An intelligent monitoring bionic fish platform, an underwater intelligent monitoring method and an electronic device

Abstract

The application discloses an intelligent monitoring bionic fish platform, an underwater intelligent monitoring method and an electronic device. The intelligent monitoring bionic fish platform comprises a fish-shaped shell, a bionic propulsion mechanism, a gas bag system, a multi-parameter sensing array and a microcontroller. The bionic propulsion mechanism is used for driving the underwater movement of the intelligent monitoring bionic fish platform. The gas bag system comprises a micro-metering pump, two liquid storage bags and a flexible reaction gas bag. The micro-metering pump is used for pumping a chemical reaction solution into the flexible reaction gas bag. The multi-parameter sensing array is used for synchronously collecting pressure, water temperature, water quality and attitude sensing data of a water body, and transmitting original signals to the microcontroller. The microcontroller is internally provided with a trained and optimized light-weight neural network model, which is used for performing real-time temperature drift compensation and flow field motion noise compensation according to the multi-parameter sensing data during the navigation of the bionic fish platform, and outputting corrected high-precision pressure depth values. Meanwhile, control signals are sent to the bionic propulsion mechanism or the gas bag system.

Description

Technical Field

[0001] This application belongs to the field of underwater mobile monitoring and intelligent sensing technology, specifically relating to an intelligent monitoring biomimetic fish platform, an underwater intelligent monitoring method, and electronic equipment. Background Technology

[0002] Currently, there are various monitoring methods for monitoring water quality and hydrological parameters in inland water bodies (such as rivers, lakes, and reservoirs) and nearshore sea areas. These include fixed monitoring, manual shipborne mobile monitoring, remotely operated vehicles (ROVs), and autonomous underwater vehicles (AUVs).

[0003] However, fixed monitoring buoy stations are sparsely distributed, resulting in insufficient spatial representativeness of the data; manual shipborne mobile monitoring is costly, infrequent, and subject to weather and sea conditions; while traditional ROVs or AUVs are typically expensive and bulky, and the water flow disturbances generated by their propellers can severely interfere with in-situ sensor readings. Furthermore, their complex operation and maintenance requirements make them unsuitable for widespread application in teaching, research, and routine inspection scenarios. Therefore, mainstream methods still suffer from limitations such as bulky and expensive equipment, poor mobility, data susceptibility to motion interference, and low levels of intelligence. Summary of the Invention

[0004] The purpose of this application is to provide an intelligent monitoring bionic fish platform, an underwater intelligent monitoring method, and an electronic device, which can solve the problems of bulky and expensive equipment, poor mobility, data being easily interfered with by movement, and low level of intelligence.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide an intelligent monitoring bionic fish platform. The intelligent monitoring bionic fish platform includes a fish-shaped outer shell, a bionic propulsion mechanism, an airbag system, a multi-parameter sensor array, and a microcontroller. The bionic propulsion mechanism is deployed in the tail section of the fish-shaped outer shell, the airbag system is deployed in the central main compartment area of ​​the fish-shaped outer shell, the multi-parameter sensor array is integrated in the head compartment or the central main compartment, and the microcontroller is fixed within the electronics compartment of the central main compartment. The biomimetic propulsion mechanism is used to drive the underwater maneuver of the intelligent monitoring biomimetic fish platform; The airbag system is a chemical energy precision buoyancy mechanism, comprising a micro metering pump, two storage bags containing chemical reaction solutions respectively, and a flexible reaction airbag; the micro metering pump is used to pump the chemical reaction solutions from the two storage bags into the flexible reaction airbag to generate gas, thereby achieving stepless adjustment of buoyancy; The multi-parameter sensor array is used to synchronously collect pressure, water temperature, water quality and attitude sensing data of the water body, and transmit the raw signals to the microcontroller; The microcontroller has a built-in trained and optimized lightweight neural network model, which is used to perform temperature drift compensation and flow field motion noise compensation in real time based on the multi-parameter sensing data during the navigation of the bionic fish platform, and output a corrected high-precision pressure depth value; at the same time, it sends control signals to the bionic propulsion mechanism or the airbag system.

[0006] Optionally, the fish-shaped outer shell has a fluid dynamic streamlined structure, consisting of a head compartment, a middle main compartment, and a tail compartment assembled by a waterproof quick-release structure, and the internal key electronic compartment is sealed with O-rings and waterproof glue.

[0007] Optionally, the biomimetic propulsion mechanism includes a waterproof servo, a transmission link, and a tail fin, which drives the tail fin to move forward, turn, and hover underwater by biomimetic oscillation.

[0008] Optionally, the airbag system is a chemical energy precision buoyancy mechanism, including two micro metering pumps, storage bags containing chemical reaction solutions, a flexible reaction airbag, and an electromagnetic exhaust valve; by controlling the micro metering pumps to pump the reaction solution into the flexible reaction airbag to generate gas, the volume of the flexible reaction airbag can be adjusted to achieve stepless control of buoyancy.

[0009] Optionally, the airbag system further includes a water-drawing flexible rubber tube and a water pump motor, wherein the micro metering pump is in fluid communication with the flexible reactive airbag through the water-drawing flexible rubber tube; the two liquid storage bags respectively contain citric acid solution and sodium bicarbonate solution; wherein, The water pump motor is used to drive the micro metering pump to draw the chemical reaction solution from the two storage bags and pump it into the flexible reaction airbag.

[0010] Optionally, the airbag system further includes an electromagnetic exhaust valve and an airbag control motor, wherein the electromagnetic exhaust valve is mounted side-by-side with the pump body module of the micro metering pump on the control board; wherein, The airbag control motor is used to drive the opening or closing of the electromagnetic exhaust valve, thereby enabling the controlled discharge of gas from the flexible reactive airbag.

[0011] Optionally, the multi-parameter sensor array is integrated into the head and body of the bionic fish. The multi-parameter sensor array includes a pressure sensor, a temperature sensor, and a water quality sensor. The temperature sensor is arranged adjacent to the pressure sensor, and the probe of the water quality sensor is fixed to the flow window of the fish-shaped outer shell via a waterproof sealing interface. The pressure sensor is used to collect the static pressure of the water body, and the pressure-sensing diaphragm is connected to the external water body through the pressure guide hole in the body; The temperature sensor is used to collect water temperature data; The water quality sensor is used to monitor the total dissolved solids content in water.

[0012] Optionally, the intelligent monitoring bionic fish platform also includes a wireless communication module for forming a local area network with the host computer to achieve real-time wireless data transmission. The microcontroller is also used for: Drive and acquire raw data from the multi-parameter sensing array in real time; The system analyzes the control commands sent by the host computer and coordinates the control of the bionic propulsion mechanism and the airbag system to complete underwater maneuvering. The pressure, water temperature, total dissolved solids, and attitude data, after being corrected by the lightweight neural network model, are packaged and sent to the host computer via the wireless communication module.

[0013] Optionally, the lightweight neural network model is trained based on a simulated flow field multi-pose motion dataset and converted into a microcontroller-compatible format after quantization optimization.

[0014] Secondly, embodiments of this application provide an underwater intelligent monitoring method, which is applied to the intelligent monitoring biomimetic fish platform described in the first aspect, and the method includes: The system synchronously collects raw data on water pressure, water temperature, water quality, and attitude using a multi-parameter sensor array, and transmits the collected raw data to the microcontroller. The microcontroller calls the built-in trained and optimized lightweight neural network model to perform temperature drift compensation and flow field motion noise compensation in real time based on the received multi-parameter sensor data during the underwater navigation of the biomimetic fish platform, and outputs the corrected high-precision pressure and depth values. The microcontroller sends control signals to control the bionic propulsion mechanism to complete underwater maneuvering, or to control the airbag system, which is a chemical energy-based precise buoyancy mechanism, to work. The chemical reaction solution inside the two storage bags is pumped into the flexible reaction airbag by a micro metering pump to generate gas. The buoyancy of the intelligent monitoring bionic fish platform is infinitely adjusted by changing the volume of the airbag based on the change in the amount of gas.

[0015] Thirdly, embodiments of this application provide an electronic device that includes the intelligent monitoring bionic fish platform as described in the first aspect.

[0016] Beneficial effects: In this embodiment, firstly, the biomimetic maneuvering, stepless buoyancy, multi-parameter sensing, and microcontroller are integrated into one unit, enabling the intelligent monitoring biomimetic fish platform to flexibly enter narrow and complex waters that are difficult for traditional fixed monitoring stations or large ROVs / AUVs to reach. Secondly, the intelligent monitoring biomimetic fish platform features miniaturization and intelligent design, reducing the operation and maintenance threshold. While significantly improving monitoring accuracy and intelligence, it effectively controls hardware costs, improving cost-effectiveness and reliability. Thirdly, by using a water pump-driven motor to drive two metering pumps to quantitatively pump the reaction solution into a flexible reaction gasbag to produce gas through chemical reaction, the amount of gas produced by chemical reaction can be precisely controlled, achieving stepless continuous adjustment of gasbag volume and buoyancy. Finally, the microcontroller locally integrates a quantized neural network model, which can perform real-time inference without uploading to a host computer. It completes dual compensation for temperature drift and flow field motion noise with low latency, correcting the rough measurement values ​​under dynamic navigation to high-precision depth data close to static fixed-point measurement. It can dynamically compensate for measurement errors caused by temperature drift and hydrodynamic noise during platform movement, solving the core problem of poor mobile monitoring data quality. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an intelligent monitoring bionic fish platform provided in an embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the workflow of an intelligent monitoring biomimetic fish platform provided in an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the structure of an airbag system provided in an embodiment of this application.

[0020] Figure 4 This is a flowchart of an underwater intelligent monitoring method provided in an embodiment of this application.

[0021] Figure 5 This is a block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

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

[0023] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character "" generally indicates that the preceding and following objects are in an "or" relationship.

[0024] Currently, mainstream methods for monitoring water quality and hydrological parameters in inland water bodies (such as rivers, lakes, and reservoirs) and nearshore sea areas still have significant limitations. Fixed monitoring buoy stations are sparsely distributed, resulting in insufficient spatial representativeness of the data; manual shipborne mobile monitoring is costly, infrequent, and subject to weather and sea conditions; while traditional remotely operated vehicles (ROVs) or autonomous underwater vehicles (AUVs) are usually expensive and bulky, and the water flow disturbances generated by their propulsion systems can severely interfere with in-situ sensor readings. Furthermore, their complex operation and maintenance requirements make them difficult to widely apply in teaching, research, and routine inspection scenarios.

[0025] In practical teaching of disciplines such as physics and environmental engineering, as well as in daily monitoring in industries such as aquaculture and ecological surveys, there is an urgent need for a lightweight monitoring solution that is autonomous, mobile, provides accurate measurements, delivers intuitive data, and is cost-effective. While some existing small underwater devices with integrated sensors have achieved preliminary mobility, they generally suffer from the following technical shortcomings: 1. Data quality is severely contaminated by motion noise: Sensor data is strongly coupled with flow field noise and attitude change inertial forces generated by the carrier's own motion, resulting in low reliability of raw data that has not been effectively processed.

[0026] 2. Low level of intelligence: It only has the functions of data acquisition and wireless transmission, and lacks the ability to perform real-time data processing, error compensation and intelligent diagnosis on the device side, resulting in insufficient data value mining.

[0027] 3. Poor system integration and maintainability: Sensors, controllers, power supplies and other modules are simply stacked together, lacking integrated design and standard interfaces, making calibration, repair and upgrades difficult.

[0028] 4. Unfriendly human-computer interaction: Data is mostly displayed as raw bitstreams or simple charts, lacking intelligent analysis and intuitive visualization tailored to application scenarios.

[0029] Therefore, developing a highly integrated intelligent monitoring platform that combines biomimetic fluid design, intelligent buoyancy control, multi-sensor fusion, embedded artificial intelligence (AI) real-time processing, and interactive visualization software is of great significance for promoting technological progress and widespread application in related fields.

[0030] To address the aforementioned issues, this application provides an intelligent monitoring bionic fish platform, an underwater intelligent monitoring method, and an electronic device. The intelligent monitoring bionic fish platform provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios.

[0031] Figure 1 This is a schematic diagram of the structure of an intelligent monitoring biomimetic fish platform provided in an embodiment of this application, as shown below. Figure 1 As shown, the intelligent monitoring bionic fish platform includes a fish-shaped outer shell 101, a bionic propulsion mechanism 102, an airbag system 103, a multi-parameter sensor array 104, and a microcontroller 105. The bionic propulsion mechanism 102 is deployed in the tail section of the fish-shaped outer shell 101, the airbag system 103 is deployed in the central main compartment area of ​​the fish-shaped outer shell 101, the multi-parameter sensor array 104 is integrated in the head compartment or the central main compartment, and the microcontroller 105 is fixed in the electronic compartment of the central main compartment; wherein, Bionic propulsion mechanism 102 is used to drive the underwater maneuver of the intelligent monitoring bionic fish platform; The airbag system 103 is a chemical energy precision sinking and buoyancy mechanism, including a micro metering pump, two liquid storage bags containing chemical reaction solutions respectively, and a flexible reaction airbag; the micro metering pump is used to pump the chemical reaction solutions in the two liquid storage bags into the flexible reaction airbag to generate gas and achieve stepless adjustment of buoyancy; The multi-parameter sensor array 104 is used to synchronously collect pressure, water temperature, water quality and attitude sensing data of the water body, and transmit the raw signals to the microcontroller 105. The microcontroller 105 has a built-in trained and optimized lightweight neural network model, which is used to perform real-time temperature drift compensation and flow field motion noise compensation based on multi-parameter sensor data during the navigation of the bionic fish platform, and output the corrected high-precision pressure depth value; at the same time, it sends control signals to the bionic propulsion mechanism 102 or the airbag system 103.

[0032] In some embodiments, the biomimetic propulsion mechanism 102 is a propulsion structure composed of biomimetic fins, servos, and connecting rods, which imitates the tail-wagging movements of real fish to drive the entire biomimetic fish forward, backward, turn, and hover in the water, thus achieving free underwater movement.

[0033] In some embodiments, the airbag system 103 is a chemical energy precision buoyancy mechanism, including two micro metering pumps, storage bags respectively containing chemical reaction solutions, a flexible reaction airbag and an electromagnetic exhaust valve; by controlling the micro metering pumps to pump the reaction solution into the flexible reaction airbag to generate gas, the volume of the flexible reaction airbag is adjusted to achieve stepless control of buoyancy.

[0034] In some embodiments, stepless adjustment refers to the ability to continuously and finely adjust buoyancy, rather than just having two settings: surfacing and diving. By changing the amount of gas inside the airbag, the bionic fish can be precisely controlled to surface, dive, and stop at any water depth, achieving silent and stable buoyancy control.

[0035] In some embodiments, the multi-parameter sensor array 104 is used to collect time-series multi-source data such as raw pressure values, water temperature, fish posture, and motion state time-series data.

[0036] For example, the multi-parameter sensor array 104 is used to acquire the current water depth (meters), water temperature (degrees Celsius), water pressure (Mbar), and total dissolved solids (TDS) value (mg / L).

[0037] Understandably, during ordinary underwater mobile monitoring, the movement of fish, water flow disturbances, and temperature changes can all cause error drift in pressure and depth sensors. By embedding a lightweight neural network into the main control chip and performing edge computing on the device's local side, the error caused by temperature drift and motion noise from the swimming flow field can be offset in real time, correcting the originally large dynamic measurement data into a high-precision depth value that is close to that of static fixed-point measurement.

[0038] In some embodiments, a lightweight neural network model (Long Short-Term Memory, LSTM) is embedded in the microcontroller 105 to access time-series multi-source data in real time via edge computing. The model pre-learns the coupling law of temperature-drift error and flow field motion-measurement noise, fits the error components in real time and performs cancellation correction, and outputs a compensated high-precision pressure depth value.

[0039] For example, the temperature sensor synchronously collects real-time water temperature; the neural network model has been pre-trained to establish a mapping relationship between water temperature and sensor temperature drift error; the microcontroller 105 dynamically calculates the offset of the pressure sensor caused by temperature based on the current water temperature; and the temperature drift component is removed from the original pressure data to complete the temperature drift compensation.

[0040] For example, the multi-parameter sensor array 104 collects real-time data on fish posture, swaying state, and water flow disturbance; the LSTM lightweight model learns the measurement noise patterns under different maneuvering postures and different flow field disturbances; the microcontroller 105 calculates the noise error components caused by motion and flow field in real time; and the motion noise interference is subtracted from the original pressure data to achieve flow field motion noise compensation.

[0041] In summary, in this embodiment, firstly, the integration of biomimetic maneuvering, stepless buoyancy, multi-parameter sensing, and a microcontroller enables the intelligent monitoring biomimetic fish platform to flexibly enter narrow and complex waters that are difficult for traditional fixed monitoring stations or large ROVs / AUVs to reach; secondly, the intelligent monitoring biomimetic fish platform features miniaturization and intelligent design, reducing the barriers to operation and maintenance, and effectively controlling hardware costs while significantly improving monitoring accuracy and intelligence, thus enhancing cost-effectiveness and reliability; thirdly, the use of a water pump-driven motor to power two metering pumps quantitatively pumps the reaction solution into a flexible reaction gasbag to produce gas through a chemical reaction, enabling precise control of the gas production and achieving stepless continuous adjustment of the gasbag volume and buoyancy; finally, the microcontroller locally integrates a quantized neural network model, which allows for real-time inference without uploading to a host computer, achieving low-latency dual compensation for temperature drift and flow field noise, correcting the coarse measurement values ​​under dynamic navigation to high-precision depth data close to static fixed-point measurements, and dynamically compensating for measurement errors caused by temperature drift and hydrodynamic noise during platform movement, thus solving the core problem of poor mobile monitoring data quality.

[0042] In some embodiments, the fish-shaped outer shell 101 is a fluid dynamic streamlined structure, consisting of a head compartment, a middle main compartment, and a tail compartment assembled by a waterproof quick-release structure, and the internal key electronic compartment is sealed with O-rings and waterproof glue.

[0043] In one possible implementation, the fish-shaped shell 101 consists of an outer fish-shaped shell and a waterproof structure inside the fish-shaped shell.

[0044] For example, see Figure 2 The fish-shaped outer shell is made of high-strength, water-resistant polylactic acid (PLA).

[0045] One possible implementation involves designing to mimic the body contours of fish, aiming to reduce water resistance during underwater navigation, lower energy consumption, improve maneuverability, and minimize disturbance to the surrounding water (avoiding interference with water quality monitoring data), thus meeting the needs of underwater mobile monitoring.

[0046] In one possible implementation, the entire structure is divided into a head compartment, a middle main compartment, and a tail compartment, which are spliced ​​together by a waterproof quick-release structure. This facilitates the later disassembly and maintenance of internal electronic components (such as sensors and microcontrollers 105) while ensuring the waterproof sealing of the splice joints to prevent water from seeping into the compartment.

[0047] In one possible implementation, the internal critical electronics compartment is used to store precision components such as the microcontroller 105, sensors, and circuitry.

[0048] For example, O-rings are installed at the joints of the hull, forming a sealing barrier after compression to prevent water from seeping in through the gaps; waterproof glue potting completely isolates electronic components from the external environment, further improving the waterproof level and ensuring that the internal electronic equipment of the bionic fish will not be soaked in water or short-circuited when it works underwater for a long time.

[0049] In this way, the fish-shaped shell ensures the reliability of the entire machine when working underwater, and the combination of O-ring seals and waterproof glue potting provides dual protection, allowing the bionic fish to flexibly and stably complete monitoring tasks at different depths and in different areas underwater.

[0050] In some embodiments, the biomimetic propulsion mechanism 102 includes a waterproof servo, a transmission link, and a tail fin, which drives the tail fin to move forward, turn, and hover underwater by biomimetic oscillation.

[0051] In one possible implementation, the waterproof servo motor serves as a power output unit, receiving control commands from the microcontroller 105 and outputting power. The power is then transmitted to the tail fin via a transmission link, driving the tail fin to perform periodic biomimetic oscillations in a manner that mimics the natural swimming posture of fish.

[0052] In one possible implementation, by adjusting the amplitude, frequency, and direction of the tail fin's oscillation, the intelligent monitoring bionic fish platform can perform various maneuvering operations underwater, such as forward movement, turning, and hovering, ensuring that the platform can flexibly reach the underwater monitoring target area.

[0053] In this way, the biomimetic tail fin oscillation propulsion method, unlike propeller propulsion, causes minimal underwater water flow disturbance, making it less likely to stir up bottom sediment or disrupt the original flow field of the water body. This method is suitable for silent monitoring of rivers, lakes, aquaculture areas, and ecologically sensitive water areas. At the same time, by precisely controlling the frequency, amplitude, and sway angle of the tail fin oscillation through the servo motor, it can flexibly realize the biomimetic fish's underwater forward movement, turning in place, and hovering at a fixed point. It can enter complex water areas that are difficult for traditional monitoring equipment to reach, such as narrow river channels, shallow near-shore waters, and gaps between obstacles.

[0054] In some embodiments, the intelligent monitoring bionic fish platform also includes a wireless communication module for forming a local area network with the host computer to achieve real-time wireless data transmission.

[0055] In one possible implementation, the wireless communication module is based on the Wi-Fi protocol, enabling the intelligent monitoring bionic fish platform to form a local area network with the host machine, thus achieving stable and real-time data transmission.

[0056] For example, see Figure 2 The wireless communication module is the communication antenna 3 that connects to the host computer and is mounted on the fish-shaped outer shell 4.

[0057] In one possible implementation, the corrected data such as pressure, water temperature, TDS, and attitude are packaged together with the device status information and sent through a wireless communication module.

[0058] In this way, integrating data acquisition and wireless transmission functions into the intelligent monitoring bionic fish platform is beneficial for real-time data processing, error compensation, and intelligent diagnosis at the device end.

[0059] In some embodiments, the microcontroller 105 is further configured to: Drive and acquire raw data from the multi-parameter sensor array 104 in real time; The system analyzes the control commands sent by the host computer and coordinates the control of the bionic propulsion mechanism 102 and the airbag system 103 to complete underwater maneuvering. The pressure, water temperature, total dissolved solids, and attitude data, after being corrected by the neural network model, are packaged and sent to the host computer via a wireless communication module.

[0060] In some embodiments, the lightweight neural network model is trained on a simulated flow field multi-pose motion dataset and then converted into a microcontroller-compatible format after quantization optimization.

[0061] For example, an underwater simulation environment is built in the laboratory beforehand to simulate different water flow speeds and water depths. The bionic fish is then made to perform various motion postures such as straight movement, turning, surfacing, diving, and tilting hovering. Simultaneously, a large amount of paired data, including water temperature, original pressure, actual water depth, and posture angle, is recorded for each state. This massive amount of on-site simulation data is then compiled to form a multi-posture motion dataset of the simulated flow field. This dataset is input into a large neural network on a computer for learning, allowing the model to autonomously understand patterns: what water temperature causes pressure sensor drift, and what kind of fish undulation causes how much interference in water flow measurement, establishing a correspondence between errors and measured data. The model is then quantized and compressed, simplifying parameters, reducing computational complexity, and eliminating redundant calculations, thus lowering computational power and memory usage. The optimized and compressed model is then converted into a file format that can be directly recognized and run by microcontrollers and embedded main controllers, and burned into the bionic fish's built-in microcontroller. When the device is deployed underwater, it can quickly and locally perform real-time compensation for temperature drift and flow field noise, without requiring a network connection or reliance on a host computer.

[0062] Figure 2 This is a schematic diagram of the workflow of an intelligent monitoring biomimetic fish platform provided in an embodiment of this application.

[0063] See Figure 2 In actual operation, the intelligent monitoring bionic fish platform 2 (and) Figure 1 The microcontroller 105 (corresponding to the mobile device 5 and the computer data processing terminal 6) establishes a wireless communication connection with the same local area network. The computer data processing terminal 6 can pre-issue route planning and monitoring task instructions, while the mobile device 5 is used to display the platform's operating status and monitoring data in real time. Both can send control instructions to the core control center of the intelligent monitoring bionic fish platform 2 through the communication antenna 3. After receiving the instructions, the core control center of the intelligent monitoring bionic fish platform 2 drives the servo motor power unit 1 to drive the multi-segment bionic tail to swing, realizing underwater maneuvering. At the same time, it drives and collects the raw data of the multi-parameter sensor array. After temperature drift and flow field motion noise compensation are completed by the built-in lightweight neural network model, the corrected pressure depth, water temperature, water quality and attitude data are transmitted back to the host computer through the communication antenna 3. After receiving the data, the host computer data processing terminal 6 completes the data storage, analysis and visualization processing, and the mobile device 5 synchronously displays the real-time monitoring results, realizing intelligent monitoring and remote control of the underwater environment.

[0064] In some embodiments, the fish-shaped outer shell 4 is a multi-segment biomimetic tail body with a multi-joint hinge structure. With the built-in servo motor, it can realize biomimetic swing propulsion, while accommodating a buoyancy adjustment mechanism, a sensor array, and an AI edge computing module.

[0065] In some embodiments, during actual operation, the system preparation work is first completed: check the sealing performance of each compartment of the intelligent monitoring bionic fish platform, confirm that there is no leakage in the waterproof structure, and check that the power supply module built into the platform has sufficient power. Then, the platform is placed stably in the water area to be tested. On the shore, the host computer equipment is started, the computer's Wi-Fi module is configured, and it is connected to the same local area network as the wireless communication module of the bionic fish platform. The host computer visualization analysis software is run. The software will automatically scan and establish a wireless communication connection with the bionic fish platform. The interface displays the online status of the device, and the preparation before operation is completed.

[0066] In some embodiments, after the system is started, the bionic fish platform automatically enters the working state: the multi-parameter sensor array inside the platform collects water static pressure, water temperature, water quality and attitude data in real time according to the preset acquisition frequency. The core microcontroller synchronously calls the built-in lightweight neural network model to perform temperature drift compensation and flow field motion noise compensation on the sensor data, and generates corrected high-precision depth data. At the same time, the host computer software can remotely control the waterproof servo motor of the bionic propulsion mechanism to drive the multi-segment bionic tail fin to swing through directional control commands, so as to realize the platform's forward movement, turning and fixed-point hovering maneuver in the water area and explore different monitoring areas.

[0067] In some embodiments, when the monitoring depth needs to be changed, the host computer sends an ascent or descent command, and the platform activates the chemical energy airbag system: the microcontroller drives the water pump motor to control the micro metering pump to draw citric acid solution and sodium bicarbonate solution from the storage bag, pumps them into the flexible reaction airbag to produce gas through a chemical reaction, or the airbag control motor drives the electromagnetic exhaust valve to expel the gas from the airbag, smoothly adjusting the platform's buoyancy and achieving stepless control of underwater depth; wherein, the charging cable provides stable operating power for the electrical components of the entire airbag system, one end of which is connected to the power supply module of the bionic fish platform, and the other end is electrically connected to the water pump motor, the airbag control motor, and the electromagnetic exhaust valve respectively, ensuring the continuous and reliable operation of the water pump motor, the airbag control motor, the electromagnetic exhaust valve and other electrical components, ensuring that the airbag system can stably achieve the buoyancy adjustment function and adapt to the long-term underwater monitoring operation requirements of the bionic fish platform.

[0068] In some embodiments, during the platform's movement and buoyancy monitoring process, the host computer software receives and displays the corrected monitoring data such as water depth, water temperature, water pressure, and total dissolved solids content in real time. At the same time, it generates dynamic data curves that change over time, intuitively presenting the parameter changes on the platform's movement trajectory, thereby realizing real-time monitoring of hydrology and water quality at different locations and depths in the water area.

[0069] In some embodiments, after completing the preset monitoring task, the host computer software sends a termination command, and the bionic fish platform stops collecting sensor data. The host computer software automatically stores the entire time-series data of this operation, supports subsequent data playback, curve analysis, and table format export, and provides basic data support for subsequent data processing and analysis.

[0070] The above technical solutions, through a highly integrated intelligent monitoring platform that combines biomimetic fluid design, intelligent buoyancy control, multi-sensor fusion, embedded AI real-time processing, and interactive visualization software, are of great significance for promoting technological progress and widespread application in related fields.

[0071] In some embodiments, the airbag system 103 is a chemical energy precision buoyancy mechanism, including two micro metering pumps, storage bags respectively containing chemical reaction solutions, a flexible reaction airbag and an electromagnetic exhaust valve; by controlling the micro metering pumps to pump the reaction solution into the flexible reaction airbag to generate gas, the volume of the flexible reaction airbag is adjusted to achieve stepless control of buoyancy.

[0072] For example, see Figure 3 The flexible reaction airbag can be an inflatable rubber airbag 7. The metering pump 10 is fluidly connected to the inflatable rubber airbag 7 through the water-drawing soft rubber tube 8. The water pump motor 9 can drive the metering pump 10 to draw the reaction solution in the storage bag and pump it into the inflatable rubber airbag 7. The airbag volume is changed by producing gas through chemical reaction. The airbag control motor 11 is linked with the electromagnetic exhaust valve to control the discharge of gas in the inflatable rubber airbag 7, thereby reducing buoyancy.

[0073] It should be noted that this system utilizes the chemical reaction between citric acid and sodium bicarbonate to generate gas for buoyancy adjustment, abandoning traditional piston-type, screw-type, and high-pressure gas tank-type buoyancy structures. With no mechanical reciprocating motion, vibration, or noise, it operates silently and discreetly underwater, without disturbing bottom sediment or flow fields, thus avoiding interference with water quality and hydrological monitoring data. It is suitable for low-disturbance monitoring scenarios in ecological rivers and lakes, aquaculture waters, and sensitive near-shore waters. The two chemical reaction solutions are stored in separate independent storage bags, normally remaining in contact and preventing premature reaction. The gas production reaction only occurs after controlled pumping into the gas chamber, ensuring controllable start-up and shutdown, safe reaction, no leakage, and no premature failure. It supports multiple reciprocating buoyancy adjustments, has a long service life, and is easy to maintain.

[0074] In some embodiments, the airbag system 103 also includes a charging cable for providing stable power to the electrical components of the entire airbag system 103. One end of the charging cable is connected to the power supply module of the bionic fish platform, and the other end is electrically connected to the water pump motor, the airbag control motor, and the electromagnetic exhaust valve, respectively, to ensure that the water pump motor, the airbag control motor, the electromagnetic exhaust valve and other electrical components work continuously and reliably, and to ensure that the airbag system 103 can stably realize the buoyancy adjustment function and adapt to the long-term underwater monitoring operation requirements of the bionic fish platform.

[0075] In this way, a chemical energy-precision floating airbag system 103 is adopted. Citric acid solution and sodium bicarbonate solution are stored independently in two storage bags. The reaction solution is pumped into the flexible reaction airbag by two metering pumps driven by a water pump motor through a soft rubber tube to generate gas through chemical reaction. The airbag control motor is linked with an electromagnetic exhaust valve to achieve controllable exhaust of the airbag. The whole system abandons the traditional mechanical piston floating structure, which does not require mechanical reciprocating motion. It operates silently underwater with low disturbance and no vibration or noise, and does not easily agitate the bottom sediment and flow field, effectively avoiding interference with water quality and hydrological monitoring. Furthermore, the amount of gas generated by chemical reaction can be precisely controlled by the quantitative liquid delivery of the micro water pump, and the volume and buoyancy of the airbag can be continuously adjusted steplessly. This allows the biomimetic fish platform to hover stably at any depth underwater, meeting the needs of precise monitoring of water stratification and fixed points.

[0076] In some embodiments, the airbag system 103 further includes a water-pumping flexible rubber tube and a water pump motor; a micro-metering pump is fluidly connected to the flexible reactive airbag via the water-pumping flexible rubber tube; two storage bags respectively contain citric acid solution and sodium bicarbonate solution; wherein... A water pump motor is used to drive a micro metering pump to draw chemical reaction solutions from two storage bags and pump them into a flexible reaction gasbag.

[0077] In one possible implementation, one end of the flexible tubing is connected to a storage bag, a metering pump is connected in the middle, and the other end is connected to an air bladder, forming a closed passage through which the liquid can flow smoothly.

[0078] Understandably, the flexible rubber tubing serves as a fluid transport channel, connecting the micro-metering pump with the flexible reaction airbag, allowing the reaction solution to be smoothly delivered into the airbag. When the two liquids meet inside the airbag, a chemical reaction occurs immediately, generating carbon dioxide gas, which slowly inflates the airbag. As the airbag volume increases and the volume of water displaced increases, the biomimetic fish's buoyancy increases, and it begins to float.

[0079] In one possible implementation, the two bags are independent and do not mix with each other. One bag is specifically for citric acid liquid, and the other is specifically for sodium bicarbonate liquid. They are stored separately under normal circumstances and will not be mixed or reacted in advance, ensuring safety and controllability.

[0080] In one possible implementation, a water pump motor serves as the power source, driving two miniature metering pumps after being powered on. One metering pump draws liquid from a citric acid storage bag, and the other draws liquid from a sodium bicarbonate storage bag, precisely extracting the liquid according to a set flow rate and sending it together into the flexible reaction gasbag via a soft rubber tube.

[0081] In this way, the water pump motor provides driving power for the micro metering pump, which can drive two micro metering pumps to quantitatively extract the reaction solution from the corresponding storage bag and transport it to the flexible reaction airbag through the water pumping soft rubber tube. The two solutions react chemically in the airbag to produce gas, which causes the airbag to expand and increase the overall buoyancy.

[0082] In some embodiments, the airbag system 103 further includes an electromagnetic exhaust valve and an airbag control motor, wherein the electromagnetic exhaust valve is mounted side-by-side with the pump body module of the micro metering pump on the control board; wherein, The airbag control motor is used to drive the opening or closing of the electromagnetic exhaust valve, enabling the controlled discharge of gas from the flexible reactive airbag.

[0083] In one possible implementation, when it is necessary to dive or reduce buoyancy, the airbag control motor drives the electromagnetic exhaust valve to open, releasing some of the gas in the airbag. The airbag then contracts, reducing buoyancy, allowing the bionic fish to dive. Closing the valve stabilizes the current depth, achieving stepless and precise hovering.

[0084] For example, see Figure 3 The airbag control motor 11 includes a control circuit for driving the electromagnetic exhaust valve and a valve body.

[0085] Understandably, integrating the electromagnetic exhaust valve and metering pump into the same control module is to make the gas generation or exhaust-related pipelines and control circuits of the entire buoyancy adjustment system more compact, so that they can be directly installed in the middle compartment of the bionic fish, reducing the space occupied inside the compartment.

[0086] In this way, the airbag control motor works in conjunction with the electromagnetic exhaust valve to open or close the electromagnetic exhaust valve in a controlled manner, thereby enabling the controlled discharge of gas inside the airbag. This reduces the airbag volume and buoyancy, and thus achieves stepless buoyancy adjustment for the bionic fish platform to float, dive, and hover at a constant depth underwater.

[0087] In some embodiments, the airbag system also includes a charging cable, which provides stable power to all electrical components of the entire airbag system (including the water pump motor, airbag control motor, and electromagnetic exhaust valve), ensuring the coordinated and reliable operation of all components of the airbag system and enabling stepless adjustment of platform buoyancy and precise control of underwater depth.

[0088] For example, see Figure 3 The airbag system includes a USB-C charging cable 12, which provides stable power to electrical components such as the water pump motor 9 and the airbag control motor 11.

[0089] In some embodiments, the charging cable provides power to the control circuit and power motor of the entire buoyancy mechanism, and can also be used for power supply and control signal transmission during the commissioning phase.

[0090] In some embodiments, a multi-parameter sensor array 104 is integrated into the head and body of the bionic fish. The multi-parameter sensor array 104 includes a pressure sensor, a temperature sensor, and a water quality sensor. The temperature sensor and pressure sensor are arranged adjacent to each other, and the probe of the water quality sensor is fixed to the flow window of the fish-shaped outer shell via a waterproof sealing interface. The pressure sensor is used to collect the static pressure of the water body, and the pressure-sensing diaphragm is connected to the external water body through the pressure guide hole in the body; Temperature sensors are used to collect water temperature data; Water quality sensors are used to monitor the total dissolved solids content in water.

[0091] In one possible implementation, the pressure sensor and temperature sensor are centrally installed inside the head cavity of the bionic fish, while the water quality sensor is arranged inside the side of the body. The entire system is hidden inside the fish-shaped shell, without being exposed or disrupting the streamlined shape.

[0092] In one possible implementation, the temperature sensor and the pressure sensor are placed adjacent to each other, in the same water environment and at the same height, so that they can simultaneously measure water depth, pressure and water temperature at the same time. The data are completely consistent, which facilitates the subsequent neural network to perform temperature drift compensation and correct depth errors.

[0093] In one possible implementation, a tiny pressure-conducting hole is drilled in the fish head shell, which leads directly to the pressure-sensing membrane of the internal pressure sensor. The water pressure of the river or lake outside presses directly onto the sensing membrane through the hole, allowing the sensor to measure the hydrostatic pressure of the water in real time and convert it into the actual underwater depth. The entire electronic circuit is sealed and waterproof inside the cabin, with only the pressure-sensing membrane in contact with the water through the hole.

[0094] In one possible implementation, a flow window is reserved on the side shell of the bionic fish, through which water can flow freely; the water quality sensor probe extends from inside the body and is fixed at the window, with the protrusion sealed with a waterproof sealing interface, sealing ring, and waterproof glue; this ensures that the probe can directly contact the flowing lake or river water to detect TDS water quality in real time, while also preventing lake water from seeping into the fish's body and damaging the circuitry.

[0095] In this way, a multi-parameter sensor array 104, consisting of pressure, temperature, and water quality sensors, is integrated and arranged inside the head and body of the bionic fish. The layout is compact and reasonable, facilitating the miniaturization and packaging of the entire device. The adjacent arrangement of the temperature and pressure sensors enables simultaneous acquisition of water temperature and hydrostatic pressure at the same location and moment, providing a precisely matched data source for subsequent temperature drift error compensation and effectively improving the accuracy of depth measurement correction. The pressure sensor directly connects the pressure-sensing diaphragm to the external water body through the pressure guide hole in the body, enabling it to accurately and sensitively detect changes in hydrostatic pressure. The water quality sensor probe is installed at the flow window position of the fish-shaped outer shell through a waterproof and sealed interface. This ensures that the probe is in full contact with the flowing water and can accurately monitor the total dissolved solids content in the water in real time, while also ensuring a reliable seal at the installation position to prevent water from seeping into the cabin and damaging the internal electrical components.

[0096] In summary, the existing underwater monitoring technology presented in this application embodiment offers significant comprehensive benefits. It innovatively combines a biomimetic fluid shape, low-disturbance tail fin propulsion, and silent chemical energy buoyancy control, endowing the platform with high underwater maneuverability and environmental friendliness, enabling it to flexibly reach complex and narrow waters that are difficult for traditional fixed equipment or large ROVs to access. More importantly, a specially trained long short-term memory artificial intelligence model, after quantitative optimization, is directly deployed on an embedded edge computing core, achieving real-time fusion and intelligent processing of multi-source sensor data such as pressure, temperature, and attitude. This dynamically compensates for measurement errors caused by temperature drift and hydrodynamic noise during platform movement, fundamentally solving the core problem of poor data quality in mobile monitoring and obtaining high-precision data comparable to static measurements. Based on this, the developed dedicated host computer software constructs a complete visualization and intelligent analysis closed loop. It not only provides intuitive functions such as equipment control and real-time data curve plotting but also performs preliminary water quality assessment and anomaly diagnosis, greatly improving user experience and data insight efficiency.

[0097] Figure 4 This is a flowchart of an underwater intelligent monitoring method provided in an embodiment of this application. See also... Figure 4 The method is applied to the intelligent monitoring bionic fish platform in the above embodiments, and the method includes the following steps.

[0098] S1. The raw data of water pressure, water temperature, water quality and attitude are collected synchronously through a multi-parameter sensor array, and the collected raw data are transmitted to the microcontroller. S2. By calling the built-in trained and optimized lightweight neural network model through the microcontroller, during the underwater navigation of the bionic fish platform, temperature drift compensation and flow field motion noise compensation are completed in real time based on the received multi-parameter sensor data, and the corrected high-precision pressure and depth values ​​are output. S3. Control signals are sent through the microcontroller to control the bionic propulsion mechanism to complete underwater maneuvering, or to control the airbag system, which is a chemical energy precision buoyancy mechanism, to work. S4. The chemical reaction solution inside the two storage bags is pumped into the flexible reaction airbag by a micro metering pump to generate gas. The volume of the airbag is changed by the change in the amount of gas, so as to realize stepless adjustment and intelligent monitoring of the buoyancy of the bionic fish platform.

[0099] Through the above technical solutions, firstly, by integrating biomimetic maneuverability, stepless buoyancy, multi-parameter sensing, and a microcontroller, the intelligent monitoring biomimetic fish platform can flexibly enter narrow and complex waters that are difficult for traditional fixed monitoring stations or large ROVs / AUVs to reach. Secondly, the intelligent monitoring biomimetic fish platform features miniaturization and intelligent design, reducing the barriers to operation and maintenance. While significantly improving monitoring accuracy and intelligence, it effectively controls hardware costs, improving cost-effectiveness and reliability. Thirdly, by using a water pump-driven motor to drive two metering pumps to quantitatively pump the reaction solution into a flexible reaction gasbag to produce gas through a chemical reaction, the platform can precisely control the amount of gas produced by the chemical reaction, achieving stepless continuous adjustment of the gasbag volume and buoyancy. Finally, the microcontroller locally integrates a quantified neural network model, enabling real-time inference without uploading to a host computer. It performs dual compensation for temperature drift and flow field motion noise with low latency, correcting the coarse measurement values ​​under dynamic navigation to high-precision depth data close to static fixed-point measurements. It can dynamically compensate for measurement errors caused by temperature drift and hydrodynamic noise during platform movement, solving the core problem of poor data quality in mobile monitoring.

[0100] Figure 5 This is a structural block diagram of an electronic device according to an exemplary embodiment. For example... Figure 5 As shown, the electronic device includes the intelligent monitoring bionic fish platform of the aforementioned embodiment.

[0101] In some embodiments, the electronic device includes: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, which causes the processor to execute the steps of the intelligent monitoring bionic fish platform of the foregoing embodiments.

[0102] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of an electronic device to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0103] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described intelligent monitoring bionic fish platform embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0104] This application also provides a computer program product, including a computer program that, when executed by a processor, implements an intelligent monitoring bionic fish platform.

[0105] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar parts between the various embodiments can be referred to each other.

[0106] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a predictive manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0110] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0111] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0112] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. An intelligent monitoring biomimetic fish platform, characterized in that, The intelligent monitoring bionic fish platform includes a fish-shaped outer shell, a bionic propulsion mechanism, an airbag system, a multi-parameter sensor array, and a microcontroller. The bionic propulsion mechanism is deployed in the tail section of the fish-shaped outer shell, the airbag system is deployed in the central main compartment area of ​​the fish-shaped outer shell, the multi-parameter sensor array is integrated in the head compartment or the central main compartment, and the microcontroller is fixed in the electronics compartment of the central main compartment. The biomimetic propulsion mechanism is used to drive the underwater maneuver of the intelligent monitoring biomimetic fish platform; The airbag system is a chemical energy precision buoyancy mechanism, comprising a micro metering pump, two storage bags containing chemical reaction solutions respectively, and a flexible reaction airbag; the micro metering pump is used to pump the chemical reaction solutions from the two storage bags into the flexible reaction airbag to generate gas, thereby achieving stepless adjustment of buoyancy; The multi-parameter sensor array is used to synchronously collect pressure, water temperature, water quality and attitude sensing data of the water body, and transmit the raw signals to the microcontroller; The microcontroller has a built-in trained and optimized lightweight neural network model, which is used to perform temperature drift compensation and flow field motion noise compensation in real time based on the multi-parameter sensing data during the navigation of the bionic fish platform, and output a corrected high-precision pressure depth value; at the same time, it sends control signals to the bionic propulsion mechanism or the airbag system.

2. The intelligent monitoring bionic fish platform according to claim 1, characterized in that, The fish-shaped outer shell is a streamlined structure with hydrodynamic properties. It is composed of a head compartment, a middle main compartment, and a tail compartment, which are assembled by a waterproof and quick-release structure. The internal key electronic compartment is sealed with O-rings and waterproof glue.

3. The intelligent monitoring bionic fish platform according to claim 1, characterized in that, The biomimetic propulsion mechanism includes a waterproof servo, a transmission link, and a tail fin, which enables underwater forward movement, turning, and hovering by driving the tail fin to oscillate biomimeticly.

4. The intelligent monitoring bionic fish platform according to claim 1, characterized in that, The airbag system also includes a water-drawing flexible rubber hose and a water pump motor. The micro metering pump is in fluid communication with the flexible reaction airbag through the water-drawing flexible rubber hose. The two liquid storage bags respectively contain citric acid solution and sodium bicarbonate solution. The water pump motor is used to drive the micro metering pump to draw the chemical reaction solution from the two storage bags and pump it into the flexible reaction airbag.

5. The intelligent monitoring bionic fish platform according to claim 4, characterized in that, The airbag system also includes an electromagnetic exhaust valve and an airbag control motor. The electromagnetic exhaust valve is mounted side-by-side with the pump body module of the micro metering pump on the control board. The airbag control motor is used to drive the opening or closing of the electromagnetic exhaust valve, thereby enabling the controlled discharge of gas from the flexible reactive airbag.

6. The intelligent monitoring bionic fish platform according to claim 1, characterized in that, The multi-parameter sensor array includes a pressure sensor, a temperature sensor, and a water quality sensor; the temperature sensor is arranged adjacent to the pressure sensor, and the probe of the water quality sensor is fixed to the flow window of the fish-shaped housing via a waterproof sealing interface; wherein, The pressure sensor is used to collect the static pressure of the water body, and the pressure-sensing diaphragm is connected to the external water body through the pressure guide hole in the body; The temperature sensor is used to collect water temperature data; The water quality sensor is used to monitor the total dissolved solids content in water.

7. The intelligent monitoring bionic fish platform according to claim 1, characterized in that, The intelligent monitoring bionic fish platform also includes a wireless communication module, which is used to form a local area network with the host computer to realize wireless real-time data transmission. The microcontroller is also used for: Drive and acquire raw data from the multi-parameter sensing array in real time; The system analyzes the control commands sent by the host computer and coordinates the control of the bionic propulsion mechanism and the airbag system to complete underwater maneuvering. The pressure, water temperature, total dissolved solids, and attitude data, after being corrected by the lightweight neural network model, are packaged and sent to the host computer via the wireless communication module.

8. The intelligent monitoring bionic fish platform according to claim 1, characterized in that, The lightweight neural network model is trained on a simulated flow field multi-pose motion dataset and converted into a microcontroller-compatible format after quantization optimization.

9. An underwater intelligent monitoring method, characterized in that, The method is applied to the intelligent monitoring biomimetic fish platform according to any one of claims 1 to 8, and the method includes: The system synchronously collects raw data on water pressure, water temperature, water quality, and attitude using a multi-parameter sensor array, and transmits the collected raw data to the microcontroller. The microcontroller calls the built-in trained and optimized lightweight neural network model to perform temperature drift compensation and flow field motion noise compensation in real time based on the received multi-parameter sensor data during the underwater navigation of the biomimetic fish platform, and outputs the corrected high-precision pressure and depth values. The microcontroller sends control signals to control the bionic propulsion mechanism to complete underwater maneuvering, or to control the airbag system, which is a chemical energy-based precise buoyancy mechanism, to work. The chemical reaction solution in two storage bags is pumped into a flexible reaction gasbag by a micro metering pump. The reaction generates gas, and the volume of the gasbag is changed by the change in the amount of gas, so as to achieve stepless adjustment of the buoyancy of the intelligent monitoring bionic fish platform.

10. An electronic device, characterized in that, Including the intelligent monitoring bionic fish platform as described in any one of claims 1-8.

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