Reconfigurable bionic robotic fish and combined bionic fish

Abstract

The application discloses a reconfigurable bionic robot fish and a combined bionic fish. The reconfigurable bionic robot fish comprises a main body mechanism and a tail mechanism. The main body mechanism comprises a sealed shell and an electrically controlled permanent magnet device which are connected with each other. The electrically controlled permanent magnet device comprises a magnetized state and a demagnetized state. The tail mechanism is used to drive the sealed shell to move. The tail mechanism can drive the main body mechanism to realize movement with at least one degree of freedom. When the electrically controlled permanent magnet device is in the magnetized state, the electrically controlled permanent magnet device can be connected with other reconfigurable bionic robot fish or other driving components, so that the structure after splicing can realize flexible movement in multiple movement directions. When facing a narrow use environment, the electrically controlled permanent magnet device can be controlled to be in the demagnetized state, so that the components connected with the electrically controlled permanent magnet device through magnetism are released, and then the reconfigurable bionic robot fish can be restored to the original size, so as to adapt to the use requirement of the narrow environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater bionic robots, and particularly relates to a reconfigurable bionic robotic fish and a combined bionic fish. BACKGROUND

[0002] At present, the existing bionic robotic fish mainly relies on a complex mechanical structure design to realize underwater multi-modal motion, that is, the existing bionic robotic fish needs to rely on the cooperative action of multiple driving components to realize flexible motion of multiple degrees of freedom. However, the complex mechanism design increases the overall size of the robotic fish, making it difficult to perform work tasks in narrow scenes, and increases the maintenance and reuse costs of the robotic fish. If a robotic fish with a single function is used, although the robotic fish with a single function can meet the needs of some narrow practical scenes due to its small size, the single function leads to poor flexibility and the inability to realize flexible motion of multiple degrees of freedom, so it cannot meet the use requirements in scenes requiring flexible motion of multiple degrees of freedom.

[0003] In view of this, it is necessary to provide a new reconfigurable bionic robotic fish and a combined bionic fish to solve or at least alleviate the above technical defects. SUMMARY

[0004] The main purpose of the present application is to provide a reconfigurable bionic robotic fish and a combined bionic fish, which aims to solve the technical problem that the existing robotic fish is difficult to balance the motion flexibility and meet the needs of narrow use scenes.

[0005] In order to achieve the above purpose, the present application provides a reconfigurable bionic robotic fish, which comprises:

[0006] A main body mechanism comprising a sealed shell and an electrically controlled permanent magnet device connected to each other, the electrically controlled permanent magnet device comprising a magnetized state and a demagnetized state;

[0007] A tail mechanism for driving the sealed shell to move.

[0008] In an embodiment, the tail mechanism comprises a tail and a waist, the tail comprises a tail fin driving assembly and a tail fin, the tail fin driving assembly is connected with the tail fin to drive the tail fin to swing, and the tail fin driving assembly is connected with the sealed shell through the waist.

[0009] In an embodiment, the waist comprises a waist driving assembly and a waist connecting piece connected to each other, the waist driving assembly is used to drive the waist connecting piece to rotate, and the waist connecting piece is connected with the tail fin driving assembly.

[0010] In an embodiment, the rotation axis of the waist connecting piece is arranged perpendicularly to the rotation axis of the tail fin.

[0011] In an embodiment, the number of the electrically controlled permanent magnet devices is multiple, and the sealed shell is provided with multiple mounting surfaces, each of which is mounted with the electrically controlled permanent magnet device.

[0012] In an embodiment, the electrically controlled permanent magnet device comprises a suction cup circuit board, a suction cup shell, a permanent magnet assembly, a suction cup coil and a sealing ring, the permanent magnet assembly is connected with the suction cup shell, the suction cup coil is electrically connected with the suction cup circuit board, the suction cup coil is arranged around the outer periphery of the permanent magnet assembly, the suction cup shell is mounted on the mounting surface, the mounting surface is provided with a first through hole for exposing the outer side of the suction cup shell, the suction cup circuit board, the suction cup coil and the sealing ring are located in the sealed shell, the sealing ring is connected with the suction cup shell to prevent water from entering the sealed shell; the suction cup circuit board can control the permanent magnet assembly to switch between the magnetization state and the demagnetization state through the suction cup coil.

[0013] In an embodiment, the reconfigurable bionic robotic fish further comprises a visual recognition mechanism, which is arranged in the sealed shell and connected with the suction cup shell, and the suction cup shell is provided with a second through hole for exposing the lens of the visual recognition mechanism.

[0014] In an embodiment, the number of the permanent magnet assemblies is multiple, and the suction cup coil is arranged in one-to-one correspondence with the number of the permanent magnet assemblies, so that the suction cup circuit board can control any of the permanent magnet assemblies to switch between the magnetization state and the demagnetization state.

[0015] In an embodiment, the reconfigurable bionic robotic fish comprises an image acquisition mechanism, which comprises an image acquisition assembly and a waterproof shield, the image acquisition assembly comprises an image acquisition unit and an image acquisition master control unit electrically connected with the image acquisition unit, the image acquisition unit is located in the waterproof shield, and the sealed shell is provided with an observation hole for the part of the body of the waterproof shield to protrude out.

[0016] In addition, the application also provides a combined bionic fish, which comprises at least two reconfigurable bionic robotic fish, and any two of the reconfigurable bionic robotic fish can be connected or separated through the electrically controlled permanent magnet device.

[0017] In the above technical solution of the present application, the tail mechanism can drive the main body mechanism to realize movement in at least one degree of freedom, i.e. the tail mechanism can at least drive the main body mechanism to move in a certain direction. Since the main body mechanism comprises a sealed shell and an electrically controlled permanent magnet device, when the electrically controlled permanent magnet device is in a magnetized state, the electrically controlled permanent magnet device can be connected with other reconfigurable bionic robotic fish or other driving components, so that the structure after splicing can realize flexible movement in multiple movement directions. When facing a narrow use environment, the electrically controlled permanent magnet device can be controlled to be in a demagnetized state, thereby releasing the components connected with the electrically controlled permanent magnet device through magnetic connection, and further restoring the reconfigurable bionic robotic fish to the original size to adapt to the use demand of the narrow environment. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to the structures shown in these drawings without creative labor.

[0019] Figure 1 Structure schematic diagram of a reconfigurable bionic robotic fish according to an embodiment of the present application;

[0020] Figure 2 Partial structure exploded schematic diagram of a reconfigurable bionic robotic fish according to an embodiment of the present application;

[0021] Figure 3 Structure schematic diagram of a combined bionic fish according to an embodiment of the present application;

[0022] Figure 4 Structure schematic diagram of a combined bionic fish according to an embodiment of the present application;

[0023] Figure 5 Structure schematic diagram of a combined bionic fish according to an embodiment of the present application.

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025]

[0026] The implementation of the present application, functional features and advantages will be further described with reference to the drawings. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0028] It should be noted that all the directional indications (such as front, back, left and right) in the embodiments of the present application are only used to explain the relative position relationship and movement between the components in a certain posture (such as the posture shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. Figure 5

[0029] In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0030] In addition, the technical solutions of the various embodiments of the present application can be combined with each other, but it must be based on the realization of a person of ordinary skill in the art, when the combination of the technical solutions appears contradictory or unachievable, it should be considered that the combination of the technical solutions does not exist, and is not within the protection scope of the present application.

[0031] The present application provides a reconfigurable bionic robotic fish 1, in an embodiment, as shown in the drawings, the reconfigurable bionic robotic fish 1 includes a main body mechanism 11 and a tail mechanism 12, the main body mechanism 11 includes a sealed shell 111 and an electrically controlled permanent magnet device 112 connected to each other, the electrically controlled permanent magnet device 112 includes a magnetized state and a demagnetized state; the tail mechanism 12 is used to drive the sealed shell 111 to move. Figure 1

[0032] ​​The tail mechanism 12 can drive the main body mechanism 11 to move in at least one direction, i.e., the tail mechanism 12 can drive the main body mechanism 11 to move in at least one direction. Since the main body mechanism 11 comprises the sealed shell 111 and the electrically controlled permanent magnet device 112, the electrically controlled permanent magnet device 112 can be switched between the magnetized state and the demagnetized state. When the electrically controlled permanent magnet device 112 is in the magnetized state, the electrically controlled permanent magnet device 112 can be connected with other reconfigurable bionic robotic fish 1 or other driving components, so that the structure after splicing can realize flexible movement in multiple movement directions. When facing a narrow use environment, the electrically controlled permanent magnet device 112 can be controlled to be in the demagnetized state, so as to release the components connected with the electrically controlled permanent magnet device 112 by magnetic connection, and then the reconfigurable bionic robotic fish 1 can be restored to the original size to adapt to the use demand of the narrow environment. It should be noted that the electrically controlled permanent magnet device 112 can use the existing electrically controlled permanent magnet. It should be further noted that the inside of the sealed shell 111 is a sealed space, and water outside cannot enter the sealed space.

[0033] As shown in Figure 1 and Figure 2 The tail mechanism 12 comprises a tail 121 and a waist 122. The tail 121 comprises a tail fin driving assembly 1211 and a tail fin 1212. The tail fin driving assembly 1211 is connected with the tail fin 1212 to drive the tail fin 1212 to swing. The tail fin driving assembly 1211 is connected with the sealed shell 111 through the waist 122. The tail fin driving assembly 1211 drives the tail fin 1212 to swing to simulate the swing of the tail fin of a fish. The swing of the tail fin 1212 drives the sealed shell 111 to move in a certain direction. The tail fin driving assembly 1211 can also change the moving direction of the sealed shell 111 by changing the swing angle of the tail fin 1212 or the position of the tail fin 1212 when the tail fin 1212 stops swinging, thereby improving the flexibility of the reconfigurable bionic robotic fish 1. It should be noted that the swing of the tail fin 1212 driven by the tail fin driving assembly 1211 generates the main propulsive force for the movement of the reconfigurable bionic robotic fish 1. The tail fin driving assembly 1211 is used to drive the tail fin 1212 to swing in the yaw direction.

[0034] According to an embodiment of the present application, the tail fin driving assembly 1211 comprises a tail rudder 12111, a tail rudder disc 12112 and a tail handle 12113. The tail rudder 12111 is connected with the waist 122. The output shaft of the tail rudder 12111 is connected with the tail rudder disc 12112, so that the tail rudder 12111 can drive the tail rudder disc 12112 to rotate. The tail handle 12113 is L-shaped. One end of the tail handle 12113 is connected with the tail rudder disc 12112, and the other end of the tail handle 12113 is connected with the tail fin 1212, so that the tail rudder 12111 can drive the tail fin 1212 to swing through the tail rudder disc 12112 and the tail handle 12113.

[0035] According to another embodiment of the present application, the tail fin 1212 is a carbon fiber tail fin, which has a certain passive flexibility and can effectively improve the motion efficiency of the reconfigurable biomimetic robotic fish 1.

[0036] Further, the waist portion 122 comprises a waist portion driving assembly 1221 and a waist portion connecting member 1222 connected to each other, the waist portion driving assembly 1221 is used to drive the waist portion connecting member 1222 to rotate, and the waist portion connecting member 1222 is connected with the tail fin driving assembly 1211. The waist portion driving assembly 1221 can drive the tail fin 1212 to rotate through the waist portion connecting member 1222 and the tail fin driving assembly 1211, so as to change the flapping mode of the tail fin 1212. The flapping mode of the tail fin 1212 includes a horizontal swing mode and a vertical flapping mode. The horizontal swing mode is mainly used to realize the waist-tail propulsion of fish imitation, so as to complete the maneuvering in the horizontal plane. The vertical flapping mode is mainly used to realize the waist-tail propulsion of cetacean imitation, so as to complete the maneuvering in the vertical plane. The flexibility of the reconfigurable biomimetic robotic fish 1 is significantly improved, so that the reconfigurable biomimetic robotic fish 1 can realize simple three-dimensional motion.

[0037] According to an embodiment of the present application, the waist portion driving assembly 1221 comprises a waist portion steering engine 12211 and a waist portion steering disc 12212. The waist portion steering engine 12211 is connected with the sealed outer shell 111. The output shaft of the waist portion steering engine 12211 is connected with the waist portion steering disc 12212. The waist portion steering disc 12212 is used to be connected with the waist portion connecting member 1222, so that the waist portion steering engine 12211 can drive the waist portion connecting member 1222 to rotate through the waist portion steering disc 12212, and then drive the tail fin 1212 to rotate through the waist portion connecting member 1222.

[0038] In addition, the rotation axis of the waist portion connecting member 1222 is arranged perpendicularly to the rotation axis of the tail fin 1212. This makes the motion of the waist portion 122 and the tail portion 121 more close to the fish tail, and makes it easier to adjust the moving direction of the reconfigurable biomimetic robotic fish 1 by controlling the waist portion steering engine 12211 and the tail portion steering engine 12111. It should be noted that the extension line of the rotation axis of the waist portion connecting member 1222 is coplanar with and arranged perpendicularly to the extension line of the rotation axis of the tail fin 1212.

[0039] In addition, the number of the electrically controlled permanent magnet devices 112 is multiple, the sealed shell 111 is provided with multiple installation surfaces 1111, and each installation surface 1111 is provided with an electrically controlled permanent magnet device 112. The multiple electrically controlled permanent magnet devices 112 are arranged to enable each electrically controlled permanent magnet device 112 to be magnetically connected with other electrically controlled permanent magnet devices 112 of the reconfigurable biomimetic robotic fish 1. Since each reconfigurable biomimetic robotic fish 1 is provided with a tail fin 1212 capable of swinging and a waist connecting member 1222 capable of rotating, only one reconfigurable biomimetic robotic fish 1 can realize simple three-dimensional movement by swinging of the tail fin 1212 and rotation of the waist connecting member 1222. Therefore, the reconfigurable assembly formed by the electrically controlled permanent magnet devices 112 can realize more complex three-dimensional movement and more flexible posture adjustment.

[0040] The electrically controlled permanent magnet device 112 comprises a suction cup circuit board 1121, a suction cup shell 1122, a permanent magnet assembly 1123, a suction cup coil 1124 and a sealing ring 1125. The permanent magnet assembly 1123 is connected with the suction cup shell 1122, the suction cup coil 1124 is electrically connected with the suction cup circuit board 1121, the suction cup coil 1124 is arranged around the periphery of the permanent magnet assembly 1123, the suction cup shell 1122 is installed on the installation surface 1111, the installation surface 1111 is provided with a first through hole 1112 for exposing the outer side of the suction cup shell 1122, the suction cup circuit board 1121, the suction cup coil 1124 and the sealing ring 1125 are located in the sealed shell 111, and the sealing ring 1125 is connected with the suction cup shell 1122 to prevent water from entering the sealed shell 111. The suction cup circuit board 1121 can control the permanent magnet assembly 1123 to switch between the magnetization state and the demagnetization state through the suction cup coil 1124. The two ends of the suction cup coil 1124 are connected with the output end of the suction cup circuit board 1121, the permanent magnet assembly 1123 comprises a first permanent magnet and a second permanent magnet (such as NdFeB magnet and AlNiCo magnet) with different magnetic flux and different magnetic coercive force, and the suction cup coil 1124 is arranged around the periphery of the first permanent magnet and the second permanent magnet to wrap the two kinds of permanent magnets. The suction cup circuit board 1121 can output a large instantaneous current, so that the suction cup coil 1124 generates a fixed strength instantaneous electromagnetic field on both sides, thereby changing the polarity of the permanent magnet with relatively low magnetic coercive force in the first permanent magnet and the second permanent magnet. When the polarity of the first permanent magnet and the second permanent magnet is the same, the whole has an external magnetic property, i.e. the magnetization state; when the polarity of the first permanent magnet and the second permanent magnet is opposite, the two form an internal closed magnetic field and have no external magnetic property, i.e. the demagnetization state. It should be noted that the magnetism of the permanent magnet assembly 1123 can be adjusted by pulse current, so that there is basically no power consumption after the multiple reconfigurable biomimetic robotic fish 1 are assembled, thereby effectively improving the endurance of the reconfigurable biomimetic robotic fish 1.

[0041] And, the reconfigurable biomimetic robotic fish 1 further comprises a visual recognition mechanism 13, which is arranged in the sealed shell 111 and connected with a suction cup shell 1122, and the suction cup shell 1122 is provided with a second through hole 11221 for exposing a lens of the visual recognition mechanism 13. By adding the visual recognition mechanism 13, the reconfigurable biomimetic robotic fish 1 can realize autonomous docking with other reconfigurable biomimetic robotic fish 1 based on visual recognition of the visual recognition mechanism 13.

[0042] As shown in Figure 1 and Figure 2 The number of permanent magnet assemblies 1123 is multiple, and the number of suction cup coils 1124 is consistent with that of the permanent magnet assemblies 1123 and is arranged one by one, so that the suction cup circuit board 1121 can control any permanent magnet assembly 1123 to switch between the magnetized state and the demagnetized state. By adding multiple permanent magnet assemblies 1123, and the state of each permanent magnet assembly 1123 can be independently controlled by the suction cup circuit board 1121, so that the magnetic strength of the electrically controlled permanent magnet assembly 1123 can be controlled by controlling the number of permanent magnet assemblies 1123 in the magnetized state.

[0043] Further, the reconfigurable biomimetic robotic fish 1 comprises an image acquisition mechanism 14, which comprises an image acquisition assembly 141 and a waterproof shield 142, the image acquisition assembly 141 comprises an image acquisition component 1411 and an image acquisition master control unit 1412 electrically connected with the image acquisition component 1411, the image acquisition component 1411 is located in the waterproof shield 142, and the sealed shell 111 is provided with an observation hole for the part of the body of the waterproof shield 142 to extend out. By setting the waterproof shield 142 to protect the image acquisition component 1411, the image acquisition component 1411 can acquire underwater images. It should be noted that the image acquisition component 1411 can be a fisheye camera, and the image acquisition master control unit 1412 is also electrically connected with the visual recognition mechanism 13, so that the image acquisition master control unit 1412 can also control the visual recognition mechanism 13 to acquire images.

[0044] According to an embodiment of the present application, the reconfigurable biomimetic robotic fish 1 further comprises a micro host 15 located in the sealed shell 111, which is in communication connection with the image acquisition master control unit 1412, and the micro host 15 is mainly used for visual information processing and other complex operations.

[0045] The reconfigurable bionic robotic fish 1 further comprises a battery pack 16, the battery pack 16 comprises a plurality of batteries, the number of batteries can be 6, the model of the battery can be 18650 type battery, and a power supply voltage of 12.6V is provided; wherein the battery pack 16 is located in the sealed shell 111 and is arranged close to the bottom of the sealed shell 111, so as to reduce the gravity center of the reconfigurable bionic robotic fish 1 and make the posture of the reconfigurable bionic robotic fish 1 more stable.

[0046] The reconfigurable bionic robotic fish 1 further comprises two communication units 17 located in the sealed shell 111, the two communication units 17 are symmetrically arranged on the two sides of the battery pack 16, the communication unit 17 is used for wireless communication between the reconfigurable bionic robotic fish 1, and the communication unit 17 can also be used for wireless communication between the reconfigurable bionic robotic fish 1 and the shore control end.

[0047] The reconfigurable bionic robotic fish 1 further comprises a voltage stabilizing plate 18 and a main control board 19 located in the sealed shell 111, the voltage stabilizing plate 18 is used to generate the voltage required by the micro host 15 and the main control board 19.

[0048] The reconfigurable bionic robotic fish 1 further comprises an inertial measurement unit 20 located in the sealed shell 111, the inertial measurement unit 20 is used to measure the attitude information of the reconfigurable bionic robotic fish 1. It should be noted that the micro host 15, the communication unit 17 and the inertial measurement unit 20 are connected with the main control board 19 through the USART interface.

[0049] The reconfigurable bionic robotic fish 1 further comprises a depth gauge 21 located in the sealed shell 111, the depth gauge 21 is used to measure the water depth of the environment where the reconfigurable bionic robotic fish 1 is currently located, and is connected with the main control board 19 through the IIC (Inter-Integrated Circuit, Inter-Integrated Circuit) protocol. The main control board 19 takes an STM32 embedded processor as the core, runs an RT-Thread operating system, and is responsible for information processing of various sensors and bottom layer motion control.

[0050] The reconfigurable bionic robotic fish 1 further comprises a button 22, wherein the switch button 22 is exposed outside the sealed shell 111, and the switch button 22 is used to control the opening or closing of the reconfigurable bionic robotic fish 1.

[0051] The reconfigurable bionic robotic fish 1 further comprises a navigation plug 23 located in the sealed shell 111, the navigation plug 23 is electrically connected with the battery pack 16, so that the battery pack 16 can be charged through the navigation plug 23; the navigation plug 23 is in communication connection with the main control board 19, so that the main control board 19 can download and debug programs through the navigation plug 23.

[0052] Furthermore, the present invention also provides a combined bionic fish 2, which includes at least two of the aforementioned reconfigurable bionic robotic fish 1, and any two reconfigurable bionic robotic fish 1 can be connected or separated via an electrically controlled permanent magnet device 112. Since this combined bionic fish 2 employs all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0053] Among them, the biomimetic fish 2 has multiple combination forms, for example:

[0054] Example 1:

[0055] like Figure 3 As shown, the front ends of the two reconfigurable bionic robotic fish 1 are attached together by an electro-controlled permanent magnet assembly 1123. This combination is used to perform four-degree-of-freedom MPF (Median and / or Paired Fin) flapping.

[0056] Example 2:

[0057] like Figure 4 As shown, the sides of the two reconfigurable bionic robotic fish 1 are attracted together by the electro-controlled permanent magnet assembly 1123. That is, the left side of one reconfigurable bionic robotic fish 1 and the right side of another reconfigurable bionic fish are attracted together by the electro-controlled permanent magnet assembly 1123, which can realize the flapping of the two tails.

[0058] Example 3:

[0059] like Figure 5 As shown, based on Embodiment 2, two additional reconfigurable bionic robotic fish 1 are added, one of which has its right side connected to the front end of the reconfigurable bionic robotic fish 1 located on the left side in Embodiment 2, and the other has its left side connected to the front end of the reconfigurable bionic robotic fish 1 located on the right side in Embodiment 2. This combination can complete three-dimensional spatial movement and achieve flexible posture adjustment.

[0060] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A composite biomimetic fish, characterized in that, The combined bionic fish includes at least two reconfigurable bionic robotic fish, any two of which can be connected or separated via an electrically controlled permanent magnet device; the reconfigurable bionic robotic fish includes: The main structure includes a sealed outer shell and an electrically controlled permanent magnet device connected to each other, the electrically controlled permanent magnet device having a magnetized state and a demagnetized state; A tail mechanism, which is used to move the sealed housing; The tail mechanism includes a tail and a waist. The tail includes a tail fin drive assembly and a tail fin. The tail fin drive assembly is connected to the tail fin to drive the tail fin to swing. The tail fin drive assembly is connected to the sealed housing through the waist. The waist includes a waist drive assembly and a waist connector connected to each other. The waist drive assembly is used to drive the waist connector to rotate, and the waist connector is connected to the tail fin drive assembly. The pivot of the waist connector is perpendicular to the pivot of the tail fin. The number of the electrically controlled permanent magnet devices is multiple, and the sealed housing is provided with multiple mounting surfaces, each of which is equipped with an electrically controlled permanent magnet device. The biomimetic fish combination has multiple combination forms, including: Form 1: The front ends of the two reconfigurable bionic robotic fish are attached together by the electro-controlled permanent magnet device. This combination is used to perform four-degree-of-freedom intermediate fin and / or fin-to-fin flapping. Form 2: The sides of the two reconfigurable bionic robotic fish are attracted together by the electro-controlled permanent magnet device, that is, the left side of one reconfigurable bionic robotic fish and the right side of another reconfigurable bionic robotic fish are attracted together by the electro-controlled permanent magnet device to achieve dual tail flapping. Form 3: Based on Form 2, two additional reconfigurable bionic robotic fish are added, with the right side of one reconfigurable bionic robotic fish connected to the front end of the reconfigurable bionic robotic fish located on the left side in Form 2, and the left side of the other reconfigurable bionic robotic fish connected to the front end of the reconfigurable bionic robotic fish located on the right side in Form 2. This combination method can complete three-dimensional spatial movement and achieve flexible posture adjustment.

2. The combined bionic fish according to claim 1, characterized in that, The electrically controlled permanent magnet device includes a suction cup circuit board, a suction cup housing, a permanent magnet assembly, a suction cup coil, and a sealing ring. The permanent magnet assembly is connected to the suction cup housing, and the suction cup coil is electrically connected to the suction cup circuit board. The suction cup coil is wound around the periphery of the permanent magnet assembly. The suction cup housing is mounted on the mounting surface, and the mounting surface has a first through hole for exposing the outer surface of the suction cup housing. The suction cup circuit board, the suction cup coil, and the sealing ring are all located inside the sealed housing. The sealing ring is connected to the suction cup housing to prevent water from entering the sealed housing. The suction cup circuit board can control the permanent magnet assembly to switch between the magnetized state and the demagnetized state through the suction cup coil.

3. The combined bionic fish according to claim 2, characterized in that, The reconfigurable bionic robotic fish also includes a visual recognition mechanism, which is disposed inside the sealed housing and connected to a suction cup housing. The suction cup housing has a second through hole for the lens of the visual recognition mechanism to be exposed.

4. The combined bionic fish according to claim 2, characterized in that, The number of permanent magnet components is multiple, and the number of suction cup coils is the same as the number of permanent magnet components and they are arranged in a one-to-one correspondence, so that the suction cup circuit board can individually control any of the permanent magnet components to switch between the magnetized state and the demagnetized state.

5. The combined bionic fish according to claim 1, characterized in that, The reconfigurable bionic robotic fish includes an image acquisition mechanism, which includes an image acquisition component and a waterproof cover. The image acquisition component includes an image acquisition element and an image acquisition main control unit electrically connected to the image acquisition element. The image acquisition element is located inside the waterproof cover, and the sealed outer shell has an observation hole for a portion of the waterproof cover to extend out.

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