turning sections, the pair of second side turning
sections and the caudal turning section function for attitude
control of the fish-type underwater navigation body.
[0013] Also, the fish-type underwater navigation body may further
include a dorsal turning section provided for an upper section
between the center section and the caudal section in the main unit
and functions for attitude control of the fish-type underwater
navigation body. Also, the fish-type underwater navigation body may
further include another caudal turning section provided in the
lower section between the center section and the caudal section in
the main unit and functions for attitude control of the fish-type
underwater navigation body.
[0014] Also, the caudal turning section of the fish-type underwater
navigation body may include a first caudal turning section, and a
second caudal turning section connected with the first caudal
turning section. The first caudal turning section turns in response
to a turning operation of the second caudal turning section so as
to realize an operation similar to a fish. It is desirable that the
turning frequency of the caudal turning section is determined based
on a speed of the fish-type underwater navigation body and a width
of the fish-type underwater navigation body in a direction
perpendicular to a direction of movement of the fish-type
underwater navigation body.
[0015] Also, the fish-type underwater navigation body may further
include a flotage tank section, and movement of the fish-type
underwater navigation body upwardly and downwardly is controlled
based on a quantity of water in the flotage tank section. For
smooth flotage and sinking operation, it is desirable that the
flotage tank section includes a front flotage tank section and a
rear flotage tank section. Also, for valance in the left and right
directions, it is desirable that the rear flotage tank section
includes a pair of flotage tank sections.
[0016] Also, the fish-type underwater navigation body may further
include a driving section which drives the caudal turning section,
the pair of first side turning sections and the pair of second side
turning sections independently, a receiving section which receives
a radio wave instruction signal propagated in underwater, and a
control section which controls the driving section based on the
radio wave instruction signal. In this way, it is possible to
control the fish-type underwater navigation body. At the time, it
is desirable that a frequency of the radio wave instruction signal
is equal to or less than 100 MHz, in consideration of the
attenuation of the radio wave instruction signal. Also, it is
desirable that the fish-type underwater navigation body further
includes a transmitting section which replies a content of the
radio wave instruction signal when the radio wave instruction
signal is received. Thus, it is possible to determine whether the
instruction reached right.
[0017] In another aspect of the present invention, a fish-type
underwater navigation body control system includes the above
fish-type underwater navigation body, and a control unit which
transmits a radio wave instruction signal to the fish-type
underwater navigation body through underwater. The fish-type
underwater navigation body further includes a driving section which
drives the pair of first side turning sections, the a pair of
second side turning sections and the caudal turning section
independently, a receiving section which receives the radio wave
instruction signal propagated in the underwater, and a drive
control unit which controls the driving section based on the radio
wave instruction signal.
[0018] In this case, it is desirable that the frequency of the
radio wave instruction signal is equal to or less than 100 MHz.
[0019] Also, the control unit may further include an operation
unit, and a transmitting section which outputs the radio wave
instruction signal in the underwater based on an operation of the
operation unit.
[0020] Also, the fish-type underwater navigation body may include a
supersonic transmission section. In this case, the fish-type
underwater navigation body control system further includes a
position detecting section which detects the position of the
fish-type underwater navigation body based on supersonic signals
outputted from the supersonic transmission sections of the
plurality of fish-type underwater navigation bodies. The control
unit outputs the radio wave instruction signal to one of the
plurality of fish-type underwater navigation bodies for avoidance
of collision with another of the plurality of fish-type underwater
navigation bodies based on the position detected by the position
detecting section.
[0021] Also, when the plurality of the fish-type underwater
navigation bodies swim, movement of one of the plurality of
fish-type underwater navigation bodies is desirably determined
based on the radio wave instruction signal generated based on the
position detected by the position detecting section, for prevention
of collision.
[0022] In another aspect of the present invention, an aquarium
includes a water tank and at least one of the fish-type underwater
navigation bodies. The fish-type underwater navigation body swims
in the water tank.
[0023] Here, an outward appearance of the main unit of the
fish-type underwater navigation body imitates coelacanth.
[0024] Also, a plurality of the fish-type underwater navigation
body swim in the water tank, and each of the plurality of fish-type
underwater navigation bodies move along closed loops, respectively.
Also, each of the plurality of fish-type underwater navigation
bodies sinks and floats periodically in a gravity direction.
[0025] Also, the aquarium may further include a control unit which
transmits a radio wave instruction signal to the fish-type
underwater navigation body through underwater. The fish-type
underwater navigation body includes a driving section which drives
the pair of first side turning sections, the pair of second side
turning sections and the caudal turning section independently; a
receiving section which receives the radio wave instruction signal
propagated in the underwater; and a drive control unit which
controls the driving section based on the radio wave instruction
signal. The control unit further includes an operation section; and
a transmitting section which outputs the radio wave instruction
signal into the underwater based on an operation of the operation
section.
BRIEF DESCRIPTION OF DRAWINGS
[0026] FIG. 1 is a diagram showing an underwater navigation body of
a first conventional example;
[0027] FIG. 2 is a diagram showing another underwater navigation
body of a second conventional example;
[0028] FIG. 3 is a diagram showing an underwater navigation body
like a fish robot and a control system according to a first
embodiment of the present invention;
[0029] FIGS. 4A and 4B are diagrams showing the outward appearance
of the underwater navigation body in the first embodiment;
[0030] FIGS. 5A and 5B are diagrams showing the internal structure
of the underwater navigation body in the first embodiment;
[0031] FIG. 6 is a diagram showing the control system of the
underwater navigation body in the first embodiment;
[0032] FIG. 7 is a diagram showing an aquarium which exhibits the
underwater navigation body, according to a second embodiment of the
present invention;
[0033] FIG. 8 is a diagram showing the control system of the
underwater navigation body in the second embodiment;
[0034] FIG. 9 is a diagram showing the outward appearance of the
underwater navigation body in the second embodiment;
[0035] FIGS. 10A and 10B are diagrams showing an operation of the
underwater navigation body in the second embodiment;
[0036] FIG. 11 is a diagram showing an operation of the underwater
navigation body in the second embodiment; and
[0037] FIG. 12 is a diagram showing an operation of the underwater
navigation body in the second embodiment.
BEST MODE FOR CARRYING OUT THE INVENTION
[0038] Hereinafter, an underwater navigation body like a fish robot
of the present invention will be described in detail with reference
to the attached drawings.
[0039] FIG. 3 shows a fish robot and a control system according to
the first embodiment of the present invention. A fish robot 1 in a
water tank 2 is controlled by a manual control system 3 or an
automatic control system 4. By which of the manual control system 3
and the automatic control system 4 the fish robot 1 is controlled
is switched by a switch 5 provided for the manual control system
3.
[0040] An antenna 6 is provided for the manual control system 3 to
transmit control radio wave 7 to the fish robot 1. The control
radio wave 7 propagates through water in the water tank 2 and
reaches the fish robot 1. The fish robot 1 operates in response to
the control radio wave 7. Also, the fish robot 1 sends echo radio
wave 8. The echo radio wave 8 contains data transmitted by the
control radio wave 7, and is used to check whether the control
radio wave 7 is normally transmitted. The antenna 6 receives the
echo radio wave 8.
[0041] FIGS. 4A and 4B show the structure of the fish robot 1. The
fish robot 1 imitates the form of a coelacanth. The fish robot 1
has many fins, as coelacanth having many fins.
[0042] FIG. 4A is a plan view of the outward appearance of the fish
robot 1, and FIG. 4B is a side view of the outward appearance of
the fish robot 1. The fish robot 1 is composed of a fish robot main
unit 11. Two pectoral fins 12.sub.1 and 12.sub.2, two pelvic fins
13.sub.1 and 13.sub.2, a first dorsal fin 14, a second dorsal fin
15, a first caudal fin 16 are connected with the fish robot main
unit 11. A second caudal fin 17 is connected with a caudal portion
of the fish robot main unit 11. A caudal fin 18 is connected with
the second caudal fin 17. Each of the pectoral fins 12.sub.1 and
12.sub.2, the pelvic fins 13.sub.1 and 13.sub.2, the first dorsal
fin 14, the second dorsal fin 15, the first caudal fin 16, the
second caudal fin 17 and the caudal fin 18 is formed of a metal
plate covered by a soft plastic film.
[0043] FIG. 5A is a plan view showing the internal structure of the
fish robot 1. As shown in FIG. 5A, the pectoral fins 12.sub.1 and
12.sub.2 are turnably connected with rotation axes 19.sub.1 and
19.sub.2, respectively. The pectoral fin 12.sub.1 is driven by a
motor 20.sub.1 to vibrate (or turn) around the rotation axis
19.sub.1 as shown by the arrow 21.sub.1. The pectoral fin 12.sub.2
is driven by a motor 20.sub.2 to vibrate around the rotation axis
19.sub.2, as shown by the arrow 21.sub.2.
[0044] Similarly, the pelvic fins 13.sub.1 and 13.sub.2 are also
turnably connected with rotation axes (not illustrated),
respectively. The pelvic fins 13.sub.1 and 13.sub.2 are driven by
motors 20.sub.3 and 20.sub.4 shown in FIG. 5B, respectively. The
pelvic fins 13.sub.1 and 13.sub.2 are vibrated as shown by the
arrows 22.sub.1 and 22.sub.2 in FIG. 5A, respectively.
[0045] Moreover, the second dorsal fin 15 and the first caudal fin
16 are turnably connected with rotation axes (not shown),
respectively, in the same way. The second dorsal fin 15 and the
first caudal fin 16 are driven by motors 20.sub.5 and 20.sub.6
shown in FIG. 5B, as shown by the arrows 23 and 24,
respectively.
[0046] The first dorsal fin 14 is fixed. The first dorsal fin 14
makes the posture of the fish robot 1 stable.
[0047] The second caudal fin 17 contains a vibration fin 17.sub.1
and a vibration fin 17.sub.2. One end of the vibration fin 17.sub.1
is turnably connected with a rotation axis 25, as shown in FIG. 5A.
The vibration fin 17.sub.1 is driven by a motor 20.sub.7 to vibrate
around rotation axis 25 as shown by the arrow 26. The other end of
the vibration fin 17.sub.1 is connected with a rotation axis 27.
One end of the vibration wing 17.sub.2 is turnably connected with
the rotation axis 27. The vibration fin 17.sub.2 vibrates around
the rotation axis 27 as shown by the arrow 26.
[0048] The phase of the vibration of the vibration fin 17.sub.1 and
the phase of the vibration of the vibration fin 17.sub.2 are
shifted from each other and the vibration fin 17.sub.2 operates in
response to the operation of the vibration fin 17.sub.1. That is,
the vibration fin 17.sub.1 and the vibration fin 17.sub.2 vibrate
flexibly just like actual coelacanth.
[0049] The frequency f of the vibration by the vibration fin
17.sub.1 and the vibration fin 17.sub.2 is expressed by the
following equation:
f=S.multidot.(U/D)
[0050] where D is the width D of the fish robot main unit 11 (see
FIG. 2A), U is the speed of the fish robot 1, and S is a constant.
The constant S is set based on the movement and shape of an actual
fish. By determining the frequency f in this way, the second caudal
fin 17 vibrates just like genuine fish.
[0051] As shown in FIG. 5B, the caudal fin 18 is connected with the
second caudal fin 17. The caudal fin 18 turns around the rotation
axis (not shown). The caudal fin 18 vibrates around the rotation
axis (not shown) as shown by the arrow 26.
[0052] The propulsion of the fish robot 1 is substantially
generated only by the second caudal fin 17. The above-mentioned
pectoral fins 12.sub.1 and 12.sub.2, pelvic fin 13.sub.1 and
13.sub.2, second dorsal fin 15, first caudal fin 16 and caudal fin
18 do not generate the propulsion of the fish robot 1
substantially. On the other hand, the posture of the fish robot 1
is controlled by all of the pectoral fins 12.sub.1 and 12.sub.2,
the pelvic fins 13.sub.1 and 13.sub.2, the second dorsal fins 15,
the first caudal fins 16, the second caudal fin 17 and the caudal
fins 18. In this way, the behavior of the fish robot when the
propulsion is generated and the posture is controlled is same as
the actual coelacanth, resulting in the improvement of reality of
the fish robot 1.
[0053] Here, each of the pectoral fins 12.sub.1 and 12.sub.2, the
pelvic fins 13.sub.1 and 13.sub.2, the second dorsal fin 15, and
the first caudal fin 16, and the caudal fin 18 vibrates around only
one rotation axis, and the number of degrees of freedom is single.
The pectoral fins 12.sub.1 and 12.sub.2, the pelvic fins 13.sub.1
and 13.sub.2, the second dorsal fin 15, the first caudal fin 16 and
the caudal fin 18 are driven by the motors, respectively. The
pectoral fins 12.sub.1 and 12.sub.2, the pelvic fins 13.sub.1 and
13.sub.2, the second dorsal fin 15, the first caudal fin 16 and the
caudal fin 18 which are used only for the control of the posture of
the fish robot 1 do not have to do always a complicated movement.
Therefore, the number of degrees of freedom in each of the pectoral
fins 12.sub.1 and 12.sub.2, the pelvic fins 13.sub.1 and 13.sub.2,
the second dorsal fin 15, the first caudal fin 16 and the caudal
fin 18 is made single and a driving mechanical section can be made
small in size.
[0054] Moreover, the fish robot 1 contains pumps 28.sub.1 and
28.sub.2 and tanks 29.sub.1 and 29.sub.2 as shown in FIG. 5B. The
tank 29.sub.1 is situated on the head of the fish robot 1. The tank
29.sub.2 contains two portions which are located to sandwich the
above-mentioned motors 20.sub.3 to 20.sub.8.
[0055] The pumps 28.sub.1 and 28.sub.2 injects and drains water
into and from the tanks 29.sub.1 and 29.sub.2. A position of the
fish robot 1 in a gravity direction is controlled based on the
quantity of water inside the tanks. The fish robot 1 sinks and
floats into and from the gravity direction by injecting and
draining water into and from the tanks 29.sub.1 and 29.sub.2. Thus,
the posture of the fish robot 1 is controlled. In this way, the
provision of the plurality of the tanks 29.sub.1 and 29.sub.2
facilitates the control of the posture of the fish robot 1.
[0056] Moreover, the fish robot 1 contains a battery cell 31 as a
power section (FIG. 5B). The battery cell 31 supplies the whole
fish robot 1 with the power supply voltage.
[0057] FIG. 6 shows the control system for instructing the
operation of the fish robot 1. Referring to FIG. 6, the fish robot
1 further contains a transmitting and receiving section 30. The
transmitting and receiving section 30 receives the control radio
wave 7 for instructing the operation of the fish robot 1. The
control radio wave 7 contains a control process quantity of each of
the motors 20.sub.1 to 20.sub.8 and the pumps 28.sub.1 and
28.sub.2. The motors 20.sub.1 to 20.sub.8 and the pumps 28.sub.1
and 28.sub.2 operate based on the control radio wave 7. That is,
the frequency, phase and amplitude of the vibration of each of the
above-mentioned pectoral fins 12.sub.1 and 12.sub.2, pelvic fins
13.sub.1 and 13.sub.2, second dorsal fin 15, first caudal fin 16,
second caudal fin 17 and caudal fin 18 are controlled based on the
control radio wave 7.
[0058] The frequency, phase and amplitude of vibration of the
pectoral fins 12.sub.1 and 12.sub.2, pelvic fins 13.sub.1 and
13.sub.2, second dorsal fin 15, first caudal fin 16, first
vibration fin 17.sub.1 and second vibration fin 17.sub.2 of the
second caudal fin 17.sub.1 and caudal fin 18 are determined for the
fish robot 1 to move in a desired direction at a desired speed.
"Propulsion System with Flexible/Rigid Oscillating Fin", (IEEE
Journal of Oceanic Engineering vol. 20, No. 1, (1995), pp. 23-30)
or a neural network described in Japanese Patent No. 3117310 may be
used for the determination. As a result, the pectoral fins 12.sub.1
and 12.sub.2, the pelvic fins 13.sub.1 and 13.sub.2, the second
dorsal fin 15, the first caudal fin 16, the second caudal fin 17
and the caudal fin 18 are controlled by the control system 5, and
move flexibly just as the fins of actual coelacanth. Such a
movement delights the person who sees the fish robot 1.
[0059] In this way, the fish robot 1 is possible to move without
being connected with a cable. Because the fish robot 1 can move
without being connected with the cable, the reality of the fish
robot 1 is improved.
[0060] Moreover, the transmitting and receiving section 30 sends
data of the control process quantity of each of the motors 20.sub.1
to 20.sub.8 and the pumps 28.sub.1 and 28.sub.2 transmitted with
the control radio wave 7, as echo radio wave 8. The control radio
wave 7 to be propagated in underwater has a possibility to
erroneously transfer the control process quantity. The echo radio
wave 8 is used to confirm whether the control process quantity to
each of the motors 20.sub.1 to 20.sub.8, and the pumps 28.sub.1 and
28.sub.2 is right transmitted.
[0061] As mentioned above, the operation of the fish robot 1 is
controlled by either of the manual control system 3 and the
automatic control system 4. By which of the manual control system 3
and automatic control system 4, the fish robot 1 is controlled is
switched by the switch 5.
[0062] The manual control system 3 is used for the person who
operates the fish robot 1 to instruct the operation of the fish
robot 1. When the manual control system 3 is selected by the switch
5, the control process quantity of each of the pumps 28.sub.1 and
28.sub.2 and the motors 20.sub.1 to 20.sub.8 contained in the fish
robot 1 is determined in accordance with the operation of the
manual control system 3 by the operation person. The control
process quantity is transmitted to the fish robot 1 with the
control radio wave 7.
[0063] When the automatic control system 4 is selected by the
switch 5, the automatic control system 4 controls the fish robot 1
in accordance with algorithm defined by the software loaded
thereinto. The automatic control system 4 determines the control
process quantity of each of the pumps 28.sub.1 and 28.sub.2 and the
motors 20.sub.1 to 20.sub.8 contained in the fish robot 1. The
control process quantity is transferred to the manual control
system 3 by a control signal 9 and then is transmitted to the fish
robot 1 with the control radio wave 7 from the manual control
system 3.
[0064] The control radio wave 7 is a FM wave which is generated by
carrying out frequency modulation (FM) to an electric signal with
the amplitude proportional to the control process quantity. Because
the control radio wave 7 is the FM wave, it is difficult for the
control process quantity to be erroneously transmitted, even if the
control radio wave 7 is attenuated with water.
[0065] The control radio wave 7 is received by the transmitting and
receiving section 30. The transmitting and receiving section 30
transfers the control process quantities of the pumps 28.sub.1 and
28.sub.2 and the motors 20.sub.1 to 20.sub.8 transmitted by the
control radio wave 7 to the pumps 28.sub.1 and 28.sub.2 and the
motors 20.sub.1 to 20.sub.8, respectively. However, only the pumps
28.sub.1 and 28.sub.2, and the motors 20.sub.1, 20.sub.1, 20.sub.7,
and 20.sub.8 are illustrated in FIG. 6. The pumps 28.sub.1 and
28.sub.2 inject and drain water into and from the tanks 29.sub.1
and 29.sub.2 in accordance with the transferred control process
quantities. The motors 20.sub.1 to 20.sub.8 set displacement
quantities in accordance with the transferred control process
quantities. The motors 20.sub.1 to 20.sub.8 vibrate the pectoral
fins 12.sub.1 and 12.sub.2, the pelvic fins 13.sub.1 and 13.sub.2,
the first dorsal fin 14, the second dorsal fin 15, the first caudal
fin 16, the first vibration fin 17.sub.1 and the second the
vibration fin 17.sub.2 of the second caudal fin 17.sub.1
respectively. In this way, the fish robot 1 is controlled by the
manual control system 3 or the automatic control system 4.
[0066] Moreover, the transmitting and receiving section 30
transmits the control process quantity transmitted by the control
radio wave 7 to the manual control system 3 with the echo radio
wave 8. The manual control system 3 transfers the control process
quantity transmitted by the echo radio wave 8 to the automatic
control system 4 as an echo signal 10. The automatic control system
4 determines based on the echo signal 10, whether the control
process quantity is transmitted right. Based on the determination,
the automatic control system 4 sets a control process quantity of
each of the pumps 28.sub.1 and 28.sub.2 and the motors 20.sub.1 to
20.sub.8 to be transmitted to the fish robot 1.
[0067] It should be noted that in this embodiment, a supersonic
transmitter may be used instead of the antenna 6. In this case,
instead of the control radio wave 7 for controlling the fish robot
1, a supersonic signal is used. However, it is desirable to control
the fish robot 1 using the control radio wave 7 like this
embodiment, from the viewpoint of the high-speed signal processing
in the fish robot 1.
[0068] It is generally thought that it is difficult to transmit a
signal through the underwater using the radio wave because the
attenuation of the radio wave in the underwater is large. For this
reason, when the signal is transmitted through the underwater, a
supersonic signal is often used. However, it is actually possible
to transmit a signal through the underwater with the radio wave.
This is because the attenuation of the radio wave in the underwater
is about 10 dB/m when the frequency is 100 Mz. Therefore, the
distance between two points is within 10 m, the communication
between the two points is sufficiently possible using the radio
wave. It should be noted that it is desirable that the control
radio wave 7 is equal to or less than 100 MHz because the
attenuation of the radio wave in the underwater becomes high as the
frequency is increased.
[0069] The present invention provides the fish robot realistically
imitating fish which has a plurality of fins and a fin for the
caudal portion.
[0070] Also, according to the present invention, the underwater
navigation body of the fish robot type imitating the fish which has
a plurality of fins can be made more compact.
[0071] Next, the second embodiment of the present invention will be
described. In the second embodiment, an aquarium is provided in
which the fish robots or fish robots similar to the above-mentioned
fish robot swim in the water tank.
[0072] FIG. 7 shows the structure of the aquarium. The aquarium has
a water tank 102 in which water has been filled and a plurality of
fish robots 1 are swimming in the water tank 102.
[0073] It is desirable that the fish robot 1 imitates the form of
fish like abyssal fish which it is difficult to acquire, ancient
fish like coelacanth, or fish which it is impossible to acquire
because it had become extinct, from the viewpoint of increase of
amusement. In this embodiment, the fish robot 1 imitates the form
of the coelacanth.
[0074] FIG. 8 shows a control system of the fish robot in the
second embodiment. The aquarium further contains a supersonic
sensor 103, an operation unit 104, a control unit 105 and a radio
wave transmitting unit 106. The supersonic sensor 103 is used to
detect the position of the fish robot 1. A joystick 104a and a
switch (not shown) are provided for the operation unit 104. A
visitor who visits the aquarium can instruct how the fish robot 1
swim by operating the joystick 104a. The switch 4b designates
whether the fish robot 1 is controlled based on the operation of
the joystick 104a or in accordance with the algorithm which is
described in the software loaded into the control unit 105, like
the first embodiment.
[0075] The control unit 105 controls the fish robot 1 in accordance
with the operation of the joystick 104a or the algorithm which is
described in the loaded software based on the state of the switch
4b. The control unit 105 generates a signal for controlling the
fish robot 1. The radio wave transmitting unit 106 sends the signal
to the fish robot 1 with radio wave.
[0076] The fish robot 1 generates a supersonic signal a. The
supersonic signal a is used for the detection of the position of
the fish robot 1. The supersonic sensor 103 receives and converts
the supersonic signal a propagated in the underwater into an
electric signal b. The electric signal b is transferred to the
control unit 5.
[0077] On the other hand, the operation unit 104 transmits to the
control unit 105 an operation signal c1 to indicate the content of
the operation accomplished by the joystick 104a. Also, the
operation unit 104 outputs to the control unit 105 a specification
signal c2 for specifying that the fish robot 1 should be controlled
in accordance with which of the detected movement of the fish robot
1 and the operation of the joystick 104a, based on the state of the
switch 4b.
[0078] The control unit 105 contains a position detecting section
105.sub.1 and a control section 105.sub.2. The position detecting
section 105.sub.1 detects the position of the fish robot 1 based on
the electric signal b. The position of the fish robot 1 is notified
to the control unit 105.sub.2 by a position signal d.
[0079] The control section 105.sub.2 determines the movement of the
fish robot 1. When it is designated based on the switch that the
fish robot 1 is controlled in accordance with the operation of the
joystick 104a, the control section 105.sub.2 determines the
movement of the fish robot 1 based on the content of the operation
of the joystick 104a. When it is designated based on the switch
that the fish robot 1 is controlled in accordance with the
algorithm which is described in the software loaded into the
control unit 105, the control section 105.sub.2 determines the
movement of the fish robot 1 while the control unit 105 refers to
the position of the fish robot 1 in accordance with the algorithm.
The control section 105.sub.2 generates and outputs a control
signal e for instructing the movement of the fish robot 1 to the
radio wave transmitting unit 106. The radio wave transmitting unit
106 converts the control signal e into a control radio wave f and
sends it to the fish robot 1.
[0080] Next, the structure of the fish robot 1 will be described.
FIG. 9A is a plan view of the outward appearance of the fish robot
1. FIG. 9B is a side view of the outward appearance of the fish
robot 1. The fish robot 1 contains a fish robot main unit 11. Two
pectoral fins 12.sub.1 and 12.sub.2, two pelvic fins 13.sub.1 and
13.sub.2, the first dorsal fin 14, the second dorsal fin 15, the
first caudal fin 16, the second caudal fin 17 are connected with
the fish robot main unit 11. The caudal fin 18 is connected with
the second caudal fin 17. The pectoral fins 12.sub.1 and 12.sub.2,
the pelvic fins 13.sub.1 and 13.sub.2, the first dorsal fin 14, the
second dorsal fin 15, the first caudal fin 16, the second caudal
fin 17 and the caudal fin 18 are formed of plastic material with
elasticity.
[0081] The internal structure of the fish robot 1 in the second
embodiment is same as in the first embodiment shown in FIGS. 5A and
5B. The different point between the first and second embodiments is
in that the fish robot 1 contains the supersonic transmitting units
31. The supersonic transmitting unit 31 sends the above-mentioned
supersonic signal a. The supersonic signal a is used for the
detection of the position of the fish robot 1, as described
above.
[0082] Next, the movement of the fish robot 1 will be described
with reference to FIGS. 10A and 10B. When it is designated based on
the switch that the fish robot 1 is controlled in accordance with
the algorithm which is described to the software loaded into the
control unit 105, an instruction is given for the fish robot 1 to
swim along a closed loop 41, as shown in FIG. 10A. That is, the
instruction is given to the fish robot 1 to vibrate the first
vibration fin 17.sub.1 and the second vibration fins 17.sub.2 of
the second caudal fin 17, such that the fish robot 1 swims to have
a predetermined angle .theta. from the centerline 11a of the fish
robot main unit 11, as shown in FIG. 10B. When the first vibration
fin 17.sub.1 and the second vibration fin 17.sub.2 are vibrated to
have the predetermined angle .theta. with respect to the centerline
11a, the fish robot 1 goes around along the closed loop 41.
[0083] At this time, as shown in FIG. 11, the fish robot 1 sinks
and floats periodically. Through the periodically sinking and
floating movement of the fish robot 1, the movement of the fish
robot 1 gets to be nearer the movement of the actual fish and the
reality increases. The sinking and floating movement of the fish
robot is achieved by injecting and draining water into and from the
tanks 29.sub.1 and 29.sub.2 by the pumps 28.sub.1 and 28.sub.2.
[0084] It should be noted that when the distance .DELTA.I between
the fish robots 1 becomes smaller than a predetermined distance L,
the fish robots 1 move to avoid crash. The distance .DELTA.I is
detected based on the positions of the fish robots 1 which are
detected by the position detecting section 5.sub.1. As shown in
FIG. 12, it is supposed that the distance .DELTA.I between the fish
robot 11 and the fish robot 1.sub.2 becomes smaller than the
predetermined distance L. In this case, the angles .theta.1 and
.theta.2 different each other are set to the fish robots 1.sub.1
and the fish robots 1.sub.2, respectively. The first vibration fin
17.sub.1 and the second vibration fin 17.sub.2 of the fish robot
1.sub.1 are controlled to vibrate taking as a vibration center the
angle .theta.1 from centerline 11a of the fish robot main unit 11,
and the first vibration fin 17.sub.1 and the second vibration fin
17.sub.2 of the fish robot 1.sub.2 are controlled to vibrate taking
as a vibration center the angle .theta.2 from centerline 11a of the
fish robot main unit 1.sub.1. Thus, the fish robot 1.sub.1 and the
fish robot 1.sub.2 move in different directions and crash of the
fish robots can be avoided. Moreover, such a movement delights the
visitor which sees the fish robots 1.
[0085] On the other hand, when it is specified that the fish robot
1 is controlled in accordance with the operation of the joystick
104a by the switch, as mentioned above, the fish robot 1 moves in
response to the operation of the joystick 104a. When the direction
in which the fish robot 1 should move is set by the joystick 104a,
the control unit 105 controls the changes of the pectoral fins
12.sub.1 and 12.sub.2, the pelvic fins 13.sub.1 and 13.sub.2, the
second dorsal fin 15, the first caudal fin 16, the second caudal
fin 17 and the caudal fin 18 for the fish robot 1 to move in the
specified direction. Thus, the fish robot 1 moves in the specified
direction in accordance with the operation of the joystick of 104a.
The operation person who operates the joystick 104a can enjoy that
the fish robot 1 moves in accordance with the operation of the
joystick 104a.
[0086] In this way, the movement of the fish robot 1 delights the
person seeing it. The entertainment of the aquarium in this
embodiment is high and the visitor collecting effect can look
forward to it.
[0087] It should be noted that in this embodiment, a supersonic
transmitting unit may be used instead of the radio wave
transmitting unit 106. In this case, instead of the control radio
wave f for controlling the fish robot 1, a supersonic signal is
used. However, it is desirable to control the fish robots 1 using
the control radio wave f like this embodiment from the viewpoint of
a quick signal processing inside the fish robot 1. It is considered
generally that it is difficult to transmit a signal in the
underwater with the radio wave, because the attenuation percentage
of the radio wave in the underwater is large. Therefore, when a
signal is transmitted in the underwater, a supersonic signal is
often used. However, it is actually possible to transmit a signal
in the radio wave to be propagated in underwater. The reason is
that the attenuation percentage of the radio wave in the underwater
is about 10 dB/m when the frequency is 100 Mz. This means that the
communication between two in the radio wave is sufficiently
possible, if the distance between the two is within 10 m.
Therefore, the control of the fish robot 1 is carried out while
using the control radio wave f and the quick signal processing
inside the fish robot 1 is attempted.
[0088] It is desirable that the control radio wave f is generated
by FM-modulating the control signal e. It is difficult for the
control radio wave f as an FM wave to undergo attenuation
influence.
[0089] The amusement facilities where the high visitor collection
effect is expected can be provided in the present invention.
* * * * *