Bionic robotic fish and system for water environment monitoring

Abstract

The invention provides a bionic robotic fish and system for water environment monitoring, and relates to the technical field of water quality detection. The equipment comprises a bionic robotic fish device, a control device and a detection device, the bionic robotic fish device comprises a bionic robotic fish body structure, an action execution structure installed on the bionic robotic fish body structure, a water inlet structure and a water drainage structure, wherein the water inlet structure and the water drainage structure are arranged on the two sides of the bionic robotic fish body structure and are opened and closed periodically. The control device and the detection device are installed in the bionic robot fish body structure, and the control device is used for controlling the action execution structure according to a remote control signal; the detection device comprises a water collection structure and a detection structure installed in the water collection structure. The first end of the water collecting structure communicates with the water inlet structure, and the second end of the water collecting structure communicates with the drainage structure. The technical problems that an existing underwater bionic robot structure is insufficient in flexibility in water and cannot be remotely controlled can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of water quality detection, and particularly to a bionic robotic fish and system for water environment monitoring. Background Art

[0002] With the development of automation technology and Internet of Things technology, water quality detection robots have gradually become an important tool in the field of environmental monitoring. Water quality detection is crucial for ensuring the safety of water resources, maintaining the ecological environment, and protecting human health. As an efficient and intelligent detection device, water quality detection robots can conduct water quality monitoring under different environments and conditions, and have many unique advantages and importance.

[0003] The existing underwater bionic robots have simple structural designs, are difficult to adapt to the resistance in water, lack flexibility, and cannot be remotely controlled. Summary of the Invention

[0004] The present application provides a bionic robotic fish and system for water environment monitoring to solve the technical problems that the existing underwater bionic robot structure lacks flexibility in water and cannot be remotely controlled.

[0005] In a first aspect, the present application provides a bionic robotic fish for water environment monitoring. When the bionic robotic fish swims in a water area to be measured, the bionic robotic fish includes: a bionic robotic fish device, a control device, and a detection device;

[0006] The bionic robotic fish device includes: a bionic robotic fish body structure, an action execution structure installed on the bionic robotic fish body structure, and an intake structure and a drainage structure that are arranged on both sides of the bionic robotic fish body structure and open and close periodically;

[0007] Both the control device and the detection device are installed inside the bionic robotic fish body structure. The control device is used to control the action execution structure according to a remote control signal;

[0008] The detection device includes: a water collection structure, and a detection structure installed inside the water collection structure; the first end of the water collection structure is communicated with the intake structure, and the second end of the water collection structure is communicated with the drainage structure;

[0009] The detection structure is used to detect the water body in the water collection structure, and the control device is further used to obtain a detection result from the detection structure.

[0010] In a possible design, the water collection structure includes: a water collection chamber and a detection chamber;

[0011] The shape of the water collecting cavity is a hollow frustum of a cone, the shape of the detection cavity is a hollow cylinder, and the upper surface of the water collecting cavity communicates with one side of the detection cavity;

[0012] The detection structure is installed inside the detection cavity, and the detection structure includes: a turbidity detection unit, a conductivity sensor, a temperature sensor, and a pH sensor.

[0013] In a possible design, the turbidity detection unit includes: a first turbidity sensor and a second turbidity sensor; the detection structure further includes: an illumination structure;

[0014] The first turbidity sensor is located in a first preset direction of the illumination structure, the second turbidity sensor is located in a second preset direction of the illumination structure, and the first turbidity sensor and the second turbidity sensor are used to detect the turbidity of the water body by the light scattering measurement method.

[0015] In a possible design, the action execution structure includes:

[0016] A dorsal fin unit for controlling the balance of the bionic fish body structure;

[0017] The pectoral fin unit, the anal fin unit, and the caudal fin unit are jointly used to control the traveling direction and speed of the bionic fish body structure.

[0018] In a possible design, the dorsal fin unit includes: a first dorsal fin and a second dorsal fin;

[0019] The first dorsal fin includes: a plurality of first support seats, a plurality of first rotating shafts, a plurality of first fin bones, and a first fin sail;

[0020] The second dorsal fin includes: a second support seat, a second rotating shaft, a second fin bone, a first fin plate, a first rotating member, a second rotating member, a first upper flap, and a first lower flap;

[0021] The plurality of first support seats are installed on the bionic fish body structure, the first fin bones are rotatably connected to the first support seats through the first rotating shafts, and the first fin sail covers and is installed on the plurality of first fin bones;

[0022] The second support seat is installed on the bionic fish body structure and is located behind the plurality of first support seats, and the second fin bone is rotatably connected to the second support seat through the second rotating shaft;

[0023] The shape of the first fin plate is a triangular curve shape. The first side edge of the first fin plate is mounted on the second fin bone. The first upper flap and the first lower flap are respectively mounted on the second side edge of the first fin plate through the first rotating member and the second rotating member.

[0024] In a possible design, the pectoral fin unit includes: a first pectoral fin and a second pectoral fin;

[0025] Both the first pectoral fin and the second pectoral fin include: a third support base, a third rotating shaft, a plurality of third fin bones and a second fin sail. Among them, the third support bases of the first pectoral fin and the second pectoral fin are respectively mounted on both sides of the bionic fish body structure;

[0026] For any one of the first pectoral fin and the second pectoral fin, the plurality of third fin bones are simultaneously rotatably connected to the third support base through the third rotating shaft, and the second fin sail covers and is mounted on the plurality of third fin bones.

[0027] In a possible design, the anal fin unit includes a runner, a connecting rod, a second fin plate, a third rotating member, a fourth rotating member, a second upper flap and a second lower flap;

[0028] The second fin plate is mounted on the bionic fish body structure, and the runner is mounted on the second fin plate; the second upper flap is rotatably connected to the runner through the connecting rod and the third rotating member; the second lower flap is rotatably connected to the second fin plate through the fourth rotating member.

[0029] In a possible design, the caudal fin unit includes a fourth support base, a rotating shaft member, a fourth fin bone, a third fin plate, a fifth rotating member, a sixth rotating member, a third upper flap and a third lower flap;

[0030] The fourth support base is mounted on the bionic fish body structure; the fourth fin bone and the third fin plate are rotatably connected to the rotating shaft member; the first side edge of the third fin plate is mounted on the fourth fin bone, and the third upper flap and the third lower flap are respectively mounted on the second side edge of the third fin plate through the fifth rotating member and the sixth rotating member.

[0031] In a possible design, the control device includes:

[0032] A remote control structure for receiving the remote control signal;

[0033] A positioning structure for obtaining position information;

[0034] An auxiliary structure, located at the head of the bionic fish body structure, is used for navigating and photographing information of the water area to be measured.

[0035] In a second aspect, the present application provides a bionic fish system for water environment monitoring, including:

[0036] A remote control terminal, and a bionic fish for water environment monitoring provided in the first aspect of the embodiments of the present application, which is communicatively connected to the remote control terminal.

[0037] A bionic fish and system for water environment monitoring provided by the embodiments of the present application include: a bionic fish device, a control device, and a detection device; the bionic fish device includes: a bionic fish body structure, an action execution structure installed on the bionic fish body structure, and a water inlet structure and a water drainage structure that are arranged on both sides of the bionic fish body structure and open and close periodically; both the control device and the detection device are installed inside the bionic fish body structure, and the control device is used to control the action execution structure according to a remote control signal; the detection device includes: a water collection structure, and a detection structure installed inside the water collection structure; the first end of the water collection structure is communicated with the water inlet structure, and the second end of the water collection structure is communicated with the water drainage structure; the detection structure is used to detect the water body in the water collection structure, and the control device is further used to obtain the detection result from the detection structure. Based on the above structural design, the following technical effects are achieved: The bionic fish device can be driven to move forward and maintain balance through the action execution structure. At the same time, designed in the form of a fish, it can effectively overcome the resistance of water and has high flexibility; the water inlet structure and the water drainage structure open and close periodically to periodically introduce water samples to be detected from different parts of the water area to be measured during the traveling process, and drain them in time after the detection is completed, thereby improving the accuracy of water quality detection; by receiving a remote control signal, the bionic fish can be remotely controlled, and can quickly respond and execute the required actions, which can improve work efficiency compared with traditional manual operations, especially when dealing with emergencies or multi-task management. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is a schematic structural diagram of the bionic fish provided by the embodiments of the present application;

[0040] Figure 2 It is a schematic structural diagram of the detection device provided by the embodiments of the present application;

[0041] Figure 3 Structural schematic diagram of the detection structure provided by the embodiment of the present application;

[0042] Figure 4 Structural schematic diagram of the first dorsal fin provided by the embodiment of the present application;

[0043] Figure 5 Structural schematic diagram of the second dorsal fin provided by the embodiment of the present application;

[0044] Figure 6 Structural schematic diagram of the first pectoral fin provided by the embodiment of the present application;

[0045] Figure 7 Structural schematic diagram of the anal fin unit provided by the embodiment of the present application;

[0046] Figure 8 Structural schematic diagram of the caudal fin unit provided by the embodiment of the present application.

[0047] Explanation of reference numerals:

[0048] 100 - Bionic fish device; 110 - Bionic fish body structure; 120 - Action execution structure; 121 - Dorsal fin unit; 122 - Pectoral fin unit; 123 - Anal fin unit; 1231 - Runner; 1232 - Connecting rod; 1233 - Second fin plate; 1234 - Third rotating member; 1235 - Fourth rotating member; 1236 - Second upper flap; 1237 - Second lower flap; 124 - Caudal fin unit; 1241 - Fourth support seat; 1242 - Rotating shaft member; 1243 - Fourth fin bone; 1244 - Third fin plate; 1245 - Fifth rotating member; 1246 - Sixth rotating member; 1247 - Third upper flap; 1248 - Third lower flap; 125 - First dorsal fin; 1251 - First support seat; 1252 - First rotating shaft; 1253 - First fin bone; 1254 - First fin sail; 126 - Second dorsal fin; 1261 - Second support seat; 1262 - Second rotating shaft; 1263 - Second fin bone; 1264 - First fin plate; 1265 - First rotating member; 1266 - Second rotating member; 1267 - First upper flap; 1268 - First lower flap; 127 - First pectoral fin; 1271 - Third support seat; 1272 - Third rotating shaft; 1273 - Third fin bone; 1274 - Second fin sail; 128 - Second pectoral fin; 130 - Water inlet structure; 140 - Drainage structure; 200 - Control device; 300 - Detection device; 310 - Water collection structure; 311 - Water collection cavity; 312 - Detection cavity; 320 - Detection structure; 321 - Turbidity detection unit; 3211 - First turbidity sensor; 3212 - Second turbidity sensor; 322 - Conductivity sensor; 323 - Temperature sensor; 324 - pH sensor; 325 - Lighting structure. Detailed implementation manners

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0050] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more.

[0051] It should be noted that the "at..." in the embodiments of the present application can be the instant when a certain situation occurs, or can be a period of time after a certain situation occurs, and the embodiments of the present application do not specifically limit this. In addition, the bionic robotic fish for water environment monitoring provided in the embodiments of the present application is only used as an example, and the bionic robotic fish can also include more or less content.

[0052] First, the nouns involved in the embodiments of the present application are explained accordingly:

[0053] Bionic robot fish: a product of artificial intelligence and robotics that mimics the movement and appearance of fish in nature. By simulating the behavior and physiological characteristics of fish, the bionic fish can swim freely in the water, perform specific tasks, and even interact with real fish. It is not only a complex system that integrates multiple disciplines such as bionics, robotics, artificial intelligence, and fluid dynamics, but also an innovative application in the field of underwater technology.

[0054] In order to clearly understand the technical solution of the embodiments of the present application, the solution of the prior art is first introduced in detail.

[0055] Existing underwater bionic robots have their respective shapes, but their structural designs are simple, lacking flexibility in water, unable to effectively overcome water resistance, and also unable to be remotely controlled.

[0056] In summary, how to design a device that can effectively overcome water resistance and be remotely controlled is an urgent problem to be solved in the embodiments of this application.

[0057] Therefore, in view of the above technical problems existing in the prior art, the embodiments of this application provide a bionic fish and system for water environment monitoring, which can be used in the field of water quality detection technology, aiming to ensure that it can effectively overcome water resistance and be remotely controlled.

[0058] The following introduces the application scenarios of a bionic fish and system for water environment monitoring provided by the embodiments of this application. The following application scenarios are only examples, aiming to help those skilled in the art understand the technical content of the embodiments of this application, but it does not mean that the embodiments of this application cannot be used in other devices, systems, environments or scenarios.

[0059] 1) Lake and reservoir monitoring. This bionic fish can be used for real-time monitoring of the water quality of enclosed water bodies such as lakes. Especially in large water bodies or areas that are difficult to reach, traditional detection methods may be limited, and the flexibility and adaptability of this bionic fish have unique advantages.

[0060] 2) Marine pollution monitoring. This bionic fish can be used in marine waters, especially in places far from the coastline for water quality monitoring, which is very important for detecting marine pollution and changes in the marine ecological environment.

[0061] 3) Urban water area monitoring: This bionic fish can be applied to the water quality detection of urban rivers, lakes or artificial water bodies to monitor the cleanliness of water in real time.

[0062] The following introduces the embodiments of this application with reference to the accompanying drawings of the specification.

[0063] Figure 1 It is a schematic structural diagram of a bionic fish for water environment monitoring provided by the embodiments of this application. As Figure 1 shown, the embodiments of this application provide a bionic fish for water environment monitoring.

[0064] When the bionic fish swims in the water area to be measured, the bionic fish includes: a bionic fish device 100, a control device 200, and a detection device 300.

[0065] The bionic fish robot device 100 includes: a bionic fish body structure 110, an action execution structure 120 installed on the bionic fish body structure 110, and a water inlet structure 130 and a water drainage structure 140 that are arranged on both sides of the bionic fish body structure 110 and open and close periodically.

[0066] In this embodiment, the action execution structure 120 is installed on the bionic fish body structure 110, and the bionic fish robot device can be driven to move forward and maintain balance through the action execution structure. At the same time, designed in the form of a fish, it can effectively overcome the water resistance and has high flexibility.

[0067] The water inlet structure 130 and the water drainage structure 140 open and close periodically, which is used to periodically introduce the water samples to be detected in different parts of the water area to be measured during the traveling process, and drain them in time after the detection is completed, so as to improve the accuracy of water quality detection.

[0068] The control device 200 and the detection device 300 are both installed inside the bionic fish body structure 110, and the control device 200 is used to control the action execution structure 120 according to the remote control signal.

[0069] In this embodiment, when the action execution structure 120 receives the remote control signal, it will execute the corresponding action. By receiving the remote control signal, the bionic fish robot can be remotely controlled, and it can quickly respond and execute the required actions. Compared with the traditional manual operation, especially when dealing with emergencies or multi-task management, it can improve the work efficiency.

[0070] The detection device 300 includes: a water collection structure 310, and a detection structure 320 installed inside the water collection structure 310; the first end of the water collection structure 310 is communicated with the water inlet structure 130, and the second end of the water collection structure 310 is communicated with the water drainage structure 140.

[0071] The detection structure 320 is used to detect the water body in the water collection structure 310, and the control device 200 is also used to obtain the detection result from the detection structure 320.

[0072] Figure 2 It is a schematic structural diagram of the detection device provided by the embodiment of the present application. As Figure 2 shown, the function of the water collection structure 310 is to introduce the water body to be detected through the water inlet structure 130, and drain the water body through the water drainage structure 140 after the water quality detection is completed; the function of the detection structure 320 is to detect the water quality of the water body to be detected and obtain relevant data.

[0073] Optionally, the water collection structure 310 further includes a water inlet, a filter screen, a water collection cavity, a connecting member, a water depth sensor, and a water outlet. Among them, the water inlet can enter the water body during the forward movement of the bionic fish. A one-way valve is designed inside. After the water body collection at one point is completed, the valve automatically closes and opens again after receiving the water body collection instruction at the next point; the filter screen is used to filter out solid waste and scum in the water body; the water collection cavity is designed with a wider front and a narrower rear to facilitate the water body to enter the detection structure 320; the connecting member fixedly connects the water collection cavity and the detection structure 320; the water depth sensor uses a waterproof piezoresistive sensor; the water outlet discharges the water body after the analysis of water quality parameters is completed.

[0074] A bionic fish for water environment monitoring provided by an embodiment of the present application includes: a bionic fish device, a control device, and a detection device; the bionic fish device includes: a bionic fish body structure, an action execution structure installed on the bionic fish body structure, and a water inlet structure and a water drainage structure that are periodically opened and closed on both sides of the bionic fish body structure; the control device and the detection device are both installed inside the bionic fish body structure. The control device is used to control the action execution structure according to a remote control signal; the detection device includes: a water collection structure, and a detection structure installed inside the water collection structure; the first end of the water collection structure is communicated with the water inlet structure, and the second end of the water collection structure is communicated with the water drainage structure; the detection structure is used to detect the water body in the water collection structure, and the control device is further used to obtain the detection result from the detection structure. Based on the above structural design, the following technical effects are achieved: The bionic fish device can be driven to move forward and maintain balance through the action execution structure. At the same time, designed in the form of a fish, it can effectively overcome the resistance of water and has high flexibility; the water inlet structure and the water drainage structure are periodically opened and closed to periodically introduce water samples to be detected in different parts of the water area to be measured during the forward movement and discharge them in time after the detection is completed, thereby improving the accuracy of water quality detection; by receiving a remote control signal, the bionic fish can be remotely controlled and can quickly respond and execute the required actions, which can improve work efficiency compared with traditional manual operations, especially when dealing with emergencies or multi-task management.

[0075] Figure 3 For the structural schematic diagram of the detection structure provided by an embodiment of the present application, as Figure 3 shown, on the basis of the above embodiment, the present embodiment provides a bionic fish for water environment monitoring. The water collection structure 310 in the bionic fish includes: a water collection cavity 311 and a detection cavity 312.

[0076] The shape of the water collection cavity 311 is a hollow frustum of a cone, and the shape of the detection cavity 312 is a hollow cylinder. The upper surface of the water collection cavity 311 is communicated with one side of the detection cavity 312.

[0077] In this embodiment, the water collecting cavity 311 is set as a hollow frustum of a cone, which can help guide the water sample to flow more smoothly towards the detection cavity. Especially in the case of large flow rate changes, such a structure helps to stably collect and guide the water sample to the detection cavity, avoiding errors or ineffective detection caused by overly sharp flow changes.

[0078] The water collecting cavity 311 is connected to a water diversion port, and the water diversion port controls the delay of water entering the detection cavity 312 through opening and closing. The water body enters the water collecting cavity 311 and the detection cavity 312 along Figure 3 the direction of the left arrow in the figure.

[0079] The detection structure 320 is installed inside the detection cavity 312. The detection structure 320 includes: a turbidity detection unit 321, a conductivity sensor 322, a temperature sensor 323, and a pH sensor 324.

[0080] In this embodiment, the turbidity detection unit 321 is used to detect turbidity. The conductivity sensor 322 uses an electrode probe for sensing, the temperature sensor 323 uses a thermistor for sensing, and the pH sensor 324 uses a glass electrode for sensing. A measurement darkroom is provided in the detection cavity 312.

[0081] In a possible design, the embodiment of the present application provides a bionic fish for water environment monitoring. The turbidity detection unit 321 in the bionic fish includes: a first turbidity sensor 3211 and a second turbidity sensor 3212; the detection structure 320 further includes: an illumination structure 325.

[0082] The first turbidity sensor 3211 is located in a first preset direction of the illumination structure 325, and the second turbidity sensor 3212 is located in a second preset direction of the illumination structure 325. The first turbidity sensor 3211 and the second turbidity sensor 3212 are used to detect the turbidity of the water body through the light scattering measurement method.

[0083] In this embodiment, according to the first turbidity sensor 3211, the second turbidity sensor 3212, and the illumination structure 325, the turbidity of the water body is detected through the light scattering measurement method. The illumination structure 325 uses an LED lamp. Specifically, the first turbidity sensor 3211 is located in a first preset direction of the illumination structure 325, that is, the first turbidity sensor 3211 is used to collect the transmitted light intensity at a preset angle. In this embodiment, the transmitted light intensity at a 90° direction is collected; the second turbidity sensor 3212 is located in a second preset direction of the illumination structure 325, that is, the second turbidity sensor 3212 is used to collect the scattered light intensity at a preset angle. In this embodiment, the scattered light intensity at a 90° direction is collected. The formula for calculating the turbidity value of the detected water body is:

[0084]

[0085] Among them, N is the turbidity value of the detected water body; is the scattered light intensity in the 90° direction; is the transmitted light intensity in the 90° direction; k is a proportionality constant, which can be obtained by calibrating with a standard solution.

[0086] The light scattering method is a direct measurement method that can accurately reflect the concentration of suspended particulate matter in water. The turbidity sensor quantitatively analyzes the turbidity of water through the change in the intensity of scattered light. This method is very suitable for real-time monitoring of water quality changes and can provide high-precision data support. At the same time, for different types of water bodies such as tap water, sewage, river water, and lake water, the light scattering measurement method can be effectively applied, which makes it highly versatile and flexible in water quality monitoring.

[0087] The detection structure 320 includes three parts: main control, sensing, and sampling. The main control includes a microcontroller, a communication interface, an encoder, and an A / D converter. The sensing part includes an LED lamp with an emission light wavelength of 850 nm, a light source drive circuit, a sensor, and a lock-in amplifier circuit. The sampling part includes a measurement darkroom, a water intake, and a control circuit.

[0088] The water quality analysis process includes the following steps:

[0089] 1) The operator of the bionic fish sets the point according to the water quality sampling and analysis requirements. The bionic fish reaches the designated location, or the operator controls the main control part of the bionic fish through the communication interface and sends a water body collection and analysis instruction to the detection structure 320.

[0090] 2) The microcontroller of the integrated component controls the water intake in front of the water collection chamber to open, allowing the water body to enter the measurement darkroom and then closing it, and performs a measurement delay of 30 s; controls the encoder and the light source drive circuit, turns on the lighting structure 325, and controls multiple sensors to start working.

[0091] 3) Multiple sensors detect different parameters of the water quality, generate different voltages, amplify the voltages through the lock-in amplifier circuit, and then convert the analog quantity into a digital quantity through the A / D converter and return it to the microcontroller. Among them, the turbidity of the measured water body is obtained by the light scattering method in the above embodiment.

[0092] 4) When the measurement delay ends, the microcontroller controls the water intake to open again, allowing the subsequent water sample to enter the measurement darkroom, and discharges the water body analyzed in the previous time through the swimming power of the bionic fish. Multiple measurements at the same location reduce measurement errors.

[0093] 5) The microcontroller collects the sampling and analysis results of each sensor and returns them to the remote control terminal through the communication interface. After the analysis at the current location is completed, it waits for the remote control terminal to issue another water sample collection and analysis instruction.

[0094] Based on the above embodiments, the present embodiment provides a biomimetic robotic fish for water environment monitoring. The motion execution structure 120 in this biomimetic robotic fish includes:

[0095] A dorsal fin unit 121 for controlling the balance of the biomimetic robotic fish body structure 110;

[0096] A pectoral fin unit 122, a pelvic fin unit 123, and a caudal fin unit 124, which are jointly used to control the traveling direction and speed of the biomimetic robotic fish body structure 110.

[0097] In this embodiment, setting the dorsal fin unit, pectoral fin unit, pelvic fin unit, and caudal fin unit can enable the biomimetic robotic fish to more realistically simulate the movement of real fish, ensuring its stability, direction control, and propulsion force in water, thereby providing more flexible and efficient movement capabilities. The combined action of these fin units makes the biomimetic robotic fish perform better in complex environments.

[0098] In a possible design, the present application embodiment provides a biomimetic robotic fish for water environment monitoring. The dorsal fin unit 121 in this motion execution structure 120 includes: a first dorsal fin 125 and a second dorsal fin 126.

[0099] The first dorsal fin 125 includes: a plurality of first support seats 1251, a plurality of first rotating shafts 1252, a plurality of first fin bones 1253, and a first fin sail 1254.

[0100] The plurality of first support seats 1251 are installed on the biomimetic robotic fish body structure 110. The first fin bones 1253 are rotatably connected to the first support seats 1251 through the first rotating shafts 1252, and the first fin sail 1254 covers and is installed on the plurality of first fin bones 1253.

[0101] Figure 4 For the structural schematic diagram of the first dorsal fin provided by the present application embodiment, as Figure 4 shown, in this embodiment, the plurality of first support seats 1251 are installed on the biomimetic robotic fish body structure 110 at a certain distance interval to play a supporting role.

[0102] The first rotating shaft 1252 connects the first support base 1251 and the first fin bone 1253. At the same time, a motor is arranged in the first rotating shaft 1252. Driven by the motor, the first fin bone 1253 can rotate around the first rotating shaft 1252 by an angle. In this design, the first rotating shaft 1252 is connected to the motor, and the power of the motor is transmitted to the first rotating shaft 1252 through the mechanical transmission system, so that it rotates. The rotation of the motor can adjust the rotation speed and rotation angle according to the instructions of the control system, so that the first rotating shaft 1252 can accurately control the movement of the first fin bone 1253 connected thereto. In this way, the motor not only provides the necessary driving force, but also can accurately adjust the rotation angle of the first fin bone 1253 through the electronic control system to ensure that it makes corresponding adjustments according to needs.

[0103] A first fin sail 1254 is arranged between every two first fin bones 1253. The first fin sail 1254 is made of soft silicone or thermoplastic polyurethane (TPU) material and can be unfolded or folded as the first fin bone 1253 rotates. By controlling the unfolding degree of the first dorsal fin, the balance and stability of the bionic robot fish during the traveling process are comprehensively maintained.

[0104] The second dorsal fin 126 includes: a second support base 1261, a second rotating shaft 1262, a second fin bone 1263, a first fin plate 1264, a first rotating member 1265, a second rotating member 1266, a first upper flap 1267 and a first lower flap 1268.

[0105] The second support base 1261 is installed on the body structure 110 of the bionic robot fish and is located at the rear side of a plurality of first support bases 1251. The second fin bone 1263 is rotatably connected to the second support base 1261 through the second rotating shaft 1262.

[0106] The shape of the first fin plate 1264 is a triangular curve shape. The first side edge of the first fin plate 1264 is installed on the second fin bone 1263. The first upper flap 1267 and the first lower flap 1268 are respectively installed on the second side edge of the first fin plate 1264 through the first rotating member 1265 and the second rotating member 1266.

[0107] Figure 5 It is a schematic structural diagram of the second dorsal fin provided by the embodiment of the present application, as Figure 5As shown in the figure, in this embodiment, the second support base 1261 is installed on the bionic fish body structure 110 to play a supporting role; the second dorsal fin 126 is also provided with a connecting member, and the second fin bone 1263 is rotatably connected to the second support base 1261 through the connecting member and the second rotating shaft 1262, so that the second fin bone 1263 can rotate at an angle with the second rotating shaft 1262 as the axis. The connecting member can improve the rotation stability of the second fin bone 1263. A motor is arranged in the second rotating shaft 1262, and the second fin bone 1263 can be driven by the motor to rotate at an angle with the second rotating shaft 1262 as the axis.

[0108] The first fin plate 1264 is the structural basis of the second dorsal fin 126. The first side edge of the first fin plate 1264 is connected to the second fin bone 1263. The first upper turning plate 1267 and the first lower turning plate 1268 designed at the rear are respectively connected to the second side edge of the first fin plate 1264 through the first rotating member 1265 and the second rotating member 1266. Swing motors are arranged in the first rotating member 1265 and the second rotating member 1266. The swing motors transfer the rotational power to the first rotating member 1265 and the second rotating member 1266 in a mechanical transmission or electric drive manner. The deflection angles of the first upper turning plate 1267 and the first lower turning plate 1268 can be adjusted by driving the swing motors. The number of the first rotating member 1265 and the second rotating member 1266 is not specifically limited here. In this embodiment, the number of both the first rotating member 1265 and the second rotating member 1266 is two.

[0109] By controlling the rotation of the second fin bone to drive the overall rotation of the second dorsal fin, the balance and stability of the bionic fish during the traveling process can be comprehensively maintained. At the same time, by controlling the deflection angles of the first upper turning plate and the first lower turning plate, the motion posture and the forward direction of the bionic fish can be comprehensively adjusted.

[0110] In a possible design, an embodiment of the present application provides a bionic fish for water environment monitoring. The pectoral fin unit 122 in the motion execution structure 120 includes: a first pectoral fin 127 and a second pectoral fin 128.

[0111] Both the first pectoral fin 127 and the second pectoral fin 128 include: a third support base 1271, a third rotating shaft 1272, a plurality of third fin bones 1273, and a second fin sail 1274; wherein, the third support base 1271 of the first pectoral fin 127 and the third support base 1271 of the second pectoral fin 128 are respectively installed on both sides of the bionic fish body structure 110.

[0112] For any one of the first pectoral fin 127 and the second pectoral fin 128, a plurality of third fin bones 1273 are simultaneously rotatably connected to the third support base 1271 through the third rotating shaft 1272, and the second fin sail 1274 covers and is installed on the plurality of third fin bones 1273.

[0113] Figure 6 The structural schematic diagram of the first pectoral fin provided by the embodiment of the present application is as follows Figure 6 As shown, in this embodiment, the first pectoral fin 127 and the second pectoral fin 128 are provided, and the third support seats 1271 of the first pectoral fin 127 and the third support seats 1271 of the second pectoral fin 128 are respectively installed on both sides of the bionic fish body structure 110 to play a supporting role; the first pectoral fin 127 and the second pectoral fin 128 are also provided with connecting pieces, and the third rotating shaft 1272 connects the third support seat 1271 and the connecting piece, and the connecting piece can improve the rotational stability of the third fin bone 1273. The first pectoral fin 127 is installed on the left side of the bionic fish body structure 110, and the second pectoral fin 128 is installed on the right side of the bionic fish body structure 110, and the two are symmetrically arranged.

[0114] A second fin sail 1274 is arranged between every two third fin bones 1273. The second fin sail 1274 is made of soft silicone or TPU material and can be unfolded or folded as the third fin bone 1273 rotates. A motor is arranged in the third rotating shaft, and a plurality of third fin bones and the second fin sail are fixed on the connecting piece to form a fan-shaped structure. The fan-shaped structure can swing flexibly at multiple angles around the third rotating shaft under the driving action of the motor, providing forward power for the bionic fish.

[0115] In a possible design, the embodiment of the present application provides a bionic fish for water environment monitoring. The anal fin unit 123 in the motion execution structure 120 includes a runner 1231, a connecting rod 1232, a second fin plate 1233, a third rotating member 1234, a fourth rotating member 1235, a second upper turning plate 1236 and a second lower turning plate 1237.

[0116] The second fin plate 1233 is installed on the bionic fish body structure 110, and the runner 1231 is installed on the second fin plate 1233; the second upper turning plate 1236 is rotatably connected to the runner 1231 through the connecting rod 1232 and the third rotating member 1234; the second lower turning plate 1237 is rotatably connected to the second fin plate 1233 through the fourth rotating member 1235.

[0117] Figure 7 The structural schematic diagram of the anal fin unit provided by the embodiment of the present application is as follows Figure 7 As shown, in this embodiment, the second fin plate 1233 is fixedly installed on the bionic fish body structure 110, and the runner 1231 is fixedly installed on the second fin plate 1233.

[0118] A motor is provided in the rotating wheel 1231. Under the action of the motor, the connecting rod 1232 and the third rotating member 1234 are driven, so that the second upper flap 1236 swings repeatedly within a certain opening and closing angle range; a swinging motor is provided in the fourth rotating member 1235. Under the action of the swinging motor, the second lower flap 1237 swings repeatedly within a certain opening and closing angle range. Here, the number of the third rotating member 1234 and the fourth rotating member 1235 is not specifically limited. In this embodiment, the number of both the third rotating member 1234 and the fourth rotating member 1235 is two.

[0119] By repeatedly swinging the second upper flap and the second lower flap within a certain opening and closing angle range, forward power can be provided for the bionic fish robot. By controlling the deflection angle of the second lower flap, the motion posture and forward direction of the bionic fish robot can be comprehensively adjusted.

[0120] In a possible design, an embodiment of the present application provides a bionic fish robot for water environment monitoring. The tail fin unit 124 in the motion execution structure 120 includes a fourth support seat 1241, a rotating shaft member 1242, a fourth fin bone 1243, a third fin plate 1244, a fifth rotating member 1245, a sixth rotating member 1246, a third upper flap 1247 and a third lower flap 1248.

[0121] The fourth support seat 1241 is installed on the bionic fish body structure 110; the fourth fin bone 1243 and the third fin plate 1244 are rotatably connected to the rotating shaft member 1242; the first side edge of the third fin plate 1244 is installed on the fourth fin bone 1243, and the third upper flap 1247 and the third lower flap 1248 are respectively installed on the second side edge of the third fin plate 1244 through the fifth rotating member 1245 and the sixth rotating member 1246.

[0122] Figure 8 It is a schematic structural diagram of the tail fin unit provided by the embodiment of the present application. As Figure 8 shown, in this embodiment, the fourth support seat 1241 is installed at the tail of the bionic fish body structure 110 to play a supporting role, and the rotating shaft member 1242 connects the fourth support seat 1241 and the tail fin unit 124; the fourth fin bone 1243 is divided into upper and lower parts, and the third fin plate 1244 is also divided into upper and lower parts. The third fin plate 1244 is fixed to the fourth fin bone 1243 to form the basic structure of the tail fin unit 124.

[0123] A motor is provided inside the rotating shaft member 1242. Under the action of the motor, the caudal fin unit 124 swings around the vertical shaft inside the rotating shaft member 1242, providing the main power for the advancement of the bionic fish robot. In this design, a motor is integrated inside the rotating shaft member 1242, and the motor drives the caudal fin unit to move through its output power. The function of the motor is to provide rotational power to make the caudal fin unit swing around the vertical shaft inside the rotating shaft member, thereby adjusting the angle and position of the caudal fin unit.

[0124] The third upper flap 1247 and the third lower flap 1248 are respectively connected to the third fin plate 1244 through the fifth rotating member 1245 and the sixth rotating member 1246. The number of the fifth rotating member 1245 and the sixth rotating member 1246 is not specifically limited here. In this embodiment, the number of both the fifth rotating member 1245 and the sixth rotating member 1246 is three. Swing motors are provided inside the fifth rotating member 1245 and the sixth rotating member 1246. Under the action of the swing motors, the third upper flap 1247 and the third lower flap 1248 are controlled to deflect by a certain angle, thereby comprehensively adjusting the motion posture and the forward direction of the bionic fish robot.

[0125] Through high-fidelity design, the multi-fin structure of the bionic fish robot provides triple power from the pectoral fin unit, the pelvic fin unit, and the caudal fin unit. The degree of expansion of the first dorsal fin is controlled according to different water flow conditions to maintain the balance and stability of the bionic fish robot. Through the adjustment of the upper and lower flaps in the second dorsal fin, the pelvic fin unit, and the caudal fin unit, fine control of the traveling direction of the bionic fish robot is achieved, comprehensively improving the mobility and flexibility of the bionic fish robot, enabling the bionic fish robot to move nimbly in underground pipelines with high water levels or in river and lake waters.

[0126] Based on the above embodiments, this embodiment provides a bionic fish robot for water environment monitoring. The control device 200 in this bionic fish robot includes:

[0127] A remote control structure for receiving remote control signals;

[0128] A positioning structure for obtaining position information;

[0129] An auxiliary structure located at the head of the body structure 110 of the bionic fish robot for navigation and photographing information of the water area to be measured.

[0130] In this embodiment, a remote control terminal is provided, which is used to transmit remote control signals. Optionally, the remote control terminal includes a display, a controller, a data storage module, and a wireless communication module. The remote control terminal is monitored and controlled by staff on the ground, and the remote control signals are transmitted to the bionic fish through the wireless communication module. Among them, the display of the remote control terminal is used to display in real time the video data, sonar data, and water quality detection data collected by the bionic fish, as well as the position, speed, heading, and attitude angle information of the bionic fish, facilitating control; the controller is used to control the motion attitude, direction, and speed of the bionic fish; the data storage module is used to store the sensing data information uploaded by the bionic fish and the motion trajectory information of the bionic fish; the wireless communication module is used to convert information and radio frequency signals mutually.

[0131] Specifically, a remote control structure is provided in the bionic fish for receiving remote control signals. Optionally, the remote control structure includes a wireless communication module, a microprocessor, a data storage module, and a data exchange interface. Among them, the wireless communication module is used to convert information and radio frequency signals mutually; the microprocessor is used to control the sensing and detection operations of the bionic fish and the motion of the bionic fish through the data exchange interface; the data storage module is used to store the sensing data information and the motion trajectory information of the bionic fish; the data exchange interface is used to transmit control signals to the detection device and the action execution structure and receive the sensing information of the detection device and the positioning structure.

[0132] A positioning structure is provided in the bionic fish, including an inertial gyroscope positioning module and a Beidou positioning module. Among them, the inertial gyroscope positioning module is used to obtain the position, speed, heading, and attitude angle information of the bionic fish, and the Beidou positioning module is used to correct the position of the bionic fish to obtain a more accurate positioning.

[0133] The bionic robotic fish is deployed for operation in underground pipelines or rivers and lakes, and transmits detection information and positioning information to the remote control terminal through a wireless communication module. An auxiliary structure is provided in the bionic robotic fish, located at the head of the body structure 110 of the bionic robotic fish, and is used for navigation and photographing information of the water area to be measured. The auxiliary structure integrates an underwater camera, a micro sonar, and auxiliary lighting lamps. Among them, the underwater camera uses a waterproof and anti-shake imaging sensor to ensure stable video acquisition underwater. The underwater camera captures color video images underwater, mainly used for detecting defects inside the pipeline, underwater structures and organisms in rivers and lakes, etc.; the auxiliary lighting lamps use waterproof light-emitting diode (LED) lamp beads and are turned on in case of insufficient light. The auxiliary lighting lamps are turned on simultaneously when the underwater camera is working for lighting; a micro sonar is integrated in the forehead of the bionic robotic fish. The micro sonar conducts navigation and ranging through electro-acoustic conversion and information processing, and can also detect underwater targets such as the structure of the building and organisms. It is mainly used for detecting and quantifying defects inside the pipeline, underwater structures and organisms in rivers and lakes. By integrating functional modules such as an underwater camera, a micro sonar, and auxiliary lighting lamps, the bionic robotic fish can complete the monitoring tasks of underwater environments such as pipelines and rivers and lakes.

[0134] Optionally, a high-density lithium-ion battery is also provided, which can stably supply power to the bionic robotic fish and maintain long-term endurance.

[0135] The embodiment of the present application also provides a bionic robotic fish system for water environment monitoring. The bionic robotic fish system includes:

[0136] A remote control terminal, and the bionic robotic fish for water environment monitoring provided in the above embodiments, which is communicatively connected to the remote control terminal.

[0137] So far, the technical solutions of the embodiments of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the embodiments of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them; although the embodiments of the present application have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A bionic robotic fish for water environment monitoring, characterized in that: The bionic robotic fish swims in a water area to be tested, and the bionic robotic fish comprises: a bionic robotic fish device (100), a control device (200) and a detection device (300); The bionic robotic fish device (100) comprises: a bionic robotic fish body structure (110), an action execution structure (120) mounted on the bionic robotic fish body structure (110), and a water inlet structure (130) and a drainage structure (140) arranged on both sides of the bionic robotic fish body structure (110) and open and close periodically; The control device (200) and the detection device (300) are both installed inside the bionic robotic fish body structure (110), and the control device (200) is used to control the action execution structure (120) according to a remote control signal; The detection device (300) comprises: a water collection structure (310), and a detection structure (320) installed inside the water collection structure (310); a first end of the water collection structure (310) is connected to the water inlet structure (130), and a second end of the water collection structure (310) is connected to the drainage structure (140); The detection structure (320) is used to detect the water body in the water collection structure (310), and the control device (200) is also used to obtain the detection result from the detection structure (320).

2. The bionic robotic fish for water environment monitoring according to claim 1, characterized in that: The water collection structure (310) comprises: a water collection chamber (311) and a detection chamber (312); The shape of the water collection chamber (311) is a hollow truncated cone, the shape of the detection chamber (312) is a hollow cylindrical, and the upper surface of the water collection chamber (311) is connected to one side of the detection chamber (312); The detection structure (320) is installed inside the detection cavity (312), and the detection structure (320) comprises: a turbidity detection unit (321), a conductivity sensor (322), a temperature sensor (323), and a pH sensor (324).

3. The bionic robotic fish for water environment monitoring according to claim 2, characterized in that: The turbidity detection unit (321) comprises: a first turbidity sensor (3211) and a second turbidity sensor (3212); the detection structure (320) further comprises: an illumination structure (325); The first turbidity sensor (3211) is located in a first preset direction of the lighting structure (325), and the second turbidity sensor (3212) is located in a second preset direction of the lighting structure (325), and the first turbidity sensor (3211) and the second turbidity sensor (3212) are used to detect the turbidity of the water body by light scattering measurement method.

4. The bionic robotic fish for water environment monitoring according to claim 1, characterized in that: The action execution structure (120) includes: A dorsal fin unit (121), used for controlling the balance of the bionic robotic fish body structure (110); The pectoral fin unit (122), the anal fin unit (123) and the caudal fin unit (124) are used together to control the moving direction and speed of the bionic robotic fish body structure (110).

5. The bionic robotic fish for water environment monitoring according to claim 4, characterized in that: The dorsal fin unit (121) comprises: a first dorsal fin (125) and a second dorsal fin (126); The first dorsal fin (125) comprises: a plurality of first support seats (1251), a plurality of first rotating shafts (1252), a plurality of first fin bones (1253) and a first fin sail (1254); The second dorsal fin (126) comprises: a second support seat (1261), a second rotating shaft (1262), a second fin bone (1263), a first fin plate (1264), a first rotating member (1265), a second rotating member (1266), a first upper flap (1267) and a first lower flap (1268); The plurality of first support seats (1251) are mounted on the bionic robotic fish body structure (110); the first fin bones (1253) are rotatably connected to the first support seats (1251) via the first rotating shaft (1252); and the first fin sails (1254) cover and are mounted on the plurality of first fin bones (1253); The second support seat (1261) is mounted on the bionic robotic fish body structure (110) and is located at the rear side of the plurality of first support seats (1251); the second fin bone (1263) is rotatably connected to the second support seat (1261) via the second rotating shaft (1262); The shape of the first fin plate (1264) is a triangular curve shape, and the first side edge of the first fin plate (1264) is installed on the second fin bone (1263). The first upper flap (1267) and the first lower flap (1268) are installed on the second side edge of the first fin plate (1264) through the first rotating member (1265) and the second rotating member (1266), respectively.

6. The bionic robotic fish for water environment monitoring according to claim 4, characterized in that: The pectoral fin unit (122) comprises: a first pectoral fin (127) and a second pectoral fin (128); The first pectoral fin (127) and the second pectoral fin (128) both comprise: a third support seat (1271), a third rotating shaft (1272), a plurality of third fin bones (1273) and a second fin sail (1274); wherein the third support seat (1271) of the first pectoral fin (127) and the third support seat (1271) of the second pectoral fin (128) are respectively mounted on both sides of the bionic robotic fish body structure (110); For any one of the first pectoral fin (127) and the second pectoral fin (128), the plurality of third fin bones (1273) are rotatably connected to the third support seat (1271) through the third rotating shaft (1272) at the same time, and the second fin sail (1274) covers and is installed on the plurality of third fin bones (1273).

7. The bionic robotic fish for water environment monitoring according to claim 4, characterized in that: The hip fin unit (123) comprises a rotating wheel (1231), a connecting rod (1232), a second fin plate (1233), a third rotating member (1234), a fourth rotating member (1235), a second upper flap (1236) and a second lower flap (1237); The second fin (1233) is mounted on the bionic robotic fish body structure (110), and the rotating wheel (1231) is mounted on the second fin (1233); the second upper flap (1236) is rotatably connected to the rotating wheel (1231) via the connecting rod (1232) and the third rotating member (1234); and the second lower flap (1237) is rotatably connected to the second fin (1233) via the fourth rotating member (1235).

8. The bionic robotic fish for water environment monitoring according to claim 4, characterized in that: The tail fin unit (124) comprises a fourth support seat (1241), a rotating shaft member (1242), a fourth fin bone (1243), a third fin plate (1244), a fifth rotating member (1245), a sixth rotating member (1246), a third upper flap (1247) and a third lower flap (1248); The fourth support seat (1241) is installed on the bionic robot fish body structure (110); the fourth fin bone (1243) and the third fin plate (1244) are rotatably connected to the rotating shaft (1242); the first side edge of the third fin plate (1244) is installed on the fourth fin bone (1243), and the third upper flap (1247) and the third lower flap (1248) are installed on the second side edge of the third fin plate (1244) through the fifth rotating member (1245) and the sixth rotating member (1246), respectively.

9. The bionic robotic fish for water environment monitoring according to claim 1, characterized in that: The control device (200) comprises: A remote control structure, used for receiving the remote control signal; Positioning structure, used to obtain location information; The auxiliary structure is located at the head of the bionic robot fish body structure (110) and is used for navigation and photographing the water area information to be measured.

10. A bionic robotic fish system for water environment monitoring, characterized in that: include: A remote control terminal, and a bionic robotic fish for water environment monitoring as claimed in any one of claims 1 to 9, which is communicatively connected to the remote control terminal.

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