Robot Fish (for Cistern Inspection)

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Introduction: Robot Fish (for Cistern Inspection)

In this project, will be described step by step, the process of doing a robot fish. It is not easy for electronics to survive aquatics. This robot has some basic behaviors, for example, when the nose sensor detects a collision, the fish turns in order to avoid the obstacle.

Step 1: Materials

One of the reasons of the project, consist on making a low cost robot using recycled materials. The main materials used were: milk cans, a plastic bottle, kitchen gloves and plasticine.

The list of the used
materials is:

Electonics:

- Arduino Nano

- Bluetooth module HC-06

- Ultra bright LEDs

- Distance sensor (IR emitter and IR receiver)

- Battery pack (4 AA batteries)

- On-off switch

- Three servomotors

Robot components:

- Plastic coffee cup

- Plastic bottle (mayonnaise bottle)

- Latex gloves

- Milk can

- Electrical tape

- Epoxy glue

- Silicon glue

- Plasticine

Step 2: Parts Manufacturing

The propulsion and direction system consist on three servomotors, one for forward, right-left propulsion and two smaller servomotors for immersion control. In order to protect the motors, a cover using latex gloves is placed. For seal the motors and the interior of the robot, a silicon is used.

The three motors are placed in the plastic bottle, which will contain inside all the electronics and power supply for the robot.

Step 3: Test of Electronics

In this step, the electronics for the robot is tested and improved. The sensors, the Bluetooth module, the LEDs and the servomotors are tested. When the software, the electronics, the actuators and the sensors integration are properly working together, is time to integrate it into the hardware.

Some tests are performed together with the main body of the robot.

Step 4: Parts Assembly

The robot tail was done using the material from the milk can and acrylic. This material is like carton, but water resistant. A light beacon also will be integrated at the end of the tail.

To protect the servomotor from water, the latex gloves were used. During the manufacturing the propulsion system was damaged. A repair procedure was performed in order to fix again the tail.

Step 5: Survive Aquatics... First Test

After all the components are tested, are properly working and the final assembly is performed, the time for some tests in water has come. On this first test, the robot had some technical issues, but were finaly solved

Step 6: Final Test... Cistern Inspection

The robot fish is tested in a real environmen: dark, small and hard to reach for a person. The main objective was reached and the robot fish achieved a great performance in water.

5 People Made This Project!

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28 Comments

What is a milk can? Never head of one before...

and the codes pls

hey sorry for not updating,i was studying.Ive made my own(1 servo needed)and it works with bluetooth.Im posting the vid tommorow.No phone for me to take vid for now(no body included)im lazy at glueing stuffs

1 reply

Good to know the progress, best luck

succes,only thing left is to combine the body with electronic components.i found out that parareliing 5v is an easy way to distribute power.And i will post it.Btw will a micro servo power a sharks tail ?

1 reply

A micro servo is not enought, you need a bigger servo motor

i tried to make it again,seems not working i tried to make a pararel between the hc05 and servo.It doesn't seems to work.And my bt voice control app didn't have the same connection as the one on youtube(pics will be posted soon)btw i made a body almost identical to tiger shark

i tried to make it again,seems not working i tried to make a pararel between the hc05 and servo.It doesn't seems to work.And my bt voice control app didn't have the same connection as the one on youtube(pics will be posted soon)btw i made a body almost identical to tiger shark

hey,i found a link: https://www.arduino.cc/en/uploads/Tutorial/sweep_bb.png .In this pic they attach a servo with 9 as output.My program also use 9 as output.The question is can i use the schematic from the link and use a hc 05 combined them?i will only use 1 mini servo(arduino pro mini).Btw i test twice.Both fail to turn on :(

1 reply

It is possible to connect a small servo as shown in that picture. For servo control, you can use the servo library for Arduino.

There are no wrong questions. Output voltage for an Arduino Nano (what I know) is 5 Volts and 40 mA. You can supply enough voltage for a LED and/or sensor circuit, but not for a motor or other bigger components.

wtf i succed the code and testing using hc05.But i dont know how to attach the servos.Ill show you some pics.Im getting headache trying to finish this

1 reply

Some devices should be attached into the Arduino, but any arduino board has enough ports, so do not worry for the lack of ports, at least not for this proyect