A bionic manta ray underwater robot for intelligent maintenance of a mariculture net cage

Abstract

The present application relates to underwater robot technical field, disclose a kind of for ocean ranching net cage intelligent maintenance bionic manta ray underwater robot, including bionic manta ray body, power system and net cage cleaning system are installed in the pectoral fin part of bionic manta ray body, storage feeding mechanism and electric control system are installed in the abdomen of bionic manta ray body;Visual inspection system is installed in the head of bionic manta ray body, tail fin steering mechanism is installed in the tail of bionic manta ray body, attitude adjusting device is installed on tail fin steering mechanism, and attitude adjusting device is used to adjust the operating posture of tail fin steering mechanism;Wherein, power system, net cage cleaning system, storage feeding mechanism, visual inspection system and attitude adjusting device are electrically connected with electric control system.The present application can realize the integration of ocean ranching net cage inspection, net cage cleaning and accurate feeding and other functions once diving, improve the overall maintenance efficiency, reduce equipment use cost.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages. Background Technology

[0002] With the continuous expansion of marine ranching, deep-sea cage aquaculture has gradually become an important development direction for modern marine fisheries. Cages are immersed in seawater for extended periods, making their surfaces highly susceptible to the adhesion of algae, barnacles, shellfish, and other marine organisms. This not only reduces the permeability of the netting and affects water exchange between the inside and outside of the cage, but also easily leads to localized hypoxia, water pollution, and deterioration of the fish's growth environment. Therefore, regular inspection and cleaning of the cages are necessary to ensure the stability of the aquaculture environment.

[0003] Meanwhile, routine maintenance operations such as fish swarm inspection and precise feeding are also required during the daily aquaculture process in marine ranches. Currently, these operations typically rely on manually operated vessels and divers, or are carried out independently using inspection robots, cleaning equipment, and fixed automatic feeding equipment. Because these devices are often single-function and lack coordination, this not only increases equipment investment costs but also requires repeated operations, resulting in low aquaculture efficiency and insufficient level of automation.

[0004] In recent years, underwater robots have been increasingly applied to the inspection and maintenance of marine ranches. However, most existing underwater robots adopt traditional streamlined structures, and their operating platform space is limited, making it difficult to integrate multiple functions such as inspection, cage cleaning, and precise feeding at the same time. In addition, most robots only have single-operation capabilities and lack the ability to autonomously switch operation tasks based on inspection results, which cannot meet the actual needs of intelligent and comprehensive maintenance of modern marine ranches.

[0005] To address this, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages, aiming to solve or improve at least one of the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages, comprising a biomimetic manta ray body, wherein a power system and a cage cleaning system are installed on the pectoral fin of the biomimetic manta ray body, and a feeding mechanism and an electronic control system are installed on the abdomen of the biomimetic manta ray body; The head of the bionic manta ray body is equipped with a visual inspection system, and the tail of the bionic manta ray body is equipped with a tail fin steering mechanism. The tail fin steering mechanism is equipped with an attitude adjustment device, which is used to adjust the working attitude of the tail fin steering mechanism. The power system, the cage cleaning system, the material storage and feeding mechanism, the visual inspection system, and the attitude adjustment device are all electrically connected to the electronic control system.

[0008] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided. The power system includes at least two thrusters, which are respectively installed on the pectoral fins on both sides of the biomimetic manta ray body, and the thrusters are electrically connected to the electronic control system.

[0009] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided, wherein the material storage and feeding mechanism includes a feeding bin and a spiral feeding assembly, and the spiral feeding assembly is electrically connected to the electronic control system; The feeding bin is installed on the abdomen of the bionic manta ray body via the electronic control system. The spiral feeding assembly is fixedly connected to and communicates with the feeding bin, and is used to quantitatively deliver the feed in the feeding bin.

[0010] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided. The cage cleaning system includes at least two water supply components. One end of each water supply component is equipped with a plurality of nozzles, and the nozzles are connected to the water supply components through water supply pipelines. The two water supply components are respectively installed on the pectoral fins on both sides of the bionic manta ray body, and the water supply components are electrically connected to the electronic control system.

[0011] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided. The tail fin steering mechanism includes a tail fin and a connecting component. The tail fin is installed at the tail of the biomimetic manta ray body through the connecting component, and the attitude adjustment device is installed on the connecting component.

[0012] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided. The visual inspection system includes a camera component and a mounting bracket. The mounting bracket is fixedly installed on the head of the biomimetic manta ray body, the camera component is mounted on the mounting bracket, and the camera component is electrically connected to the electronic control system.

[0013] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided. The electronic control system includes an electronic control compartment installed in the abdomen of the biomimetic manta ray body. The electronic control compartment is equipped with a control module and a power module. The feeding compartment is installed at the bottom of the electronic control compartment. The propeller, the water supply assembly, the screw feed assembly, the camera assembly, the attitude adjustment device, and the power module are all electrically connected to the control module.

[0014] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided, wherein the camera component is a camera.

[0015] According to the present invention, a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages is provided, wherein several of the nozzles are all facing the outside of the biomimetic manta ray body.

[0016] The present invention discloses the following technical effects: This invention integrates a visual inspection system mounted on the head of a biomimetic manta ray body to collect images of net cages and schools of fish. A power system installed in the pectoral fin and a tail fin steering mechanism in the tail enable autonomous navigation and course adjustment. A net cage cleaning system cleans organisms adhering to the net cage surface, a feeding mechanism delivers quantitative pellet feed, and an attitude adjustment device regulates the robot's working posture. By integrating the net cage cleaning system, feeding mechanism, and visual inspection system onto a single biomimetic platform, this invention allows for integrated operation of net cage inspection, cleaning, and precise feeding in a single deployment. This avoids the repetitive work required by traditional marine ranching methods using different equipment, improving overall maintenance efficiency and reducing equipment operating costs.

[0017] This invention adopts an intelligent maintenance mode based on visual inspection results. During autonomous navigation, the robot acquires real-time image information of the net cages and fish schools through the front-end visual inspection system, and obtains environmental information in front of the robot through the vision module, providing data support for the robot's inspection operation. The robot also adjusts the opening and closing and output power of the net cage cleaning system and the feeding mechanism through the electronic control system to achieve on-demand operation, avoiding the energy and feed waste caused by continuous cleaning or fixed feeding of traditional equipment.

[0018] This invention uses a biomimetic manta ray body as the main structure. The manta ray's large pectoral fins provide an installation platform for the power system and net cage cleaning system. The abdomen forms a large internal installation space, which can centrally arrange the material storage and feeding mechanism and the electronic control system, making the center of gravity of the whole machine more concentrated and improving the stability of the robot when cruising and hovering at low speed near the net cage. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 For the isometric projection of the present invention Figure I ; Figure 2 This is a top view of the present invention; Figure 3 For the isometric projection of the present invention Figure II .

[0021] The components include: 1. Visual inspection system; 2. Thruster; 3. Bionic manta ray body; 4. Net cage cleaning system; 5. Tail fin steering mechanism; 6. Spiral feeding assembly; 7. Feed bin; 8. Nozzle; 9. Water supply assembly; 10. Electrical control system; and 11. Attitude adjustment device. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Reference Figures 1-3 The present invention provides a biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages, including a biomimetic manta ray body 3, a power system and a cage cleaning system 4 installed on the pectoral fin of the biomimetic manta ray body 3, and a feeding mechanism and an electronic control system 10 installed on the abdomen of the biomimetic manta ray body 3. The head of the bionic manta ray body 3 is equipped with a visual inspection system 1, and the tail of the bionic manta ray body 3 is equipped with a tail fin steering mechanism 5. The tail fin steering mechanism 5 is equipped with an attitude adjustment device 11, which is used to adjust the working attitude of the tail fin steering mechanism 5. Among them, the power system, the cage cleaning system 4, the material storage and feeding mechanism, the visual inspection system 1, and the attitude adjustment device 11 are all electrically connected to the electrical control system 10.

[0025] This invention integrates a visual inspection system 1 installed on the head of a biomimetic manta ray body 3 to collect image information of net cages and schools of fish. A power system installed on the pectoral fin of the biomimetic manta ray body 3 and a tail fin steering mechanism 5 installed on the tail enable autonomous navigation and heading adjustment. A net cage cleaning system 4 cleans organisms attached to the net cage surface, a feeding mechanism delivers quantitative pellet feed, and an attitude adjustment device 11 adjusts the robot's working posture. By integrating the net cage cleaning system 4, the feeding mechanism, and the visual inspection system 1 onto a single biomimetic platform, this invention achieves integrated operation of net cage inspection, cleaning, and precise feeding in a single deployment. This avoids the problem of repetitive operations using different equipment in traditional marine ranching, improving overall maintenance efficiency and reducing equipment operating costs.

[0026] This invention adopts an intelligent maintenance mode based on visual inspection results. During autonomous navigation, the robot obtains real-time image information of the net cage and fish school through the front-end visual inspection system 1, and obtains environmental information in front of the robot through the vision module, providing data support for the robot's inspection operation. The electronic control system 10 adjusts the opening and closing and output power of the net cage cleaning system 4 and the feeding mechanism to achieve on-demand operation, avoiding the energy and feed waste caused by continuous cleaning or fixed feeding of traditional equipment.

[0027] The present invention adopts a biomimetic manta ray body 3 as the main structure. The large pectoral fins of the biomimetic manta ray provide an installation platform for the power system and net cage cleaning system 4. The abdomen forms a large internal installation space, which can centrally arrange the material storage and feeding mechanism and the electronic control system 10, making the center of gravity of the whole machine more concentrated and improving the stability of the robot when cruising and hovering at low speed near the net cage.

[0028] Further optimization of the design includes a power system comprising at least two thrusters 2, which are respectively mounted on the pectoral fins on both sides of the biomimetic manta ray body 3, and the thrusters 2 are electrically connected to the electronic control system 10.

[0029] During underwater operations, the control module within the electronic control system 10 independently adjusts the output speed and thrust of the two thrusters 2 according to different operating conditions such as cruising, hovering, and net-attaching. When both sides operate synchronously at the same speed, the entire machine obtains balanced forward propulsion power and cruises smoothly along the net cage in a straight line. When a speed difference is formed between the two thrusters 2, the fuselage generates a steering torque, which, in conjunction with the tail fin steering mechanism 5, completes small-scale steering adjustments. The symmetrical arrangement on both sides relies on the wide mounting surface of the biomimetic pectoral fin to distribute the thrust load, resulting in uniform underwater propulsion force and minimal water flow disturbance. When moving at low speeds in the confined space of the net cage or hovering at a fixed point, the sway of the fuselage is significantly reduced, making it suitable for close-range net-attaching inspection and cleaning operations.

[0030] The scheme is further optimized. The material storage and feeding mechanism includes a feeding bin 7 and a screw feeding assembly 6. The screw feeding assembly 6 is electrically connected to the electrical control system 10. The feeding bin 7 is installed on the abdomen of the bionic manta ray body 3 via the electronic control system 10. The spiral feeding assembly 6 is fixedly connected to and communicates with the feeding bin 7, and is used to quantitatively transport the feed in the feeding bin 7.

[0031] The camera component of the visual inspection system 1 captures images of fish density and transmits them to the control module. Once the system determines that the feeding standard has been met, the electronic control system 10 outputs a signal to activate the spiral feeding component 6. Relying on the spiral volume, the feed is quantitatively and uniformly pushed, and the feed is continuously released from the outlet into the water of the net cage. The control module can precisely control the total amount of feed per feeding by adjusting the operating time and speed of the spiral feeding component 6, realizing intelligent on-demand feeding with more feed for high density and less feed for low density, solving the problem of traditional underwater equipment being unable to quantitatively release feed and wasting feed. The feeding bin is independently arranged below the electronic control bin, isolated from the electronic control module, to avoid feed dust and moisture corroding electrical components and improve the safety of underwater operations.

[0032] Further optimization of the scheme: the cage cleaning system 4 includes at least two water supply components 9, one end of which is equipped with several nozzles 8, and the nozzles 8 are connected to the water supply components 9 through water supply pipelines; Two water supply components 9 are respectively installed on the pectoral fins on both sides of the bionic manta ray body 3, and the water supply components 9 are electrically connected to the electronic control system 10.

[0033] When the camera module detects excessive amounts of seaweed, shellfish, or other attachments on the netting, the control module activates the corresponding side water supply component 9. High-pressure water is delivered through pipelines to the outer nozzles 8 and sprayed outwards at high speed. The high-pressure water directly impacts the attachments on the outer wall of the net cage, achieving peeling and cleaning. The dual-side water supply components can be started and stopped independently, and the water pressure can be adjusted separately. If one side of the net surface is contaminated, only the nozzles on that side will be activated for cleaning, while the other side will be in standby mode for energy saving. Multiple nozzles 8 spray outwards simultaneously, and the cleaning coverage area matches the working width of the pectoral fins. The entire net surface is cleaned in one go during the machine's movement, ensuring complete cleaning coverage without blind spots. The outward-facing nozzle design prevents the high-pressure water from impacting the machine body in the opposite direction and causing attitude deviation.

[0034] Further optimization of the scheme: the tail fin steering mechanism 5 includes a tail fin and a connecting component. The tail fin is installed at the tail of the bionic manta ray body 3 through the connecting component, and the attitude adjustment device 11 is installed on the connecting component.

[0035] Further optimization of the scheme: the visual inspection system 1 includes a camera component and a mounting bracket. The mounting bracket is fixedly installed on the head of the bionic manta ray body 3, the camera component is installed on the mounting bracket, and the camera component is electrically connected to the electronic control system 10.

[0036] Throughout the operation, the camera component continuously and in real-time collects images of the appearance of the cages, the coverage of attached organisms, and the distribution of fish in the water. The collected image signals are transmitted back to the control module in the electrical control compartment in real time to complete image analysis. The mounting bracket positions the camera component forward and protrudes to avoid obstruction by the water flow from the pectoral fins and nozzles, expanding the underwater observation field of view and eliminating blind spots. It can predict the structure of the cages, obstacles, and the distribution of fish in advance, providing a basis for action decisions for the propeller 2, water supply component 9, and spiral feeding component 6, realizing an intelligent operation logic of inspection first, followed by cleaning and feeding as needed.

[0037] Further optimization of the scheme: the electronic control system 10 includes an electronic control compartment installed in the abdomen of the bionic manta ray body 3, which contains a control module and a power module, and a feeding compartment 7 installed at the bottom of the electronic control compartment; The propeller 2, water supply assembly 9, screw feeding assembly 6, camera assembly, attitude adjustment device 11 and power supply module are all electrically connected to the control module.

[0038] The power module provides a stable DC power supply for the entire underwater equipment. The control module, as the central processing unit, receives visual data from the camera components, performs real-time calculations, and sends out control signals to independently regulate the thrust of the two-sided thrusters 2, the water pressure of the water supply components 9, the feeding speed of the spiral feeding components 6, and the tail fin attitude adjustment range. The electrical control compartment and the lower feeding compartment are isolated in layers, and the electrical components are completely separated from the feed and water, resulting in stronger waterproof and dustproof protection. The centralized layout simplifies underwater wiring, reduces the probability of wire tangling and short circuit failures, and ensures unified and coordinated control logic for the entire machine.

[0039] The electronic control system 10 sends adjustment commands to the attitude adjustment device 11 according to the navigation trajectory and net alignment requirements. The attitude adjustment device 11 drives the connecting component to swing the tail fin up and down and left and right, changing the tail water flow direction. In conjunction with the dual-side thrusters 2, it completes the overall heading correction and fuselage pitch attitude adjustment. When hovering for cleaning and feeding operations, the attitude adjustment device 11 can slightly lock the tail fin swing angle to counteract the fuselage offset caused by the turbulent water flow in the net cage, so that the fuselage always maintains a stable working attitude parallel to the net, ensuring that the nozzle 8 and camera components are continuously aligned with the target net surface, and improving the accuracy of inspection and cleaning operations.

[0040] The solution has been further optimized by employing a camera component. This standard underwater camera is fixed to a head-mounted bracket and maintains signal communication with the control module. The underwater camera features high-definition underwater imaging and low-light compensation, enabling it to clearly capture details of netting attachments and fish schools even in turbid water and low-light conditions. The captured images are transmitted to the control module. The dedicated underwater camera is waterproof and pressure-resistant, suitable for long-term underwater operations in marine ranches, providing stable and distortion-free imaging to ensure the accuracy of data for intelligent decision-making by the electronic control system.

[0041] The design was further optimized so that all nozzles 8 are oriented towards the outside of the biomimetic manta ray body 3. After the water supply component 9 generates high-pressure water flow, it is sprayed outward from the outward-facing nozzles through the water supply pipeline. The water flow directly acts on the outer walls of the aquaculture net cages on both sides of the body, and the high-pressure scouring force is fully applied to the attached materials, resulting in higher cleaning efficiency.

[0042] The design was further optimized by installing flexible rubber anti-collision buffer strips on the outer edges of the left and right pectoral fins and both sides of the head of the biomimetic manta ray body 3. The buffer strips are filled with foamed elastomer and have built-in micro collision sensing sensors, which are connected to the electronic control system 10.

[0043] When the robot is patrolling in the confined space of the net cage, if the body accidentally collides with obstacles such as the aquaculture net frame, underwater steel frame, or floating body, the buffer strip can absorb the impact force to prevent the thrusters 2, nozzles 8, and camera components from being bumped and damaged. At the same time, the collision sensor instantly transmits a collision signal to the control module, and the electronic control system 10 immediately reduces the power of the two thrusters 2 and adjusts the tail fin steering mechanism 5 to automatically move away from the obstacle, avoiding repeated collisions with the equipment and net cage, extending the underwater service life of the whole machine, and reducing the risk of net cage damage.

[0044] The design has been further optimized by adding a rotating crushing disc inside the feed inlet of the feeding hopper 7. The crushing disc is equipped with a micro geared motor, which is electrically connected to the electrical control system 10. Aquatic feed stored in the high humidity environment of seawater is prone to moisture absorption and clumping. Direct conveying can easily cause blockage of the screw feeding component 6. Before feeding, the control module can start the crushing disc at regular intervals to rotate and chop up the clumped feed. The dispersed particles fall evenly into the screw feeding component 6, ensuring smooth and unobstructed feeding, accurately controlling the amount of feed fed at one time, and avoiding large pieces of feed clogging the pipeline, which would lead to inaccurate feeding and feed waste. This design is suitable for long-term underwater storage operations in marine ranches.

[0045] The scheme has been further optimized by installing an automatic backwash valve at each branch of the water supply component 9. The backwash valve is connected to a small clean water storage tank, which is integrated inside the pectoral fin. After long-term underwater operations, the nozzles 8 and pipelines are prone to being clogged by sea mud and seaweed debris. When the daily operation ends or the electrical control system 10 detects a drop in water pressure, the backwash valve is automatically opened, and clean water backwashes the water supply pipeline and nozzles 8, flushing out the blockages and debris, keeping the waterway unobstructed and the high-pressure water flow stable. There is no need for manual disassembly and cleaning on shore, which greatly reduces the frequency of equipment maintenance and ensures the continuous and efficient operation of the cage cleaning system 4.

[0046] The design has been further optimized. The biomimetic manta ray body 3 has a built-in sealed buoyancy adjustment chamber at the tail. The chamber is equipped with a miniature water inlet and outlet solenoid valve, which is connected to the electronic control system 10. When the robot is empty, fully loaded with feed, or performing unilateral cleaning operations, its center of gravity will shift, which may cause pitching or tilting. The control module controls the solenoid valve to introduce or drain water into the buoyancy adjustment chamber based on the feedback data from the overall attitude sensor. This adjusts the tail buoyancy in real time to counteract the center of gravity shift, maintain the robot's horizontal attitude, ensure that the camera components can image horizontally and the nozzles 8 can be vertically aligned with the net, improve the accuracy of inspection and identification and net washing operations, and reduce the power consumption of the thruster 2 for attitude compensation.

[0047] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages, characterized in that: The bionic manta ray body (3) is equipped with a power system and a net cage cleaning system (4) on its pectoral fins, and a feeding mechanism and an electronic control system (10) are installed on its abdomen. The head of the bionic manta ray body (3) is equipped with a visual inspection system (1), and the tail of the bionic manta ray body (3) is equipped with a tail fin steering mechanism (5). The tail fin steering mechanism (5) is equipped with an attitude adjustment device (11), which is used to adjust the working attitude of the tail fin steering mechanism (5). The power system, the cage cleaning system (4), the material storage and feeding mechanism, the visual inspection system (1) and the attitude adjustment device (11) are all electrically connected to the electronic control system (10).

2. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 1, characterized in that: The power system includes at least two thrusters (2), which are respectively installed on the pectoral fins on both sides of the biomimetic manta ray body (3), and the thrusters (2) are electrically connected to the electronic control system (10).

3. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 2, characterized in that: The material storage and feeding mechanism includes a feeding bin (7) and a screw feeding assembly (6), which is electrically connected to the electrical control system (10). The feeding bin (7) is installed on the abdomen of the bionic manta ray body (3) via the electronic control system (10). The spiral feeding assembly (6) is fixedly connected to and communicates with the feeding bin (7) for quantitatively conveying the feed in the feeding bin (7).

4. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 3, characterized in that: The cage cleaning system (4) includes at least two water supply components (9), one end of which is equipped with a plurality of nozzles (8), and the nozzles (8) are connected to the water supply components (9) through water supply pipelines; The two water supply components (9) are respectively installed on the pectoral fins on both sides of the bionic manta ray body (3), and the water supply components (9) are electrically connected to the electronic control system (10).

5. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 1, characterized in that: The tail fin steering mechanism (5) includes a tail fin and a connecting assembly. The tail fin is mounted on the tail of the bionic manta ray body (3) via the connecting assembly, and the attitude adjustment device (11) is mounted on the connecting assembly.

6. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 4, characterized in that: The visual inspection system (1) includes a camera component and a mounting bracket. The mounting bracket is fixedly installed on the head of the bionic manta ray body (3). The camera component is installed on the mounting bracket and is electrically connected to the electronic control system (10).

7. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 6, characterized in that: The electronic control system (10) includes an electronic control compartment installed in the abdomen of the bionic manta ray body (3), and a control module and a power module are installed in the electronic control compartment. The feeding compartment (7) is installed at the bottom of the electronic control compartment. The propeller (2), the water supply assembly (9), the screw feed assembly (6), the camera assembly, the attitude adjustment device (11), and the power supply module are all electrically connected to the control module.

8. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 6, characterized in that: The camera component is a camera.

9. The biomimetic manta ray underwater robot for intelligent maintenance of marine ranch cages according to claim 4, characterized in that: Several of the nozzles (8) are directed toward the outside of the biomimetic manta ray body (3).

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