An intelligent robot fish based on modular design

Abstract

This invention discloses an intelligent robotic fish based on a modular design, comprising a separately sealed and modularly configured main control module, sensing module, debugging module, power supply module, and drive module. The sensing module collects environmental information surrounding the intelligent robotic fish and transmits this information to the main control module. The main control module obtains the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtains control information for the drive module based on the relative position and swimming speed, and controls the drive module accordingly. The debugging module is responsible for debugging the control program of the main control module. The power supply module provides power to the intelligent robotic fish. The drive module controls the movement of the intelligent robotic fish. Through modular design, the required drive module and sensing module can be freely replaced according to the usage scenario, achieving a "one-machine-multiple-use" effect, while saving installation and disassembly time and reducing resource waste caused by excessive integration of sensing modules.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to an intelligent robot fish with a modular design. Background Art

[0002] The ocean is an important area of ​​the national development strategy. Marine resource exploration and marine environment detection are important parts of marine resource development. With the development of integrated circuits, micro-electromechanical technology, and AI algorithms, robot-related technologies have matured. Compared with manual diving detection, the use of robots for marine detection can go deep into areas that humans cannot reach, while reducing personnel safety risks. In order to meet the growing needs of marine development, various underwater robots have been designed and applied to various fields. Underwater robots are mainly divided into two categories, one is an unmanned submersible propelled by a propeller, and the other is a bionic propulsion robot designed to imitate underwater creatures. Propeller propellers can have a faster travel speed, and bionic propulsion can better conceal its whereabouts without affecting the surrounding creatures. For different operating tasks, robots are often equipped with different sensor systems. Most robots integrate all possible sensors at the same time. First, it causes a waste of resources, and second, it is cumbersome to replace sensors after failure.

[0003] In the patent document with publication number CN 118182781 A, a bionic pufferfish robot fish with a coordinated drive of a flexible fin and a caudal peduncle is proposed. The robot fish realizes the diverse underwater movements of the bionic pufferfish robot fish through the cooperation of the pectoral fin, dorsal fin, anal fin and caudal fin. However, the robot fish has a high degree of integration and requires the simultaneous action of the pectoral fin, dorsal fin, anal fin and caudal fin to realize the swimming of the robot fish. When any link fails, the robot fish cannot operate normally.

[0004] In the patent document with publication number CN 118494728 A, a bionic robot fish is proposed, which includes a head cabin module, a drive transmission mechanism module and a tail joint cabin module. By continuously rotating the drive submodule, the reciprocating motion of the tail fin can be realized. Although the invention modularizes the head cabin and the drive joint for easy installation, it is unable to realize the replaceable selection of the drive joint module. A robot fish has only one drive mode and does not have a pluggable sensor system and a computing unit for intelligent decision-making.

[0005] Therefore, if a modular underwater robot is provided that can select appropriate drivers and sensors according to the operating environment so that it has the common advantages of propeller thrusters and bionic thrusters, and can install and replace sensors and other equipment as needed, it can achieve the effect of "one machine for multiple uses", improve the utilization rate of the robot, and reduce the development cost of the robot. Summary of the invention

[0006] In order to solve the problems in the prior art, the present invention proposes an intelligent robot fish based on modular design. By modularizing the key parts of the intelligent robot fish and using magnetic suction structures or aviation plugs as connectors, the robot fish can be freely assembled and combined, which facilitates the maintenance and replacement of sensors and drivers.

[0007] In a first aspect, the present invention discloses an intelligent robotic fish based on modular design, comprising a main control module, a sensing module, a debugging module, a power supply module and a driving module that are individually sealed and modularly arranged; the sensing module, the power supply module and the debugging module are connected to the main control module by means of magnetic connection to form the fish head of the intelligent robotic fish; the driving module is connected to the tail of the main control module by means of an aviation plug interface to form the fish tail of the intelligent robotic fish;

[0008] The perception module is used to collect environmental information around the intelligent robotic fish and transmit the collected environmental information to the main control module;

[0009] The main control module is arranged in the middle front part of the intelligent robotic fish, and is responsible for the coordination and management between the modules; it is used to obtain the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtain the control information of the driving module under different driving modes based on the relative position and swimming speed and control the driving module; the driving modes include a single-joint tail fin driving mode, a multi-joint tail fin driving mode, a tail fin and pectoral fin mixed driving mode or a propeller driving mode;

[0010] The debugging module is responsible for debugging the control program of the main control module;

[0011] The power supply module is used to supply power to the intelligent robotic fish;

[0012] The driving module is arranged at the middle and rear part of the intelligent robotic fish, and is used to control the swimming direction and swimming speed of the intelligent robotic fish in different driving modes using the control information generated by the active module; the driving module includes one or more joint motors and a tail fin structure; the joint motor includes a horizontal rotation axis joint motor and / or a vertical rotation axis joint motor, and the tail fin structure drives the intelligent robotic fish to swim under the drive of the joint motor.

[0013] In a second aspect, the present invention discloses a motion control method of an intelligent robotic fish based on modular design, comprising:

[0014] The perception module collects environmental information around the intelligent robotic fish and transmits the collected environmental information to the main control module; the intelligent computing unit of the main control module obtains the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtains the expected swimming speed and expected swimming direction of the robotic fish based on the preset expected position and expected trajectory of the intelligent robotic fish as well as the relative position and swimming speed, and transmits the expected swimming speed and expected swimming direction to the bottom control unit; the bottom control unit obtains control information of the driving module based on the expected swimming speed and expected swimming direction, and controls the driving module to make the intelligent robotic fish move at the expected swimming direction and expected swimming speed.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention provides an intelligent robotic fish based on modular design, in which components such as sensors, drivers, and power supplies of the intelligent robotic fish are arranged as separate modules, and a magnetic structure or an aviation plug is used as a connector. Different modules are assembled together as a robotic fish as a whole, and the functions of the robotic fish are changed by installing different modules, so as to be suitable for corresponding working environments.

[0017] Compared with the existing bionic robot fish, the present invention designs the various components of the robot fish through a modular approach, can freely combine sensors and drivers according to needs, and is connected to the aviation plug through a magnetic connector, so that module switching and installation can be completed quickly.

[0018] Compared with existing AUVs or ROVs, the present invention combines the advantages of bionic propulsion and propeller propulsion, and can switch different drives according to usage scenarios, thereby achieving tasks that traditional AUVs and ROVs cannot achieve.

[0019] Through modular design of the robot fish, the sensor and the driver can be switched freely, which can improve the utilization rate of the equipment, reduce the development cost, and achieve the effect of "one machine for multiple uses". At the same time, the power supply system is integrated through modularization, which can quickly switch the power supply, which is conducive to the long-term operation of the robot fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the assembly diagram of the intelligent robot fish based on modular design;

[0021] Figure 2 This is a schematic diagram of an intelligent robotic fish with a single-joint tail fin drive mode;

[0022] Figure 3 It is a schematic diagram of an intelligent robot fish with a multi-jointed tail fin drive mode;

[0023] Figure 4 This is a schematic diagram of an intelligent robotic fish with a hybrid drive mode of pectoral fin and tail fin;

[0024] Figure 5 This is a schematic diagram of an intelligent robotic fish in propeller drive mode.

[0025] In the figure, 1 is an ultrasonic sensor, 2 is a camera, 3 represents a forward sensor waterproof cabin, 4 represents a main control module waterproof cabin, 5 is a heat sink, 6 represents a debugging module waterproof cabin, 7 is an Ethernet interface, 8 is an artificial lateral line system sensor, 9 represents a lateral sensor waterproof cabin, 10 represents a power supply module waterproof cabin, 11 represents a magnetic connection structure, 12 is a mechanical pectoral fin, 13 is a joint motor, 14 is a mechanical tail fin, 15 is an antenna interface, 16 is an aviation plug interface, 17 is a horizontal rotation axis joint motor, 18 is a vertical rotation axis joint motor, 19 is a brushless motor, and 20 is a propeller. DETAILED DESCRIPTION

[0026] The present invention is further described and illustrated below in conjunction with specific embodiments. The embodiments are merely exemplary of the present disclosure and do not define the scope of limitation. The technical features of each embodiment of the present invention may be combined accordingly without conflicting with each other.

[0027] like Figure 1 As shown, the present invention proposes an intelligent robotic fish based on modular design, which mainly includes: a main control module, a perception module, a debugging module, a power supply module, and a driving module, each of which is individually sealed through a separate waterproof cabin; the perception module, the power supply module, and the debugging module are connected to the main control module by magnetic connection to form the fish head of the intelligent robotic fish; the driving module is connected to the tail of the main control module through an aviation plug interface to form the fish tail of the intelligent robotic fish. The waterproof cabins of each module of the robotic fish are made of ABS material by 3D printing.

[0028] The perception module is used to collect environmental information around the intelligent robotic fish and transmit the collected environmental information to the main control module; the environmental information includes one or more of image data, distance information and pressure information;

[0029] The main control module is arranged in the middle front part of the intelligent robotic fish, and is responsible for the coordination and management between the modules; it is used to obtain the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtain the control information of the driving module under different driving modes based on the relative position and swimming speed and control the driving module; the driving modes include a single-joint tail fin driving mode, a multi-joint tail fin driving mode, a tail fin and pectoral fin mixed driving mode or a propeller driving mode;

[0030] The debugging module is responsible for debugging the control program of the main control module;

[0031] The power supply module is used to supply power to the intelligent robotic fish;

[0032] The driving module is arranged at the middle and rear part of the intelligent robotic fish, and is used to control the swimming direction and swimming speed of the intelligent robotic fish in different driving modes using the control information generated by the active module; the driving module includes one or more joint motors and a tail fin structure; the joint motor includes a horizontal rotation axis joint motor and / or a vertical rotation axis joint motor, and the tail fin structure drives the intelligent robotic fish to swim under the drive of the joint motor; wherein, the horizontal rotation axis joint motor rotates vertically, and the vertical rotation axis joint motor rotates horizontally.

[0033] The perception module is arranged at the front or side of the intelligent robot fish, and includes a visual super perception unit and an artificial lateral line system perception unit. The visual super perception unit includes a visual perception unit and an ultrasonic perception unit. The visual perception unit and the ultrasonic perception unit are located in the front and are responsible for collecting image data and measuring distance. The artificial lateral line system perception unit is located on both sides and is responsible for sensing the relative position and swimming speed of the robot fish.

[0034] The perception module is set as a separate waterproof cabin, which is connected to the main control module through a magnetic connector. When using the intelligent robot fish, the perception module can be installed or not according to needs. Whether it is installed or not does not affect the normal operation of the robot fish. When it is not installed, the movement of the intelligent robot fish can be controlled by remote control.

[0035] The visual perception unit consists of two RGB wide-angle cameras (i.e., camera 2), which can obtain image information within a 120° range in front of the robot fish. By fusing the data of the two cameras, the distance information within a 60° range in front can be obtained. The ultrasonic perception unit consists of an underwater ultrasonic module (i.e., ultrasonic sensor 1), which can obtain the distance of obstacles within a 5m range in front of the robot fish. The visual perception unit and the ultrasonic perception unit are surrounded by the forward sensor waterproof cabin 3.

[0036] The artificial lateral line system sensing unit is composed of a pressure sensor array, which is used to estimate the speed of the robotic fish by sensing the pressure it is subjected to during its swimming process. The artificial lateral line system sensing unit is the artificial lateral line system sensor 8, and the artificial lateral line system sensor 8 is surrounded by the lateral sensor waterproof cabin 9.

[0037] The main control module includes a power management unit, a bottom control unit and an intelligent computing unit. As the core component of the robot fish, it is arranged in the middle front part of the intelligent robot fish. The main control module is responsible for the coordination and management between the modules, as well as data processing and intelligent decision-making. The main control module is provided with a separate waterproof cabin, which is the waterproof cabin of the main control module 4, and there are magnetic connectors and aviation plug interfaces 16 around it; specifically, the front, top, left and right of the cabin have magnetic connection structures, and the rear of the cabin has an aviation plug interface. The main control module is connected to the perception module, power supply module and debugging module through the magnetic connection structure, and the main control module is connected to the drive module through the aviation plug interface.

[0038] In one embodiment of the present invention, an antenna interface 15 is further provided at the rear of the main control module, and the antenna interface 15 is used to communicate with a host computer to achieve remote control and online debugging.

[0039] In one embodiment of the present invention, aluminum alloy is used as the heat sink 5, and the heat generated by the intelligent computing unit in the waterproof cabin 4 of the main control module is transferred to the water through the heat transfer of the intelligent robotic fish in the water, thereby reducing the cabin temperature.

[0040] The power management unit consists of a voltage stabilization circuit and an electronic speed regulator, and is responsible for converting the power supply voltage provided by the power supply module into the voltage required by the underlying control unit and the intelligent computing unit, as well as the voltage required by the perception module and the drive module. The intelligent computing module consists of a CPU and a GPU, and is responsible for processing the collected sensor data and making motion decisions for the robot fish. The underlying control unit consists of an MCU processor and a posture sensor, and is responsible for the underlying posture control of the intelligent robot fish.

[0041] The power management unit, the bottom control unit and the intelligent computing unit are all made by welding printed epoxy glass fiber boards.

[0042] The debugging module can be arranged above the main control module, and includes a USB interface circuit, an Ethernet interface 7 circuit, a video display interface circuit, a program download interface circuit, and a serial port debugging interface circuit, and is responsible for debugging the underlying control program and intelligent decision-making program of the main control module, as well as collecting the environmental information, relative position, and swimming speed. The debugging module is surrounded by a debugging module waterproof cabin 6, and the debugging module is connected to the main control module through a magnetic suction connector.

[0043] The USB interface circuit and the video display interface circuit are used to connect an external keyboard, mouse and display screen to debug the intelligent computing unit. The circuit of Ethernet interface 7 is used for communication between the external host computer and the intelligent robot fish. The program download interface circuit and the serial port debugging interface circuit are used to debug the bottom control unit.

[0044] The power supply module is located below the main control module and includes a lithium battery, a waterproof switch and a power adapter. The lithium battery is used as a power supply. The power supply module is responsible for powering the entire intelligent robot fish. At the same time, it can lower the center of mass and improve the swimming stability. The power supply module is provided with a separate waterproof cabin, which is the power supply module waterproof cabin 10. The lithium battery is placed inside the cabin, and a waterproof switch is left outside the cabin. The power supply module is connected to the main control module through a magnetic suction connector.

[0045] The drive module is located behind the main control module and can be composed of a waterproof joint motor or a waterproof brushless motor. The drive module is divided into a single-joint tail fin drive module, a multi-joint tail fin drive module, a tail fin and pectoral fin hybrid drive module, and a propeller drive module according to the drive mode. It can be freely combined according to the use environment, including single-joint tail fin drive, multi-joint tail fin drive, tail fin and pectoral fin hybrid drive, and propeller drive, which are responsible for the motion control of the robot fish. The drive module is connected to the main control module through the aviation plug interface 16.

[0046] like Figure 2 As shown, it shows that in the single-joint tail fin drive mode, the drive module is a single-joint tail fin drive module, and the single-joint tail fin drive module includes a vertical rotation axis joint motor 18 and a tail fin structure connected to the rear of the joint motor, and the tail fin structure is a mechanical tail fin 14. Based on the control information, the mechanical tail fin 14 is controlled by the joint motor 13 to swing periodically to provide power for the intelligent robot fish, the swimming speed of the intelligent robot fish is adjusted based on the swing frequency and amplitude of the mechanical tail fin 14, and the swimming direction of the intelligent robot fish is adjusted based on the swing bias of the mechanical tail fin 14.

[0047] like Figure 3 As shown, it shows that in the multi-joint tail fin driving mode, the driving module is a multi-joint tail fin driving module, which includes three joint motors 13 connected in series and a tail fin structure connected to the rear of the last joint motor, wherein the joint motor 13 directly connected to the main control module is a horizontal rotation axis joint motor 17, which is responsible for adjusting the pitch angle of the intelligent robot fish. The remaining joint motors are vertical rotation axis joint motors 18, and the tail fin structure is a mechanical tail fin 14; the joint motor 13 is controlled by the CPG control model based on the control information to achieve the periodic swing of the mechanical tail fin 14, and the swimming speed and swimming direction of the intelligent robot fish are adjusted based on the parameters of the CPG control model.

[0048] like Figure 4As shown, it shows that in the caudal fin and pectoral fin hybrid drive mode, the driving module is a caudal fin and pectoral fin hybrid drive module, the caudal fin and pectoral fin hybrid drive module includes three joint motors 13, a caudal fin structure and two symmetrically arranged mechanical pectoral fins 12, the caudal fin structure and the two mechanical pectoral fins 12 are driven by different joint motors 13, the joint motor 13 driving the caudal fin structure is a vertical rotation axis joint motor 18, the joint motor 13 driving the mechanical pectoral fins is a horizontal rotation axis joint motor 17, and the caudal fin structure is a mechanical caudal fin 14;

[0049] Based on the control information, the joint motor 13 controls the mechanical tail fin 14 and the mechanical pectoral fin 12 to perform periodic swinging to control the swimming direction and swimming speed of the intelligent robotic fish, wherein the swimming direction includes yaw direction, pitch and roll direction; the mechanical tail fin 14 is used to provide power and adjust the yaw direction of the intelligent robotic fish, and the mechanical pectoral fin 12 is used to adjust the pitch and roll directions of the intelligent robotic fish.

[0050] like Figure 5 As shown, it shows that in the propeller drive mode, the drive module is a propeller drive module, and the propeller drive module includes a plurality of joint motors 13 connected in series, and a tail fin structure connected to the rear of the last joint motor 13; wherein the joint motor 13 directly connected to the main control module is a horizontal rotation axis joint motor 17, and the remaining joint motors 13 are vertical rotation axis joint motors 18, and the tail fin structure includes a brushless motor and a propeller connected to the rear of the brushless motor;

[0051] Based on the control information, the movement of the intelligent robotic fish is controlled by the joint motor 13 and the brushless motor 19. The joint motor 13 is responsible for adjusting the swimming direction of the intelligent robotic fish, and the brushless motor 19 drives the propeller 20 to adjust the swimming speed of the intelligent robotic fish. In a specific embodiment of the present invention, the brushless motor 19 is a waterproof brushless motor.

[0052] In one embodiment of the present invention, the horizontal rotation axis joint motor 17 and the vertical rotation axis joint motor 18 are connected in series, which can provide left and right steering and ascent and descent in the multi-joint tail fin drive mode and propeller drive mode, thereby improving the freedom of movement of the robot fish.

[0053] In a specific embodiment of the present invention, the present invention also discloses a motion control method of an intelligent robotic fish based on modular design, comprising the following steps:

[0054] The perception module collects environmental information around the intelligent robotic fish and transmits the collected environmental information to the main control module;

[0055] The perception module collects environmental information around the intelligent robotic fish and transmits the collected environmental information to the main control module; the intelligent computing unit of the main control module obtains the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtains the expected swimming speed and expected swimming direction of the robotic fish based on the preset expected position and expected trajectory of the intelligent robotic fish as well as the relative position and swimming speed, and transmits the expected swimming speed and expected swimming direction to the bottom control unit; the bottom control unit obtains control information of the driving module based on the expected swimming speed and expected swimming direction, and controls the driving module to make the intelligent robotic fish move at the expected swimming direction and expected swimming speed.

[0056] The above-mentioned embodiments only express several implementation modes of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. For those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An intelligent robot fish based on modular design, characterized in that: It includes a main control module, a sensing module, a debugging module, a power supply module and a driving module which are separately sealed and modularly arranged; the sensing module, the power supply module and the debugging module are connected to the main control module by means of magnetic connection to form the fish head of the intelligent robot fish; the driving module is connected to the tail of the main control module by means of an aviation plug interface to form the fish tail of the intelligent robot fish; The perception module is used to collect environmental information around the intelligent robotic fish and transmit the collected environmental information to the main control module; The main control module is arranged in the middle front part of the intelligent robotic fish, and is responsible for the coordination and management between the modules; it is used to obtain the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtain the control information of the driving module under different driving modes based on the relative position and swimming speed and control the driving module; the driving modes include a single-joint tail fin driving mode, a multi-joint tail fin driving mode, a tail fin and pectoral fin mixed driving mode or a propeller driving mode; The debugging module is responsible for debugging the control program of the main control module; The power supply module is used to supply power to the intelligent robotic fish; The driving module is disposed at the middle and rear part of the intelligent robotic fish, and is used to control the swimming direction and swimming speed of the intelligent robotic fish in different driving modes using the control information generated by the active module; the driving module includes one or more joint motors and a tail fin structure; the tail fin structure drives the intelligent robotic fish to swim under the drive of the joint motor; In the multi-joint tail fin driving mode, the driving module is composed of a plurality of joint motors connected in series and a tail fin structure connected to the rear of the last joint motor, wherein the joint motor directly connected to the main control module is a horizontal rotation axis joint motor, and the remaining joint motors are vertical rotation axis joint motors, and the tail fin structure is a mechanical tail fin; In the propeller drive mode, the drive module consists of multiple joint motors connected in series and a tail fin structure connected to the rear of the last joint motor; wherein the joint motor directly connected to the main control module is a horizontal rotation axis joint motor, and the remaining joint motors are vertical rotation axis joint motors, and the tail fin structure includes a brushless motor and a propeller connected to the rear of the brushless motor.

2. The intelligent robotic fish based on modular design according to claim 1, characterized in that: The main control module is sealed by a separate waterproof cabin, the cabin wall of which is provided with a magnetic connection structure for installing a sensing module, a power supply module and a debugging module, and an aviation plug interface for connecting a drive module; a heat dissipation device for dissipating heat from the waterproof cabin is also provided on the waterproof cabin; The main control module includes a power management unit, a bottom control unit and an intelligent computing unit. The power management unit is used to convert the voltage provided by the power supply module into a voltage suitable for the bottom control unit, the intelligent computing unit, the perception module and the driving module; the intelligent computing unit is used to obtain the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtain the expected swimming speed and expected swimming direction of the robotic fish based on the preset expected position and expected trajectory of the intelligent robotic fish as well as the relative position and swimming speed, and transmit the expected swimming speed and expected swimming direction to the bottom control unit; the bottom control unit obtains the control information of the driving module based on the expected swimming speed and expected swimming direction, and controls the driving module to make the intelligent robotic fish move at the expected swimming direction and expected swimming speed.

3. The intelligent robotic fish based on modular design according to claim 1, characterized in that: The perception module is sealed by a separate waterproof cabin. The perception module includes a visual and super perception unit and / or an artificial lateral line system perception unit. The visual and super perception unit includes a visual perception unit and an ultrasonic perception unit. The visual perception unit and the ultrasonic perception unit are arranged in front of the main control module. The visual perception unit is used to collect image data in front of the intelligent robotic fish, and the ultrasonic perception unit is used to collect distance information between the intelligent robotic fish and the obstacles in front. The artificial lateral line system perception unit is arranged on the side of the main control module to collect pressure information around the intelligent robotic fish.

4. The intelligent robotic fish based on modular design according to claim 1, characterized in that: In the single-joint tail fin drive mode, the drive module consists of a vertical rotating axis joint motor and a tail fin structure connected to the rear of the vertical rotating axis joint motor, and the tail fin structure is a mechanical tail fin; based on control information, the mechanical tail fin is controlled by the joint motor to swing periodically to provide power for the intelligent robotic fish, the swimming speed of the intelligent robotic fish is adjusted based on the swing frequency and amplitude of the mechanical tail fin, and the swimming direction of the intelligent robotic fish is adjusted based on the swing bias of the mechanical tail fin.

5. The intelligent robotic fish based on modular design according to claim 1, characterized in that: In the multi-joint tail fin drive mode, the joint motor is controlled by the CPG control model based on the control information to achieve periodic swinging of the mechanical tail fin, and the swimming speed and swimming direction of the intelligent robot fish are adjusted based on the parameters of the CPG control model.

6. The intelligent robotic fish based on modular design according to claim 1, characterized in that: In the caudal fin and pectoral fin hybrid driving mode, the driving module is composed of three joint motors, a caudal fin structure and two symmetrically arranged mechanical pectoral fins, the caudal fin structure and the two mechanical pectoral fins are driven by different joint motors, the joint motor driving the caudal fin structure is a vertical rotation axis joint motor, the joint motor driving the mechanical pectoral fins is a horizontal rotation axis joint motor, and the caudal fin structure is a mechanical caudal fin; Based on the control information, the mechanical tail fin and the mechanical pectoral fin are controlled by the joint motor to swing periodically, thereby controlling the swimming direction and swimming speed of the intelligent robotic fish, wherein the swimming direction includes yaw direction, pitch direction and roll direction; the mechanical tail fin is used to provide power and adjust the yaw direction of the intelligent robotic fish, and the mechanical pectoral fin is used to adjust the pitch direction and roll direction of the intelligent robotic fish.

7. The intelligent robotic fish based on modular design according to claim 1, characterized in that: In the propeller drive mode, the movement of the intelligent robotic fish is controlled by the joint motor and the brushless motor based on control information. The joint motor is responsible for adjusting the swimming direction of the intelligent robotic fish, and the brushless motor drives the propeller to adjust the swimming speed of the intelligent robotic fish.

8. The intelligent robotic fish based on modular design according to any one of claims 2 to 3, characterized in that: The body of the waterproof cabin is made of ABS material by 3D printing technology.

9. A motion control method using the modular design-based intelligent robotic fish according to claim 1, characterized in that: include: The perception module collects environmental information around the intelligent robotic fish and transmits the collected environmental information to the main control module; The intelligent computing unit of the main control module obtains the relative position and swimming speed of the intelligent robotic fish based on the environmental information, and then obtains the expected swimming speed and expected swimming direction of the robotic fish based on the preset expected position and expected trajectory of the intelligent robotic fish as well as the relative position and swimming speed, and transmits the expected swimming speed and expected swimming direction to the bottom control unit; the bottom control unit obtains control information of the driving module based on the expected swimming speed and expected swimming direction, and controls the driving module to make the intelligent robotic fish move at the expected swimming direction and expected swimming speed.

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