Bionic fish capable of releasing bait

Abstract

According to the bionic fish capable of releasing the bait, a fish luring device is detachably connected with a middle cabin section in the bionic fish and is in communication control connection with a control unit of the bionic fish, so that the fish luring device is controlled to release the bait for luring the fish; the fish luring device can be designed in a modularized mode, and the contradiction that in the prior art, bait carrying capacity and movement performance are difficult to consider at the same time is effectively solved. The fish luring device serves as an independent module, is detachably connected with the middle cabin section of the bionic fish and keeps communication with the control unit, the fluid performance and movement concealment of the bionic fish are kept, accurate control over bait release can be achieved, and compared with a traditional integrated design, the fish luring device is simple in structure and convenient to use. The problems of water body disturbance and noise caused by excessive volume enlargement or power enhancement due to bait carrying requirements are avoided; in addition, the fish luring device can be quickly replaced according to operation requirements, the equipment adaptability is improved, the fish luring effect is enhanced, the maintenance process is simplified, and the use convenience is improved.

Description

Technical Field

[0001] This application relates to biomimetic fish devices, and more particularly to a biomimetic fish capable of releasing bait. Background Technology

[0002] In fishing, scattering bait to create a feeding area is a common and direct method for attracting fish. In relatively calm waters, this method is often quite efficient, attracting fish to gather. However, its drawbacks are also significant: it is costly and involves considerable resource waste. Because most of the bait quickly soaks and sinks to the bottom after entering the water, this method primarily attracts bottom-dwelling fish, while its effectiveness in attracting mid- to upper-level fish is greatly reduced, limiting the types of fish and fishing scenarios it is suitable for.

[0003] Furthermore, this fish-attracting method has significant limitations in practical application. In large lakes or open waters such as nearshore areas, fish are relatively scattered, and simply throwing bait is insufficient to create an effective attracting area. This not only results in limited fish attraction but also leads to a significant waste of bait, increasing the economic cost of fishing. At the same time, this traditional method can only lure fish to a fixed area, confining anglers to a specific location and restricting the spatial flexibility of fishing activities, making it difficult to dynamically adjust the location or range according to the actual situation.

[0004] With the development of technology, people have begun to try using intelligent devices such as bionic fish and drones to replace manual baiting, hoping to improve the accuracy and efficiency of attracting fish and overcome the shortcomings of traditional methods. However, in this technological approach, especially the common design of directly filling the bionic fish with bait, there are still a series of structural and functional drawbacks that limit its actual effectiveness. These drawbacks are mainly manifested in the following ways:

[0005] First, the design faces a fundamental contradiction between bait carrying capacity and equipment performance. To increase the amount of bait carried in a single operation, the size of the biomimetic fish must be increased and its power system upgraded. This not only leads to a significant increase in manufacturing costs and energy consumption, but also makes the equipment structure more complex and reduces its portability.

[0006] Secondly, the resulting motion noise and water disturbance problems are particularly prominent. When larger and more powerful bionic fish move in the water, they generate obvious mechanical vibrations and unnatural flow field fluctuations. These abnormal signals can easily disturb the fish school, causing them to scatter, thus contradicting the fundamental purpose of "luring".

[0007] Furthermore, the bait release method is mechanical and has limited effectiveness. Internally filled bait is usually released through pre-set holes or simple mechanisms, which makes it difficult to simulate the dynamic process of slow release, diffusion and suspension of bait in natural water bodies, and its attractiveness to fish at different water levels remains insufficient.

[0008] However, existing solutions for attracting fish using bionic fish have inherent defects in their structural design. While they can perfectly solve the spatial limitations and efficiency bottlenecks of traditional fish-attracting methods, they introduce new challenges in terms of practicality, economy, and final fish-attracting effect.

[0009] In view of the above-mentioned technical problems, this application is hereby proposed.

[0010] [Application Content]

[0011] The technical problem this application aims to solve is to provide a biomimetic fish capable of releasing bait. The fish-attracting device is detachably connected to the midsection of the biomimetic fish and communicatively connected to the control unit of the biomimetic fish to control the release of bait to attract fish. This allows the fish-attracting device to function as an independent module detachably connected to the main body of the biomimetic fish, enabling the rapid replacement of different types of bait containers or fish-attracting devices according to different waters, fish species, and operational needs, achieving multi-functionality. This not only improves the versatility of the equipment but also reduces the cost of repeatedly purchasing equipment for different scenarios. When the fish-attracting device is separated from the biomimetic fish structure, it avoids excessively increasing the biomimetic fish's volume or dynamic load due to bait filling, which helps maintain the streamlined appearance and low-resistance movement characteristics of the biomimetic fish. This ensures that the biomimetic fish maintains and focuses on efficient, low-noise swimming and navigation, improving its endurance and natural movement. Furthermore, the fish-attracting device of this application is connected to a control unit, enabling remote or programmed control of its release, including release timing, dosage, frequency, and even release method, such as slow release, intermittent release, and directional spraying. This more realistically simulates the natural bait diffusion process and enhances the attraction effect on fish at multiple water levels. Therefore, through modular separation, communication integration, and controllable release design, this application significantly improves the accuracy, adaptability, and maintainability of fish-attracting operations while maintaining the biomimetic fish movement efficiency.

[0012] To solve the above-mentioned technical problems, this application provides a biomimetic fish capable of releasing bait, comprising:

[0013] The fore section is used as the fish head;

[0014] The middle section serves as the fish's body. A head joint is provided between the front section and the middle section, allowing the front section to swing left and right relative to the middle section. The middle section contains a power battery unit and a control unit, and the control unit is electrically connected to the power battery unit.

[0015] The stern section serves as the fishtail, and is connected to the rear end of the mid-section. The stern section can swing left and right relative to the mid-section independently of the fore section.

[0016] A fish-attracting device is detachably connected to the midship section and communicatively connected to a control unit, which can control the fish-attracting device to release bait to attract fish.

[0017] As described above, a biomimetic fish capable of releasing bait includes a lure filling shell and a bait control seat. One end of the bait control seat is detachably connected to the lure filling shell. The tail end of the lure filling shell is provided with a bait release port. The other end of the bait control seat is connected to a traction cable. The front end of the traction cable is provided with a movable connector. The middle section is provided with a fixed connector. The movable connector is unidirectionally and detachably connected to the fixed connector. The direction in which the movable connector is detached from the fixed connector is arranged parallel to the direction of the biomimetic fish's swimming.

[0018] As described above, a bionic fish capable of releasing bait has a fish-attracting connecting slide rail and a fish-attracting connecting groove arranged parallel to the central axis of the bionic fish between the fixed connector and the moving connector. The fish-attracting connecting groove is provided with a limiting and blocking part for restricting the fish-attracting connecting slide rail from disengaging in the opposite direction of the fish-attracting connecting groove along the swimming path of the bionic fish.

[0019] As described above, in a biomimetic fish capable of releasing bait, the bait-releasing connecting groove is elastically provided with a barb for maintaining the connection between the moving connector and the stationary connector when the bait-releasing connecting rail is inserted into the bait-releasing connecting groove.

[0020] As described above, in a biomimetic fish capable of releasing bait, the moving connector and the fixed connector are magnetic joints that can attract each other.

[0021] As described above, in a biomimetic fish capable of releasing bait, the fixed connector is provided with a bait signal wireless transmitter electrically connected to the control unit for transmitting a bait release signal, and the moving connector is provided with a bait signal receiver for receiving the bait release signal. The bait signal receiver is electrically connected to the bait control base, and the bait signal wireless transmitter and the bait signal receiver communicate via NFMI (Near Field Communication).

[0022] As described above, in a biomimetic fish capable of releasing bait, the bait control seat has a bait control connection seat at one end near the lure filling shell. The lure filling shell is fixedly connected to a bait drive motor. The rotor of the bait drive motor is connected to a bait drive screw that extends into the lure filling shell. The lure filling shell has a slidably provided bait push piston connected to the corresponding end of the bait drive screw. The bait control seat has a screw avoidance cavity for the extension and retraction of the bait drive screw. The bait release port is equipped with a piezoelectric valve.

[0023] As described above, a biomimetic fish capable of releasing bait has guide fins evenly spaced along the circumferential direction on the outer peripheral surface of the bait control seat, including at least one vertically arranged guide fin and two symmetrically arranged guide fins on the left and right sides.

[0024] As described above, a biomimetic fish capable of releasing bait has anti-rotation counterweights built into its two symmetrically arranged guide fins.

[0025] As described above, in a biomimetic fish capable of releasing bait, the tail end of the lure filling shell is connected to a tail vertebra counterweight to prevent the bait release opening from tilting up during the process of being pulled along.

[0026] As described above, in a biomimetic fish capable of releasing bait, one of the fixed connectors is located on the bottom side of the rear of the mid-section, or two fixed connectors are symmetrically located on both sides of the rear of the mid-section.

[0027] As described above, in a biomimetic fish capable of releasing bait, the rear sides of the midsection are provided with anal fins, and the two fixed connectors are symmetrically located on the underside of the anal fins.

[0028] As described above, in a biomimetic fish capable of releasing bait, the lure filling shell is arranged in layers, one layer being filled with slow-release gel as an auxiliary material, and the other layer being filled with concentrated fish attractant. When the bait pushes the piston, it can simultaneously squeeze the slow-release gel and the concentrated fish attractant to the bait release port for mixing and release.

[0029] Compared with existing technologies, the biomimetic fish capable of releasing bait described in this application has the following advantages:

[0030] 1. The fish-attracting device can be modularly designed and detachably connected to the bionic fish. When in use, different types of bait can be quickly replaced according to different waters, fish species and operational needs, realizing the function of one machine for multiple purposes, improving the versatility of the equipment, and reducing the cost of repeatedly purchasing equipment for different scenarios.

[0031] 2. The fish-attracting device can be separated from the bionic fish, avoiding excessive expansion of the bionic fish's size or increased dynamic load due to bait filling. This helps maintain the streamlined appearance and low-resistance movement characteristics of the bionic fish, making its movement lighter and less disruptive. It reduces the risk of startling fish due to mechanical vibration and water disturbance, and helps maintain concealment when approaching schools of fish. It also facilitates the filling and maintenance of bait.

[0032] 3. By communicating with the control unit, the fish attractant can be remotely or programmatically controlled to release, including the release timing, dosage, frequency, and even release method, thereby more realistically simulating the natural bait diffusion process and enhancing the attraction effect on fish in multiple water layers.

[0033] 4. The fish-attracting device and the bionic fish communicate via NFMI (Near Field Communication), enabling them to communicate without physical contact. This avoids poor contact or structural wear caused by water corrosion or dirt adhesion, improving system durability. Furthermore, the elimination of exposed interfaces or complex waterproof structures for communication helps reduce the difficulty of sealing the bionic fish and the fish-attracting device, as well as manufacturing costs.

[0034] 5. The fish-attracting device and the bionic fish use NFMI (Near Field Communication), which provides a standardized interface for future integration of more functional modules, such as water quality sensors and positioning beacons, and supports flexible expansion and collaborative operation of system functions.

[0035] 6. The direction of disassembly and separation of the moving connector relative to the fixed connector is configured to be parallel to the direction of movement of the bionic fish. This ensures that the bionic fish maintains a stable and reliable connection during the movement of the fish-attracting device, and also makes the connection tighter and more reliable, effectively avoiding the risk of detachment during use.

[0036] 7. By setting elastic barbs in the fish-attracting connection groove, the moving connector is further kept confined within the fish-attracting connection groove of the fixed connector. The moving connector and the fixed connector use magnetic joints, which can facilitate quick installation and connection of the two, making it convenient for users to replace and disassemble them.

[0037] 8. The presence of guide fins on the outer periphery of the bait control base reduces the resistance of the bionic fish as it swims and pulls the fish-attracting device, ensuring a longer endurance for the bionic fish. Additionally, anti-rotation counterweights are built into the two symmetrically positioned guide fins, ensuring the fish-attracting device moves smoothly and avoids tipping over during pulling, further preventing the traction cable from being constantly twisted, affecting communication, and causing fatigue damage.

[0038] 9. A tail cone counterweight is connected to the tail of the lure filling shell. When the bionic fish pulls the fish-attracting device, the tail cone counterweight will use gravity to force the bait release port to be in a horizontal state or tilted downward relative to the horizontal plane, thus avoiding the bait release port from tilting up and affecting the release of the bait.

[0039] 10. Attach the two fish-attracting devices to the underside of the two anal fins, ensuring that the two fish-attracting devices are kept at a certain distance from the fish's tail to avoid mutual interference. Attached Figure Description

[0040] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings, wherein:

[0041] Figure 1 This is one of the overall structural schematic diagrams of the biomimetic fish-mounted two-fish-attracting device in this application;

[0042] Figure 2This is the second schematic diagram of the overall structure of the biomimetic fish with two fish-attracting devices in this application;

[0043] Figure 3 This is a schematic diagram of the overall structure of the fish-attracting device of this application;

[0044] Figure 4 This is a cross-sectional view of the fish-attracting device of this application;

[0045] Figure 5 This is a structural schematic diagram of the middle section of the biomimetic fish in this application;

[0046] Figure 6 This is a schematic diagram of the overall structure of the bionic fish in this application;

[0047] Figure 7 This is a cross-sectional view of the biomimetic fish of this application;

[0048] Figure 8 This is a schematic diagram of the skin layer structure in this application;

[0049] Figure 9 A side view of the biomimetic fish of this application without the skin layer;

[0050] Figure 10 A top view of the biomimetic fish of this application without its skin layer;

[0051] Figure 11 This is an exploded view of the mid-section and stern section of the biomimetic fish in this application;

[0052] Figure 12 This is an exploded view of the tail section of the biomimetic fish in this application;

[0053] Figure 13 for Figure 12 An enlarged view of section A (labeled);

[0054] Figure 14 This is one of the exploded views of the fore section and mid section of the biomimetic fish in this application.

[0055] Figure 15 Exploded views of the fore and middle sections of the biomimetic fish in this application (Part 2);

[0056] Figure 16 Exploded views of the fore and middle sections of the biomimetic fish in this application (Part 3);

[0057] Figure 17 Exploded view of the anterior connector and dorsal fin in the biomimetic fish of this application;

[0058] Figure 18 This is an exploded view of the pectoral fin servo mechanism and pectoral fin in the biomimetic fish of this application;

[0059] Figure 19 Request an exploded view of the midsection and pectoral fins of a biomimetic fish;

[0060] Figure 20 A schematic diagram of the overall structure of the head joint in this application;

[0061] Figure 21 A sectional view of the head joints in the application;

[0062] Figure 22 One of the exploded views of the head joint in the application;

[0063] Figure 23 Exploded view of the head joints in the hairline, part two; Detailed Implementation

[0064] The following is in conjunction with the accompanying drawings. Figure 1-23 The implementation methods described in this application are explained in detail.

[0065] like Figure 1-5 As shown, this application discloses a biomimetic fish capable of releasing bait, comprising a front section 3, a middle section 4, and a fish-attracting device 9. The front section 3 serves as the fish head, and the middle section 4 serves as the fish body. A head joint 100 is provided between the front section 3 and the middle section 4, allowing the front section 3 to swing left and right relative to the middle section 4. The middle section 4 houses a power battery unit 6 and a control unit 7, which is electrically connected to the power battery unit 6. The tail section 5 serves as the fish tail and is connected to the rear end of the middle section 4. The tail section 5 can swing left and right relative to the middle section 4 independently of the front section 3. The fish-attracting device 9 is a modular design separate from the middle section 4 and is detachably connected to the middle section 4. It is communicatively connected to the control unit 7, which can control the fish-attracting device 9 to release bait to attract fish. Therefore, during use, different types of bait can be quickly replaced according to different waters, fish species, and operational needs, achieving multi-functionality and improving the equipment's versatility. This also reduces the cost of repeatedly purchasing equipment for different scenarios. Furthermore, it avoids excessively increasing the size of the bionic fish or its dynamic load due to bait loading, which helps maintain the streamlined appearance and low-resistance movement characteristics of the bionic fish. This makes the movement of the bionic fish lighter and less disruptive, reducing the risk of startling fish due to mechanical vibration and water disturbance. It also helps maintain concealment when approaching schools of fish and facilitates bait loading and maintenance.

[0066] In this application, the fish-attracting device communicates with the control unit using NFMI (Near Field Communication), enabling communication without physical contact. This avoids contact problems or structural wear caused by water corrosion or dirt adhesion, improving system durability. Furthermore, it eliminates the need for exposed interfaces or complex waterproof structures for communication, reducing the difficulty and cost of sealing the bionic fish and the fish-attracting device. Remote or programmed release control is possible, including release timing, dosage, frequency, and even release method, thus more realistically simulating the natural bait diffusion process and enhancing the attraction effect on multi-layered fish. Moreover, the NFMI communication between the fish-attracting device and the bionic fish provides standardized interface possibilities for future integration of more functional modules, such as water quality sensors and positioning beacons, supporting flexible expansion and collaborative operation of system functions.

[0067] like Figure 2-5 As shown, the fish-attracting device 9 includes a lure filling housing 901 and a bait control seat 902. One end of the bait control seat 902 is detachably connected to the lure filling housing 901. The tail end of the lure filling housing 901 is provided with a bait release port 903. The other end of the bait control seat 902 is connected to a traction cable 904. The traction cable 904 is configured to have traction and communication functions and can be made of Kevlar-reinforced silicone tubing. The front end of the traction cable 904 is provided with a moving connector 905, and the middle section 4 is provided with a fixed connector 906. Preferably, the moving connector 905 and the fixed connector 906 are magnetic connectors that can attract each other. When the two are connected, they can be quickly connected by magnetic attraction.

[0068] The movable connector 905 is unidirectionally and detachably connected to the fixed connector 906, and the direction in which the movable connector 905 is detached from the fixed connector 906 is arranged parallel to the swimming direction of the bionic fish. Specifically, a fish-attracting connecting slide rail 907 and a fish-attracting connecting groove 908 are provided between the fixed connector 906 and the movable connector 905, which are arranged parallel to the central axis of the bionic fish. The fish-attracting connecting groove 908 is provided with a limiting and blocking part 909 for preventing the fish-attracting connecting slide rail 907 from disengaging from the fish-attracting connecting groove 908 in the opposite direction of the bionic fish's swimming direction. Therefore, when the bionic fish is pulled by the fish-attracting device, the movable connector and the fixed connector always maintain a stable and reliable connection, and the connection can be made tighter and more reliable, effectively avoiding the risk of detachment during use.

[0069] Furthermore, the fish-attracting connecting groove 908 is elastically provided with a barb 910 for maintaining the connection between the moving connector 905 and the fixed connector 906 when the fish-attracting connecting rail 907 is inserted into the fish-attracting connecting groove 908. By providing the elastic barb in the fish-attracting connecting groove, the moving connector is kept confined within the fish-attracting connecting groove of the fixed connector, and no matter how the bionic fish pulls the fish-attracting device to change direction, the moving connector 905 always reliably maintains a connection with the fixed connector 906.

[0070] Regarding the specific scheme for near-field communication (NFMI) between the fish-attracting device and the bionic fish, the fixed connector 906 is equipped with a wireless transmitter for transmitting and releasing bait signals, electrically connected to the control unit 7. The moving connector 905 is equipped with a receiver for receiving the bait signals. The bait signal receiver includes an NFMI receiver chip, such as the TI LDC1314, and the corresponding drive circuit uses a MOSFET half-bridge. The bait signal receiver is electrically connected to the bait control base 902, which has a built-in solid-state thin-film lithium battery. The wireless transmitter and receiver communicate via NFMI. To improve the magnetic field coupling efficiency between the moving connector 905 and the fixed connector 906, a gap of 0.5 ± 0.1 mm is maintained between them when they are docked, ensuring a magnetic field coupling efficiency greater than 65% and guaranteeing reliable and stable signal transmission and reception.

[0071] like Figure 4 As shown, the lure control base 902 has a lure control connector 911 near the lure filling housing 901. A lure drive motor 912 is fixedly connected to the lure filling housing 901. The rotor of the lure drive motor 912 is connected to a lure drive screw 913 that extends into the lure filling housing 901. A lure push piston 914, connected to the corresponding end of the lure drive screw 913, is slidably provided inside the lure filling housing 901. A stop can be provided between the lure push piston 914 and the lure filling housing 901. The rotating structure 919 restricts the rotation of the decoy-driven piston 914 relative to the lure filling housing 901 when it slides. The anti-rotation structure 919 can have axially extending guide ribs and guide grooves on the outer peripheral surface of the decoy-driven piston 914. The lure filling housing 901 and the decoy control seat 902 are provided with a screw-avoiding cavity 915 for the extension and retraction of the decoy drive screw 913. The decoy release port 903 is provided with a piezoelectric valve 915 electrically connected to a solid-state thin-film lithium battery built into the decoy control seat 902. When the decoy signal wireless transmitter on the fixed connector 906 sends a decoy release signal, the decoy signal receiver receives the signal through magnetic field coupling, demodulates it through the NFMI receiver chip, generates a corresponding instruction decoder, and sends it to the piezoelectric valve 915. The piezoelectric valve 915 then actuates to release the decoy.

[0072] For the bait filled inside the lure filling shell 901, a layered structure can be used. The upper layer is hydroxypropyl methylcellulose slow-release gel, which swells in water to form a gel network structure. The lower layer is a concentrated fish attractant of amino acid complex, which can accurately stimulate the sensory system of fish when released. When the hydroxypropyl methylcellulose slow-release gel and the concentrated fish attractant of amino acid complex are mixed and released into the fish attractant device, the hydroxypropyl methylcellulose slow-release gel swells to form a gel network structure to coat the concentrated fish attractant of amino acid complex, thereby prolonging the effectiveness of the concentrated fish attractant and achieving the purpose of saving bait.

[0073] like Figure 3 As shown, the outer peripheral surface of the bait control base 902 is provided with evenly spaced guide fins 916 along the circumferential direction. The guide fins 916 can be made of silicone, and there is at least one vertically arranged guide fin 916 and two symmetrically arranged guide fins 916 on the left and right. The vertically arranged guide fin 916 mainly plays a directional role during movement. The two symmetrically arranged guide fins 916 are guide fins 916 symmetrically arranged relative to the vertical plane passing through the center line of the fish attracting device. The two guide fins 916 are preferably configured to be perpendicular to the vertical plane passing through the center line of the fish attracting device. Anti-rotation counterweights are built into the two symmetrically arranged guide fins 916. The anti-rotation counterweights are made of tungsten blocks. When the fish attracting device is pulled forward, the anti-rotation counterweights on the left and right guide fins can balance and suppress the fish attracting device from flipping, making it stable and avoiding flipping. This can also avoid the problem of the traction cable being constantly twisted, affecting communication and causing fatigue damage.

[0074] Furthermore, a tail cone counterweight 917 is connected to the tail of the lure filling shell 901. The tail cone counterweight 917 can be made of tungsten material. When the bionic fish pulls the lure device, the tail cone counterweight will use gravity to force the lure release port to be in a horizontal state or tilted downward relative to the horizontal plane, thus avoiding the lure release port from tilting up and affecting the release of the lure.

[0075] The bionic fish of this application can be equipped with one or two fish-attracting devices. When the bionic fish is equipped with one fish-attracting device, the fixed connector 906 is located on the bottom rear of the midsection 4. When the bionic fish is equipped with two fish-attracting devices, the two fixed connectors 906 are symmetrically located on both sides of the rear of the midsection 4. Preferably, anal fins 420 are provided on both sides of the rear of the midsection 4, and the two fixed connectors 906 are symmetrically located on the underside of the anal fins 420. In use, the two fish-attracting devices maintain a certain distance from the fish tail to avoid mutual interference.

[0076] like Figure 6-13As shown, this application discloses a biomimetic fish capable of releasing bait, consisting of a front section 3, a middle section 4, and a tail section 5 that are tightly wrapped and sequentially connected by a skin layer 8 made of high-strength elastic silicone material. The skin layer 8 has a Shore hardness of 50-60 HA. A head joint 100 is provided between the front section 3 and the middle section 4, allowing the front section 3 to swing left and right relative to the middle section 4. The tail section 5 includes a tail filler 501, a tail swing frame 502, and a tail swing drive motor 503. The tail swing frame 502 extends forward and backward through the tail filler 501, and the rear part of the tail swing frame 502 is exposed outside the tail filler 501 to form a tail swing section 519. The front part of the tail swing frame 502 has a swing connection part 505 that is connected to the output transmission of the tail swing drive motor 503. A serrated structure 524 is provided on the rear edge of the tail swing section 519. The serrated structure 524 is composed of multiple evenly arranged micro-serrations. Tail swing ribs 515 are provided on both sides of the tail swing section 519 extending towards the rear edge. A recessed micro-groove 516 is formed between the two tail swing ribs 515 on the same side, and the recessed micro-groove 516 extends towards the rear edge of the tail swing section 519. The tail section has a serrated structure 524 at its rear edge, and serrated ribs and recessed micro-grooves on both sides. The serrated structure 524 cuts the water flow during the swing to form a local vortex, while the recessed micro-grooves guide the water flow to accelerate and form a stable tail vortex. This can simulate the hydrodynamic characteristics of real fish when they swing their tails, enhance their attraction to target fish, and thus achieve efficient fish attraction and related fishing activities. The tail section has the characteristics of reasonable design and stable and reliable swing.

[0077] In an optimized manner, the stiffness of the tail section 519 is configured to gradually decrease towards its rear edge, which allows the tail section to better generate forward swimming force and reaction with the water flow during the swinging process, giving the biomimetic fish high efficiency and energy-saving characteristics in swimming conditions.

[0078] like Figure 12 , 13 As shown, the upper and lower sides of the swivel tail 519 are provided with arc-shaped main ribs 520, with the openings of the main ribs 520 facing the rear edge of the swivel tail 519. A swivel tail convex rib 515 is located within the opening area of ​​the main ribs 520. By providing main ribs and convex ribs on both sides of the swivel tail, a concave microgroove can be formed to guide the water flow to accelerate and form a stable tail vortex. Furthermore, it provides a certain degree of rigid support for the swivel tail when interacting with the water flow, ensuring that the swivel tail generates a forward reaction thrust during its swing.

[0079] Furthermore, the cross-sections of the tail-end rib 515 and / or the main tail-end rib 520 are configured to gradually decrease in size as they extend towards the rear edge, and the depth of the recessed micro-groove 516 relative to the tail-end rib 515 gradually decreases along the rear edge, resulting in the tail end of the tail-end rib 515 having a needle-like structure. Figure 13As shown, the tail rib 515 and / or the tail main rib 520 are provided with a guide slope 523 on the side of the recessed micro groove 516.

[0080] like Figure 13 As shown, the end of the swivel rib 515 does not extend to the rear edge of the swivel tail 519 and terminates there, allowing the water flowing along the adjacent recessed micro-grooves 516 to converge before passing through the rear edge of the swivel tail 519. Because the end of the swivel rib does not extend to the rear edge of the swivel tail, the water flowing along the adjacent recessed micro-grooves can converge before passing through the rear edge of the swivel tail, resulting in a more uniform and stable vortex.

[0081] like Figure 9-11 As shown, this application discloses a biomimetic fish capable of releasing bait, which further includes an elastically deformable tail joint filler 504. Tail clearance spaces 506 are formed on both sides between the tail filler 501 and the rear of the midsection 4. The tail joint filler 504 is elastically deformable and fitted into the tail clearance space 506, dynamically compensating for gaps between the tail filler 501 and the corresponding side of the midsection 4 in real time. The tail joint filler 504 can be made of corrugated silicone and uses a wedge-shaped block structure to match the tail clearance space 506. When the tail filler creates gaps due to the swinging of the midsection, the tail joint filler elastically deforms and dynamically compensates for these gaps in real time. It also better seals the tail-swinging drive motor and its related components, providing multiple waterproofing effects and ensuring stable and reliable operation of the biomimetic fish's internal structure.

[0082] like Figure 10 , 11 As shown, the rear of the middle section 4 forms a tail avoidance plane 507 perpendicular to the central axis of the biomimetic fish. The front sides of the tail filler 501 form tail avoidance slopes 508 that are inclined relative to the central axis of the biomimetic fish. A tail avoidance space 506 is formed between the tail avoidance plane 507 and the tail avoidance slope 508 on the same side. The tail avoidance plane 507 limits the angle of the tail filler 501 relative to the middle section 4. The angle between the tail avoidance plane 507 and the tail avoidance slope 508 is β, 25°≤β≤45°. In this application, β is preferably 35°. During use, by controlling the rotation speed of the tail swing drive motor 503, a stable vortex ring can be generated when the tail swing is in a low-frequency large-amplitude swing, which is more suitable for attracting fish and guiding them to the corresponding water area.

[0083] like Figure 6 , 11As shown in Figure 12, the tail-swing drive motor 503 is fixedly connected to the rear of the middle section 4 via the tail-swing connecting seat 513. The swing connecting part 505 is provided with a swing groove 510 along the front-rear direction. The swing connecting part 505 is pivotally connected to the tail-swing connecting seat 513 via a swing rotating shaft 514 located on the rear side of the swing groove 510. The output end of the tail-swing drive motor 503 is connected to an eccentric turntable 511. An eccentric shaft 512 is connected to the eccentric turntable 511 off from the output end of the tail-swing drive motor 503. The eccentric shaft 512 is slidably placed in the swing groove 510. The tail-swing drive motor 503 can be a brushless linear motor of the German supplier Faulhaber, model Faulhaber LM1247. During operation, by controlling the rotation speed of the tail-swing drive motor 503, the eccentric shaft 512 can be controlled to slide within the swing groove 510 and push and pull the swing connection part 505, thereby controlling the frequency of the tail-swing around the swing axis 514. Moreover, by controlling the tail-swing drive motor 503 to rotate in a non-full circle, the tail-swing can produce asymmetrical swing marks, thereby further achieving the bio-attraction effect.

[0084] like Figure 11 , 12 As shown, the swing connection 505 has a U-shaped opening. Swing grooves 510 are provided at both the top and bottom of the U-shaped opening. The tail-end connecting seat 513 is fixedly connected to the rear of the middle section 4 and placed inside the U-shaped opening of the swing connection 505. The upper and lower output ends of the tail-end drive motor 503 pass through the tail-end connecting seat 513 and are connected to the eccentric turntable 511. The eccentric shaft 512 on each eccentric turntable 511 is slidably placed within the swing groove 510. The tail-end connecting seat 513 is connected to the inner side of the U-shaped opening of the swing connection 505 via a swing shaft 514. The swing connection adopts a U-shaped opening structure design, housing the tail-end connecting seat and the tail-end drive motor, making the structure simpler and more compact, while avoiding affecting the external dimensions of the stern section.

[0085] like Figure 12 As shown, the tail swing frame 502 includes a tail swing body 521 and a tail swing rod 522. The tail swing rod 522 and the tail swing body 521 are made of different materials. The tail swing rod 522 needs to have good mechanical connection and transmission strength. The two tail swing rods 522 are respectively fixedly connected to the upper and lower front ends of the tail swing body 521 to form a U-shaped swing connection part 505. The upper and lower ends of the swing shaft 514 are connected to the ends of the two tail swing rods 522 near the tail swing body 521. Two swing sliding grooves 510 are respectively provided on the two tail swing rods 522.

[0086] like Figure 12As shown, the rear of the middle section 4 is fixedly connected to the rear connecting seat 517. The tail swing drive motor 503 is fixedly connected to the rear connecting seat 517 through the tail swing connecting seat 513. The rear connecting seat 517 is provided with a swing avoidance space 518 for the front end of the swing connection part 505 to move and avoid. The rear connecting seat 517 is symmetrically provided with anal fins 420 on the left and right sides.

[0087] like Figure 8 As shown, the surface of the skin layer 8 is smooth to reduce water resistance during swimming. The inner side of the skin layer 8 tightly wraps around the front section 3, the middle section 4 and the tail section 5. The skin layer 8 is correspondingly provided with a front window 801, a dorsal fin avoidance opening 802, a pectoral fin avoidance opening 806, an anal fin avoidance opening 805, a caudal fin avoidance opening 803 and a tail avoidance opening 804, so as to avoid obstructing the corresponding components or facilitate the corresponding components to pass through.

[0088] like Figure 20-23 As shown, the head joint 100 adopts a magnetically driven joint structure, including a movable joint assembly 1 and a fixed joint assembly 2 that are rotatably connected to each other. The movable joint assembly 1 includes a movable joint housing 101 and a permanent magnet rotor 102. The permanent magnet rotor 102 is made of a rare-earth permanent magnet material with high magnetic energy product, such as neodymium iron boron. The permanent magnet rotor 102 is relatively fixedly disposed on the inner wall of the cavity of the movable joint housing 101. The bottom of the cavity of the movable joint housing 101 extends towards the fixed joint assembly 2 to form a movable joint shaft 103. The fixed joint assembly 2 includes a fixed joint connector 201 and a coil winding stator 202. The coil winding stator 202 is made of high-temperature resistant and waterproof insulating wire. The coil winding stator is fixedly sleeved on the fixed joint connector 201. The movable joint shaft 103 extends into the fixed joint connector 201, so that the permanent magnet rotor 102 is coaxially positioned on the outer periphery of the coil winding stator 202 at intervals of 0.5-3mm. The movable joint shaft 103 and the fixed joint connector 201 are rotatably connected by a high-precision deep groove ball bearing. In this head joint 100, the permanent magnet rotor 102 is coaxially positioned on the outer periphery of the coil winding stator 202 at intervals. Through magnetic field coupling, contactless torque transmission is achieved, improving energy conversion efficiency and motion accuracy. This allows the movable joint assembly 1 to rotate sensitively relative to the fixed joint assembly 2 with a fast response speed. Furthermore, the movable joint assembly 1 and the fixed joint assembly 2 can be directly and fixedly connected to the two opposing rotating components, saving installation space compared to traditional mechanical joints and making the structure more compact.

[0089] To facilitate the connection between the fixed joint assembly 2 and the corresponding components, it also includes a fixed joint housing 203. The fixed joint housing 203 is made of high-strength engineering plastic injection molding or alloy material, which combines lightweight and protection. The fixed joint housing 203 covers the fixed joint connecting seat 201 and is fixed to the fixed joint connecting seat 201 by screws. The fixed joint housing 203 is provided with a joint input terminal 204 that is electrically connected to the coil winding stator 202. The joint input terminal 204 adopts an IP68 waterproof plug to ensure stable power supply and signal transmission in the underwater environment.

[0090] like Figure 22 , 23 As shown, the moving joint housing 101 and the fixed joint housing 203 are respectively provided with a moving joint connecting part 104 and a fixed joint sleeve part 205 at their opposite ends. The moving joint connecting part 104 is provided with no less than two sealing annular grooves 105 along the circumferential direction for holding the joint sealing ring 106. The fixed joint sleeve part 205 is sleeved on the moving joint connecting part 104. The joint sealing ring 106 can be made of oil-resistant fluororubber and elastically deforms against the inner side wall of the fixed joint sleeve part 205 to form a multi-seal structure, achieving an IP68 waterproof rating. This allows the opposite ends of the fixed joint housing 203 and the moving joint housing 101 to rotate relative to each other and be sealed together, effectively protecting the reliable and stable operation of the magnetic drive joint.

[0091] like Figure 7 As shown, a joint control space 206 is formed between the fixed joint connector 201 and the bottom of the inner cavity of the fixed joint housing 203, which can accommodate the connecting wires of the inner end of the joint input terminal 204. The joint control space 206 can be filled with insulating and flame-retardant material. This allows the joint control space 206 to facilitate the orderly arrangement, electrical connection and signal conversion of the wires of the joint input terminal and the coil winding stator, while effectively avoiding wire tangling or poor contact, ensuring reliable and stable connection and conversion.

[0092] like Figure 21As shown, to facilitate electrical expansion connections, the movable joint housing 101 is provided with a joint output terminal 107 for external electrical connection of the magnetic drive joint. The joint output terminal 107 can be a waterproof plug with a protection level of IP68 and gold-plated contacts. The movable joint shaft 103 has an inner hole and is hollow, and the inner hole of the movable joint shaft 103 is connected to the joint control space 206. The inner end of the joint input terminal 204 is connected to the inner end of the joint output terminal 107 via the joint control space 206 and the inner hole of the movable joint shaft 103. The inner end of the joint input terminal 204 is connected to the inner end of the joint output terminal 107 via the joint control space 206 and the inner hole of the movable joint shaft 103. The inner end of the joint input terminal 204 is made of shielded twisted pair cable that is resistant to electromagnetic interference. Specifically, the fixed joint connector 201 can be made of high-strength aluminum alloy through die casting, which is lightweight and has good thermal conductivity. The fixed joint connector 201 includes a fixed joint base plate 208, which is snapped into the inner cavity of the fixed joint housing 203. The fixed joint base plate 208 is integrally connected to the fixed joint sleeve 209 on the side near the moving joint housing 101. The fixed joint connector foot 210 is integrally connected to the side of the fixed joint base plate 208 near the bottom of the inner cavity of the fixed joint housing 203. The moving joint shaft 103 is rotatably connected to the fixed joint sleeve 209 through a high-precision ceramic bearing. The fixed joint housing 203 is fixedly connected to the fixed joint connector foot 210 through stainless steel hexagonal screws. Therefore, the joint input terminal and the joint output terminal can be connected and converted in an orderly manner through the joint control space 206, supporting cascading expansion, meeting the motion control requirements of the bionic fish's swinging degree of freedom, and ensuring reliable and stable connection and conversion.

[0093] like Figure 21-23 As shown, the movable joint housing 101 is provided with a joint output terminal 107 for external electrical connection of the magnetic drive joint. The joint output terminal 107 can be a waterproof plug with a protection level of IP68 and gold-plated contacts. The joint output terminal 107 and the joint input terminal 204 are electrically connected through a shielded cable to improve electromagnetic interference resistance. Both the movable joint housing 101 and the fixed joint housing 203 are rotary structures, and the outer sides of the movable joint housing 101 and the fixed joint housing 203 are respectively eccentrically and integrally formed with a movable connection protrusion 108 and a fixed connection protrusion 207. The joint input terminal 204 and the joint output terminal 107 are respectively disposed on the fixed connection protrusion 207 and the movable connection protrusion 108. The movable connection protrusion 108 and the fixed connection protrusion 207 can be correspondingly engaged with the front section and the middle section of the bionic fish, which can stably transmit low torque and stably realize electrical connection.

[0094] like Figure 7As shown in this application, the power battery unit 6 and control unit 7, located in the middle section 4, can be separated by aluminum alloy partitions, with the power battery unit 6 located at the lower part of the middle section. The control unit 7 is electrically connected to the power battery unit 6, and the head joint 100 is electrically connected to the control unit 7. The tail section 5 is connected to the rear end of the middle section 4, and the tail section 5 can swing left and right relative to the middle section 4 independently of the front section 3. The head joint 100 includes a movable joint assembly 1 fixedly connected to the front section 3 and a fixed joint assembly 2 fixedly connected to the middle section 4. The movable joint assembly 1 includes a movable joint housing 101 made of stainless steel stamping and a permanent magnet rotor 102 made of N52 neodymium iron boron permanent magnet material. The movable joint housing 101 is fixedly connected to the front section 3, and the permanent magnet rotor 102 is fixedly disposed on the inner wall of the cavity of the movable joint housing 101. The bottom of the cavity of the movable joint housing 101 extends towards the fixed joint assembly 2 to form a movable joint shaft 103. The fixed joint assembly 2 includes a fixed joint connector 201, a coil winding stator 202 made of high-temperature resistant enameled wire, and a fixed joint housing 203 injection molded from engineering plastic. The opposite ends of the fixed joint housing 203 and the moving joint housing 101 can rotate relative to each other and are connected in a sealed manner. In order to make the connection between the fixed joint housing 203 and the moving joint housing 101 stable and reliable, the moving joint housing 101 can be stamped from 316L stainless steel, and the fixed joint housing 203 can be injection molded from PA66+GF30. The fixed joint connector 201 is fixedly connected to the inner cavity of the fixed joint connector 201. The fixed joint housing 203 is fixedly connected to the middle section 4. The coil winding stator 202 is fixedly sleeved on the fixed joint connector 201. The movable joint shaft 103 is rotatably connected to the fixed joint connector 201 through a bearing, so that the permanent magnet rotor 102 is coaxially and spaced on the outer periphery of the coil winding stator 202. The fixed joint housing 203 is provided with joint input terminals 204 that are electrically connected to the coil winding stator 202 and the control unit 7, respectively. The movable joint assembly and the fixed joint assembly can be directly connected to the front section and the middle section, respectively, to realize the swing of the front section relative to the middle section. It has the characteristics of small space occupation and can provide a larger clearance space for the swing of the front section relative to the middle section.Specifically, the head movable connection portion 301 is provided with a movable connection cavity 302 whose inner wall can be coated with a polytetrafluoroethylene wear-resistant coating, and the head fixed connection portion 401 is provided with a fixed connection cavity 402 whose inner wall can be coated with a polytetrafluoroethylene wear-resistant coating. The movable joint housing 101 and the fixed joint housing 203 are arranged vertically. A part of the movable joint housing 101 is embedded and relatively fixedly connected to the movable connection cavity 302, and the other part of the movable joint housing 101 is embedded and relatively rotatably placed in the fixed connection cavity 402. A part of the fixed joint housing 203 is embedded and relatively fixedly connected to the fixed connection cavity 402, and the other part of the fixed joint housing 203 is embedded and relatively rotatably placed in the movable connection cavity 302, so that the front section 3 can rotate relative to the middle section 4 around the central axis of the movable joint pivot 103.

[0095] like Figure 14-15 As shown, the front section 3 and the middle section 4 are respectively provided with a head moving connection 301 and a head fixed connection 401 at their opposite ends. Symmetrically formed on both sides between the head moving connection 301 and the head fixed connection 401 are head swing avoidance spaces 300 for the front section 3 to swing horizontally relative to the middle section 4. Preferably, the swing angle on one side is 45°. Each head swing avoidance space 300 is elastically deformably embedded with a head joint filler 303. The head joint filler 303 is configured to always elastically deformably fill the head swing avoidance space 300. The head joint filler 303 is made of silicone with a corrugated structure. Therefore, no matter how the front section 3 swings relative to the middle section 4, the head joint filler 303 can perform gap compensation and deform accordingly to achieve real-time sealing and reset assistance, and improve the reset response time.

[0096] like Figure 10 As shown, both the moving head connection 301 and the fixed head connection 401 protrude outwards in a V-shape or U-shape. In this application, both the moving head connection 301 and the fixed head connection 401 protrude outwards in a V-shape, and the head swing avoidance space 300 is set in a V-shape. The included angle of the head swing avoidance space 300 is α, 30°≤α≤60°. In this application, α is preferably 45°, which further improves the turning angle of the bionic fish compared with the conventional structure. The head joint filler 303 is a wedge-shaped block structure. The head joint filler adopts... Made of elastic silicone with a corrugated structure, it is tightly sealed to the front section 3, the middle section 4 and the skin layer 8, forming a multi-seal structure. This further isolates the magnetic drive joint from the outside, preventing the magnetic drive joint from getting wet. It not only has the characteristics of multiple seals, but also allows the front section 3 to swing in an S-shape relative to the middle section 4 by setting an elastically deformable head joint filler in the head swing avoidance space. The response is more sensitive, so as to achieve better fish attraction and control of the bionic fish swimming.

[0097] like Figure 15 , 16As shown, the moving connection cavity 302 and the fixed connection cavity 402 are respectively provided with a front input fixed port 307 and a middle output fixed port 403. The middle output fixed port 403 is electrically connected to the control unit 7. The fixed joint housing 203 is provided with a joint input terminal 204 on the outside, and the moving joint housing 101 is provided with a joint output terminal 107 on the outside. The joint input terminal 204 and the joint output terminal 107 are respectively sealed and fixed to the middle output fixed port 403 and the front input fixed port 307, and simultaneously realize electrical connection and torque transmission.

[0098] like Figure 14-17 As shown, a front connecting seat 404 is fixedly connected to the front of the middle section 4. A head-fixed connecting part 401 is disposed on the front connecting seat 404. A dorsal fin 405 is provided on the top of the front connecting seat 404 or on the top of the middle section 4 near the front section 3. The dorsal fin 405 is provided with any one or more combinations of a rear camera module 406, a water quality sensor 407, and an antenna module 408. The rear camera module 406 can be used to photograph a school of fish following the tail of the bionic fish. At the same time, the water quality sensor can detect the pH value, oxygen content, and other items of the current water quality. The antenna module is used to receive signals or send corresponding data information. The dorsal fin 405 is detachably connected to the top of the front connecting seat 404. The top of the front connecting seat 404 is provided with a dorsal fin terminal interface 409 electrically connected to the control unit 7. The base of the dorsal fin 405 is provided with a dorsal fin insertion terminal 410 that is sealed and electrically connected to the dorsal fin terminal interface 409. By taking full advantage of the fact that the dorsal fin is stationary relative to the middle section, one or more of the following components are installed: a rear-mounted camera module, an antenna module, and a water quality sensor. This allows the bionic fish to minimize interference or disruption when performing its functions.

[0099] like Figure 14 , 15 As shown in Figures 16 and 18, pectoral fins 411 are symmetrically arranged on both sides of the front of the mid-section 4, which can swing relative to the mid-section 4 to generate an upward or downward tilt angle. A pectoral fin servo motor 412, electrically connected to the control unit 7, is installed inside the mid-section 4 to drive the pectoral fins 411 to swing. The pectoral fin servo motor 412 can be a Korean Hitec brand, model HITEC D845WP. A servo motor mounting hole 413 is provided on the side of the mid-section 4 to accommodate and fix the pectoral fin servo motor 412. A servo motor cover 414 is connected to the servo motor mounting hole 413. A pectoral fin connecting ear 415 is rotatably connected to the servo motor cover 414. The output end of the pectoral fin servo motor 412 is connected to the pectoral fin connecting ear 415 for transmission. The pectoral fins 411 and pectoral fin connecting ears 415 are detachably connected via a slot 416 and a rail 417. By incorporating a pectoral fin that can rotate, the biomimetic fish can switch between rising and falling angles accordingly. Furthermore, the pectoral fin is detachably connected via slots and rails, allowing it to be replaced as needed and facilitating assembly.

[0100] like Figure 7 , 9 As shown, the front section 3 is equipped with a head function component 304 electrically connected to the control unit 7. The head function component 304 includes one or more of an image transmission camera unit 305 and a sonar detection unit 306. Accordingly, the image transmission camera unit 305 is located at the fisheye position on the front side of the front section 3. The image transmission camera unit 305 can be a binocular vision system with the supplier Luxonis and the model OAK-D Pro. The sonar detection unit 306 is located on the bottom side of the front section 3, and the bottom side of the front section 3 is provided with a 120° fan-shaped acoustic window. The sonar detection unit 306 uses a sonar array with the supplier TE Connectivity and the model MS5803-16BA.

Claims

1. A biomimetic fish capable of releasing bait, characterized in that... include: The fore section (3) is used as the fish head; The middle section (4) serves as the fish body. A head joint (100) is provided between the front section (3) and the middle section (4) so ​​that the front section (3) can swing left and right relative to the middle section (4). The middle section (4) is equipped with a power battery unit (6) and a control unit (7). The control unit (7) is electrically connected to the power battery unit (6). The tail section (5) is used as a fish tail. The tail section (5) is connected to the rear end of the middle section (4), and the tail section (5) can swing left and right relative to the middle section (4) independently of the front section (3). Fish-attracting device (9), which is detachably connected to the middle section (4) and communicatively connected to the control unit (7), which can control the fish-attracting device (9) to release bait to attract fish.

2. The biomimetic fish capable of releasing bait according to claim 1, characterized in that... The fish-attracting device (9) includes a lure filling shell (901) and a bait control seat (902). One end of the bait control seat (902) is detachably connected to the lure filling shell (901). The tail end of the lure filling shell (901) is provided with a bait release port (903). The other end of the bait control seat (902) is connected to a traction cable (904). The front end of the traction cable (904) is provided with a moving connector (905). The middle section (4) is provided with a fixed connector (906). The moving connector (905) is unidirectionally and detachably connected to the fixed connector (906). The direction in which the moving connector (905) is detached from the fixed connector (906) is configured to be parallel to the direction of movement of the biomimetic fish.

3. The biomimetic fish capable of releasing bait according to claim 2, characterized in that... Between the fixed connector (906) and the movable connector (905), there is a fish-attracting connecting slide rail (907) and a fish-attracting connecting groove (908) arranged parallel to the central axis of the bionic fish. The fish-attracting connecting groove (908) is provided with a limiting blocking part (909) for restricting the fish-attracting connecting slide rail (907) from disengaging from the fish-attracting connecting groove (908) in the opposite direction of the bionic fish's swimming movement.

4. The biomimetic fish capable of releasing bait according to claim 3, characterized in that... The fish-attracting connecting groove (908) is elastically provided with a barb (910) for maintaining the connection between the moving connector (905) and the fixed connector (906) when the fish-attracting connecting rail (907) is inserted into the fish-attracting connecting groove (908).

5. A biomimetic fish capable of releasing bait according to any one of claims 2-4, characterized in that... The moving connector (905) and the fixed connector (906) are magnetic connectors that can attract each other.

6. The biomimetic fish capable of releasing bait according to claim 5, characterized in that... The fixed connector (906) is provided with a decoy signal wireless transmitter that is electrically connected to the control unit (7) for transmitting a decoy release signal. The moving connector (905) is provided with a decoy signal receiver for receiving the decoy release signal. The decoy signal receiver is electrically connected to the decoy control base (902). The decoy signal wireless transmitter and the decoy signal receiver communicate via NFMI (Near Field Communication).

7. The biomimetic fish capable of releasing bait according to claim 2, characterized in that... The bait control seat (902) is provided with a bait control connector (911) at one end near the lure filling housing (901). The lure filling housing (901) is fixedly connected to a bait drive motor (912). The rotor of the bait drive motor (912) is connected to a bait drive screw (913) that extends into the lure filling housing (901). The lure filling housing (901) is slidably provided with a bait push piston (914) connected to the corresponding end of the bait drive screw (913). The bait control seat (902) is provided with a screw avoidance cavity (915) for the extension and retraction of the bait drive screw (913). The bait release port (903) is provided with a piezoelectric valve (915).

8. The biomimetic fish capable of releasing bait according to claim 2, characterized in that... The outer peripheral surface of the bait control seat (902) is provided with guide fins (916) evenly spaced along the circumference, and at least one vertically arranged guide fin (916) and two symmetrically arranged guide fins (916) are provided; anti-rotation counterweights are built into the two symmetrically arranged guide fins (916), and / or the tail of the lure filling shell (901) is connected to a tail cone counterweight (917), so that the bait release port (903) is prevented from tilting up when the fish attracting device (9) is being pulled forward.

9. A biomimetic fish capable of releasing bait according to claim 2, characterized in that... The feature is One of the fixed connectors (906) is located on the bottom rear of the middle section (4), or two fixed connectors (906) are symmetrically located on both sides of the rear of the middle section (4); the rear sides of the middle section (4) are provided with anal fins (420) fixedly, and the two fixed connectors (906) are symmetrically located on the underside of the anal fins (420).

10. The biomimetic fish capable of releasing bait according to claim 7, characterized in that... The bait filling shell (901) is arranged in layers, one layer is filled with slow-release gel as an auxiliary material, and the other layer is filled with concentrated fish attractant. The bait push piston (914) can simultaneously squeeze the slow-release gel and concentrated fish attractant to the bait release port (903) for mixing and release.

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