Building and underground anti-seepage detection bionic robotic fish

Abstract

The invention relates to a building and underground anti-seepage detection bionic robotic fish, belongs to the technical field of underwater robots, and solves the technical problems that the existing bionic underwater robot adopts a single propulsion mode, and the requirements of efficient movement and accurate detection are difficult to consider and the like. According to the solution, the building and underground anti-seepage detection bionic robotic fish comprises a bionic robotic fish body, a fish body cavity is formed in the fish body shell, and the interior of the fish body cavity is used for containing the sensing assembly and the control module; the fish body shell cover and the fish body shell are in magnetic attraction connection; the camera shooting assembly is arranged at the front end of the fish body shell; the bionic pectoral fins are connected with the fish body shell through pectoral fin driving assemblies symmetrically arranged on the two sides of the fish body shell. The antenna assembly is arranged at the top of the rear end of the fish body shell; the bionic fishtail is connected with the fish body shell through a fishtail driving assembly; the fishtail driving assembly comprises a plurality of fishtail driving units. Compared with the prior art, the invention has the advantages of high maneuverability, cost reduction, intelligent control, high efficiency, high safety and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and particularly relates to a bionic fish for detecting building and underground leakage prevention. Background Art

[0002] With the in-depth development and utilization of mines and underground spaces, leakage detection technology plays a crucial role in mine safety monitoring, underground water resource management, tunnel construction and other fields. Traditional leakage detection methods rely on fixed sensor networks or manual surveys. Such methods have problems such as limited data coverage, insufficient real-time performance, and difficulty in adapting to complex environments. For example, the deployment and maintenance of fixed sensor networks are difficult in complex terrains, while manual surveys require a large amount of labor and may be restricted by the working environment, with weak real-time monitoring capabilities.

[0003] In recent years, bionic underwater robots have gradually become a new type of technology carrier for leakage detection due to their high maneuverability, low noise, and adaptability to complex flow fields. However, existing bionic underwater robots mostly adopt a single propulsion method and are difficult to meet the requirements of both efficient movement and precise detection. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art and solve the technical problems such as the single propulsion method of existing bionic underwater robots and the difficulty in meeting the requirements of both efficient movement and precise detection, the present invention provides a bionic fish for detecting building and underground leakage prevention.

[0005] The present invention is achieved through the following technical solutions.

[0006] The present invention provides a bionic fish for detecting building and underground leakage prevention, including:

[0007] A fish body shell, with a fish body cavity provided inside the fish body shell, and the inside of the fish body cavity is used to accommodate a sensing component and a control module;

[0008] A fish body shell cover, which is arranged above the fish body shell, and is magnetically connected between the fish body shell cover and the fish body shell;

[0009] A camera component, which is arranged at the front end of the fish body shell, and the camera component is used to obtain visual information;

[0010] Bionic pectoral fins, which are connected to the fish body shell through pectoral fin driving components symmetrically arranged on both sides of the fish body shell, and the pectoral fin driving components drive the bionic pectoral fins to deflect upward and downward;

[0011] An antenna component, which is arranged at the top of the rear end of the fish body shell, and the antenna component is used to achieve communication;

[0012] Bionic fish tail, which is connected to the fish body shell through a fish tail drive assembly; one end of the fish tail drive assembly is connected to the rear end of the fish body shell through a fish tail connection base, and the other end of the fish tail drive assembly is connected to the bionic fish tail through a fish tail connection block; the fish tail drive assembly includes a number of fish tail drive units, and a protective cover is provided outside the fish tail drive unit; the fish tail drive assembly drives the bionic fish tail to swing back and forth;

[0013] Control module, which is electrically connected to the sensing assembly, the camera assembly, the pectoral fin drive assembly, the antenna assembly and the fish tail drive assembly respectively.

[0014] Furthermore, a strip magnet installation groove and a circular magnet installation groove are provided at the top of the fish body shell, and magnets are installed at the strip magnet installation groove and the circular magnet installation groove.

[0015] Furthermore, a waterproof cover plate for the fish body cavity is provided at the top of the fish body cavity, and the waterproof cover plate for the fish body cavity is provided with a charging watertight connector installation hole, a temperature sensor installation hole, a depth sensor installation hole, a water quality detection sensor installation hole, a debugging interface watertight connector installation hole and a switch installation hole.

[0016] Furthermore, the sensing assembly includes:

[0017] Temperature sensor, which is installed at the temperature sensor installation hole;

[0018] Depth sensor, which is installed at the depth sensor installation hole;

[0019] Water quality detection sensor, which is installed at the water quality detection sensor installation hole.

[0020] Furthermore, the control module includes:

[0021] Perception unit, which is used to perceive the attitude information, depth information, position information and power consumption data of the bionic robotic fish;

[0022] Data processing unit, which is used to obtain environmental state information based on the visual information obtained by the camera assembly and generate motion instructions for the bionic robotic fish;

[0023] Drive control unit, which is used to establish a communication connection between the pectoral fin drive assembly and the fish tail drive assembly;

[0024] Battery unit, which is used to provide power;

[0025] Communication unit, which is used to transmit data;

[0026] A controller, which is used to control a drive control unit to execute a motion instruction according to a motion instruction, to process data output and storage transmitted by a camera assembly, to plan a motion scheme for autonomous swimming of a bionic fish and output a control instruction, and to implement remote control motion.

[0027] Further, the camera assembly includes:

[0028] A camera, which is arranged in a camera cavity at the front end of the fish body shell, and several connection ends are arranged in the camera cavity;

[0029] A camera fixing member, several fixing ends corresponding to the connection ends one by one are arranged around the camera fixing member, a camera mounting groove is arranged in the middle of the camera fixing member, and a camera is fixedly installed in the camera mounting groove;

[0030] A camera waterproof cover plate, which is arranged at the front end of the camera cavity.

[0031] Further, the pectoral fin drive assembly includes:

[0032] A pectoral fin servo base, which is arranged in pectoral fin drive assembly mounting grooves on both sides of the fish body shell, and a pectoral fin drive servo limiting groove is arranged on the side surface of the pectoral fin servo base;

[0033] A pectoral fin drive servo, which is arranged in the pectoral fin drive servo limiting groove, limiting blocks matching the pectoral fin drive servo limiting groove are arranged at both ends of the pectoral fin drive servo, and a pectoral fin drive servo disk is arranged on the output end of the pectoral fin drive servo;

[0034] A pectoral fin rotating member, which is rotatably connected to the pectoral fin drive servo, the pectoral fin rotating member includes a pectoral fin rotating servo disk and a clamping groove connected to the pectoral fin rotating servo disk, the pectoral fin rotating servo disk is sleeved outside the pectoral fin drive servo disk, and a bionic pectoral fin is clamped at the clamping groove.

[0035] Further, the antenna assembly includes:

[0036] An antenna cover mounting base, which is arranged at the top of the rear end of the fish body shell, and an antenna line channel is arranged in the middle of the antenna cover mounting base;

[0037] An antenna cover, which is arranged on the antenna cover mounting base, and an antenna mounting hole is arranged on the antenna cover;

[0038] An antenna, which is installed at the antenna mounting hole.

[0039] Further, the tail fin drive assembly includes 3 groups of tail fin drive units, and each tail fin drive unit includes:

[0040] The tail fin servo base, the tail fin servo base close to the fish body shell is fixedly connected to the fish body shell through the tail fin connecting base, and a tail fin driving servo limiting groove is provided on the tail fin servo base;

[0041] The tail fin driving servo, the tail fin driving servo is arranged in the tail fin driving servo limiting groove, clamping blocks matching with the tail fin driving servo limiting groove are arranged at both ends of the tail fin driving servo, and a tail fin driving steering wheel is arranged on the output end of the tail fin driving servo;

[0042] The tail fin rotating part, the tail fin rotating part is rotatably connected to the tail fin driving servo, the tail fin rotating part includes a rotating frame, a tail fin rotating steering wheel, a rotating shaft and a protective cover connecting head, the rotating frame includes an upper cross frame, a lower cross frame and a connecting frame, the top and bottom ends of the connecting frame are respectively fixedly connected to the right ends of the upper cross frame and the lower cross frame; a tail fin rotating steering wheel is arranged at the left end of the inner wall of the upper cross frame, and the tail fin rotating steering wheel is sleeved outside the tail fin driving steering wheel; a rotating shaft is arranged at the left end of the inner wall of the lower cross frame, the rotating shaft is rotatably connected to the tail fin servo base, a snap spring groove is arranged on the rotating shaft, and a snap spring is fixedly connected at the snap spring groove; protective cover connecting heads are arranged at the top of the upper cross frame and the bottom of the lower cross frame, and the protective cover connecting heads match with the protective cover mounting grooves arranged on the protective cover; the right wall of the connecting frame is connected to the tail fin servo base or the bionic tail fin of the adjacent tail fin driving unit.

[0043] Furthermore, a plurality of airtightness detection holes are evenly distributed at the bottom of the rear end of the fish body shell.

[0044] The beneficial effects achieved by the present invention are as follows: The present invention selects a pectoral fin driving assembly and a tail fin driving assembly. The tail fin driving assembly includes a plurality of tail fin driving units. Through the coordinated driving of the pectoral fin driving assembly and the plurality of tail fin driving units, the bionic pectoral fin is controlled to move up / down, and the bionic tail fin simulates the movement of the real fish tail, realizing forward propulsion and attitude adjustment, achieving high-maneuverability propulsion and attitude control, and being suitable for flexible movement in narrow or complex environments. For example, in underground waterlogged spaces or waterlogged goaf environments, the camera assembly is used to scan the environment to plan the path and avoid obstacles; by selecting the pectoral fin driving assembly and the tail fin driving assembly, the pectoral fin servo base, the pectoral fin driving servo in the pectoral fin driving assembly, the tail fin servo base and the tail fin driving servo in the tail fin driving assembly can realize structural reuse and rapid assembly, reducing costs; by selecting the control module, the cooperation of several units in the control module supports visual autonomous navigation, remote command control and data feedback, improving operation efficiency and detection accuracy; by selecting the fish body cavity waterproof cover plate, the camera waterproof cover plate and the airtightness detection holes, and the magnetic connection between the fish body cover and the fish body shell, all of these improve the safety of the present invention during underwater operation; by selecting the sensing assembly, environmental perception and abnormal identification can be realized, providing support for building and underground leakage detection.

[0045] Compared with the prior art, the present invention has the advantages of high mobility, cost reduction, intelligent control, high efficiency, high safety, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a schematic structural diagram of the present invention;

[0047] Figure 2 is a schematic structural diagram of the pectoral fin drive assembly and the bionic pectoral fin of the present invention;

[0048] Figure 3 is a schematic structural diagram of the fish tail drive assembly of the present invention;

[0049] Figure 4 is a schematic assembly structure diagram of the fish tail connection base and the adjacent fish tail drive unit of the present invention;

[0050] Figure 5 is a schematic assembly structure diagram of the protective cover and the fish tail drive unit of the present invention;

[0051] Figure 6 is a schematic internal structure diagram of the fish body cavity of the present invention;

[0052] Figure 7 is a schematic structural diagram of the antenna assembly of the present invention;

[0053] Figure 8 is a schematic structural diagram of the camera assembly of the present invention;

[0054] Figure 9 is a schematic structural diagram of the waterproof cover plate of the camera and the waterproof cover plate of the fish body cavity of the present invention;

[0055] Figure 10 is a module diagram of the control module provided by the present invention.

[0056] In the figure: 1. fish body shell; 2. fish body cavity; 3. control module; 4. fish body shell cover; 5. bionic pectoral fin; 6. bionic fish tail; 7. fish tail connection base; 8. fish tail connection block; 9. protective cover; 10. bar magnet installation groove; 11. circular magnet installation groove; 12. waterproof cover plate of fish body cavity; 13. installation hole for charging watertight connector; 14. installation hole for temperature sensor; 15. installation hole for depth sensor; 16. installation hole for water quality detection sensor; 17. installation hole for debugging interface watertight connector; 18. installation hole for switch; 19. camera; 20. camera cavity; 21. connection end; 22. camera fixing part; 23. fixing end; 24. camera installation groove; 25. camera waterproof cover plate; 26. pectoral fin servo base; 27. installation groove for pectoral fin drive assembly; 28. limit groove for pectoral fin drive servo; 29. pectoral fin drive servo; 30. limit block; 31. pectoral fin drive steering wheel; 32. pectoral fin rotating part; 33. pectoral fin rotating steering wheel; 34. clamping groove; 35. antenna cover installation base; 36. antenna line channel; 37. antenna cover; 38. antenna installation hole; 39. antenna; 40. fish tail servo base; 41. limit groove for fish tail drive servo; 42. fish tail drive servo; 43. clamping block; 44. fish tail drive steering wheel; 45. fish tail rotating part; 46. rotating frame; 46-1. upper cross frame; 46-2. lower cross frame; 46-3. connecting frame; 47. fish tail rotating steering wheel; 48. rotating shaft; 49. snap spring groove; 50. protective cover connection head; 51. protective cover installation groove; 52. airtightness detection hole. Detailed implementation manners

[0057] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] As Figures 1 to 10As shown in the figure, the present invention provides a bionic robotic fish for detecting anti-seepage in buildings and underground, including: a fish body housing 1, a fish body cavity 2 is arranged inside the fish body housing 1, and the inside of the fish body cavity 2 is used to accommodate a sensing component and a control module 3; a fish body cover 4, the fish body cover 4 is arranged above the fish body housing 1, and the fish body cover 4 and the fish body housing 1 are magnetically connected; a camera component, the camera component is arranged at the front end of the fish body housing 1, and the camera component is used to obtain visual information; bionic pectoral fins 5, the bionic pectoral fins 5 are connected to the fish body housing 1 through pectoral fin driving components symmetrically arranged on both sides of the fish body housing 1, and the pectoral fin driving components drive the bionic pectoral fins 5 to deflect upward and downward; an antenna component, the antenna component is arranged at the top of the rear end of the fish body housing 1, and the antenna component is used to realize communication; a bionic fish tail 6, the bionic fish tail 6 is connected to the fish body housing 1 through a fish tail driving component; one end of the fish tail driving component is connected to the rear end of the fish body housing 1 through a fish tail connection base 7, and the other end of the fish tail driving component is connected to the bionic fish tail 6 through a fish tail connection block 8; the fish tail driving component includes a plurality of fish tail driving units, and a protective cover 9 is arranged outside the fish tail driving units; the fish tail driving component drives the bionic fish tail 6 to swing back and forth; a control module 3, the control module 3 is electrically connected to the sensing component, the camera component, the pectoral fin driving component, the antenna component and the fish tail driving component respectively.

[0059] Specifically, the inside of the fish body cavity 2 is used to accommodate a sensing component and a control module 3. The control module 3 is fixedly connected to the inside of the fish body cavity 2 through mounting screws, which is convenient for later debugging and quick disassembly and replacement of a higher-performance control module 3, facilitating the update and iteration of the hardware. The sensing component arranged inside the fish body cavity 2 can further maintain the streamline of the fish body housing 1. The protective cover 9 is provided to protect the fish tail driving unit.

[0060] A strip magnet mounting groove 10 and a circular magnet mounting groove 11 are arranged at the top end of the fish body housing 1, and magnets are installed at the strip magnet mounting groove 10 and the circular magnet mounting groove 11.

[0061] Specifically, the strip magnet mounting groove 10 and the circular magnet mounting groove 11 enable magnetic connection between the fish body housing 1 and the fish body cover 4, further protecting the sensing component and the control module 3 inside the fish body cavity 2.

[0062] A plurality of airtightness detection holes 52 are evenly distributed at the bottom of the rear end of the fish body housing 1.

[0063] Specifically, an airtightness detection screw is installed at the airtightness detection hole 52. The airtightness detection screw consists of a metal plug. The airtightness detection screw is mainly used to inflate inward to detect air leakage and thus detect airtightness. Specifically, during airtightness detection, the airtightness detection screw is opened and pressure is applied to the fish body cavity 2 to check the airtightness of other parts inside the fish body cavity 2, thereby ensuring the waterproof performance.

[0064] A fish body cavity waterproof cover plate 12 is provided at the top of the fish body cavity 2. The fish body cavity waterproof cover plate 12 is provided with a charging watertight connector installation hole 13, a temperature sensor installation hole 14, a depth sensor installation hole 15, a water quality detection sensor installation hole 16, a debugging interface watertight connector installation hole 17, and a switch installation hole 18.

[0065] Specifically, the fish body cavity waterproof cover plate 12 is a 10mm transparent acrylic plate cut by laser. After verification, its ultimate waterproof performance is 40 meters underwater. A waterproof O-ring is further added at the fish body cavity waterproof cover plate 12 to enhance the waterproof and sealing performance inside the fish body cavity 2. A charging interface is installed at the charging watertight connector installation hole 13. The circuit of the charging interface is sealed in the watertight connector screw and is installed on the fish body cavity waterproof cover plate 12 through the charging watertight connector installation hole 13 by adding an O-ring to achieve waterproof sealing. The debugging interface watertight connector installation hole 17 is used to install the watertight connector screw with the debugging interface sealed. It is installed on the fish body cavity waterproof cover plate 12 through the debugging interface watertight connector installation hole 17 by adding an O-ring to achieve waterproof sealing. The switch installation hole 18 is used to install a switch. The switch selected is a three-position underwater robot switch, and the specific position settings are on, off, debugging, and charging. The switch will achieve waterproof sealing by caulking.

[0066] The sensing component includes: a temperature sensor installed at the temperature sensor installation hole 14; a depth sensor installed at the depth sensor installation hole 15; and a water quality detection sensor installed at the water quality detection sensor installation hole 16.

[0067] Specifically, the setting of the sensing component can realize environmental perception and abnormal recognition, providing support for building and underground leakage detection. The sizes of the temperature sensor installation hole 14, the depth sensor installation hole 15, and the water quality detection sensor installation hole 16 are set according to the actual sizes of the temperature sensor, the depth sensor, and the water quality detection sensor. O-rings are also added at the temperature sensor installation hole 14, the depth sensor installation hole 15, and the water quality detection sensor installation hole 16 to achieve waterproof sealing.

[0068] The control module 3 includes: a sensing unit for sensing the attitude information, depth information, position information, and power consumption data of the bionic fish; a data processing unit for obtaining environmental state information based on the visual information acquired by the camera assembly and generating a motion instruction for the bionic fish; a drive control unit for establishing a communication connection between the pectoral fin drive assembly and the tail fin drive assembly; a battery unit for providing power; a communication unit for transmitting data; and a controller for controlling the drive control unit to execute the motion instruction according to the motion instruction, for processing the data output and storage transmitted by the camera assembly, for planning a motion scheme for the autonomous swimming of the bionic fish and outputting a control instruction, and for realizing remote control motion.

[0069] Specifically, the sensing unit includes a pose sensor, a depth sensor, and a power measurement component. The pose sensor is used to obtain the pose information and position information of the bionic fish, the depth sensor is used to obtain the depth information of the bionic fish diving into the water, and the power measurement component is used to detect the power consumption data and the current power of the bionic fish. The data processing unit selects the NVIDIA ORIN NX computing platform. The data processing unit mainly generates a motion instruction for the bionic fish after performing path planning, local obstacle avoidance, target tracking, and state estimation through intelligent algorithms. The drive control unit mainly executes the four-layer control architecture of the control method after receiving the motion instruction from the data processing unit, analyzes the target position and speed instruction through autonomous control, analyzes the motion mode and the motion parameters of each mechanism through tracking control, and finally controls the pectoral fin drive assembly and the tail fin drive assembly through the bottom layer. The controller can also control the action of the drive control unit according to the motion instruction, and further adjust the rotation speed, frequency, rotation angle, and swing amplitude of the pectoral fin drive servo 29 and the tail fin drive servo 42. The battery unit includes a battery pack, a voltage stabilizing component, and a wireless switch component. The battery pack will be placed in the latter half of the fish body cavity 2, and an RC model 3S, 5300mAH battery is used to supply power to the control module. After measurement, the theoretical effective endurance time is 1.5h. The communication unit is mainly a communication radio. The cooperation of several units in the control module 3 supports visual autonomous navigation, remote command control, and data feedback, improving the operation efficiency and detection accuracy.

[0070] The camera assembly includes: a camera 19, which is arranged in a camera cavity 20 at the front end of the fish body housing 1, and a number of connection ends 21 are arranged in the camera cavity 20; a camera fixing member 22, around which a number of fixing ends 23 corresponding to the connection ends 21 one by one are arranged, a camera installation groove 24 is arranged in the middle of the camera fixing member 22, and the camera 19 is fixedly installed in the camera installation groove 24; a camera waterproof cover plate 25, which is arranged at the front end of the camera cavity 20.

[0071] Specifically, the camera 19 adopts a binocular industrial camera. There is a single camera 19, and the visual range of the camera 19 is 210°. By fusing the visual information of the camera 19 through the visual algorithm of the data processing unit equipped with NVIDIA ORIN NX, relevant functions of underwater ranging and positioning can be realized. The lens of the camera 19 is closely attached to the camera waterproof cover plate 25 to avoid the refraction loss caused by sealing. The arrangement of the connection ends 21 and the fixing ends 23 improves the fixing effect of the camera fixing member 22 in the camera cavity 20 and is also beneficial for later disassembly and replacement. The camera waterproof cover plate 25 is a 5-mm-thick acrylic plate cut by laser. After testing, the maximum waterproof and compressive depth is 40 m. The camera waterproof cover plate 25 will be installed through M3 hexagon screws and laser-cut VHB film to ensure waterproofness. Such a design can make the camera waterproof cover plate 25 easy to disassemble and replace after long-term working wear, and at the same time can prevent the lens of the camera 19 from being directly exposed to the water body for a long time, resulting in wear and corrosion.

[0072] The pectoral fin drive assembly includes: a pectoral fin servo base 26, which is arranged in a pectoral fin drive assembly installation groove 27 on both sides of the fish body housing 1, and a pectoral fin drive servo limit groove 28 is arranged on the side of the pectoral fin servo base 26; a pectoral fin drive servo 29, which is arranged in the pectoral fin drive servo limit groove 28, and limit blocks 30 that match the pectoral fin drive servo limit groove 28 are arranged at both ends of the pectoral fin drive servo 29, and a pectoral fin drive servo disc 31 is arranged on the output end of the pectoral fin drive servo 29; a pectoral fin rotating member 32, which is rotatably connected to the pectoral fin drive servo 29. The pectoral fin rotating member 32 includes a pectoral fin rotating servo disc 33 and a clamping groove 34 connected to the pectoral fin rotating servo disc 33. The pectoral fin rotating servo disc 33 is sleeved outside the pectoral fin drive servo disc 31, and the bionic pectoral fin 5 is clamped at the clamping groove 34.

[0073] Specifically, the pectoral fin drive component installation groove 27 is provided with a ventilation hole through which the servo wire passes and is installed after being caulked. The setting of the pectoral fin servo base 26 facilitates the later disassembly, replacement, and debugging of the bionic pectoral fin 5 and the pectoral fin drive component. The limit block 30 and the pectoral fin drive servo limit groove 28 can better limit the pectoral fin drive servo 29. The pectoral fin drive servo 29 drives the pectoral fin drive steering wheel 31 to rotate, thereby driving the pectoral fin rotation steering wheel 33 on the pectoral fin rotating member 32 to rotate, and finally driving the bionic pectoral fin 5 to deflect upward and downward by a certain angle to drive the bionic robotic fish to achieve floating and diving in a fluid environment. In addition, changing the phase difference of the rotation angle of the bionic pectoral fin 5 can also adjust the attitude of the bionic robotic fish in real time, with a fast response speed and strong maneuverability.

[0074] The antenna assembly includes: an antenna cover mounting base 35, which is provided at the top of the rear end of the fish body housing 1, and an antenna line channel 36 is provided in the middle of the antenna cover mounting base 35; an antenna cover 37, which is provided on the antenna cover mounting base 35, and an antenna mounting hole 38 is provided on the antenna cover 37; an antenna 39, which is installed at the antenna mounting hole 38.

[0075] Specifically, the line of the antenna 39 will pass through the antenna line channel 36 and be connected to the communication unit in the control module 3 in the fish body cavity 2. The antenna cover 37 is waterproof and sealed by a combination of M3 hexagon screws and laser-cut VHB film, which is convenient for later disassembly of the antenna 39 and the antenna cover 37. An O-ring is also used for waterproof sealing at the connection between the antenna 39 and the antenna cover 37.

[0076] The fish-tail driving assembly includes three groups of fish-tail driving units. Each fish-tail driving unit includes: a fish-tail servo base 40. The fish-tail servo base 40 close to the fish body housing 1 is fixedly connected to the fish body housing 1 through a fish-tail connection base 7. A fish-tail driving servo limiting groove 41 is provided on the fish-tail servo base 40; a fish-tail driving servo 42. The fish-tail driving servo 42 is arranged in the fish-tail driving servo limiting groove 41. Clamping blocks 43 that match the fish-tail driving servo limiting groove 41 are provided at both ends of the fish-tail driving servo 42. A fish-tail driving steering wheel 44 is provided on the output end of the fish-tail driving servo 42; a fish-tail rotating member 45. The fish-tail rotating member 45 is rotatably connected to the fish-tail driving servo 42. The fish-tail rotating member 45 includes a rotating frame 46, a fish-tail rotating steering wheel 47, a rotating shaft 48 and a protective cover connecting head 50. The rotating frame 46 includes an upper cross frame 46-1, a lower cross frame 46-2 and a connecting frame 46-3. The top and bottom ends of the connecting frame 46-3 are respectively fixedly connected to the right ends of the upper cross frame 46-1 and the lower cross frame 46-2. A fish-tail rotating steering wheel 47 is provided at the left end of the inner wall of the upper cross frame 46-1. The fish-tail rotating steering wheel 47 is sleeved outside the fish-tail driving steering wheel 44. A rotating shaft 48 is provided at the left end of the inner wall of the lower cross frame 46-2. The rotating shaft 48 is rotatably connected to the fish-tail servo base 40. A snap ring groove 49 is provided on the rotating shaft 48, and a snap ring is fixedly connected at the snap ring groove 49. Protective cover connecting heads 50 are provided at the top end of the upper cross frame 46-1 and the bottom end of the lower cross frame 46-2. The protective cover connecting heads 50 match the protective cover mounting grooves 51 provided on the protective cover 9. The right wall of the connecting frame 46-3 is connected to the fish-tail servo base 40 of an adjacent fish-tail driving unit or the bionic fish-tail 6.

[0077] Specifically, in this embodiment, the fish tail drive assembly includes 3 sets of fish tail drive units. As shown in the attached drawings, the structure between the fish tail drive units can be reused, reducing costs. Similarly, the fish tail servo base 40 and the fish tail drive servo 42 in the fish tail drive unit, and the pectoral fin servo base 26 and the pectoral fin drive servo 29 in the pectoral fin drive assembly can achieve structural reuse and rapid assembly, reducing costs and improving structural compatibility and manufacturing efficiency. The fish tail connection base 7 and the fish body shell 1 are fixed by both horizontal screws and vertical screws, which can ensure the stability of the connection between the fish tail drive assembly and the fish body shell 1, and the fixation of the horizontal and vertical screws enhances the rigidity of the entire connection structure. The fish tail servo base 40 is also provided with a wire hole, which can better plan the wires of the fish tail drive servo 42. The fish tail rotating rudder disc 47 of the upper cross frame 46-1 on the fish tail rotating member 45 is sleeved outside the fish tail drive rudder disc 44. After the rotating shaft 48 on the lower cross frame 46-2 is rotatably connected to the fish tail servo base 40, the snap ring groove 49 on the rotating shaft 48 is fastened by a snap ring, thereby limiting and fixing the fish tail rotating member 45. The rotation angle range of the fish tail rotating member 45 is 30°-270°. The protection cover 9 and the protection cover connector 50 are fixed by screwing the protection cover connector 50 limited in the protection cover installation groove 51. The 3 sets of fish tail drive units are connected in series with the bionic fish tail 6 to form a bionic drive structure for reciprocating motion in a sine shape to achieve the driving effect of forward propulsion, with high acceleration ability, strong explosive power and low noise. Through the coordinated drive control of the pectoral fin drive assembly and several fish tail drive units, the bionic pectoral fin 5 makes a floating / diving motion, and the bionic fish tail 6 simulates the movement of the real fish tail, realizing forward propulsion and attitude adjustment, achieving high-maneuverability propulsion and attitude control, and being suitable for flexible movement in narrow or complex environments.

[0078] Specifically, the present invention can be applied to a working area with a closed and relatively regular map environment, such as: underground water accumulation in underground parking lots, underground water accumulation in subway stations, etc. Although the maps of these environments are relatively regular, there are many obstacles and underground support structures that affect the operation of traditional propeller-type underwater detection equipment. The present invention will establish a spatial coordinate system by cooperating with placing calibration tags in the water area and using the camera 19 to obtain the relative position information between the tags and the bionic fish to locate the position in the water area, scan the environment and use the three-dimensional mapping navigation algorithm to build a three-dimensional map environment for path planning in the water area. During the scanning process, the local obstacle avoidance algorithm and the attitude adjustment algorithm can be used to coordinate the attitude and position of the bionic pectoral fin 5 and the bionic fish tail 6 in the water area in real time, and use the high-explosion and high-maneuverability characteristics of the present invention to avoid obstacles, find the leakage crack position in the groundwater environment and feedback it to the ground to complete the anti-seepage monitoring.

[0079] Specifically, the present invention can also be applied to water-containing cavities underground, such as: the environment of accumulated water in goafs, the environment of roadway water accumulation caused by underground leakage, etc. The high mobility and relatively slender shape of the present invention have a smaller volume and can respond more flexibly to complex environments. Therefore, it is more suitable for working in narrow areas such as accumulated water in underground goafs. Since such spaces are not regular environments, in actual work, it is necessary to first use a three-dimensional mapping navigation algorithm to control the bionic fish to perform local three-dimensional mapping of the area in the water environment and use the camera 19 to collect and calibrate the underwater rock mass or the bottom environment as a reference for stitching the local map and store these visual information in the solid-state drive carried by the control module 3. After returning to the shore, import it into a higher-performance computing device through the debugging interface to stitch the local map into a complete map. After obtaining the complete map, plan the detection path according to the path planning algorithm to find the leakage area in the underwater rock mass environment, so as to complete the detection task.

[0080] The working process of the present invention is as follows:

[0081] Electrically connect the control module 3 to the sensing component, the camera component, the pectoral fin driving component, the antenna component and the tail fin driving component respectively;

[0082] The sensing unit in the control module 3 senses the attitude information, depth information, position information and power consumption data of the bionic fish; obtains the environmental state information according to the visual information obtained by the camera 19 and generates the motion instruction of the bionic fish; after the drive control unit receives the motion instruction from the data processing unit, it executes the four-layer control architecture of the control method, parses the target position and speed instruction through autonomous control, parses the motion mode and the motion parameters of each mechanism through tracking control, and finally controls the pectoral fin driving component and the tail fin driving component through the bottom layer. At the same time, the controller can also control the action of the drive control unit according to the motion instruction, and then adjust the rotation speed, frequency, rotation angle and swing amplitude of the pectoral fin driving servo 29 and the tail fin driving servo 42. The pectoral fin driving servo 29 then drives the bionic pectoral fin 5, and the tail fin driving servo 42 drives the bionic tail fin 6 to simulate the movement of the real fish tail to achieve anti-leakage detection.

[0083] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art, the embodiments can still be changed. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Bionic robot fish for building and underground leakage detection, characterized by: include: A fish body shell (1), wherein a fish body cavity (2) is provided in the fish body shell (1), and the interior of the fish body cavity (2) is used to accommodate a sensor component and a control module (3); A fish body shell cover (4), wherein the fish body shell cover (4) is arranged above the fish body shell (1), and the fish body shell cover (4) is magnetically connected to the fish body shell (1); A camera assembly, the camera assembly being arranged at the front end of the fish body housing (1) and being used to obtain visual information; Bionic pectoral fins (5), the bionic pectoral fins (5) being connected to the fish body shell (1) via pectoral fin drive components symmetrically arranged on both sides of the fish body shell (1), and the pectoral fin drive components driving the bionic pectoral fins (5) to deflect upward and downward; An antenna assembly, the antenna assembly being arranged at the top of the rear end of the fish body shell (1), the antenna assembly being used to achieve communication; A bionic fishtail (6), wherein the bionic fishtail (6) is connected to a fish body shell (1) via a fishtail drive assembly; one end of the fishtail drive assembly is connected to a rear end of the fish body shell (1) via a fishtail connection base (7), and the other end of the fishtail drive assembly is connected to the bionic fishtail (6) via a fishtail connection block (8); the fishtail drive assembly comprises a plurality of fishtail drive units, and a protective cover (9) is provided outside the fishtail drive unit; the fishtail drive assembly drives the bionic fishtail (6) to swing back and forth; A control module (3), wherein the control module (3) is electrically connected to the sensor assembly, the camera assembly, the pectoral fin drive assembly, the antenna assembly and the fish tail drive assembly respectively.

2. The bionic robot fish for building and underground leakage detection according to claim 1 is characterized in that: A bar magnet mounting groove (10) and a circular magnet mounting groove (11) are provided at the top of the fish body shell (1), and magnets are mounted at the bar magnet mounting groove (10) and the circular magnet mounting groove (11).

3. The bionic robot fish for building and underground leakage detection according to claim 1 is characterized in that: A fish body cavity waterproof cover plate (12) is provided on the top of the fish body cavity (2), and the fish body cavity waterproof cover plate (12) is provided with a charging watertight connector mounting hole (13), a temperature sensor mounting hole (14), a depth sensor mounting hole (15), a water quality detection sensor mounting hole (16), a debugging interface watertight connector mounting hole (17) and a switch mounting hole (18).

4. The bionic robot fish for building and underground leakage detection according to claim 3 is characterized in that: The sensor assembly comprises: A temperature sensor, wherein the temperature sensor is installed at the temperature sensor installation hole (14); A depth sensor, the depth sensor being mounted at the depth sensor mounting hole (15); A water quality detection sensor is installed at a water quality detection sensor installation hole (16).

5. The bionic robot fish for building and underground leakage detection according to claim 1 is characterized in that: The control module (3) comprises: A sensing unit, the sensing unit is used to sense the posture information, depth information, position information and power consumption data of the bionic robotic fish; A data processing unit, the data processing unit is used to obtain environmental status information according to the visual information obtained by the camera assembly and generate movement instructions for the bionic robotic fish; A drive control unit, the drive control unit is used to establish a communication connection between the pectoral fin drive assembly and the tail drive assembly; A battery unit, the battery unit is used to provide electric power; A communication unit, wherein the communication unit is used to transmit data; The controller is used to control the driving control unit to execute the motion instructions according to the motion instructions, to process the data output and storage transmitted by the camera component, to plan the motion plan of the bionic robot fish's autonomous swimming and output the control instructions, and to realize remote control motion.

6. The bionic robot fish for building and underground leakage detection according to claim 1 is characterized by: The camera assembly comprises: A camera (19), wherein the camera (19) is arranged in a camera cavity (20) at the front end of the fish body housing (1), and a plurality of connection terminals (21) are arranged in the camera cavity (20); A camera fixing member (22), wherein a plurality of fixing ends (23) corresponding to the connecting ends (21) are arranged around the camera fixing member (22), and a camera mounting groove (24) is arranged in the middle of the camera fixing member (22), and a camera (19) is fixedly mounted in the camera mounting groove (24); A camera waterproof cover plate (25), wherein the camera waterproof cover plate (25) is arranged at the front end of the camera cavity (20).

7. The bionic robot fish for building and underground leakage detection according to claim 1 is characterized by: The pectoral fin drive assembly comprises: A pectoral fin steering gear base (26), wherein the pectoral fin steering gear base (26) is arranged in pectoral fin drive assembly mounting grooves (27) on both sides of the fish body shell (1), and a pectoral fin drive steering gear limiting groove (28) is arranged on the side of the pectoral fin steering gear base (26); A pectoral fin driving steering gear (29), wherein the pectoral fin driving steering gear (29) is arranged in a pectoral fin driving steering gear limit groove (28), two ends of the pectoral fin driving steering gear (29) are provided with limit blocks (30) that match the pectoral fin driving steering gear limit groove (28), and an output end of the pectoral fin driving steering gear (29) is provided with a pectoral fin driving steering disc (31); A pectoral fin rotating member (32), the pectoral fin rotating member (32) is rotatably connected to a pectoral fin driving steering gear (29), the pectoral fin rotating member (32) comprises a pectoral fin rotating steering disc (33) and a clamping groove (34) connected to the pectoral fin rotating steering disc (33), the pectoral fin rotating steering disc (33) is sleeved on the outside of the pectoral fin driving steering disc (31), and a bionic pectoral fin (5) is clamped at the clamping groove (34).

8. The bionic robot fish for building and underground leakage detection according to claim 1 is characterized by: The antenna assembly comprises: A radome mounting base (35), the radome mounting base (35) being arranged at the top of the rear end of the fish body shell (1), and an antenna line channel (36) being arranged in the middle of the radome mounting base (35); An antenna cover (37), wherein the antenna cover (37) is arranged on the antenna cover mounting base (35), and an antenna mounting hole (38) is provided on the antenna cover (37); An antenna (39) is installed at the antenna installation hole (38).

9. The bionic robot fish for building and underground leakage detection according to claim 1, characterized in that: The fishtail drive assembly includes three groups of fishtail drive units, and the fishtail drive units include: A fishtail servo base (40), the fishtail servo base (40) close to the fish body shell (1) is fixedly connected to the fish body shell (1) via a fishtail connecting base (7), and a fishtail driving servo limit groove (41) is provided on the fishtail servo base (40); A fishtail drive steering gear (42), wherein the fishtail drive steering gear (42) is arranged in a fishtail drive steering gear limit groove (41), and blocks (43) matching the fishtail drive steering gear limit groove (41) are arranged at both ends of the fishtail drive steering gear (42), and a fishtail drive steering disc (44) is arranged at the output end of the fishtail drive steering gear (42); A fishtail rotating member (45), the fishtail rotating member (45) is rotatably connected to a fishtail driving steering engine (42), the fishtail rotating member (45) comprises a rotating frame (46), a fishtail rotating steering disc (47), a rotating shaft (48) and a protective cover connecting head (50), the rotating frame (46) comprises an upper transverse frame (46-1), a lower transverse frame (46-2) and a connecting frame (46-3), the top and bottom ends of the connecting frame (46-3) are respectively fixedly connected to the right ends of the upper transverse frame (46-1) and the lower transverse frame (46-2); a fishtail rotating steering disc (47) is provided at the left end of the inner wall of the upper transverse frame (46-1), and the fishtail rotating steering disc (47) is sleeved on the The outer part of the fishtail driving steering disc (44); the left end of the inner wall of the lower transverse frame (46-2) is provided with a rotating shaft (48), the rotating shaft (48) is rotatably connected to the fishtail steering gear base (40), the rotating shaft (48) is provided with a retaining spring groove (49), and the retaining spring is fixedly connected at the retaining spring groove (49); the top end of the upper transverse frame (46-1) and the bottom end of the lower transverse frame (46-2) are both provided with a protective cover connecting head (50), the protective cover connecting head (50) and the protective cover mounting groove (51) provided on the protective cover (9) are matched with each other; the right wall of the connecting frame (46-3) is connected to the fishtail steering gear base (40) or the bionic fishtail (6) of the adjacent fishtail driving unit.

10. The bionic robot fish for building and underground leakage detection according to claim 1, characterized in that: The bottom of the rear end of the fish body shell (1) is also evenly distributed with a plurality of air tightness detection holes (52).

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