Bionic fish for detecting water quality and fish school movement rule

Abstract

The utility model relates to the technical field of underwater robots, and provides a bionic fish for detecting water quality and a fish school movement rule, which comprises a main body, a fish head, a fish head and a fish school movement rule, the driving assembly is provided with pectoral fins symmetrically arranged on the two sides of the trunk and a tail fin arranged at the tail, the tail fin swings to provide advancing power for the bionic fish, and linear advancing, steering control and deceleration stopping of the bionic fish are achieved by adjusting angle switching of the pectoral fins between the angle parallel to or perpendicular to the axis of the bionic fish body; a sinking and floating assembly, a gravity adjusting assembly and a detection assembly are further arranged in the cavity and used for achieving floating or diving control of the bionic fish, dynamic adjustment of the gravity center and real-time monitoring of water quality parameters and the movement law of surrounding fish schools. Through the structural design, the bionic fish in the scheme achieves multiple functions of propelling, sinking and floating, gravity center adjusting, environment sensing and the like, and has the advantages of being convenient to operate, high in response speed, high in environment adaptability and the like.

Description

Technical Field

[0001] This utility model belongs to the field of underwater robots, specifically relating to a biomimetic fish used to detect water quality and the movement patterns of fish schools. Background Technology

[0002] With the increasing demand for aquatic ecological environment monitoring and protection, the application scope of underwater detection equipment is constantly expanding. Traditional underwater robots mostly adopt rigid structure designs and are equipped with propeller propulsion systems or three-servo drive methods. Although they have achieved underwater movement and control functions to a certain extent, they still have many shortcomings in practical applications.

[0003] First, traditional underwater robots typically employ a box-like or cylindrical structure, which is complex in shape and does not conform to hydrodynamic optimization design (e.g., sharp edges, rough surfaces, etc.). This results in high fluid resistance and energy consumption when moving in water, and the high-speed movement disturbs the surrounding aquatic environment, affecting the accuracy of ecological observations. Furthermore, their propulsion methods often rely on high-speed propeller rotation or the coordinated operation of multiple independent servo motors. This not only increases the complexity of the control system (requiring precise synchronization of multi-point drive) but also makes it difficult to achieve efficient and stable underwater operations due to slow response speed and high operational difficulty (requiring real-time manual attitude adjustment). Utility Model Content

[0004] To address the aforementioned shortcomings of existing technologies, the technical problem this invention aims to solve is to propose a biomimetic fish for detecting water quality and fish movement patterns. By incorporating a driving component, a buoyancy component, a gravity adjustment component, and a detection component, this biomimetic fish integrates multiple functions, including biomimetic propulsion, buoyancy control, center of gravity adjustment, and environmental detection. It boasts advantages such as ease of operation, rapid response, and strong environmental adaptability, and can be widely applied in fields such as aquatic ecological environment monitoring, fisheries research, and underwater exploration, demonstrating promising application prospects and significant potential for wider adoption.

[0005] The technical solution adopted by this utility model to solve its technical problem is a biomimetic fish for detecting water quality and fish movement patterns, comprising:

[0006] The main body has a head, a torso, and a tail, and the torso has a cavity.

[0007] The drive assembly has pectoral fins symmetrically arranged on both sides of the body and a caudal fin arranged at the tail, the caudal fin being used to propel the bionic fish forward;

[0008] When both pectoral fins are parallel to the body axis of the bionic fish, the bionic fish is in a forward-moving state; when one pectoral fin is parallel to the body axis of the bionic fish and the other pectoral fin is perpendicular to the body axis of the bionic fish, the bionic fish turns to the side perpendicular to the pectoral fin; when both pectoral fins are perpendicular to the body axis of the bionic fish, the bionic fish decelerates and stops moving forward.

[0009] A buoyancy component, disposed within the cavity, is used to control the ascent or descent of the bionic fish;

[0010] A gravity adjustment component, disposed within the cavity, is used to adjust the center of gravity position of the bionic fish.

[0011] The detection component, which is located inside the cavity, is used to detect water quality parameters and the movement patterns of the surrounding fish.

[0012] In the aforementioned biomimetic fish used for detecting water quality and fish populations, a support plate is provided inside the cavity.

[0013] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the driving component further includes:

[0014] A drive rod is provided with connecting ropes on both sides. The tail fin has connecting holes on both sides. One end of the connecting rope is connected to the drive rod, and the other end is connected to the corresponding connecting hole. The drive rod drives the tail fin to swing through the connecting ropes.

[0015] A first driving member is disposed on the support plate, and the driving rod is connected to the output end of the first driving member. The first driving member is used to drive the driving rod to swing.

[0016] The second driving component is provided on both sides of the support plate. Each output end of the second driving component is connected to a pectoral fin. The second driving component is used to drive the pectoral fin to rotate.

[0017] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the buoyancy component includes:

[0018] A water storage component is disposed within the cavity and located below the support plate;

[0019] A first water pump is installed inside the cavity. The outlet of the first water pump is connected to the water storage device through a pipe, and the inlet is connected to the outside through a pipe, for pumping water from the outside into the water storage device.

[0020] The second water pump is arranged in parallel with the first water pump. The inlet of the second water pump is connected to the water storage device through a pipe, and the outlet is connected to the outside through a pipe. It is used to discharge the water in the water storage device to the outside.

[0021] When the water storage device is filled with water, the bionic fish is in a submerged state; when the water storage device is drained, the bionic fish is in a floating state.

[0022] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the gravity adjustment component includes:

[0023] The counterweight is movably mounted on the support plate;

[0024] A lead screw is threaded through and connected to the counterweight, and is used to drive the counterweight to move.

[0025] The third driving component is connected to the output end of the lead screw, and the third driving component is used to drive the lead screw to rotate.

[0026] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the detection component includes:

[0027] The first detection element is disposed in the cavity, and the bottom of the body is provided with a first perforation. The sensing end of the first detection element is inserted into the first perforation for detecting water quality parameters.

[0028] The second detection element is disposed in the cavity. A second perforation is provided at the bottom of the body. The sensing end of the second detection element is inserted into the second perforation to monitor the movement patterns of the surrounding fish.

[0029] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the head is equipped with a visual detection device for detecting obstacles.

[0030] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the tail portion further includes:

[0031] A connecting frame, which is connected to the torso;

[0032] Multiple connecting joints are connected in sequence. The first connecting joint is connected to the connecting frame, and the last connecting joint is connected to the tail fin. The outer diameter of the connecting joint gradually decreases along the direction of the tail fin.

[0033] A protective layer covers the connecting frame and the connecting joint.

[0034] In the aforementioned biomimetic fish used for detecting water quality and fish populations, the protective layer is a silicone skin.

[0035] In the aforementioned biomimetic fish used for detecting water quality and fish populations, a first sealing gasket is provided between the head and the torso, and a second sealing gasket is provided between the torso and the connecting frame.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] (1) The biomimetic fish in this scheme adopts a biomimetic fluid dynamics design. Its overall shape is streamlined. By optimizing the surface curvature and reducing the sharp corners, the fluid resistance is significantly reduced. Furthermore, by setting up driving components, buoyancy components, gravity adjustment components and detection components, the biomimetic fish in this scheme integrates multiple functions such as biomimetic propulsion, buoyancy control, center of gravity adjustment and environmental detection. It has the advantages of simple operation, rapid response and strong environmental adaptability. It can be widely used in aquatic ecological environment monitoring, fishery scientific research and underwater exploration, etc., and has good application prospects and promotion value.

[0038] (2) In the drive component, the design of adjustable pectoral fin angle on both sides is adopted, which is combined with the tail fin swing to provide forward power. By switching between the pectoral fin parallel or perpendicular to the axis of the bionic fish body, the bionic fish can achieve straight-line driving, turning and deceleration to stop, simulating the swimming mode of real fish. It has the advantages of rapid response, low energy consumption and strong concealment, which improves the applicability and control performance of the bionic fish in ecologically sensitive areas.

[0039] (3) In the gravity adjustment component, the counterweight is moved by the lead screw to realize the dynamic adjustment of the center of gravity of the bionic fish, effectively cope with the weight change caused by water filling or draining of the water storage component, and improve the posture stability of the bionic fish. Attached Figure Description

[0040] Figure 1 This is a 3D view of the proposed solution;

[0041] Figure 2 This is the floor plan of this project;

[0042] Figure 3 yes Figure 2 Sectional view of AA;

[0043] Figure 4 yes Figure 1 A 3D view of the hidden part of the structure;

[0044] Figure 5 yes Figure 4 A 3D view of the hidden protective layer;

[0045] Figure 6 yes Figure 5 A 3D view of the hidden part of the structure.

[0046] In the diagram, 1. Main body; 2. Head; 3. Torso; 4. Tail; 5. Cavity; 6. Drive assembly; 7. Pectoral fin; 8. Caudal fin; 9. Buoyancy assembly; 10. Gravity adjustment assembly; 11. Support plate; 12. Drive rod; 13. Connecting hole; 14. First drive component; 15. Second drive component; 16. First water pump; 17. Second water pump; 18. Counterweight; 19. Lead screw; 20. Third drive component; 21. First detection component; 22. Second detection component; 23. Visual detection component; 24. Connecting frame; 25. Connecting joint; 26. Protective layer; 27. First sealing gasket; 28. Second sealing gasket. Detailed Implementation

[0047] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0048] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0049] like Figures 1 to 6 As shown, this solution provides a biomimetic fish for detecting water quality and fish movement patterns, comprising: a main body 1, having a head 2, a torso 3, and a tail 4, with a cavity 5 disposed within the torso 3; a drive assembly 6, having pectoral fins 7 symmetrically arranged on both sides of the torso 3 and a caudal fin 8 disposed on the tail 4, the caudal fin 8 being used to propel the biomimetic fish forward; a buoyancy assembly 9, disposed within the cavity 5, used to control the biomimetic fish's ascent or descent; a gravity adjustment assembly 10, disposed within the cavity 5, used to adjust the biomimetic fish's center of gravity position; and a detection assembly, disposed within the cavity 5, used to detect water quality parameters and the movement patterns of surrounding fish.

[0050] The biomimetic fish in this design adopts a biomimetic design concept, with a streamlined overall shape that effectively reduces water resistance, improves movement efficiency, and minimizes disturbance to the aquatic environment. In the drive component 6, the tail fin 8 provides forward propulsion. When both pectoral fins 7 are parallel to the fish's body axis, the fish maintains a straight line of movement. When one pectoral fin 7 is parallel to the fish's body axis and the other is perpendicular, the fish turns towards the side perpendicular to the pectoral fin 7. When both pectoral fins 7 are perpendicular to the fish's body axis, the fish decelerates and stops. Directional control is achieved through changes in the angle of the pectoral fins 7, mimicking the swimming style of real fish, providing greater flexibility, energy efficiency, and stealth, making it suitable for operation in ecologically sensitive areas. (The text also mentions a buoyancy assembly.) Component 9 enables the biomimetic fish to float and dive, allowing it to penetrate different water layers according to mission requirements, making it suitable for multi-depth water quality testing and biological behavior observation. Gravity adjustment component 10 adjusts the center of gravity of the biomimetic fish, enhancing its posture stability and preventing it from flipping or tilting. The detection component is integrated into cavity 5 for real-time acquisition of water quality parameters (such as pH, dissolved oxygen, temperature, etc.) and monitoring of the distribution and movement patterns of surrounding fish, enabling dynamic perception of the ecological environment. In summary, the biomimetic fish in this solution integrates multiple functions such as biomimetic propulsion, buoyancy control, center of gravity adjustment, and environmental detection. It has the advantages of simple operation, rapid response, and strong adaptability, and can be widely used in aquatic ecological environment monitoring, fisheries research, and underwater exploration.

[0051] Furthermore, a support plate 11 is provided inside the cavity 5. The support plate 11 provides a stable foundation for the various components inside the cavity 5, ensuring that these components can maintain a relatively fixed position during the movement of the bionic fish, reducing the risk of damage caused by vibration or collision.

[0052] Furthermore, the drive assembly 6 also includes: a drive rod 12, with connecting ropes on both sides of the drive rod 12, and connecting holes 13 on both sides of the tail fin 8. One end of the connecting rope is connected to the drive rod 12, and the other end is connected to the corresponding connecting hole 13; a first drive member 14 is provided on the support plate 11, with the drive rod 12 connected to the output end of the first drive member 14, and the first drive member 14 is used to drive the drive rod 12 to swing; and a second drive member 15, with a second drive member 15 provided on both sides of the support plate 11, and the output end of each second drive member 15 is connected to a pectoral fin 7.

[0053] During operation, the first drive component 14 drives the drive rod 12 to swing back and forth, which in turn drives the tail fin 8 to swing synchronously through the connecting rope, thereby providing forward propulsion for the bionic fish. At the same time, the second drive components 15 on both sides of the support plate 11 can drive the corresponding pectoral fin 7 to rotate according to the control command, so that it switches between parallel to the axis of the bionic fish's body and perpendicular to the axis of the body, thereby realizing the steering control of the bionic fish. The connection between the pectoral fin 7 and the output end of the second drive component 15 is provided with a flange on the outside and fitted with a rubber ring to form a good sealing structure to prevent external water from entering the cavity 5. The first drive component 14 and the second drive component 15 are preferably servo motors.

[0054] Furthermore, the buoyancy assembly 9 includes: a water storage component, which is disposed within the cavity 5 and located below the support plate 11; a first water pump 16, which is disposed within the cavity 5, with its outlet end connected to the water storage component via a pipe and its inlet end connected to the outside via a pipe; and a second water pump 17, which is arranged in parallel with the first water pump 16, with its inlet end connected to the water storage component via a pipe and its outlet end connected to the outside via a pipe.

[0055] During operation, the buoyancy of the bionic fish is adjusted by controlling the start and stop of the first water pump 16 and the second water pump 17: when the bionic fish needs to dive, the first water pump 16 is activated to pump water from the outside into the water storage container, increasing the overall weight of the bionic fish and causing it to sink; when the bionic fish needs to float, the second water pump 17 is activated to discharge the water in the water storage container to the outside, reducing the weight of the bionic fish and causing it to float; by changing the weight of the bionic fish itself, its buoyancy is adjusted to ensure that it can move flexibly in different water depth environments; the water storage container can be a balloon, an airbag, or other forms of water storage container.

[0056] Furthermore, the gravity adjustment assembly 10 includes: a counterweight 18, which is movably mounted on the support plate 11; a lead screw 19, which passes through the counterweight 18 and is threadedly connected to it, for driving the counterweight 18 to move; and a third drive member 20, with the lead screw 19 connected to the output end of the third drive member 20, for driving the lead screw 19 to rotate.

[0057] During operation, when the overall weight of the bionic fish changes due to water filling or draining from the water storage component, the third drive component 20 drives the lead screw 19 to rotate. The lead screw 19 drives the counterweight 18 to move on the support plate 11 through thread transmission, adjusting the position of the counterweight 18, thereby achieving dynamic compensation and stable control of the overall center of gravity of the bionic fish. This active center of gravity adjustment mechanism significantly improves the posture stability and motion control accuracy of the bionic fish. The third drive component 20 is preferably a motor.

[0058] Furthermore, the detection component includes: a first detection element 21, which is disposed in the cavity 5, and a first perforation is provided at the bottom of the body 3, and the sensing end of the first detection element 21 is inserted into the first perforation for detecting water quality parameters; and a second detection element 22, which is disposed in the cavity 5, and a second perforation is provided at the bottom of the body 3, and the sensing end of the second detection element 22 is inserted into the second perforation for monitoring the movement patterns of the surrounding fish.

[0059] The first detection element 21 contacts the external water body through the first perforation to detect water quality parameters, while the second detection element 22 monitors the surrounding fish through the second perforation to sense the distribution and movement trajectory of the surrounding fish. The first detection element 21 is preferably a turbidity sensor, and the second detection element 22 is preferably an ultrasonic sensor.

[0060] To further enhance the obstacle avoidance capabilities of the bionic fish in underwater environments, the head 2 of the bionic fish is equipped with a visual detection device 23, which is used to collect images of the field of vision in front in real time, identify potential obstacles, and assist in path planning and safe navigation; the visual detection device 23 is preferably a camera.

[0061] Furthermore, the tail section 4 also includes: a connecting frame 24, which is connected to the body 3; a plurality of connecting joints 25 connected in sequence, wherein the connecting joint 25 at the head end is connected to the connecting frame 24, and the connecting joint 25 at the tail end is connected to the tail fin 8, and the outer diameter of the connecting joint 25 gradually decreases along the direction of the tail fin 8; and a protective layer 26, which covers the connecting frame 24 and the connecting joints 25, the protective layer 26 being a silicone skin.

[0062] When the tail fin 8 is driven by the drive rod 12 to swing, the connecting joint 25 in the tail 4 swings synchronously, making the entire fish tail present a natural and smooth swimming posture; due to the good flexibility and sealing performance of the silicone skin, it can not only effectively prevent water from seeping into the internal cavity 5, but also keep the fish body in a streamlined shape, thereby significantly reducing water flow resistance and improving the movement efficiency of the bionic fish.

[0063] To further improve the sealing of the connection between the head 2, the torso 3 and the tail 4, a first sealing gasket 27 is provided between the head 2 and the torso 3, and a second sealing gasket 28 is provided between the torso 3 and the connecting frame 24, so as to further prevent external water from entering the equipment; the first sealing gasket 27 and the second sealing gasket 28 are preferably rubber gaskets.

[0064] It should be noted that in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly defined. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0065] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0066] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A biomimetic fish for detecting water quality and fish movement patterns, characterized in that, include: The main body has a head, a torso, and a tail, and the torso has a cavity. The drive assembly has pectoral fins symmetrically arranged on both sides of the body and a caudal fin arranged at the tail, the caudal fin being used to propel the bionic fish forward; When both pectoral fins are parallel to the body axis of the bionic fish, the bionic fish is in a forward-moving state; when one pectoral fin is parallel to the body axis of the bionic fish and the other pectoral fin is perpendicular to the body axis of the bionic fish, the bionic fish turns to the side perpendicular to the pectoral fin; when both pectoral fins are perpendicular to the body axis of the bionic fish, the bionic fish decelerates and stops moving forward. A buoyancy component, disposed within the cavity, is used to control the ascent or descent of the bionic fish; A gravity adjustment component, disposed within the cavity, is used to adjust the center of gravity position of the bionic fish. The detection component, which is located inside the cavity, is used to detect water quality parameters and the movement patterns of the surrounding fish.

2. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 1, characterized in that, A support plate is installed inside the cavity.

3. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 2, characterized in that, The driving component also includes: A drive rod is provided with connecting ropes on both sides. The tail fin has connecting holes on both sides. One end of the connecting rope is connected to the drive rod, and the other end is connected to the corresponding connecting hole. The drive rod drives the tail fin to swing through the connecting ropes. A first driving member is disposed on the support plate, and the driving rod is connected to the output end of the first driving member. The first driving member is used to drive the driving rod to swing. The second driving component is provided on both sides of the support plate. Each output end of the second driving component is connected to a pectoral fin. The second driving component is used to drive the pectoral fin to rotate.

4. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 2, characterized in that, The buoyancy assembly includes: A water storage component is disposed within the cavity and located below the support plate; A first water pump is installed inside the cavity. The outlet of the first water pump is connected to the water storage device through a pipe, and the inlet is connected to the outside through a pipe, for pumping water from the outside into the water storage device. The second water pump is arranged in parallel with the first water pump. The inlet of the second water pump is connected to the water storage device through a pipe, and the outlet is connected to the outside through a pipe. It is used to discharge the water in the water storage device to the outside. When the water storage device is filled with water, the bionic fish is in a submerged state; when the water storage device is drained, the bionic fish is in a floating state.

5. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 2, characterized in that, The gravity adjustment component includes: The counterweight is movably mounted on the support plate; A lead screw is threaded through and connected to the counterweight, and is used to drive the counterweight to move. The third driving component is connected to the output end of the lead screw, and the third driving component is used to drive the lead screw to rotate.

6. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 1, characterized in that, The detection component includes: The first detection element is disposed in the cavity, and the bottom of the body is provided with a first perforation. The sensing end of the first detection element is inserted into the first perforation for detecting water quality parameters. The second detection element is disposed in the cavity. A second perforation is provided at the bottom of the body. The sensing end of the second detection element is inserted into the second perforation to monitor the movement patterns of the surrounding fish.

7. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 1, characterized in that, The head is equipped with a visual detector for detecting obstacles.

8. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 1, characterized in that, The tail portion also includes: A connecting frame, which is connected to the torso; Multiple connecting joints are connected in sequence. The first connecting joint is connected to the connecting frame, and the last connecting joint is connected to the tail fin. The outer diameter of the connecting joint gradually decreases along the direction of the tail fin. A protective layer covers the connecting frame and the connecting joint.

9. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 8, characterized in that, The protective layer is a silicone skin.

10. The biomimetic fish for detecting water quality and fish movement patterns as described in claim 8, characterized in that, A first sealing gasket is provided between the head and the torso, and a second sealing gasket is provided between the torso and the connecting frame.

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