Intelligent bionic fish
By using servo motors driven by the pectoral and caudal fins to simulate fish movement, and combining this with environmental perception from multiple sensors, the problem of disturbance and instability in the bionic fish during underwater observation was solved, enabling the acquisition of high-quality close-range image data.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HUADIAN TIBET ENERGY CO LTD
- Filing Date
- 2025-06-27
- Publication Date
- 2026-05-05
AI Technical Summary
Existing bionic fish, when used for underwater observation, suffer from water disturbance and noise generated by the propeller propulsion system, which disturbs the fish school, resulting in limited observation distance. Furthermore, in complex flow fields, the fish may deviate from their course and become unstable, leading to unstable image data.
It uses pectoral and caudal fins driven by servo motors to simulate the natural movement of fish. Combined with image sensors and control components, it can achieve close-range observation and attitude stabilization. It uses depth sensors, ultrasonic sensors and inertial measurement units for environmental perception and path adjustment.
It reduces disturbance to fish schools, improves close-range observation capabilities, enhances the reliability and accuracy of image data, adapts to complex flow fields, and ensures the stability and high quality of image data.
Smart Images
Figure CN224197953U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of biomimetic fish technology, and more specifically, to an intelligent biomimetic fish. Background Technology
[0002] As a novel underwater observation device, biomimetic fish have demonstrated unique application value in the ecological monitoring of natural waters. By replacing traditional manual survey methods with biomimetic movement mechanisms, they can achieve non-invasive tracking and observation of fish populations, providing continuous dynamic data support for resource assessment.
[0003] Current biomimetic fish technology primarily employs propeller propulsion systems. While these systems provide basic locomotion capabilities, the high-frequency rotation of the propellers generates water disturbances and noise that easily disturb fish schools, limiting observation distance and making it difficult to acquire high-resolution images of close-up biological behavior. Furthermore, rigid propulsion structures have poor adaptability in complex flow fields. When faced with sudden changes in flow velocity or increased water turbidity, they are prone to course deviation and attitude instability, leading to image data loss due to severe jitter or defocusing. Utility Model Content
[0004] The purpose of this invention is to provide an intelligent bionic fish that causes minimal disturbance to the water body, can acquire fish images at close range, and is highly adaptable to water flow, thereby improving the reliability and accuracy of image data acquisition.
[0005] The embodiments of this utility model are implemented as follows:
[0006] In one aspect, this utility model provides an intelligent bionic fish, comprising a fish body and a fish head and a fish tail respectively connected to opposite ends of the fish body; the fish tail is connected to a caudal fin, and a pectoral fin is provided at the connection between the fish head and the fish body; the interiors of the fish head, fish body, and fish tail are sequentially connected to form a receiving cavity, which is used to house a control component, a first servo motor, and a second servo motor, the first servo motor and the second servo motor being signal-connected to the control component; the first servo motor is driven and connected to the pectoral fin, and the control component can drive the pectoral fin to rotate and flap in a circular motion through the first servo motor; the second servo motor is driven and connected to the caudal fin, and the control component can drive the caudal fin to rotate and flap in a circular motion through the second servo motor; the fish head is provided with an image sensor, which is signal-connected to the control component for acquiring image information and transmitting the image information to the control component.
[0007] Optionally, it also includes a depth sensor disposed within the accommodating cavity, the depth sensor being used to acquire depth information of the intelligent bionic fish relative to the water surface; the depth sensor is signal-connected to the control component, and is used to transmit the depth information to the control component.
[0008] Optionally, it also includes an ultrasonic sensor disposed within the accommodating cavity, the ultrasonic sensor being used to acquire the height information of the intelligent bionic fish relative to the bottom of the water; the ultrasonic sensor is signal-connected to the control component, and is used to transmit the height information to the control component.
[0009] Optionally, it also includes a sonar surrounding the image sensor, which is used to emit sound waves and receive echoes reflected by the target; the sonar is signal-connected to the control component to transmit the echo signals to the control component.
[0010] Optionally, it also includes an inertial measurement unit disposed within the accommodating cavity. The inertial measurement unit is signal-connected to the first servo and the second servo respectively, and is used to detect the translational velocity, rotational velocity, translational acceleration and rotational acceleration of the pectoral fin and the caudal fin along the x-axis, y-axis and z-axis respectively, wherein the x-axis, y-axis and z-axis are perpendicular to each other. The inertial measurement unit is signal-connected to the control component to transmit the detection results to the control component.
[0011] Optionally, the image sensor includes a waterproof panoramic camera.
[0012] Optionally, the image sensor also includes at least one wide-angle motion camera, wherein when there are multiple wide-angle motion cameras, the multiple wide-angle motion cameras are evenly arranged around the periphery of the waterproof panoramic camera.
[0013] Optionally, it also includes a fill light positioned around the periphery of the image sensor.
[0014] Optionally, there are two pectoral fins, located on opposite sides of the junction of the fish body and head; there are two first servo motors, each connected to one pectoral fin.
[0015] Optionally, the intelligent bionic fish also includes a power supply component, which is disposed within the accommodating cavity and electrically connected to the control component, the first servo motor, the second servo motor, and the image sensor.
[0016] The beneficial effects of this utility model include:
[0017] This application provides an intelligent bionic fish, including a fish body and a fish head and a fish tail connected to opposite ends of the fish body; the fish tail is connected to a caudal fin, and a pectoral fin is provided at the connection between the fish head and the fish body; the interiors of the fish head, fish body, and fish tail are sequentially connected to form a receiving cavity, which is used to house a control component, a first servo motor, and a second servo motor, which are respectively signal-connected to the control component; the first servo motor is driven by the pectoral fin, and the control component can drive the pectoral fin to rotate and flap in a circular motion through the first servo motor; the second servo motor is driven by the caudal fin, and the control component can drive the caudal fin to rotate and flap in a circular motion through the second servo motor; through the arrangement of the pectoral fin and the caudal fin, the fish can achieve the following: This intelligent bionic fish mimics the natural movement of fish in water, generating minimal water disturbance and noise, thus reducing disturbance to fish schools and facilitating closer observation. Furthermore, the control components can adjust the deflection angle and flapping frequency of the pectoral and caudal fins according to the flow field environment, better maintaining course stability and attitude balance, reducing the possibility of image data loss due to severe shaking or defocusing, and improving adaptability and the effectiveness of observation data in complex flow fields. An image sensor is installed in the fish's head, connected to the control components to acquire and transmit image information. This intelligent bionic fish causes minimal water disturbance, enables close-range image acquisition of fish, and exhibits strong adaptability to water flow, improving the reliability and accuracy of image data acquisition. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 One of the structural schematic diagrams of the intelligent bionic fish provided in this embodiment of the utility model;
[0020] Figure 2 The second schematic diagram of the structure of the intelligent bionic fish provided in this embodiment of the present invention.
[0021] Icons: 100 - Intelligent bionic fish; 110 - Fish head; 120 - Fish body; 121 - Pectoral fin; 122 - First servo motor; 123 - Second servo motor; 130 - Fish tail; 131 - Tail fin; 140 - Control component; 150 - Image sensor; 160 - Depth sensor; 170 - Inertial measurement unit; 180 - Power supply component; 190 - Center of gravity adjustment component. Detailed Implementation
[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0025] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0026] Please refer to Figure 1 and Figure 2This embodiment provides an intelligent bionic fish 100, including a fish body 120 and a fish head 110 and a fish tail 130 respectively connected to opposite ends of the fish body 120; the fish tail 130 is connected to a caudal fin 131, and a pectoral fin 121 is provided at the connection between the fish head 110 and the fish body 120; the interiors of the fish head 110, fish body 120, and fish tail 130 are sequentially connected to form a receiving cavity, which is used to receive a control component 140, a first servo motor 122, and a second servo motor 123, and the first servo motor 122 and the second servo motor 123 are respectively connected to a control component 140. Component 140 is connected by a signal; the first servo motor 122 is driven by the pectoral fin 121, and the control component 140 can drive the pectoral fin 121 to deflect and flap in a circular motion through the first servo motor 122; the second servo motor 123 is driven by the caudal fin 131, and the control component 140 can drive the caudal fin 131 to deflect and flap in a circular motion through the second servo motor 123; the fish head 110 is equipped with an image sensor 150, which is connected by a signal to the control component 140, and is used to acquire image information and transmit the image information to the control component 140.
[0027] Specifically, the intelligent bionic fish 100 includes a fish head 110, a fish body 120 and a fish tail 130 connected in sequence. In order to facilitate other components inside the intelligent bionic fish 100, the interiors of the fish head 110, the fish body 120 and the fish tail 130 are connected in sequence to form a accommodating cavity.
[0028] Among them, such as Figure 1 and Figure 2 As shown, the fish tail 130 is connected to a caudal fin 131, which is controlled by a second servo motor 123. The output end of the second servo motor 123 is located on a connecting rod, which is connected to the caudal fin 131. The second servo motor 123 can drive the caudal fin 131 to rotate and flap in a circular motion. The control component 140 can adjust the rotation angle, flapping frequency, and flapping force of the caudal fin 131 through the second servo motor 123. To further improve the thrust of the caudal fin 131 and the accuracy of the fish's swimming angle, preferably, the caudal fin 131 is composed of two movable joints hinged together, which makes its free movement better. Of course, in addition to two movable joints, the caudal fin 131 can also have three movable joints, four movable joints, etc., and this application does not impose any limitations on this.
[0029] like Figure 1 As shown, a pectoral fin 121 is provided at the connection between the fish head 110 and the fish body 120, and the pectoral fin 121 is controlled by a first servo motor 122. The output end of the first servo motor 122 is provided on a connecting rod, which is connected to the pectoral fin 121. The first servo motor 122 can drive the pectoral fin 121 to deflect and flap in a circular motion. The control component 140 can adjust the rotation angle, flapping frequency and flapping force of the pectoral fin 121 through the first servo motor 122.
[0030] When the intelligent bionic fish 100 swims in the water, it mainly relies on the tail fin 131 for propulsion to ensure high propulsion efficiency; the pectoral fin 121 only needs to adjust the rotation angle slightly to fine-tune the direction of movement and the depth of the fish.
[0031] Compared to existing bionic fish that are propelled by propellers, this application uses a first servo motor 122 and a second servo motor 123 to drive the deflection and flapping of the pectoral fin 121 and the caudal fin 131, respectively. This can simulate the natural movement of fish swimming in water, resulting in less water disturbance and noise, thereby reducing disturbance to the fish school and facilitating closer observation of fish, overcoming the problem of limited observation distance.
[0032] The fish head 110 is equipped with an image sensor 150, which is signal-connected to the control component 140 for acquiring and transmitting image information to the control component 140. Optionally, the image sensor 150 is a waterproof panoramic camera. The control component 140 can process the image information to obtain information such as the species, quantity, and color of the fish. During the rotation and flapping of the pectoral fin 121 and caudal fin 131, the loss of image data due to severe shaking or defocusing is reduced, enabling the image sensor 150 to acquire high-resolution images of biological behavioral characteristics.
[0033] It should be noted that, in one possible implementation of this application, firstly, as... Figure 2 As shown, there are two pectoral fins 121, located on opposite sides of the connection between the fish body 120 and the head 110. There are also two first servo motors 122, positioned opposite each other, each connected to one pectoral fin 121, ensuring symmetrical arrangement of the two pectoral fins along the longitudinal section of the fish's body axis. This arrangement allows for more flexible swimming of the intelligent bionic fish 100. The rotation angle, flapping frequency, and force of the two pectoral fins 121 can all be controlled independently.
[0034] For example, when the intelligent bionic fish 100 needs to turn, it can generate the turning torque in the required direction by asymmetrically flapping its pectoral fins 121, or it can significantly deflect the symmetrical plane of the tail fin 131's swing to provide a larger turning torque. When necessary, the tail fin 131 can also be used in conjunction with the pectoral fins 121 to achieve rapid turning.
[0035] When the intelligent bionic fish 100 yaws slightly, it deflects the thrust direction of the tail fin 131 off the body axis by deflecting the plane of symmetry of the tail fin 131 swing (this plane of symmetry is the longitudinal section of the fish's body axis), thereby fine-tuning the swimming direction of the fish.
[0036] When the intelligent bionic fish 100 needs to move backward, the tail fin 131 remains stationary and extends backward along the body axis, while the pectoral fin 121 flaps in the opposite direction to the forward movement of the intelligent bionic fish 100 to generate a backward thrust. At this time, the tail fin 131 can also be slightly deflected to adjust the direction of backward movement.
[0037] When the intelligent bionic fish 100 needs to fine-tune its position, the pectoral fin 121 can generate forward, backward, turning, and translational forces through symmetrical or asymmetrical flapping, and the tail fin 131 can act as a rudder to further improve the position deflection accuracy.
[0038] Second, such as Figure 1 As shown, the intelligent bionic fish 100 is also equipped with a center of gravity adjustment component 190, which can control the pitch of the fish body.
[0039] Third, such as Figure 1 As shown, the intelligent bionic fish 100 also includes a power supply component 180, which is disposed within the accommodating cavity and electrically connected to the control component 140, the first servo motor 122, the second servo motor 123, and the image sensor 150. The power supply component 180 enables the intelligent bionic fish 100 to extend its operating time, further enhancing its observation reliability.
[0040] The intelligent bionic fish 100, with its pectoral fins 121 and caudal fins 131, mimics the natural movement of fish, resulting in minimal water disturbance and noise. This reduces disturbance to fish schools and facilitates closer observation. Furthermore, the control component 140 adjusts the deflection angle and flapping frequency of the pectoral and caudal fins 121 and 131 according to the flow field, maintaining better course stability and attitude balance. This reduces the risk of image data loss due to severe shaking or defocusing, improving adaptability in complex flow fields and the effectiveness of observation data. The fish head 110 is equipped with an image sensor 150, which is signal-connected to the control component 140 to acquire and transmit image information. The aforementioned intelligent bionic fish 100 minimizes water disturbance, enables close-range fish image acquisition, and exhibits strong adaptability to water flow, improving the reliability and accuracy of image data acquisition. In one possible embodiment of this application, the intelligent bionic fish 100 further includes a depth sensor 160 disposed in the accommodating cavity. The depth sensor 160 is used to acquire the depth information of the intelligent bionic fish 100 relative to the water surface. The depth sensor 160 is signal-connected to the control component 140 and is used to transmit the depth information to the control component 140.
[0041] In one possible embodiment of this application, the intelligent bionic fish 100 further includes an ultrasonic sensor disposed in the accommodating cavity. The ultrasonic sensor is used to acquire the height information of the intelligent bionic fish 100 relative to the bottom of the water. The ultrasonic sensor is signal-connected to the control component 140 and is used to transmit the height information to the control component 140.
[0042] Specifically, the ultrasonic sensor is used to acquire the height information of the intelligent bionic fish 100 relative to the bottom of the water. The control component 140 can obtain the real-time distance between the fish and the bottom or bank through the real-time height information acquired by the ultrasonic sensor, and compare this real-time distance with a preset safe distance. If the real-time distance is less than the preset safe distance, the control component 140 can adjust the deflection angle, flapping frequency, and flapping force of the pectoral fin 121 and caudal fin 131 respectively through the first servo motor 122 and the second servo motor 123, thereby adjusting the swimming path of the fish and allowing the intelligent bionic fish 100 to return to the safe area. This avoids the intelligent bionic fish 100 from colliding with underwater obstacles or the bank, ensuring the normal operation and service life of the intelligent bionic fish 100.
[0043] In one possible implementation of this application, such as Figure 1 As shown, the intelligent bionic fish 100 also includes a depth sensor 160 disposed in the accommodating cavity. The depth sensor 160 is used to acquire the depth information of the intelligent bionic fish 100 relative to the water surface. The depth sensor 160 is signal-connected to the control component 140 and is used to transmit the depth information to the control component 140.
[0044] Specifically, the depth sensor 160 is used to acquire depth information of the intelligent bionic fish 100 relative to the water surface. The control component 140 can obtain the real-time depth of the fish in the water from the real-time depth signal acquired by the depth sensor 160 and compare the real-time depth with the target depth. If the real-time depth is within the target depth range, the current swimming posture is maintained; if the real-time depth exceeds the target depth range, the pectoral fin 121 is deflected by the first servo motor 122 to provide upward or downward buoyancy until the fish readjusts to the target depth range.
[0045] By setting the depth sensor 160, the intelligent bionic fish 100 can accurately maintain the target depth, ensuring effective monitoring of fish populations at specific water layers, improving the relevance and accuracy of monitoring data, and reducing interference caused by depth fluctuations in monitoring work, thereby improving the quality and reliability of monitoring data.
[0046] In one possible embodiment of this application, the intelligent bionic fish 100 further includes a sonar surrounding the image sensor 150, the sonar being used to emit sound waves and receive echoes reflected by the target object; the sonar is signal-connected to the control component 140 and is used to transmit the echo signal to the control component 140.
[0047] Specifically, in order to achieve more comprehensive and efficient environmental perception and target detection, the intelligent bionic fish 100 also includes sonar. The sonar is closely arranged in a surrounding manner around the image sensor 150 to ensure that sound waves can be emitted to the surrounding waters from all directions, so as to perceive the surrounding environmental conditions without blind spots and provide reliable environmental information support for the operation and observation of the intelligent bionic fish 100.
[0048] In actual operation, the sonar continuously emits sound waves of a specific frequency into the surrounding water according to a set frequency and intensity. When it encounters a target object in the water, the sound waves are reflected off the surface of the target object, forming echoes. These echoes carry key information about the target object, such as its location, shape, size, and motion state. By accurately analyzing and calculating parameters such as the time difference between the emitted sound waves and the received echoes, as well as frequency changes, the control component 140 can obtain relevant information about the target object, thereby achieving the detection and identification of the surrounding environment and the target object, further improving the quality and reliability of the monitoring data from the intelligent bionic fish 100.
[0049] In one possible implementation of this application, such as Figure 1 As shown, the intelligent bionic fish 100 also includes an inertial measurement unit 170 disposed in the accommodating cavity. The inertial measurement unit 170 is signal-connected to the first servo motor 122 and the second servo motor 123, respectively, and is used to detect the translational velocity, rotational velocity, translational acceleration and rotational acceleration of the pectoral fin 121 and the caudal fin 131 along the x-axis, y-axis and z-axis directions, respectively, wherein the x-axis, y-axis and z-axis directions are perpendicular to each other. The inertial measurement unit 170 is signal-connected to the control component 140 to transmit the detection results to the control component 140.
[0050] Specifically, the inertial measurement unit 170 can monitor the motion of the pectoral fin 121 and caudal fin 131 in three-dimensional space in real time. In terms of translation, the inertial measurement unit 170 can accurately detect the movement speed and acceleration of the pectoral fin 121 and caudal fin 131 in various directions. For example, when the pectoral fin 121 accelerates and swings in the x-axis direction, the inertial measurement unit 170 can quickly sense this change and accurately record the corresponding translational speed and acceleration data. In terms of rotation, the inertial measurement unit 170 can also capture the speed and acceleration information of the pectoral fin 121 and caudal fin 131 rotating around each axis.
[0051] When the intelligent bionic fish 100 is cruising towards a designated destination, the control component 140 can calculate the position relative to the intelligent bionic fish 100 when receiving the command, and set the expected route to the destination and back. The intelligent bionic fish 100 will complete a series of actions such as turning, straight-line navigation, yaw adjustment, and turning around to return by using the coordinated maneuvering of the pectoral fins 121 and the caudal fin 131.
[0052] During the swimming process of the intelligent bionic fish 100, the control component 140 can use the speed and acceleration data output by the inertial measurement unit 170 as path integrals to monitor the conformity between the actual route and the preset route and make real-time adjustments so that the navigation route and the actual destination position are within the allowable error range.
[0053] Preferably, for destinations that are far away, since the inertial measurement unit 170 will accumulate a certain error during path integration, the intelligent bionic fish 100 needs to surface every preset time or preset distance to correct the fish's real-time position via GPS and adjust the preset route to ensure the accuracy of the route.
[0054] For example, the image sensor 150 also includes at least one wide-angle motion camera, and when there are multiple wide-angle motion cameras, the multiple wide-angle motion cameras are evenly arranged around the periphery of the waterproof panoramic camera.
[0055] Specifically, the wide-angle action camera can capture image information within a wide field of view. Since fish have a wide range of activity in the underwater environment, and the surrounding obstacles and ecological landscapes are rich and diverse, the setting of the wide-angle action camera can ensure that the intelligent bionic fish 100 can acquire visual information of the surrounding environment to the maximum extent during swimming, reduce blind spots, provide researchers with more comprehensive image data, and help to conduct in-depth research and analysis of the underwater ecosystem.
[0056] When the intelligent bionic fish 100 is equipped with multiple wide-angle motion cameras, these are evenly arranged around a waterproof panoramic camera. The waterproof panoramic camera is responsible for acquiring panoramic images of the underwater environment, providing the intelligent bionic fish 100 with a macroscopic environmental perspective, while the multiple evenly distributed wide-angle motion cameras play a supplementary and detailed role. This arrangement enables comprehensive and multi-layered image acquisition of the underwater environment, ensuring that image information within the entire observation range is effectively captured, improving the overall performance and observation effect of the image sensor 150, and enabling the intelligent bionic fish 100 to acquire richer and more accurate image data in underwater ecological monitoring.
[0057] In one possible implementation of this application, the intelligent bionic fish 100 further includes a supplementary light, which is disposed around the periphery of the image sensor 150.
[0058] Underwater lighting conditions are complex and variable. Whether it's the gradual weakening of light in deeper water layers or the scattering and obstruction of light in turbid water or dense aquatic plants, all these factors can affect the image sensor 150's ability to acquire clear images. However, the intelligent bionic fish 100 of this application, through the inclusion of supplementary lighting, provides strong support for its normal operation in low-light environments. This allows it to overcome the limitations of lighting conditions, effectively improve observation results, acquire higher-quality image and video data, and assist the image sensor 150 in obtaining high-quality image information.
[0059] The above description is merely an optional embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
[0060] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, this utility model will not describe the various possible combinations separately.
Claims
1. An intelligent bionic fish, characterized in that, The device includes a fish body (120) and a fish head (110) and a fish tail (130) connected to opposite ends of the fish body (120); the fish tail (130) is connected to a caudal fin (131), and a pectoral fin (121) is provided at the connection between the fish head (110) and the fish body (120); the interiors of the fish head (110), the fish body (120), and the fish tail (130) are sequentially connected to form a receiving cavity, which is used to receive a control component (140), a first servo motor (122), and a second servo motor (123), and the first servo motor (122) and the second servo motor (123) are respectively signal connected to the control component (140). The first servo motor (122) is driven to the pectoral fin (121), and the control component (140) can drive the pectoral fin (121) to deflect and flap in a circular motion through the first servo motor (122); the second servo motor (123) is driven to the caudal fin (131), and the control component (140) can drive the caudal fin (131) to deflect and flap in a circular motion through the second servo motor (123); the fish head (110) is provided with an image sensor (150), and the image sensor (150) is signal-connected to the control component (140) for acquiring image information and transmitting the image information to the control component (140).
2. The intelligent bionic fish according to claim 1, characterized in that, It also includes a depth sensor (160) disposed in the cavity, the depth sensor (160) being used to acquire the depth information of the intelligent bionic fish (100) relative to the water surface; the depth sensor (160) is signal-connected to the control component (140) and is used to transmit the depth information to the control component (140).
3. The intelligent bionic fish according to claim 1, characterized in that, It also includes an ultrasonic sensor disposed in the cavity, the ultrasonic sensor being used to acquire the height information of the intelligent bionic fish (100) relative to the bottom of the water; the ultrasonic sensor is signal-connected to the control component (140) and is used to transmit the height information to the control component (140).
4. The intelligent bionic fish according to claim 1, characterized in that, It also includes a sonar surrounding the image sensor (150), the sonar being used to emit sound waves and receive echoes reflected by the target; the sonar is signal-connected to the control component (140) for transmitting echo signals to the control component (140).
5. The intelligent bionic fish according to claim 1, characterized in that, It also includes an inertial measurement unit (170) disposed in the accommodating cavity. The inertial measurement unit (170) is signal-connected to the first servo motor (122) and the second servo motor (123) respectively, and is used to detect the translational velocity, rotational velocity, translational acceleration and rotational acceleration of the pectoral fin (121) and the caudal fin (131) along the x-axis, y-axis and z-axis directions respectively, wherein the x-axis, y-axis and z-axis directions are perpendicular to each other; the inertial measurement unit (170) is signal-connected to the control component (140) to transmit the detection results to the control component (140).
6. The intelligent bionic fish according to claim 1, characterized in that, The image sensor (150) includes a waterproof panoramic camera.
7. The intelligent bionic fish according to claim 6, characterized in that, The image sensor (150) also includes at least one wide-angle motion camera, wherein when there are multiple wide-angle motion cameras, the multiple wide-angle motion cameras are evenly arranged around the periphery of the waterproof panoramic camera.
8. The intelligent bionic fish according to claim 1, characterized in that, It also includes a fill light, which is located around the periphery of the image sensor (150).
9. The intelligent bionic fish according to claim 8, characterized in that, There are two pectoral fins (121), which are located on opposite sides of the connection between the fish body (120) and the fish head (110); there are two first servo motors (122), each of which is connected to a pectoral fin (121).
10. The intelligent bionic fish according to claim 1, characterized in that, The intelligent bionic fish (100) also includes a power supply component (180), which is disposed in the accommodating cavity and electrically connected to the control component (140), the first servo motor (122), the second servo motor (123) and the image sensor (150).