A bionic sea eel for marine ranching environmental monitoring

Abstract

The present invention discloses a bionic conger eel for marine ranch environmental monitoring, including a bionic conger eel body, the bionic conger eel body including a head, a trunk, a dorsal fin, an anal fin, and a caudal fin connected in sequence, the head being a three-dimensional hollow shell, with a power supply, a micro storage, an image processing microcomputer, a control module, and a plurality of collectors placed inside, the trunk including an alternately connected rotating part and a bionic flexible underactuated tail, and the end of the head close to the trunk is connected to the end of the bionic flexible underactuated tail close to the head through the alternately connected rotating part. The present invention has the advantages of low energy consumption, high bionics, and flexible swimming, maintains high mobility and stability, and has good environmental integration, utilizes the good fluid shape of the bionic conger eel, can flexibly cross the seabed slit area and mobile monitor the water quality indicators of the marine ranch, and can be applied to the marine ranch complex environment fish resource assessment, water quality monitoring, aquarium viewing, and other fields.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles and marine ranch environment monitoring, and in particular to a bionic sea eel used for marine ranch environment monitoring. Background Art

[0002] In recent years, the country has attached more and more importance to the construction planning of marine ranches and the restoration of the marine ecological environment. Among them, the construction of reef-type marine ranches has developed rapidly, and attempts have been made to expand the construction of artificial reefs to restore fishery resources. At present, how to timely monitor the underwater activity status of fish in marine ranches, the underwater environmental restoration status of natural ecology, and the changes in water quality in marine ranches are the problems that marine ranches urgently need to solve. To this end, a bionic conger eel was designed to monitor marine ranches, especially complex areas such as slits. The space under the head of the bionic conger eel is large, and it can carry a variety of sensors to monitor the water environment. At the same time, it can observe and track the underwater activity status of fish in real time, which has high research significance and application value in solving the difficult problem of fish resource assessment in complex environments of marine ranches.

[0003] However, due to the influence of their structure, traditional underwater robots have shortcomings such as being too large, poor maneuverability, and high energy consumption, which cause great disturbances to the environment. Bionic soft-bodied vehicles that can pass through narrow areas can collect more comprehensive images of fish and record key water quality factors wherever they go. They can realize online monitoring of the growth of aquaculture economic varieties and key factors of the seawater environment such as water temperature and salinity.

[0004] Therefore, considering the complex and narrow environment of marine ranches and the narrow areas with less seawater replacement, where a large number of marine organisms live, and the shortcomings of traditional aircraft such as large environmental disturbances, strong environmental limitations and poor flexibility, it is necessary to design a bionic soft aircraft that can flexibly cross narrow areas and perform mobile environmental monitoring, which has the advantages of being more flexible, safe, energy-saving and efficient. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic sea eel for marine ranch environmental monitoring, which has the advantages of good environmental compatibility, the ability to flexibly cross seabed slit areas and mobile monitor marine ranch environmental factors, and maintains high maneuverability and stability.

[0006] This application is implemented through the following technical solutions:

[0007] A bionic conger eel for marine ranch environmental monitoring comprises a bionic conger eel body, wherein the bionic conger eel body comprises a head, a trunk, a dorsal fin, an anal fin and a caudal fin connected in sequence, wherein the head is a three-dimensional hollow shell, wherein a waterproof sealed compartment is placed inside, wherein the waterproof sealed compartment comprises a waterproof sealed control compartment and a waterproof sealed battery compartment, wherein a power supply, a micro storage, an image processing microcomputer, a control module and several collectors are placed inside the waterproof sealed control compartment, wherein the power supply supplies power to the collector and a rotating part, wherein the micro storage is used to store image information collected by the waterproof image collector, wherein the high-frequency data transmission antenna is solidified at one end of the bionic flexible under-actuated tail close to the head, so as to facilitate the bionic conger eel to send a signal to a shore base when it surfaces, wherein the image processing microcomputer is used to identify the morphological features of the collected image, wherein the control module realizes the overall control of the driving function of the bionic conger eel and the marine ranch environmental monitoring function, and wherein the collector comprises a pressure sensor, a pH sensor, a solvent, a liquid crystal display device and a liquid crystal display device. The invention relates to a deoxygenation sensor, a waterproof image collector, a left glue-filled LED lamp and a right glue-filled LED lamp. The collector is installed in a reserved notch on the head or in a waterproof sealed control chamber. The pressure sensor, the pH sensor and the dissolved oxygen sensor detect and record the changes in seawater indicators and the water depth wherever the conger eel goes. The left glue-filled LED lamp and the right glue-filled LED lamp cooperate with the waterproof image collector to provide light, so as to collect image information of the underwater environment. The trunk includes alternately connected rotating parts and a bionic flexible under-actuated tail. The alternately connected rotating parts realize the eel-like propulsion of the bionic conger eel. The end of the head close to the trunk is connected to the end of the bionic flexible under-actuated tail close to the head through the alternately connected rotating parts. The dorsal fin, the anal fin and the caudal fin are respectively formed by multiple sol and gel curing, and are connected to the bionic flexible under-actuated tail as a whole. By increasing the cross-sectional area of ​​the bionic conger eel, the vortex area is increased, thereby increasing the propulsion force of the bionic conger eel in the water.

[0008] Furthermore, the head is solidified with a plastic material that is light in texture but strong and has good performance. The head includes an upper head cover and a lower head cover. The dividing line between the upper head cover and the lower head cover is located at three quarters from the top to the bottom. The upper head cover and the lower head cover are fixed by head fixing screws. The surface and interior of the head contain grooves and circular holes of varying sizes for placing a collector and a waterproof sealed control compartment, a waterproof sealed battery compartment, and a balancing adjustment compartment. The upper head cover and the lower head cover reserve space as a balancing adjustment compartment, and a counterweight is placed inside to facilitate the adjustment of the balance of the bionic conger eel using different materials in different media. The upper head cover has a groove of three quarters of the volume of the upper head cover, which is a waterproof sealed compartment groove for placing a waterproof sealed control compartment and a waterproof sealed battery compartment. Tank; there is a circular hole at the left and right eyes of the sea eel, which are the left glue-filled LED lamp hole and the right glue-filled LED lamp hole respectively; there is a circular hole in the center of the sea eel's lower jaw, which is the image acquisition hole; the diameters of the three circular holes are determined by the size of the collector to be placed; there is a vertical section at the end of the head, and the three circular holes are stretched and cut out perpendicular to the vertical section; there are four diagonally symmetrical small circular holes in the center of the vertical section, and there is a larger small circular hole at the intersection of the two diagonals; the five small circular holes are servo penetration holes, which are used to fix the end of the head close to the trunk through the alternately connected rotating parts; there is a smaller rectangular square groove at the vertical section of the lower head cover, which is the servo extension wire groove, used to lead out the servo extension wire.

[0009] Furthermore, the waterproof sealed compartment includes a waterproof sealed control compartment and a waterproof sealed battery compartment, the waterproof sealed battery compartment includes a waterproof sealed compartment fixing screw, a waterproof sealed battery compartment upper cover, a waterproof sealed battery compartment sealing ring, and a waterproof sealed battery compartment lower cover, the waterproof sealed battery compartment upper cover and the waterproof sealed battery compartment lower cover are fixed by the waterproof sealed compartment fixing screws, the waterproof sealed battery compartment sealing ring is placed in a groove on the edge of the waterproof sealed battery compartment lower cover, and then pressurized by the waterproof sealed compartment fixing screws to enhance the waterproof sealing of the waterproof sealed battery compartment; the waterproof sealed control compartment includes a waterproof sealed control compartment upper cover, a waterproof sealed control compartment sealing ring, a waterproof sealed battery ... Water-tight outlet head and waterproof sealed control compartment lower cover, the waterproof sealed control compartment upper cover and the waterproof sealed control compartment lower cover are fixed by waterproof sealed compartment fixing screws, the waterproof sealed control compartment sealing ring is placed in the groove on the edge of the waterproof sealed control compartment lower cover, and then pressurized by the waterproof sealed compartment fixing screws to enhance the waterproof sealing of the waterproof sealed control compartment; a miniature deep-water male and female plug can be used between the waterproof sealed control compartment and the waterproof sealed battery compartment as a watertight connector that meets the working power supply and signal transmission requirements, and the watertight connector is mainly composed of a waterproof sealed female plug, a waterproof sealed plug tightening nut, a waterproof sealed plug gasket, and a waterproof sealed male plug.

[0010] Furthermore, the edges around the lower cover of the waterproof sealed warehouse have a certain thickness, and an annular groove is dug out. A waterproof sealing ring is set at the groove and a double anti-corrosion method of internal and external glue filling is adopted, which greatly enhances the sealing of the bionic conger eel and the waterproof strength of the waterproof sealed warehouse. In addition, the fixing screws of the waterproof sealed warehouse also adopt anti-shedding organic material screws, which can better resist the corrosion of seawater and are not easy to rust compared with traditional metal screws; the waterproof sealed outlet head adopts a special M-type waterproof connector, which is composed of a tight head, a sealing ring, a main body, a gasket, and a nut. The tight head of the waterproof terminal makes several outgoing wires stacked tightly, and the outgoing wires are tightly wrapped with two layers of 3M glue to prevent the outlet from breaking due to frequent debugging. All gaps in the upper and lower covers of the waterproof sealed warehouse and the outlet holes are filled with ab glue to achieve a good waterproof effect of the waterproof sealed warehouse; the waterproof sealed warehouse is designed as a waterproof sealed warehouse with multiple threaded holes, such as a square sealing box with eight-hole screws or a twelve-hole round sealing barrel, etc., to enhance the waterproof and pressure resistance of the waterproof sealed warehouse.

[0011] Furthermore, the collector includes a pressure sensor, a pH sensor, a dissolved oxygen sensor, a waterproof image collector, a left glue-filled LED light and a right glue-filled LED light, an ultrasonic obstacle avoider, an ultrasonic depth meter, and a nine-axis attitude meter sensor. The collectors are all installed in the reserved notch on the head or in the waterproof sealed control compartment. The pressure sensor, pH sensor, and dissolved oxygen sensor are bound and fixed directly below the head of the sea eel using a back adjustable fixer and a double-sided adjustable fixer. The sensor probe is exposed to the external environment, which is convenient for detecting and recording the changes in seawater indicators and the water depth wherever the sea eel goes; the waterproof image collector can be a waterproof camera, which is installed at the image collection hole after special waterproof treatment, has a wide field of view, and is convenient for collection. Underwater image information is collected; the left glue-filled LED lamp and the right glue-filled LED lamp are respectively installed at the left glue-filled LED lamp hole and the right glue-filled LED lamp hole after special waterproofing, and the left glue-filled LED lamp and the right glue-filled LED lamp cooperate with the image collector to provide light, which is convenient for collecting image information of the underwater environment, and this method of digging grooves and filling gaps can prevent components from being damaged by obstacles when the conger eel shuttles, and to a certain extent, it can also maintain the intact fluid shape of the conger eel; the ultrasonic obstacle avoider is installed in the ultrasonic obstacle avoidance inclined hole, which can still help the bionic conger eel to achieve free shuttle and obstacle avoidance functions underwater, and the nine-axis attitude meter sensor is installed in the waterproof and sealed control cabin, which makes full use of the remaining space and is convenient for controlling the balance of the conger eel during swimming.

[0012] Furthermore, the bionic conger eel adopts a balancing method, that is, each component of the bionic conger eel is gradually balanced, and then each balanced component is assembled into a balanced whole. The head balancing adjustment chamber adopts a counterweight block for balancing, and the counterweight blocks are equal in weight and placed symmetrically on the left and right to avoid the deflection of the head of the conger eel during swimming, thereby achieving the balancing of the head; each driving mechanism of the rotating part is surrounded by a circle of floating material, so that each driving mechanism can achieve balance when using different materials, thereby achieving the balancing of the rotating part; a piece of floating material is solidified with environmentally friendly flexible silicone rubber inside the end of the bionic flexible under-actuated tail close to the head, forming the anti-corrosion buoyancy chamber of the bionic conger eel, increasing the buoyancy of the front half of the bionic flexible under-actuated tail, preventing the bionic flexible under-actuated tail from sinking to the bottom, making it balanced with the weight of the head, thereby achieving the balancing of the bionic flexible under-actuated tail; the floating material can also be used to fix the driving mechanism.

[0013] Furthermore, the alternately connected rotating parts connect the head and the bionic flexible under-actuated tail, and the rotating parts include three driving mechanisms, one driving mechanism consisting of a dual-axis wide U-shaped frame, a dual-axis narrow U-shaped frame, a main steering wheel, an auxiliary steering wheel and a vertically arranged dual-axis servo, which is used to drive the trunk to achieve eel-like propulsion, and the dual-axis wide U-shaped frame opening is arranged relative to the dual-axis narrow U-shaped frame opening, wherein the dual-axis servo is arranged in an area surrounded by the dual-axis wide U-shaped frame and the dual-axis narrow U-shaped frame.

[0014] Furthermore, the ratio of the length to the width of the bionic conger eel body is 13:1, the ratio of the frontal cross-sectional area at one quarter of the body length near the head to the frontal cross-sectional area at three quarters of the body length near the head is 12.9:1, and the conger cross-section at one quarter of the body length accumulated sequentially from one end near the head has a certain ellipse ratio, and the ellipse ratio is defined as the bionic conger cross-section consisting of two semi-ellipses with equal short axes of large ellipses and long axes of small ellipses, i.e., equal openings, and the ratio of the short axis of the large ellipse to the long axis of the small ellipse is the ellipse ratio, which is used to indicate the change in the cross-sectional shape of the bionic conger eel. The size of the ellipse ratio plays an important role in the drag reduction effect and fluid mechanics analysis of the bionic conger eel; the ellipse ratio of the conger cross-section gradually increases with the increase of body length, and the body width of the bionic conger eel gradually decreases with the increase of body length; the bionic conger eel The cross-sections of the body are all teardrop-shaped, narrow at the top and wide at the bottom; the side-view cross-section of the bionic conger eel body is an asymmetric fusiform, with a thick head and a pointed tail; the top-view cross-section of the bionic conger eel body is a cone, with a wide head and a narrow tail. It can be seen that the bionic conger eel is a good fluid shape with a good drag reduction effect; the dorsal fin, anal fin and caudal fin are respectively formed by multiple sol and gel curing, and are connected to the bionic flexible under-actuated tail as a whole, and a layer of environmentally friendly flexible silicone rubber film with a certain thickness is covered along the periphery of the driving mechanism at the edge of the head. The skin design can protect the internal rigid structure and maintain the smooth fluid shape of the bionic conger eel with a good drag reduction effect. The environmentally friendly flexible silicone rubber film is fixed by an adjustable clamp, and the adjustable clamp includes an adjustable clamp ring and a clamp tightening screw.

[0015] Furthermore, the bionic flexible underactuated tail and dorsal fin, anal fin and caudal fin are all cast with appropriate environmentally friendly flexible silicone rubber, and are solidified into a thin sheet type and connected to the bionic flexible underactuated tail for multiple times; the thickness of the dorsal fin gradually becomes thinner in the longitudinal direction, the thickness of the anal fin gradually becomes thinner in the longitudinal direction, and the thickness of the caudal fin gradually becomes thinner in the transverse direction; the dorsal fin, anal fin and caudal fin have a certain thickness, and the caudal fin and the dorsal fin move in coupling manner to tidy up the wake, thereby achieving a good drag reduction effect and improving the propulsion efficiency of the bionic conger eel in the water; in the transverse and longitudinal directions, the dorsal fin and the ... caudal fin have a certain thickness, The front half of the bionic flexible under-actuated tail on the surface is thicker, and the back half is relatively thin; the dorsal fin, anal fin and caudal fin are also provided with moderately cast slender rubber fins, the hardness of the rubber fins is greater than that of the dorsal fin, anal fin and caudal fin, and can support its thin and soft fins. The arrangement of rubber fins on the dorsal fin, anal fin and caudal fin can improve the fluctuation of the flow field, so that the dorsal fin, anal fin and caudal fin can resist a certain turbulent force, and under the impact of the water flow, it can also better organize the wake and maintain the balance during the swimming process.

[0016] Furthermore, the head is solidified with a relatively light but hard plastic material, with a small deformation, and plays a role of splitting water and diverting the water; the bionic flexible under-actuated tail is cast with zero-degree environmentally friendly flexible silicone rubber, with good toughness and softness, and a large deformation. When swimming, the bionic conger eel can show wavy deformation, which provides a basis for realizing eel-like swimming in terms of structural materials; the torso simulates the muscles and driving mechanism of the biological conger eel, and the rotating part realizes relative movement through the driving mechanism. The bionic flexible under-actuated tail cast and solidified with environmentally friendly flexible silicone rubber simulates the muscles and nerves of the biological conger eel.

[0017] Beneficial effects: The present invention provides a bionic conger eel that can carry a variety of collectors to monitor marine ranches, especially complex areas such as slits. The design is highly similar to the fluid shape of biological conger eels. The flexible under-actuated tail is cast with environmentally friendly flexible silicone rubber, which can maintain its soft and elastic properties for a long time and pass the SGS environmental protection and non-toxic certification. The trunk is driven by the alternately connected rotating parts to realize the eel-like propulsion mode of the conger eel. It has low noise and low disturbance. It adopts multiple pressure-resistant measures such as waterproof sealing rings, internal and external glue filling, and multi-threaded hole sealing to protect the internal rigid parts, and has high waterproof and pressure-resistant capabilities. Since there is a large space directly below the head of the bionic conger eel, multiple collectors with special waterproof treatment can be fixed. By using the superior biological morphological characteristics of the conger eel itself, real-time monitoring of multiple key factors in the marine ranch can be achieved, and the dynamic changes of the marine environment in the marine ranch can be closely monitored. It can effectively collect biological behaviors in the slit environment that some traditional navigation vehicles cannot reach, making important contributions to the assessment of fish resources in the complex environment of the marine ranch. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view structural schematic diagram of a bionic sea eel for marine ranch environment monitoring according to the present invention;

[0019] Figure 2 It is a schematic diagram of the side view structure of a bionic sea eel for marine ranch environment monitoring according to the present invention;

[0020] Figure 3 This is a schematic diagram of a top view of a bionic sea eel for marine ranch environment monitoring according to the present invention;

[0021] Figure 4 It is a schematic diagram of the explosion of a bionic sea eel used for marine ranch environment monitoring according to the present invention;

[0022] Figure 5 It is a schematic diagram of an explosion of the front part of a bionic sea eel head for marine ranch environment monitoring according to the present invention;

[0023] Figure 6 It is a schematic diagram of the explosion of the back of the head of a bionic sea eel used for marine ranch environment monitoring according to the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of a bionic sea eel waterproof sealed battery compartment and a waterproof sealed female plug for marine ranch environmental monitoring of the present invention;

[0025] Figure 8 It is a schematic diagram of the explosion of a bionic conger eel miniature deep-water male and female plug for marine ranch environmental monitoring according to the present invention;

[0026] Fig. 9 It is a schematic diagram of the explosion of a waterproof and sealed battery compartment of a bionic conger eel for marine ranch environmental monitoring according to the present invention;

[0027] Fig.10 It is a schematic diagram of a bionic sea eel head collector for marine ranch environment monitoring of the present invention;

[0028] Fig.11 This is an overall schematic diagram of the rotating part of a bionic sea eel for marine ranch environment monitoring according to the present invention;

[0029] Fig.12 It is a schematic diagram of an explosion of a driving mechanism of a bionic sea eel for marine ranch environment monitoring according to the present invention;

[0030] Fig.13 It is a schematic diagram of an exploded view of an adjustable clamp of a bionic sea eel for marine ranch environmental monitoring according to the present invention;

[0031] Fig.14 A schematic diagram of the ellipse ratios of various parts of a bionic sea eel for marine ranch environmental monitoring according to the present invention;

[0032] Fig.15 It is a schematic diagram of the flexible underactuated tail, dorsal fin, anal fin and caudal fin of a bionic sea eel used for marine ranch environment monitoring according to the present invention.

[0033] The symbols in the figure represent: head 100, trunk 200, dorsal fin 300, anal fin 400, caudal fin 500, upper head cover 101, lower head cover 102, waterproof sealed battery compartment 103, miniature deep-water male and female plugs 104, waterproof sealed control compartment 105, collector 106, rotating part 201, adjustable clamp 202, environmentally friendly flexible silicone rubber film 203, bionic flexible under-actuated tail 204, left glue-filled LED lamp hole 111, right glue-filled LED light hole 112, image acquisition hole 113, waterproof sealed compartment slot 114, back adjustable holder 115, servo penetration hole 116, ultrasonic obstacle avoidance inclined hole 121, ultrasonic depth measurement circular hole 122, double-sided adjustable holder 123, head fixing screw 124, servo extension wire slot 125, waterproof sealed compartment fixing screw 131, waterproof sealed battery compartment upper cover 132, waterproof sealed battery compartment sealing ring 133, waterproof sealed battery Warehouse lower cover 134, waterproof sealing female plug 135, waterproof sealing plug tightening nut 141, waterproof sealing male plug 142, waterproof sealing plug gasket 143, waterproof sealing control warehouse upper cover 151, waterproof sealing control warehouse sealing ring 152, waterproof sealing outlet head 153, waterproof sealing control warehouse lower cover 154, left glue-filled LED light 161, right glue-filled LED light 162, waterproof image collector 163, ultrasonic obstacle avoider 164, ultrasonic depth meter 165, pressure sensor 166, pH sensor 167, dissolved oxygen sensor 168, drive mechanism 211, double-axis narrow U-shaped frame 221, drive mechanism long fixing screw 222, double-axis steering gear 223, drive mechanism short fixing screw 224, auxiliary steering plate 225, frame fixing screw 226, double-axis wide U-shaped frame 227, main steering plate 228, adjustable clamp ring 221, clamp tightening screw 222, rubber fin 301 DETAILED DESCRIPTION

[0034] The following is a detailed description of an embodiment of the present invention in conjunction with the accompanying drawings: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0035] like Figure 1-Figure 4The bionic conger eel for marine ranch environmental monitoring shown in the figure comprises a bionic conger eel body, the bionic conger eel body comprises a head 100, a trunk 200, a dorsal fin 300, anal fin 400, and a caudal fin 500 which are connected in sequence, the head is a three-dimensional hollow shell, a waterproof sealed compartment is placed inside the shell, the waterproof sealed compartment comprises a waterproof sealed control compartment and a waterproof sealed battery compartment, a power supply, a micro storage, an image processing microcomputer, a control module, and several collectors are placed inside the waterproof sealed control compartment, the power supply supplies power to the collector and the rotating part, the micro storage is used to store image information collected by the waterproof image collector, a high-frequency data transmission antenna is solidified at one end of the bionic flexible under-actuated tail near the head, so as to facilitate the bionic conger eel to send signals to the shore when it surfaces, the image processing microcomputer is used to recognize the morphological features of the collected image, the control module realizes the overall control of the drive control of the bionic conger eel and the marine ranch environmental monitoring function, the collector 106 comprises a pressure sensor 166, a pH sensor 167, a dissolved oxygen sensor 168, a waterproof image collector 163, a left glue-filled LED The left glue-filled LED light 161 and the right glue-filled LED light 162, etc., the collector 106 are all installed in the reserved slot of the head or in the waterproof sealed control chamber 105, the pressure sensor 166, the pH sensor 167 and the dissolved oxygen sensor 168 realize the detection and recording of the seawater index changes and the water depth where the sea eel is, the left glue-filled LED light 161 and the right glue-filled LED 162 cooperate with the waterproof image collector 163 to provide light, which is convenient for collecting image information of the underwater environment, and the trunk 200 includes an alternately connected rotating part 201 and a bionic flexible under-actuated tail 204, the alternately connected rotating parts 201 realize the bionic conger eel-like propulsion, the end of the head 100 close to the trunk 200 is connected to the end of the bionic flexible under-actuated tail 204 close to the head 100 through the alternately connected rotating parts 201, the dorsal fin 300, the anal fin 400 and the caudal fin 500 are respectively formed by multiple sol-gel and gel curing, and are connected to the bionic flexible under-actuated tail 204 as a whole, by increasing the cross-sectional area of ​​the bionic conger eel, increasing the vortex area, thereby increasing the propulsion force of the bionic conger eel in the water.

[0036] The head 100 in this embodiment is solidified with a plastic material that is light but strong and has good performance. The plastic material can be selected according to the characteristics of different media. According to the characteristics of 3D solidification technology and the plastic material used, it is divided into five categories, namely, photosensitive solidification molding (SLA), fused deposition modeling (FDM), selective laser sintering (SLS), layered solid manufacturing, and finally 3D printing technology. 3D printing materials mainly include engineering plastics, photosensitive resins, rubber materials, photosensitive materials and ceramic materials. Among them, engineering plastics are currently the most widely used type of 3D printing material. It is an organic material with excellent strength, impact resistance, heat resistance, hardness and aging resistance. Common ones include ABS, PC materials, PLA, nylon materials, etc.

[0037] like Figure 5 and Figure 6 As shown, the head 100 in this embodiment includes an upper head cover 101 and a lower head cover 102, and the dividing line between the upper head cover 101 and the lower head cover 102 is located at three-quarters from top to bottom. The upper head cover 101 and the lower head cover 102 are fixed by head fixing screws 124. The surface and interior of the head 100 include grooves and circular holes of varying sizes for placing a collector 106 and a waterproof sealed control compartment 105, a waterproof sealed battery compartment 103, and a balancing adjustment compartment. The upper head cover 101 and the lower head cover 102 reserve space as a balancing adjustment compartment, and a number of counterweights are placed inside to facilitate adjusting the sinking and buoyancy ratio of the bionic conger eel using different materials in different media. There is a groove in the upper head cover 101 that is three-quarters of the volume of the upper head cover, which is a waterproof sealed compartment groove 114, for placing the waterproof sealed control compartment 105 and the waterproof A sealed battery compartment 103; a circular hole is located at each of the left and right eyes of the sea eel, which are a left glue-filled LED light hole 111 and a right glue-filled LED light hole 112 respectively; there is a circular hole located in the center of the sea eel's lower jaw, which is an image acquisition hole 113; the diameters of the three circular holes are determined by the size of the collector to be placed; there is a vertical section at the end of the head, and the three circular holes are stretched and cut out perpendicular to the vertical section; there are four diagonally symmetrical small circular holes in the center of the vertical section, and there is a larger small circular hole at the intersection of two diagonals; the five small circular holes are servo penetration holes 116, which are used to fix the end of the head 100 close to the trunk 200 together through the alternately connected rotating parts 201; there is a smaller rectangular square groove located at the vertical section of the lower head cover, which is a servo extension wire groove 125, used to lead out the servo extension wire.

[0038] like Figure 7-Figure 9As shown, the waterproof sealed compartment in this embodiment includes a waterproof sealed control compartment 105 and a waterproof sealed battery compartment 103, the waterproof sealed battery compartment 103 includes a waterproof sealed compartment fixing screw 131, a waterproof sealed battery compartment upper cover 132, a waterproof sealed battery compartment sealing ring 133, and a waterproof sealed battery compartment lower cover 134, the waterproof sealed control compartment 105 includes a waterproof sealed control compartment upper cover 151, a waterproof sealed control compartment sealing ring 152, a waterproof sealed outlet head 153, and a waterproof sealed control compartment lower cover 154, the waterproof sealed compartment upper cover and the waterproof sealed compartment lower cover are fixed by the waterproof sealed compartment fixing screw 131, and the waterproof sealed compartment sealing ring is placed on the edge of the waterproof sealed compartment lower cover The waterproof sealing control compartment is inserted into the groove, and then pressurized by the waterproof sealing compartment fixing screws 131 to enhance the waterproof sealing of the waterproof sealing control compartment; a miniature deep-water male and female plug 104 can be used between the waterproof sealing control compartment and the waterproof sealing battery compartment as a watertight connector that meets the working power supply and signal transmission requirements. The watertight connector is mainly composed of a waterproof sealing female plug 135, a waterproof sealing plug tightening nut 141, a waterproof sealing plug gasket 143, and a waterproof sealing male plug 142. The main types of watertight connectors include miniature watertight connectors, standard watertight connectors, right-angle watertight connectors, high-current watertight connectors, etc., which have the advantages of resistance to seawater corrosion, excellent sealing performance, and easy assembly and disassembly.

[0039] The waterproof sealed warehouse in this embodiment can be made of materials according to environmental characteristics and needs, such as ABS plastic, titanium alloy, stainless steel, etc. The shape of the waterproof sealed warehouse can also be cylindrical, rectangular, etc. The edges around the lower cover have a certain thickness to resist water pressure, and a groove is dug on the edge. The groove is set to be circular, square, etc. according to the shape of the waterproof sealed control warehouse. A layer of waterproof sealing ring is set at the groove. The material of the sealing ring can be selected from plastic, polytetrafluoroethylene, polyethylene, silicone, etc. Common sealing rings include waterproof silicone sealing rings, rubber sealing rings, polyurethane glue, etc. In addition, a double anti-corrosion method of internal and external glue filling is adopted, that is, waterproof AB glue is applied to the inner and outer gaps around the edges of the waterproof sealed warehouse, which greatly enhances the sealing of the bionic conger eel and the waterproof strength of the waterproof sealed warehouse. In addition, the waterproof sealed warehouse can be made of anti-shedding organic material screws, which can better resist the corrosion of seawater and are not easy to rust compared with traditional metal screws. The waterproof sealed outlet head 153 adopts a special M-type waterproof connector, which consists of a tightening head, a sealing ring, a main body, a gasket and a nut. The tightening head of the waterproof terminal head makes several outgoing wires stacked tightly. The outgoing wires are tightly wrapped with two layers of 3M glue to prevent the outlet from breaking due to frequent debugging. All gaps in the upper and lower covers of the waterproof sealed compartment and the outlet holes are filled with ab glue to achieve a good waterproof effect of the waterproof sealed compartment.

[0040] However, considering the deep water monitoring operation, in order to prevent the waterproof sealing chamber from being squeezed and deformed due to excessive water pressure, cracks will appear in the upper and lower covers, allowing water to flow into the waterproof sealing chamber. Therefore, a waterproof sealing chamber with multiple threaded holes is designed, such as an eight-hole square sealing box or a twelve-hole circular sealing barrel. In this embodiment, an eight-hole square sealing box is used. Four threaded holes are set at the four corners of the eight-hole square sealing box, and another threaded hole is set at the midpoint of the four sides, with a total of eight threaded holes; the twelve-hole circular sealing barrel is provided with a threaded hole at every 30-degree central angle on the periphery, with a total of twelve threaded holes, which greatly enhances the waterproof and pressure-resistant ability of the waterproof sealing chamber.

[0041] like Fig.10As shown, the main control circuit of the bionic sea eel in this embodiment uses Arduino nano as a microcontroller. The volume of this type of microcontroller is only 33*18*11mm, which is small in size and reduces the space waste of the waterproof and sealed control compartment. The collector 106 placed in the head 100 includes a pressure sensor 166, a pH sensor 167, a dissolved oxygen sensor 168, a waterproof image collector 163, a left glue-filled LED light 161 and a right glue-filled LED light 162, an ultrasonic obstacle avoider 164, an ultrasonic depth meter 165, and a nine-axis attitude meter sensor. The collectors are all installed in the reserved notch of the head or in the waterproof and sealed control compartment 105. The pressure sensor 166, the pH sensor 167, and the dissolved oxygen sensor 168 are bound and fixed directly below the head of the sea eel using the back adjustable fixer 115 and the double-sided adjustable fixer 123. The sensor probes are exposed to the external environment, which is convenient for detecting and recording the changes in seawater indicators and the water depth wherever the sea eel goes. The waterproof image collector 163 can be a waterproof camera. The waterproof image collector 163 is filled and solidified with an organic transparent material as a whole to improve the pressure resistance of the waterproof image collector 163 in different media. In order to improve the clarity of underwater photography, it is necessary to install a pressure-resistant camera cover in front of the lens of the waterproof image collector 163. The inner cavity medium of the cover is air, which can reduce the scattering effect of water. This seamless filling and solidification method makes the specific gravity and volume of the waterproof image collector 163 not change with pressure, which is convenient for balancing the waterproof image collector 163 in different media. After waterproof treatment, the waterproof image collector 163 is installed at the image collection hole 113 of the sea eel, and has a wide field of view. The left glue-filled LED lamp 161 and the right glue-filled LED lamp 162 are respectively installed at the left glue-filled LED lamp hole 111 and the right glue-filled LED lamp hole 112 after being waterproofed and glue-filled. The left glue-filled LED lamp 161 and the right glue-filled LED lamp 162 cooperate with the image collector to provide light, which is convenient for collecting image information of the underwater environment. In addition, this method of digging grooves and filling gaps can prevent components from being damaged by obstacles when the sea eel shuttles, and can also maintain the intact fluid shape of the sea eel to a certain extent; the high-frequency data transmission antenna is solidified at one end of the bionic flexible under-actuated tail 204 close to the head 100, which is convenient for the bionic sea eel to send signals to the shore when it surfaces; the ultrasonic obstacle avoider 164 is installed in the ultrasonic obstacle avoidance inclined hole 121, which can still help the bionic sea eel to achieve free shuttle and obstacle avoidance function underwater, and the nine-axis attitude instrument sensor is installed in the waterproof and sealed control cabin 105, making full use of the remaining space, which is convenient for controlling the balance of the sea eel during swimming.

[0042] The bionic conger eel in this embodiment has a unique balancing method, that is, each component of the bionic conger eel is gradually balanced, and then each balanced component is assembled into a balanced whole. The head balancing adjustment chamber uses a counterweight block for balancing. The counterweight blocks are of equal weight and are placed symmetrically on the left and right to avoid the deflection of the head 100 during the conger eel's swimming process, thereby achieving the balancing of the head 100; each driving mechanism 211 of the rotating part 201 is surrounded by a circle of floating material. The floating material can be selected from floating materials such as pearl cotton filled foam board, PVC flame retardant sponge, sponge foaming flame retardant tape, etc., so that each driving mechanism 211 can achieve balance when using different materials, thereby achieving the rotating part 20 1 is balanced; a piece of floating material is solidified with environmentally friendly flexible silicone rubber inside the end of the bionic flexible under-actuated tail 204 close to the head 100, and the floating material is polished into a round plate or a square, forming an anti-corrosion buoyancy chamber of the bionic conger eel, increasing the buoyancy of the front half of the bionic flexible under-actuated tail 204, preventing the bionic flexible under-actuated tail 204 from sinking to the bottom, making it balanced in weight with the head 100, and achieving the balancing of the bionic flexible under-actuated tail 204; the floating material can also be used to fix the drive mechanism 211.

[0043] like Figure 11-Figure 12 As shown, the alternately connected rotating part 201 in this embodiment connects the head 100 and the bionic flexible under-actuated tail 204 through a driving mechanism frame and threaded fasteners. The rotating part 201 includes three driving mechanisms 211. One driving mechanism 211 is composed of a double-axis wide U-shaped frame 227, a double-axis narrow U-shaped frame 221, a main steering plate 228, an auxiliary steering plate 225 and a vertically arranged double-axis steering gear 223; the inner ring of the main steering plate is an internal gear, which plays an active role, and the inner ring of the auxiliary steering plate 225 is smooth and has no The teeth play a follower role, preventing the internal gears of the driving mechanism 211 from forming differentials due to long-term operation, which would cause irreparable damage and wear to the driving mechanism 211; the opening of the double-axis wide U-shaped frame 227 and the opening of the double-axis narrow U-shaped frame 221 are arranged relative to each other, wherein the double-axis servo 223 is arranged in an area surrounded by the double-axis wide U-shaped frame 227 and the double-axis narrow U-shaped frame 221; after the driving mechanism 211 receives the signal from the microcontroller, the driving mechanism 211 makes different relative movements, driving the trunk to achieve different eel-like propulsion actions.

[0044] like Figure 13-14 As shown, the bionic sea eel body in this embodiment has a body length of 160 cm and a maximum body width of 12 cm. The ratio of the body length to the body width of the bionic sea eel body is 13:1, and the front cross-sectional area at one quarter of the body length near the head 100 is 115.30 cm 2 The front cross-sectional area at three-quarters of the body length near the head 100 is 8.92 cm 2, the ratio of the frontal cross-sectional area at one-quarter of the body length near the head to the frontal cross-sectional area at three-quarters of the body length near the head is 12.9:1; starting from the end 100 near the head, the accumulated quarter of the sea eel cross-section has a certain ellipse ratio, and the ellipse ratio is defined as the bionic sea eel cross-section is composed of two semi-ellipses with equal short axes of large ellipses and long axes of small ellipses, that is, equal openings. The ratio of the short axis of the large ellipse to the long axis of the small ellipse is the ellipse ratio, which is used to indicate the change in the cross-sectional shape of the bionic sea eel. The size of the ellipse ratio plays an important role in the drag reduction effect and fluid mechanics analysis of the bionic sea eel; the ellipse ratio of the sea eel cross-section gradually increases with the increase of body length, and the body width of the bionic sea eel gradually decreases with the increase of body length; the cross-sections of the bionic sea eel body are all teardrop-shaped, narrow at the top and wide at the bottom; the side view cross-section of the bionic sea eel body is The surface is an asymmetric fusiform with a thick head and a pointed tail; the top-view cross-section of the bionic conger eel body is a cone with a wide head and a narrow tail. It can be seen that the bionic conger eel has a good fluid shape and a good drag reduction effect; the dorsal fin 300, the anal fin 400, and the caudal fin 500 are respectively formed by multiple sol and gel curing, and are connected to the bionic flexible under-actuated tail 204 as a whole. A layer of environmentally friendly flexible silicone rubber film 203 with a thickness of 0.15 cm is covered along the outer periphery of the driving mechanism 211 at the edge of the head 100. The skin design can protect the internal rigid structure and maintain the smooth fluid shape of the bionic conger eel with a good drag reduction effect. The environmentally friendly flexible silicone rubber film 203 is fixed by an adjustable clamp 202, and the adjustable clamp 202 includes an adjustable clamp ring 221 and a clamp tightening screw 222.

[0045] like Fig.15As shown, the bionic flexible under-actuated tail 204 and dorsal fin 300, anal fin 400, and caudal fin 500 in this embodiment are all cast with zero-degree environmentally friendly flexible silicone rubber, and are connected to the bionic flexible under-actuated tail 204 through multiple solidification into a thin sheet type; the dorsal fin 300 gradually becomes thinner in the longitudinal direction, the anal fin 400 gradually becomes thinner in the longitudinal direction, and the caudal fin 500 gradually becomes thinner in the transverse right direction; the thickness of the dorsal fin 300, anal fin 400, and caudal fin 500 is 0.1 to 0.3 cm, and the caudal fin 500 couples with the dorsal fin 300 to tidy up the wake, achieving a good drag reduction effect and improving the propulsion efficiency of the bionic conger eel in the water; the front half of the bionic flexible under-actuated tail 204 is thicker in the transverse and longitudinal planes, and the thickness of the rear half is relatively thin. The dorsal fin 300, the anal fin 400 and the caudal fin 500 are also provided with slender rubber fin rays 301 cast at 15 degrees. The hardness of the rubber fin rays 301 formed by casting environmentally friendly flexible silicone rubber at 15 degrees is greater than that of the fins cast at zero degrees environmentally friendly flexible silicone rubber, and can support its thin and soft fins. The arrangement of rubber fin rays 301 on the dorsal fin 300, the anal fin 400 and the caudal fin 500 can improve the fluctuation of the flow field, so that the dorsal fin 300, the anal fin 400 and the caudal fin 500 can resist a certain turbulent force, and under the impact of the water flow, they can also better organize the wake and maintain the balance during the swimming process. It can be seen that it is particularly important to design the bionic conger eel into a conical structure with a thickness that becomes thinner with the length of the body.

[0046] After comprehensively considering the performance of multiple soft materials, the bionic conger eel for marine ranch environmental monitoring in this embodiment uses zero-degree environmentally friendly flexible silicone rubber to cast the bionic flexible under-actuated tail 204. The thickness of the rubber layer built by the bionic flexible under-actuated tail 204 is 0.5 to 3.5 cm. The selected soft material can be used for a long time within the temperature range of -65°C to 200°C and maintain its soft and elastic properties. It has passed the SGS environmental protection and non-toxic certification, has excellent electrical properties and chemical stability, is resistant to water, ozone, and weather aging, is non-corrosive, has physiological inertness, is non-toxic and odorless, has low linear shrinkage, and is easy to operate.

[0047] The head 100 in this embodiment is solidified from a light but firm plastic material, with a small deformation amount. The bionic flexible under-actuated tail 204 is cast from zero-degree environmentally friendly flexible silicone rubber, with good toughness and softness, and a large deformation amount. When swimming, the bionic moray can show a wavy deformation, which provides a basis for realizing eel-like swimming in terms of structural materials. When the bionic moray swims forward, the flexible and powerful trunk 200 can generate a driving force, and the raised convex part in the middle of the firm bionic moray head 100 plays the role of splitting water. The trunk 200 of the bionic moray simulates the muscles and driving mechanism of the biological moray, and the driving mechanism 211 realizes relative motion through the dual-axis steering gear 223. The bionic moray simulates the muscles and nerves of the biological moray through the environmentally friendly flexible silicone rubber.

[0048] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bionic conger eel for marine ranch environmental monitoring, characterized in that: The bionic conger eel comprises a bionic conger eel body, wherein the bionic conger eel body comprises a head, a trunk, a dorsal fin, anal fin and a caudal fin which are connected in sequence. The head is a three-dimensional hollow shell with a waterproof sealed compartment placed inside. The waterproof sealed compartment comprises a waterproof sealed control compartment and a waterproof sealed battery compartment. A power supply, a micro storage, an image processing microcomputer, a control module and several collectors are placed inside the waterproof sealed control compartment. The power supply supplies power to the collector and the rotating part. The micro storage is used to store image information collected by the waterproof image collector. A high-frequency data transmission antenna is solidified at one end of the bionic flexible under-driven tail close to the head, so as to facilitate the bionic conger eel to send signals to the shore when it surfaces. The image processing microcomputer is used to recognize the morphological features of the collected images. The control module realizes the overall control of the drive control of the bionic conger eel and the marine ranch environment monitoring function. The collector comprises a pressure sensor, a pH sensor, a dissolved oxygen sensor, a waterproof image collector, a pressure sensor, a pH sensor, a dissolved oxygen sensor, a waterproof image collector, a control module and a plurality of collectors. The collector is installed in a reserved notch on the head or in a waterproof sealed control chamber. The pressure sensor, pH sensor and dissolved oxygen sensor detect and record the changes in seawater indexes and water depths wherever the sea eel goes. The left and right glue-filled LED lights cooperate with the waterproof image collector to provide light, which is convenient for collecting image information of the underwater environment. The trunk includes alternately connected rotating parts and a bionic flexible under-actuated tail. The alternately connected rotating parts realize the eel-like propulsion of the bionic sea eel. The end of the head close to the trunk is connected to the end of the bionic flexible under-actuated tail close to the head through the alternately connected rotating parts. The dorsal fin, anal fin and caudal fin are respectively formed by multiple sol and gel curing, and are connected to the bionic flexible under-actuated tail as a whole. By increasing the cross-sectional area of ​​the bionic sea eel, the vortex area is increased, thereby increasing the propulsion force of the bionic sea eel in the water; The waterproof sealed compartment comprises a waterproof sealed control compartment and a waterproof sealed battery compartment, the waterproof sealed battery compartment comprises a waterproof sealed compartment fixing screw, a waterproof sealed battery compartment upper cover, a waterproof sealed battery compartment sealing ring, and a waterproof sealed battery compartment lower cover, the waterproof sealed battery compartment upper cover and the waterproof sealed battery compartment lower cover are fixed by the waterproof sealed compartment fixing screws, the waterproof sealed battery compartment sealing ring is placed in a groove on the edge of the waterproof sealed battery compartment lower cover, and then pressurized by the waterproof sealed compartment fixing screws to enhance the waterproof sealing of the waterproof sealed battery compartment; the waterproof sealed control compartment comprises a waterproof sealed control compartment upper cover, a waterproof sealed control compartment sealing ring, a waterproof sealed The outlet wire head and the lower cover of the waterproof sealed control compartment are sealed. The upper cover of the waterproof sealed control compartment and the lower cover of the waterproof sealed control compartment are fixed by the waterproof sealed compartment fixing screws. The sealing ring of the waterproof sealed control compartment is placed in the groove on the edge of the lower cover of the waterproof sealed control compartment, and then pressurized by the waterproof sealed compartment fixing screws to enhance the waterproof sealing of the waterproof sealed control compartment; a miniature deep-water male and female plug can be used between the waterproof sealed control compartment and the waterproof sealed battery compartment as a watertight connector that meets the requirements of working power supply and signal transmission. The connector is mainly composed of a waterproof sealed female plug, a waterproof sealed plug tightening nut, a waterproof sealed plug gasket, and a waterproof sealed male plug; The collector includes a pressure sensor, a pH sensor, a dissolved oxygen sensor, a waterproof image collector, a left glue-filled LED light and a right glue-filled LED light, an ultrasonic obstacle avoider, an ultrasonic depth meter, and a nine-axis attitude meter sensor. The collectors are all installed in the reserved notch of the head or in the waterproof sealed control chamber. The pressure sensor, pH sensor, and dissolved oxygen sensor are bound and fixed directly below the head of the sea eel using a back adjustable fixer and a double-sided adjustable fixer. The sensor probe is exposed to the external environment, which is convenient for detecting and recording the changes in seawater indicators and the water depth where the sea eel has been. The waterproof image collector can be a waterproof camera, which is installed at the image collection hole after waterproof treatment, has a wide field of view, and is convenient for collecting underwater image information; The left glue-filled LED lamp and the right glue-filled LED lamp are respectively installed at the left glue-filled LED lamp hole and the right glue-filled LED lamp hole after being specially waterproofed. The left glue-filled LED lamp and the right glue-filled LED lamp cooperate with the image collector to provide light, which is convenient for collecting image information of the underwater environment. In addition, the method of digging grooves and filling gaps can prevent components from being damaged by obstacles when the sea eel shuttles, and can also maintain the intact fluid shape of the sea eel to a certain extent; the ultrasonic obstacle avoider is installed in the ultrasonic obstacle avoidance inclined hole, which can still help the bionic sea eel to achieve free shuttle and obstacle avoidance function underwater, and the nine-axis attitude instrument sensor is installed in the waterproof and sealed control cabin, which makes full use of the remaining space and is convenient for controlling the balance of the sea eel during swimming; The bionic conger eel adopts a unique balancing method, that is, each component of the bionic conger eel is gradually balanced, and then each balanced component is assembled into a balanced whole. The balancing adjustment chamber of the head is balanced by a counterweight block. The counterweight blocks are equal in weight and are placed symmetrically on the left and right to avoid the deviation of the head of the conger eel during swimming, thereby achieving the balancing of the head; each driving mechanism of the rotating part is surrounded by a circle of floating material, so that each driving mechanism can achieve balance when using different materials, thereby achieving the balancing of the rotating part; a piece of floating material is cured with environmentally friendly flexible silicone rubber inside the end of the bionic flexible under-actuated tail close to the head, forming the anti-corrosion buoyancy chamber of the bionic conger eel, increasing the buoyancy of the front half of the bionic flexible under-actuated tail, preventing the bionic flexible under-actuated tail from sinking to the bottom, and balancing its weight with the head, thereby achieving the balancing of the bionic flexible under-actuated tail; the floating material can also be used to fix the driving mechanism.

2. The bionic conger eel for marine ranch environmental monitoring according to claim 1, characterized in that: The head is solidified with a light but strong plastic material, and the head includes an upper head cover and a lower head cover. The dividing line between the upper head cover and the lower head cover is located at three quarters from the top to the bottom. The upper head cover and the lower head cover are fixed by head fixing screws. The surface and interior of the head contain grooves and circular holes of varying sizes for placing a collector and a waterproof sealed control compartment, a waterproof sealed battery compartment, and a balancing adjustment compartment. The upper head cover and the lower head cover reserve space as a balancing adjustment compartment, and a number of counterweights are placed inside to facilitate the adjustment of the balance of the bionic conger eel using different materials in different media. A groove of three quarters of the volume of the upper head cover is dug in the upper head cover, which is a waterproof sealed compartment groove for placing a waterproof sealed control compartment and a waterproof sealed battery compartment. Battery compartment; there is a circular hole at the left and right eyes of the sea eel, which are the left glue-filled LED light hole and the right glue-filled LED light hole respectively; there is a circular hole in the center of the sea eel's lower jaw, which is the image acquisition hole. The diameters of the three circular holes are determined by the size of the collector to be placed. There is a vertical section at the end of the head, and the three circular holes are stretched and cut out perpendicular to the vertical section; there are four diagonally symmetrical small circular holes in the center of the vertical section, and there is a larger small circular hole at the intersection of two diagonals. The five small circular holes are servo penetration holes, which are used to fix the end of the head close to the torso through the alternately connected rotating parts; there is a smaller rectangular square groove at the vertical section of the lower head cover, which is the servo extension wire groove, used to lead out the servo extension wire.

3. The bionic conger eel for marine ranch environmental monitoring according to claim 1, characterized in that: The edges around the lower cover of the waterproof sealed warehouse have a certain thickness, and an annular groove is dug out. A waterproof sealing ring is set at the groove and a double anti-corrosion method of internal and external glue filling is adopted, which greatly enhances the sealing of the bionic conger eel and the waterproof strength of the waterproof sealed warehouse. In addition, the fixing screws of the waterproof sealed warehouse can be anti-shedding organic material screws, which can resist the corrosion of seawater and are not easy to rust compared with traditional metal screws; the waterproof sealed outlet head adopts a special M-type waterproof connector, which is composed of a tight head, a sealing ring, a main body, a gasket, and a nut. The tight head of the waterproof wiring head makes several outgoing wires stacked tightly, and the outgoing wires are tightly wrapped with two layers of 3M glue to prevent the outlet from breaking due to frequent debugging. All gaps in the upper and lower covers of the waterproof sealed warehouse and the outlet holes are filled with ab glue to achieve the waterproof effect of the waterproof sealed warehouse; the waterproof sealed warehouse is designed as a waterproof sealed warehouse with multiple threaded holes, such as a square sealing box with eight-hole screws or a twelve-hole round sealing barrel, which enhances the waterproof and pressure resistance of the waterproof sealed warehouse.

4. The bionic conger eel for marine ranch environmental monitoring according to claim 1, characterized in that: The alternately connected rotating parts connect the head and the bionic flexible under-actuated tail, and the rotating parts include three driving mechanisms, one of which is composed of a dual-axis wide U-shaped frame, a dual-axis narrow U-shaped frame, a main steering wheel, an auxiliary steering wheel and a vertically arranged dual-axis servo, and is used to drive the trunk to achieve eel-like propulsion; the dual-axis wide U-shaped frame opening is arranged relative to the dual-axis narrow U-shaped frame opening, wherein the dual-axis servo is arranged in an area surrounded by the dual-axis wide U-shaped frame and the dual-axis narrow U-shaped frame.

5. The bionic conger eel for marine ranch environmental monitoring according to claim 1, characterized in that: The ratio of the length to the width of the bionic conger eel body is 13:1, the ratio of the frontal cross-sectional area at one quarter of the body length near the head to the frontal cross-sectional area at three quarters of the body length near the head is 12.9:1, and the conger eel cross-sections at one quarter of the body length accumulated sequentially from one end near the head have an ellipse ratio, and the ellipse ratio is defined as the bionic conger eel cross-section consisting of two semi-ellipses with equal short axes of large ellipses and long axes of small ellipses, i.e., equal openings, and the ratio of the short axis of the large ellipse to the long axis of the small ellipse is the ellipse ratio, which is used to indicate the change in the cross-sectional shape of the bionic conger eel. The size of the ellipse ratio plays an important role in the drag reduction effect and fluid mechanics analysis of the bionic conger eel; the ellipse ratio of the conger eel cross-section gradually increases with the increase of body length, and the body width of the bionic conger eel gradually decreases with the increase of body length; various parts of the bionic conger eel body The cross-sections are all teardrop-shaped, narrow at the top and wide at the bottom; the side cross-section of the bionic conger eel body is asymmetric fusiform, with a thick head and a pointed tail; the top-view cross-section of the bionic conger eel body is conical, with a wide head and a narrow tail, which shows that the bionic conger eel has a good fluid shape and a good drag reduction effect; the dorsal fin, anal fin and caudal fin are respectively formed by multiple sol and gel curing, and are connected to the bionic flexible under-actuated tail as a whole, and a layer of environmentally friendly flexible silicone rubber film with a certain thickness is covered along the periphery of the driving mechanism at the end of the head close to the bionic flexible under-actuated, and the skin design can protect the internal rigid structure and maintain the smooth fluid shape of the bionic conger eel, and the environmentally friendly flexible silicone rubber film is fixed by an adjustable clamp, and the adjustable clamp includes an adjustable clamp ring and a clamp tightening screw.

6. The bionic conger eel for marine ranch environmental monitoring according to claim 1, characterized in that: The bionic flexible underactuated tail and dorsal fin, anal fin and caudal fin are all cast with appropriate environmentally friendly flexible silicone rubber, and are solidified into a thin sheet type and connected to the bionic flexible underactuated tail for multiple times; the thickness of the dorsal fin gradually becomes thinner in the longitudinal direction, the thickness of the anal fin gradually becomes thinner in the longitudinal direction, and the thickness of the caudal fin gradually becomes thinner in the transverse direction; the dorsal fin, anal fin and caudal fin have a certain thickness, and the caudal fin and the dorsal fin move in coupling manner to tidy up the wake, thereby achieving a drag reduction effect and improving the propulsion efficiency of the bionic conger eel in the water; the bionic underactuated tail is formed by the bionic flexible underactuated tail and the dorsal fin, and the caudal fin ... The front half of the flexible under-actuated tail is thicker, and the back half is relatively thin. Moderately cast slender rubber fin rays are also arranged in the dorsal fin, anal fin and caudal fin. The hardness of the rubber fin rays is greater than that of the dorsal fin, anal fin and caudal fin, and can support its thin and soft fins. The arrangement of rubber fin rays in the dorsal fin, anal fin and caudal fin can improve the fluctuation of the flow field, so that the dorsal fin, anal fin and caudal fin can resist a certain turbulent force, and under the impact of the water flow, the wake can be better arranged to maintain the balance during the swimming process.

7. The bionic conger eel for marine ranch environmental monitoring according to claim 1, characterized in that: The head is made of a relatively light but hard plastic material that is solidified, with a small deformation amount, and plays the role of splitting water and diverting the water; the bionic flexible under-actuated tail is cast with moderate environmentally friendly flexible silicone rubber, which has toughness and softness, and a large deformation amount. When swimming, the bionic conger eel can show wavy deformation, which provides a basis for realizing eel-like swimming in terms of structural materials; the torso simulates the muscles and spinal joints of the biological conger eel, and the rotating part realizes relative movement through a driving mechanism. The bionic flexible under-actuated tail cast and solidified with environmentally friendly flexible silicone rubber simulates the muscles and neural network of the biological conger eel.

Images