An amphibious bionic monitoring turtle

Abstract

The present invention belongs to the field of robotic bionics and proposes an amphibious bionic monitoring turtle. The turtle comprises a turtle head, a turtle body, a hydrofoil mechanism, and a hind leg mechanism. The turtle body is internally provided with a hydrofoil transmission mechanism and a center of gravity adjustment mechanism. The turtle body is internally installed with an underwater monitoring module, a communication module, and a control mainboard. The bionic turtle's hydrofoil structure utilizes a planar four-bar linkage to achieve a bionic turtle's flapping wing motion trajectory. The hydrofoil springs are self-locking, enabling the bionic turtle to switch between amphibious and land motion, allowing it to crawl on land. The bionic turtle's hind legs utilize an RSSR spatial four-bar linkage, making the flipping motion of the hind legs more natural. The center of gravity is adjusted by adjusting the counterweight via a guide rail, enabling the bionic turtle to float and sink. The bionic turtle is controlled and monitored in real time using the Internet of Things platform OneNET and a WeChat applet, thereby better targeting the bionic turtle and facilitating remote underwater stealth monitoring.

Description

Technical Field

[0001] The present invention relates to the field of robot bionics, and in particular to an amphibious bionic monitoring turtle. Background Art

[0002] Currently, propeller propulsion is the traditional method of underwater propulsion. While propeller propulsion technology holds an irreplaceable position in practical applications, it also has its own shortcomings, such as high noise, significant environmental disturbance, and poor mobility, which limits its application. Propeller-driven detectors are easily detected by counter-reconnaissance methods. Therefore, a qualified underwater reconnaissance tool should have low noise and no wake.

[0003] Bionic turtles offer numerous advantages over conventional underwater propulsion systems, such as low noise and the absence of wakes, enabling stealthy reconnaissance. Bionic machinery can also be used in biological research to great effect. Normal photographic equipment can affect animals during operation, rendering the data unreliable. Using bionic cameras to collect information would allow real-time tracking of organisms, allowing for complete integration into animal populations and the collection of more reliable data. To this end, the present invention proposes an amphibious bionic monitoring turtle. Summary of the Invention

[0004] The purpose of the present invention is to provide an amphibious bionic monitoring turtle to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an amphibious bionic monitoring turtle, comprising a turtle body 5, a mechanical drive component, an electric control function component and a shell support component;

[0006] A turtle head connector 2 is provided between the turtle head 1 and the turtle body 5; a transmission mechanism 4, a center of gravity adjustment mechanism 6, a communication module, and a control mainboard are installed in the turtle body 5; an underwater monitoring module is provided in the turtle head 1;

[0007] The shell support assembly includes a turtle head 1, a turtle shell, an aluminum profile frame, and a carbon fiber plate; the turtle shell is fixed to the aluminum profile frame via the carbon fiber plate to form the turtle body 5;

[0008] The mechanical drive assembly includes two hydrofoil mechanisms 3, a transmission mechanism 4, a center of gravity adjustment mechanism 6 and two rear leg mechanisms 7;

[0009] The hydrofoil mechanism 3 is respectively arranged on both sides of the turtle body 5, and includes a hydrofoil connector 23, a hydrofoil inner plate 24, a hydrofoil outer plate 25, a hydrofoil skeleton 26, a hydrofoil upper connecting rod 27, a hydrofoil middle connecting rod 28 and a hydrofoil lower connecting rod 29; the hydrofoil connector 23 is fixed to the turtle body 5, and the hydrofoil middle connecting rod 28, the hydrofoil inner plate 24 and the hydrofoil upper connecting rod 27 are respectively hinged to the hydrofoil connector 23 at one end; the hydrofoil skeleton 26 is respectively hinged to the other end of the hydrofoil upper connecting rod 27 and the hydrofoil middle connecting rod 28, The outer wing panel 25 is fixed to the hydrofoil frame 26; one end of the hydrofoil lower connecting rod 29 is hinged to the other end of the hydrofoil upper connecting rod 27, and the other end is hinged to the hydrofoil inner panel 24; during the bionic monitoring turtle's first flapping process, the hydrofoil outer panel 25 deforms after touching the ground; the hydrofoil outer panel 25 and the hydrofoil frame 26 rotate upward, driving the hydrofoil upper connecting rod 27 to rotate clockwise, and the hydrofoil lower connecting rod 29 drives the hydrofoil inner panel 24 to rotate counterclockwise, so that the lower side of the hydrofoil inner panel 24 touches the ground, causing the contact point of the hydrofoil mechanism 3 with the ground to move inward;

[0010] The transmission mechanism 4 is arranged in the turtle body 5, including a front bearing seat 8, a rear bearing seat 9, an inner bearing seat 19, an outer bearing seat 20, a front connecting rod 10, a rear connecting rod 11, a front rotating shaft 12, a rear rotating shaft 13, a main shaft connector 14, a main shaft 15, a fisheye bearing 16, a main connecting rod 17, a pneumatic connector 18, a hydrofoil connecting shaft 21 and a hydrofoil support seat 22; wherein the front bearing seat 8 and the rear bearing seat 9 are parallel, and the front rotating shaft 12 and the rear rotating shaft 13 are respectively installed therein, the front rotating shaft 12 is fixed to the front connecting rod 10, and the rear rotating shaft 13 is fixed to the rear connecting rod 11; the main shaft connector 14 hinges the two connecting rods, and one end thereof is fixed perpendicularly to the front end of the main shaft 15; the end of the main shaft 15 is fixed to the fisheye shaft The fisheye bearing 16 is connected to the inner side of the pneumatic connector 18 through the main connecting rod 17, and the outer side of the pneumatic connector 18 is connected to the hydrofoil connecting shaft 21; the inner bearing seat 19 and the outer bearing seat 20 are both sleeved on the hydrofoil connecting shaft 21, and the hydrofoil support seat 22 is installed between the two; the hydrofoil connecting shaft 21 is connected to the hydrofoil connecting member 23, and then connected to the hydrofoil mechanism 3; when the transmission mechanism 4 is operating, the DC motor drives the connecting rod to rotate at a constant speed, and the two connecting rods and the main shaft connecting member 14 form a planar four-bar linkage, which drives the main shaft 15 to perform an elliptical trajectory motion; the main connecting rod 17 and the hydrofoil connecting shaft 21 are further converted into a flapping motion of the hydrofoil mechanism 3 connected to the transmission mechanism 4;

[0011] The center of gravity adjustment mechanism 6 is divided into two groups of left and right mechanical transmission structures, which are arranged in the upper part of the turtle body 5 and the rear side of the transmission mechanism 4; each group includes two front and rear pulleys, belts, sliders and guide rails, and the upper and lower surfaces of the left belt 46 and the right belt 47 are fixed to the two ends of the slider and the counterweight 45 respectively, and the whole body slides on the left guide rail 48 and the right guide rail 49 respectively; the front pulleys between the two groups of mechanical transmission structures are consolidated by the front pulley shaft 40, and the left rear pulley shaft 52, the left coupling 54, the stepper motor 56, the right coupling 55 and the right rear pulley shaft 53 are arranged in sequence between the rear end pulleys; the two rear end pulleys are driven by the stepper motor 56, and the two front end pulleys are driven to rotate through the belts respectively; the two belts drive the left slider 43 and the right slider 44 to move respectively, and then move the counterweight 45; the stepper motor 56 controls the forward and backward movement range of the counterweight 45 to be the length of the two guide rails;

[0012] The rear leg mechanism 7 includes a steering gear connecting piece 30, a steering gear outer connecting rod 31, a steering gear inner connecting rod 32, a rear leg lower connecting rod 33, a rear leg upper connecting rod 34, a lower fisheye bearing 35, an upper fisheye bearing 36, a rear leg screw 37, a rear leg connecting piece 38 and a rear leg 39; the two ends of the steering gear connecting piece 30 are respectively hinged to the steering gear outer connecting rod 31 and the steering gear inner connecting rod 32, and the ends of the two steering gear connecting rods are connected by the rear leg lower connecting rod 33; one end of the rear leg lower connecting rod 33 is connected to the lower fisheye bearing 35, and one end of the rear leg upper connecting rod 34 is connected to the upper fisheye bearing 36, and a rear leg screw 37 is provided between the upper fisheye bearing 36 and the lower fisheye bearing 35; the rear leg connecting piece 38 is sleeved on the rear leg screw 37 The upper connecting rod 34 of the hind leg is hinged in the turtle body 5 and rotates in the vertical plane. The steering gear is fixed to the rear end of the turtle body 5 through the steering gear connecting plate 30. When the steering gear drives the hind leg mechanism 7 to swing, the steering gear connecting plate 30 drives the steering gear outer connecting rod 31 and the steering gear inner connecting rod 32 to move, and the steering gear outer connecting rod 31 and the steering gear inner connecting rod 32 drive the hind leg lower connecting rod 33 to rotate in the horizontal plane. The rotation of the hind leg lower connecting rod 33 in the horizontal plane drives the hind leg upper connecting rod 34 to rotate in the vertical plane through the hind leg screw 37. The joint rotation of the hind leg lower connecting rod 33 and the hind leg upper connecting rod 34 causes the hind leg screw 37 to move, thereby realizing the flipping action of the hind leg 39.

[0013] The electronic control functional components include a DC motor that drives the transmission mechanism 4, a stepper motor that drives the center of gravity adjustment mechanism 6, a servo that drives the hind leg mechanism 7, an underwater monitoring module, a communication module and a control main board; the communication module is used to receive control signals and send monitoring data, and the control signals are converted into drive signals for each motor and servo through the control main board, and the monitoring data comes from the underwater monitoring module.

[0014] The underwater monitoring module is a camera, and the communication module is a Wi-Fi module.

[0015] The communication module and the control main board are installed below the gravity center adjustment mechanism 6 and fixed on the carbon fiber plate.

[0016] The hydrofoil outer plate 25 is made of acrylic plate; the hydrofoil frame 26 is made of carbon fiber plate.

[0017] The transmission mechanism 4 comprises a planar four-bar linkage and an SRRR spatial linkage. The SRRR spatial linkage consists of a main shaft 15, a main connecting rod 17, and a hydrofoil connecting shaft 21. The SRRR spatial linkage is connected to the outer side of the planar four-bar linkage via the main shaft 15, converting the elliptical motion into the swinging and rotation of the hydrofoil connecting shaft 21, which in turn drives the flapping motion of the connected hydrofoil mechanism, simulating the flapping propulsion motion of a real turtle through the transmission mechanism. The hydrofoil mechanism is a variable, self-locking hydrofoil composed of a planar five-bar linkage and a self-locking spring. When the bionic turtle reaches land, the tip of the hydrofoil touches the bottom, triggering the deformation mechanism, causing the hydrofoil to change from a swimming form to a crawling form. The spring maintains the stability of the mechanism when no triggering force is applied.

[0018] The underwater monitoring module, communication module and control mainboard are all waterproof and sealed and installed inside the turtle's body. The underwater monitoring module is specifically an OV2640 camera, the control mainboard is an STM32 microcontroller, and the communication module is an ESP8266 Wi-Fi module.

[0019] The hind leg mechanism 7 is composed of a parallelogram mechanism that enables the left and right legs to rotate synchronously and two RSSR spatial linkage mechanisms on the left and right; the parallelogram mechanism includes a servo connecting plate 30, a servo outer link 31 and a servo inner link 32; the RSSR spatial linkage mechanism includes a hind leg lower link 33, a hind leg upper link 34 and a hind leg screw 37; the servo outer link 31 and the servo inner link 32 are connected to the servo connecting plate 30 and the two rods remain parallel, so that the rotation of the servo shaft is synchronously transmitted to the hind leg lower link 33 on both sides, and then the hind legs are driven to flip through the RSSR spatial linkage mechanism, thereby realizing the synchronous rotation of the two legs.

[0020] The center of gravity adjustment mechanism 6 drives the pulley through the motor to move the weight forward and backward a certain distance, and the front and rear position of the center of gravity of the bionic turtle changes accordingly, and the body of the bionic turtle also forms an inclination, thereby realizing the sinking and floating of the bionic turtle.

[0021] Beneficial effects of the present invention:

[0022] 1. Equip the bionic turtle with an underwater monitoring module to monitor ocean information such as water quality in real time. Collecting more ocean information will benefit people's further exploration of the ocean and also provide better protection for the ocean. By taking advantage of the bionic turtle's flapping wing propulsion characteristics, it can generate smaller light, heat, sound and wake while propelling underwater.

[0023] 2. Utilize this feature to achieve underwater stealth reconnaissance. Install a remote control module to achieve remote control of the bionic turtle. Install an information collection system to shoot real-time video and transmit it to the main console to achieve stealth reconnaissance function.

[0024] 3. To meet the needs of scientific research, the bionic monitoring device can record biological information without affecting the animals, and can even be integrated into the population to record more effective scientific research data. For example, in underwater photography, in order to collect image information of underwater animals, conventional methods require people to shoot underwater. This method has high requirements for photographers and is easy to affect or even disperse marine life, making it difficult to capture images of marine life with reference value. The appearance of the bionic turtle is close to that of a turtle, and has less impact on marine life. After adding a camera module, the most real living conditions of marine life can be recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the amphibious bionic monitoring turtle;

[0026] Figure 2 A bird's-eye view of the structure for the amphibious bionic monitoring turtle;

[0027] Figure 3 This is a schematic diagram of the overhead structure of the amphibious bionic monitoring turtle;

[0028] Figure 4 It is the main view of the transmission mechanism;

[0029] Figure 5 It is a side view of the transmission mechanism;

[0030] Figure 6 This is the main view of the hydrofoil mechanism;

[0031] Figure 7 It is a three-dimensional diagram of the hind leg mechanism;

[0032] Figure 8 This is a three-dimensional diagram of the center of gravity adjustment mechanism;

[0033] Figure 9 Provide a block diagram for the amphibious bionic monitoring turtle system;

[0034] Figure 10 A flowchart of the workflow for amphibious biomimetic monitoring of sea turtles.

[0035] In the figure: 1 turtle head, 2 turtle head connector, 3 hydrofoil mechanism, 4 transmission mechanism, 5 turtle body, 6 center of gravity adjustment mechanism, 7 hind leg mechanism, 8 front bearing seat, 9 rear bearing seat, 10 front connecting rod, 11 rear connecting rod, 12 front shaft, 13 rear shaft, 14 main shaft connector, 15 main shaft, 16 fisheye bearing, 17 main connecting rod, 18 pneumatic connector, 19 inner bearing seat, 20 outer bearing seat, 21 hydrofoil connecting shaft, 22 hydrofoil support seat, 23 hydrofoil connector, 24 hydrofoil inner plate, 25 hydrofoil outer plate, 26 hydrofoil frame, 27 hydrofoil upper connecting rod, 28 hydrofoil middle connecting rod, 29 hydrofoil lower plate Connecting rod, 30 servo connecting plate, 31 servo outer connecting rod, 32 servo inner connecting rod, 33 hind leg lower connecting rod, 34 hind leg upper connecting rod, 35 lower fisheye bearing, 36 upper fisheye bearing, 37 hind leg screw, 38 hind leg connecting piece, 39 hind leg, 40 front pulley shaft, 41 left front pulley, 42 right front pulley, 43 left slider, 44 right slider, 45 counterweight, 46 left belt, 47 right belt, 48 left guide rail, 49 right guide rail, 50 left rear pulley, 51 right rear pulley, 42 left rear pulley shaft, 53 right rear pulley shaft, 54 left coupling, 55 right coupling, 56 stepper motor. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] See also Figure 1-3 The present invention relates to an amphibious bionic monitoring turtle. The bionic monitoring turtle body includes a turtle head 1, a turtle body 5, a hydrofoil mechanism 3, and a hind leg mechanism 7. A transmission mechanism 4 and a center of gravity adjustment mechanism 6 are provided inside the turtle body 5. An underwater monitoring module, a communication module, and a control mainboard are installed inside the bionic monitoring turtle body. The underwater monitoring module, the communication module, and the control mainboard are all waterproof and sealed and installed inside the turtle body 5. The underwater monitoring module is specifically an OV2640 camera, the control mainboard is an STM32 single-chip microcomputer, and the communication module is an ESP8266 Wi-Fi module.

[0038] A turtle head connector 2 is provided between the turtle head 1 and the turtle body 5 .

[0039] like Figure 4 and Figure 5As shown, the transmission mechanism 4 includes a front bearing seat 8, a rear bearing seat 9, a front connecting rod 10, a rear connecting rod 11, a front rotating shaft 12, a rear rotating shaft 13, a main shaft connector 14, a main shaft 15, a fisheye bearing 16, a main connecting rod 17, a pneumatic connector 18, an inner bearing seat 19, an outer bearing seat 20, a hydrofoil connecting shaft 21, and a hydrofoil support seat 22. Specifically, the front rotating shaft 12 is mounted in the front bearing seat 8 and is fixed to the front connecting rod 10. The rear rotating shaft 13 is mounted in the rear bearing seat 9 and is fixed to the rear connecting rod 11. The main shaft connector 14 is hinged to the front connecting rod 10 and the rear connecting rod 11 and is fixed to the main shaft 15. The end of the main shaft 15 is connected to the fisheye bearing 16, which is connected to the inner side of the pneumatic connector 18 via the main connecting rod 17. The outer side of the pneumatic connector 18 is connected to the hydrofoil connecting shaft 21. Inner bearing seat 19 and outer bearing seat 20 are mounted on hydrofoil support seat 22, and hydrofoil connecting shaft 21 can rotate freely within inner bearing seat 19 and outer bearing seat 20. When transmission mechanism 4 is in operation, the DC motor drives the front connecting rod 10 to rotate at a constant speed. The front connecting rod 10, rear connecting rod 11, and main shaft connector 14 form a planar four-bar linkage, which drives the main shaft 15 to move in a quasi-elliptical trajectory with a quick return motion. When the hydrofoil mechanism 3 paddles backward, the speed reaches its maximum value, achieving maximum impulse to propel the bionic turtle forward.

[0040] like Figure 6 As shown, the hydrofoil mechanism 3 includes a hydrofoil connector 23, a hydrofoil inner panel 24, a hydrofoil outer panel 25, a hydrofoil frame 26, an upper hydrofoil link 27, a middle hydrofoil link 28, and a lower hydrofoil link 29. Specifically, the hydrofoil connector 23 is hingedly connected to the upper hydrofoil link 27, allowing the upper hydrofoil link 27 to rotate about the hydrofoil connector 23. The upper hydrofoil link 27 is hingedly connected to the hydrofoil frame 26, which is hingedly connected to the middle hydrofoil link 28. The middle hydrofoil link 28 is hingedly connected to the hydrofoil connector 23, allowing the middle hydrofoil link 28 to rotate about the hydrofoil connector 23. The upper hydrofoil link 27 is hingedly connected to the lower hydrofoil link 29, which is hingedly connected to the hydrofoil inner panel 24. The hydrofoil inner panel 24 is hingedly connected to the hydrofoil connector 23, allowing the hydrofoil inner panel 24 to rotate on the hydrofoil connector 23. The hydrofoil frame 26 is fixed to the hydrofoil outer plate 25. During the bionic turtle's first flapping, the hydrofoil outer plate 25 touches the ground. The support from the ground triggers deformation, causing the hydrofoil outer plate 25 and the hydrofoil frame 26 to rotate upward, driving the hydrofoil upper connecting rod 27 to rotate clockwise. Simultaneously, the hydrofoil inner plate 24 rotates counterclockwise via the hydrofoil lower connecting rod 29, effectively grounding its underside. This shifts the hydrofoil's contact point with the ground inward, enabling more effortless crawling.

[0041] like Figure 7As shown, the rear leg mechanism 7 includes a steering gear connecting plate 30, a steering gear outer connecting rod 31, a steering gear inner connecting rod 32, a rear leg lower connecting rod 33, a rear leg upper connecting rod 34, a lower fisheye bearing 35, an upper fisheye bearing 36, a rear leg screw 37, a rear leg connecting piece 38, and a rear leg 39. Specifically, the steering gear outer connecting rod 31 is hinged to the outside of the steering gear connecting plate, the steering gear inner connecting rod 32 is hinged to the inside of the steering gear connecting plate 30, the end of the steering gear outer connecting rod 31 is hinged to the outside of the rear leg lower connecting rod 33, and the end of the steering gear inner connecting rod 32 is hinged to the inside of the rear leg lower connecting rod 33. The lower fisheye bearing 35 is connected to the outside of the rear leg lower connecting rod 33; the upper fisheye bearing 35 is connected to the outside of the rear leg upper connecting rod 34; and the ends of the rear leg screw 37 are connected to the upper fisheye bearing 36 and the lower fisheye bearing 35, and are also connected to the rear leg connecting piece 38. The hind leg connector 38 is fixed to the hind leg 39. When the hind leg swings, the servo connecting piece 30 first drives the servo outer link 31 and the servo inner link 32 to move. The servo outer link 31 and the servo inner link 32 then drive the hind leg lower link 33 to rotate in the horizontal plane. The rotation of the hind leg lower link 33 further drives the hind leg upper link 34 to swing in the vertical plane through the hind leg screw 37, which in turn drives the hind leg screw 37 to swing, achieving the flipping movement of the hind leg 39.

[0042] like Figure 8 As shown, the center of gravity adjustment mechanism 6 includes a front pulley shaft 40, a left front pulley 41, a right front pulley 42, a left slider 43, a right slider 44, a counterweight 45, a left belt 46, a right belt 47, a left guide rail 48, a right guide rail 49, a left rear pulley 50, a right rear pulley 51, a left rear pulley shaft 52, a right rear pulley shaft 53, a left coupling 54, a right coupling 55, and a stepper motor 56. Specifically, the stepper motor 56 is connected to the left rear pulley shaft 52 and the right rear pulley shaft 53 via the left coupling 54 and the right coupling 55, respectively. The left rear pulley shaft 52 and the right rear pulley shaft 53 are respectively fixed to the left rear pulley 50 and the right rear pulley 51. The left rear pulley 50 and the right rear pulley 51 drive the left front pulley 41 and the right front pulley 42 to rotate via the left belt 46 and the right belt 47, respectively. The left front pulley 41 and the right front pulley 42 are connected by the front pulley shaft 40. At the same time, the left belt 46 and the right belt 47 drive the left slider 43 and the right slider 44 installed on the left guide rail 48 and the right guide rail 49 to move back and forth respectively. The counterweight is connected to the left slider 43 and the right slider 44, and the counterweight and the slider clamp the belts; the counterweight moves back and forth with the slider to adjust the center of gravity of the bionic turtle. Due to the limited space in the bionic turtle body, the forward and backward movement range of the counterweight 45 is the length of the left guide rail 48 and the right guide rail 49. When the counterweight 45 is in the balanced position, the center of gravity of the bionic turtle needs to be adjusted to just below the center of buoyancy, and when the counterweight 45 is in the extreme position, the inclination angle of the bionic turtle body needs to be a reasonable value to achieve sinking and floating movement.

[0043] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An amphibious bionic monitoring turtle, characterized in that: The amphibious bionic monitoring turtle comprises a turtle body (5), a mechanical drive component, an electric control function component and a shell support component; A turtle head connector (2) is provided between the turtle head (1) and the turtle body (5); a transmission mechanism (4), a center of gravity adjustment mechanism (6), a communication module and a control mainboard are installed in the turtle body (5); an underwater monitoring module is provided in the turtle head (1); The shell support assembly includes a turtle head (1), a turtle shell, an aluminum profile frame and a carbon fiber plate; the turtle shell is fixed on the aluminum profile frame through the carbon fiber plate to form a turtle body (5); The mechanical drive assembly includes two hydrofoil mechanisms (3), a transmission mechanism (4), a center of gravity adjustment mechanism (6), and two rear leg mechanisms (7); The hydrofoil mechanism (3) is respectively arranged on both sides of the turtle body (5), and comprises a hydrofoil connector (23), a hydrofoil inner plate (24), a hydrofoil outer plate (25), a hydrofoil frame (26), a hydrofoil upper connecting rod (27), a self-locking spring, a hydrofoil middle connecting rod (28) and a hydrofoil lower connecting rod (29); the hydrofoil connector (23) is fixed to the turtle body (5), and one end of the hydrofoil middle connecting rod (28), the hydrofoil inner plate (24) and the hydrofoil upper connecting rod (27) is hinged to the hydrofoil connector (23); the hydrofoil frame (26) is respectively hinged to the other end of the hydrofoil upper connecting rod (27) and the hydrofoil middle connecting rod (28), and the hydrofoil outer plate (25) is fixed to the hydrofoil frame (26); One end of the hydrofoil lower connecting rod (29) is hinged to the other end of the hydrofoil upper connecting rod (27), and the other end is hinged to the hydrofoil inner plate (24); the two ends of the self-locking spring are respectively connected to the hydrofoil connector (23) and the hydrofoil middle connecting rod (28), and are used to automatically lock the position of the hydrofoil middle connecting rod (28) after the hydrofoil is deformed; during the first flapping of the bionic monitoring turtle, the hydrofoil outer plate (25) deforms after touching the ground; the hydrofoil outer plate (25) and the hydrofoil frame (26) rotate upward, driving the hydrofoil upper connecting rod (27) to rotate clockwise, and the hydrofoil lower connecting rod (29) drives the hydrofoil inner plate (24) to rotate counterclockwise, and the lower side of the hydrofoil inner plate (24) is grounded, so that the contact point of the hydrofoil mechanism (3) and the ground is moved inward; The transmission mechanism (4) is arranged in the turtle body (5), including four bearing seats, two connecting rods, two rotating shafts, a main shaft connecting piece (14), a main shaft (15), a fisheye bearing (16), a main connecting rod (17), a pneumatic connecting piece (18), a hydrofoil connecting shaft (21) and a hydrofoil supporting seat (22); wherein the two bearing seats are parallel to each other, and a rotating shaft is installed in each of them, and the rotating shaft is fixed to the connecting rod; the main shaft connecting piece (14) hinges the two connecting rods, and one end of the main shaft connecting piece is fixed vertically to the front end of the main shaft (15); the end of the main shaft (15) is connected to the fisheye bearing (16), and the fisheye bearing (16) is connected to the inner side of the pneumatic connecting piece (18) through the main connecting rod (17), and the outer side of the pneumatic connecting piece (18) is connected to the hydrofoil connecting shaft (21); the other two The bearing seat is sleeved on the hydrofoil connecting shaft (21), and the hydrofoil support seat (22) is installed between the two; the hydrofoil connecting shaft (21) is connected to the hydrofoil connecting member (23), and further connected to the hydrofoil mechanism (3); when the transmission mechanism (4) is in operation, the DC motor drives the connecting rod to rotate at a uniform speed, and the two connecting rods and the main shaft connecting member (14) form a planar four-bar linkage mechanism, which drives the main shaft (15) to perform elliptical trajectory motion; the main shaft (15), the main connecting rod (17) and the hydrofoil connecting shaft (21) form an SRRR spatial linkage mechanism, which is connected to the planar four-bar linkage mechanism through the main shaft (15), and converts the elliptical motion into the swing and rotation of the hydrofoil connecting shaft (21), and further converts it into the flapping motion of the hydrofoil mechanism (3) connected to the transmission mechanism (4); The center of gravity adjustment mechanism (6) is divided into two groups of left and right mechanical transmission structures, which are arranged above the turtle body (5) and behind the transmission mechanism (4); each group includes two front and rear pulleys, belts, sliders and guide rails, and the upper and lower surfaces of the left and right belts are fixed to the two ends of the slider and the counterweight (45) respectively, and the whole slides on the guide rails; the front pulleys between the two groups of mechanical transmission structures are fixed through the front pulley shaft (40), and the left rear pulley shaft (52), left coupling (54), stepper motor (56), right coupling (55) and right rear pulley shaft (53) are arranged in sequence between the rear pulleys; the two rear pulleys are driven by the stepper motor (56) and respectively drive the two front pulleys to rotate through the belts; the two belts respectively drive the slider to move, thereby moving the counterweight (45); the stepper motor (56) controls the forward and backward movement range of the counterweight (45) to be the length of the two guide rails; The hind leg mechanism (7) comprises a steering gear connecting piece (30), a steering gear outer connecting rod (31), a steering gear inner connecting rod (32), a hind leg lower connecting rod (33), a hind leg upper connecting rod (34), a lower fisheye bearing (35), an upper fisheye bearing (36), a hind leg screw (37), a hind leg connecting piece (38) and a hind leg (39); the two ends of the steering gear connecting piece (30) are respectively hinged on the steering gear outer connecting rod (31) and the steering gear inner connecting rod (32), and the ends of the two steering gear connecting rods are connected by the hind leg lower connecting rod (33); one end of the hind leg lower connecting rod (33) is connected to the lower fisheye bearing (35), and one end of the hind leg upper connecting rod (34) is connected to the upper fisheye bearing (36), and a hind leg screw (37) is provided between the upper fisheye bearing (36) and the lower fisheye bearing (35); the hind leg connecting piece (38) is sleeved on the hind leg screw The rod (37) is connected to the hind leg (39); the hind leg upper connecting rod (34) is hinged in the turtle body (5) and rotates in a vertical plane; the steering gear is fixed to the rear end of the turtle body (5) through the steering gear connecting plate (30); when the steering gear drives the hind leg mechanism (7) to swing, the steering gear connecting plate (30) drives the steering gear outer connecting rod (31) and the steering gear inner connecting rod (32) to move, and the steering gear outer connecting rod (31) and the steering gear inner connecting rod (32) drive the hind leg lower connecting rod (33) to rotate in a horizontal plane; the rotation of the hind leg lower connecting rod (33) in the horizontal plane drives the hind leg upper connecting rod (34) to rotate in a vertical plane through the hind leg screw (37), and the joint rotation of the hind leg lower connecting rod (33) and the hind leg upper connecting rod (34) causes the hind leg screw (37) to move, thereby realizing the flipping action of the hind leg (39); The electronic control functional components include a DC motor for driving the transmission mechanism (4), a stepper motor for driving the center of gravity adjustment mechanism (6), a steering gear for driving the hind leg mechanism (7), an underwater monitoring module, a communication module and a control main board; the underwater monitoring module, the communication module and the control main board are all waterproof and sealed and installed inside the turtle's body, the communication module is used to receive control signals and send monitoring data, the control signals are converted into drive signals for each motor and steering gear through the control main board, and the monitoring data comes from the underwater monitoring module.

2. The amphibious bionic monitoring turtle according to claim 1, characterized in that: The underwater monitoring module is a camera, and the communication module is a Wi-Fi module.

3. The amphibious bionic monitoring turtle according to claim 1 or 2, characterized in that: The communication module and the control main board are installed below the center of gravity adjustment mechanism (6) and fixed on the carbon fiber plate.

4. The amphibious bionic monitoring turtle according to claim 1, characterized in that: The hydrofoil outer plate (25) is made of an acrylic plate; the hydrofoil frame (26) is made of a carbon fiber plate.

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