Bionic sea eels used for marine ranch environmental monitoring

Abstract

The present invention discloses a bionic sea eel for use in marine farm environment monitoring, which includes a bionic sea eel body, which includes a head (100), a body (200), a dorsal fin (300), an anal fin (400), and a tail fin (500) connected in sequence, the head (100) is a three-dimensional hollow case in which a power supply, a microstorage, an image processing microcomputer, a control module, and a number of collectors are arranged, the body (200) is composed of a rotating part (201) and a bionic flexible under-actuation tail (204) which are alternately connected, and the end of the head (100) close to the body (200) is connected to the end of the bionic flexible under-actuation tail (204) close to the head through the rotating part (201) which is alternately connected. The bionic sea eel of the present invention has the advantages of being low energy, highly bio-compatible, and capable of swimming flexibly.

Description

[Technical field]

[0001] The present invention relates to the technical fields of underwater vehicles and mariculture environmental monitoring, and in particular to a bionic sea eel used in mariculture environmental monitoring. [Background technology]

[0002] In recent years, China has been paying more and more attention to the construction planning of marine farms and the restoration of marine ecological environment, among which the construction of reef casting marine farms has developed rapidly, and the construction of artificial reefs is being expanded to restore fishery resources. At present, how to timely monitor the underwater activity status of fish in marine farms, the underwater environmental restoration status of natural ecology, and the water quality change of marine farms are problems that need to be solved urgently for marine farms. Therefore, a bionic sea eel was designed to monitor marine farms, especially complex areas such as slits. The space under the head of the sea eel is large, and it can be equipped with various sensors to monitor the water environment, while observing and tracking the underwater activity status of fish in real time, which has high research significance and application value in solving the difficult problem of fish resource assessment in the complex environment of marine farms.

[0003] However, due to their structure, traditional underwater robots have shortcomings such as being too large, poor mobility, high energy consumption, and large interference with the environment. The bionic soft vehicle that can cross the slit area can collect fish images more comprehensively, record important factors of the water quality at the location, and online monitor the growth status of cultivated economic varieties, water temperature, salinity and other important factors of the seawater environment.

[0004] Therefore, taking into account the characteristics of the marine ranch's environment being complex and narrow, and the slit area with low seawater exchange where many marine organisms live, and the disadvantages of traditional vehicles being subject to large environmental interference, strong environmental restrictions and low flexibility, it is necessary to design a mobile environmental monitoring bionic soft vehicle that can flexibly cross the slit area and has the advantages of being more flexible, safer, and more energy-saving. Summary of the Invention

[0005] The objective of the present invention is to provide a bionic sea eel for use in marine farm environment monitoring, which has good environmental compatibility, can flexibly cross seabed slit areas, can monitor environmental factors of marine farms in a mobile manner, and has the advantages of maintaining high mobility and stability.

[0006] This application is realized by the following technical proposals: A bionic sea eel used for marine ranch environmental monitoring includes a bionic sea eel body, the bionic sea eel body has a head, a body, a dorsal fin, an anal fin, and a tail fin connected in order, the head is a three-dimensional hollow case, a waterproof sealed chamber is placed inside the head, the waterproof sealed chamber is composed of a waterproof sealed control chamber and a waterproof sealed battery chamber, a power source, a microstorage, an image processing microcomputer, a control module, and a plurality of collectors are placed inside the waterproof sealed control chamber, the power source supplies power to the collector and the rotating part, the microstorage is a waterproof image collector, The image processing microcomputer is used to recognize the morphological features of the collected images. The control module realizes the overall control of the driving control of the bionic sea eel and the marine ranch environment monitoring function. The collector includes a pressure sensor, a pH sensor, a dissolved oxygen sensor, a waterproof image collector, a left potting LED light, and a right potting LED light. The collector is installed in the head spare notch or in a waterproof sealed control room. The pressure sensor, pH sensor, and dissolved oxygen sensor realize the detection of changes in seawater indexes and water depth to record the location where the sea eel has reached. The left potting LED light and the right potting LED light work together with the waterproof image collector to provide light for collecting image information of the underwater environment. The body is composed of an alternating rotating part and a bionic flexible under-actuating tail. The alternating rotating part and the water depth are connected to each other. The rotating part enables the bionic sea eel to propel itself like an eel, and the end of the head close to the body is connected to the end of the bionic flexible under-actuation tail close to the head via alternating rotating parts. The dorsal fin, anal fin and tail fin are each integrated with the bionic flexible under-actuation tail after multiple sol and gel solidification moldings, thereby increasing the cross-sectional area of ​​the bionic sea eel and increasing the area for forming vortexes, thereby increasing the propulsion force of the bionic sea eel in the water.

[0007] Furthermore, the head is hardened with a light but strong plastic material, the head is composed of an upper cover and a lower cover, the dividing line between the upper cover and the lower cover is located at 3 / 4 of the way from top to bottom, the upper cover and the lower cover are fixed with a head fixing screw, the surface and inside of the head include grooves and round holes of different sizes, which are used to place a collector, a waterproof sealed control chamber, a waterproof sealed battery chamber, and a balance adjustment chamber, the reserved space of the upper cover and the lower cover is used as a balance adjustment chamber, and a number of counterweight blocks are arranged inside to facilitate adjustment of the balance when applied to different media using different materials, the upper cover is dug with a groove of 3 / 4 of the volume of the upper cover, which is a waterproof sealed chamber groove for placing the waterproof sealed control chamber and the waterproof sealed battery chamber, and the left and right eyes of the sea eel are provided with the grooves. There are three round holes in each of the head sections, which are the left potting LED light hole and the right potting LED light hole, and there is a round hole which is an image collection hole exactly in the center of the lower jaw of the sea eel, the diameter of these three round holes is determined by the size of the collector to be installed, there is a vertical cut surface at the end of the head, and the three round holes are all extended and cut perpendicular to the vertical cut surface, there are four small round holes diagonally symmetrical in the middle of the vertical cross section, and there is a large round hole where the two diagonals intersect, and the five small round holes are steering engine through holes, which are used to fix one end of the head closer to the body to the rotating parts which are alternately connected, and there is a small rectangular corner groove which is a steering engine extension line groove for pulling out the steering engine extension line on the vertical cut surface of the lower cover.

[0008] Further, the waterproof sealed chamber includes a waterproof sealed control chamber and a waterproof sealed battery chamber, the waterproof sealed battery chamber includes a waterproof sealed battery chamber fixing screw, a waterproof sealed battery chamber upper cover, a waterproof sealed battery chamber packing, and a waterproof sealed battery chamber lower cover, the waterproof sealed battery chamber upper cover and the waterproof sealed battery chamber lower cover are fixed by the waterproof sealed battery chamber fixing screw, the waterproof sealed battery chamber packing is inserted into a groove on the edge of the waterproof sealed battery chamber lower cover and pressurized by the waterproof sealed chamber fixing screw to enhance the waterproof sealing of the waterproof sealed battery chamber, and the waterproof sealed control chamber includes a waterproof sealed control chamber upper cover, a waterproof sealed control chamber packing, a waterproof sealed grommet, , a bottom cover of a waterproof sealed control chamber, the top cover of the waterproof sealed control chamber and the bottom cover of the waterproof sealed control chamber are fixed by a waterproof sealed chamber fixing screw, a waterproof sealed control chamber packing is placed in a groove on the edge of the bottom cover of the waterproof sealed control chamber and pressurized by the waterproof sealed chamber fixing screw to enhance the waterproof sealing of the waterproof sealed control chamber, and a micro deep water male and female plug is used between the waterproof sealed control chamber and the waterproof sealed battery chamber as a waterproof sealed connector that satisfies operating power supply and signal transmission, and the waterproof sealed connector comprises a waterproof sealed female plug, a waterproof sealed plug fastening nut, a waterproof sealed plug washer and a waterproof sealed male plug.

[0009] In addition, the rim around the bottom cover of the waterproof sealed chamber has a certain thickness, and a circular groove is dug. A waterproof packing is installed in the groove, and a double anti-corrosion method of internal and external potting is adopted, which greatly enhances the airtightness of the bionic sea eel and enhances the waterproof strength of the waterproof sealed chamber. In addition, the fixing screw of the waterproof sealed chamber can be an organic material screw to prevent falling off, which is more resistant to seawater corrosion and rust than traditional metal screws. The waterproof sealed grommet adopts a special M-type waterproof joint consisting of five parts: press head, packing, body, gasket and nut. In use, the press head of the waterproof grommet is made by stacking several cabin exit wires closely together, and the cabin exit wires are tightly wrapped with 3M adhesive twice to prevent the grommet part from being broken due to frequent adjustment. In order to achieve good waterproof effect of the waterproof sealed chamber, all gaps of the upper cover, lower cover and outlet hole of the waterproof sealed chamber are filled with AB adhesive. The waterproof sealed chamber is designed as a waterproof sealed chamber with multiple screw holes such as an 8-hole screw square sealed box or a 12-hole circular sealed bucket, which improves the waterproof pressure resistance of the waterproof sealed chamber.

[0010] Further, the collector includes a pressure sensor, a pH sensor, a dissolved oxygen sensor, a waterproof image collector, a left potting LED light and a right potting LED light, an ultrasonic obstacle avoidance device, an ultrasonic depth gauge, and a 9-axis attitude sensor, the collector is mounted on the head spare notch or the waterproof sealed control chamber, the pressure sensor, the pH sensor, and the dissolved oxygen sensor are tied and fixed directly under the head of the sea eel using a back adjustable fixator and a bilateral adjustable fixator, and the sensor probe is exposed to the external environment to detect the changes in seawater index and water depth at the place where the sea eel arrives, the waterproof image collector is a waterproof camera, and can be mounted in the image collection hole after a special waterproofing treatment, so that the field of view is wide and it is easy to collect underwater image information, the left potting LED The light and the right potted LED light are installed in the left potted LED light hole and the right potted LED light hole respectively through special waterproofing, and the left potted LED light and the right potted LED light cooperate with the image collector to provide light, making it easier to collect image information of the underwater environment; and this method of digging and filling in the grooves can avoid the parts from being damaged by obstacles when passing through the sea eel, and can maintain the complete fluid outline of the sea eel to a certain extent; this ultrasonic obstacle avoidance device is installed in the oblique hole of the ultrasonic obstacle avoidance, which helps to realize the free obstacle avoidance function of the bionic sea eel even in water; and the said 9-axis attitude sensor is installed in the waterproof sealed control chamber, making full use of the remaining space and making it easier to control the balance of the sea eel while swimming.

[0011] Furthermore, the bionic sea eel employs a unique balancing method in which each component unit of the bionic sea eel is balanced in stages and each balanced component unit is assembled into a balanced whole. The balance adjustment chamber of the head is balanced using a counterweight block. In order to avoid the head of the sea eel becoming unbalanced while it is swimming and to achieve the balance of the head, the counterweight blocks are equal in weight and are installed symmetrically on both sides. Each drive mechanism of the rotating part is made of a different material so that the rotating part can be balanced and the balance of the rotating part can be achieved. As shown, the floating material is surrounded by the end of the bionic flexible under-actuation tail close to the head, and the floating material is solidified with eco-flexible silicone rubber inside the end of the bionic flexible under-actuation tail close to the head, forming a preservative buoyancy chamber for the bionic sea eel, increasing the buoyancy of the front half of the bionic flexible under-actuation tail, preventing the bionic flexible under-actuation tail from sinking and balancing it with the weight of the head, thereby achieving balance of the bionic flexible under-actuation tail, and the floating material can also be used to fix the drive mechanism.

[0012] Furthermore, the alternating rotating unit connects the two parts, the head and the bionic flexible under-actuation tail, and the rotating unit includes three drive mechanisms, one of which consists of a two-axis wide U-shaped frame, a two-axis narrow U-shaped frame, a main wheel, a sub-wheel, and a two-axis steering engine arranged above and below, realizing eel-type propulsion of the fuselage, the two-axis wide U-shaped frame opening and the two-axis narrow U-shaped frame opening are arranged opposite each other, and the two-axis steering engine is arranged within the area surrounded by the two-axis wide U-shaped frame and the two-axis narrow U-shaped frame.

[0013] Furthermore, the ratio of the body length to the body width of the bionic sea eel body is 13:1, the ratio of the frontal cross-sectional area from the head to one-quarter of the body length to the frontal cross-sectional area from the head to three-quarters of the body length is 12.9:1, the cross-section of the sea eel has a certain ellipse ratio, and accumulating in sequence from the end close to the head to the one-quarter, the cross-section of the bionic sea eel is composed of two semi-ellipses with equal openings, the minor axis of the large ellipse and the major axis of the small ellipse are equal, and the minor axis of the large ellipse and the major axis of the small ellipse are equal. The ratio of the major axis of the small ellipse is the ellipse ratio, which indicates the change in the cross-sectional shape of the bionic sea eel. The magnitude of the ellipse ratio plays an important role in the resistance reduction effect and hydrodynamic analysis of the bionic sea eel. The ellipse ratio of the cross section of the sea eel increases as the body length increases, and the body width of the bionic sea eel decreases as the body length increases. The cross sections of various parts of the bionic sea eel's body are teardrop-shaped, narrow at the top and wide at the bottom, and the bionic sea eel The side cross section of the gill body is asymmetrical spindle-shaped, with a thick head and a pointed tail, and the top cross section of the bionic sea eel body is tapered, with a wide head and a narrow tail, so that the bionic sea eel has an excellent fluid shape and good resistance reduction effect. The dorsal fin, anal fin and tail fin are respectively integrated with the bionic flexible under-actuation tail after multiple sol-gel hardening moldings. The end close to the bionic flexible under-actuation tail is covered with an eco-flexible silicone rubber film of a certain thickness along the outer periphery of the drive mechanism. The skin design can protect the internal rigid structure and maintain the smooth fluid outer shape of the bionic sea eel with a high resistance reduction effect. The eco-flexible silicone rubber film is fixed by an adjustable clamp including an adjustable clamp ring and a clamp tightening screw.

[0014] In addition, the bionic flexible underactuation tail, dorsal fin, anal fin, and tail fin are poured with suitable eco-flexible silicone rubber, and then solidified multiple times to form a thin film shape, which is integrated with the bionic flexible underactuation tail. The dorsal fin is gradually tapered in thickness in the vertical direction, the anal fin is gradually tapered in thickness in the vertical direction, and the tail fin is installed horizontally, gradually tapering in thickness from left to right. The dorsal, anal and tail fins have a certain thickness, and the tail and dorsal fins move together to organize the wake flow, achieve a good resistance reduction effect, and improve the propulsion efficiency of the bionic sea eel in the water. In the horizontal and vertical directions, the front half of the bionic flexible under-actuation tail is thick, and the rear half is relatively thin. A moderately poured elongated rubber fin is installed in the dorsal, anal and tail fins, and the hardness of the rubber fin is greater than that of the dorsal, anal and tail fins, and can support the thin and soft fins. The rubber fins are arranged on the dorsal, anal and tail fins to improve the fluctuation of the flow field, allowing the dorsal, anal and tail fins to resist a certain degree of turbulent force, and the impact of the water current can better organize the wake flow and maintain balance during swimming.

[0015] In addition, the head is made of a light but hard plastic material and has a small deformation amount, playing a role in diverting flow. The bionic flexible under-actuation tail is made of suitable eco-flexible silicone rubber, which has good toughness and flexibility and a large deformation amount, allowing the bionic sea eel to exhibit wave-like deformation when swimming, providing a basis for realizing eel-like swimming in terms of structural materials. The body simulates the muscles and spinal joints of a live sea eel, and the rotating part realizes relative movement through a drive mechanism. The bionic flexible under-actuation tail, which is made of eco-flexible silicone rubber and then solidified, simulates the muscles and nerve network of a live sea eel.

[0016] The effects of the present invention are as follows. The present invention provides a bionic sea eel that can be equipped with a variety of collectors to monitor marine farms, especially complex areas such as slits. It is highly modeled after the fluid outer shape of a living sea eel, and is filled with eco-flexible silicone rubber on a flexible underactuation tail, which maintains its flexible elastic performance for a long time and has passed the SGS environmental protection non-toxicity certification. The alternating rotating parts move the body to realize the eel-like propulsion method of the sea eel, which is low noise and low interference. The internal rigid parts are protected by multiple pressure-resistant measures such as waterproof packing, internal and external potting, and multi-screw hole seal, and have high waterproof and pressure resistance. Because there is a large space directly under the head of the bionic sea eel, multiple collectors with special waterproofing treatments can be fixed, and the excellent biomorphic characteristics of the sea eel itself can be used to realize real-time monitoring of many important factors in marine farms, closely monitor the dynamic changes of the marine environment in the marine farm, and realize efficient biological collection behavior in the slit environment that cannot be reached by traditional vehicles, making an important contribution to the assessment of fish resources in the complex environment of marine farms. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a front view showing the structure of the bionic sea eel used in marine ranch environment monitoring of the present invention. [Diagram 2] FIG. 2 is a side view showing the structure of the bionic sea eel used in marine ranch environment monitoring of the present invention. [Diagram 3] FIG. 1 is an overhead view showing the structure of a bionic sea eel used in marine ranch environment monitoring of the present invention. [Figure 4] FIG. 2 is a three-dimensional assembly diagram of the entire bionic sea eel used in marine ranch environmental monitoring of the present invention. [Diagram 5] FIG. 2 is a three-dimensional assembly drawing of the front head portion of the bionic sea eel used in marine ranch environmental monitoring of the present invention. [Figure 6] FIG. 2 is a three-dimensional assembly drawing of the rear of the head of the bionic sea eel used in marine ranch environmental monitoring of the present invention. [Figure 7]This is a diagram showing the structure of the waterproof sealed battery chamber and waterproof sealed female plug of the bionic sea eel used in marine ranch environmental monitoring of the present invention. [Figure 8] FIG. 2 is a three-dimensional assembly diagram of the micro deep-water male and female plugs of the bionic sea eel used in marine ranch environment monitoring of the present invention. [Figure 9] FIG. 2 is a three-dimensional assembly drawing of the waterproof sealed battery compartment of the bionic sea eel used in marine ranch environmental monitoring of the present invention. [Figure 10] FIG. 1 is an explanatory diagram of the bionic sea eel head collector used in marine ranch environmental monitoring of the present invention. [Figure 11] FIG. 1 is an explanatory diagram of the overall rotating part of the bionic sea eel used in marine ranch environment monitoring of the present invention. [Figure 12] FIG. 2 is a three-dimensional assembly diagram of one of the drive mechanisms of the bionic sea eel used in the marine ranch environmental monitoring of the present invention. [Figure 13] FIG. 2 is a three-dimensional assembly drawing of the adjustable clamp of the bionic sea eel used in mariculture environmental monitoring of the present invention. [Figure 14] This is an explanatory diagram showing the magnitude of the ellipse ratio of each part of the bionic sea eel used in marine ranch environment monitoring of the present invention. [Figure 15] This is an explanatory diagram of the flexible under-actuation tail, dorsal fin, anal fin, and tail fin of the bionic sea eel used in marine ranch environmental monitoring of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present embodiments are implemented based on the claims of the present invention, and detailed embodiments and specific operation procedures are described, but the scope of the present invention is not limited to the following embodiments.

[0019] As shown in Figures 1 to 4, a bionic sea eel used for marine ranch environmental monitoring includes a bionic sea eel body, in which a head 100, a body 200, a dorsal fin 300, an anal fin 400, and a tail fin 500 are connected in sequence. The head is a three-dimensional hollow case, and a waterproof sealed chamber is placed inside. The waterproof sealed chamber consists of a waterproof sealed control chamber 105 and a waterproof sealed battery chamber 103. A power supply, a microstorage, an image processing microcomputer, a control module, and multiple collectors are arranged inside the waterproof sealed control chamber 105. The power supply supplies power to the collectors and the rotating part. The micro-storage is for storing the image information collected by the waterproof image collector. In order to facilitate sending signals to the coastal base when the bionic sea eel floats on the water surface, a high-frequency data transmission antenna is fixed to the end close to the head of the bionic flexible under-actuation tail. The image processing microcomputer is used to recognize the morphological features of the images to be collected. The control module realizes the overall control of the drive control of the bionic sea eel and the marine ranch environment monitoring function. The collector 106 is equipped with a pressure sensor 166, a pH sensor 167, a dissolved oxygen sensor 168, and a The collector 106 is installed in the head spare notch or the waterproof sealed control room 105, and the pressure sensor 166, pH sensor 167, and dissolved oxygen sensor 168 realize the detection of the change in seawater index and the water depth to record the location where the sea eel has reached. The left potted LED light 161 and the right potted LED light 162 cooperate with the waterproof image collector 163 to provide light, and the body 200 is connected alternately to the water collector 163 to collect image information of the underwater environment. The bionic sea eel is composed of a rotating part 201 and a bionic flexible under-actuation tail 204, and the rotating part 201 is connected to the head 100 via the rotating part 201. The end of the head 100 close to the body 200 is connected to the end of the bionic flexible under-actuation tail 204 close to the head 100. The dorsal fin 300, anal fin 400, and tail fin 500 are each integrated with the bionic flexible under-actuation tail 204 through multiple sol and gel solidification moldings.By increasing the cross-sectional area of ​​the bionic sea eel and increasing the area in which vortexes are formed, the propulsive force of the bionic sea eel in water can be increased.

[0020] In this embodiment, the head 100 is solidified with a light but hard plastic material, and the plastic material can be selected according to the characteristics of the medium. According to the characteristics of the 3D curing technology and the plastic materials used, it can be divided into five types: photosensitive lamination (SLA), fused deposition modeling (FDM), selective laser sintering (SLS), laminate object manufacturing, and the last 3D printing technology. 3D printing materials mainly include engineering plastics, photosensitive resins, rubber-based materials, photosensitive materials, and ceramic materials, among which engineering plastics is the most widely used 3D printing material at present, and is an organic material with excellent strength, impact resistance, heat resistance, hardness and anti-aging properties, and the most commonly seen are ABS, PC-based materials, PLA, nylon-based materials, etc.

[0021] As shown in FIG. 5 and FIG. 6, the head 100 of this embodiment is composed of an upper cover 101 and a lower cover 102, the dividing line between the upper cover 101 and the lower cover 102 is located at the 3 / 4 position from top to bottom, the upper cover 101 and the lower cover 102 are fixed by a head fixing screw 124, the surface and inside of the head 100 include grooves and round holes of different sizes, which are used to place the collector 106, the waterproof sealed control chamber 105, the waterproof sealed battery chamber 103, and the balance adjustment chamber, the reserved space of the upper cover 101 and the lower cover 102 is the balance adjustment chamber, and a number of counterweight blocks are arranged inside to facilitate the adjustment of the balance when applied to different media using different materials, the upper cover 101 is dug a groove of 3 / 4 volume of the upper cover, which is the waterproof sealed chamber groove 114 for placing the waterproof sealed control chamber 105 and the waterproof sealed battery chamber 103, and the sea eel There are round holes on the left and right eyes of the sea eel, which are the left potting LED light hole 111 and the right potting LED light hole 112, and there is a round hole which is the image collection hole 113 in the exact center of the lower jaw of the sea eel, the diameter of these three round holes is determined by the size of the collector to be installed, there is a vertical cut surface at the end of the head, and all three round holes are stretched and cut perpendicular to the vertical cut surface, there are four small round holes diagonally symmetrical in the middle of the vertical cross section, and there is a large round hole where the two diagonals intersect, and the five small round holes are steering engine through holes 116, which are used to fix the rotating parts 201 which are alternately connected to one end of the head 100 close to the body 200, and there is a small rectangular corner groove which is the steering engine extension line groove 125 for drawing out the extension line of the steering engine on the vertical cut surface of the lower cover.

[0022] As shown in Figures 7 to 9, the waterproof sealed chamber of this embodiment includes a waterproof sealed control chamber 105 and a waterproof sealed battery chamber 103, the waterproof sealed battery chamber 103 includes a waterproof sealed battery chamber fixing screw 131, a waterproof sealed battery chamber upper cover 132, a waterproof sealed battery chamber packing 133, and a waterproof sealed battery chamber lower cover 134, the waterproof sealed control chamber 105 includes a waterproof sealed control chamber upper cover 151, a waterproof sealed control chamber packing 152, a waterproof sealed grommet 153, and a waterproof sealed control chamber lower cover 154, and the waterproof sealed battery chamber upper cover and the waterproof sealed battery chamber lower cover form a waterproof sealed battery chamber. It is fixed by a fixing screw 131, and the waterproof sealed battery chamber packing is inserted into the groove on the edge of the bottom cover of the waterproof sealed battery chamber, and pressurized by the fixing screw 131 of the waterproof sealed chamber to improve the waterproof sealing of the waterproof sealed battery chamber 105, and a micro deep water male and female plug 104 is used between the waterproof sealed control chamber 105 and the waterproof sealed battery chamber 103 as a waterproof sealed connector that satisfies the operating power supply and signal transmission, and the waterproof sealed connector is composed of a waterproof sealed female plug 135, a waterproof sealed plug fastening nut 141, a waterproof sealed plug washer 143, and a waterproof sealed male plug 142. The main types of waterproof sealed connectors include micro waterproof sealed connectors, standard waterproof sealed connectors, right angle waterproof sealed connectors, and high current waterproof sealed connectors, which have the advantages of being resistant to seawater corrosion, excellent sealing performance, and easy to assemble.

[0023] The waterproof sealed chamber of this embodiment can be made of ABS plastic, titanium alloy, stainless steel, and other materials according to the environmental characteristics and demands. The waterproof sealed chamber can be cylindrical, rectangular, and other shapes. The periphery of the bottom cover has a certain thickness to withstand water pressure, and a groove is dug on the periphery to be circular, square, and other shapes according to the shape of the waterproof packing sealed chamber and the waterproof sealed control chamber 105. A waterproof packing is installed in the groove. The packing material can be plastic, polytetrafluoroethylene, polyethylene, silicone, and other materials. Common packings include waterproof silicone packing, rubber packing, and urethane potting. In addition, a double anti-corrosion method of inner and outer potting is adopted, in which waterproof ab rubber is applied to the inner and outer gaps of the periphery of the waterproof sealed chamber, which greatly improves the sealing performance of the bionic sea eel and improves the waterproof strength of the waterproof sealed chamber. In addition, the waterproof sealed chamber uses an organic material screw to prevent falling off, which is more resistant to corrosion and rust in seawater than traditional metal screws. The waterproof grommet 153 adopts a special M-type waterproof joint, which consists of five parts: press head, packing, body, gasket and nut. The press head of the waterproof grommet is made by stacking several cabin exit wires closely together, and the cabin exit wires are tightly wrapped with 3M adhesive twice to prevent the grommet part from breaking due to frequent adjustment. In order to achieve a good waterproof effect of the waterproof sealed chamber, all the gaps of the upper cover, lower cover and outlet hole of the waterproof sealed chamber are filled with AB adhesive.

[0024] However, considering that monitoring is to be performed in deep water, the water pressure is too large, causing the waterproof sealed chamber to be crushed and deformed, and the upper and lower covers to crack, so as to prevent water from entering the waterproof sealed chamber, a waterproof sealed chamber with multiple screw holes, such as an 8-hole square sealed box or a 12-hole circular sealed bucket, is designed. In this embodiment, an 8-hole square sealed box is used, and a total of four screw holes are provided at the four corners of the 8-hole square sealed box, and another screw hole is provided at the midpoint of each of the four sides, for a total of eight screw holes. The 12-hole circular sealed bucket has a screw hole at every 30-degree central angle on the outer periphery, providing a total of 12 screw holes, which greatly enhances the waterproof pressure resistance of the waterproof sealed chamber.

[0025] As shown in FIG. 10, the main control circuit of the bionic sea eel of this embodiment adopts an Arduino nano as a microcontroller, which has a small volume of 33*18*11mm, thereby reducing the waste of space in the waterproof sealed control chamber 105. The collector 106 placed on the head 100 includes a pressure sensor 166, a pH sensor 167, a dissolved oxygen sensor 168, a waterproof image collector 163, a left potting LED light 161 and a right potting LED light 162, an ultrasonic obstacle avoidance device 164, an ultrasonic depth gauge 165, and a 9-axis attitude sensor, the collector is mounted on the head spare notch or the waterproof sealed control chamber 105, the pressure sensor 166, the pH sensor 167, and the dissolved oxygen sensor 168 are tied and fixed directly under the head of the sea eel using the back adjustable fixator 115 and the bilateral adjustable fixator 123, and the sensor probe is exposed to the external environment to detect the changes in the seawater index and the water depth of the place where the sea eel arrives, the waterproof image collector 163 is a waterproof camera, the waterproof image collector 163 may be a waterproof camera, and the entire waterproof image collector 163 is filled and hardened with an organic transparent material to improve the pressure resistance of the waterproof image collector 163 to different media. In order to improve the resolution of underwater imaging, it is necessary to install a pressure-resistant imaging cover in front of the lens of the waterproof image collector 163, and the medium of the cover is air, which can reduce the scattering effect of water. This gap-free filling and curing method can make the specific gravity volume of the waterproof image collector 163 change with pressure, and the balance between the media of the waterproof image collector 163 is easy. The waterproof image collector 163 is installed in the image collection hole 113 of the sea eel after waterproofing, which has a wide field of view and makes it easy to collect underwater image information. The left potting LED light 161 and the right potting LED light 162 are installed in the left potting LED light hole 111 and the right potting LED light hole 112 respectively after waterproofing and potting, and the left potting LED light 161 and the right potting LED light 162 cooperate with the image collector to provide light, making it easy to collect image information of the underwater environment. In addition, this method of digging and filling the groove can avoid the parts from colliding with obstacles and being damaged when moving back and forth through the sea eel, and can maintain the complete fluid outline of the sea eel to a certain extent.The high-frequency data transmission antenna is solidified at the end of the bionic flexible underactuation tail 204 close to the head 100, which is convenient for sending a signal to the shore base when the bionic sea eel surfaces. The ultrasonic obstacle avoidance device 164 is installed in the ultrasonic obstacle avoidance oblique hole 121, which helps to realize the free obstacle avoidance function of the bionic sea eel even underwater, and the 9-axis attitude sensor is installed in the waterproof sealed control chamber 105, which makes full use of the remaining space and makes it easy to control the balance of the sea eel during swimming.

[0026] The bionic sea eel of this embodiment adopts a unique balancing method, which involves balancing each component of the bionic sea eel step by step, and assembling each balanced component into a balanced whole. The head balance adjustment chamber is balanced using counterweight blocks, and the weights of the counterweight blocks are equal and symmetrically arranged to avoid the head 100 being biased while the sea eel is swimming, and to achieve balance of the head 100. Each driving mechanism 211 of the rotating part 201 is surrounded by a floating material, which can be selected from pearl cotton-filled foam board, PVC flame-retardant sponge, sponge foam flame-retardant tape, etc., and when each driving mechanism 211 is made of different materials, it is balanced and the balance of the rotating part 201 is achieved. A floating material is solidified with eco-flexible silicone rubber inside the end of the bionic flexible under-actuation tail 204 close to the head 100, and the floating material is ground into a disk or square shape to form an anti-corrosion buoyancy chamber for the bionic sea eel, which increases the buoyancy of the front half of the bionic flexible under-actuation tail 204, prevents the bionic flexible under-actuation tail 204 from sinking and balances the weight of the head 100, thereby realizing the balance of the bionic flexible under-actuation tail 204. The floating material can also be used to fix the driving mechanism 211.

[0027] As shown in FIG. 11-FIG. 12, the rotating part 201 connected alternately in this embodiment connects two parts, the head 100 and the bionic flexible under-actuation tail 204, and the rotating part 201 includes three driving mechanisms 211. One driving mechanism 211 is composed of a biaxial wide U-shaped frame 227, a biaxial narrow U-shaped frame 221, a main wheel 228, a sub-wheel 225, and a biaxial steering engine 223 arranged above and below. The inner ring of the main wheel 228 is an internal gear and plays a master role, and the inner ring of the sub-wheel 225 is smooth and toothless and plays a slave role, so that the internal gear of the driving mechanism 211 operates for a long time to form a differential speed, preventing irreparable damage and wear on the driving mechanism 211. The opening of the biaxial wide U-shaped frame 227 and the opening of the biaxial narrow U-shaped frame 221 are arranged opposite to each other, and the biaxial steering engine 223 is arranged in the area surrounded by the biaxial wide U-shaped frame 227 and the biaxial narrow U-shaped frame 221. The driving mechanism 211 receives a signal from the microcontroller, and the driving mechanism 211 performs different relative motions to realize different eel-like propulsion movements of the body.

[0028] As shown in Figures 13 and 14, the bionic sea eel body in this embodiment has a body length of 160 cm and a maximum width of 12 cm. The ratio of the body length to the body width of the bionic sea eel body is 13:1, and the normal cross-sectional area from the head 100 to a quarter of the body length is 115.30 cm. 2 The cross-sectional area of ​​the head from 100 cm to 3 / 4 of the body length is 8.92 cm 2The cross section of the sea eel has a certain ellipse ratio, and the cross section of the bionic sea eel is composed of two semi-ellipses with equal openings, the minor axis of the larger ellipse and the major axis of the smaller ellipse being equal, which is the ellipse ratio. The cross section of the bionic sea eel shows the change in cross section shape, and the magnitude of the ellipse ratio plays an important role in the drag reduction effect and hydrodynamic analysis of the bionic sea eel. The ellipse ratio of the cross section of the sea eel increases as the body length increases, the body width of the bionic sea eel decreases as the body length increases, the cross section of each part of the bionic sea eel body is teardrop-shaped, narrow at the top and wide at the bottom, the side cross section of the bionic sea eel body is asymmetrical spindle-shaped, with a thick head and a pointed tail, and the top view cross section of the bionic sea eel body is tapered, with a wide head and a narrow tail, so that the bionic sea eel has an excellent fluid shape and a good resistance reduction effect. The dorsal fin 300, anal fin 400, and caudal fin 500 are each integrated with the bionic flexible underactuation tail 204 after multiple sol-gel hardening moldings. The edge of the head 100 is covered with an eco-flexible silicone rubber film 203 with a thickness of 0.15 cm along the outer circumference of the driving mechanism 211. The skin design protects the rigid internal structure and maintains the smooth fluid profile of the bionic sea eel for increased drag reduction. The eco-flexible silicone rubber film 203 is secured in place by an adjustable clamp 202, which includes an adjustable clamp ring 221 and a clamp tightening screw 222.

[0029] As shown in FIG. 15, the bionic flexible under-actuation tail 204, dorsal fin 300, anal fin 400, and tail fin 500 in this embodiment are poured with suitable eco-flexible silicone rubber, and solidified several times to form a thin piece, which is integrated with the bionic flexible under-actuation tail 204. The dorsal fin 300 is gradually thinner in the vertical direction, the anal fin 400 is gradually thinner in the vertical direction, and the tail fin 500 is installed horizontally, and the thickness gradually decreases from left to right. The thickness of the dorsal fin 300, anal fin 400, and tail fin 500 is 0.1-0.3 cm, and the tail fin 500 and the dorsal fin 300 move together to organize the wake flow, achieve a good resistance reduction effect, and improve the propulsion efficiency of the bionic sea eel in water. The front half of the bionic flexible under-actuation tail 204 is thick in the horizontal and vertical planes, and the rear half is relatively thin. Fifteen cast-in elongated rubber fins 301 are installed in the dorsal fin 300, anal fin 400, and caudal fin 500, which can support larger, thinner, and softer fins than cast-in fins made of 0-degree eco-flexible silicone rubber. The placement of the rubber fins 301 in the dorsal fin 300, anal fin 400, and caudal fin 500 improves the fluctuation of the flow field, allowing the dorsal fin 300, anal fin 400, and caudal fin 500 to resist a certain degree of turbulent force, and the impact of the water flow can better organize the wake flow and maintain balance during swimming, so it is particularly important to design the bionic sea eel with a tapered structure that becomes thinner as the body length increases.

[0030] After integrating the performance of multiple soft materials, the bionic sea eel used in the marine ranch environmental monitoring of this embodiment uses 0 degree eco-flexible silicone rubber to cast the bionic flexible underactuation tail 204. The thickness of the rubber layer made of the bionic flexible underactuation tail 204 is 0.5-3.5 cm. The temperature range of the selected soft material is -65℃-200℃, and it can be used for a long time and maintain its flexible elastic performance. In addition, it has passed the SSGS environmental protection non-toxic certification, has excellent electrical performance and chemical stability, is water-resistant, ozone-resistant, weather-resistant, non-corrosive, physiologically inert, non-toxic and tasteless, has low linear shrinkage, and is easy to operate.

[0031] The head 100 of this embodiment is solidified with a light but hard plastic material, and has a small deformation amount. The bionic flexible underactuation tail is cast with 0-degree eco-flexible silicone rubber, which has good toughness and flexibility, and has a large deformation amount. When swimming, the bionic sea eel can exhibit a wave-like deformation, which provides a basis for realizing eel-like swimming in terms of structural materials. When the bionic sea eel swims forward, the flexible and powerful body 200 generates propulsion, and the central protuberance of the sturdy bionic sea eel head 100 plays the role of breaking and diverting the water. The body 200 simulates the muscles and drive mechanism of a live sea eel, and the drive mechanism 211 realizes relative motion through the two-axis steering engine 223, and the bionic sea eel simulates the muscles and nerves of a live sea eel through eco-flexible silicone rubber.

[0032] The basic principle, main features, and advantages of the present invention have been shown and described above. The present invention is not limited to the above embodiments, and the above embodiments and the description in the specification are merely illustrative of the principles of the present invention. It should be understood by those skilled in the art that various modifications and improvements of the present invention may be made without departing from the spirit and scope of the present invention, and that these modifications and improvements are within the scope of the present invention that is claimed for protection. The scope of protection claimed for the present invention is defined by the appended claims and their equivalents. [Explanation of symbols]

[0033] 100 heads 200 Torso 300 Dorsal Fin 400 Anal fin 500 Tail Fin 101 Top cover 102 Lower cover 103 Waterproof sealed battery compartment 104 Micro Deep Water Male and Female Plug 106 Waterproof sealed control room 105 Collector 202 Rotating part 201 Adjustable clamp 203 Eco-flexible silicone rubber film 204 Bionic Flexible Under-Actuation Tail 111 Left potting LED light hole 112 Right potting LED light hole 113 Image collection hole 114 Groove in waterproof sealed room 115 Back Adjustable Fixator 116 Steering engine through hole 121 Ultrasonic obstacle avoidance diagonal hole 122 Ultrasonic Depth Measurement Round Hole 123 Bilateral Adjustable Fixator 124 Head fixing screw 125 Steering engine extension groove 131 Waterproof sealed chamber fixing screw 132 Waterproof sealed battery chamber top cover 133 Waterproof sealed battery compartment gasket 134 Waterproof sealed battery compartment cover 135 Waterproof sealed female plug 141 Waterproof sealing plug tightening nut 142 Waterproof packing male plug 143 Waterproof sealing plug washer 151 Waterproof sealed control room top cover 152 Waterproof sealed control room packing 153 Waterproof Sealing Grommet 154 Waterproof sealed control room bottom cover 161 Left potting LED light 162 Right potting LED light 163 Waterproof Image Collector 164 Ultrasonic Obstacle Avoidance Device 165 Ultrasonic depth meter 166 Pressure Sensor 167 pH Sensor 168 Dissolved Oxygen Sensor 211 Driving mechanism 221 Two-axis narrow U-frame 222 Drive mechanism long fixing screw 223 Twin-shaft steering engine 224 Drive mechanism short fixing screw 225 Sub-wheel 226 Frame fixing screw 227 Double-axis wide U-frame 228 Main Wheel 221 Adjustable Clamp Ring 222 Clamping screw 301 Rubber Fin

Claims

1. A bionic sea eel including a bionic sea eel body, the bionic sea eel body having a head, a body, a dorsal fin, an anal fin, and a tail fin connected in order, the head being a three-dimensional hollow case having a waterproof sealed chamber disposed therein, the waterproof sealed chamber being made up of a waterproof sealed control chamber and a waterproof sealed battery chamber, the waterproof sealed control chamber being provided with a power source, a storage, an image processing microcomputer, a control module, and a plurality of collectors, the power source supplying power to the collector and the rotating part, the storage being for storing image information collected by the waterproof image collector, In order to facilitate the sending of signals to the coastal base when the bionic sea eel floats to the water surface, a high-frequency data transmission antenna is fixed to the end of the bionic flexible under-actuation tail close to the head. The image processing microcomputer is used to recognize the morphological characteristics of the collected images. The control module realizes the overall control of the driving control of the bionic sea eel and the marine ranch environment monitoring function. The collector is equipped with a pH sensor, a pressure sensor, a dissolved oxygen sensor, a waterproof image collector, a left potting LED light, The right potted LED light, the collector is installed in the head spare notch or the waterproof sealed control chamber, the pressure sensor, pH sensor, and dissolved oxygen sensor detect and record the water depth and marine environment information of the bionic sea eel, and the left potted LED light and the right potted LED light cooperate with the waterproof image collector to provide light for collecting image information of the underwater environment, the body is composed of the rotating part and the bionic flexible under-actuation tail, the rotating part realizes the eel-like propulsion of the bionic sea eel, the end of the head close to the body is connected to the end of the bionic flexible under-actuation tail close to the head through the rotating part, the dorsal fin, anal fin, and tail fin are respectively integrated with the bionic flexible under-actuation tail through multiple sol and gel solidification moldings, thereby increasing the cross-sectional area of ​​the bionic sea eel and increasing the area for forming vortexes, thereby increasing the propulsion force of the bionic sea eel in the water; The coordinate system of the bionic sea eel is represented by a Cartesian coordinate system / orthogonal coordinate system, with the axis parallel to the direction of movement of the bionic sea eel being the Z axis, the axis perpendicular to and vertical to the Z axis being the Y axis, and the axis perpendicular to both the Z axis and the Y axis being the X axis. The head is composed of an upper cover and a lower cover, the dividing line between the upper cover and the lower cover is located at the three-quarter position from top to bottom, the upper cover and the lower cover are fixed by a head fixing screw, the surface and the inside of the head include grooves and round holes of different sizes, which are used to place a collector, a waterproof sealed control chamber, a waterproof sealed battery chamber, and a balance adjustment chamber; The pH sensor, the pressure sensor, and the dissolved oxygen sensor are formed in the same cylindrical shape, the pH sensor, the pressure sensor, and the dissolved oxygen sensor are fixed to an outer surface of the lower cover; The sensor probe directions of the pH sensor, the pressure sensor, and the dissolved oxygen sensor are aligned along the X-axis direction. A bionic sea eel that is used for marine ranch environmental monitoring.

2. The space between the upper cover and the lower cover is the balance adjustment chamber, and a number of counterweight blocks are arranged inside. The upper cover has a groove with a volume that is three-quarters of the upper cover, which is a groove for a waterproof sealed chamber for placing a waterproof sealed control chamber and a waterproof sealed battery chamber. There are round holes on the left and right eyes of the sea eel, which are the left potting LED light hole and the right potting LED light hole, respectively. There is a round hole that is an image collection hole in the exact center of the lower jaw of the sea eel, and the diameters of these three round holes are determined by the size of the collector to be installed. There is a cross section perpendicular to the Z axis at the end of the head, and all of the three round holes extend in a direction perpendicular to the perpendicular cross section. In the middle of the perpendicular cross section, there is a round hole and this round hole.

2. The bionic sea eel used for marine ranch environmental monitoring as described in claim 1, wherein the four relatively smaller round holes among the five round holes consist of two holes that are linearly symmetrical with respect to a line that passes through the one round hole and is tilted at 45° toward one side of the X-axis direction with respect to the Y-axis, and two holes that are linearly symmetrical with respect to a line that passes through the one round hole and is tilted at 45° toward the other side of the X-axis direction with respect to the Y-axis, the distances from the one round hole to the four relatively smaller round holes are equal, the five round holes are for fixing one end of the head closer to the body to the rotating part, and the vertical cross section of the lower cover has a rectangular corner groove.

3. The waterproof sealed chamber includes a waterproof sealed control chamber and a waterproof sealed battery chamber, the waterproof sealed battery chamber includes a waterproof sealed battery chamber fixing screw, a waterproof sealed battery chamber upper cover, a waterproof sealed battery chamber packing, and a waterproof sealed battery chamber lower cover, the waterproof sealed battery chamber upper cover and the waterproof sealed battery chamber lower cover are fixed by the waterproof sealed battery chamber fixing screw, the waterproof sealed battery chamber packing is inserted into a groove on the edge of the waterproof sealed battery chamber lower cover and pressurized by the waterproof sealed chamber fixing screw to enhance the waterproof sealing of the waterproof sealed battery chamber, the waterproof sealed control chamber includes a waterproof sealed control chamber upper cover, a waterproof sealed control chamber packing, a waterproof sealed grommet, and a waterproof sealed control chamber lower cover, The bionic sea eel used for marine ranch environment monitoring as described in claim 1, characterized in that the upper cover and the lower cover of the waterproof sealed control chamber are fixed with waterproof sealed chamber fixing screws, the waterproof sealed control chamber gasket is placed in a groove on the edge of the lower cover of the waterproof sealed control chamber and pressurized by the waterproof sealed chamber fixing screws to improve the waterproof sealing of the waterproof sealed control chamber, and a waterproof sealed connector is provided between the waterproof sealed control chamber and the waterproof sealed battery chamber, and the waterproof sealed connector consists of a waterproof sealed female plug, a waterproof sealed plug tightening nut, a waterproof sealed plug washer, and a waterproof sealed male plug.

4. 4. The bionic sea eel used for marine farm environment monitoring according to claim 3, characterized in that: the peripheral edge of the bottom cover of the waterproof sealed chamber has a certain thickness, a circular groove is dug and a waterproof packing is installed in the groove, the fixing screw of the waterproof sealed chamber can be an organic material screw to prevent falling off, the waterproof sealed grommet adopts a waterproof joint consisting of five parts including a head, a packing, a body, a gasket and a nut, the head of the waterproof grommet is made by stacking several wires closely, the wires are wound with adhesive, and all gaps in the waterproof sealed chamber are filled with adhesive, the waterproof sealed chamber has a total of four screw holes at the four corners of the sealed box and another screw hole at the midpoint of the four sides of the sealed box, for a total of eight screw holes.

5. The collector includes a pH sensor, a pressure sensor, a dissolved oxygen sensor, a waterproof image collector, a left potting LED light and a right potting LED light, an ultrasonic obstacle avoidance device, an ultrasonic depth gauge, and a 9-axis attitude sensor. The collector is attached to the head spare notch or the waterproof sealed control room. The pH sensor, the pressure sensor, and the dissolved oxygen sensor are tied and fixed directly under the head of the sea eel using a number of fixing devices. The sensor probe is exposed to the external environment to detect the water depth of the place where the sea eel has reached. The waterproof image collector is a waterproof camera, and after waterproofing, it is inserted into the image collection hole. the left potting LED light and the right potting LED light are respectively mounted in the left potting LED light hole and the right potting LED light hole, the left potting LED light and the right potting LED light cooperate with an image collector to supply light, an oblique hole inclined diagonally forward and downward with respect to the Z axis is provided at the tip side of the lower cover of the head, the ultrasonic obstacle avoidance device is provided in the oblique hole, and the 9-axis attitude sensor is mounted in a waterproof sealed control chamber.

6. The bionic sea eel used for marine ranch environment monitoring as described in claim 1, characterized in that the balance adjustment chamber of the head is balanced using counterweight blocks, the weights of the counterweight blocks are equal and the positions are installed symmetrically on the left and right, and when each driving mechanism of the rotating part uses a different material, the bionic flexible under-actuation tail is surrounded by a floating material to prevent it from sinking.

7. The bionic sea eel used for marine farm environment monitoring according to claim 1, characterized in that the rotating part connects two parts, the head and the bionic flexible under-actuation tail, the rotating part includes three driving mechanisms, one of which consists of a two-axis wide U-shaped frame, a two-axis narrow U-shaped frame, a main wheel, a sub-wheel, and a two-axis steering engine arranged above and below, thereby realizing eel-like propulsion of the body, the opening of the two-axis wide U-shaped frame and the opening of the two-axis narrow U-shaped frame are arranged opposite each other, and the two-axis steering engine is arranged within the area surrounded by the two-axis wide U-shaped frame and the two-axis narrow U-shaped frame.

8. The ratio of the body length to the body width of the bionic sea eel body is 13:1, the ratio of the frontal cross-sectional area from the head to one-quarter of the body length to the frontal cross-sectional area from the head to three-quarters of the body length is 12.9:1, the cross-section of the bionic sea eel is composed of two semi-ellipses with equal openings, the short axis of the large ellipse is equal to the long axis of the small ellipse, the cross-section of each part of the bionic sea eel body is teardrop-shaped, narrow at the top and wide at the bottom, the side cross-section of the bionic sea eel body is asymmetrical spindle-shaped, with a thick head and a pointed tail, the top cross-section of the bionic sea eel body is tapered, with a wide head and a narrow tail, and the dorsal fin, anal fin and caudal fin are each complex. The bionic sea eel used for marine ranch environment monitoring as described in claim 1, characterized in that it is integrated with the bionic flexible under-actuation tail after several sol-gel hardening moldings, and the end close to the bionic flexible under-actuation tail is covered with a flexible silicone rubber film of a certain thickness along the outer periphery of the drive mechanism, and the skin design protects the internal rigid structure, and the flexible silicone rubber film is fixed by an adjustable clamp including an adjustable clamp ring and a clamp tightening screw.

9. The bionic sea eel used for marine ranch environment monitoring as described in claim 1, characterized in that the thickness of the dorsal fin in the Y-axis direction gradually decreases as it moves opposite the propulsion direction, the thickness of the tail fin in the X-axis direction gradually decreases as it moves opposite the propulsion direction, the tail fin and dorsal fin move together, the thickness of the bionic flexible under-actuation tail in the X-axis direction and the Y-axis direction decreases as it moves opposite the direction of travel, and rubber fins are installed in the dorsal fin, anal fin and tail fin, and the hardness of the rubber fins is greater than that of the dorsal fin, anal fin and tail fin.

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