Bionic robotic fish coupled with fish luring factors

Abstract

The invention belongs to the technical field of robots, and relates to a bionic robotic fish coupled with fish luring factors, which is characterized in that a fish head, a fish body, a tail fin and a dorsal fin form a robotic fish shell; the robot further comprises two discharge electrodes, a communication module, two obstacle avoidance sensors, a water pump, two RGB lamps, three joint steering engines, a propeller thruster, two loudspeakers, a balance weight adjusting bin, a control circuit board, a battery, a water bin and a high-pressure air bin. Three fish luring factors including sound, light and electricity are coupled to the robotic fish, the combination mode of the factors is reasonably regulated, controlled and optimized, the fishes are guided to gather, the fishway entrance is found, the recognition ability of the fishes to fish passing facilities is enhanced, and the use efficiency of the fishway is improved. The method helps the migration of the rare fish fingerlings, protects the reproduction of the rare fishes, maintains the stability of fish populations, is beneficial to the protection and restoration of the ecological environment of the fishes, and walks the way of ecological priority and green development on the basis of the development of water conservancy projects.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a bionic robot fish coupled with a fish attracting factor. Background Art

[0002] In water conservancy projects, the construction of gates and dams destroys the connectivity of natural rivers and leads to the destruction of fish habitats. In order to restore the longitudinal connectivity of rivers, building fishways is the best practice. Although the design of the structure and function of fishways has been gradually improved, such as improving the geometry of fishways, the layout of inlets and outlets, the design of the trough body, and adding auxiliary fish passing devices, there are still problems that fish schools find it difficult to find the entrance of the fishway and are unwilling to actively enter the fishway, resulting in low utilization efficiency of the fishway and failure to give full play to the role of the fishway. Therefore, how to effectively induce fish to enter the fishway entrance smoothly and swim upstream smoothly has become a key issue that needs to be solved in fishway research.

[0003] In recent years, the research on bionic robot fish is considered to be one of the potential means to solve this problem. At present, considerable achievements have been made in the swimming mechanism and structural design of bionic robot fish at home and abroad, and they have also played an important role in multiple application scenarios. For example, patent CN115031782A combines water quality classification and prediction, digital turbidity sensor, etc. with robot fish to achieve online intelligent monitoring and purification of water quality; patent CN114379748A is a bionic robot fish for monitoring the corrosion of underwater pile foundations in offshore wind farms. However, there is little research on fish attracting factors to induce fish migration.

[0004] At present, some studies have combined fish attracting factors with fishways to attract fish. Fish are more sensitive to environmental factors such as water flow, sound, and light. The phototaxis of fish is divided into positive phototaxis, negative phototaxis, and no phototaxis. Positive phototaxis is usually used to attract fish; sound signals have a wide range of influence, low attenuation, and fast propagation in water. Different fish can be used to attract fish by using different reactions to sound; for weakly electric fish, when the robot fish is supplemented with electrical signals, the fish attracting effect can be further improved. Summary of the invention

[0005] This project aims to provide a new type of bionic robot fish in the field of fish luring, coupling fish luring factors (sound, light and electrical signals) to improve the utilization efficiency of fish passing facilities. The robot fish proposed in the present invention combines fish luring factors, utilizes the response characteristics of fish to sound, light and electrical signals, and optimizes the combination of these factors to efficiently guide fish through the fishway. Compared with the traditional fishway coupled fish luring factors, this design can effectively improve the fish luring range and fish luring efficiency, which is conducive to the migration and reproduction of endangered fish species. The obstacle avoidance sensor located at the fish eye of the robot fish can achieve the effect of autonomous obstacle avoidance; the water pump can change the amount of water in the water tank, thereby changing the mass of the robot fish and realizing the ascent and descent of the robot fish; the gas in the air tank is compressed or expanded according to the change of the amount of water in the water tank, thereby maintaining the relative stability of the internal pressure of the robot fish; the propeller propeller is conducive to increasing the swimming speed of the robot fish. The present invention can improve the fish luring range and fish luring efficiency, which is of great significance for improving the efficiency of fishway passage and protecting precious fish to migrate upstream and reproduce.

[0006] In order to achieve the above object, the technical solution of the present invention is:

[0007] A bionic robot fish coupled with a fish attracting factor comprises a fish head 7, a fish body 5, a tail fin 6 and a dorsal fin 3 forming a robot fish shell, and further comprises two discharge electrodes 1, a communication module 2, two obstacle avoidance sensors 4, a water pump 8, two RGB lights 9, a joint servo 1 10, a joint servo 2 11, a joint servo 3 12, a propeller thruster 13, two speakers 14, a counterweight adjustment chamber 15, a control circuit board 16, a battery 17, a water chamber 18 and an air chamber 19.

[0008] The two obstacle avoidance sensors 4 are respectively arranged at the fish eyes on both sides of the front end of the fish head 7; the two discharge electrodes 1 are symmetrically arranged at the upper part of the fish head 7, and the lower part of the discharge electrode 1 is located in the fish head 7, and the upper part extends out of the fish head 7, and the discharge electrode 1 serves as an electrical signal in the fish attracting factor; the communication module 2 is arranged at the upper part of the fish head 7, the lower part of the communication module 2 is located in the fish head 7, and the upper part extends out of the fish head 7, and the communication module 2 is located behind the dorsal fin 3.

[0009] The water pump 8, water tank 18 and air tank 19 are arranged in the upper part of the fish head 7. One end of the water pump 8 is connected to the outside of the robot fish through a water pipe, and the other end is connected to the water tank 18 through a water pipe. The top of the water tank 18 is connected to the air tank 19 through an air pipe. The water volume in the water tank 18 is changed by the water pump 8, thereby changing the mass of the robot fish and realizing the ascent and dive of the robot fish; the gas in the air tank 19 will be compressed or expanded due to the change of the water volume in the water tank 18, which can help the robot fish maintain stability in the water.

[0010] The battery 17 is arranged in the middle of the fish head 7 and is connected to the control circuit board 16 to supply power to the control circuit board 16; the battery 17 has a charging line connected to an external charger to charge the battery.

[0011] The control circuit board 16 is arranged in the middle of the fish head 7, and the discharge electrode 1, the communication module 2, the obstacle avoidance sensor 4, the water pump 8, the RGB lamp 9, the joint servo 1 10, the joint servo 2 11, the joint servo 3 12, the propeller propeller 13, the speaker 14, and the battery 17 are connected to the control circuit board 16; the communication module 2 transmits the command signal received from the computer end to the control circuit board 16, and the control circuit board 16 controls the switch of the discharge electrode 1, the speaker 14 and the water pump 8, controls the color and brightness of the RGB lamp 9, controls the joint servo 1 10, the joint servo 2 11, the joint servo 3 12, and the propeller propeller 13 to adjust the speed and direction of the robot fish swimming; the signal of the obstacle avoidance sensor 4 is transmitted to the control circuit board 16, and the control circuit board 16 transmits the collected signal to the computer end through the communication module 2.

[0012] The propeller thruster 13 is arranged at the lower part of the fish head 7 and is used to adjust the swimming speed of the robot fish.

[0013] The counterweight adjustment chamber 15 is arranged at the lower part of the fish head 7 , and the weight of the robot fish is adjusted by adjusting the number of steel balls inside the counterweight adjustment chamber 15 .

[0014] The two RGB lights 9 are placed inside the tail fin 6 and serve as light signals in the fish attracting factor.

[0015] The front and rear ends of the fish body 5 are respectively connected to the fish head 7 and the tail fin 6, and the connection points are respectively provided with a joint servo 10 and a joint servo 3 12. The middle part of the fish body 5 is provided with a joint servo 2 11. The joint servo 10, the joint servo 2 11, and the joint servo 3 12 are placed in the fish body 5 and are in the same line to imitate the swinging of a real fish body.

[0016] The two speakers 14 are placed behind the obstacle avoidance sensor 4 and on both sides of the fish head 7, serving as acoustic signals in the fish attracting factor.

[0017] The dorsal fin 3, the fish body 5, the caudal fin 6 and the fish head 7 are made of waterproof materials.

[0018] The beneficial effects of the present invention are:

[0019] (1) The novel bionic robotic fish of the present invention, which couples fish attracting factors (sound, light and electrical signals), can guide fish to gather and pass through fishways by emitting different sound, light and electrical signals and utilizing the response characteristics of fish to these signals. It is particularly suitable for the migration of rare fish species and has significant ecological benefits.

[0020] (2) The present invention achieves efficient induction of fish by precisely regulating the intensity and frequency of various fish attracting factors and the combination of different factors to avoid interference between signals;

[0021] (3) Through obstacle avoidance sensors, the robot fish can automatically avoid obstacles in complex water environments, improve its autonomous navigation capabilities, and ensure that it can effectively guide fish through the fishway;

[0022] (4) By coupling the bionic robot fish with fish attracting factors, the fish passage efficiency can be improved, and the migration and reproduction of rare fish species can be helped, making a positive contribution to the protection and restoration of aquatic ecosystems. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional schematic diagram of a bionic robotic fish coupled with a fish attracting factor according to the present invention;

[0024] Figure 2 A front view of a bionic robotic fish coupled with a fish attracting factor according to the present invention;

[0025] Figure 3 It is a left view of a bionic robotic fish coupled with a fish attracting factor of the present invention;

[0026] Figure 4 A top view of a bionic robotic fish coupled with a fish attracting factor according to the present invention;

[0027] Figure 5 This is a diagram of the internal structure of a bionic robotic fish coupled with a fish attracting factor according to the present invention.

[0028] In the figure: 1. Discharge electrode; 2. Communication module; 3. Dorsal fin; 4. Obstacle avoidance sensor; 5. Fish body; 6. Tail fin; 7. Fish head; 8. Water pump; 9. RGB light; 10. Joint servo 1; 11. Joint servo 2; 12. Joint servo 3; 13. Propeller thruster; 14. Speaker; 15. Counterweight adjustment compartment; 16. Control circuit board; 17. Battery; 18. Water tank; 19. Air tank. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0030] like Figure 1-Figure 4 As shown, a bionic robot fish coupled with a fish attracting factor includes a shell consisting of a dorsal fin 3, a fish body 5, a caudal fin 6, and a fish head 7, as well as two discharge electrodes 1, a communication module 2, two obstacle avoidance sensors 4, a water pump 8, two RGB lights 9, a joint servo 1 10, a joint servo 2 11, a joint servo 3 12, a propeller thruster 13, two speakers 14, a counterweight adjustment chamber 15, a control circuit board 16, a battery 17, a water chamber 18, and an air chamber 19.

[0031] Figure 1The three-dimensional schematic diagram of the present invention shows that a bionic robot fish coupled with a fish attracting factor is mainly divided into three parts: a fish head 7, a fish body 5, and a tail fin 6. The fish head 7 is a rigid structure. The control system of the robot fish is basically concentrated in the fish head 7. The fish body 5 is a swing device. The tail fin 6 is provided with an RGB light 9. The LED light 9 is a light signal in the fish attracting factor. The response of fish to light stimulation is divided into positive phototaxis, negative phototaxis, and no phototaxis. Positive phototaxis is conducive to light signal fish attracting.

[0032] Figure 2 This is the front view of the present invention. The total length of the robot fish is 510mm, and the length of the fish head 7 is 236.58mm. Two discharge electrodes 1 are symmetrically arranged at the upper part of the fish head 7, and the lower part of the discharge electrode 1 is located in the fish head 7, and the upper part extends out of the fish head 7. The discharge electrode 1 serves as an electrical signal in the fish attracting factor. The discharge electrode 1 on the upper part of the fish head 7 is an output device for the electrical signal. The discharge electrode 1 is an electrical signal in the fish attracting factor. For weak electric fish, the robot fish is supplemented with electrical signals. When the wake field of the robot fish and the electrical signal appear at the same time, the fish attracting effect will be improved. The communication module 2 is arranged at the upper part of the fish head 7, the lower part of the communication module 2 is located in the fish head 7, the upper part extends out of the fish head 7, and the communication module 2 is located behind the dorsal fin 3. The communication module 2 can receive control instructions issued by the computer, such as discharge switch instructions, sound playback instructions, light instructions, etc.; two obstacle avoidance sensors 4 are respectively arranged at the fish eyes on both sides of the front end of the fish head 7; the obstacle avoidance sensor 4 can sense the surrounding environment and avoid obstacles in time.

[0033] Figure 3 This is the left view of the present invention, the robot fish is a symmetrical structure, and the width is 60.80 mm. The obstacle avoidance sensor 4 and the discharge electrode 1 are both located on both sides of the fish head 7, and the discharge electrode 1 extends out of the robot fish.

[0034] Figure 4 This is a top view of the present invention, and the various parts of the robot fish are connected by screws. The front and rear ends of the fish body 5 are respectively connected to the fish head 7 and the tail fin 6, and the joints are respectively provided with a joint steering gear 10 and a joint steering gear 3 12. The middle part of the fish body 5 is provided with a joint steering gear 2 11. The joint steering gear 10, the joint steering gear 2 11, and the joint steering gear 3 12 are placed in the fish body 5 and are in the same line to imitate the swing of the real fish body.

[0035] The robot fish has a three-joint structure, wherein the joint servo 1 10 , the joint servo 2 11 , and the joint servo 3 12 can simulate the body swing of a real fish.

[0036] Figure 5The internal structure diagram of the present invention includes a submersible system, an obstacle avoidance system, a control system, a propulsion system, an acoustic system, an optical system, and an electric signal transmitter. The submersible system includes a water pump 8, a water tank 18, and an air tank 19; the obstacle avoidance system includes two obstacle avoidance sensors 4, a joint steering gear 10, a joint steering gear 2 11, and a joint steering gear 3 12; the control system includes a control circuit board 16; the propulsion system includes a propeller propeller 13; the acoustic system includes two speakers 14, and the optical system includes two RGB lights 9; the electric signal transmitter includes two discharge electrodes 1. The propeller propeller 13 is conducive to increasing the swimming speed of the robot fish. The two speakers 14 are placed behind the obstacle avoidance sensor 4 and on both sides of the fish head 7. The speakers 14 are acoustic signals in the fish attracting factor, and the acoustic signals have a wide range of influence, fast propagation speed, and low attenuation. The response of fish to sound includes positive sound attraction and negative sound attraction. The positive sound attraction of fish enables them to gather near the fishway entrance and lure fish into the fishway entrance. The negative sound attraction allows fish to find the entrance smoothly during the upstream process and avoid entering other channels by mistake. The obstacle avoidance sensor 4 can sense the surrounding environment in real time, enable the robot fish to avoid obstacles autonomously, and lead the real fish to successfully swim upstream in the fishway.

[0037] In terms of fish attracting factors, through conducting experiments, the optimal fish attracting range of a single fish attracting factor can be determined, and then the combination of multiple fish attracting factors and their parameter settings can be optimized for the target fish, and the interaction between different fish attracting factors can be deeply analyzed to avoid mutual interference and optimize the combination use strategy. By adjusting the frequency, amplitude, volume, and sounding time of the sound signal emitted by the speaker 14, the wavelength, frequency, amplitude, and flash frequency of the light signal emitted by the RGB lamp 9, and the voltage, current, and frequency of the electrical signal emitted by the discharge electrode 1, different types of fish can be accurately induced to gather, and the fish can be guided to follow the robot fish to the vicinity of the fishway entrance, so that they can pass through the fishway smoothly.

[0038] The robot fish senses obstacles and controls steering through the obstacle avoidance sensor 4, realizing the automatic obstacle avoidance function of the bionic robot fish and effectively leading the real fish into the fishway entrance, thereby improving the fish passing efficiency.

[0039] In order to realize the ascending and diving movement of the robot fish, a water pump 8, a water tank 18 and an air tank 19 are placed in the fish head 7. The water pump 8, the water tank 18 and the air tank 19 are arranged in the upper part of the fish head 7. One end of the water pump 8 is connected to the outside of the robot fish through a water pipe, and the other end is connected to the water tank 18 through a water pipe. The top of the water tank 18 is connected to the air tank 19 located below through an air pipe. The work of the water pump 8 is to extract or inject water from the water tank 18 to adjust the water volume of the water tank 18, thereby realizing buoyancy adjustment. When the water volume in the water tank 18 increases, the robot fish can dive; when the water volume in the water tank 18 decreases, the robot fish can float. When the robot fish senses that there is an obstacle above it, the water pump 8 inside the robot fish will pump water into the water tank 18, so that the water level in the water tank rises, increasing the weight of the robot fish, and realizing diving; when the robot fish senses that there is an obstacle below it, the water in the water tank 18 will be discharged outward, reducing the weight of the robot fish, and realizing ascent. The water tank 18 and the air tank 19 are connected by an air pipe, and what flows in the air pipe is gas instead of water. When the water pump 8 injects water into the water tank, the gas in the water tank 18 can be discharged to the air tank 19 through the air pipe. When the water pump 8 pumps water out of the water tank 18, the gas in the water tank 18 decreases, and the gas can be replenished from the air tank 19 through the air pipe. In the process of water inflow and water outflow from the water tank 18, the gas in the air tank 19 is compressed or expanded, so as to ensure the smooth swimming of the robot fish in a complex environment.

[0040] The battery 17 is arranged in the middle of the fish head 7, connected to the control circuit board 16, and supplies power to the control circuit board 16; the battery 17 has a charging line connected to an external charger to charge the battery. The control circuit board 16 is arranged in the middle of the fish head 7, and the discharge electrode 1, the communication module 2, the obstacle avoidance sensor 4, the water pump 8, the RGB light 9, the joint servo 1 10, the joint servo 2 11, the joint servo 3 12, the propeller propeller 13, the speaker 14, and the battery 17 are connected to the control circuit board 16; the communication module 2 transmits the command signal received from the computer end to the control circuit board 16, and the control circuit board 16 controls the switch of the discharge electrode 1, the speaker 14 and the water pump 8, controls the color and brightness of the RGB light 9, controls the joint servo 1 10, the joint servo 2 11, the joint servo 3 12, and the propeller propeller 13 to adjust the speed and direction of the robot fish swimming; the signal of the obstacle avoidance sensor 4 is transmitted to the control circuit board 16, and the control circuit board 16 transmits the collected signal to the computer end through the communication module 2.

[0041] The propeller thruster 13 is arranged at the lower part of the fish head 7 and is used to adjust the swimming speed of the robot fish.

[0042] The counterweight adjustment chamber 15 is arranged at the lower part of the fish head 7 , and the weight of the robot fish is adjusted by adjusting the number of steel balls inside the counterweight adjustment chamber 15 .

[0043] Although the robot fish can swim by simulating the body swing of a real fish through the joint steering gear 10, the joint steering gear 2 11, and the joint steering gear 3 12, the swimming speed is slow, so a propeller propeller 13 is set inside the fish head 7 to increase the swimming speed of the robot fish, wherein the jet water flow generated by the propeller propulsion must be controlled to prevent interference with the swimming of the real fish behind. The bionic robot fish has both the high speed of propeller propulsion and the flexibility of real fish. The propeller propeller 13 ensures the high speed of the bionic robot fish, and the design of the joint steering gear 10, the joint steering gear 2 11, and the joint steering gear 3 12 ensures the flexibility of the robot fish. The two discharge electrodes 1, the two RGB lights 9, and the two speakers 14 are used to realize the coupling of sound, light, and electricity combined with the robot fish for the first time, ensuring the effect of fish luring.

Claims

1. A bionic robot fish coupled with a fish attracting factor, characterized in that: The bionic robot fish coupled with fish attracting factor comprises a fish head (7), a fish body (5), a tail fin (6) and a dorsal fin (3) forming a robot fish shell, and further comprises two discharge electrodes (1), a communication module (2), two obstacle avoidance sensors (4), a water pump (8), two RGB lights (9), a joint servo 1 (10), a joint servo 2 (11), a joint servo 3 (12), a propeller thruster (13), two speakers (14), a counterweight adjustment chamber (15), a control circuit board (16), a battery (17), a water chamber (18) and an air chamber (19); The two obstacle avoidance sensors (4) are respectively arranged at the fish eyes on both sides of the front end of the fish head (7); the two discharge electrodes (1) are symmetrically arranged at the upper part of the fish head (7), and the lower part of the discharge electrode (1) is located inside the fish head (7), and the upper part extends outside the fish head (7), and the discharge electrode (1) serves as an electrical signal in the fish attracting factor; the communication module (2) is arranged at the upper part of the fish head (7), the lower part of the communication module (2) is located inside the fish head (7), and the upper part extends outside the fish head (7), and the communication module (2) is located behind the dorsal fin (3); The water pump (8), the water tank (18) and the air tank (19) are arranged at the upper part of the fish head (7); one end of the water pump (8) is connected to the outside of the robot fish through a water pipe, and the other end is connected to the water tank (18) through a water pipe; the top of the water tank (18) is connected to the air tank (19) located below through an air pipe; the amount of water in the water tank (18) is changed by the water pump (8), thereby changing the mass of the robot fish and achieving the ascent and descent of the robot fish; the gas in the air tank (19) is compressed or expanded due to the change in the amount of water in the water tank (18), so that the robot fish maintains stability in the water; The battery (17) is arranged in the middle of the fish head (7) and is connected to the control circuit board (16) to supply power to the control circuit board (16); The control circuit board (16) is arranged in the middle of the fish head (7); the discharge electrode (1), the communication module (2), the obstacle avoidance sensor (4), the water pump (8), the RGB lamp (9), the joint steering gear 1 (10), the joint steering gear 2 (11), the joint steering gear 3 (12), the propeller propeller (13), the speaker (14), and the battery (17) are connected to the control circuit board (16); the communication module (2) transmits the command signal received from the computer end to the control circuit board (16); the control circuit board (16) controls the switch of the discharge electrode (1), the speaker (14) and the water pump (8), controls the color and brightness of the RGB lamp (9), controls the joint steering gear 1 (10), the joint steering gear 2 (11), the joint steering gear 3 (12), and the propeller propeller (13) to adjust the speed and direction of the robot fish swimming; the signal of the obstacle avoidance sensor (4) is transmitted to the control circuit board (16), and the control circuit board (16) transmits the collected signal to the computer end through the communication module (2); The propeller thruster (13) is arranged at the lower part of the fish head (7) and is used to adjust the swimming speed of the robotic fish; The counterweight adjustment chamber (15) is arranged at the lower part of the fish head (7), and the weight of the robot fish is adjusted by adjusting the number of steel balls inside the counterweight adjustment chamber (15); The two RGB lights (9) are placed inside the tail fin (6) and serve as light signals in the fish attracting factor; The front and rear ends of the fish body (5) are respectively connected to the fish head (7) and the tail fin (6), and the connection parts are respectively provided with a joint steering gear 1 (10) and a joint steering gear 3 (12). The middle part of the fish body (5) is provided with a joint steering gear 2 (11). The joint steering gear 1 (10), the joint steering gear 2 (11), and the joint steering gear 3 (12) are placed inside the fish body (5) and are in the same line, so as to imitate the swinging of a real fish body. The two speakers (14) are placed behind the obstacle avoidance sensor (4) and located on both sides of the fish head (7) to serve as sound signals in the fish attracting factor.

2. A bionic robotic fish coupled with fish attracting factors according to claim 1, characterized in that: The dorsal fin (3), the fish body (5), the caudal fin (6), and the fish head (7) are made of waterproof materials.

3. A bionic robotic fish coupled with fish attracting factors according to claim 1 or 2, characterized in that: The battery (17) has a charging cable for connecting to an external charger to charge the battery.

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