ROBOT FISH SYSTEM

A robot fish system includes a robot fish, and a light-emitting device emitting a light signal. The robot fish includes a housing, on which first and second light receivers, a driving module and a processor are disposed. The processor is connected to the first and second light receivers and the driving module. The processor controls the driving module to operate in a left-turn mode to make the robot fish turn left when only the first light receiver receives the light signal, in a right-turn mode to make the robot fish turn right when only the second light receiver receives the light signal, in a straight-moving mode to make the robot fish move straight when both the first and second light receivers receive the light signal, and in a random mode to make the robot fish move randomly when none of the first and second light receivers receives the light signal.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Taiwanese Invention Patent Application No. 112126741, filed on Jul. 18, 2023, and incorporated by reference herein in its entirety.

FIELD

The disclosure relates to a robot system, and more particularly to a robot fish system adapted to be used in a specific aquatic area.

BACKGROUND

Conventionally, a robot moves according to global positioning system (GPS) signals. However, quality of the GPS signals may be poor in an underwater environment, adversely affecting movement of the robot in the underwater environment.

SUMMARY

Therefore, an object of the disclosure is to provide a robot fish system that can alleviate at least one of the drawbacks of the prior art.

According to the disclosure, the robot fish system is adapted to be used in a specific aquatic area. The robot fish system includes a light-emitting device and a robot fish.

The light-emitting device is adapted to be disposed in the specific aquatic area, and is configured to emit a light signal in the specific aquatic area.

The robot fish is configured to move in the specific aquatic area. The robot fish includes a housing, a first light receiver, a second light receiver, a driving module and a processor.

The housing includes a head portion, and an opaque plate extending outwardly from the head portion.

The first light receiver is disposed on the head portion to the left of the opaque plate when looking in a forward direction of the housing, is exposed to an environment, and is configured to receive the light signal emitted from the light-emitting device.

The second light receiver is disposed on the head portion to the right of the opaque plate when looking in the forward direction, is exposed to the environment, and is configured to receive the light signal emitted from the light-emitting device.

The driving module is disposed on the housing, and is configured to operate in one of a random mode, a left-turn mode, a right-turn mode and a straight-moving mode for driving movement of the housing in the specific aquatic area.

The processor is disposed in the housing, and is electrically connected to the first light receiver, the second light receiver and the driving module. The processor is configured to perform an operation procedure. The operation procedure includes steps of: a) determining whether any one of the first light receiver and the second light receiver receives the light signal emitted from the light-emitting device, b) controlling the driving module to operate in the left-turn mode to make the robot fish turn left in the specific aquatic area when it is determined that only the first light receiver receives the light signal emitted from the light-emitting device, c) controlling the driving module to operate in the right-turn mode to make the robot fish turn right in the specific aquatic area when it is determined that only the second light receiver receives the light signal emitted from the light-emitting device, d) controlling the driving module to operate in the straight-moving mode to make the robot fish move straight in the specific aquatic area when it is determined that both the first light receiver and the second light receiver receive the light signal emitted from the light-emitting device, and e) controlling the driving module to operate in the random mode to make the robot fish move randomly in the specific aquatic area when it is determined that none of the first light receiver and the second light receiver receives the light signal emitted from the light-emitting device.

DETAILED DESCRIPTION

Referring toFIGS.1to3, a robot fish system100adapted to be used in a specific aquatic area200according to a first embodiment of the disclosure is illustrated. The robot fish system100includes a light-emitting device1and a robot fish2. The specific aquatic area200may be defined by a pool, a pond, a fish bowl, a fish tank, an aquarium or the like.

The light-emitting device1is adapted to be disposed in the specific aquatic area200, and is configured to continuously emit a light signal in the specific aquatic area200. In this embodiment, the light-emitting device1is an infrared emitter that is configured to emit an infrared signal as the light signal. It is worth to note that the light-emitting device1is adapted to be disposed on a movable object4that is capable of moving in the specific aquatic area200. The movable object4is an exemplary toy duck that can move on a surface of the specific aquatic area200as shown inFIG.3.

The robot fish2is configured to move in the specific aquatic area200, generally underwater. The robot fish2includes a housing26, a first light receiver21, a second light receiver22, a driving module24and a processor23.

The housing26includes a head portion261, an opaque plate262extending outwardly and upwardly from the head portion261, and a tail portion263opposite to the head portion261.

The first light receiver21is disposed on the head portion261to the left of the opaque plate262when looking in a forward direction which is defined as a direction from the head portion261toward the tail portion263, is exposed to the environment (e.g., water in the specific aquatic area200), and is configured to receive the light signal emitted from the light-emitting device1. The second light receiver22is disposed on the head portion261to the right of the opaque plate262when looking in the forward direction, is exposed to the environment, and is configured to receive the light signal emitted from the light-emitting device1. That is to say, the first light receiver21and the second light receiver22are spaced apart by the opaque plate262. In this embodiment, each of the first light receiver21and the second light receiver22is implemented by an infrared receiver, and is disposed on the top of the head portion261of the housing26, but is not limited thereto.

The driving module24is disposed on the housing26. The driving module24is configured to operate in one of a random mode, a left-turn mode, a right-turn mode and a straight-moving mode for driving movement of the housing26in the specific aquatic area200. Specifically, the driving module24includes a motor (not shown) that is configured to rotate at a preset rotational speed, a propeller (not shown) that is configured to be driven by the motor for producing a propulsion force (thrust) to propel the housing26, and a rudder (not shown) for directing movement of the housing26, but is not limited thereto. When operating in the straight-moving mode, the driving module24drives the housing26to move straight in the forward direction in the specific aquatic area200. When operating in the left-turn mode, the driving module24drives the housing26to turn left by a preset left-turn angle (which may be within an angular range of from 30 to 50 degrees) with respect to the forward direction in the specific aquatic area200. When operating in the right-turn mode, the driving module24drives the housing26to turn right by a preset right-turn angle (which may be within an angular range of from 30 to 50 degrees) with respect to the forward direction in the specific aquatic area200. When operating in the random mode, the driving module24drives the housing26to move randomly in the specific aquatic area200.

The processor23may include, but not limited to, a single core processor, a multi-core processor, a dual-core mobile processor, a microprocessor, a microcontroller, a digital signal processor (DSP), a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), and/or a radio-frequency integrated circuit (RFIC), etc. The processor23is disposed in the housing26, and is electrically connected to the first light receiver21, the second light receiver22and the driving module24. The processor23is configured to perform an operation procedure that includes the following steps.

When performing the operation procedure, the processor23first determines whether any one of the first light receiver21and the second light receiver22receives the light signal emitted from the light-emitting device1, and controls the driving module24to drive movement of the housing26in the specific aquatic area200according to the following algorithm based on a result of the determination. Specifically, each of the first light receiver21and the second light receiver22will output a reception signal to the processor23upon receiving the light signal emitted from the light-emitting device1, and, for each of the first light receiver21and the second light receiver22, the processor23may determine whether the first/second light receiver21,22receives the light signal by determining whether the reception signal is received from the first/second light receiver21,22.

The processor23controls the driving module24to operate in the left-turn mode to make the robot fish2turn left in the specific aquatic area200when it is determined that only the first light receiver21receives the light signal emitted from the light-emitting device1. In this way, the robot fish2moves toward the left while moving forward to approach the light-emitting device1.

The processor23controls the driving module24to operate in the right-turn mode to make the robot fish2turn right in the specific aquatic area200when it is determined that only the second light receiver22receives the light signal emitted from the light-emitting device1. In this way, the robot fish2moves toward the right while moving forward to approach the light-emitting device1.

The processor23controls the driving module24to operate in the straight-moving mode to make the robot fish2move straight in the specific aquatic area200when it is determined that both the first light receiver21and the second light receiver22receive the light signal emitted from the light-emitting device1. In this way, the robot fish2moves straight ahead to approach the light-emitting device1.

The processor23controls the driving module24to operate in the random mode to make the robot fish2move randomly in the specific aquatic area200when it is determined that none of the first light receiver21and the second light receiver22receives the light signal emitted from the light-emitting device1. In this way, the robot fish2would eventually receive the light signal emitted from the light-emitting device1.

It is worth to note that the processor23periodically determines whether any one of the first light receiver21and the second light receiver22receives the light signal emitted from the light-emitting device1. Therefore, when the robot fish2is in operation, the robot fish2would substantially follow a route of movement of the light-emitting device1. In this way, the robot fish2would appear to follow the toy duck around, which would trigger people's interest in the robot fish system100.

It should be noted that the opaque plate262is used to prevent the first light receiver21from receiving the light signal when the light-emitting device1is to the right of the robot fish2, and to prevent the second light receiver22from receiving the light signal when the light-emitting device1is to the left of the robot fish2. The opaque plate262has a height greater than that of each of the first light receiver21and the second light receiver22. By virtue of the opaque plate262, the robot fish2may move toward the light-emitting device1more accurately.

Referring toFIGS.4and5, a second embodiment of the robot fish system100′ according to the disclosure is illustrated. Since the second embodiment is similar to the first embodiment, descriptions regarding identical or similar parts of the first and second embodiments will not be repeated, and only differences between the first and second embodiments will be explained in the following paragraphs for the sake of brevity.

The robot fish system100′ includes the light-emitting device1, a robot fish2′ and a trigger-signal generator3.

The light-emitting device1of the second embodiment is similar to the light-emitting device1of the first embodiment in terms of structure and function, but is adapted to be disposed at a fixed location in the specific aquatic area200. In particular, the fixed location is close to a periphery of the specific aquatic area200, e.g., in a corner of a fish tank as shown inFIG.5.

In this embodiment, the opaque plate262of the robot fish2′ extends outwardly and downwardly from the head portion261, and the first light receiver21and the second light receiver22are disposed on the bottom of the head portion261respectively to the right and the left of the opaque plate262when looking in the forward direction.

The robot fish2′ is similar to the robot fish2of the first embodiment. The trigger-signal generator3is configured to generate a trigger signal and transmit the trigger signal to the processor23, and the processor23of the robot fish2′ is configured to perform the operation procedure in response to receipt of the trigger signal.

Specifically, the robot fish2′ of this embodiment further includes a first communication module25that is electrically connected to the processor23and that supports a wireless communication protocol (e.g., Wi-Fi protocols, Bluetooth® protocols, protocols for radio frequency communication, or protocols for LoRa® technology). The first communication module25is configured to receive the trigger signal based on the wireless communication protocol and to transmit the trigger signal to the processor23. It should be noted that the trigger-signal generator3is disposed within a communication range of the first communication module25.

The trigger-signal generator3includes an input module31, a second communication module32and a signal generating module33. The input module31may include a key (not shown) or a button (not shown), and is configured to be manually operated to generate an input signal. The second communication module32also supports the wireless communication protocol, and is configured to communicate with the first communication module25of the robot fish2′ based on the wireless communication protocol. The signal generating module33is electrically connected to the input module31and the second communication module32. The signal generating module33is configured to receive the input signal from the input module31, to generate the trigger signal in response to receipt of the input signal from the input module31, and to output the trigger signal via the second communication module32to the first communication module25. Subsequently, the first communication module25transmits the trigger signal to the processor23which then performs the operation procedure in response to receipt of the trigger signal.

The trigger-signal generator3is implemented by a portable electronic device, such as a smartphone, a tablet computer or the like. In use, a user carrying the trigger-signal generator3(e.g., an owner of the smartphone) enters the communication range of the first communication module25of the robot fish2′, and operates the input module31of the trigger-signal generator3(e.g., presses the button of the smartphone) to generate and output the trigger signal to the robot fish2′. In response to receipt of the trigger signal from the trigger-signal generator3, the robot fish2′ approaches the light-emitting device1based on the algorithm as described in the first embodiment. In the process of interacting with the robot fish2′ using the trigger-signal generator3(i.e., the user makes the robot fish2′ approach the light-emitting device1by operating the trigger-signal generator3), the user may be entertained.

In some embodiments, the trigger-signal generator3may be disposed at a fixed location within the communication range of the first communication module25of the robot fish2′, and includes a key or a button as the input module31. In some embodiments, the light-emitting device1of the second embodiment may be movable in the specific aquatic area200(like with the first embodiment).

To sum up, for the robot fish system100,100′ according to the disclosure, the robot fish2,2′ moves according to how the light signal emitted from the light-emitting device1is received (or not received) by the robot fish2,2′ (i.e., which one of the first light receiver21and the second light receiver22receives the light signal) in a manner that the robot fish2appears to approach the light-emitting device1. It should be noted that the robot fish2is capable of approaching the light-emitting device1without utilizing global positioning system (GPS) signals. It is worth to note that the light-emitting device1may be disposed at the fixed location or disposed on the movable object4, and the interaction between the robot fish2,2′ and the light-emitting device1may be interesting to observe.