A biomimetic jellyfish robot

Abstract

The application discloses a bionic jellyfish robot, which comprises a base, a multi-rod bionic propulsion mechanism installed on the base, a connecting support installed on the base, and a bionic jellyfish space steering mechanism installed on the connecting support; the main drive motor, the direction control motor and the angle control motor are all waterproofed, and the bottom surface of the base is provided with a ring-shaped buoyancy block. The bionic jellyfish robot can efficiently and at low cost perform underwater high-precision inspection and can be applied to underwater pipeline inspection, water quality detection, ship monitoring and underwater biological detection and other environments, and is worth popularization and application.

Description

Technical Field

[0001] This invention relates to an underwater detector, and more particularly to a biomimetic jellyfish robot. Background Technology

[0002] Bionics is an interdisciplinary field that combines engineering technology and biological science, which has developed in recent years. Its purpose is to analyze biological processes and structures and apply the results to future designs. In bionics, through understanding and analyzing jellyfish, researchers have discovered that they possess advantages over wave-propelled fish, such as stealth movement, small size, light weight, high flexibility, and low metabolic rate. They can effectively utilize the characteristics of water flow, and therefore, researchers have been dedicated to achieving biomimicry of jellyfish. Currently, jellyfish bionics is used in two main ways: firstly, in science education, such as in science museums and aquariums, to simulate the realistic movements of jellyfish for educational purposes; and secondly, jellyfish bionics are particularly suitable for complex underwater environments, such as underwater unmanned vehicles, utilizing the jellyfish's unique underwater movement characteristics to perform tasks such as underwater pipeline inspection, water quality testing, ship monitoring, and underwater biological detection.

[0003] In jellyfish biomimetic research, mimicking the graceful movement of jellyfish is both a key focus and a challenge. If the structure is too complex, it will result in high costs and a high failure rate, leading to high usage and maintenance costs. For example, the invention title of Chinese invention patent "202010993370.5" is "A biomimetic jellyfish foot and a mechanical jellyfish using the biomimetic jellyfish foot". This biomimetic jellyfish has a complex mechanical mechanism, high cost, high mechanical failure rate when placed in water, and high maintenance costs, resulting in high usage costs. Summary of the Invention

[0004] The present invention aims to overcome the shortcomings of the prior art and provide a biomimetic jellyfish robot that can swim freely and flexibly underwater at a low cost, thus meeting the needs of high-precision and high-efficiency underwater inspection.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: This biomimetic jellyfish robot includes a base, on which a multi-link biomimetic propulsion mechanism is installed, and a connecting bracket is installed on the base. A biomimetic jellyfish spatial steering mechanism is installed on the connecting bracket. The multi-link biomimetic propulsion mechanism includes a fixed connecting plate fixed to the bottom surface of the base, a first movable connecting plate located below the base, and a set of swinging members evenly distributed along the center of the fixed connecting plate between the fixed connecting plate and the first movable connecting plate. Each swinging member includes a first connecting rod hinged to the fixed connecting plate, and a second connecting rod hinged to the bottom end of the first connecting rod. The first movable connecting rod... A third connecting rod is hinged to the connecting plate, with its outer end hinged to the first connecting rod. A fourth connecting rod is hinged to the third connecting rod, with its outer end hinged to the outer end of the second connecting rod. A linear bearing is fixed to the base, and a first push rod slider, fixed together with the first movable connecting plate, is inserted into the linear bearing. A motor mounting base is fixed to the top of the base, and a main drive motor is fixed to the motor mounting base. A crank is fixed to the shaft of the main drive motor. A fifth connecting rod is provided between the crank and the first push rod slider. One end of the fifth connecting rod is hinged to the outer end of the crank, and the other end of the fifth connecting rod is hinged to the first push rod. At the top of the slider, above each swinging component, is a flexible umbrella-shaped membrane. The flexible umbrella-shaped membrane is fixed together with each of the first and second connecting rods. A set of water return holes are evenly distributed along the center of the flexible umbrella-shaped membrane. The biomimetic jellyfish space steering mechanism includes a steering bracket fixed on a connecting bracket. Below the steering bracket is a rotating connecting seat. A rotating shaft is rotatably connected to the bottom of the rotating connecting seat. A plug is inserted into the rotating shaft. A U-shaped swinging block is hinged to the plug. A tentacle fixing plate is fixed to the bottom end of the plug. A set of tentacle fixing blocks are fixed along the outer contour of the tentacle fixing plate. The plate-shaped contact plates are evenly distributed at the center of the plate. Each plate-shaped contact plate has a steering buoyancy block fixed at its bottom. A directional control motor is fixed on the steering bracket. The top of the rotary connecting seat has an annular groove. A set of guide pulleys that cooperate with the annular groove are fixed at the bottom of the connecting bracket. The shaft of the directional control motor is fixed together with the rotary connecting seat. An angle control motor is fixed on the rotary connecting seat. A sixth link is hinged to the angle control motor. The other end of the sixth link is hinged to the rocker block. The main drive motor, directional control motor, and angle control motor are all waterproof. An annular buoyancy block is installed on the bottom surface of the base.The base serves as a fundamental support; the multi-link bionic propulsion mechanism propels the robot forward by utilizing water flow; the bionic jellyfish-like spatial steering mechanism changes the probe's direction during operation; the annular buoyancy block provides buoyancy, ensuring the robot floats; and the steering buoyancy block tilts in the water when the tentacle fixing disc and plate-like tentacle plates are deflected, causing the robot to tilt due to buoyancy, thus propelled by the continuous operation of the multi-link bionic propulsion mechanism. Moving forward; here's the working principle of the multi-bar bionic propulsion mechanism: A crank-slider mechanism is composed of a crank, a fifth connecting rod, and a first pusher slider. The crank is driven by a main drive motor and connected via the fifth connecting rod, thus driving the first pusher slider to move up and down. The end of the first pusher slider is fixed to the first movable connecting plate, which in turn drives the first movable connecting plate to move up and down, further driving the movement of the first, second, third, and fourth connecting rods. A flexible umbrella-shaped membrane covers the outside of the swinging mechanism, simulating the inner cavity of a jellyfish's umbrella shape. The expansion and contraction of the swinging components change the volume of the inner cavity, and water jets are used to move the robot. (The depth of the bionic jellyfish robot in water can be controlled by adjusting the speed and frequency of the water jets.) This achieves the ability to float and dive in water without changing its buoyancy. The return water passage here controls the return water when the flexible umbrella-shaped membrane contracts and opens. When the membrane opens faster than it retracts, the biomimetic jellyfish robot will dive or move backward; when it retracts faster than it opens, it will move forward or quickly float upward. The working principle of the biomimetic jellyfish spatial steering mechanism is as follows: the direction control motor drives the rotating connecting seat to rotate, and the guide pulley provides guidance to maintain its stability during rotation. The angle control motor drives the sixth link. Since the sixth link and the upper surface of the swing block are connected by pins, and the contact surfaces are always parallel, and the tentacles... The fixed plate and the rotating connecting seat are circumferentially fitted, so when the sixth link rotates, it will drive the swing block to swing back and forth, left and right, while the tentacle fixed plate will only swing forward and backward. Through the coordinated operation of the direction control motor and the angle control motor, the plate-shaped tentacle plate is controlled to extend in the opposite direction of the detector's movement. At this time, the plate-shaped tentacle plate uses the water jet from the multi-rod bionic propulsion mechanism above to generate a water flow component force to change the jellyfish's forward direction. At the same time, the buoyancy of the turning buoyancy block at the bottom of the plate-shaped tentacle plate changes the overall buoyancy direction of the detector, causing the detector to tilt from head to tail in the direction of movement. This adjusts the direction of the water jet from the multi-rod bionic propulsion mechanism from vertical downward spray to spray in the opposite direction of the detector's movement, so as to achieve a better turning and moving purpose.

[0006] Further improvements include a first rechargeable battery fixed to the base. This battery is waterproof and connected to the main drive motor, direction control motor, and angle control motor via wiring. The purpose of this first rechargeable battery is to provide the power source; the absence of wires allows the robot to be more agile and travel further.

[0007] Further improvements include a vision probe module mounted on the base, and an image processing module mounted above the base. Both the vision probe module and the image processing module are waterproof. The image processing module is connected to the vision probe module, the rechargeable battery, the main drive motor, the direction control motor, and the angle control motor via wiring. The vision probe module uses commercially available visual information acquisition sensing elements, such as products from Keyence China Co., Ltd. and Kunshan Yuntaitong Electronic Equipment Co., Ltd. Similarly, the image processing module uses commercially available visual information processing elements, such as products from Beijing Yingmeizhi Technology Development Co., Ltd. and Keyence China Co., Ltd.

[0008] Further improvements include a transparent umbrella-shaped cover over the base. This umbrella-shaped cover serves to protect the image processing module, vision probe module, rechargeable battery, main drive motor, and other components from collisions and damage.

[0009] Further improvements include a set of lifting holes on the umbrella-shaped top cover. The purpose of these lifting holes is to facilitate the handling and placement of the robot.

[0010] Further improvements include a magnetic adsorption block fixed to the top of the image processing module, a wireless charging terminal device installed on the image processing module, both the magnetic adsorption block and the wireless charging terminal device being waterproofed, and the wireless charging terminal device being connected to the first rechargeable battery and the image processing module circuitry. The magnetic adsorption block here serves to attach to the automatic positioning charging platform for wireless charging. The wireless charging terminal device is a wireless charging coil, which pairs with the wireless charging transmitter on the platform. This allows the robot to automatically locate the platform when its power is low, automatically attach to the magnetic adsorption block, and then automatically charge. This allows the robot to stay underwater longer and more efficiently during inspections. The magnetic adsorption block attaches to the electromagnet on the platform, ensuring the robot remains stably positioned below it during charging, preventing waves from washing it away and disrupting wireless charging. After charging, the electromagnet automatically deactivates, allowing the robot to continue operating. During charging, the sheet-like touchpad and steering buoyancy block are controlled vertically by an angle control motor, allowing the biomimetic jellyfish robot to rise automatically without a power source for charging via the ring-shaped and steering buoyancy blocks.Figure 9 (As shown).

[0011] The beneficial effects of this invention are: the structure is ingenious and reasonable, the base can serve as a basic support, the multi-bar bionic propulsion mechanism can propel the water flow, thereby moving the robot forward, and the bionic jellyfish spatial steering mechanism can change the robot's direction of movement during the operation of the detector. This invention can perform high-precision underwater inspection functions efficiently and at low cost, and can be applied to underwater pipeline inspection, water quality testing, ship monitoring, and underwater biological detection, etc., and is worthy of widespread application. Attached Figure Description

[0012] Figure 1 The three-dimensional representation of the present invention Figure 1 ;

[0013] Figure 2 The three-dimensional representation of the present invention Figure 2 ;

[0014] Figure 3 The three-dimensional representation of the present invention when the umbrella-shaped top cover is removed Figure 3 ;

[0015] Figure 4 This is a schematic diagram of the structure of the first push rod slider region in this invention;

[0016] Figure 5 The three-dimensional skeleton of the multi-bar biomimetic propulsion mechanism in this invention Figure 1 ;

[0017] Figure 6 The three-dimensional skeleton of the multi-bar biomimetic propulsion mechanism in this invention Figure 2 ;

[0018] Figure 7 The three-dimensional biomimetic jellyfish spatial steering mechanism of this invention Figure 1 ;

[0019] Figure 8 The three-dimensional biomimetic jellyfish spatial steering mechanism of this invention Figure 2 .

[0020] Figure 9 This is a state diagram of the wireless charging of the present invention.

[0021] Explanation of reference numerals in the attached drawings: Base 1, Multi-bar bionic propulsion mechanism 2, Fixed connecting plate 2a, First movable connecting plate 2-1, Swinging component 2-2, First connecting rod 2-2a, Second connecting rod 2-2b, Third connecting rod 2-2c, Fourth connecting rod 2-2d, Linear bearing 2-3, First push rod slider 2-4, Motor mounting base 2-5, Main drive motor 2-6, Crank rod 2-7, Fifth connecting rod 2-8, Flexible umbrella-shaped membrane 2-9, Water return hole 2-9a, Connecting bracket 3, Bionic jellyfish space steering mechanism 4, Steering bracket 4-1, Rotary link 4-2 connector, 4-2a annular groove, 4-3 rotating shaft, 4-4 insert block, 4-5 swing block, 4-6 tentacle fixing plate, 4-7 sheet-like tentacle plate, 4-8 steering buoyancy block, 4-9 direction control motor, 4-10 guide pulley, 4-11 angle control motor, 4-12 sixth link, 5 annular buoyancy block, 6 first rechargeable battery, 7 vision probe module, 8 image processing module, 8-1 magnetic adsorption block, 8-2 wireless charging terminal device, 9 umbrella-shaped top cover, 9-1 lifting hole, 10 automatic charging positioning floating platform, 10 electromagnet. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Referring to the attached diagram: This biomimetic jellyfish robot includes a base 1, on which a multi-bar biomimetic propulsion mechanism 2 is mounted, and a connecting bracket 3 is mounted on the base 1. A biomimetic jellyfish spatial steering mechanism 4 is mounted on the connecting bracket 3. The multi-bar biomimetic propulsion mechanism 2 includes a fixed connecting plate 2a fixed to the bottom surface of the base 1, a first movable connecting plate 2-1 located below the base 1, and a set of swinging members 2-2 evenly distributed along the center of the fixed connecting plate 2a between the fixed connecting plate 2a and the first movable connecting plate 2-1. The swinging members 2-2 include a first connecting rod 2-2a hinged to the fixed connecting plate 2a, a second connecting rod 2-2b hinged to the bottom end of the first connecting rod 2-2a, and a third connecting rod 2-2c hinged to the first movable connecting plate 2-1. The outer end of connecting rod 2-2c is hinged to the first connecting rod 2-2a. A fourth connecting rod 2-2d is hinged to the third connecting rod 2-2c. The outer end of the fourth connecting rod 2-2d is hinged to the outer end of the second connecting rod 2-2b. A linear bearing 2-3 is fixed to the base 1. A first push rod slider 2-4, fixed together with the first movable connecting plate 2-1, is inserted into the linear bearing 2-3. A motor mounting base 2-5 is fixed to the top of the base 1. A main drive motor 2-6 is fixed to the motor mounting base 2-5. A crank rod 2-7 is fixed to the shaft of the main drive motor 2-6. A fifth connecting rod 2-8 is provided between the crank rod 2-7 and the first push rod slider 2-4. One end of the fifth connecting rod 2-8 is hinged to the outer end of the crank rod 2-7. The other end of the fifth connecting rod 2-8... One end is hinged to the top of the first push rod slider 2-4. A flexible umbrella-shaped membrane 2-9 is provided above each swinging component 2-2. The flexible umbrella-shaped membrane 2-9 is fixed together with each first connecting rod 2-2a and second connecting rod 2-2b. A set of water return through holes 2-9a are evenly distributed along the center of the flexible umbrella-shaped membrane 2-9. The biomimetic jellyfish space steering mechanism 4 includes a steering bracket 4-1 fixed on the connecting bracket 3. A rotating connecting seat 4-2 is provided below the steering bracket 4-1. A rotating shaft 4-3 is rotatably connected to the bottom of the rotating connecting seat 4-2. A plug block 4-4 is inserted into the rotating shaft 4-3. A U-shaped swing block 4-5 is hinged to the plug block 4-4. A tentacle is fixed to the bottom end of the plug block 4-4. A set of sheet-like tentacle plates 4-7 are evenly distributed along the center of the tentacle fixing plate 4-6, and a steering buoyancy block 4-8 ​​is fixed at the bottom of each sheet-like tentacle plate 4-7. A direction control motor 4-9 is fixed on the steering bracket 4-1. A circular groove 4-2a is opened at the top of the rotating connecting seat 4-2. A set of guide pulleys 4-10 that cooperate with the circular groove 4-2a are fixed at the bottom of the connecting bracket 3. The rotating shaft of the direction control motor 4-9 is fixed together with the rotating connecting seat 4-2. An angle control motor 4-11 is fixed on the rotating connecting seat 4-2. A sixth link 4-12 is hinged on the angle control motor 4-11. The other end of the sixth link 4-12 is hinged to the rocker block 4-5.The main drive motor 2-6, direction control motor 4-9, and angle control motor 4-11 are all waterproofed, and an annular buoyancy block 5 is installed on the bottom surface of the base 1.

[0025] A first rechargeable battery 6 is fixed on the base 1. The first rechargeable battery 6 is waterproof. The first rechargeable battery 6 is connected to the main drive motor 2-6, the direction control motor 4-9, and the angle control motor 4-11.

[0026] A vision probe module 7 is installed on the base 1, and an image processing module 8 is installed above the base 1. Both the vision probe module 7 and the image processing module 8 are waterproof. The image processing module 8 is connected to the vision probe module 7, the rechargeable battery 6, the main drive motor 2-6, the direction control motor 4-9, and the angle control motor 4-11.

[0027] The base 1 is covered with an umbrella-shaped top cover 9 made of transparent material.

[0028] A set of lifting holes 9-1 are opened on the umbrella-shaped top cover 9.

[0029] A magnetic adsorption block 8-1 is fixed to the top of the image processing module 8. A charging terminal device 8-2 is installed on the image processing module 8. Both the magnetic adsorption block 8-1 and the wireless charging terminal device 8-2 are waterproof. The wireless charging terminal device 8-2 is connected to the first charging battery 6 and the image processing module 8 by wiring.

[0030] The working principle of this invention: This invention simulates a jellyfish changing the volume of its inner cavity by contracting its outer shell and squeezing the cavity, thus ejecting water from the cavity and moving by water jet propulsion. When it needs to move in a certain direction, the distal ends of the tentacles bend in the opposite direction of movement, effectively changing the direction of movement with the help of the tentacles. The overall structure of this invention is a centrally symmetrical structure, and when the spatial turning module is initially vertically downward, the center of gravity of the work remains in the center. Furthermore, through the buoyancy configuration of the annular buoyancy block 5, this invention always maintains a vertical state with the head above and the tentacles below, undisturbed by external factors.

[0031] The multi-bar biomimetic propulsion mechanism 2 of this invention, installed on the base 1, simulates the movement of a jellyfish by contracting its outer shell to compress its inner cavity, thereby changing the volume of the inner cavity and propelling it forward by spraying water. Its principle is as follows: a crank-slider mechanism is formed by a crank rod 2-7, a fifth connecting rod 2-8, and a first push rod slider 2-4. The main drive motor 2-6 drives the crank rod 2-7, which is connected through the fifth connecting rod 2-8, thus driving the first push rod slider 2-4 to move up and down. The bottom end of the first push rod slider 2-4 is fixed to the first movable connecting plate 2-1, thereby driving the first movable connecting plate 2-1 to move up and down, further driving the movement of the four rods: the first connecting rod 2-2a, the second connecting rod 2-2b, the third connecting rod 2-2c, and the fourth connecting rod 2-2d. A flexible umbrella-shaped membrane 2-9 covers the outside of the swinging member 2-2, simulating the inner cavity of the jellyfish's umbrella shape. The expansion and contraction movement of the swinging member 2-2 (e.g., ...) Figure 5 , Figure 6 (As shown) This allows the robot to move by changing the volume of its internal cavity and ejecting water. (The depth of the biomimetic jellyfish robot in the water can be controlled by adjusting the speed and frequency of the water jets, enabling it to float and dive in water without changing its buoyancy.)

[0032] The biomimetic jellyfish spatial steering mechanism 4 of this invention simulates the characteristic of a jellyfish changing its direction of movement using its tentacles. The direction control motor 4-9 drives the rotating connecting seat 4-2 to rotate, and the guide pulley 4-10 provides guidance to maintain its stability during rotation. The angle control motor 4-11 drives the sixth link 4-12. Since the upper surfaces of the sixth link 4-12 and the swing block 4-5 are connected by pins, and the contact surfaces are always parallel, and the tentacle fixing plate 4-6 is circumferentially fitted to the rotating connecting seat 4-2, the rotation of the sixth link 4-12 will cause the swing block 4-5 to swing back and forth, left and right, while the tentacle fixing plate 4-6 will only swing forward and backward. The robot swings backward, and through the coordinated operation of the direction control motor 4-9 and the angle control motor 4-11, the plate-shaped tentacle plate 4-7 extends in the opposite direction of the robot's movement. At this time, the plate-shaped tentacle plate 4-7 uses the water jet from the multi-bar bionic propulsion mechanism 2 above to generate a water flow component force, thereby changing the jellyfish's forward direction. At the same time, the buoyancy of the steering buoyancy block 4-8 ​​at the bottom of the plate-shaped tentacle plate 4-7 changes the overall buoyancy direction of the robot, causing the robot to tilt from head to tail in the direction of movement. This adjusts the direction of the water jet from the multi-bar bionic propulsion mechanism 2 from vertically downward to spraying in the opposite direction of the robot's movement, thereby achieving better turning and movement.

[0033] The purpose of the vision probe module and image processing module here is to apply a neural network vision system developed based on OpenMV, so that the vision probe module can automatically collect data to analyze the underwater route (especially the pipeline route), thereby achieving the purpose of automatic inspection.

[0034] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art will understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. A biomimetic jellyfish robot, comprising a base (1), characterized in that: The base (1) is equipped with a multi-rod bionic propulsion mechanism (2), the base (1) is equipped with a connecting bracket (3), and the connecting bracket (3) is equipped with a bionic jellyfish space steering mechanism (4). The multi-bar bionic propulsion mechanism (2) includes a fixed connecting plate (2a) fixed to the bottom surface of the base (1), a first movable connecting plate (2-1) is provided below the base (1), and a set of swing members (2-2) evenly distributed along the center of the fixed connecting plate (2a) is provided between the fixed connecting plate (2a) and the first movable connecting plate (2-1). The swing member (2-2) includes a first connecting rod (2-2a) hinged to the fixed connecting plate (2a). A second connecting rod (2-2b) is hinged to the bottom end. A third connecting rod (2-2c) is hinged to the first movable connecting plate (2-1). The outer end of the third connecting rod (2-2c) is hinged to the first connecting rod (2-2a). A fourth connecting rod (2-2d) is hinged to the third connecting rod (2-2c). The outer end of the fourth connecting rod (2-2d) is hinged to the outer end of the second connecting rod (2-2b). A linear bearing (2-3) is fixed on the base (1). A first push rod slider (2-4) is inserted into the upper part and fixed together with the first movable connecting plate (2-1). A motor mounting base (2-5) is fixed at the top of the base (1). A main drive motor (2-6) is fixed on the motor mounting base (2-5). A crank rod (2-7) is fixed on the shaft of the main drive motor (2-6). A fifth connecting rod (2-8) is provided between the crank rod (2-7) and the first push rod slider (2-4). One end of the fifth connecting rod (2-8) is hinged to the crank rod. The outer end of the handle (2-7) and the other end of the fifth connecting rod (2-8) are hinged to the top of the first push rod slider (2-4). A flexible umbrella-shaped membrane (2-9) is provided above each of the swinging parts (2-2). The flexible umbrella-shaped membrane (2-9) is fixed together with each of the first connecting rods (2-2a) and the second connecting rods (2-2b). A set of return water through holes (2-9a) are evenly distributed along the center of the flexible umbrella-shaped membrane (2-9). The biomimetic jellyfish space steering mechanism (4) includes a steering bracket (4-1) fixed on a connecting bracket (3). A rotating connecting seat (4-2) is provided below the steering bracket (4-1). A rotating shaft (4-3) is rotatably connected to the bottom of the rotating connecting seat (4-2). A plug (4-4) is inserted into the rotating shaft (4-3). A rocker block (4-5) is hinged to the plug (4-4). A tentacle fixing plate (4-6) is fixed to the bottom end of the plug (4-4). A set of sheet-like tentacle plates (4-7) are evenly distributed along the center of the tentacle fixing plate (4-6) at the outer contour of the tentacle fixing plate (4-6). Each of the sheet-like tentacle plates (4-7) A steering buoyancy block (4-8) is fixed at the bottom of the device. A direction control motor (4-9) is fixed on the steering bracket (4-1). A circular groove (4-2a) is opened at the top of the rotating connecting seat (4-2). A set of guide pulleys (4-10) that cooperate with the circular groove (4-2a) are fixed at the bottom of the connecting bracket (3). The rotating shaft of the direction control motor (4-9) is fixed together with the rotating connecting seat (4-2). An angle control motor (4-11) is fixed on the rotating connecting seat (4-2). A sixth link (4-12) is hinged on the angle control motor (4-11). The other end of the sixth link (4-12) is hinged to the rocker block (4-5). The main drive motor (2-6), the direction control motor (4-9), and the angle control motor (4-11) are all waterproofed, and an annular buoyancy block (5) is installed on the bottom surface of the base (1). The base (1) is fixed with a first rechargeable battery (6), which is waterproof. The first rechargeable battery (6) is connected to the main drive motor (2-6), the direction control motor (4-9), and the angle control motor (4-11).

2. The biomimetic jellyfish robot according to claim 1, characterized in that: A vision probe module (7) is installed on the base (1), and an image processing module (8) is installed above the base (1). Both the vision probe module (7) and the image processing module (8) are waterproof. The image processing module (8) is connected to the vision probe module (7), the rechargeable battery (6), the main drive motor (2-6), the direction control motor (4-9), and the angle control motor (4-11).

3. The biomimetic jellyfish robot according to claim 2, characterized in that: The base (1) is covered with an umbrella-shaped top cover (9) made of transparent material.

4. The biomimetic jellyfish robot according to claim 3, characterized in that: The umbrella-shaped top cover (9) has a set of lifting holes (9-1).

5. A biomimetic jellyfish robot according to claim 4, characterized in that: The top of the image processing module (8) is fixed with a magnetic adsorption block (8-1), and a charging terminal device (8-2) is installed on the image processing module (8). Both the magnetic adsorption block (8-1) and the wireless charging terminal device (8-2) are waterproof. The wireless charging terminal device (8-2) is connected to the first charging battery (6) and the image processing module (8) by a circuit.

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