CN100519331C - Intelligent robot dolphin - Google Patents

Abstract

The invention relates to an intelligent machine dolphin, which is characterized in that it comprises a rigid dolphin head, an aluminum skeleton arranged inside the dolphin head, a power supply device, a control device, a sensing device and Counterweight; elastic dolphin body composed of turning mechanism, dorsal-ventral propulsion mechanism and elastic soft body, and imitation fin device composed of flipper mechanism, dorsal fin mechanism and tail fin. The present invention can successfully simulate the two degrees of freedom of a typical dolphin multi-joint swing propulsion up and down and swing left and right through the control of each DC servo motor, and can also adjust the swing frequency and swing amplitude. On the one hand, the present invention provides an experimental platform for studying the hydrodynamics, swimming mechanism, drag reduction mechanism and motion control method of dolphins; Human-computer interaction robot dolphins can be produced for entertainment or viewing.

Description

intelligent robot dolphin

technical field

The invention relates to an intelligent robot dolphin driven by multiple joints.

Background technique

In the field of underwater bionics, dolphins are superior to fish in terms of swimming performance, drag reduction mechanism, sonar detection and human-computer interaction, making them more suitable for research in machine learning, automatic control and artificial intelligence . Due to the rapid maneuvering of dolphins and the difficulty of obtaining experimental specimens (captive and wild dolphins), people's understanding of dolphins is still at a preliminary stage in terms of movement mechanism, drag reduction mechanism and intelligence evaluation. From the perspective of engineering technology, if we can use existing mechanical, electronic, computer, control and other means to develop a bionic robot system that imitates the movement of dolphins—a robot dolphin, it will have great theoretical and practical significance. On the one hand, the research on the propulsion mechanism of dolphins based on the actual bionic system will help to understand and reveal the mystery of dolphin high-performance swimming, the mechanism of drag reduction and the way of human-computer interaction; , compared with ordinary underwater thrusters, it has good maneuverability, flexibility, concealment and high efficiency, and has good performance in monitoring, reconnaissance, salvage and maintenance operations in dangerous, narrow and complex underwater environments. application prospects. At the same time, robot dolphins have superior motion performance and intelligence than robot fish, and have higher technological content and display degree. They have good market prospects in science popularization and entertainment activities in aquariums and science and technology museums.

As a junction of biopropulsion mechanisms and engineering techniques, the robotic dolphin is a multidisciplinary problem involving hydrodynamic control and robotics. Internationally, due to many difficulties in the development and development of robot dolphins, the theoretical and technical research on robot dolphins is still in its infancy. Although there have been related technical explorations, the dorso-abdominal movement and typical dolphin movement of robotic dolphins have not been successfully realized at home and abroad. Further development of bionic dolphins is needed to fill this gap.

Contents of the invention

In view of the above problems, the main purpose of the present invention is to provide an intelligent robot dolphin that can realistically simulate typical dolphin dorso-abdominal movement and turning movement.

In order to achieve the above object, the present invention adopts the following technical solutions: an intelligent machine dolphin, characterized in that: it includes a rigid dolphin head, an aluminum skeleton arranged in the dolphin head, a power supply arranged on the aluminum skeleton device, control device, sensing device and counterweight; an elastic dolphin body composed of a turning mechanism, a dorsal-ventral propulsion mechanism and an elastic soft body, and a fin-like device composed of a flipper mechanism, a dorsal fin mechanism and a tail fin; said turning The mechanism includes 1 to 3 swing joints, each of which includes a fixed frame, a motor mounted on the fixed frame, and a swing frame connected to the output end of the motor, and the fixed frame of the first joint Connect the tail of the aluminum skeleton in the dolphin head, the fixed frame of the rear joint is connected with the swing frame of the front joint; the dorso-abdominal propulsion mechanism includes 3 to 6 swing joints, and each swing joint includes a fixed Frame, a motor installed on the fixed frame and a swing frame connected to the output end of the motor, the fixed frame of the first joint is connected to the last swing frame of the turning mechanism, and the output end of the motor on it The direction differs by 90° from the direction of the motor output end of the turning mechanism, the fixed frame of the rear joint is respectively connected to the swing frame of the front joint, and the direction of the motor output end on the two adjacent joints is 180° different, the last A joint swing frame is connected to the caudal fin through a tail handle; the elastic soft body is composed of a soft body skeleton connected to each joint and a waterproof skin coated outside the soft body skeleton, and the elastic soft body is sealed and connected to the The end of the dolphin head; the flipper mechanism is arranged on the left and right sides of the middle and lower part of the dolphin head, which includes a stepping motor and a transmission mechanism connected with the stepping motor to drive the flippers to rotate and flap .

The soft body skeleton includes several elliptical rings made according to the cross-sectional size of biological dolphins and springs sequentially connected between each of the elliptical rings with fasteners, and the waterproof outer skin is covered on the outside of each of the elliptical rings .

The soft body skeleton includes a spindle-shaped special-shaped spring connected to each of the joints, and the outer surface of the spindle-shaped special-shaped spring is covered with the waterproof skin.

The transmission mechanism that drives the flippers to rotate and flap includes a driving gear connected to the output end of the stepping motor, a driven gear meshed with the driving gear, an output shaft connected to the center of the driven gear, The flipper is connected to the output shaft, and a stay rope is connected to the underside of the flipper, and the other end of the stay rope passes through the central hole of the output shaft, and passes through and follows the output shaft together. After rotating the extension arm, it is fixed on a pole.

The sensing system includes a distance sensor, a vision sensor, an attitude sensor, a pressure sensor and a sensor signal processing module. The distance sensor of the sensing device is arranged at the frontmost part of the dolphin head, and the vision sensor is arranged at the front of the dolphin head. The position of the eyes at the front of the head, the attitude sensor and the pressure sensor are arranged at the position near the bottom inside the dolphin head.

The control device includes a microcontroller module, a communication module connected to the microcontroller module, a sensor information fusion module, a control parameter storage module, a motor drive module, and an antenna arranged on the dolphin head.

The power supply unit is a portable rechargeable battery pack.

The present invention has the following advantages due to the adoption of the above technical scheme: 1. The present invention is provided with a rigid dolphin head, an elastic dolphin body and an imitation flipper mechanism, especially a multi-joint horizontal turning mechanism and a multi-joint horizontal turning mechanism are provided in the elastic dolphin body. The joint dorsal-abdominal propulsion mechanism can successfully simulate the two degrees of freedom of the typical dolphin multi-joint swing propulsion up and down and left and right swing turning through the control of each DC servo motor. The present invention can also control the swing frequency and swing amplitude Make adjustments to make the technical display and appreciation particularly good. 2. The present invention fixes the elliptical rings made in strict accordance with the cross-sectional size of biological dolphins on each joint, and connects springs between the elliptical rings to form a soft body skeleton, and arranges a waterproof skin outside the soft body skeleton, so that the present invention can be used in The shape can simulate natural dolphins more realistically, and can maintain a stable shape during swimming, making discrete swing movements relatively smooth, thereby reducing hydrodynamic resistance and improving propulsion efficiency. 3. Since the present invention is provided with a flipper mechanism with a stepping motor, a transmission gear and a backguy, the rotation of the flippers of the natural dolphin and the paddling movement of flapping the water surface can be realized by controlling the stepping motor. 4. The control device of the present invention adopts modular control, connects each module together, uses intelligent control algorithm to coordinate the movement of the turning mechanism, the dorsal-ventral propulsion mechanism and the fin-like device, and realizes various complex movements of the dolphin. On the one hand, the present invention provides an experimental platform for studying the hydrodynamics, swimming mechanism, drag reduction mechanism and motion control method of dolphins; Human-computer interaction robot dolphins can be produced for entertainment or viewing.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention

Fig. 2 is the schematic diagram of the aluminum skeleton arranged in the head of the dolphin according to the present invention

Fig. 3 is a schematic diagram of the turning mechanism of the drive device of the present invention

Fig. 4 is a schematic diagram of the dorsal and ventral propulsion mechanism of the driving device of the present invention

Fig. 5 is a schematic diagram of flipper structure of the present invention

Figure 6 is a schematic side view of Figure 5

Fig. 7 is a schematic diagram of the dorsal fin structure of the present invention

Fig. 8 is a structural block diagram of the control device of the present invention

Detailed ways

The technical solution of the present invention will be further described below according to the preferred embodiments of the present invention and in conjunction with the accompanying drawings.

As shown in Figure 1, the present invention includes a rigid dolphin head 10, an elastic dolphin body 20, a fin-like device 30, a power supply device 40, a control device 50, a sensing device 60, a turning mechanism 70, a dorso-abdominal propulsion mechanism 80 and elastic software 90.

As shown in Fig. 1, Fig. 2 and Fig. 3, the present invention adopts light weight, high-intensity alloy or glass fiber reinforced plastics or plexiglass or high-quality pine carvings to make streamlined bionic dolphin head 10. For the convenience of manufacture and installation, the dolphin head 10 can adopt the structure of upper and lower splits or left and right splits, and the joints of the two are provided with rubber sealing materials, and are sealed and connected by screws 11 or other components. In order to facilitate repeated charging and fault detection of the present invention, a charging hole 12 and a leak detection hole 13 are reserved on the dolphin head 10, both of which are usually airtight and open during operation. An aluminum frame 14 is fixedly connected in the dolphin head 10, and the power supply device 40, the control device 50, the sensing device 60 and a balance weight 15 are respectively fixed on the aluminum frame 14 with screws.

As shown in FIG. 2 , FIG. 3 , and FIG. 4 , the dolphin body 20 of the present invention includes a turning mechanism 70 , a dorso-ventral driving mechanism 80 and an elastic soft body 90 .

The turning mechanism 70 includes 1 to 3 swing joints, and the present embodiment is two joints, which are composed of two U-shaped fixed mounts 71,72, two swing mounts 73,74 and two fixed mounts 71,72. It consists of two DC servo motors A and B. The fixed frame 71 of the first joint is connected to the tail of the aluminum frame 14 in the dolphin head 10, the output end of the motor A is connected to the swing frame 73 of the first joint; the fixed frame 72 of the second joint is connected to the swing frame 73 of the first joint , the output end of the motor B is connected to the swing frame 74 of the second joint. If there are multiple joints, the connections are deduced in the same way, so that each joint can not only swing in the horizontal direction with the previous joint, but also drive the subsequent joint to swing in the horizontal direction; multiple joints can not only provide turning motion, but also have A certain swing propulsion effect. If there is only one joint, only the swing frame 73 swings relative to the fixed frame 71, that is, it only plays a turning role.

As shown in Figure 4, the dorso-abdominal propulsion mechanism 80 includes 3 to 6 joints, the present embodiment has three joints, and the composition of each joint is roughly the same as that of the left and right turning mechanism, including three fixing frames 81, 82 , 83, three swing frames 84,85,86 and DC servo motors C, D, E installed on three fixed frames 81,82,83. The output ends of the motors C, D, and E on each joint are respectively connected to the swing frames 84, 85, 86 of each joint, and the fixed frames 82, 83 on the rear joints are connected to the swing frames 84, 85 of the front joints. The difference between the dorso-abdominal propulsion mechanism 80 and the turning mechanism 70 is the connection mode of each joint, as shown in Figure 3 and Figure 4, the first joint fixing frame 81 is connected with the last swinging frame 74 of the turning mechanism 70, but the fixing frame 81 is The direction of the output end of the motor C on the fixed frame 72 is 90° different from the direction of the output end of the motor B on the fixed frame 72. The direction of the output end of the motor D on the second joint fixed frame 82 is 180° different from the direction of the output end of the motor C on the fixed frame 81. The direction of the output end of the motor E on the three-joint fixed frame 83 is 180° different from the direction of the output end of the motor D on the fixed frame 82 . If there are more than three joints, the connection methods of the joints behind them all differ by 180° by analogy. The rotation of each motor C, D, and E of the dorso-abdominal propulsion mechanism 80 realizes the coordinated swing of multiple joints of the dolphin in the vertical plane, and then simulates the dolphin’s use of the reaction force of water to push the whole body forward through the dorso-abdominal movement . In the above structure, the positive and negative 180° connection structure of the motors C, D, E is to reduce the pitching motion that occurs during the coordinated motion.

As shown in FIG. 1 and FIG. 3 , the elastic soft body 90 is composed of a soft body skeleton connected to each joint and a waterproof skin 91 covering the soft body skeleton. The soft body skeleton of the present invention includes several (for example, C1-C12) elliptical rings 92 made strictly according to the cross-sectional characteristic dimensions of biological dolphins, and the material can be 1.2 mm thick stainless steel. Springs 93 are respectively connected to the inner sides of each elliptical ring 92 in the four directions of up, down, left and right. The corrugated waterproof skin 91 coated on the outside of the soft body skeleton can reduce the hydrodynamic resistance in the swimming process. The waterproof skin 91 is made of waterproof nylon cloth or rubber or other materials. The connection between the elastic soft body 90 and the dolphin head 10 is bonded with superglue or sealed with a fastener. In practical implementation, the soft body skeleton can also directly replace the elliptical ring 92 and the spring 93 with a spindle-shaped special-shaped spring.

As shown in FIG. 1 , the imitation fin device 30 of the present invention mainly includes a flipper mechanism 31 (pectoral fin mechanism), a dorsal fin mechanism 32 and a tail fin 33 . As shown in FIG. 4 , the caudal fin 33 is connected with the last joint swing frame 86 of the dorsal-ventral propulsion device 80 through the tail handle 87 , and performs sinusoidal swing in the vertical plane together with the swing frame 86 . As shown in Fig. 5 and Fig. 6, the flipper mechanism 31 includes a stepper motor 311 installed on the aluminum frame 14, a driving gear 312 connected to the output end of the motor 311, and a driven gear 312' meshed with the driving gear 312. The output shaft 313 at the center of the driven gear 312 ′, and the flipper 314 connected to the output shaft 313 , the rotation of the stepping motor 311 can drive the flipper 314 to rotate. Connect a stay rope 315 at the side S1 of the flipper 314 near the dolphin head 10, the other end of the stay rope 315 passes through the central hole of the output shaft 313, and after passing through the extension arm 316 that rotates with the output shaft 313, fix it At S2 on the strut 317. In this way, when the motor 311 rotates, the pull rope 315 can also be used to drive the flippers 314 to retract and relax toward the inside of the dolphin head 10, so as to realize the paddling action of the flippers. The specific installation position of the flipper mechanism 31 can be determined with reference to the appearance characteristics of the biological dolphin. The connection of the flipper mechanism 31 and the dolphin head 10 adopts a dynamic seal, that is, an oil box 319 is added to the waterproof bearing 318, and lubricating oil is filled in the oil box 319. The flipper mechanism 31 includes left and right flippers 314 , so two identical mechanisms can be set to be controlled by a stepping motor 311 respectively, or directly controlled by a motor 311 as a whole. The control of the flipper structure 31 is mainly to control the rotation and splashing of the flipper 314, so as to realize complex movements of the dolphin such as rolling, emergency stop, etc. Especially in high-speed swimming, the flipper mechanism 31 can also increase the stability of the movement sex.

As shown in Fig. 1 and Fig. 7, the dorsal fin mechanism 32 is installed above the dolphin head 10 close to the dolphin body 20, and the specific installation position can be determined with reference to the appearance characteristics of the biological dolphin. The dorsal fin mechanism 32 includes: a bracket 321 connected to the aluminum frame 14, a DC servo motor 322 installed on the bracket, a bushing 324 connected to the output shaft 323 of the motor 322 and a 325 connected to the dorsal fin. By controlling the rotation angle of the motor 322, the left turn and right turn of the dorsal fin can be controlled. The dorsal fin mechanism 32 can be rotated left and right to provide centripetal force when turning, or it can not move and only plays a decorative role.

The power supply device 40 of the present invention is fixed on the dolphin head 10, respectively to the DC servo motors A, B, C, D, E of the turning mechanism 70 and the dorsal-abdominal propulsion mechanism 80 and the stepping motor 311 and the control device of the flipper mechanism 31 50. The sensing device 60 provides energy. In order to improve the maneuverability of the robot dolphin, the control device 50 and the driving motor are powered by a portable power supply. The power supply device 40 of the present invention adopts a rechargeable battery with low power density and high energy storage, that is, a 4.8V/4000mAh Ni-MH battery pack is used to supply power for the control device 50 and the DC servo motors A, B, C, D, E, and 322 , using a 12V high-energy lithium battery to supply power to one or two stepping motors 311 . Ni-MH battery pack and lithium battery all leave charging plug and lead to the outside of dolphin head 10 from charging hole 12, in order to prevent short circuit, cover with sealing sleeve at ordinary times, pull down and get final product when charging.

As shown in FIG. 1 , the sensing device 60 of the present invention includes a distance sensor 61 , a vision sensor 62 , an attitude sensor 63 , a pressure sensor 64 and a sensor signal processing module 65 . The distance sensor 61 is arranged at the frontmost part of the dolphin head 10, the vision sensor 62 is arranged at the eye position of the front part of the dolphin head 10, and the posture sensor 63 and the pressure sensor 64 are arranged at the inside of the dolphin head 10 near the bottom position. The sensing device 60 is responsible for collecting and processing various environmental information of the robot dolphin, and the output of the sensor signal processing module 65 provides a rich source of information for intelligent control.

As shown in FIG. 1 and FIG. 8 , the control device 50 of the present invention mainly includes a microcontroller module 51 , a communication module 52 , a sensor information fusion module 53 , a control parameter storage module 54 and a motor drive module 55 . In order to enable the control device 50 to control the swimming of the robotic dolphin, the dolphin head 10 is provided with an antenna 16, and the antenna 16 is fixed near the dorsal fin 32 to obtain a good radio signal. The sensor information fusion module 53 is mainly responsible for screening and summarizing various information input from the sensor device 60 as input for autonomous control. The communication module 52 is mainly responsible for data exchange, receiving control commands from the host computer or the remote controller, and transmitting the collected sensing information to the control center outside the robot dolphin. The microcontroller module 51 combines the control instructions received from the communication module 52 and the input from the sensor information processing module 53 to extract control parameters through intelligent calculations and give motor control commands. Here, the basic swimming control parameters are stored in the microcontroller E ² PROM, which can be modified and refreshed in real time through wireless communication. The motor driving module 55 includes a DC servo motor driving module 56 and a stepping motor driving module 57 . The DC servo motor drive module 56 converts the received control parameters into the rotation angles of each DC servo motor in real time, and utilizes PWM (pulse width modulation) signals to realize the coordinated swing of multiple motors A, B, C, D, E, thereby simulating the dolphins in the Dorsi and turns in water. The stepper motor drive module 57 accurately converts the received control parameters into a step angle, simulating the rotation and splashing of the flipper 314 . Intelligent control algorithms are used to coordinate the movements of the turning mechanism 70, the dorso-abdominal propulsion mechanism 80 and the imitation fin device 30, so that various complex movements of the robot dolphin can be realized. The swimming speed control 58 of the robot dolphin can be adjusted by changing the swing frequency and swing amplitude of the dorsal-ventral propulsion mechanism 80, and its movement direction control 59 can be adjusted by superimposing different joint offsets to the left-right swinging turning mechanism 70. The swimming posture of dolphins is realized.

According to the above structural description, the applicant took the Chinese white dolphin known as "national treasure" as a prototype to make a robotic dolphin of 550mm×70mm×80mm. The robot dolphin model has a streamlined bionic dolphin head made of glass casting left and right parts, an aluminum skeleton is used to connect the turning mechanism and the dorsal-ventral propulsion mechanism, and the elastic soft body is supported outside. The microcontroller selects the 90 series AVR microcontroller ATmega162 launched by ATMEL Company, uses two ATmega162 to drive the DC servo motor and the stepping motor respectively, and realizes the wireless remote control with the frequency of 433MHz. Each joint is driven by a miniature digital FUTUBA motor with small size, fast speed and high torque, and the stepper motor is 24BYJ48 with high torque. The maximum swimming speed of the robot dolphin can reach 0.45m/s, the minimum turning radius is about 0.5m, and the maximum turning speed is 120°/s. Through the remote control mode or automatic control mode, the robot dolphin can realistically realize the typical dolphin dorso-ventral propulsion and basic turning movements.

The present invention is not limited by the above embodiments, and the replacement and improvement of parts that can be obtained by those skilled in the art without creative work shall be included in the protection scope of the present invention.

Claims (13)

1, a kind of intelligent robot dolphin is characterized in that: it comprises rigidity dolphin head, is arranged on the aluminum skeleton in the described dolphin head, is arranged on supply unit, control setup, sensing device and clump weight on the described aluminum skeleton; The elasticity dolphin body of forming by turning mechanism, the back of the body abdomen formula propulsive mechanism and elastic soft, and the imitative fin apparatus of forming by fin limb mechanism, dorsal fin mechanism and tail fin;

Described turning mechanism comprises 1～3 turning mechanism swinging joint, each described turning mechanism swinging joint comprises that a fixed mount, is installed in the swing span that turning mechanism motor and on the described fixed mount is connected described turning mechanism motor output end, the fixed mount in described turning mechanism first joint connects the aluminum skeleton afterbody in the described dolphin head, and the fixed mount in joint, described turning mechanism back connects the swing span in joint, described turning mechanism front;

Described back of the body abdomen formula propulsive mechanism comprises 3～6 propulsive mechanism swinging joint, each described propulsive mechanism swinging joint comprises a fixed mount, one is installed in the swing span that propulsive mechanism motor and on the described fixed mount is connected described propulsive mechanism motor output end, the fixed mount in described propulsive mechanism first joint connects last swing span of described turning mechanism, and mouth direction of propulsive mechanism motor and described turning mechanism motor output end direction differ 90 ° on it, the fixed mount in joint, described propulsive mechanism back connects the swing span in joint, described propulsive mechanism front respectively, and the propulsive mechanism motor output end direction on described adjacent two joints differs 180 °, and the swing span in described last propulsive mechanism joint connects described tail fin by a caudal peduncle;

Described elastic soft is made up of with the waterproof crust that is coated on described software skeleton outside the software skeleton that is connected on each joint, and described elastic soft is sealedly connected on the end of described dolphin head;

Described fin limb mechanism is arranged on the left and right sides, middle and lower part of described dolphin head, and it comprises that stepping motor drives described fin limb and rotates and pat the transmission device of motion with being connected with described stepping motor.

2, intelligent robot dolphin as claimed in claim 1, it is characterized in that: described software skeleton comprises the spring on elliptical ring that 8 or 12 make according to the section size of biology dolphin and the upper and lower, left and right four direction that is connected to each described elliptical ring inboard with fastener in turn, coats described waterproof crust in the outside of each described elliptical ring.

3, intelligent robot dolphin as claimed in claim 1 is characterized in that: described software skeleton comprises that one is connected the fusiform deformed spring on each described joint, coats described waterproof crust in the outside of described fusiform deformed spring.

4, intelligent robot dolphin as claimed in claim 1, it is characterized in that: drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.

5, intelligent robot dolphin as claimed in claim 2, it is characterized in that: drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.

6, intelligent robot dolphin as claimed in claim 3, it is characterized in that: drive that described fin limb rotates and the transmission device of patting motion comprises the driving gear that is connected described stepping motor mouth, with described driving gear ingear driven gear, be connected the output shaft at described driven gear center, described fin limb is connected on the described output shaft, connect a stay cord at described fin limb downside, the other end of described stay cord passes the centre hole of described output shaft, and pass follow the extension arm that described output shaft rotates together after, be fixed on the pole.

7, as claim 1 or 2 or 3 or 4 or 5 or 6 described intelligent robot dolphins, it is characterized in that: described sensor-based system comprises rang sensor, vision sensor, attitude sensor, pressure sensor and sensor signal processing module, the rang sensor of described sensing device is arranged on the forefront of described dolphin head, described vision sensor is arranged on the position of the anterior eyes of described dolphin head, and described attitude sensor and pressure sensor are arranged on the inner position near the bottom of described dolphin head.

8, as claim 1 or 2 or 3 or 4 or 5 or 6 described intelligent robot dolphins, it is characterized in that: described control setup comprises a micro controller module, respectively with described micro controller module bonded assembly communication module, sensor information Fusion Module, controlled variable memory module, motor drive module, and be arranged on antenna on the described dolphin head.

9, intelligent robot dolphin as claimed in claim 7, it is characterized in that: described control setup comprises a micro controller module, respectively with described micro controller module bonded assembly communication module, sensor information Fusion Module, controlled variable memory module, motor drive module, and be arranged on antenna on the described dolphin head.

10, as claim 1 or 2 or 3 or 4 or 5 or 6 described intelligent robot dolphins, it is characterized in that: described supply unit is portable rechargeable battery set.

11, intelligent robot dolphin as claimed in claim 7 is characterized in that: described supply unit is portable rechargeable battery set.

12, intelligent robot dolphin as claimed in claim 8 is characterized in that: described supply unit is portable rechargeable battery set.

13, intelligent robot dolphin as claimed in claim 9 is characterized in that: described supply unit is portable rechargeable battery set.

Images