Novel automatic bionic robot fish

Abstract

The invention relates to a robot fish for underwater detection tasks, and aims at providing a novel automatic bionic robot fish which is good in self-stability and maneuverability, high in automatic performance and capable of adapting the complex underwater operation environment. The novel automatic bionic robot fish comprises a main cabin. The main cabin is composed of an upper shell and a lower shell which are sealed; a fin simulating assembly is arranged outside the main cabin, and the fin simulating assembly comprises a pair of pectoral fins and a tail fin. The main cabin is internally provided with a pectoral fin assembly, a tail fin assembly, a sensing module and a control module. The pectoral fin assembly comprises a pectoral-fin steering engine fixing mechanism and two pectoral-fin power transmission mechanisms; the tail fin assembly comprises a tail-fin power transmission mechanism and a passive rotating mechanism; the sensing module comprises a visual sensor, an infrared distance sensor, an IMU attitude sensor and a plurality of pressure sensors; the control module comprises a microcontroller, a sensor-information collecting pressing board, a steering engine control unit and a communication unit.

Description

Technical field [0001] The invention relates to a robotic fish, in particular to a novel autonomous bionic robotic fish used for underwater detection tasks. Background technique [0002] Whether it is the exploration of marine resources, the collection of information on changes in seawater, the research of marine biology, or the collection of military investigations and intelligence, all depend on the level of development of underwater technology. As human beings increasingly explore and excavate marine space and seabed resources, traditional underwater propulsion methods can no longer meet the demand. With the development of bionics, electronic technology, material science and control technology, researchers have begun to imitate the movement of natural fish and hope to obtain underwater propellers with excellent swimming performance and high propulsion efficiency like fish. Since 1994, MIT successfully developed the world’s first real biomimetic robotic fish. The bionic roboti...

AI Technical Summary

Problems solved by technology

This kind of robotic fish can only do simple underwater movements, and cannot autonomously obtain its own state information and multi-directional information about the surrounding environment, and its low autonomy limits its ability to autonomously complete specified tasks underwater. When encountering a complex underwater environment, failures may occur and the mission cannot be completed or even return to the voyage, resulting in large losses.

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