A bionic fish and its monitoring base station

Abstract

The present invention proposes a bionic fish and a monitoring base station thereof, which belong to the field of deep-sea exploration. It solves the problem that traditional underwater vehicles will cause significant disturbance to the in-situ ecosystem when exploring the seabed ecosystem. A bionic fish comprises: a bionic shell, which is a streamlined cavity shell; a propulsion component, which is arranged inside the bionic shell and is used to push the movement of the bionic shell; an angle adjustment component, which is arranged on the bionic shell and is used to change the movement angle of the bionic shell; a first pressure-maintaining component, which is arranged on the bionic shell and changes the internal pressure of the bionic shell by the flow of seawater into the interior; a second pressure-maintaining component, which is arranged on the bionic shell and is squeezed by seawater to maintain the pressure of the bionic shell. It is mainly used for deep-sea exploration.

Description

Technical Field

[0001] The present invention belongs to the field of deep sea exploration, and in particular relates to a bionic fish and a monitoring base station thereof. Background Art

[0002] In recent years, with the development of deep-sea equipment, countries have been accelerating their efforts in deep-sea mining. Deep-sea mining primarily involves three main minerals: polymetallic nodules, polymetallic sulfides, and cobalt-rich ferromanganese crusts. These minerals are concentrated in abyssal plains, hydrothermal vents, and seamounts. The current mainstream mining method involves using deep-sea mining vehicles to crush and collect the minerals, which are then pumped to surface processing vessels via a pumping system. The processed minerals remain on board, while slag, wastewater, and other materials are discharged back into the sea. However, mining activities in any of these deep-sea environments will inevitably have irreversible impacts on the ecological environment of the area. These impacts include the removal of organisms from the deposits, sediment plumes generated by mining and dewatering, pollutants and toxins released during the mining process, and noise and light generated by mining activities.

[0003] Currently, assessing the potential environmental impacts of deep-sea mining remains extremely difficult. In situ environmental monitoring of mining areas is often conducted during small-scale pilot mining. However, traditional underwater vehicles, such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs), are expensive, generate significant noise and vibration, and produce light pollution. These vehicles can significantly disrupt the in situ ecosystem when surveying the seafloor. Summary of the Invention

[0004] In view of this, the present invention aims to propose a bionic fish and a monitoring base station thereof to solve the problem that traditional underwater vehicles cause significant disturbance to the in-situ ecosystem when detecting the seabed ecosystem.

[0005] To achieve the above object, the present invention adopts the following technical solution. According to another aspect of the present invention, a bionic fish is provided, comprising:

[0006] The bionic shell is a streamlined cavity shell;

[0007] A propulsion assembly, disposed inside the bionic shell, for propelling the bionic shell to move;

[0008] An angle adjustment component, provided on the bionic shell, for changing the movement angle of the bionic shell;

[0009] A first pressure-maintaining component is provided on the bionic shell and changes the internal pressure of the bionic shell by allowing seawater to flow into the shell;

[0010] The second pressure-maintaining component is arranged on the bionic shell and is squeezed by seawater to maintain the pressure of the bionic shell.

[0011] Furthermore, the bionic shell includes a fish body, the interior of the fish body is a cavity, and the cavity is filled with a medium. The first pressure-maintaining component is arranged at one end of the fish body to adjust the pressure inside the cavity, and the second pressure-maintaining component is arranged outside the fish body and connected to the cavity.

[0012] Furthermore, the first pressure-maintaining component includes a deformation cover and a pressure-maintaining shell, the deformation cover is arranged on the fish body and connected to the cavity, one end of the pressure-maintaining shell is arranged on the fish body to wrap the deformation cover, a water storage cavity is formed between the pressure-maintaining shell and the deformation cover, the water storage cavity is connected to the outside world, and the other end of the pressure-maintaining shell is provided with a fish head.

[0013] Furthermore, the second pressure-maintaining component includes a pressure-maintaining bladder, which is arranged on the fish body, is communicated with the cavity, and is filled with the medium.

[0014] Furthermore, the propulsion component includes a fish tail and a driving fiber tissue, the fish tail is arranged at the end of the fish body away from the first pressure-maintaining component, at least two groups of driving fiber tissues are provided inside the fish tail, a first driving component connected to the driving fiber tissue is provided inside the cavity, and a tail fin is provided at the end of the fish tail.

[0015] Furthermore, the first driving component connection includes a driving motor and a hydraulic piston cylinder, the driving motor and the hydraulic piston cylinder are connected, the number of the hydraulic piston cylinders corresponds to the driving fiber tissue, the hydraulic piston cylinder is relatively connected to the driving fiber tissue, and hydraulic oil is provided in the hydraulic piston cylinder and the fiber tissue.

[0016] Furthermore, the angle adjustment component includes fins and a second drive component, at least two of the fins are arranged on the fish body, and the fins are connected to the second drive component arranged inside the cavity.

[0017] Furthermore, the second driving assembly includes driving servos, the number of the driving servos corresponds to the number of the fins, and the driving servos are connected to the fins accordingly.

[0018] Furthermore, the medium is hydraulic oil.

[0019] According to another aspect of the present invention, a monitoring base station is provided, comprising a plurality of bionic fish as described above, and an electric reel assembly for retracting and releasing the bionic fish.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The bionic shell is a streamlined hollow shell, which makes the bionic fish compact and highly adaptable, enabling close detection of complex terrain in mining areas. The propulsion component and the first pressure-maintaining component allow the bionic fish to be driven by a soft brake, which causes less disturbance to the seabed than traditional submersibles and enables low-disturbance detection. By deploying multiple soft robotic fish, high-precision detection of the seabed over a large area can be achieved. The first and second pressure-maintaining components enable the bionic fish to adapt to different water depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the composite base station according to the present invention;

[0024] Figure 2 This is a schematic diagram of the three-dimensional structure of the bionic fish of the present invention;

[0025] Figure 3 This is a schematic diagram of the front cross-sectional structure of the bionic fish of the present invention;

[0026] Figure 4 This is a schematic structural diagram of the power assembly of the fish body in the detector drive assembly of the bionic fish of the present invention;

[0027] Figure 5 This is a schematic diagram of the bottom view of the bionic fish of the present invention;

[0028] Figure 6 This is a schematic structural diagram of the driving fiber tissue component and the tail component disposed at the tail of the bionic fish of the present invention;

[0029] Figure 7 This is a schematic structural diagram of the head of the bionic fish and the deep-sea environment monitoring component of the present invention;

[0030] Figure 8 This is a schematic diagram of the three-dimensional structure of the deep-sea environment monitoring component of the bionic fish of the present invention;

[0031] Figure 9 This is a schematic structural diagram of the electric reel assembly of the composite base station of the present invention;

[0032] Figure 10 This is a schematic diagram of the power supply component structure of the composite base station according to the present invention;

[0033] Figure 11 This is a schematic diagram of the structure of the electromagnetic magnetic attraction component of the composite base station of the present invention;

[0034] Figure 12Schematic diagram of detection operation of the composite base station system according to the present invention.

[0035] Hook fixing pin 1; hook movable frame 2; hook 3; hook connecting frame 4; hook fixing frame 5; fixing bracket 6; power supply assembly 7; battery box cover 701; battery cable connector 702; battery 703; battery box 704; base station camera 8; bionic shell 9; cable quick connector 901; tail fin 902; fish tail 903; oil seal shell 904; dorsal fin 905; oil plug 906; fish body 907; pressure-retaining shell 908; head-body connecting piece 909; protective cover 910; fish head 911; pressure-retaining bladder 912; fixing clamp 913; transmission member 914; lower part of fish body 915; fish fin 916; oil seal plate 917; first cable 918; oil distribution pipe 919; hydraulic piston cylinder 920; hydraulic piston cylinder fixing bracket 921; piston rod adapter 922; bent shaft 923; bent shaft adapter 924; bent shaft adapter fixing bracket 925; drive motor 926; deformation cover 927; steering gear fixing bracket 928; detector battery 929; plum blossom coupling 930; diverter flange 931; magnetic block 932; oil pipeline 933; controller sealing box 934; signal receiving and transmitting device 935; controller fixing plate 936; controller 937; first bearing 938; bearing End cap 939; connecting rod 940; intermediate shaft 941; crank 942; driving servo 943; sealing ring assembly 944; motor fixing bracket 945; power mechanism fixing frame 946; waterproof joint 947; joint 948; driving fiber tissue 949; deep-sea environment monitoring assembly 950; visual camera 950-1; camera bracket 950-2; electromagnetic magnetic attraction assembly 10; electromagnetic magnet 1001; electromagnetic magnetic attraction column 1002; relay station outer box 11; base fixing member 12; square tube fixing member 13; electric reel assembly 14; second bearing 1401; reel mounting seat 14 02; second cable 1403; reel 1404; reel drive right shaft 1405; small pulley 1406; motor 1407; motor support 1408; large pulley 1409; belt 1410; bearing end cover 1411; reel cable connector 1412; reel drive left shaft 1413; sleeve 1414; cable connector 15; relay station box cover 16; fixed support 17; fixed base plate 18; buoyancy block 19; scientific research vessel 20; signal terminal 21; terminal cable 22; release and salvage equipment 23; target area sea level 24; detection of biota 25; seabed 26; plume 27. DETAILED DESCRIPTION

[0036] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0037] It should be noted that the descriptions of the present invention regarding directions such as "left", "right", "left side", "right side", "upper", "lower", "top", and "bottom" are all defined based on the relationship between the orientations or positions shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0038] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0039] Referring to the accompanying drawings, this embodiment is described. According to one aspect of the present invention, a bionic fish is provided, including: a bionic shell 9, which is a streamlined hollow shell. The streamlined bionic shell 9 makes the bionic fish compact and highly adaptable, and can achieve close detection of complex terrain in mining areas; a propulsion component is arranged inside the bionic shell, for promoting the movement of the bionic shell 9, and an angle adjustment component is arranged on the bionic shell 9, for changing the movement angle of the bionic shell 9. The propulsion component and the first pressure-maintaining component allow the bionic fish to be driven by a soft brake, which causes less disturbance to the seabed than traditional submersibles and can achieve low-disturbance detection; a first pressure-maintaining component is arranged on the bionic shell 9, and maintains the pressure of the bionic shell 9 by the flow of seawater into the inside; a second pressure-maintaining component is arranged inside the bionic shell 9, and is squeezed by seawater to maintain the pressure of the bionic shell 9. The first pressure-maintaining component and the second pressure-maintaining component enable the bionic fish to adapt to different water depths.

[0040] In this embodiment, the bionic shell 9 includes a fish body 907, the interior of the fish body 907 is a cavity, and the cavity is filled with a medium, the deformation cover 927 is arranged on the fish body 907 and communicates with the cavity, one end of the pressure-maintaining shell 908 is arranged on the fish body 907 to wrap the deformation cover 927, and a water storage cavity is formed between the pressure-maintaining shell 908 and the deformation cover 927, and the water storage cavity is communicated with the outside world, and the other end of the pressure-maintaining shell 908 is provided with a fish head 911, and the fish head 911 is made of silicone material as a whole, and the fish head 911 is connected to the head-body connector 909. The front end is threadedly connected to the fish head 911, the rear end of the head-body connector 909 is connected to the pressure-maintaining shell 908, the fish body 907 and the lower part 915 of the fish body are connected by countersunk bolts, the fish body is made of acrylic material, the rear end of the head-body connector 909 is connected to the pressure-maintaining shell 908, the rear end of the fish body 907 is connected to the oil seal plate 917 by countersunk bolts, the oil seal plate 917 is connected to the oil seal shell 904 by countersunk bolts, the oil seal shell 904 is connected to the fish tail 903 by threaded connection, the fish tail is made of silicone material, and the drive fiber 949 is filled and sealed with silicone. The fish tail 903 is fixed in the fish tail 903, the fish tail 903 and the tail fin 902 are adhered by silicone, the first driving component is fixed to the inside of the fish body 907 by bolt connection, the deep-sea environment monitoring component 950 is fixed to the fish head 911 of the bionic fish by silicone filling and sealing, the second pressure-maintaining component includes a pressure-maintaining bladder 912, the pressure-maintaining bladder 912 is arranged on the fish body 907, the pressure-maintaining bladder 912 is connected to the cavity through a joint 948, the pressure-maintaining bladder 912 is filled with high-pressure hydraulic oil, and the deep-sea environment monitoring component 950 is fixed to the fish head 911 by silicone filling and sealing. Component 950 is fixed in the head 911 of the bionic fish by means of silicone filling and sealing. The data collected by the deep-sea environment monitoring component 950 is directly transmitted to the signal receiving and transmitting device 935 on the tail of the fish through the internal Bluetooth chip. The signal receiving and transmitting device 935 is connected to the first cable 918. A cable quick connector 901 is provided at the end of the first cable 918. The signal receiving and transmitting device 935 is connected to the controller 937 arranged inside the fish body 907, and the controller 937 is connected to the deep-sea environment monitoring component 950.

[0041] In this embodiment, the oil seal plate 917 is provided with a hole through which the oil delivery pipe 933 passes. The specific method of threaded connection between the oil seal shell 904 and the fish tail 903 is that a connector with a thread is embedded in the fish tail 903 in advance during the silicone casting. After casting, the connector and the fish tail 903 become one body. The oil seal shell 904 is provided with a threaded hole corresponding to the nominal diameter of the connector. Finally, the two are connected to each other. The fish body 907 is provided with a device fixing groove, which is arranged in the axial direction of the fish body. It is a cubic through groove, but an arc-shaped groove is opened above the rectangular cross-section of the axial large end face. The fish body 907 is provided with a threaded hole, which is not a through hole and is arranged above the fixed groove. A boss is provided at the tail end of the lower part 915 of the fish body, and the boss has a rectangular mounting groove. The magnetic block is arranged in the rectangular mounting of the boss, and the two are interference fit. The bionic fish body 907 is provided with a dorsal fin 905. The threaded through hole on the dorsal fin 905 is filled with high-pressure oil into the sealed fish body, and then sealed with an oil plug 906.

[0042] In this embodiment, the drive motor 926 is connected to the diverter flange 931 through a plum blossom coupling 30, and the bent shaft 923 and the diverter flange 931 as well as the bent shaft 923 and the bent shaft adapter 924 are all connected by sliding keys. The bent shaft adapter 924 and the hydraulic piston cylinder 920 are connected by a crank 923 and a connecting rod 940. There is a shaft system at the connection between the crank 923 and the connecting rod 940 and the connection between the connecting rod 940 and the piston rod adapter 922, which includes a rotating intermediate shaft 941, a first bearing 938 and a bearing end cover 939. The piston rod and the piston rod adapter 922 are connected by a threaded connection. The waterproof joint 947 is arranged on both sides of the upper end of the fish body 907, and the transmission part 914 and the waterproof joint 947 are gap-matched. The oil pipe 933 is threadedly connected to the rear end through cover of the hydraulic piston cylinder corresponding to each other on both sides, and the oil pipe 933 passes through the hole opened on the oil seal plate 917. Here, the oil pipe 933 and the hole are interference fit, and then are threadedly connected to the corresponding oil distribution pipe 919. The oil seal shell 904 is provided with an oil distribution hole connected to the oil distribution pipe 919, and the oil distribution pipe 919 is engaged with the rear end driving fiber tissue 949 from then on. The fish body 907 is provided with a device fixing groove and a fixing frame 946 is arranged in the device fixing groove. The motor fixing bracket 945 is arranged in parallel on the power mechanism fixing frame 946, and the steering gear fixing bracket 928 is installed between the two motor fixing brackets 945. The bending shaft adapter fixing bracket 925 and the hydraulic piston cylinder fixing bracket The frames 921 are all arranged on the fixed frame 946, and the detector battery 929 is arranged on the power mechanism fixed frame 946 by binding with nylon belts. The power source mechanism of the bionic fish is the drive motor 926 and the detector battery 929. The drive motor 926 has a good sealing effect, and its motor shaft can work normally in a high-pressure liquid environment. The bilateral drive servos 943 and the drive motor 926 are both sealed and packaged to ensure normal operation in high-pressure oil. The drive fiber tissue 949 simulates the red muscle fiber bundle of fish, adopts McKibben artificial muscle, and is restricted by weaving a mesh on the outer layer of the muscle, so that the inner tubular structure produces radial expansion and axial contraction under the action of pressure. There are two groups of drive fiber tissues 949, each group Five, the length of which is determined by the length of the fish tail 903 shell, the power mechanism fixing frame 946 is composed of a combination of square pipes, set in the device fixing slot of the fish body 907, and the overall shape is a cube, there are two motor fixing brackets 945, which are arranged in parallel in the middle part of the drive motor fuselage, and are T-shaped as a whole, with a slot at the upper end and through holes at both ends of the slot. The tightness of the motor is adjusted by installing the bolts therein, the drive motor 926 and the drive servo 943 are connected to the controller 937, and after the control signal is transmitted to the signal receiving and transmitting device 935, the control signal is further sent to the controller 937 located in the fish body 907 and the integrated control chip in the deep-sea environment monitoring component 950 set in the fish head 911 by Bluetooth wireless transmission,The controller 937 sends a control signal to the drive motor 926, and the drive motor 926 starts to rotate repeatedly at an angle of less than 180 degrees in the clockwise and counterclockwise directions. The driving power brought by the drive motor 926 is transmitted to the diverter flange 931 through the plum blossom coupling 930, and the bent shafts 923 on both sides that are slidably connected to the diverter flange 931 start to reciprocate in opposite directions. Its power is further transmitted to the hydraulic piston cylinders 920 on both sides of the rear side, and the crank slider mechanism composed of the crank 942, the connecting rod 940 and the hydraulic piston cylinder 920 starts to reciprocate. The reciprocating directions of the piston rods in the hydraulic piston cylinders 920 on both sides are opposite. The hydraulic piston cylinders 920 are filled with hydraulic oil. The piston rod of the hydraulic piston cylinder 920 on one side moves linearly inward. At this time, the oil in the cylinder becomes high-pressure oil and is pressed into the oil pipe 933 on the corresponding side, and then the high-pressure oil is input into the driving fiber tissue 949 on this side through the oil distribution pipe 919. The hydraulic piston cylinder 9 The piston cylinder 20 moves in the opposite direction to the piston on the previous side, and it extracts the hydraulic oil into low-pressure oil. The driving fiber tissue 949 on the same side is compressed and deformed compared to the bulging deformation on the other side. Under the action of the hydraulic piston cylinder 920, the driving fiber tissues 949 on both sides are deformed in opposite directions, causing the fish tail 903 to swing. When the hydraulic piston cylinder 920 repeatedly reciprocates, the driving fiber tissue 949 in the fish tail 903 is also repeatedly compressed or expanded, and finally drives the fish tail 903 to swing as a whole, providing driving force for the bionic fish. The pitching direction of the bionic fish is changed by the fins 916 on both sides. When the bionic fish wants to change its pitch direction, the controller 937 sends a control command to the driving servos 943 on both sides. After receiving the command, the driving servos 943 begin to rotate to the target angle, thereby driving the transmission member 914 to rotate, and the fins 916 set on the transmission member 914 rotate accordingly, thereby achieving swimming at different pitch angles.

[0043] In this embodiment, the pressure-maintaining bladder 912 is filled with high-pressure hydraulic oil. The pressure-maintaining bladder 912 is fixed to the lower part 915 of the fish body by a fixing clip 913. The fixing clip 913 is connected to the lower end 915 of the fish body by bolts. The oil plug 906 is threadedly connected to the dorsal fin 905 of the bionic shell 9. The oil quick-connect connector 948 is threadedly connected to the lower part 915 of the fish body with a gasket. The deformation coefficient of the deformable cover 927 is higher than that of the acrylic material and is a soft material. There are three-layer step structures inside the pressure-maintaining shell 908. The bottom structure is a step layer with an inner diameter smaller than the outer diameter of the outer ring of the deformable cover 927, the middle layer is a step layer with an inner diameter equal to the outer diameter of the outer ring of the deformable cover 927, and the top layer is a step layer with an inner diameter smaller than the outer diameter of the outer ring of the deformable cover 927 but larger than the inner diameter of the inner ring of the deformable cover 927. The deformable cover 927 made of soft material is embedded in it through the three-layer structure to ensure sealing. Bolt holes are opened on the outer ring of the deformation cover 927, and the deformation cover is fixed in the pressure-maintaining shell 908 by bolt connection. The pressure-maintaining shell 908 is opened on the outer side of the connection of the deformation cover 927. Since the bionic fish is in the deep sea, it needs to maintain pressure. The pressure-maintaining shell 908 between the bionic fish body 907 and the fish head 911 is filled with seawater from the inlet hole. The deformation cover 927 is deformed under the pressure of seawater. The inside of the fish body is filled with hydraulic oil. When the change of the deformation cover 927 makes the internal pressure of the fish body equal to the external pressure in the deep sea, the bionic fish can maintain normal and stable operation. In order to make the pressure stability of the bionic fish more stable and fast, the pressure-maintaining bladder 912 provided on the lower part 915 of the fish body is filled with hydraulic oil. When it is subjected to seawater pressure, the hydraulic oil in it is pressed into the sealed fish body through the oil quick connector 948 until the internal and external pressures are equal. The two pressure-maintaining measures work simultaneously to ensure that the bionic fish can operate normally in the deep sea.

[0044] In this embodiment, the deep-sea environment monitoring component 950 includes a camera bracket 950-2 and a visual camera 950-1. The two ends of the visual camera 950-1 are connected to the two ends of the camera bracket 950-2 to form a rotating pair, so that the monitoring component can rotate to a certain extent along the normal of the camera end as the rotation axis. The visual camera has an integrated LED light and a chip with data collection and Bluetooth transmission. The protective cover 910 is bolted to the fish head 911. The control chip in the deep-sea detection component 950 placed in the fish head 911 issues a detection command, and the visual camera 950-1 starts working. The rotating pair formed by its camera bracket 950-2 and the visual camera 950-1 can perform multi-angle observation. The observation data is transmitted back to the signal receiving and sending device 935 through the internal integrated Bluetooth chip.

[0045] According to another aspect of the present invention, a monitoring base station is provided, comprising a recovery and salvage component, a power supply component 7, an information transmission relay component, a base station detector auxiliary component, and a base station fixed component, wherein the salvage component, the power supply component, the information transmission relay component, and the bionic fish auxiliary component are all connected to the base station fixed component, a plurality of base station detector auxiliary components are arranged on the base station fixed component, the base station detector auxiliary component is connected to the above-mentioned bionic fish, the base station detector auxiliary component is electrically connected to the information transmission relay component, the signal transmission relay component is connected to the composite hook in the salvage component via a cable, and the base station detector auxiliary component and the information transmission relay component are both electrically connected to the power supply component;

[0046] The base station fixing assembly includes a fixing bracket 6, a fixing bottom plate 18, a fixing support 17, a base fixing piece 15, a square tube fixing piece 13 and a buoyancy block 19. The top of the supporting square tube assembly is used to set the base station battery assembly. A cross tube is installed in the middle of the upper end of the supporting square tube assembly. Considering the installation and disassembly of the base station signal relay station, the connection piece is spliced ​​instead of welded. That is, the square tube fixing piece 13 is bolted to the interface between the cross tube and the remaining tube assembly at its upper end. The buoyancy block 19 is set on the top square tube assembly, and the base fixing piece 12 is set on the fixed bottom plate 18 corresponding to the installation position of the fixing support 17. The fixed bottom plate 18 It is arranged on the inner octagon of the bottom square tube combination by bolt connection. The fixed bracket 6 consists of a bottom square tube combination, a top square tube combination, a support square tube combination and a riser combination. The bottom square tube combination and the top square tube combination are both octagonal in shape. Inside the octagon are various horizontal tubes for enhancing strength, rigidity connection and placing other devices of the base station. The support square tube combination is a cube, and its riser height is higher than the installation height of the signal relay station component. The riser combination is connected to the top square tube combination on the top and the bottom square tube combination on the bottom. The fixed base plate 18 has eight rectangular mounting grooves for installing the electric reel assembly 14, and a rectangular through hole is opened in the middle part thereof;

[0047] The base station recovery and salvage assembly includes a hook 3, a hook movable frame 2 and a hook fixing frame 5, a hook fixing pin 1 and a hook connecting frame 4, the hook fixing frame 5 is arranged in the square hole opened in the middle of the buoyancy block 19, the hook connecting frame 4 is arranged in the middle of the hook fixing frame 5, the hook connecting frame 4 has a pin hole in the middle, the hook movable frame 2 is arranged inside the hook connecting frame 4, and the two are connected by the hook fixing pin 1, and the hook 3 is connected to the hook movable frame 2 by bolts;

[0048] The base station power supply component 7 includes a battery box 704, a battery box cover 701, batteries 703 and various battery cable connectors 702. The batteries 703 are stored in the battery box 704. The battery box cover 701 is bolted to the battery box 704. The surface of the battery box cover 701 is provided with threaded holes, and various battery cable connectors 702 are provided thereon. The power supply component 7 always supplies power to other equipment of the base station including the base station signal relay station, the electromagnetic magnetic attraction component 10, the base station camera 8 and the electric reel component 14 through electrical connection. The power supply component 7 transmits electrical energy to the above-mentioned equipment via cables through the battery cable connector provided on the battery box cover 701.

[0049] The base station information transmission relay component includes a relay station outer box 11, a relay station box cover 16 and various cable connectors 15. The relay station outer box 11 is equipped with a signal receiving and transmitting and processing controller. The relay station is provided with threaded holes around it, and various cable connectors 15 are arranged on it. The relay station box cover 16 is connected to the relay station outer box 11 by bolts, and there are grab rings on the front and back sides of the relay station box cover 16.

[0050] The base station detector auxiliary component includes a base station camera 8, an electric reel component 14 and an electromagnetic magnetic attraction component 10. The base station camera 8 is fixed to the fixed bracket 6 by bolt connection. The electric reel component 14 includes a second bearing 1401, a reel mounting seat 1402, a second cable 1403, a reel 1404, a reel drive right shaft 1405, a small pulley 1406, a motor 1407, a motor support 1408, a large pulley 1409, a belt 1410, a bearing end cover 1411, a reel cable connector 1412, a reel drive left shaft 1413 and a sleeve 1414. The reel The mounting seat 1402 is set in the mounting groove opened in the fixed base plate 18, most of the second cable 1403 is wound on the reel 1404, the motor support 1408 is installed on the fixed base plate 18, the shaft of the motor 1407 is key-connected with the small pulley 1406, the large pulley 1409 and the small pulley 1406 are connected by a belt 1410, the large pulley 1409 is key-connected with the reel drive right shaft 1405, the maximum diameter end of the reel drive right shaft 1405 is connected to the reel bolt, the reel drive right shaft 1405 is a conventional shaft system, and the shaft system is installed with a first bearing 1404, The sleeve 1414 and the bearing cover 1411 are arranged at the position of the bearing end cover mounting hole on the right side of the reel mounting seat 1402. The axis system of the reel driving the left shaft 1413 is basically the same as the right shaft, only the type of the left end bearing end cover is different. The base station camera 8 has an integrated LED light and has two degrees of freedom of pitch rotation and left and right rotation. The second cable 1403 enters from the side introduction hole of the reel 1404, and a part of the second cable 1403 is fixed inside the reel 1404. The rest of the second cable 1403 is led out from the lead-out hole opened on the horizontal axis of the reel 1404 and wound around the reel 140 4, the reel drive right shaft 1405 is a five-section stepped shaft, and its largest end is provided with circumferentially arranged threaded holes. The method of recovering the bionic fish to the base station is basically the same as that of releasing it, except that the motor 1407 in the electric reel assembly 14 reverses to recover the cable and the electromagnetic magnet 1001 is re-energized, so that the bionic fish is fixed by magnetic force to complete the recovery process. During the entire operation of the bionic fish, the various base station cameras 8 provided on the base station are always working to capture the movement monitoring process of the bionic fish. The monitoring data of the base station cameras 8 are also ultimately sent to the signal terminal 21 through various cables.

[0051] The electromagnetic magnetic attraction component 10 includes an electromagnetic magnet 1001 and an electromagnetic magnetic attraction column 1002. The upper end surface of the electromagnetic magnetic attraction column 1002 is grooved for setting the electromagnetic magnet 1001. The electromagnetic magnetic attraction column 1002 is fixed to the bottom horizontal tube in the fixed bracket 6 by bolt connection. The electromagnetic magnetic attraction column 1002 cooperates with the electromagnetic magnet 1001 and the magnetic attraction block 932. The electromagnetic magnetic attraction column 1002 is loaded with an electromagnetic relay, and the control signal line is led out and connected to the base station information transmission relay station. The upper end surface of the electromagnetic magnetic attraction column is grooved and has an interference fit with the electromagnetic magnet 1001.

[0052] A scientific research vessel 20 is provided with a signal terminal 21 and a release and salvage device 23. The release and salvage device 23 is connected to a detection base station through a hook 3. The signal terminal 21 is connected to a cable connector 15 on a relay station cover 16 through a terminal cable 22.

[0053] Working principle;

[0054] Before the present invention works, all bionic fish installed on the base station system are filled with high-pressure oil into the sealed fish body from the threaded through hole set on the dorsal fin 905, and then sealed with an oil plug 906. The scientific research vessel 20 first travels to the sea level 24 of the target detection water area, and then releases the salvage equipment 23 to lift and lower the base station system to the seabed 26 of the target area, that is, the fixed support of the base station system is stably set on the seabed 26.

[0055] The working process of the base station is as follows: the signal terminal 21 provided on the research vessel 20 issues a work instruction to the base station system through the terminal cable 22. The cable used to hoist the base station system on the release and salvage equipment 23 is also the terminal cable 22. The command signal is first transmitted to the signal relay station through the terminal cable 22. The signal relay station issues a work instruction after reading the command signal, and takes out the work signal from the cable connector 15 provided around the outer box of the relay station through the signal cable. The taken-out signal cable is divided into two ends, one end is connected to the second cable 1403 in the electric reel assembly 14, and the work signal is sent down to the electric reel assembly 14, and the other end is connected to the control cable in the electromagnetic magnetic attraction assembly 10. The signals at both ends are issued at the same time. After the electric reel assembly 14 receives the work instruction, the motor 1407 starts to work. The small pulley 1406 connected to the motor shaft by a key is driven to rotate, and the belt 1410 on the small pulley 1406 drives the large pulley 1409 to rotate, thereby driving the reel to drive the left shaft 1413 to rotate, the shaft system starts to work, and the second cable 1403 on the reel 1404 starts to move outward. After the electromagnetic magnetic attraction component 10 receives the working instruction, the electromagnetic relay in the electromagnetic magnetic attraction column 1002 is disconnected, and the electromagnetic magnet 1001 is no longer energized. The magnetic attraction block 932 located in the rectangular groove of the tail end boss of the lower part 915 of the bionic fish is no longer magnetically attracted to the electromagnetic magnet 1001, and the bionic fish is released. The second cable 1403 in the electric reel assembly 14 is connected to the cable quick connector 901 on the bionic fish through the reel cable connector 1412, and the control signal is transmitted to the signal receiving and sending device 935.

[0056] The working process of the bionic fish is as follows: after the control signal is transmitted to the signal receiving and transmitting device 935, the control signal is further transmitted to the controller 937 located in the fish body 907 and the integrated control chip in the deep-sea environment monitoring component 950 set in the fish head 911 by Bluetooth wireless transmission. The controller 937 sends a control signal to the drive motor 926, and the drive motor 926 begins to rotate repeatedly at an angle of less than 180 degrees in the clockwise and counterclockwise direction. The driving power brought by the drive motor 926 is transmitted to the diverter flange 931 through the plum blossom coupling 930, and the bent shafts 923 on both sides of the diverter flange 931 that are slidably connected begin to reciprocate in opposite directions, and its power is further transmitted to the hydraulic piston cylinders on both sides on the rear side. In 920, the crank slider mechanism composed of the crank 942, the connecting rod 940 and the hydraulic piston cylinder 920 begins to reciprocate. The reciprocating directions of the piston rods in the hydraulic piston cylinders 920 on both sides are opposite. The hydraulic piston cylinders 920 are filled with hydraulic oil. The piston rod of the hydraulic piston cylinder 920 on one side moves linearly inward. At this time, the oil in the cylinder becomes high-pressure oil and is pressed into the oil pipe 933 on the corresponding side. The high-pressure oil is then input into the driving fiber tissue 949 on this side through the oil distribution pipe 919. The hydraulic piston cylinder 920 on the other side has an opposite movement direction to the piston cylinder on the previous side. It extracts the hydraulic oil and turns it into low-pressure oil. The driving fiber tissue 949 on the same side is deformed compared to the bulging deformation on the other side. This side is compressed and deformed. The driving fiber tissues on both sides are deformed. The tissue 949 is deformed in opposite directions under the action of the hydraulic piston cylinder 920, causing the fish tail 903 to swing. When the hydraulic piston cylinder 920 repeatedly reciprocates, the driving fiber tissue 949 in the fish tail 903 is also repeatedly compressed or expanded, and finally drives the fish tail 903 to swing as a whole, providing driving force for the bionic fish. The pitching direction of the bionic fish is changed by the fins 916 on both sides: when the detector 9 wants to change the pitch direction, the controller 937 sends a control instruction to the driving servos 943 on both sides. After receiving the instruction, the driving servos 943 start to rotate the target angle, and then drive the transmission part 914 to rotate, and the fins 916 set on the transmission part 914 rotate accordingly, thereby realizing swimming at different pitch angles, monitoring the base station A bionic fish is dispatched on each side. One of the bionic fish swims towards the unknown plume 27 in the sea area for detection, and the other swims towards the detection biological group 25 for monitoring. The bionic fish causes little disturbance to the biological group and has a similar appearance, so it is easy to approach the biological group and detect. When the bionic fish detects, the control chip in the deep-sea detection component 950 set in the fish head 911 issues a detection command, and the visual camera 950-1 starts working. The rotating pair composed of its camera bracket 950-2 and the visual camera 950-1 can perform multi-angle observation. The data obtained from the observation is transmitted back to the signal receiving and transmitting device 935 through the internal integrated Bluetooth chip, and is finally sent to the signal terminal 22 via various cables.

[0057] In the above description, the sensors, controllers and control programs that may be involved all adopt existing technologies and will not be described in detail.

[0058] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A bionic fish, characterized in that: include: The bionic shell (9) is a streamlined hollow shell; A propulsion component is provided inside the bionic shell (9) and is used to propel the bionic shell (9) to move; an angle adjustment component is provided on the bionic shell (9) and is used to change the movement angle of the bionic shell (9); a first pressure-maintaining component is provided on the bionic shell (9) and changes the internal pressure of the bionic shell (9) by allowing seawater to flow into the interior; and a second pressure-maintaining component is provided on the bionic shell (9) and is squeezed by seawater to maintain the pressure of the bionic shell (9); The bionic shell (9) includes a fish body (907), the interior of the fish body (907) is a cavity, and the cavity is filled with a medium, the first pressure-maintaining component is arranged at one end of the fish body (907) for adjusting the pressure inside the cavity, and the second pressure-maintaining component is arranged outside the fish body (907) and communicates with the cavity; The first pressure-maintaining component includes a deformation cover (927) and a pressure-maintaining shell (908), wherein the deformation cover (927) is arranged on the fish body (907) and communicated with the cavity, and one end of the pressure-maintaining shell (908) is arranged on the fish body (907) to wrap the deformation cover (927), and a water storage cavity is formed between the pressure-maintaining shell (908) and the deformation cover (927), and the water storage cavity is communicated with the outside world. The other end of the pressure-maintaining shell (908) is provided with a fish head (911).

2. The bionic fish according to claim 1, characterized in that: The second pressure-maintaining component includes a pressure-maintaining bladder (912), which is arranged on the fish body (907), the pressure-maintaining bladder (912) is connected to the cavity, and the interior of the pressure-maintaining bladder (912) is filled with the medium.

3. The bionic fish according to claim 1, characterized in that: The propulsion assembly includes a fish tail (903) and a driving fiber tissue (949), wherein the fish tail (903) is arranged at the end of the fish body (907) away from the first pressure-maintaining assembly, at least two groups of driving fiber tissues (949) are arranged inside the fish tail (903), a first driving assembly connected to the driving fiber tissue (949) is arranged inside the cavity, and a tail fin (902) is provided at the end of the fish tail (903).

4. The bionic fish according to claim 3, characterized in that: The first driving component connection includes a driving motor (926) and a hydraulic piston cylinder (920), the driving motor (926) and the hydraulic piston cylinder (920) are connected, the number of the hydraulic piston cylinders (920) corresponds to the driving fiber tissue (949), the hydraulic piston cylinder (920) and the driving fiber tissue (949) are relatively connected, and hydraulic oil is provided in both the hydraulic piston cylinder (920) and the fiber tissue (949).

5. The bionic fish according to claim 1, characterized in that: The angle adjustment component includes a fin (916) and a second drive component, at least two of the fins (916) are arranged on the fish body (907), and the fins (916) are connected to the second drive component arranged inside the cavity.

6. The bionic fish according to claim 5, characterized in that: The second driving assembly includes a driving servo (943), the number of the driving servo (943) corresponds to the number of the fins (916), and the driving servo (943) and the fins (916) are connected to each other accordingly.

7. The bionic fish according to claim 1, 3, 4, 5 or 6, characterized in that: The medium is hydraulic oil.

8. A monitoring base station comprising a plurality of the bionic fish according to claim 7, characterized in that: It also includes an electric reel assembly (14) for retracting and releasing the bionic fish.

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