A biomimetic robotic fish for underwater sampling in the ocean

Abstract

The present application discloses a bionic robotic fish for underwater sampling in the ocean, which relates to the technical field of underwater sampling. It is composed of a fish body, a sampling component, a power system located at the fish tail of the fish body, and an observation system at the fish head; the power system provides lifting and forward power for the fish body, and the observation system is used for obstacle avoidance; the sampling component is embedded in the abdomen of the fish body and includes a body box, an electric telescopic rod, a fixing plate, etc.; the body box is fixed to the abdomen of the fish body, and electric telescopic rods are symmetrically arranged on both sides inside. The output end of the electric telescopic rod is connected to the fixing plate. The bottom of the fixing plate is connected to a limit ring block through a docking frame, and a disc body is rotatably connected to the limit ring block; four micro motors are circumferentially fixed inside the disc body, and four cylindrical barrels are correspondingly fixed on the outer cross section; the collection barrel is detachably connected to the cylindrical barrel through a thread; an annular frame is fixed outside the cylindrical barrel and is provided with a filter membrane and an airbag; the filter membrane is used for passive collection, the collection barrel is used for active collection, and the expansion and contraction of the airbag enables the disc body to rotate, thereby improving the sampling efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater sampling, and in particular to a bionic robotic fish for marine underwater sampling. Background Art

[0002] With the rapid development of biotechnology, environmental DNA (eDNA) sampling technology has gradually become a research hotspot in the fields of ecology and biology. As a non-invasive sampling method, eDNA technology can effectively monitor and evaluate the genetic diversity, distribution range, and population dynamics of aquatic organisms by extracting and analyzing DNA in the environment. Fish environmental DNA sampling tools can be mainly divided into two categories: passive sampling tools and active sampling tools. Passive sampling tools mainly place filter membranes, adsorption materials, etc. in the water environment and use the natural flow of water to bring the DNA in the environment to the sampling tool. Active sampling tools actively collect DNA samples in water through mechanical or electric means.

[0003] Publication No. CN111504704B discloses a bionic robotic fish for underwater sampling, including a soil and water sampling component, a fish body, and a tail power system and a head detection system arranged on the fish body. Among them, the tail power system can provide power for the fish body to lift and move forward, and the soil and water sampling component is embedded in the abdomen of the fish body; the soil and water sampling component includes a mounting seat and a sampling chamber. The mounting seat is fixed to the abdomen of the fish body, and the mounting seat uses a power telescopic component to drive the sampling chamber to slide telescopically in the mounting seat; the sampling chamber uses a rotary sampling component to sample and collect underwater soil bodies, and can realize separate storage with good leak-proof performance.

[0004] During the actual use of the above-mentioned released fish, it cannot sample soil body samples at different positions in the same area in a single sampling, and it is a single active sampling method with low sampling efficiency. Summary of the Invention

[0005] By providing a bionic robotic fish for marine underwater sampling, the present application solves the technical problems in the prior art that it cannot sample soil body samples at different positions in the same area in a single sampling, and it is a single active sampling method with low sampling efficiency. A filter membrane is arranged on the annular frame, and 4 collection cylinders for collecting samples are arranged on the disc body. The inflation and contraction of the airbag control the clockwise or counterclockwise rotation of the disc body, realizing the combination of passive sampling and active sampling, and the technical effect that multiple groups of collection cylinders can sample soil bodies at different positions in the same area.

[0006] The present application provides a bionic robotic fish for underwater sampling in the ocean, including a sampling component, a fish body, a power system arranged on the fish tail of the fish body, and an observation system arranged on the fish head; wherein, the power system can provide power for the fish body to lift and move forward, and the observation system can observe whether there are obstacles in the path so as to avoid them. The power system and the observation system are prior arts and will not be elaborated here;

[0007] The sampling component is embedded in the abdomen of the fish body; the sampling component includes a body box, an electric telescopic rod, a fixing plate, a docking frame, a disc body, an annular frame, and a connecting pipe; the body box is fixed to the abdomen of the fish body; the electric telescopic rods are symmetrically fixed on both sides inside the body box; the output end of the electric telescopic rod is fixed with the fixing plate; one end of the docking frame is fixed to the bottom of the fixing plate, and the other end is fixed with a limit ring block; a disc body is rotatably connected to the limit ring block; a camera probe is fixed to the bottom of the limit ring block; a filter membrane and an airbag are arranged on the annular frame; 4 sample collection cylinders for collecting samples are arranged on the disc body;

[0008] 4 micro motors are circumferentially fixed inside the disc body, and 4 cylindrical barrels are fixed on the outer cross-section of the disc body, and the positions correspond to the micro motors one by one; threads are provided on the inner cross-section of the cylindrical barrel; the cylindrical barrel also includes a circular ring limit plate; the circular ring limit plate is fixed on the inner cross-section of the cylindrical barrel and is close to the micro motor;

[0009] Threads are provided on the outer cross-section and the inner cross-section of the collection cylinder; the output end of the micro motor passes through the circular ring limit plate and is fixed with a spiral blade;

[0010] A collection inner cavity is opened in the collection cylinder, and a collection inlet communicating with the collection inner cavity is also opened on the inner cross-section; the collection cylinder is detachably threadedly connected inside the cylindrical barrel; an annular cover is also threadedly connected to the inner cross-section of the collection cylinder;

[0011] The annular frame is fixed on the outer cross-sections of the 4 cylindrical barrels, and the annular frame is coaxially arranged with the disc body; a filter membrane is arranged on the outer cross-section of the annular frame;

[0012] A plurality of airbags are fixed on the inner cross-section of the annular frame and are all arranged between the two cylindrical barrels;

[0013] One end of the connecting pipe is hermetically and rotatably connected to the limit ring block, and the other end passes through the fixing plate and communicates with the bottom of the body box; a plurality of micro dual-purpose air pumps are installed in the body box, and the airbag also includes a first connecting pipe. One end of the first connecting pipe communicates with the airbag, and the other end sequentially passes through the disc body, the limit ring block, the connecting pipe and is connected to the micro dual-purpose air pump in the body box.

[0014] Preferably, two of the air bags are fixed between every two of the cylinder tubes.

[0015] Preferably, the annular frame further includes a water bag and a second connecting pipe; one end of the water bag is embedded in the inner cross-section of the annular frame; a plurality of micro water pumps are further installed in the body box; one end of the second connecting pipe communicates with the other end of the water bag, and the other end of the second connecting pipe sequentially passes through the disc body, the limiting ring block, the connecting pipe and is connected with the water pump in the body box.

[0016] Preferably, both ends of the water bag pass through the air bag, and the water bag is divided into a middle section, a first section and a second section by the two air bags.

[0017] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0018] A filter membrane is arranged on the annular frame. Through the 4 collection cylinders for collecting samples arranged on the disc body, the inflation and contraction of the air bag control the clockwise or counterclockwise rotation of the disc body. The combination of passive sampling and active sampling enables multiple groups of collection cylinders to sample soils at different positions in the same area, greatly improving the sampling efficiency; by collecting and analyzing DNA samples in different water environments, the diversity, distribution range and population structure of fish species can be evaluated, providing a scientific basis for ecological protection and management. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0020] Figure 2 is a partial sectional structural diagram of the disc body of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0021] Figure 3 is a partial sectional structural diagram of the annular frame of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0022] Figure 4 is a half-sectional structural diagram of the cylinder tube of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0023] Figure 5 is a structural diagram of Embodiment II of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0024] Figure 6 is a schematic diagram of the inclined sampling state of the cylinder tube of Embodiment II of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0025] Figure 7 is a structural diagram of Embodiment III of a bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0026] Figure 8 Schematic diagram of the vertical sampling state of the cylinder for the third embodiment of the bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0027] Figure 9 Schematic diagram of the structure of the fourth embodiment of the bionic robotic fish for underwater sampling in the ocean according to the present invention;

[0028] Figure 10 Schematic diagram of the inclined sampling state of the cylinder for the fourth embodiment of the underwater sampling application according to the present invention.

[0029] In the figure:

[0030] 100, fish body; 110, power system; 120, observation system; 200, sampling assembly; 210, body box; 211, electric telescopic rod; 212, fixing plate; 213, docking frame; 214, limiting ring block; 2141, camera probe; 220, disc body; 230, micro motor; 231, cylinder; 232, spiral blade; 233, circular limiting plate; 234, collection cylinder; 2341, collection inner cavity; 2342, collection inlet; 235, annular cover; 240, annular frame; 241, filter membrane; 250, airbag; 2501, first connecting pipe; 260, connecting pipe; 270, water bag; 271, second connecting pipe; 272, middle section; 273, first section; 274, second section. Detailed implementation manners

[0031] To facilitate the understanding of the present invention, the present application will be described more comprehensively with reference to the relevant attached drawings; the preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0032] It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manners.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs; the terms used in the description of the present invention in this specification are only for the purpose of describing specific implementation manners and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0034] Embodiment 1: As Figures 1 to 4As shown in the figure, a biomimetic robotic fish for underwater sampling in the ocean according to the present application includes a sampling assembly 200, a fish body 100, a power system 110 provided on the tail of the fish body 100, and an observation system 120 provided on the head of the fish. Among them, the power system 110 can provide power for the fish body 100 to lift and move forward, and the observation system 120 can observe whether there are obstacles in the path and avoid them. The power system 110 and the observation system 120 are prior arts and will not be elaborated here. The sampling assembly 200 is embedded in the abdomen of the fish body 100.

[0035] The sampling assembly 200 includes a body case 210, an electric telescopic rod 211, a fixing plate 212, a docking frame 213, a disc body 220, an annular frame 240, and a connecting pipe 260. The body case 210 is fixed to the abdomen of the fish body 100. On both sides inside the body case 210, the electric telescopic rods 211 are symmetrically fixed. The output end of the electric telescopic rod 211 is fixed with the fixing plate 212. One end of the docking frame 213 is fixed to the bottom of the fixing plate 212, and the other end is fixed with a limit ring block 214. The disc body 220 is rotatably connected to the limit ring block 214. A camera probe 2141 (for observing the position of the sampled soil) is fixed to the bottom of the limit ring block 214. A filter membrane 241 and an airbag 250 are provided on the annular frame 240. Four collection cylinders 234 for collecting samples are provided on the disc body 220.

[0036] Four micro motors 230 are circumferentially fixed inside the disc body 220. Four column cylinders 231 are fixed on the outer section of the disc body 220, and the positions correspond to the micro motors 230 one by one. Threads are provided on the inner section of the column cylinder 231. The column cylinder 231 further includes a circular ring limit plate 233. The circular ring limit plate 233 is fixed on the inner section of the column cylinder 231 and is close to the micro motor 230.

[0037] Threads are provided on the outer and inner sections of the collection cylinder 234. The output end of the micro motor 230 passes through the circular ring limit plate 233 and is fixed with a spiral blade 232.

[0038] A collection inner cavity 2341 is opened inside the collection cylinder 234, and a collection inlet 2342 communicating with the collection inner cavity 2341 is also opened on the inner section. The collection cylinder 234 is detachably threadedly connected inside the column cylinder 231. An annular cover 235 is also threadedly connected to the inner section of the collection cylinder 234.

[0039] The annular frame 240 is fixed on the outer sections of the four column cylinders 231, and the annular frame 240 is coaxially arranged with the disc body 220. A filter membrane 241 (for passively sampling DNA in the water environment) is provided on the outer section of the annular frame 240.

[0040] A plurality of air bags 250 are fixedly arranged on the inner section of the annular frame 240, and are all arranged between the two cylinder barrels 231;

[0041] One end of the connecting pipe 260 is hermetically and rotatably connected to the limiting ring block 214, and the other end passes through the fixing plate 212 and communicates with the bottom of the machine body box 210; a plurality of micro dual-purpose air pumps are installed in the machine body box 210. The air bag 250 further includes a first connecting pipe 2501. One end of the first connecting pipe 2501 communicates with the air bag 250, and the other end sequentially passes through the disc body 220, the limiting ring block 214, the connecting pipe 260 and is connected to the micro dual-purpose air pump in the machine body box 210.

[0042] Specific implementation: Control the bionic fish to come to the target area underwater, and control the bionic fish to sink and approach the target soil mass (during this process, the filter membrane 241 on the annular frame 240 passively collects DNA in the water environment under the action of water flow). Control the dual-purpose micro air pump to inflate the air bags 250 on both sides of one of the cylinder barrels 231 on the disc body 220, so that the cylinder barrel 231 is perpendicular to the target soil mass. Start the electric telescopic rod 211 to drive the fixing plate 212 to extend downward, so that one of the cylinder barrels 231 and the end of the spiral blade 232 on the disc body 220 slightly sink into the soil. Then start the corresponding micro motor 230. Under the rotation of the spiral blade 232, the soil mass is driven to the collection inlet 2342 and falls into the collection inner cavity 2341. The rotation of the spiral blade 232 drives the annular cover 235 to move upward until it covers the collection inlet 2342, that is, the single sampling work is completed. It should be noted that control the corresponding air bag 250 to inflate and expand to make the disc body 220 rotate clockwise or counterclockwise; the sampling sequence can be sampling clockwise twice first and then counterclockwise twice, or sampling counterclockwise first and then clockwise; after the whole sampling is completed, control the bionic fish to come ashore. After coming ashore, the collection cylinder 234 can be disassembled from the cylinder barrel 231 by reversing.

[0043] Beneficial effects: A filter membrane 241 is arranged on the annular frame 240. There are 4 collection cylinders 234 for collecting samples on the disc body 220. Through the expansion and contraction of the air bag 250, control the disc body 220 to rotate clockwise or counterclockwise, combining passive sampling and active sampling. Multiple groups of collection cylinders 234 are used to sample soil masses at different positions in the same area (the soil mass contains DNA of the environment); by collecting and analyzing DNA samples in different water environments, the diversity, distribution range and population structure of fish species can be evaluated, providing a scientific basis for ecological protection and management.

[0044] Embodiment 2: In order to cope with the soil mass with a certain slope that may be encountered during the sampling process and to adapt to the sloping soil mass; in view of the above technical problems, the present application proposes the following technical solutions, specifically:

[0045] As Figure 5 and Figure 6 shown, there are two of the airbags 250 between every two of the cylinder tubes 231.

[0046] Specific implementation: Taking the leftward inclination as an example, control the two airbags 250 on the left side of the corresponding cylinder tube 231. The airbag 250 close to the cylinder tube 231 is fully inflated, and the airbag 250 far from the cylinder tube 231 shrinks but not completely; the two airbags 250 on the right side of the cylinder tube 231 are fully inflated; the remaining airbags 250 can be fully shrunk or slightly inflated; the actual inflation or shrinkage amount of the airbag 250 is flexibly adjusted according to the sampled inclination angle of the soil mass.

[0047] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0048] By arranging two airbags 250 between two cylinder tubes 231, the sampling assembly 200 can rotate flexibly and maintain an angle, and can adapt to sloping soil masses.

[0049] Embodiment 3: Since the fluctuations generated by the swimming of underwater fish are likely to interfere with the sampling work, in order to improve the stability during the sampling process; for the above technical problems, this application proposes the following technical solutions, specifically:

[0050] As Figure 7 and Figure 8 shown, the annular frame 240 further includes a water bag 270 and a second connecting pipe 271; one end of the water bag 270 is embedded in the inner cross-section of the annular frame 240; a plurality of micro water pumps are also installed in the body box 210; the other end of the second connecting pipe 271 communicates with the other end of the water bag 270, and the other end of the second connecting pipe 271 sequentially passes through the disc body 220, the limiting ring block 214, the connecting pipe 260 and is connected to the micro water pumps in the body box 210.

[0051] Specific implementation: Taking the vertical direction as an example, fill the airbags 250 on both sides of the cylinder tube 231 for the sampling work and the water bag 270 with gas and liquid respectively to improve the stability during the sampling work.

[0052] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0053] Fill the water bag 270 with an appropriate amount of liquid to assist the airbag 250 in maintaining stability for the cylinder tube 231 during the sampling work, and can maintain stability under the fluctuations generated by the swimming of underwater fish.

[0054] Embodiment 4: In order to enable the water bag 270 to more stably extract or fill the liquid in the water bag 270 during the tilting process of the cylinder 231, so as to stably adjust the tilting angle; in view of the above technical problems, the present application proposes the following technical solutions, specifically:

[0055] As Figure 9 and Figure 10 shown, both ends of the water bag 270 pass through the air bag 250, and the water bag 270 is divided into a middle section 272, a first section 273 and a second section 274 by the two air bags 250.

[0056] Specific implementation: Taking the left tilt as an example, gas and liquid are respectively filled into the air bags 250 and the water bag 270 on both sides of the cylinder 231 for sampling work, so that the cylinder 231 to be sampled is perpendicular to the soil body. Then, the bionic fish is moved to the soil body close to the tilting target. Next, the air bag 250 close to the first section 273 is contracted, and the dual-purpose micro air pump continuously sucks air from it, so that the first section 273 is clamped by the air bag 250 through the communication position of the middle section 272; then, the liquid in the water bag 270 is extracted, so that the liquid in the second section 274 is completely extracted; the middle section 272, the first section 273 and the second section 274 of the remaining water bag 270 can be drained or filled with a small amount of liquid; the liquid content in the middle section 272, the first section 273 and the second section 274 of the actual water bag 270 is adjusted according to the tilting angle of the soil sample.

[0057] One or more technical solutions provided in the present application have at least the following technical effects or advantages:

[0058] By using the dual-purpose micro air pump to contract and clamp the water bag 270 with the air bag 250, when the water pump extracts the liquid in the water bag 270, the liquid in the first section 273 or the second section 274 is not extracted, so as to adjust the liquid content in the water bag 270 at the tilting angle, making the tilting angle of the cylinder 231 more stable.

[0059] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic robotic fish for underwater sampling in the ocean, characterized in that, It includes a sampling component (200), a fish body (100), a power system (110) provided on the fish tail of the fish body (100), and an observation system (120) provided on the fish head; wherein, the power system (110) provides power for the fish body (100) to lift and move forward, and the observation system (120) observes whether there are obstacles in the path to avoid them. The sampling component (200) is embedded in the abdomen of the fish body (100); the sampling component (200) includes a body case (210), an electric telescopic rod (211), a fixing plate (212), a docking frame (213), a disc body (220), an annular frame (240), and a connecting pipe (260); the body case (210) is fixed to the abdomen of the fish body (100); on both sides inside the body case (210), electric telescopic rods (211) are symmetrically fixed; the output end of the electric telescopic rod (211) is fixed with a fixing plate (212); one end of the docking frame (213) is fixed to the bottom of the fixing plate (212), and the other end is fixed with a limit ring block (214); a disc body (220) is rotatably connected to the limit ring block (214); a camera probe (2141) is fixed to the bottom of the limit ring block (214); a filter membrane (241) and an airbag (250) are provided on the annular frame (240); 4 sample collection cylinders (234) are provided on the disc body (220); 4 micro motors (230) are circumferentially fixed inside the disc body (220), 4 column cylinders (231) are fixed to the outer section of the disc body (220), and the positions correspond to the micro motors (230) one by one; the annular frame (240) is fixed to the outer section of the 4 column cylinders (231), and the annular frame (240) is coaxially arranged with the disc body (220); a plurality of airbags (250) are fixed to the inner section of the annular frame (240), and are all arranged between the two column cylinders (231); two airbags (250) are fixed between every two column cylinders (231); one end of the connecting pipe (260) is hermetically rotatably connected to the limit ring block (214), and the other end passes through the fixing plate (212) and communicates with the bottom of the body case (210); a plurality of micro dual-purpose air pumps are installed in the body case (210), and the airbag (250) further includes a first connecting pipe (2501), one end of the first connecting pipe (2501) communicates with the airbag (250), and the other end sequentially passes through the disc body (220), the limit ring block (214), the connecting pipe (260) and is connected to the micro dual-purpose air pump in the body case (210).

2. The bionic robotic fish for underwater sampling in the ocean according to claim 1, characterized in that Threads are provided on the inner section of the column cylinder (231); the column cylinder (231) further includes a circular ring limit plate (233); the circular ring limit plate (233) is fixed to the inner section of the column cylinder (231) and is close to the micro motor (230).

3. The bionic robotic fish for underwater sampling in the ocean according to claim 2, wherein Threads are provided on the outer section and the inner section of the collection cylinder (234); the output end of the micro motor (230) passes through the circular ring limit plate (233) and is fixed with a spiral blade (232).

4. The bionic robotic fish for underwater sampling in the ocean according to claim 3, characterized in that, A collection cavity (2341) is formed inside the collection cylinder (234), and a collection inlet (2342) communicating with the collection cavity (2341) is also formed on the inner cross-section; the collection cylinder (234) is detachably threadedly connected inside the column cylinder (231); an annular cover (235) is also threadedly connected to the inner cross-section of the collection cylinder (234).

5. The bionic robotic fish for underwater sampling in the ocean according to claim 1, wherein A filter membrane (241) is arranged on the outer cross-section of the annular frame (240).

6. The bionic robotic fish for underwater sampling in the ocean according to claim 1, characterized in that, The annular frame (240) further includes a water bag (270) and a second connecting pipe (271); one end of the water bag (270) is embedded in the inner cross-section of the annular frame (240); a plurality of micro water pumps are also installed inside the machine body box (210); the other end of the second connecting pipe (271) communicates with one end of the water bag (270), and the other end of the second connecting pipe (271) sequentially passes through the disc body (220), the limiting ring block (214), the connecting pipe (260) and is connected to the water pump inside the machine body box (210).

7. The bionic robotic fish for underwater sampling in the ocean according to claim 6, characterized in that, Both ends of the water bag (270) pass through the air bag (250), and the water bag (270) is divided into a middle section (272), a first section (273) and a second section (274) by the two air bags (250).

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