Bionic fish for building and underground leakage detection

Abstract

The present application relates to building and downhole anti-seepage detection bionic robot fish, belongs to underwater robot technical field, solve the existing bionic underwater robot adopts single propulsion mode, it is difficult to give consideration to the demand of efficient movement and accurate detection and other technical problems. Solution: building and downhole anti-seepage detection bionic robot fish, including; Fish body cavity is arranged in fish body shell, fish body cavity inside is used for accommodating sensing assembly and control module;Fish body shell cover and fish body shell between magnetic attraction connection;Camera assembly, camera assembly is arranged at the front end of fish body shell;Bionic pectoral fin is connected with fish body shell through the pectoral fin drive assembly that is symmetrically arranged on both sides of fish body shell;Antenna assembly is arranged at the top of the rear end of fish body shell;Bionic fish tail is connected between fish tail drive assembly;Fish tail drive assembly includes a plurality of fish tail drive units. Compared with the prior art, the present application has the advantages of high mobility, low cost, intelligent control, high efficiency, safety and the like.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to a biomimetic robotic fish for detecting leaks in buildings and underground wells. Background Technology

[0002] With the deepening development and utilization of mines and underground spaces, seepage detection technology plays a crucial role in mine safety monitoring, groundwater resource management, and tunnel construction. Traditional seepage detection methods rely on fixed sensor networks or manual surveys. These methods suffer from limited data coverage, insufficient real-time performance, and difficulty adapting to complex environments. For example, the deployment and maintenance of fixed sensor networks in complex terrains are challenging, while manual surveys require a large workforce and may be limited by the working environment, resulting in weak real-time monitoring capabilities.

[0003] In recent years, biomimetic underwater robots have gradually become a new technological vehicle for leak detection due to their high mobility, low noise, and adaptability to complex flow fields. However, most existing biomimetic underwater robots adopt a single propulsion method, which makes it difficult to simultaneously meet the requirements of efficient movement and accurate detection. Summary of the Invention

[0004] In order to overcome the shortcomings of existing technologies and solve the technical problems of existing bionic underwater robots that use a single propulsion method and are difficult to balance the needs of efficient movement and accurate detection, this invention provides a bionic robotic fish for building and underground seepage detection.

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

[0006] This invention provides a biomimetic robotic fish for detecting leaks in buildings and underground mines, comprising:

[0007] The fish body shell has a fish body cavity inside, which is used to accommodate sensing components and a control module.

[0008] Fish body shell cover, the fish body shell cover is disposed on the top of the fish body shell, and the fish body shell cover is magnetically connected to the fish body shell;

[0009] A camera assembly is disposed at the front end of the fish's body shell, and the camera assembly is used to acquire visual information;

[0010] The biomimetic pectoral fin is connected to the fish shell through pectoral fin drive components symmetrically arranged on both sides of the fish shell. The pectoral fin drive components drive the biomimetic pectoral fin to deflect upward and downward.

[0011] An antenna assembly is located at the top rear end of the fish's body shell and is used to enable communication.

[0012] A biomimetic fish tail is provided, which is connected to the fish body shell via a fish tail drive assembly. One end of the fish tail drive assembly is connected to the rear end of the fish body shell via a fish tail connecting base, and the other end of the fish tail drive assembly is connected to the biomimetic fish tail via a fish tail connecting block. The fish tail drive assembly includes several fish tail drive units, and each fish tail drive unit is provided with a protective cover. The fish tail drive assembly drives the biomimetic fish tail to swing back and forth.

[0013] The control module is electrically connected to the sensing component, camera component, pectoral fin drive component, antenna component, and fish tail drive component.

[0014] Furthermore, the top of the fish shell is provided with a strip magnet mounting slot and a circular magnet mounting slot, and magnets are installed in the strip magnet mounting slot and the circular magnet mounting slot.

[0015] Furthermore, the top of the fish body cavity is provided with a fish body cavity waterproof cover plate, which is provided with charging water-tight connector mounting holes, temperature sensor mounting holes, depth sensor mounting holes, water quality detection sensor mounting holes, debugging interface water-tight connector mounting holes, and switch mounting holes.

[0016] Furthermore, the sensing component includes:

[0017] A temperature sensor, wherein the temperature sensor is mounted at a temperature sensor mounting hole;

[0018] A depth sensor, which is mounted at a depth sensor mounting hole;

[0019] A water quality detection sensor, wherein the water quality detection sensor is installed at the water quality detection sensor mounting hole.

[0020] Furthermore, the control module includes:

[0021] The sensing unit is used to sense the posture information, depth information, position information and power consumption data of the bionic robotic fish.

[0022] A data processing unit is used to obtain environmental state information based on the visual information acquired by the camera component and generate motion commands for the bionic robotic fish.

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

[0024] Battery cell, the battery cell being used to provide power;

[0025] A communication unit, wherein the communication unit is used to transmit data;

[0026] The controller is used to control the drive control unit to execute motion commands according to motion commands, to process and save the data transmitted by the camera component, to plan the motion scheme of the bionic robotic fish to swim autonomously and output control commands, and to realize remote control motion.

[0027] Furthermore, the camera component includes:

[0028] A camera is located in a camera cavity at the front end of the fish's shell, and the camera cavity is provided with several connection terminals;

[0029] A camera mounting component is provided with several fixing ends around its perimeter that correspond one-to-one with the connecting ends, and a camera mounting groove is provided in the center of the camera mounting component, in which a camera is fixedly installed.

[0030] A waterproof cover for a camera is located at the front end of the camera cavity.

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

[0032] A pectoral fin servo base is provided in the pectoral fin drive assembly mounting slots on both sides of the fish body shell, and a pectoral fin drive servo limiting slot is provided on the side of the pectoral fin servo base.

[0033] A pectoral fin drive servo motor is provided in a pectoral fin drive servo motor limiting groove. The pectoral fin drive servo motor has limiting blocks at both ends that match the pectoral fin drive servo motor limiting groove. A pectoral fin drive servo disk is provided on the output end of the pectoral fin drive servo motor.

[0034] A pectoral fin rotator is rotatably connected to a pectoral fin drive servo motor. The pectoral fin rotator includes a pectoral fin rotator disk and a clamping groove connected to the pectoral fin rotator disk. The pectoral fin rotator disk is sleeved outside the pectoral fin drive servo disk, and a bionic pectoral fin is clamped in the clamping groove.

[0035] Furthermore, the antenna assembly includes:

[0036] Antenna radome mounting base, the antenna radome mounting base is located at the top of the rear end of the fish shell, and the antenna circuit channel is provided in the middle of the antenna radome mounting base;

[0037] The antenna cover is mounted on an antenna cover mounting base and has antenna mounting holes.

[0038] An antenna, which is mounted at an antenna mounting hole.

[0039] Furthermore, the fishtail drive assembly includes three sets of fishtail drive units, each fishtail drive unit comprising:

[0040] The fish tail servo base, which is located near the fish body shell, is fixedly connected to the fish body shell via a fish tail connecting base. The fish tail servo base is provided with a fish tail drive servo limiting groove.

[0041] A fishtail-driven servo motor is provided, wherein the fishtail-driven servo motor is disposed in a fishtail-driven servo motor limiting groove, and both ends of the fishtail-driven servo motor are provided with locking blocks that match the fishtail-driven servo motor limiting groove, and the output end of the fishtail-driven servo motor is provided with a fishtail-driven servo disk.

[0042] A fishtail rotator is rotatably connected to a fishtail drive servo. The fishtail rotator includes a rotating frame, a fishtail servo disk, a rotating shaft, and a protective cover connector. The rotating frame includes an upper horizontal frame, a lower horizontal frame, and a connecting frame. The top and bottom ends of the connecting frame are fixedly connected to the right ends of the upper and lower horizontal frames, respectively. The fishtail servo disk is located on the left end of the inner wall of the upper horizontal frame and is fitted onto the outside of the fishtail drive servo disk. The rotating shaft is located on the left end of the inner wall of the lower horizontal frame and is rotatably connected to the fishtail servo base. The rotating shaft has a retaining ring groove, and a retaining ring is fixedly connected to the retaining ring groove. The top end of the upper horizontal frame and the bottom end of the lower horizontal frame both have protective cover connectors, which match the protective cover mounting grooves on the protective cover. The right wall of the connecting frame is connected to the fishtail servo base or a bionic fishtail of an adjacent fishtail drive unit.

[0043] Furthermore, the bottom rear end of the fish shell is also provided with several airtightness detection holes.

[0044] The beneficial effects achieved by this invention are as follows: This invention uses a pectoral fin drive component and a fish tail drive component. The fish tail drive component includes several fish tail drive units. Through the coordinated drive of the pectoral fin drive component and several fish tail drive units, the bionic pectoral fin's buoyancy / diving movement is controlled, and the bionic fish tail simulates the movement of a real fish's tail, achieving forward propulsion and attitude adjustment. This results in highly maneuverable propulsion and attitude control, making it suitable for flexible passage in narrow or complex environments. For example, in underground waterlogged spaces or waterlogged environments in mining subsidence areas, the camera component can be used to scan the environment to plan paths and avoid obstacles. The pectoral fin drive component and fish tail drive component are used for... The pectoral fin servo base, pectoral fin drive servo, and fish tail servo base and fish tail drive servo in the assembly enable structural reuse and rapid assembly, reducing costs. The selection of a control module, with the cooperation of several units within it, supports visual autonomous navigation, remote command control, and data feedback, improving operational efficiency and detection accuracy. The use of a fish-body cavity waterproof cover, a camera waterproof cover, and an airtightness detection hole, along with a magnetic connection between the fish-body shell cover and the fish-body shell, all enhance the safety of the invention during underwater operation. The selection of sensing components enables environmental perception and anomaly identification, providing support for building and well leakage detection.

[0045] Compared with existing technologies, the present invention has the advantages of high mobility, reduced cost, intelligent control, high efficiency, and high safety. Attached Figure Description

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

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

[0048] Figure 3 This is a schematic diagram of the fishtail drive assembly of the present invention;

[0049] Figure 4 This is a schematic diagram of the assembly structure of the fish tail connecting base and the adjacent fish tail driving unit of the present invention.

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

[0051] Figure 6 This is a schematic diagram of the internal structure of the hollow cavity in the fish body according to the present invention;

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

[0053] Figure 8 This is a schematic diagram of the camera component structure of the present invention;

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

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

[0056] In the diagram: 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 connecting base; 8. Fish tail connecting block; 9. Protective cover; 10. Strip magnet mounting slot; 11. Circular magnet mounting slot; 12. Waterproof cover plate for fish body cavity; 13. Water-tight connector mounting hole for charging; 14. Temperature sensor mounting hole; 15. Depth sensor mounting hole; 16. Water quality sensor mounting hole; 17. Water-tight connector mounting hole for debugging interface; 18. Switch mounting hole; 19. Camera; 20. Camera cavity; 21. Connecting end; 22. Camera fixing component; 23. Fixing end; 24. Camera mounting groove; 25. Waterproof cover plate for camera; 26. Pectoral fin servo base; 27. Pectoral fin drive. Component mounting slot; 28. Pectoral fin drive servo limiting slot; 29. ​​Pectoral fin drive servo; 30. Limiting block; 31. Pectoral fin drive servo disk; 32. Pectoral fin rotating component; 33. Pectoral fin rotating servo disk; 34. Clamping slot; 35. Antenna radome mounting base; 36. Antenna wiring channel; 37. Antenna radome; 38. Antenna mounting hole; 39. Antenna; 40. Fishtail servo base; 41. Fishtail drive servo limiting slot; 42. Fishtail drive servo; 43. Locking block; 44. Fishtail drive servo disk; 45. Fishtail rotating component; 46. Rotating frame; 46-1. Upper horizontal frame; 46-2. Lower horizontal frame; 46-3. Connecting frame; 47. Fishtail rotating servo disk; 48. Rotating shaft; 49. Snap ring slot; 50. Protective cover connector; 51. Protective cover mounting slot; 52. Air tightness test hole. Detailed Implementation

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0058] like Figures 1 to 10As shown, this invention provides a biomimetic robotic fish for detecting leaks in buildings and underground mines, comprising: a fish body shell 1, wherein the fish body shell 1 has a fish body cavity 2, the fish body cavity 2 being used to accommodate sensing components and a control module 3; a fish body shell cover 4, the fish body shell cover 4 being disposed above the fish body shell 1, and the fish body shell cover 4 being magnetically connected to the fish body shell 1; a camera component, the camera component being disposed at the front end of the fish body shell 1, the camera component being used to acquire visual information; a biomimetic pectoral fin 5, the biomimetic pectoral fin 5 being connected to the fish body shell 1 via pectoral fin driving components symmetrically disposed on both sides of the fish body shell 1, the pectoral fin driving components driving the biomimetic pectoral fin 5 to deflect upward and downward; and an antenna component, the antenna... The antenna assembly is located at the top rear end of the fish body shell 1, and is used for communication. A bionic fish tail 6 is connected to the fish body shell 1 via a fish tail drive assembly. One end of the fish tail drive assembly is connected to the rear end of the fish body shell 1 via a fish tail connecting base 7, and the other end is connected to the bionic fish tail 6 via a fish tail connecting block 8. The fish tail drive assembly includes several fish tail drive units, each with a protective cover 9. The fish tail drive assembly drives the bionic fish tail 6 to swing back and forth. A control module 3 is electrically connected to the sensing assembly, camera assembly, pectoral fin drive assembly, antenna assembly, and fish tail drive assembly.

[0059] Specifically, the fish-body cavity 2 houses the sensing components and the control module 3. The control module 3 is fixedly connected to the inside of the fish-body cavity 2 by mounting screws, which facilitates later debugging and quick disassembly and replacement with a higher-performance control module 3, and facilitates hardware updates and iterations. The sensing components being located inside the fish-body cavity 2 further maintains the streamlined shape of the fish-body shell 1. The protective cover 9 is provided to protect the fish tail drive unit.

[0060] The top of the fish shell 1 is provided with a strip magnet mounting groove 10 and a circular magnet mounting groove 11, and magnets are installed in 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 a magnetic connection between the fish body shell 1 and the fish body shell cover 4, further protecting the sensing components and control module 3 inside the fish body cavity 2.

[0062] The bottom rear end of the fish body shell 1 is also provided with several airtightness detection holes 52.

[0063] Specifically, an airtightness testing screw is installed at the airtightness testing hole 52. The airtightness testing screw consists of a metal end cap and is mainly used to inflate the hole to detect whether there is any leakage, thereby testing the airtightness. In particular, during the airtightness test, the airtightness testing screw is opened and pressure is applied to the fish body cavity 2 to check the airtightness of other parts within the fish body cavity 2, thereby ensuring the waterproof performance.

[0064] The top of the fish body cavity 2 is provided with a fish body cavity waterproof cover plate 12. The fish body cavity waterproof cover plate 12 is provided with a charging water-tight 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 water-tight connector mounting hole 17, and a switch mounting hole 18.

[0065] Specifically, the fish-body cavity waterproof cover plate 12 is a 10mm transparent acrylic sheet laser-cut, and its ultimate waterproof performance has been verified to be at a water depth of 40 meters. Waterproof O-rings are further added to the fish-body cavity waterproof cover plate 12 to improve the waterproof sealing performance inside the fish-body cavity 2. A charging interface is installed at the charging watertight connector mounting hole 13. The wiring of the charging interface is sealed in the watertight connector screw. An O-ring is added to install it onto the fish-body cavity waterproof cover plate 12 through the charging watertight connector mounting hole 13 to achieve waterproof sealing. The debugging interface watertight connector mounting hole 17 is used to install the watertight connector screw that seals the debugging interface. An O-ring is added to install it onto the fish-body cavity waterproof cover plate 12 through the debugging interface watertight connector mounting hole 17 to achieve waterproof sealing. The switch mounting hole 18 is used to install a switch. The switch is a three-position underwater robot switch, with specific positions set to on, off, debugging, and charging. The switch will be sealed and waterproofed by applying sealant.

[0066] The sensing components include: a temperature sensor, which is installed at the temperature sensor mounting hole 14; a depth sensor, which is installed at the depth sensor mounting hole 15; and a water quality detection sensor, which is installed at the water quality detection sensor mounting hole 16.

[0067] Specifically, the sensor components are configured to enable environmental perception and anomaly identification, providing support for building and well leakage detection. The sizes of the temperature sensor mounting hole 14, depth sensor mounting hole 15, and water quality sensor mounting hole 16 are set according to the actual dimensions of the temperature sensor, depth sensor, and water quality sensor. O-rings are also installed at the temperature sensor mounting hole 14, depth sensor mounting hole 15, and water quality sensor mounting hole 16 to achieve waterproof sealing.

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

[0069] Specifically, the sensing unit includes a pose sensor, a depth sensor, and a power measurement component. The pose sensor acquires the pose and position information of the bionic robotic fish, the depth sensor acquires the depth information of the bionic robotic fish when submerged in water, and the power measurement component detects the power consumption data and current battery level of the bionic robotic fish. The data processing unit uses the NVIDIA ORIN NX computing platform. The data processing unit mainly generates motion commands for the bionic robotic fish after performing path planning, local obstacle avoidance, target tracking, and state estimation using intelligent algorithms. The drive control unit receives motion commands from the data processing unit and executes a four-layer control architecture. It analyzes target position and speed commands through autonomous control, analyzes motion modes and motion parameters of each mechanism through tracking control, and finally controls the pectoral fin drive component and tail drive component through the bottom layer. The controller can also control the drive control unit's actions according to motion commands, thereby adjusting the rotation speed, frequency, angle, and swing amplitude of the pectoral fin drive servo 29 and the tail drive servo 42. The battery unit includes a battery pack, a voltage regulator component, and a wireless switch component. The battery pack will be placed in the rear half of the fish-shaped cavity 2, using a 3S model aircraft battery with a capacity of 5300mAh to power the control module. The theoretical effective flight time has been measured to be 1.5 hours. The communication unit is primarily a communication radio. The cooperation of several units in the control module 3 supports visual autonomous navigation, remote command control, and data feedback, improving operational efficiency and detection accuracy.

[0070] The camera assembly includes: a camera 19, which is disposed in a camera cavity 20 at the front end of the fish body shell 1, and the camera cavity 20 is provided with a plurality of connecting ends 21; a camera fixing component 22, which is provided with a plurality of fixing ends 23 corresponding one-to-one with the connecting ends 21 around its perimeter, and a camera mounting groove 24 is provided in the center of the camera fixing component 22, and the camera 19 is fixedly installed in the camera mounting groove 24; and a camera waterproof cover plate 25, which is disposed at the front end of the camera cavity 20.

[0071] Specifically, the camera 19 is a binocular industrial camera. The camera 19 is a single unit with a 210° field of view. By fusing the visual information from the camera 19 using the visual algorithm of the data processing unit on the NVIDIA ORIN NX, underwater ranging and positioning functions can be achieved. The lens of the camera 19 is tightly attached to the waterproof cover plate 25 to avoid refraction loss caused by sealing. The connection end 21 and the fixing end 23 improve the fixation effect of the camera fixing component 22 within the camera cavity 20, and also facilitate future disassembly and replacement. The waterproof cover plate 25 is a 5mm thick laser-cut acrylic sheet, with a tested maximum waterproof pressure resistance depth of 40m. The waterproof cover plate 25 will be installed using M3 hex screws and laser-cut VHB film to ensure waterproofing. This design allows for easy disassembly and replacement of the waterproof cover plate 25 after long-term wear and tear, while also preventing wear and corrosion caused by direct exposure of the camera 19 lens to water during long-term operation.

[0072] The pectoral fin drive assembly includes: a pectoral fin servo base 26, which is disposed in the pectoral fin drive assembly mounting slots 27 on both sides of the fish body shell 1, and the pectoral fin servo base 26 has a pectoral fin drive servo limiting slot 28 on its side; a pectoral fin drive servo 29, which is disposed in the pectoral fin drive servo limiting slot 28, and the pectoral fin drive servo 29 has limiting blocks 30 at both ends that match the pectoral fin drive servo limiting slot 28, and a pectoral fin drive servo disk 31 on the output end of the pectoral fin drive servo 29; and a pectoral fin rotating component 32, which is rotatably connected to the pectoral fin drive servo 29, and includes a pectoral fin rotating servo disk 33 and a clamping groove 34 connected to the pectoral fin rotating servo disk 33, the pectoral fin rotating servo disk 33 being sleeved outside the pectoral fin drive servo disk 31, and a bionic pectoral fin 5 being clamped in the clamping groove 34.

[0073] Specifically, the pectoral fin drive assembly mounting slot 27 is provided with a vent hole. The servo cable passes through the vent hole and is installed after being treated with adhesive. The design of the pectoral fin servo base 26 facilitates the later disassembly, replacement, and adjustment of the bionic pectoral fin 5 and the pectoral fin drive assembly. The limiting block 30 and the pectoral fin drive servo limiting slot 28 can better limit the pectoral fin drive servo 29. The pectoral fin drive servo 29 drives the pectoral fin drive servo disk 31 to rotate, which in turn drives the pectoral fin rotation servo disk 33 on the pectoral fin rotating component 32 to rotate, ultimately causing the bionic pectoral fin 5 to deflect upward and downward at a certain angle, so as to enable the bionic robotic fish to rise and dive in the fluid environment. Changing the phase difference of the rotation angle of the bionic pectoral fin 5 can also enable real-time adjustment of the bionic robotic fish's attitude, with fast response speed and strong maneuverability.

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

[0075] Specifically, the wiring of the antenna 39 is connected to the communication unit within the control module 3 inside the fish body cavity 2 via the antenna wiring channel 36. The antenna cover 37 is waterproofed by combining M3 hex screws and laser-cut VHB film. This design facilitates the later disassembly of the antenna 39 and the antenna cover 37. The connection between the antenna 39 and the antenna cover 37 is also waterproofed using an O-ring.

[0076] The fishtail drive assembly includes three sets of fishtail drive units. Each fishtail drive unit includes: a fishtail servo base 40, which is fixedly connected to the fish body shell 1 near the fish body shell 1 via a fishtail connecting base 7; the fishtail servo base 40 has a fishtail drive servo limiting groove 41; a fishtail drive servo 42, which is disposed in the fishtail drive servo limiting groove 41; both ends of the fishtail drive servo 42 have locking blocks 43 that match the fishtail drive servo limiting groove 41; and the output end of the fishtail drive servo 42 has a fishtail drive rudder disk 44; and a fishtail rotating component 45, which is rotatably connected to the fishtail drive servo 42. The fishtail rotating component 45 includes a rotating frame 46, a fishtail rotating rudder disk 47, a rotating shaft 48, and a protective cover connector 50. The rotating frame 46 includes an upper horizontal frame 4... 6-1, lower horizontal frame 46-2 and connecting frame 46-3, the top and bottom of the connecting frame 46-3 are fixedly connected to the right ends of the upper horizontal frame 46-1 and the lower horizontal frame 46-2 respectively; the left end of the inner wall of the upper horizontal frame 46-1 is provided with a fish tail rotating rudder disk 47, which is sleeved on the outside of the fish tail drive rudder disk 44; the left end of the inner wall of the lower horizontal frame 46-2 is provided with a rotating shaft 48, which is rotatably connected to the fish tail servo base 40, and the rotating shaft 48 is provided with a retaining ring groove 49, at which a retaining ring is fixedly connected; the top end of the upper horizontal frame 46-1 and the bottom end of the lower horizontal frame 46-2 are both provided with protective cover connectors 50, which are matched with the protective cover mounting groove 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 or the bionic fish tail 6 of the adjacent fish tail drive unit.

[0077] Specifically, in this embodiment, the fishtail drive assembly includes three sets of fishtail drive units, as shown in the attached figure. This allows for structural reuse among the fishtail drive units, reducing costs. Similarly, the fishtail servo base 40 and fishtail drive servo 42 in the fishtail drive unit, and the pectoral fin servo base 26 and pectoral fin drive servo 29 in the pectoral fin drive assembly, enable structural reuse and rapid assembly, reducing costs and improving structural compatibility and manufacturing efficiency. The fishtail connecting base 7 is double-fixed to the fish body shell 1 using both horizontal and vertical screws. This ensures the stability of the connection between the fishtail drive assembly and the fish body shell 1, while the horizontal and vertical screws enhance the rigidity of the entire connection structure. The fishtail servo base 40 also has wiring holes, allowing for better planning of the wiring for the fishtail drive servo 42. The fishtail rotating rudder disk 47 of the upper horizontal frame 46-1 on the fishtail rotating component 45 is sleeved on the outside of the fishtail drive rudder disk 44. After the rotating shaft 48 on the lower horizontal frame 46-2 is rotatably connected to the fishtail servo base 40, the retaining ring groove 49 on the rotating shaft 48 is fastened by a retaining ring, thereby limiting and fixing the fishtail rotating component 45. The rotation angle range of the fishtail rotating component 45 is 30°-270°. The protective cover 9 is fixed to the protective cover connector 50 by screws that limit the protective cover connector 50 within the protective cover mounting groove 51. The three sets of fishtail drive units are connected in series and form a biomimetic drive structure with the biomimetic fishtail 6 to achieve forward propulsion through sinusoidal reciprocating motion. It has high acceleration, strong explosive force, and low noise. The bionic pectoral fin 5 is controlled by the coordinated drive of the pectoral fin drive assembly and several fish tail drive units to float / dive, and the bionic fish tail 6 simulates the movement of the tail of a real fish, so as to achieve forward propulsion and attitude adjustment, and realize highly maneuverable propulsion and attitude control, which is suitable for flexible passage in narrow or complex environments.

[0078] Specifically, this invention can be applied to working areas with enclosed and relatively regular map environments, such as underground parking lots with water accumulation, subway stations with water accumulation, and other underground water-filled spaces. Although these environments have relatively regular maps, there are many obstacles and underground support structures that affect the operation of traditional propeller-type underwater detection equipment. This invention will establish a spatial coordinate system by placing calibration tags in the water and using camera 19 to obtain the relative position information between the tags and the bionic robotic fish, thereby locating its position in the water. The environment is scanned, and a three-dimensional mapping and navigation algorithm is used to build a three-dimensional map environment for planning a path in the water. During the scanning process, local obstacle avoidance algorithms and attitude adjustment algorithms can be used to coordinate the attitude and position of the bionic pectoral fin 5 and the bionic fish tail 6 in the water in real time. The high burst and high maneuverability of this invention are used to avoid obstacles, thereby finding the location of seepage cracks in the groundwater environment and feeding back to the ground to complete the seepage prevention monitoring.

[0079] Specifically, this invention can also be applied to water-bearing cavities underground, such as waterlogged environments in goaf areas and environments where seepage leads to water accumulation in roadways. The high mobility and relatively slender shape of this invention result in a smaller volume, allowing it to more flexibly cope with complex environments. Therefore, it is more suitable for working in confined areas like waterlogged goaf areas. Since such spaces are not regular environments, in actual work, a 3D mapping and navigation algorithm is first used to control the bionic robotic fish to perform local 3D mapping of the area in the water environment. Camera 19 is used to collect and calibrate underwater rock masses or the underwater environment as a reference for stitching together the local map. This visual information is stored in the solid-state drive on the control module 3. After returning to shore, it is imported into a higher-performance computing device through a debugging interface to stitch the local map into a complete map. After obtaining the complete map, a path planning algorithm is used to plan a detection path to find seepage areas in the underwater rock mass environment, thereby completing the detection task.

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

[0081] The control module 3 is electrically connected to the sensing component, camera component, pectoral fin drive component, antenna component and fish tail drive component respectively;

[0082] The sensing unit in the control module 3 senses the posture, depth, position, and power consumption data of the bionic robotic fish; it obtains environmental state information based on the visual information acquired by the camera 19 and generates motion commands for the bionic robotic fish; after receiving the motion commands from the data processing unit, the drive control unit executes the four-layer control architecture of the control method, analyzes the target position and speed commands through autonomous control, analyzes the motion mode and motion parameters of each mechanism through tracking control, and finally controls the pectoral fin drive component and the tail drive 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 commands, thereby adjusting the rotation speed, frequency, angle, and swing amplitude of the pectoral fin drive servo 29 and the tail drive servo 42. The pectoral fin drive servo 29 then drives the bionic pectoral fin 5, and the tail drive servo 42 drives the bionic fish tail 6 to simulate the movement of the tail of a real fish to achieve leak detection.

[0083] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, modifications can still be made to the embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bionic robotic fish for detecting seepage in buildings and underground mines, characterized in that: It comprises: A fish body shell (1) is provided with a fish body cavity (2) inside, and the inside of the fish body cavity (2) is used for containing a sensing assembly and a control module (3); A fish body shell cover (4) is arranged above the fish body shell (1), and the fish body shell cover (4) and the fish body shell (1) are magnetically connected; A camera assembly is arranged at the front end of the fish body shell (1), the camera assembly comprises a camera (19), and the camera assembly is used for acquiring visual information; A bionic pectoral fin (5) is connected with the fish body shell (1) through a pectoral fin driving assembly symmetrically arranged on both sides of the fish body shell (1), and the pectoral fin driving assembly drives the bionic pectoral fin (5) to deflect upward and downward; An antenna assembly is arranged at the top of the rear end of the fish body shell (1), and the antenna assembly is used for realizing communication; A bionic fish tail (6) is connected with the fish body shell (1) through a fish tail driving assembly; one end of the fish tail driving assembly is connected with the rear end of the fish body shell (1) through a fish tail connecting base (7), and the other end of the fish tail driving assembly is connected with the bionic fish tail (6) through a fish tail connecting block (8); the fish tail driving assembly comprises a plurality of fish tail driving units, and the fish tail driving units are externally provided with protective covers (9); the fish tail driving assembly drives the bionic fish tail (6) to swing back and forth; A control module (3) is electrically connected between the sensing assembly, the camera assembly, the pectoral fin driving assembly, the antenna assembly and the fish tail driving assembly; The control module (3) comprises a controller, the controller is used for controlling a driving control unit to execute a motion instruction according to the motion instruction, is used for processing data output and saving transmitted by the camera assembly, is used for planning a motion scheme of autonomous swimming of the bionic robot fish and outputting a control instruction, and is used for realizing remote control motion; The controller establishes a space coordinate system by placing a calibration label in a water area and acquiring relative position information between the label and the bionic robot fish by using the camera (19) to position the position in the water area, scans the environment, builds a three-dimensional map environment by using a three-dimensional mapping navigation algorithm to plan a path in the water area, and uses a local obstacle avoidance algorithm and a posture adjustment algorithm to coordinate the posture and position of the bionic pectoral fin (5) and the bionic fish tail (6) in the water area in real time to find a leakage crack position in the underground water environment and feed back to the ground to complete the anti-leakage monitoring.

2. The bionic robotic fish for anti-leakage detection in building and underground works according to claim 1, characterized in that: A strip-shaped magnet mounting groove (10) and a circular magnet mounting groove (11) are arranged at the top end of the fish body shell (1), and magnets are arranged in the strip-shaped magnet mounting groove (10) and the circular magnet mounting groove (11).

3. The bionic robotic fish for anti-leakage detection in building and underground wells according to claim 1, characterized in that: A fish body cavity waterproof cover plate (12) is arranged at the top of the fish body cavity (2), and the fish body cavity waterproof cover plate (12) is provided with a charging water-tight 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 water-tight connector mounting hole (17) and a switch mounting hole (18).

4. The bionic robotic fish for anti-leakage detection in building and underground works according to claim 3, characterized in that: The sensing assembly comprises: A temperature sensor is installed at a temperature sensor mounting hole (14); A depth sensor is installed at a depth sensor mounting hole (15); A water quality detection sensor is installed at a water quality detection sensor mounting hole (16).

5. The bionic robotic fish for anti-leakage detection in building and underground wells according to claim 1, characterized in that: The control module (3) comprises: A sensing unit for sensing the posture information, depth information, position information and power consumption data of the bionic robotic fish; A data processing unit for obtaining the environmental state information from the visual information obtained by the camera assembly and generating the motion instructions of the bionic robotic fish; A drive control unit for establishing communication connection between the pectoral fin drive assembly and the fish tail drive assembly; A battery unit for providing power; A communication unit for transmitting data.

6. The bionic robotic fish for anti-leakage detection in building and underground wells according to claim 1, characterized in that: The camera assembly comprises: A camera (19) arranged in a camera cavity (20) at the front end of the fish body shell (1), a plurality of connection end heads (21) being arranged in the camera cavity (20); A camera fixing member (22) having a plurality of fixing end heads (23) corresponding to the connection end heads (21) arranged around the camera fixing member (22), a camera mounting recess (24) being arranged in the middle of the camera fixing member (22), and the camera (19) being fixedly arranged in the camera mounting recess (24); A camera waterproof cover plate (25) arranged at the front end of the camera cavity (20).

7. The bionic robotic fish for anti-leakage detection in building and underground wells according to claim 1, characterized in that: The pectoral fin drive assembly comprises: A pectoral fin steering engine base (26) arranged in a pectoral fin drive assembly mounting groove (27) on both sides of the fish body shell (1), the pectoral fin steering engine base (26) having a pectoral fin drive steering engine limiting groove (28) arranged on the side surface thereof; A pectoral fin drive steering engine (29) arranged in the pectoral fin drive steering engine limiting groove (28), the pectoral fin drive steering engine (29) having limiting blocks (30) arranged at both ends thereof and matched with the pectoral fin drive steering engine limiting groove (28), and the pectoral fin drive steering engine (29) having a pectoral fin drive steering disc (31) arranged on the output end thereof; A pectoral fin rotating member (32) rotatably connected to the pectoral fin drive steering engine (29), the pectoral fin rotating member (32) comprising 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) being arranged outside the pectoral fin drive steering disc (31), and the bionic pectoral fin (5) being clamped at the clamping groove (34).

8. The bionic robotic fish for anti-leakage detection in building and underground wells according to claim 1, characterized in that: The antenna assembly comprises: An antenna cover mounting base (35) arranged at the top of the rear end of the fish body shell (1), the antenna cover mounting base (35) having an antenna line passage (36) arranged in the middle thereof; An antenna cover (37) arranged on the antenna cover mounting base (35), the antenna cover (37) having an antenna mounting hole (38) arranged thereon; An antenna (39) arranged at the antenna mounting hole (38).

9. The bionic robotic fish for anti-leakage detection in building and underground wells according to claim 1, characterized in that: The fish tail driving assembly comprises three groups of fish tail driving units, and the fish tail driving unit comprises: A fish tail rudder base (40) is fixedly connected with the fish body shell (1) through a fish tail connecting base (7) near the fish tail rudder base (40) of the fish body shell (1), and the fish tail rudder base (40) is provided with a fish tail driving rudder stop slot (41); A fish tail driving rudder (42) is arranged in the fish tail driving rudder stop slot (41), and the fish tail driving rudder (42) is provided with clamping blocks (43) at both ends and matched with the fish tail driving rudder stop slot (41); and an output end of the fish tail driving rudder (42) is provided with a fish tail driving rudder disc (44); A fish tail rotating part (45) is rotationally connected with the fish tail driving rudder (42), and the fish tail rotating part (45) comprises a rotating frame (46), a fish tail rotating rudder disc (47), a rotating shaft (48) and a protective cover connecting head (50); the rotating frame (46) comprises an upper horizontal frame (46-1), a lower horizontal frame (46-2) and a connecting frame (46-3), the connecting frame (46-3) is fixedly connected with the right end of the upper horizontal frame (46-1) and the lower horizontal frame (46-2) at the top and bottom, respectively; the left end of the inner wall of the upper horizontal frame (46-1) is provided with the fish tail rotating rudder disc (47), the fish tail rotating rudder disc (47) is arranged outside the fish tail driving rudder disc (44); the left end of the inner wall of the lower horizontal frame (46-2) is provided with the rotating shaft (48), the rotating shaft (48) is rotationally connected with the fish tail rudder base (40), the rotating shaft (48) is provided with a clamping spring slot (49), and the clamping spring slot (49) is fixedly connected with a clamping spring; the upper horizontal frame (46-1) and the lower horizontal frame (46-2) are both provided with the protective cover connecting head (50) at the top and bottom, respectively, and the protective cover connecting head (50) is matched with a protective cover mounting slot (51) arranged on the protective cover (9); the right wall of the connecting frame (46-3) is connected with the fish tail rudder base (40) or the bionic fish tail (6) of the adjacent fish tail driving unit.

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

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