Bionic machine sturgeon

Abstract

The present disclosure provides a kind of bionic machine sturgeon, comprising: head (1), abdomen (2) and tail (3) connected in sequence;Front end in head (1) is provided with suction and drainage assembly (11), and suction and drainage assembly (11) is used to realize the buoyancy adjustment of bionic machine sturgeon;Abdomen (2) is provided with chest fin rotating module (21), pheromone release system (22), battery (23) and gravity center adjusting mechanism (24), wherein pheromone release system (22) is used to release chemical stimulant in direction;Tail (3) is installed with line drive bionic propulsion module (31), and line drive bionic propulsion module (31) includes waist tail joint drive motor (311) and multiple joint assemblies (312), waist tail joint drive motor (311) is used to drive joint assembly (312) swing, realizes the propulsion of bionic machine sturgeon tail (3).

Description

Technical Field

[0001] This disclosure relates to the fields of underwater robots and smart aquaculture technology, and in particular to a biomimetic robotic sturgeon. Background Technology

[0002] Currently, aquaculture has a large production scale, but it suffers from low farming efficiency, serious feed waste, and a high proportion of feed costs in total costs, resulting in low profit margins. Furthermore, uneaten feed accumulating at the bottom of ponds easily leads to water quality deterioration and eutrophication. Therefore, improving feed conversion rates and reducing farming costs and non-point source pollution are of significant importance for boosting the economy and promoting social development.

[0003] Existing measures to improve feed utilization mainly focus on precision feeding and engineering optimization of feed formulations. Among these, computer vision-based precision feeding research for fish has achieved good results in factory-scale recirculating aquaculture systems and deep-sea enclosure aquaculture. However, in most aquaculture environments, water turbidity significantly reduces underwater visual information, making it difficult to achieve precise feeding of mid- and bottom-feeding fish. Furthermore, engineering optimization of feed formulations can only improve feed properties and cannot fundamentally change problems such as feed sedimentation and decomposition product accumulation caused by benthic feeding habits; thus, feed waste and eutrophication problems persist.

[0004] Therefore, it is urgent to explore and reveal the formation mechanism and regulation law of fish feeding layer selection behavior from the perspective of fish behavior plasticity, so as to provide a scientific basis for understanding fish feeding behavior, improving feed utilization efficiency, and developing new biomimetic induction equipment. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above problems, this disclosure provides a multimodal biomimetic robotic sturgeon for aquaculture, using the Russian sturgeon as the biomimetic model. It aims to induce benthic sturgeon to change its feeding water layer through multimodal synergy, thereby at least solving the technical problems of low feed conversion rate, serious feed waste and eutrophication caused by benthic feeding habits in the prior art.

[0007] (II) Technical Solution

[0008] This disclosure provides a biomimetic robotic sturgeon, comprising: a head, an abdomen, and a tail connected in sequence; a water intake and drainage assembly is provided at the front end of the head, which is used to adjust the buoyancy of the biomimetic robotic sturgeon; a pectoral fin rotation module, a pheromone release system, a battery, and a center of gravity adjustment mechanism are provided in the abdomen, wherein the pheromone release system is used to release chemical stimuli in a directional manner; a wire-driven biomimetic propulsion module is installed at the tail, which includes a waist-tail joint drive motor and multiple joint components, the waist-tail joint drive motor being used to drive the joint components to swing, thereby achieving propulsion of the tail of the biomimetic robotic sturgeon.

[0009] According to an embodiment of this disclosure, the suction and drainage assembly includes: a water storage tank, a suction and drainage conduit, a first piston assembly, a first lead screw drive transmission mechanism, and a first motor; wherein, the first motor drives the first lead screw drive transmission mechanism to rotate and the first piston assembly to move, so that the water storage tank can suck or drain water through the suction and drainage conduit.

[0010] According to an embodiment of this disclosure, a pheromone release system includes: a liquid storage chamber, a release conduit, a second lead screw drive transmission mechanism, a second piston assembly, and a second motor; wherein the second motor drives the second lead screw drive transmission mechanism to rotate and the second piston assembly to move, so that the chemical irritant in the liquid storage chamber is discharged through the release conduit.

[0011] According to an embodiment of this disclosure, the center of gravity adjustment mechanism includes: a support frame, a third motor, a drive gear, an internal gear disk, and a counterweight; wherein, the third motor is fixed to one side of the support frame and is used to drive the drive gear to rotate, thereby causing the internal gear disk and the counterweight to rotate, so as to change the center of gravity of the biomimetic robotic sturgeon; the drive gear is mounted on the output shaft of the third motor; the internal gear disk is mounted on the central shaft of the support frame, and its inner ring tooth groove meshes with the drive gear; the counterweight is fixedly mounted on the outer edge of the internal gear disk.

[0012] According to embodiments of this disclosure, the joint assembly includes: a fixing frame, a flange, a motor output shaft, a spine, a drive cable, and a bionic tail fin; wherein, the lumbar and tail joint drive motor drives the flange to rotate through the motor output shaft, and when the flange rotates, it pulls the drive cable, which drives the spine to move left and right, causing multiple joint components to bend and deform, so as to realize the propulsion and turning of the bionic robotic sturgeon.

[0013] According to an embodiment of this disclosure, the spine includes: a support rod, and a plurality of universal joints and a plurality of tail knots arranged alternately and connected; wherein the first of the plurality of universal joints is connected to a fixed frame to form a continuous flexible spine structure; the support rod extends along the body axis of the biomimetic robotic sturgeon and passes through the plurality of universal joints and the plurality of tail knots in sequence to provide axial stiffness and elastic restoring force.

[0014] According to an embodiment of this disclosure, the pectoral fin rotation module includes: a pectoral fin mounting bracket, a servo motor, a servo disk, a coupling, and a bionic pectoral fin; wherein, the pectoral fin mounting bracket is fixed to the front end of the abdomen; the servo motor is fixed on the pectoral fin mounting bracket, and its output end is connected to the servo disk and the coupling in sequence, and the coupling is connected to the bionic pectoral fin in a through-hole form to drive the bionic pectoral fin to rotate.

[0015] According to embodiments of this disclosure, a pectoral fin rotation module is located behind the water intake and drainage assembly and is used to provide pitch and yaw torques; a pheromone release system is located below the pectoral fin rotation module; a battery is located behind the pheromone release system and is used to power the bionic robotic sturgeon; a center of gravity adjustment mechanism is located behind the battery and is used to adjust the center of gravity of the bionic robotic sturgeon to achieve attitude control during attitude reversal.

[0016] According to embodiments of this disclosure, the straight-swimming motion of the biomimetic robotic sturgeon includes a biomimetic straight-swimming mode and a belly-up straight-swimming mode. In the biomimetic straight-swimming mode, the counterweight of the center of gravity adjustment mechanism is located at the initial position at the bottom of the biomimetic robotic sturgeon, the pectoral fin rotation module maintains a horizontal angle, and the line-driven biomimetic propulsion module drives the tail to swing. In the belly-up straight-swimming mode, the center of gravity adjustment mechanism drives the counterweight to rotate to the top of the biomimetic robotic sturgeon so that the biomimetic robotic sturgeon completes the belly-up posture reversal. During the reversal, the pectoral fin rotation module adjusts to the back swimming balance angle and maintains it. At the same time, the line-driven biomimetic propulsion module drives the tail to generate a regular sine signal, thereby realizing the belly-up straight-swimming mode while reversing.

[0017] According to embodiments of this disclosure, the steering motion of the biomimetic robotic sturgeon includes a constant-depth steering mode and an ascent / descent steering mode. In the constant-depth steering mode, the counterweight of the center of gravity adjustment mechanism rotates slightly according to the turning direction, and the two servos of the pectoral fin rotation module differentially deflect the left and right pectoral fins according to the turning radius requirement to reduce the turning radius. The waist-tail joint drive motor of the linear drive biomimetic propulsion module drives the tail to generate asymmetrical oscillation to provide steering thrust, thereby achieving constant-depth steering motion. In the ascent / descent steering mode, the suction and drainage assembly changes the buoyancy of the biomimetic robotic sturgeon by suction or drainage. The pectoral fin rotation module provides pitch torque and roll balance torque through differential deflection of the two biomimetic pectoral fins. The counterweight of the center of gravity adjustment mechanism rotates slightly left and right according to the turning direction, and the linear drive biomimetic propulsion module provides yaw steering thrust, thereby achieving compound steering motion in three-dimensional space.

[0018] (III) Beneficial Effects

[0019] The biomimetic robotic sturgeon disclosed herein has at least the following technical effects:

[0020] 1. The biomimetic robotic sturgeon provided in this embodiment of the invention uses the Russian sturgeon as the biomimetic object. It achieves comprehensive biomimicry of the target fish species in terms of appearance, movement mode and behavioral characteristics. It can induce sturgeon groups to change their feeding water layer selection behavior in aquaculture water, thereby improving feed utilization and reducing aquaculture costs and non-point source pollution.

[0021] 2. It integrates a pheromone release system, which can release chemical stimuli in a targeted manner during the movement induction process. It makes full use of the highly developed biological characteristics of the sturgeon's olfactory system, enhances the induction effect on the sturgeon's feeding behavior, and makes up for the shortcomings of simple visual biomimicry in turbid water.

[0022] 3. Through the coordinated design of the line-driven bionic propulsion module, the center of gravity adjustment mechanism, the water intake and drainage assembly and the pectoral fin rotation module, the decoupled adjustment of propulsion, attitude and buoyancy is realized, which can perform complex movements such as attitude reversal, and simulate the characteristic behavior of Russian sturgeon juveniles flipping over to feed on the surface of the water with their belly facing up.

[0023] 4. When the bionic robotic sturgeon provided in this embodiment turns, the line-driven bionic propulsion module moves while the counterweight in the center of gravity adjustment mechanism moves in the deflection direction, and the pectoral fin rotation module performs differential deflection according to the turning direction, thereby greatly shortening the turning radius and improving the maneuverability of the bionic robotic sturgeon. Attached Figure Description

[0024] To gain a more complete understanding of this disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, wherein:

[0025] Figure 1 The schematic diagram illustrates the structure of the biomimetic robotic sturgeon provided in the embodiments of this disclosure;

[0026] Figure 2 This schematic diagram illustrates the structural schematic of the water intake and drainage assembly of the biomimetic robotic sturgeon provided in an embodiment of the present disclosure;

[0027] Figure 3 This schematic diagram illustrates the structure of the pectoral fin rotation module of the biomimetic robotic sturgeon provided in an embodiment of the present disclosure;

[0028] Figure 4 The schematic diagram illustrates the structure of the pheromone release system provided in an embodiment of this disclosure;

[0029] Figure 5 This schematic diagram illustrates the battery structure of the biomimetic robotic sturgeon provided in an embodiment of the present disclosure.

[0030] Figure 6 The schematic diagram illustrates the structure of the center of gravity adjustment mechanism provided in the embodiments of this disclosure;

[0031] Figure 7 The schematic diagram illustrates the structure of the waist-tail joint drive motor and joint assembly provided in the embodiments of this disclosure;

[0032] Figure 8 A schematic diagram of the spinal structure of the biomimetic robotic sturgeon provided in an embodiment of this disclosure is shown.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1-Head;

[0035] 11-Suction and drainage assembly;

[0036] 111 - Water storage tank;

[0037] 112 - Suction and drainage pipe;

[0038] 113 - First piston assembly;

[0039] 114 - First lead screw drive transmission mechanism;

[0040] 115 - First Motor;

[0041] 2-Abdomen;

[0042] 21-Pectoral fin rotation module;

[0043] 211-Pectoral fin fixation bracket;

[0044] 212-Servo;

[0045] 213 - Steerable;

[0046] 214 - Coupling;

[0047] 215 - Bionic pectoral fin;

[0048] 22-Pheromone Release System;

[0049] 221 - Liquid storage tank;

[0050] 222 - Release catheter;

[0051] 223 - Second lead screw drive transmission mechanism;

[0052] 224 - Second piston assembly;

[0053] 225 - Second motor;

[0054] 23-battery;

[0055] 24 - Center of gravity adjustment mechanism;

[0056] 241-Support and fixing bracket;

[0057] 242 - Third motor;

[0058] 243 - Drive gear;

[0059] 244 - Internal gear disk;

[0060] 245 - Counterweight;

[0061] 3-Tail;

[0062] 31-Line-driven bionic propulsion module;

[0063] 311-Coccygeal joint drive motor;

[0064] 312 - Joint assembly;

[0065] 3121 - Fixture;

[0066] 3122 - Flange;

[0067] 3123 - Motor output shaft;

[0068] 3124 - Spine;

[0069] 31241 - Support rod;

[0070] 31242 - Universal Joint;

[0071] 31243 - Tail knot;

[0072] 3125 - Drive cable;

[0073] 3126 - Bionic tail fin. Detailed Implementation

[0074] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0075] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0076] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0077] Figure 1 The schematic diagram illustrates the structure of the biomimetic robotic sturgeon provided in the embodiments of this disclosure.

[0078] like Figure 1 As shown, the biomimetic robotic sturgeon provided in this embodiment includes a head 1, an abdomen 2, and a tail 3 connected in sequence.

[0079] For example, the multimodal biomimetic robotic sturgeon for aquaculture provided in this embodiment of the present disclosure has an overall shape designed with reference to the natural body shape of the Russian sturgeon, with a total length of approximately 45 cm. This size was determined through biological research and is comparable to the body length of Russian sturgeon individuals in the mid-stage of aquaculture, which is conducive to generating a strong social group following effect in the fish school. The whole machine includes a head 1, an abdomen 2, and a tail 3. The head 1 has the sharp snout profile characteristic of the Russian sturgeon, the cross-section of the middle section of the body is elliptical and gradually narrows towards the tail 3, and the tail 3 is equipped with a biomimetic tail fin. This biomimetic shape not only increases the visual acceptance of the target fish school, but also helps to reduce water resistance when moving forward.

[0080] The front end of the head 1 is provided with a suction and drainage assembly 11, which is used to realize the buoyancy adjustment of the bionic robotic sturgeon.

[0081] Figure 2 The schematic diagram illustrates the structural structure of the suction and drainage assembly of the biomimetic robotic sturgeon provided in the embodiments of this disclosure.

[0082] like Figure 2 As shown, the suction and drainage assembly 11 includes: a water storage tank 111, a suction and drainage conduit 112, a first piston assembly 113, a first lead screw drive transmission mechanism 114, and a first motor 115. All components in the suction and drainage assembly 11, except for the motor 115, are symmetrically installed relative to the mid-longitudinal section of the novel biomimetic robotic sturgeon. The main body of this assembly is a lead screw drive motor (i.e., the first motor 115), installed at the upper part of the head cavity 1. Below the motor, the water storage tank 111 and the first piston assembly 113 are connected via the first lead screw drive transmission mechanism 114. The water storage tank 111 is symmetrically arranged relative to the mid-longitudinal section of the body, and its front end is connected to the inlet and outlet on the bottom side of the head via a pipe. Figure 2 It can be observed that the pipes for the inlet and outlet extend downwards from the water storage tank 111 to the bottom surface of the head shell, and are exposed on the outer surface of the machine body in the form of metal joints.

[0083] Specifically, the suction and drainage pipe 112 is fixed at the front end of the head 1, the water storage tank 111 is connected to the suction and drainage pipe 112, the first lead screw drive transmission mechanism 114 is connected to the water storage tank 111, the first piston assembly 113 is connected to the first lead screw drive transmission mechanism 114, and the motor 115 is located above the first lead screw drive transmission mechanism 114.

[0084] The first motor 115 drives the first lead screw drive transmission mechanism 114 to rotate and the first piston assembly 113 to move, so that the water storage tank 111 can absorb or drain water through the suction and drainage pipe 112, thereby changing the overall weight of the bionic robotic sturgeon and achieving rapid control of buoyancy.

[0085] In practical operation, the first motor 115 rotates, driving the first lead screw to drive the transmission mechanism 114, converting the rotational motion into the linear reciprocating motion of the piston. When the piston retracts, a negative pressure is formed inside the water storage tank 111, and external water is drawn into the tank through the bottom drain outlet, increasing the total weight of the machine and correspondingly reducing the net buoyancy, causing the machine to slowly sink. Conversely, when the piston pushes forward, the water in the tank is discharged from the drain outlet, reducing the total weight and increasing the net buoyancy, allowing the machine to float.

[0086] It should be noted that the suction and drainage assembly 11 is located at the front end of the head 1 because the head 1 has a large cavity volume, which facilitates the placement of the water storage tank 111 and related components. At the same time, this allows the mass shift caused by changes in water volume to occur at the front end of the body, forming a front-rear coordinated weight distribution with the center of gravity adjustment mechanism 24 in the rear section of the abdomen. That is, the buoyancy adjustment device arranged at the front can work in conjunction with the center of gravity adjustment mechanism 24 in the abdomen 2 to achieve dynamic adjustment of the front-rear weight distribution. This is beneficial for maintaining the pitch balance and natural and stable posture of the biomimetic robotic sturgeon during surfacing and diving, thereby achieving more natural biomimetic movement.

[0087] The abdomen 2 is a hollow cavity, inside which are installed a pectoral fin rotation module 21, a pheromone release system 22, a battery 23, and a center of gravity adjustment mechanism 24.

[0088] Specifically, the pectoral fin rotation module 21 is located behind the water intake and drainage assembly 11 and is used to provide pitch and yaw torques; the pheromone release system 22 is located below the pectoral fin rotation module 21 and is used to release liquid chemical stimuli in a directional manner during the biomimetic motion induction process to enhance the induction effect on the feeding behavior of Russian sturgeon; the battery 23 is located behind the pheromone release system 22 and is used to power the various functional modules of the biomimetic robotic sturgeon; the center of gravity adjustment mechanism 24 is located behind the battery 23 and is used to adjust the center of gravity of the biomimetic robotic sturgeon to achieve attitude control during the attitude reversal process.

[0089] Figure 3 The schematic diagram illustrates the structure of the pectoral fin rotation module of the biomimetic robotic sturgeon provided in the embodiments of this disclosure.

[0090] like Figure 3 As shown, the pectoral fin rotation module 21 includes: a pectoral fin mounting bracket 211, two servo motors 212, two servo discs 213, two couplings 214, and two bionic pectoral fins 215. The pectoral fin mounting bracket 211, the two servo motors 212, the two servo discs 213, the two couplings 214, and the two bionic pectoral fins 215 are all symmetrically mounted relative to the mid-longitudinal section of the novel bionic robotic sturgeon.

[0091] Specifically, the pectoral fin holder 211 is fixed to the front end of the abdomen 2; the servo motor 212 is fixed to the pectoral fin holder 211, and its output end is connected in sequence to the rudder disk 213 and the coupling 214. That is, the output end of the servo motor 212 is connected to the rudder disk 213, and the rudder disk 213 transmits power through the coupling 214. The coupling 214 is connected to the bionic pectoral fin 215 through a through-hub to drive the bionic pectoral fin 215 to rotate. Specifically, the servo motor 212 drives the rudder disk 213 to deflect, and through the coupling 214 through the through-hub, it transmits power to the bionic pectoral fin 215 to rotate synchronously, thereby realizing the ascent, descent, and deflection movements of the new bionic robotic sturgeon.

[0092] In some exemplary embodiments, each side of the fuselage has a biomimetic pectoral fin 215, designed with reference to the natural shape of the pectoral fins of a Russian sturgeon. The internal drive path of each pectoral fin is as follows: a servo motor 212 is fixed to the inner wall of the biomimetic robotic sturgeon frame, and its output end is connected to a coupling 214 via a servo disc 213. The output shaft extends outward in a through-cabin manner and is fixedly connected to the biomimetic pectoral fin. When the control system sends a unidirectional deflection command to the servo motors 212 on both sides, the two pectoral fins deflect synchronously upward or downward, generating a pitching torque to assist in the lifting and lowering of the fuselage; when a differential command is sent, the two pectoral fins deflect unequally, generating a rolling torque to reduce the turning radius and assist in lateral attitude balance during turning.

[0093] Figure 4 A schematic diagram of the structure of the pheromone release system provided in an embodiment of the present disclosure is shown.

[0094] like Figure 4 As shown, the pheromone release system 22 may include: a liquid storage chamber 221, two release conduits 222, a second lead screw drive mechanism 223, a second piston assembly 224, and a second motor 225. All components of the pheromone release system 22, except for the second motor 225, are symmetrically mounted relative to the mid-longitudinal section of the novel biomimetic robotic sturgeon. The core components of the pheromone release system 22 include the liquid storage chamber 221 and the corresponding piston assembly, which are connected to an independent lead screw drive mechanism at the rear. Two release conduits extend downwards from the bottom of the system to the lower surface of the abdominal shell 2.

[0095] Specifically, the release conduit 222 is fixed below the abdomen 2 of the body, the liquid storage tank 221 is connected to the release conduit 222, the second lead screw drive transmission mechanism 223 is connected to the liquid storage tank 221, the second piston assembly 224 is connected to the second lead screw drive transmission mechanism 223, and the second motor 225 is located behind the second lead screw drive transmission mechanism 223.

[0096] The second motor 225 drives the second lead screw drive transmission mechanism 223 to rotate and the second piston assembly 224 to move, so that the chemical irritants in the liquid storage tank 221 are accurately discharged through the release conduit 222, releasing chemical signals in the water.

[0097] During operation, the rear lead screw motor (i.e., the second motor 225) drives the piston forward at a constant low speed, discharging the pre-filled liquid chemical inducer (such as an amino acid solution) from the storage tank 221 into the water in a small, uniform, and continuous manner through two bottom release tubes 222. The reason for choosing to release from the lower abdomen is that Russian sturgeon are bottom-dwelling fish with highly sensitive chemoreceptors on the ventral surface of their snout. The pheromones released from below naturally diffuse towards the bottom under the influence of gravity and water flow, which is highly consistent with the behavior of the target fish group to sense food close to the bottom, and can form an effective concentration gradient field in a short time.

[0098] Understandably, the pheromone release system 22 is located on the abdomen 2 of the body and employs a screw-piston structure because Russian sturgeon have relatively limited visual abilities but a highly developed olfactory system. Directional release of pheromones from the lower side of the abdomen 2 allows for a more rapid formation of a chemical signal concentration gradient in the water column. Simultaneously, the volumetric injection design using a motor-driven screw effectively overcomes underwater hydrostatic pressure, achieving a micro-volume, uniform, and continuous release of liquid pheromones. This maximizes the compensation for the target fish's limited visual recognition ability and significantly enhances the induction of their feeding behavior.

[0099] Figure 5 The schematic diagram illustrates the battery structure of the biomimetic robotic sturgeon provided in an embodiment of this disclosure.

[0100] like Figure 5 As shown, battery 23 is a lithium polymer battery pack, installed in the middle of the abdomen 2. The design intention of placing battery 23 in the middle of the abdomen is that the lithium polymer battery pack has a large mass. Placing it in a position lower than the overall center of gravity of the biomimetic robotic sturgeon can lower the overall center of gravity height, which helps to improve lateral stability and anti-rolling ability when moving in water, while providing a basic counterweight reference point for the center of gravity adjustment mechanism 24.

[0101] Specifically, the main space in the middle section of the abdomen 2 is occupied by a group of closely arranged cylindrical battery cells, which is the battery 23. In this embodiment, the battery 23 is a battery pack composed of multiple lithium polymer cells connected in series, encapsulated in a waterproof battery box and installed in the lower middle part of the abdomen. As can be seen from the figure, the battery pack is arranged horizontally along the longitudinal axis of the body. Placing this largest single component in the lower middle part of the body allows it to act as a natural ballast, thus lowering the overall center of gravity of the machine and significantly enhancing its lateral anti-tipping stability during normal movement. It also provides a stable reference point for the rear center of gravity adjustment mechanism 24. The battery 23 provides unified power to all electrical modules of the machine (including each lead screw motor, servo motor, drive motor, and control system).

[0102] Figure 6 The schematic diagram illustrates the structure of the center of gravity adjustment mechanism provided in the embodiments of this disclosure.

[0103] like Figure 6 As shown, immediately following battery 23 is a composite mechanism, namely the center of gravity adjustment mechanism 24, consisting of a small motor, an internal gear disk, a drive gear, and an eccentric counterweight. This mechanism may include: a support frame 241, a third motor 242, a drive gear 243, an internal gear disk 244, and a counterweight 245. Except for the offset third motor 242 and the counterweight 245, the central axis of the main support of the center of gravity adjustment mechanism 24 is symmetrically mounted relative to the mid-longitudinal section of the novel biomimetic robotic sturgeon. Figure 6 The core transmission structure is clearly shown: the internal gear disk 244 is mounted on the central rotating shaft of the support frame 241; the small third motor 242 is fixed on one side of the support frame 241, and the small module drive gear 243 on the motor output shaft meshes with the inner ring tooth groove of the internal gear disk 244; the counterweight is fixed on one side of the outer edge of the internal gear disk.

[0104] Specifically, the support frame 241 is fixed to the middle section of the bionic sturgeon body; the third motor 242 is fixed to one side of the support frame 241; the drive gear 243 is mounted on the output shaft of the third motor 242; the internal gear disk 244 is mounted on the central shaft of the support frame 241, and its inner ring tooth groove meshes with the drive gear 243; the counterweight 245 is fixedly mounted on the outer edge of the internal gear disk 244.

[0105] The third motor 242 drives the drive gear 243 to rotate, which in turn drives the internal gear disk 244 and the counterweight 245 to rotate, thereby changing the center of gravity of the bionic robotic sturgeon. Specifically, the motor 242 drives the drive gear 243 to rotate, which in turn drives the internal gear disk 244 and the counterweight 245 to rotate around the central axis, thereby changing the position of the eccentric mass and achieving precise control over the overall center of gravity of the bionic robotic sturgeon.

[0106] In actual operation, the third motor 242 drives the drive gear 243 to rotate, which in turn drives the entire internal gear disk 244 to slowly rotate around the central axis through internal meshing. The counterweight block 245, fixed to the edge of the disk, moves in a circular motion, thereby continuously changing the eccentric mass distribution of the entire machine. In the initial state, the counterweight block 245 is located at the lowest point of the machine body. The eccentric mass and the counterweight effect of the battery 23 are superimposed, and the machine body maintains a stable upright posture with its back facing upwards. When the control system issues a posture flipping command, the third motor 242 drives the counterweight block 245 to rotate 180° from the bottom to the top of the machine body. The gradually increasing and changing eccentric torque forces the machine body to continuously flip around the longitudinal axis, eventually stabilizing in an inverted posture with its belly facing upwards—this is the typical posture of the Russian sturgeon when foraging at the surface of the water. The planetary reduction scheme of "small gear driving large internal gear ring" not only provides sufficient transmission torque so that a small power motor can drive the counterweight to overcome underwater resistance and complete the flip, but also has an extremely compact internal meshing structure with very little radial space occupied, making it very suitable for placement inside a cylindrical hull with a limited diameter.

[0107] Understandably, the center of gravity adjustment mechanism 24 is located in the middle section (abdomen) of the body because this position is close to the initial physical center of gravity of the robotic fish, resulting in the greatest and most efficient roll torque when adjusting the eccentric mass. The design of "small gear driving a large internal gear ring" not only provides a large reduction ratio and transmission torque but also significantly saves radial space within the cabin. Simultaneously, through the dynamic adjustment of the counterweight position by this mechanism, the robotic fish can smoothly achieve a 180-degree body reversal, perfectly replicating the unique "belly-up" feeding posture of the Russian sturgeon at the water's surface.

[0108] The tail section 3 is equipped with a wire-driven bionic propulsion module 31, which includes a waist-tail joint drive motor 311 and multiple joint components 312. Its skeleton structure is formed by multiple joint components 312 arranged in series along the longitudinal axis.

[0109] Behind the center of gravity adjustment mechanism 24, at the tail 3 of the bionic robotic sturgeon, is installed a waist-tail joint drive motor 311.

[0110] The waist-tail joint drive motor 311 is located behind the battery 23 and is used to drive the joint assembly 312 of the tail 3 to swing, simulating the continuous propulsion and maneuverability generated by the swing of the sturgeon's tail, so as to realize the propulsion of the bionic robotic sturgeon tail 3.

[0111] Figure 7 The schematic diagram illustrates the structure of the waist-tail joint drive motor and joint assembly provided in the embodiments of this disclosure.

[0112] like Figure 7As shown, the rear end of the waist-to-tail joint drive motor 311 is connected to the joint assembly 312. The joint assembly 312 may include: two fixing brackets 3121, a flange 3122, a motor output shaft 3123, a spine 3124, a drive cable 3125, and a bionic tail fin 3126. The two fixing brackets 3121 behind the flange 3122 serve as guides and supports, and the motor output shaft transmits rotational motion to the drive cable 3125 through the flange 3122. Figure 7 In the middle, the drive cable 3125 is led out from the flange 3122 and passes through the two fixing brackets 3121, extending backward along the inner cavity of the spine 3124 until the root of the caudal fin.

[0113] Specifically, two fixing brackets 3121 are fixed behind the abdomen 2; the waist-tail joint drive motor 311 is connected to the flange 3122 through the motor output shaft 3123; the motor output shaft 3123 extends to and is connected to the fixing bracket 3121; one end of the spine 3124 is connected to the other fixing bracket 3121, and the other end is inserted into the bionic tail fin 3126; one end of the drive cable 3125 is connected to the flange 3122, then passes through the two fixing brackets 3121, and is installed in the spine 3124.

[0114] The waist and tail joint drive motor 311 drives the flange 3122 to rotate through the motor output shaft 3123. When the flange 3122 rotates, it pulls the drive cable 3125. The drive cable 3125 drives the spine 3124 to move left and right, thereby forcing multiple series-connected joint components 312 to produce continuous sinusoidal bending deformation, thus realizing the continuous propulsion and maneuvering of the biomimetic robotic sturgeon.

[0115] During normal propulsion, the tailbone joint drive motor 311 reciprocates in a sinusoidal pattern. The eccentric motion of the flange 3122 converts the rotation signal into the alternating retraction and release of the tension line: when the flange 3122 tilts to one side, the tension line on that side is tightened, the spine 3124 is forced to bend to that side, and the elastic support rod deforms and stores elastic potential energy; subsequently, the flange 3122 tilts to the other side, the tension line on that side tightens, the previously tightened side is released, and the elastic restoring force of the support rod and the tension line together drive the spine 3124 to swing in the opposite direction. This repetition produces a bending motion with increasing amplitude from front to back for each of the three tail joints. The tail fin adopts a skewed tail design similar to that of the Russian sturgeon (i.e., an asymmetrical shape where the upper lobe is slightly longer than the lower lobe). This biomimetic tail fin shape helps generate a certain lift component during the swinging process, assisting in maintaining swimming depth, while also increasing the biomimetic realism of the shape, which is conducive to obtaining higher visual acceptance among fish.

[0116] Figure 8 A schematic diagram of the spinal structure of the biomimetic robotic sturgeon provided in an embodiment of this disclosure is shown.

[0117] like Figure 8 As shown, the spine 3124 may include: a support rod 31241, and multiple universal joints 31242 and multiple tail knots 31243 arranged and connected alternately. Adjacent tail knots 31243 are connected by universal joints 31242 to form a continuous flexible spine with multiple degrees of freedom. Figure 8 As can be seen, an elastic support rod runs along the axial direction through all universal joints and the tail knot, providing axial stiffness support for the flexible spine and providing elastic restoring force for natural straightening after bending deformation. The drive cable 3125 is led out from the flange 3122 at the tail, runs along both sides of the spine 3124 between each joint component 312, and is finally fixed to the base of the tail fin.

[0118] Specifically, the first of the multiple universal joints 31242 is connected to the fixed frame 3121 to form a continuous flexible spine structure; the support rod 31241 extends along the body axis of the bionic robotic sturgeon and passes through multiple universal joints 31242 and multiple tail knots 31243 in sequence to provide axial stiffness and elastic restoring force, that is, effectively improve the overall axial stiffness of the tail 3 flexible skeleton and provide elastic restoring force for natural self-alignment, thereby improving the dynamic performance and motion realism of the bionic robotic sturgeon when swimming underwater.

[0119] Based on the above embodiments, in this embodiment, the straight swimming motion of the bionic robotic sturgeon includes a bionic straight swimming mode and a belly-up straight swimming mode. In the bionic straight swimming mode, the counterweight 245 of the center of gravity adjustment mechanism 24 is located at the initial position at the bottom of the bionic robotic sturgeon, the pectoral fin rotation module 21 maintains a horizontal angle, and the line-driven bionic propulsion module 31 drives the tail 3 to swing. In the belly-up straight swimming mode, the center of gravity adjustment mechanism 24 drives the counterweight 245 to rotate to the top of the bionic robotic sturgeon so that the bionic robotic sturgeon can complete the belly-up posture reversal. During the reversal, the pectoral fin rotation module 21 adjusts to the back swimming balance angle and maintains it. At the same time, the line-driven bionic propulsion module 31 drives the tail 3 to generate a regular sine signal, thereby realizing the straight swimming mode with the belly 2 up while reversing.

[0120] Specifically, when the novel biomimetic robotic sturgeon performs biomimetic straight swimming, the counterweight 245 of the center of gravity adjustment mechanism 24 is locked in the initial position at the bottom of the body to ensure that the body operates in a positive upright posture. The piston of the suction and drainage assembly 11 is kept in a preset intermediate position, so that the body is in a near-neutral buoyancy state. The two servo motors 212 of the pectoral fin rotation module 21 are in a holding state, and the biomimetic pectoral fins on both sides are kept at a horizontal angle. The waist-tail joint drive motor 311 of the wire-driven biomimetic propulsion module 31 generates a regular sine signal according to a set frequency and amplitude, which drives the flange 3122 to reciprocate, alternately pulling the drive cables 3125 on both sides, forcing the tail spine 3124 to produce continuous wavy bending deformation, thereby realizing positive biomimetic straight swimming motion. The swimming speed can be changed by adjusting the frequency of the sine signal, that is, the higher the frequency, the faster the tail 3 swings, and the greater the propulsion force and swimming speed.

[0121] When the new biomimetic robotic sturgeon swims belly-up, the control system sends a flip command to the center of gravity adjustment mechanism 24. The motor of the center of gravity adjustment mechanism 24 drives the internal gear disk 244 to rotate, rotating the counterweight 245 180 degrees from the bottom of the body to the top. Under the continuous action of the eccentric torque, the body gradually flips around the longitudinal axis, that is, the eccentric torque generated by the shift of the center of gravity makes the body complete the belly-up posture reversal. During the flipping process, the two servo motors 212 of the pectoral fin rotation module 21 synchronously adjust the deflection angle, that is, adjust to the upward swimming balance angle and maintain it, in order to compensate for the pitch disturbance during the flipping process and prevent excessive pitching. At the same time, the waist and tail joint drive motor 311 of the line-driven bionic propulsion module 31 continues to generate regular sinusoidal signals to keep the sinusoidal oscillation output uninterrupted, so that the body maintains forward momentum while flipping, thereby driving the flange 3122 to rotate and alternately pull the drive cable 3125, thereby realizing the movement of swimming straight while flipping and swimming with the abdomen facing upward, and finally smoothly transitioning to the steady swimming state of "abdomen facing upward".

[0122] This movement modality, combined with the synchronized operation of the pheromone release system 22, creates a synergistic induction effect of visual and chemical modes. When the biomimetic robotic sturgeon swims near the water surface in a belly-up position, its biomimetic shape and unusual movement attract the visual attention of surrounding Russian sturgeon. At the same time, the chemical pheromones continuously released by the bottom release duct stimulate their olfactory system, triggering their feeding interest. Russian sturgeon exhibit significant social following behavior. Under the synergistic stimulation of the dual-modal signals, benthic farmed individuals will be induced to change their feeding depth and rise to the surface to actively feed, thereby significantly improving the conversion and utilization efficiency of surface-feeded food.

[0123] Based on the above embodiments, in this embodiment, the steering motion of the bionic robotic sturgeon includes a constant-depth steering mode and an ascent / descent steering mode. In the constant-depth steering mode, the counterweight 245 of the center of gravity adjustment mechanism 24 rotates slightly according to the turning direction, and the two servo motors 212 of the pectoral fin rotation module 21 differentially deflect the left and right pectoral fins according to the turning radius requirement to reduce the turning radius. The waist-tail joint drive motor 311 of the line-driven bionic propulsion module 31 drives the tail 3 to generate asymmetrical oscillation to provide steering thrust and realize constant-depth steering motion. In the ascent / descent steering mode, the suction and drainage assembly 11 changes the buoyancy of the bionic robotic sturgeon by suction or drainage. The pectoral fin rotation module 21 provides pitch torque and roll balance torque through differential deflection of the two bionic pectoral fins 215. The counterweight 245 of the center of gravity adjustment mechanism 24 rotates slightly left and right according to the turning direction, and the line-driven bionic propulsion module 31 provides yaw steering thrust to realize compound steering motion in three-dimensional space.

[0124] Specifically, when the novel biomimetic robotic sturgeon performs a constant-depth turning motion, the first piston assembly 113 of the suction and drainage assembly 11 remains locked, maintaining the body at the current water depth. To maintain lateral stability during turning, the counterweight 245 of the center of gravity adjustment mechanism 24 makes a slight rotation (i.e., a small-angle fine adjustment) according to the turning direction. The two servos 212 of the pectoral fin rotation module 21 can differentially deflect according to the turning radius requirements to reduce the turning angle and help maintain balance, thereby improving the maneuverability of the biomimetic robotic sturgeon. A DC bias component is superimposed on the sinusoidal drive signal output by the waist-tail joint drive motor 311 of the line-driven bionic propulsion module 31. Under the drive of the bias signal, the contraction of the drive cable 3125 on the target turning side is greater than that on the other side. That is, the swing center of the tail spine 3124 deviates from the longitudinal axis of the body, and the swing amplitude on one side is greater than that on the other side. This forces the spine 3124 to produce a biased wavy bending deformation on one side, generating asymmetrical hydrodynamic thrust. Using the asymmetrical hydrodynamic thrust, the body is forced to make arc motion, thereby achieving constant depth turning motion on the water surface or in a specific water layer.

[0125] When the novel biomimetic robotic sturgeon performs ascent / descent turning movements, it needs to change its swimming depth simultaneously with yaw turning, representing the most coordinated movement among its modules. At the tail section, the linear-drive biomimetic propulsion module 31's tail joint drive motor 311 outputs a sinusoidal signal with an offset component to provide yaw turning thrust. Simultaneously, the first motor 115 of the suction / discharge assembly 11 drives the lead screw and piston assembly forward to inject water (corresponding to ascent turning) or backward to suck in water (corresponding to descent turning), dynamically changing the overall buoyancy of the machine. Simultaneously, the two servo motors 212 of the pectoral fin rotation module 21 synchronously deflect upward or downward to provide hydrodynamic pitching torque, and generate asymmetrical lateral hydrodynamic force through differential deflection, assisting in reducing the turning radius. The counterweight 245 of the center of gravity adjustment mechanism 24 micro-rotates according to the turning direction. Through the coordinated action of all modules, the biomimetic robotic sturgeon completes complex ascent or descent turning compound movements within the three-dimensional water space, greatly enhancing its three-dimensional spatial maneuverability in aquaculture environments. Taking "ascent + left turn" as an example: the tailbone joint drive motor 311 outputs a sinusoidal signal with left bias to provide thrust for left turn, while the motor-driven piston of the suction and drainage assembly 11 pushes forward to drain water, increasing the buoyancy of the body and generating an upward trend; the two servo motors of the pectoral fin rotation module 21 are in a differential upward bias state to reduce the turning radius while providing pitch torque for head lifting; the counterweight of the center of gravity adjustment mechanism 24 rotates slightly to the left to compensate for the roll torque generated by left turn. The four subsystems work in coordination, enabling the biomimetic robotic sturgeon to smoothly ascend along a spiral trajectory and turn synchronously in three-dimensional water space.

[0126] In some exemplary embodiments, the novel biomimetic robotic sturgeon can be in a rigid state, that is, the waist and tail joint drive motor 311 of the wire-driven biomimetic propulsion module 31, the servo motor 212 of the pectoral fin rotation module 21 and the center of gravity adjustment mechanism 24 are all in a holding state when powered on, and all transmission lines of the wire-driven module are in a taut state.

[0127] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0128] Although this disclosure has been shown and described with reference to specific exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made to this disclosure without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Therefore, the scope of this disclosure should not be limited to the above embodiments, but should be defined not only by the appended claims, but also by their equivalents.

Claims

1. A biomimetic robotic sturgeon, characterized in that, include: The head (1), abdomen (2) and tail (3) are connected in sequence. The front end of the head (1) is provided with a suction and drainage assembly (11), which is used to realize the buoyancy adjustment of the bionic robotic sturgeon. The abdomen (2) is provided with a pectoral fin rotation module (21), a pheromone release system (22), a battery (23) and a center of gravity adjustment mechanism (24), wherein the pheromone release system (22) is used to release chemical stimulants in a directed manner; The tail (3) is equipped with a wire-driven bionic propulsion module (31), which includes a waist-tail joint drive motor (311) and multiple joint components (312). The waist-tail joint drive motor (311) is used to drive the joint components (312) to swing, thereby realizing the propulsion of the tail (3) of the bionic robotic sturgeon.

2. The biomimetic robotic sturgeon according to claim 1, characterized in that, The suction and drainage assembly (11) includes: The water storage tank (111), the suction and discharge pipes (112), the first piston assembly (113), the first lead screw drive transmission mechanism (114), and the first motor (115); among which, The first motor (115) drives the first lead screw drive transmission mechanism (114) to rotate and the first piston assembly (113) to move, so that the water storage tank (111) can absorb or drain water through the suction and drainage pipe (112).

3. The biomimetic robotic sturgeon according to claim 1, characterized in that, The pheromone release system (22) includes: The liquid storage tank (221), the release conduit (222), the second lead screw drive transmission mechanism (223), the second piston assembly (224), and the second motor (225); among which, The second motor (225) drives the second lead screw drive transmission mechanism (223) to rotate and the second piston assembly (224) to move, so that the chemical irritants in the liquid storage tank (221) are discharged through the release conduit (222).

4. The biomimetic robotic sturgeon according to claim 1, characterized in that, The center of gravity adjustment mechanism (24) includes: The system includes a support frame (241), a third motor (242), a drive gear (243), an internal gear disc (244), and a counterweight (245); among which, The third motor (242) is fixed to one side of the support frame (241) and is used to drive the drive gear (243) to rotate, thereby driving the internal gear disk (244) and the counterweight (245) to rotate, so as to change the center of gravity of the bionic robotic sturgeon. The drive gear (243) is mounted on the output shaft of the third motor (242); The internal gear disk (244) is mounted on the central shaft of the support frame (241), and its inner ring tooth groove meshes with the drive gear (243); The counterweight (245) is fixedly installed on the outer edge of the internal gear disk (244).

5. The biomimetic robotic sturgeon according to claim 1, characterized in that, The joint assembly (312) includes: The components include a mounting bracket (3121), a flange (3122), a motor output shaft (3123), a spine (3124), a drive cable (3125), and a bionic tail fin (3126); among which, The lumbar and coccygeal joint drive motor (311) drives the flange (3122) to rotate through the motor output shaft (3123). When the flange (3122) rotates, it pulls the drive cable (3125). The drive cable (3125) drives the spine (3124) to move left and right, causing multiple joint components (312) to bend and deform, so as to realize the propulsion and turning of the bionic robotic sturgeon.

6. The biomimetic robotic sturgeon according to claim 5, characterized in that, The spine (3124) includes: Support rod (31241), and multiple universal joints (31242) and multiple tail joints (31243) arranged alternately and connected; among them, The first of the plurality of universal joints (31242) is connected to the fixed frame (3121) to form a continuous flexible spinal structure; The support rod (31241) extends along the body axis of the biomimetic robotic sturgeon and passes through the plurality of universal joints (31242) and the plurality of tail knots (31243) in sequence to provide axial stiffness and elastic restoring force.

7. The biomimetic robotic sturgeon according to claim 1, characterized in that, The pectoral fin rotation module (21) includes: The components include a pectoral fin holder (211), a servo motor (212), a servo disc (213), a coupling (214), and a bionic pectoral fin (215); among which, The pectoral fin holder (211) is fixed to the front end of the abdomen (2); The servo motor (212) is fixed on the pectoral fin mounting bracket (211), and its output end is connected in sequence to the servo disc (213) and the coupling (214). The coupling (214) is connected to the bionic pectoral fin (215) in a through-hole form to drive the bionic pectoral fin (215) to rotate.

8. The biomimetic robotic sturgeon according to claim 1, characterized in that, The pectoral fin rotation module (21) is located behind the suction and drainage assembly (11) and is used to provide pitch and yaw torque; The pheromone release system (22) is located below the pectoral fin rotation module (21); The battery (23) is located behind the pheromone release system (22) and is used to power the bionic robotic sturgeon; The center of gravity adjustment mechanism (24) is located behind the battery (23) and is used to adjust the center of gravity of the bionic robotic sturgeon to achieve attitude control during the attitude reversal process.

9. The biomimetic robotic sturgeon according to claim 1, characterized in that, The biomimetic robotic sturgeon's straight-swimming motion includes a biomimetic straight-swimming mode and a belly-up straight-swimming mode; In the biomimetic straight swimming mode, the counterweight (245) of the center of gravity adjustment mechanism (24) is located at the initial position of the bottom of the biomimetic robotic sturgeon, the pectoral fin rotation module (21) maintains a horizontal angle, and the line-driven biomimetic propulsion module (31) drives the tail (3) to swing. In the abdominal-upward swimming mode, the center of gravity adjustment mechanism (24) drives the counterweight (245) to rotate to the top of the bionic robotic sturgeon so that the bionic robotic sturgeon can complete the abdominal (2) upward posture reversal. During the reversal, the pectoral fin rotation module (21) is adjusted to the back swimming balance angle and is maintained. At the same time, the line-driven bionic propulsion module (31) drives the tail (3) to generate a regular sine signal, thereby realizing the abdominal (2) upward swimming mode while reversing.

10. The biomimetic robotic sturgeon according to claim 1, characterized in that, The biomimetic robotic sturgeon's turning motion includes a constant-depth turning mode and an ascending / diving turning mode; In the constant depth steering mode, the counterweight (245) of the center of gravity adjustment mechanism (24) rotates slightly according to the turning direction, and the two servo motors (212) of the pectoral fin rotation module (21) perform differential deflection of the left and right pectoral fins according to the turning radius requirements to reduce the turning radius. The waist and tail joint drive motor (311) of the line drive bionic propulsion module (31) drives the tail (3) to generate asymmetrical swing to provide steering thrust and realize constant depth steering motion. In the ascending / diving turning mode, the suction and drainage assembly (11) changes the buoyancy of the bionic robotic sturgeon by absorbing or draining water. The pectoral fin rotation module (21) provides pitch torque and roll balance torque through differential deflection of the two bionic pectoral fins (215). The counterweight (245) of the center of gravity adjustment mechanism (24) rotates slightly left and right according to the turning direction. The linear drive bionic propulsion module (31) provides yaw steering thrust to achieve compound steering motion in three-dimensional space.

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