Multifunctional bionic robotic fish for monitoring of new marine pollutants

Abstract

The application discloses a multifunctional bionic robot fish for monitoring new marine pollutants, relates to the technical field of underwater robots, and comprises a fish body, a swing assembly and a fish tail with adjustable rigidity; the front end of the fish body is provided with a channel cavity and is equipped with an electromagnetic valve and a storage part, is used for collecting new pollutant fragment samples at different depths, and simultaneously assists water flow circulation through the built-in drainage channel; cameras and motor-driven pectoral fins are arranged on the two sides of the fish body; the swing assembly adopts a multi-section annular outer bone and inner bone hinged structure, realizes flexible swing through a rotating motor traction rope system with a clamping ball, and is provided with a pressure sensor and an inflatable capsule body; in combination with the air pressure adjusting function of the gas storage tank and the micro air pump in the fish body, the rigidity of the tail fin can be dynamically changed to adapt to complex ocean current environment, so that the driving energy consumption is reduced.

Description

Technical Field

[0001] This invention relates to the field of underwater robotics, and in particular to a multifunctional biomimetic robotic fish for monitoring emerging marine pollutants. Background Technology

[0002] Monitoring emerging marine pollutants (such as pharmaceuticals and personal care products, perfluorinated compounds, and microplastics) faces challenges such as dispersed distribution, low concentrations, and complex environmental behavior. Current monitoring methods mostly rely on laboratory analysis after fixed-point sampling or underwater vehicles equipped with general-purpose sensors. These methods suffer from low spatial coverage, poor real-time performance, potential disturbance to the original environment of the water body during sampling, and difficulty in tracking pollution plumes in complex habitats (such as coral reefs and estuaries). Line-driven biomimetic fish technology achieves efficient swimming through the movement of a biomimetic tail fin. Its built-in servo motor and flexible cable transmission system can accurately simulate the wave propulsion mode of fish, featuring low noise, high maneuverability, and strong environmental adaptability. By integrating miniature detection sensors into the biomimetic fish body and combining them with a multi-jointed flexible body design, it can flexibly move and monitor complex waters such as coral reefs and shipwrecks.

[0003] Publication number CN118494728B discloses a biomimetic robotic fish, including a head compartment module, a drive transmission mechanism module, and a tail joint compartment module. The drive transmission mechanism module includes a drive sub-module, a first transmission sub-module, and a second transmission sub-module. The tail joint compartment module includes a tail fin. The first transmission sub-module is connected to the tail fin via a first cable, and the second transmission sub-module is connected to the tail fin via a second cable. This invention enables the reciprocating motion of the tail fin by continuously rotating the drive sub-module. By rotating the drive sub-module in a first direction or in the opposite direction, the amplitude of the tail fin's oscillation can be changed. By adjusting the rotational speed of the drive sub-module, the frequency of the tail fin's oscillation can be changed.

[0004] In actual use, the rigidity of the aforementioned biomimetic robotic fish fins is relatively fixed, making it impossible to adjust to the frequent speed changes required for tracking complex ocean currents and new pollutants. This results in excessive energy consumption during long-term, large-scale patrol monitoring, limiting its application effectiveness in research on the source tracing and diffusion of new pollutants. Summary of the Invention

[0005] This application provides a multifunctional biomimetic robotic fish for monitoring new marine pollutants, which solves the technical problem that the rigidity of the fins in the prior art is relatively fixed and cannot adapt well to the flow velocity in seawater. By inflating or deflating the first bladder with a first micro dual-purpose air pump, the stiffness of the tail can be increased during high-speed swimming to reduce energy loss caused by deformation, while the stiffness can be reduced at low speeds to generate greater thrust and reduce energy consumption by utilizing flexible undulation.

[0006] This application provides a multifunctional biomimetic robotic fish for monitoring emerging marine pollutants, comprising a fish body with a swinging component connected to one end; the swinging component is also connected to a tail with an embedded pressure sensor and adjustable stiffness, where high stiffness reduces energy loss due to deformation and low stiffness generates greater thrust through flexible undulation; the fish body has a channel cavity separated by a partition plate at its mouth, within which two monitoring devices and multiple storage components equipped with solenoid valves are symmetrically arranged for monitoring pollutants in different marine environments.

[0007] The fish also includes cameras connected to both sides for observing the marine environment; the fish also has drainage channels communicating with the channel cavity for drainage; pectoral fins are provided on both sides near the bottom of the fish, which are driven by motors to control the direction of travel.

[0008] The swinging assembly includes multiple ring-shaped exoskeletons, with a cross-shaped inner bone fixed to the inner ring surface of the exoskeleton. A sleeve is fixed to one end of the inner bone, and a connector is fixed to the other end. The connector of one of the exoskeletons is rotatably connected to the sleeve of another exoskeleton, and clasps are symmetrically fixed to the inner bone near the sleeve. This forms a bionic fish tail that can swing.

[0009] A support plate is fixed to one end of the fish body near the swinging component. A rotary motor is symmetrically fixed to the support plate, and the rotary motor also includes a pull rope. One end of the pull rope is fixed to the rotary motor, and the other end passes through multiple internal bones and multiple retaining sleeves. The ends of two pull ropes are connected by an elastic rope. Multiple retaining balls are fixed to the pull ropes, and one retaining ball is placed on the pull rope between two internal bones. When the rotary motor rotates, it causes the pull rope to retract, so that the retaining ball is locked in the retaining sleeve, and pulls the elastic rope. The elastic rope is stretched under the drive of the rotary motor, causing the fish tail to turn.

[0010] The fish tail consists of a front caudal fin, a middle caudal fin, and a rear caudal fin; a connector is fixed to the other end of the front caudal fin, which is rotatably connected to a sleeve on one of the inner bones through the connector; the middle caudal fin is hinged to the other end of the connector; the rear caudal fin is hinged to the other end of the middle caudal fin; first sacs are symmetrically fixed on both sides of the front caudal fin, the middle caudal fin, and the rear caudal fin; the expansion size of the first sacs controls the rigidity of the fish tail.

[0011] The fish body also has an air storage box located in the channel cavity, away from the tail. The air storage box has a first miniature dual-purpose air pump on both sides. The air storage box also includes an air tube. One end of the air tube is connected to the first miniature dual-purpose air pump, and the other end passes through the exoskeleton and is connected to the first sac. It is used to inflate the first sac.

[0012] Furthermore, a first frame and a second frame are symmetrically fixed on both sides of the outer arc-shaped surface of the fish body, close to the exoskeleton; both the first frame and the second frame have a first through groove communicating with the channel cavity, the edge of the opening surface of the first through groove is provided with a sealing ring, and the first frame and the second frame have multiple fixing holes along the outer edge of the first through groove; both the first frame and the second frame include a fixing plate, and the fixing plate is fixed to the first frame and the second frame by bolts and fixing holes; for the installation of the first frame.

[0013] Multiple elastic fish scales are also fixed on the fixed plate; a box is fixed inside the channel cavity and close to the swing component; a first micro water pump is also symmetrically fixed on the box; the first micro water pump also includes a first hose; water bladders are also fixed on the fixed plate, and their positions and numbers correspond one-to-one with the fish scales; one end of the first hose is connected to the first micro water pump, and the other end is connected to the water bladder (it should be noted that one first hose is connected to multiple water bladders); the water bladders expand and squeeze the fish scales outward to deform, increasing the resistance during turning, increasing the turning speed, and reducing energy consumption.

[0014] Furthermore, the upper and lower parts of the fish body are respectively provided with a second bladder and a third bladder; a second miniature dual-purpose air pump is fixed on the air storage box, the air storage box includes a second hose, one end of the second hose is connected to the second miniature dual-purpose air pump, and the other end is connected to the second bladder; a second miniature water pump is fixed on the box, the box includes a third hose, one end of the third hose is connected to the second miniature water pump, and the other end is connected to the third bladder; inflating the second bladder causes the fish to float upwards, and filling the third bladder with water causes the fish to sink downwards.

[0015] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0016] By dynamically adjusting the stiffness of the tail fin using a first miniature dual-purpose air pump, the robot can cruise at high speed in open waters (high stiffness mode) to quickly cover large areas for pollution surveys, and also swim flexibly at low speed in complex areas (low stiffness mode) to get close to pollution sources or habitats such as coral reefs for detailed detection. This adaptive capability significantly improves the robot fish's endurance in long-term, large-scale surveys of new pollutants and dynamic plume tracking missions.

[0017] With multiple storage units and monitoring devices equipped with independent solenoid valves at the front of the fish, it can automatically and sequentially collect and save multiple new pollutant fragment samples from different geographical locations and water layers, as well as water quality near the new pollutant samples, during a single voyage, according to a preset program or at key pollution sites. This design enables the robotic fish to effectively map the spatial distribution of new pollutants, providing a crucial chain of on-site evidence for pollution source tracing and migration and transformation research. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of a multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to the present invention;

[0019] Figure 2 This is a half-section diagram of the fish body of a multifunctional biomimetic robotic fish for monitoring new marine pollutants according to the present invention.

[0020] Figure 3 This is a schematic diagram of the mid-tail fin structure of a multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to the present invention.

[0021] Figure 4 This is a schematic diagram of the socket structure of a multifunctional biomimetic robotic fish for monitoring new marine pollutants according to the present invention.

[0022] Figure 5 This is a schematic diagram of the scale structure of a second embodiment of the multifunctional biomimetic robotic fish for monitoring new marine pollutants according to the present invention;

[0023] Figure 6 This is a first frame structure diagram of a second embodiment of the multifunctional biomimetic robotic fish for monitoring new marine pollutants according to the present invention;

[0024] Figure 7 This is a water bladder structure diagram of a second embodiment of the multifunctional biomimetic robotic fish for monitoring new marine pollutants according to the present invention;

[0025] Figure 8 This is a schematic diagram of the position of the second sac in Embodiment 3 of the multifunctional biomimetic robotic fish for monitoring new marine pollutants according to the present invention.

[0026] In the picture:

[0027] 100. Fish body; 101. Channel cavity; 102. Drainage channel; 103. Divider plate; 110. Storage component; 111. Solenoid valve; 112. Monitoring device; 120. Camera; 130. Pectoral fin; 200. Swing assembly; 210. Exoskeleton; 211. Endoskeleton; 212. Socket; 213. Connector; 214. Sleeve; 215. Support plate; 216. Pull rope; 217. Clamping ball; 218. Elastic rope; 220. Rotary motor; 230. First frame; 2301. First through groove; 231. Fixing Plate; 2331, First flexible tube; 232, Fish scale; 233, Water bladder; 240, Box body; 241, First miniature water pump; 250, Second frame; 260, Second bladder; 261, Second miniature dual-purpose air pump; 262, Second flexible tube; 270, Third bladder; 271, Second miniature water pump; 272, Third flexible tube; 300, Fish tail; 320, Air storage box; 321, First miniature dual-purpose air pump; 322, Air tube; 301, Front caudal fin; 302, Middle caudal fin; 303, Back caudal fin; 310, First bladder. Detailed Implementation

[0028] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0029] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] Example 1: As Figures 1 to 4 As shown, this application discloses a multifunctional biomimetic robotic fish for monitoring new marine pollutants, comprising a fish body 100, one end of which is connected to a swinging component 200; the swinging component 200 is also connected to a fish tail 300 with an embedded pressure sensor and adjustable stiffness, high stiffness can reduce energy loss caused by deformation, and low stiffness can generate greater thrust by utilizing flexible undulation; the fish body 100 has a channel cavity 101 separated by a partition plate 103 at its mouth, and two monitoring devices 112 and multiple storage components 110 equipped with solenoid valves 111 are symmetrically arranged in the channel cavity 101 for monitoring pollutants in different marine environments.

[0032] The fish body 100 also includes cameras 120 connected to both sides for observing the marine environment; the fish body 100 also has a drainage channel 102 communicating with the channel cavity 101 for drainage; the fish body 100 is provided with pectoral fins 130 on both sides near the bottom, which are driven by motors to control the direction of travel.

[0033] The swinging assembly 200 includes multiple annular exoskeletons 210, with a cross-shaped inner bone 211 fixed to the inner annular surface of the exoskeleton 210. One end of the inner bone 211 is fixed with a sleeve 212, and the other end is fixed with a connector 213. The connector 213 of one of the exoskeletons 210 is rotatably connected to the sleeve 212 of another exoskeleton 210. A retainer 214 is symmetrically fixed on the inner bone 211 near the sleeve 212, forming a bionic fish tail 300 that can swing.

[0034] A support plate 215 is fixed to one end of the fish body 100 near the swing assembly 200. A rotary motor 220 is symmetrically fixed on the support plate 215. The rotary motor 220 also includes a pull rope 216. One end of the pull rope 216 is fixed to the rotary motor 220, and the other end passes through multiple internal bones 211 and multiple retaining sleeves 214. The ends of two pull ropes 216 are connected by an elastic rope 218. Multiple retaining balls 217 are fixed on the pull rope 216, and a retaining ball 217 is provided on the pull rope 216 between two internal bones 211. The rotation of the rotary motor 220 causes the pull rope 216 to retract, so that the retaining ball 217 is locked in the retaining sleeve 214, and pulls the elastic rope 218. The elastic rope 218 is stretched under the drive of the rotary motor 220, causing the fish tail 300 to turn.

[0035] The fish tail 300 is composed of a front caudal fin 301, a middle caudal fin 302, and a rear caudal fin 303. A connector 213 is fixed to the other end of the front caudal fin 301, and the connector 213 is rotatably connected to a sleeve 212 on one of the inner bones 211. The middle caudal fin 302 is hinged to the other end of the connector 213. The rear caudal fin 303 is hinged to the other end of the middle caudal fin 302. First sacs 310 are symmetrically fixed on both sides of the front caudal fin 301, the middle caudal fin 302, and the rear caudal fin 303. The expansion size of the first sacs 310 controls the rigidity of the fish tail 300.

[0036] The fish body 100 also has an air storage box 320 in the channel cavity 101, which is far away from the tail 300. The air storage box 320 has a first miniature dual-purpose air pump 321 on both sides. The air storage box 320 also includes an air tube 322. One end of the air tube 322 is connected to the first miniature dual-purpose air pump 321, and the other end passes through the exoskeleton 210 and is connected to the first bladder 310. It is used to inflate the first bladder 310.

[0037] Specific implementation: In seawater, the rotary motor 220 at one end of the support plate 215 pulls the pull rope 216, causing the locking ball 217 to lock into the sleeve 214 in one of the inner bones 211. The rotary motor 220 at one end of the support plate 215 stops pulling, while the rotary motor 220 at the other end pulls the pull rope 216 at the other end. At this time, the fish tail 300 swings in accordance with the pull rope 216. When the rotary motor 220 continues to pull the pull rope 216, the elastic rope 218 is stretched, increasing the amplitude of the fish tail 300's swing. Forward movement and steering are controlled by the pectoral fin 130, the swinging component 200, and the fish tail 300. The pressure sensor detects the resistance of the underwater environment, allowing for high-rigidity, high-speed cruising in open sea areas. The first micro dual-purpose air pump 321 inflates or deflates the first bladder 310, preventing the foreclaw 301, midclaw 302, and posterior caudal fin 303 in the tail 300 from bending or swaying, thus increasing the rigidity of the tail 300. In the low-rigidity mode of the coral reef area, to avoid collision damage, the first micro dual-purpose air pump 321 deflates the first bladder 310, causing the first frame 230 to contract. During the journey, seawater enters the channel cavity 101 through the fish mouth and is discharged through the drain 102. This process is achieved by opening the solenoid valve 111, allowing new pollutant fragments and water quality from the target seawater area to enter the storage unit 110, which is then detected by the monitoring device 112.

[0038] Beneficial effects: By dynamically adjusting the stiffness of the tail 300 through the first micro dual-purpose air pump 321, it can cruise at high speed in open sea areas (high stiffness mode) to quickly cover a large area for pollution surveys, and can also swim at low speed and flexibly in complex areas (low stiffness mode) to get close to pollution sources or habitats such as coral reefs for detailed detection; this adaptive capability significantly improves the endurance of the robotic fish in long-term, large-scale new pollutant surveys and dynamic plume tracking tasks.

[0039] With multiple storage units 110 and monitoring devices 112 equipped with independent solenoid valves 111 at the front end of the fish body 100, it can automatically and sequentially collect and save multiple new pollutant fragment samples and water quality near the new pollutant samples at different geographical locations and water layers during a single voyage, according to a preset program or at key pollution sites. This design enables the robotic fish to effectively depict the spatial distribution map of new pollutants, providing a key on-site evidence chain for pollution source tracing and migration and transformation research.

[0040] Example 2: To reduce energy consumption during turning and avoid disturbing sediments or disrupting the natural distribution of pollutants, this application proposes the following technical solution to address the above-mentioned technical problems:

[0041] like Figures 5 to 7As shown, a first frame 230 and a second frame 250 are symmetrically fixed on both sides of the outer arc-shaped surface of the fish body 100, and are close to the exoskeleton 210; both the first frame 230 and the second frame 250 have a first through groove 2301 communicating with the channel cavity 101, and the edge of the opening surface of the first through groove 2301 is provided with a sealing ring, and the first frame 230 and the second frame 250 have multiple fixing holes along the outer edge of the first through groove 2301; both the first frame 230 and the second frame 250 include a fixing plate 231, and the fixing plate 231 is fixed to the first frame 230 and the second frame 250 by bolts and fixing holes; for the installation of the first frame 230.

[0042] Multiple elastic fish scales 232 are also fixed on the fixing plate 231; a box 240 is fixed inside the channel cavity 101 and close to the swing component 200; a first micro water pump 241 is also symmetrically fixed on the box 240; the first micro water pump 241 also includes a first hose 2331; water bladders 233 are also fixed on the fixing plate 231, and their positions and numbers correspond one-to-one with the fish scales 232; one end of the first hose 2331 is connected to the first micro water pump 241, and the other end is connected to the water bladder 233 (it should be noted that one first hose 2331 is connected to multiple water bladders 233); the water bladders 233 expand and squeeze the fish scales 232 outward to deform, increase the resistance when turning, increase the turning speed, and reduce energy consumption.

[0043] Specific implementation: For example, when turning left, the first micro water pump 241, which is in the same direction as the left end, fills the water bladder 233 with water. The water bladder 233 expands and squeezes the fish scales 232 outward, making the resistance at the left end of the fish body 100 greater than that at the right end. When facing high-speed sea areas, after controlling the expansion of the water bladders 233 on both sides of the outer arc surface of the fish body 100 to squeeze the fish scales 232 outward, the boundary layer guidance effect formed by the action of multiple fish scales 232 can decompose large-scale turbulence into ordered micro-vortices in advance, reducing the fluid resistance on the torso and swing component 200 of the fish body 100 behind the second frame 250, thereby reducing driving energy consumption.

[0044] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0045] The first micro water pump 241 controls the water bladder 233 to deform the scales 232 on one side, which can quickly and accurately adjust the course of the robotic fish. This efficient steering mechanism enables it to respond more agilely to the dynamic changes of the pollution plume and follow the plume core for sampling. At the same time, the low steering energy consumption further extends its ability to perform long-term tracking tasks in complex hydrological environments.

[0046] The elastic fish scale 232 structure on the fixed plate 231 can effectively guide and decompose the water flow in front, forming a boundary layer guiding effect. This significantly reduces the wake turbulence and fluid noise generated by the robotic fish's navigation, minimizes disturbance to the surrounding water, and avoids stirring up sediments or disrupting the natural distribution of pollutants. This ensures that the newly collected pollutant samples and the water quality near the new pollutant samples can better reflect their true background concentration and morphology, and improves the accuracy and representativeness of the monitoring data.

[0047] Example 3: In order to effectively track the concentration gradient and diffusion of new pollutants in the vertical direction, this application proposes the following technical solution to address the above-mentioned technical problems:

[0048] like Figure 8 As shown, the upper and lower parts of the fish body 100 are respectively provided with a second bladder 260 and a third bladder 270; a second miniature dual-purpose air pump 261 is fixed on the air storage box 320, and the air storage box 320 includes a second hose 262, one end of which is connected to the second miniature dual-purpose air pump 261, and the other end is connected to the second bladder 260; a second miniature water pump 271 is fixed on the box 240, and the box 240 includes a third hose 272, one end of which is connected to the second miniature water pump 271, and the other end is connected to the third bladder 270; inflating the second bladder 260 causes the fish body 100 to float upwards, and filling the third bladder 270 with water causes the fish body 100 to sink downwards.

[0049] Specific implementation: In the seabed, when swimming upwards, the second miniature dual-purpose air pump 261 inflates the second bladder 260, causing the second bladder 260 to expand and the head of the fish 100 to float. When swimming downwards, the second miniature water pump 271 fills the third bladder 270 with liquid, causing the third bladder 270 to expand and the head of the fish 100 to sink.

[0050] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0051] By inflating or filling the second capsule 260 (upper part) and the third capsule 270 (lower part) with water respectively, the robotic fish can quickly and with low energy consumption achieve surfacing and diving. This capability enables it to perform stratified sampling in a vertical water column, effectively tracking the concentration gradient and diffusion of new pollutants in the longitudinal direction, and providing key three-dimensional spatial data support for studying the sedimentation, suspension or stratification of pollutants in seawater.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multifunctional biomimetic robotic fish for monitoring emerging marine pollutants, comprising a fish body (100), characterized in that, One end of the fish body (100) is connected to a swing assembly (200), and the swing assembly (200) is also connected to a fish tail (300) with an embedded pressure sensor and adjustable stiffness. The fish tail (300) is composed of a front caudal fin (301), a middle caudal fin (302), and a rear caudal fin (303). The mouth of the fish body (100) has a channel cavity (101) separated by a partition plate (103). An air storage box (320) is also provided in the channel cavity (101) of the fish body (100) and is located away from the fish tail (300). A first micro dual-purpose air pump (321) is provided on both sides of the air storage box (320). A first bladder is symmetrically fixed on both sides of the front caudal fin (301), the middle caudal fin (302), and the rear caudal fin (303). 310); The swing assembly (200) includes multiple annular exoskeletons (210); The air storage box (320) also includes an air tube (322), one end of which is connected to the first micro dual-purpose air pump (321), and the other end passes through the exoskeleton (210) and is connected to the first bladder (310). The first micro dual-purpose air pump (321) inflates or deflates the first bladder (310). The high rigidity of the fish tail (300) can reduce energy loss caused by deformation, and the low rigidity can generate greater thrust by utilizing flexible undulation; The channel cavity (101) is symmetrically equipped with two monitoring devices (112) and multiple storage components (110) equipped with solenoid valves (111) for monitoring pollutants in different marine environments; A first frame (230) and a second frame (250) are symmetrically fixed on both sides of the outer arc-shaped surface of the fish body (100). The first frame (230) and the second frame (250) are both provided with a first through groove (2301) communicating with the channel cavity (101). The first frame (230) and the second frame (250) are both provided with a fixing plate (231). The fixing plate (231) is fixed to the first frame (230) and the second frame (250) by bolts and fixing holes. Multiple elastic fish scales (232) are also fixed on the fixing plate (231). A box (240) is fixed inside the channel cavity (101) and close to the swing assembly (200). The housing (240) is also symmetrically fixed with a first micro water pump (241); the first micro water pump (241) also includes a first hose (2331); a water bladder (233) is also fixed on the fixing plate (231), and the position and number correspond one-to-one with the fish scales (232); one end of the first hose (2331) is connected to the first micro water pump (241), and the other end is connected to the water bladder (233).

2. The multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to claim 1, characterized in that, The fish body (100) also includes cameras (120) connected to both sides; the fish body (100) also has a drainage channel (102) communicating with the channel cavity (101); the fish body (100) is provided with pectoral fins (130) on both sides near the bottom, which are driven by a motor.

3. The multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to claim 1, characterized in that, The inner annular surface of the exoskeleton (210) is fixed with a cross-shaped inner bone (211), one end of the inner bone (211) is fixed with a sleeve (212), and the other end is fixed with a connector (213); the connector (213) of one of the exoskeletons (210) is rotatably connected to the sleeve (212) of another exoskeleton (210), and ferrules (214) are symmetrically fixed on the inner bone (211) near the sleeve (212).

4. A multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to claim 3, characterized in that, A support plate (215) is fixed to one end of the fish body (100) near the swing assembly (200). A rotary motor (220) is symmetrically fixed on the support plate (215). The rotary motor (220) also includes a pull rope (216). One end of the pull rope (216) is fixed to the rotary motor (220), and the other end passes through multiple internal bones (211) and multiple retainers (214). The ends of two pull ropes (216) are connected by an elastic rope (218). Multiple retaining balls (217) are fixed on the pull rope (216), and a retaining ball (217) is provided on the pull rope (216) between two internal bones (211).

5. A multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to claim 3, characterized in that, The other end of the fore tail fin (301) is fixed with a connector (213), which is rotatably connected to a sleeve (212) on one of the inner bones (211) through the connector (213); the other end of the connector (213) is hinged to a middle tail fin (302); the posterior tail fin (303) is hinged to the other end of the middle tail fin (302).

6. A multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to claim 5, characterized in that, The edge of the opening surface of the first through groove (2301) is provided with a sealing ring, and the first frame (230) and the second frame (250) have multiple fixing holes along the outer edge of the first through groove (2301).

7. A multifunctional biomimetic robotic fish for monitoring emerging marine pollutants according to claim 6, characterized in that, The upper and lower parts of the fish body (100) are respectively provided with a second bladder (260) and a third bladder (270); a second miniature dual-purpose air pump (261) is fixed on the air storage box (320), the air storage box (320) includes a second hose (262), one end of the second hose (262) is connected to the second miniature dual-purpose air pump (261), and the other end is connected to the second bladder (260); a second miniature water pump (271) is fixed on the box body (240), the box body (240) includes a third hose (272), one end of the third hose (272) is connected to the second miniature water pump (271), and the other end is connected to the third bladder (270).

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