190 results about "Fish head" patented technology

The invention discloses an underwater micropterus salmoides body length and mass measurement method, and relates to the technical field of aquaculture. Comprising the following steps: 1) target detection and key point detection: performing target detection and key point detection on underwater largemouth bass by using a YOLOv8 model to obtain key point coordinate information of a fish head and a fish tail; and 2) obtaining depth information: obtaining the depth information of the underwater image through a monocular depth estimation algorithm, and calculating the body length of the largemouth bass in combination with a key point detection result. And 3) mass estimation: based on the body length information, estimating the mass of the micropterus salmoides through a power function regression model. And 4) model deployment: deploying the model in a recirculating aquaculture monitoring system, and displaying and recording the body length and quality information of the micropterus salmoides in real time. According to the method, the body length and the body weight of the largemouth bass can be obtained in real time in a non-contact mode, the method is suitable for a factory-like circulating water culture mode, data support can be provided for culture management, and the practical value and the popularization prospect are high.

Provided is a bionic rescue robot fish, including a fish body skeleton, a fish head skeleton, a fishtail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism and a buoyancy adjusting mechanism. The fish body skeleton is movably connected to the fish head skeleton. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are arranged on the fish head skeleton. Bionic fish skin is attached to surfaces of the fish body skeleton and the fish head skeleton in a sealing manner. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are each communicated with a control unit. The rescue mechanism can release a lifesaving airbag, and the buoyancy adjusting mechanism can change the volume of fish belly part.

The invention discloses a fish ingestion behavior identification method and system, particularly relates to the technical field of aquaculture intelligent monitoring, and is used for solving the problems of fuzzy feature extraction and low behavior discrimination accuracy caused by underwater environment complexity and ingestion action instantaneity of an existing visual identification method. The method comprises the following steps: acquiring underwater continuous video frames, extracting fish body head motion continuity parameters, and screening candidate key frames; analyzing nonlinear dynamic characteristics of mouth deformation displacement to generate time sequence correlation parameters, and dynamically weighting and fusing the head and mouth motion coupling strength; finally, the ingestion behavior state is counted and judged based on the cumulative effect of the motion coupling strength and the distribution mode. According to the method, through multi-dimensional time sequence feature fusion and a dynamic weight distribution mechanism, accurate capture and reliable judgment of transient feeding actions of fishes in a complex underwater scene are realized, and an effective technical support is provided for optimizing a culture feeding strategy.

The invention discloses a binocular vision-based fish body quality non-contact estimation method, which comprises the following steps of: in a land-based facility circulating water high-density culture environment in which a fish body freely swims and is easy to block, firstly, obtaining a fish head local image through fish head region segmentation, and carrying out position alignment and scale normalization processing on the fish head local image; constructing a stable fish head geometric anchor point; then, the fish head anchor point is used as condition input, and a generative model is used for inferring and complementing the overall shape of the fish body so as to recover a continuous geometric structure of the fish body; on the basis, binocular stereo vision is combined to carry out stereo matching on key points of the head and the tail of the fish body, and the length of the fish body is obtained through triangulation; finally, based on the mapping relation between the body length and the quality, automatic estimation of the fish body quality is achieved, manual contact with the fish body is not needed, stable and automatic measurement of the fish body quality can be achieved in a complex breeding scene, and the method has the advantages of being high in adaptability, low in stress risk and high in application value.

The invention provides an inner and outer double-slip composite fishing tool and a downhole fish fishing method, the fishing tool comprises a back-off fishing spear, a fishing barrel and an anti-expansion sleeve, the fishing barrel is arranged outside the back-off fishing spear, the anti-expansion sleeve and the lower end of the fishing barrel are connected and have the same diameter, the inner wall of the fishing barrel is provided with slip inserts, and the lower part of the fishing barrel is provided with a limiting structure; the lower end of the back-off fishing spear is connected with a returnable fishing spear, and a round slip is arranged on the returnable fishing spear. Through the combination of the back-off fishing spear, the fishing barrel and the returnable fishing spear, triple internal and external fishing is carried out on a fish, the fishing area is increased, and the situation that the fish is broken and falls off due to the stress concentration phenomenon on a fishing point after the fish with the corrosion strength reduced is grabbed is avoided; and meanwhile, the anti-expansion sleeve can limit the fallen fish to prevent the fallen fish from being broken due to strength reduction, so that successful fishing is further ensured. According to the internal and external double-slip combined fishing tool, full-size fishing of an oil pipe body, an enlarged part and a coupling of a fish head can be achieved, and the one-time fishing success rate can be increased by using the internal and external double-slip combined fishing tool.

The invention discloses a method, device and equipment for identifying and tracking aquatic biocenosis by using bionic mechanical fish and a storage medium, and belongs to the technical field of bionic technology coupling target identification and tracking. The device comprises a bionic fugu-fish mechanical structure and overall equipment carried by the bionic fugu-fish mechanical structure. The identification and tracking method of the bionic mechanical fish is realized by means of a processor carrying an AN-S algorithm and PID (Proportion Integration Differentiation) control. The method comprises the following steps: shooting aquatic organism communities by adopting a camera located at a fish head position; the controller is used for receiving an instruction of the processor and enabling the fish body to move towards a set direction; the processor and the controller are arranged in the fish body; the side fins, the tail fin and the envelope are located on the side faces, the tail and the fins of the fish body, and motion instructions sent by the processor are achieved. The AN-S algorithm comprises an AttentionNet algorithm for target recognition, target fish in the image is detected and recognized, and recording and storage are started only when a target is detected; the AN-S algorithm comprises a Sort method for continuously tracking a moving target in a recognition sequence and outputting a movement track.

The invention discloses a preparation method of composite active peptide with anti-wrinkle, whitening and freckle-removing effects from marine fish byproducts, cod byproducts, namely fish heads, fish bones and fish skins, are used as raw materials and are mixed according to the mass ratio of 3: 3: 4, and the composite active peptide is prepared through the steps of pretreatment, enzymolysis, enzyme deactivation, centrifugal separation and purification. A compound enzyme used in the enzymolysis step is composed of trypsin and papain according to a certain proportion, and the enzyme addition amount, the enzymolysis time, the enzymolysis temperature and other conditions are optimized. The prepared composite active peptide with the anti-wrinkle, whitening and freckle-removing effects from the marine fish by-product has good anti-wrinkle, whitening and freckle-removing effects, resource utilization of the cod by-product is achieved, and the composite active peptide has high application value.

The invention discloses a fin-paddle composite multi-motion-mode bionic robotic fish, and relates to the technical field of bionic fish structures. The problems that an existing bionic robotic fish is poor in maneuverability and cannot adapt to complex underwater tasks due to the single motion mode are solved. The fish comprises a streamline fish body composed of a fish head, a fish body and a fish tail. A tail swing propulsion system and a pair of multi-mode pectoral fin assemblies are integrated. The tail system adopts a driving motor to drive a cylindrical cam, rotary motion is converted into reciprocating swing of a fishtail through a transmission mechanism, and efficient main propulsive force is provided. According to the multi-mode pectoral fin assembly, the propeller unit is integrated on the pectoral fin body with the adjustable pitch angle, and fusion of pectoral fin gliding and propeller maneuvering is achieved. Through cooperative control of the electric control system, flexible switching of cruising, gliding, maneuvering and composite motion modes of cruising, gliding, maneuvering and the composite motion modes is achieved, and the comprehensive maneuverability, environmental adaptability and task execution capacity of the bionic robotic fish are remarkably improved.

The invention belongs to the technical field of underwater bionic robots, and particularly relates to a robotic fish deformable tail fin based on hydraulic drive and a working method thereof. According to the robotic fish based on hydraulic driving, a four-cylinder plunger pump is arranged in the fish head to serve as a hydraulic power source, the fish body comprises a large connector, a middle connector and a small connector, the large connector distributes hydraulic oil to a bionic driving unit set of a joint I, left-right bending of the fish body is achieved, meanwhile, the hydraulic oil is conveyed to the middle connector through an oil conveying pipe, and the small connector distributes the hydraulic oil to the joint I; after pressure synchronization is guaranteed through a pressure equalizing annular pipeline in the fishtail, a piston of a joint II is driven to move, the fishtail is designed to be a deformable tail fin, a tail arm is pushed to rotate through the synchronously-moving piston, and then a tail edge pipe is driven to deform and relatively move, so that the fishtail can dynamically change the area, the camber and the shape in the swimming process; therefore, different cruising speed and maneuverability requirements are met. Through the centralized hydraulic system and bionic structure design, active controllable adjustment of the shape of the deformable tail fin is achieved.

The invention belongs to the technical field of underground fish salvage, and provides an underground fish head lateral magnetic detection device and method.The underground fish head lateral magnetic detection device comprises a measuring probe tube which is placed in a salvage borehole and used for detecting a variable flow magnetic field at the position of a fish; one end of the releasing tool is connected with the measuring probe; the converter is used for generating a variable-flow magnetic field at a fish falling position and is connected with one end, far away from the measuring probe, of the releasing tool; one end of the cable extends into the salvage borehole to be connected with the measuring probe, and the other end of the cable is connected with a ground industrial control unit located on the ground; the salvage well hole is located on one side of the fish well hole, and fishes are reserved in the fish well hole. According to the device, a variable-flow magnetic field can be generated at a fish falling position through the converter, then a variable-flow magnetic field signal at the fish falling position can be obtained in real time through the measuring probe, the measuring probe and the converter are arranged in a fishing fish eye on one side of the fish falling position, the positioning error can be reduced, meanwhile, the converter is remotely controlled through a controller on the ground, and the positioning accuracy is improved. Magnetic field interference can be reduced.

The utility model relates to the field of fish processing, and discloses fish sorting equipment for fish processing. A supporting rail is welded to the upper surface of the working plate, a lower clamping plate is movably connected to the upper surface of the supporting rail, a movable shaft is arranged on the outer surface of the lower clamping plate, an upper clamping plate is welded to the outer surface of the movable shaft, an electric auxiliary pressing plate is arranged on the lower surface of the upper clamping plate, a centering shell is arranged on the upper surface of the lower clamping plate, and a reference electric controller is welded to the outer surface of the centering shell. A motor drives a movable shaft, then a lower clamping plate and the movable shaft are opened and closed to extrude a fish head, a telescopic motor is arranged in an electric auxiliary pressing plate below an upper clamping plate to fix a fish, a centering shell is composed of two racks and a movable gear, the racks are fixed to the lower clamping plate and the electric auxiliary pressing plate respectively, and the movable gear is located in the middle. The movable gear is always in the central position under the meshing action, the extended cross rod of the movable gear is driven to the reference electric controller, the reference position is found by controlling the lifting of the lifting platform corresponding to the internal position of the reference electric controller, and the central position of the fish is conveniently found.

The utility model discloses a novel bionic mechanical fish relates to mechanical fish technical field, including fish head mechanism, the back of fish head mechanism is provided with multistage fish body mechanism, the back of multistage fish body mechanism is provided with fish tail, multistage fish body mechanism includes the docking board no.

The invention provides a bionic fugu robot fish cooperatively propelled by a tail handle and a propeller. The bionic fugu robot fish comprises a fish head cabin, a data acquisition device is installed in the fish head cabin, the data acquisition device is connected with small high-definition cameras arranged on the two sides of the fish head cabin, and attitude sensors are further arranged on the two sides of the fish head cabin; the fish body cabin I is connected with the fish head cabin, and a control device and an energy storage device are mounted in the fish body cabin I; the second fish body cabin is connected with the first fish body cabin, and a counterweight device is mounted in the second fish body cabin; the second fish body cabin is connected with the fishtail cabin through a tail handle, and a steering engine set is installed in the tail handle. A motor device is mounted in the fishtail cabin; the propeller is installed at the tail of the fishtail cabin and connected with the motor device. Through coordinated movement of the tail handle and the propeller thruster, a series of underwater movement of the bionic fugu robot fish is achieved, the tail handle is used for advancing, retreating, ascending, sinking and direction control of the bionic fish, the bionic fish is rapidly moved through coordination of the double propellers, and the capability of executing diversified movement underwater is achieved.

The invention discloses an inspection bionic fish, which comprises a fish body, a fish tail driving unit, a propelling unit and a pitching adjusting unit, and is characterized in that the fish body comprises a fish head, a fish body and a fish tail which are connected in sequence; the fish tail driving unit is arranged in the fish body, is connected with the fish tail and is used for driving the fish tail to swing back and forth towards the two sides of the fish body so as to push the fish body to swim forwards and change the swim direction of the fish body; the propelling unit is arranged on the fish body and used for generating backward thrust so as to drive the fish body to advance forwards; the pitching adjusting unit is arranged in the fish body and used for enabling the fish head to face upwards or downwards. The polling bionic fish has the advantages that the polling bionic fish can simulate fish swimming, fast advancing, steering, floating and diving of the bionic fish can be achieved in cooperation with pushing type driving, and the motion performance is excellent.

The utility model discloses an opening and closing structure of a fish head game machine, which comprises a mounting panel and a plurality of fish head components detachably and fixedly arranged on the side surface of the mounting panel, and a power component for driving the fish head components to open and close is fixedly arranged on the other side surface of the mounting panel. The fish head assembly comprises a fish head 3D printing piece, a fish tongue 3D printing piece, a circular induction piece, a rotating frame and a bearing. Compared with the prior art, the fish head assembly has the advantages that the multiple fish head assemblies are driven by one motor to do repeated opening and closing movement at the same time, the use and cost of production materials are greatly saved, and the fish head assembly is convenient to use and high in practicability. The eccentric blocks are fixed to the rotating shaft at different angles, a regular staggered movement mode is achieved, the angles of the eccentric blocks can be adjusted at will, more angles of the eccentric blocks can be designed, different assemblies can make more actions, and the requirement for product function diversification is met.

The utility model belongs to the technical field of liquid nitrogen quick-freezing equipment, and particularly relates to liquid nitrogen quick-freezing equipment for fish head processing, which comprises a base, the upper end of the base is in contact with a cover, a backing ring is fixedly connected in the base, a mounting seat is slidably connected in the cover, the mounting seat is slidably connected with the base, and the backing ring is fixedly connected with the base. The lower end of the mounting seat is in contact with a sealing gasket, and the upper end of the sealing gasket is fixedly connected with a clamping block. The sealing gasket, the backing ring and other key components are innovatively designed and elaborately arranged, the sealing degree between the cover and the base can be effectively increased, the threaded rod is ingeniously matched, the sealing gasket and the backing ring can be accurately driven to be tightly attached through flexible rotation, the sealing effect between the cover and the base is greatly improved, and the service life of the cover is prolonged. The problems that liquid nitrogen quick-freezing equipment for fish head processing is poor in sealing performance and liquid nitrogen is prone to leaking when used are fundamentally solved, and stable and efficient operation of the equipment is assisted.

A novel lure bait is characterized in that the lure bait comprises a simulation fish head, the bottom of the simulation fish head is connected with a fishhook, the top of the simulation fish head is provided with a connecting arm capable of being bound with a fishing line, one end of the connecting arm is connected with the simulation fish head, and the other end of the connecting arm is connected with a metal sheet capable of swinging in the X-axis direction, the Y-axis direction and the Z-axis direction. The utility model has the advantages that the metal sheet is not directly connected with the simulated fish head, but is connected to the free end of the connecting arm capable of binding the fish wire, the metal sheet and the simulated fish head are kept at a certain distance, the swinging in the X, Y and Z directions can be realized through the free end of the connecting arm, and the movement range is larger than that of the design in the prior art; a more vivid artificial bait effect can be simulated; besides, the connecting arm adopts a bending structure with a certain angle, and the metal sheet and the second arm part can form a basically vertical connection mode, so that the metal sheet is supported by the connecting arm and is not positioned in the same plane with the simulated fish head, and a water retaining effect perpendicular to the water surface can be generated; and the balance of the whole lure bait in water is ensured.

The invention provides a large-diameter well construction drilling tool fishing device and method, and belongs to the technical field of drilling tool fishing. The large-diameter well construction drilling tool fishing device comprises a pipe nipple, a hook-shaped grabhook, a built-in connector and a thread making awl, the hook-shaped grabhook is vertically welded to the lower end of the pipe nipple, and the built-in connector is coaxially and fixedly arranged at the upper end of the pipe nipple; a connecting cylinder is elastically and slidably assembled in the built-in connector, a cross-shaped connecting base is coaxially and fixedly installed at the lower end of the connecting cylinder, a thread making cone is coaxially and fixedly installed on the cross-shaped connecting base, clamping jaws are evenly hinged to the outer arc face of the pipe nipple in the circumferential direction, and guide grooves are formed in the top ends of the clamping jaws. According to the device, a fish falling head can be quickly centralized, double reliable fixing is achieved by combining thread making taper threaded connection and clamping jaw radial clamping, the operation process can be simplified by driving an unlocking structure through slurry, and the operation efficiency and construction safety are remarkably improved.

The application relates to the technical field of downhole operation of oil exploitation, in particular to a lost fish head detection device and method for taking and replacing a casing, the method comprising the following steps: by collecting the magnetic variable of a downhole probe at each sampling depth, a potential interference section is first determined; then, by combining the magnetic field gradient distribution and the horizontal magnetic field direction characteristics, the magnetic field change balance degree and the direction consistency are calculated, the stratum lithology and external interference are effectively removed, and the real lost fish head section is accurately locked; finally, the horizontal distance is calculated by using the magnetic field vector weighted summation, and the fish collecting strategy is output. The application aims to improve the accuracy of fish head positioning and the fish collecting success rate.

The present invention discloses a fish top rotating device and its usage method, which relates to the technical field of downhole fish top repair tools. It includes a lifting and rotating assembly and a hydraulic anchor. An axial limiting groove is provided on the outer wall of the upper part of the lifting sleeve, and a lifting sleeve is provided at the bottom. Two radially and coaxially arranged fixing ears are provided on the bottom wall of the lifting sleeve, and a lifting pin shaft is inserted into the fixing ears. The upper part of the direction-changing shaft is the upper shaft of the direction-changing shaft, and the lower part is the lower shaft of the direction-changing shaft. A direction-changing track adapted to the lifting pin shaft is provided on the outer wall of the upper shaft of the direction-changing shaft. The direction-changing track is a 360-degree surrounding wavy track, and a lower joint is provided at the lower end of the lower shaft of the direction-changing shaft. Both the lifting sleeve and the direction-changing shaft are hollow tubular structures. The lifting sleeve is slidably sleeved on the outside of the upper shaft of the direction-changing shaft, and the two lifting pin shafts are slidably arranged in the direction-changing track. When this device is in use, there is no need to rotate the fishing and workover pipe string. By lifting and lowering the pipe string, only the fish top device is driven to rotate to repair the fish top, improving the efficiency of repairing the fish top.

The application discloses a motor for coiled tubing and a use method thereof. The motor comprises an external shell and an internal transmission component installed in the external shell. The external shell is composed of a short section, a power shell, a winding shaft shell, a transmission shaft shell and an end sleeve which are sequentially screwed together. The internal transmission component is composed of a rotor, a winding shaft and a transmission shaft which are sequentially screwed together. A rubber stator corresponding to the rotor is fixedly installed in the power shell. An upper compensating sleeve is installed between the winding shaft shell and the winding shaft. A lower compensating sleeve is installed between the end sleeve and the transmission shaft. A roller bearing assembly and an oil bath type bearing assembly are respectively installed between the transmission shaft shell and the transmission shaft. The motor assembly is simultaneously increased with the stator and the rotor, so that the rotor outputs a lower rotating speed to the transmission shaft, thereby driving the fishing tool connected to the lower part of the transmission shaft to rotate and guiding the fish head into the fishing tool.

The invention discloses a rigidity distribution optimization method based on an elastic beam driving bionic fish body, and belongs to the field of underwater bionic robots. According to the method, the problem that the swimming performance of the bionic fish body is poor due to the fact that an existing method cannot achieve overall rigidity distribution optimization of the bionic fish body is solved. According to the method, a parameter vector composed of a characteristic size, an elastic modulus, a Poisson's ratio and a damping parameter is selected as an optimization variable, and a center line movement track is calculated through an elastic beam deformation track, a rigid fish head track, a tail peduncle track, a tail fin track and a middle beam deformation track on the two sides of a bionic fish body; the parameter vectors are iteratively searched and updated according to the midline motion trail and the rigidity distribution scheme, so that the optimization range is expanded from the tail to the whole bionic fish body, the flexibility and continuity of the full length of the fish body are realized, the obtained rigidity distribution optimization result is closer to the swimming mechanism of real fish, and the swimming performance of the bionic fish body is improved. The method can be applied to rigidity distribution optimization of the elastic beam driven bionic fish body.

The application provides a drilling tool fishing device and fishing method for large-diameter well construction, and belongs to the technical field of drilling tool fishing, and comprises a pipe nipple, a hook-shaped claw, a built-in joint and a thread-making cone. The hook-shaped claw is vertically welded at the lower end of the pipe nipple. The built-in joint is coaxially fixed at the upper end of the pipe nipple. A connecting barrel is elastically and slidably arranged in the built-in joint. A cross-shaped connecting seat is coaxially fixed at the lower end of the connecting barrel. The thread-making cone is coaxially fixed on the cross-shaped connecting seat. The outer arc surface of the pipe nipple is circumferentially and uniformly hinged with clamping claws. The top end of each clamping claw is provided with a guide groove. The end of the cross-shaped connecting seat is fixedly provided with a guide column. The application can quickly right the fish head. The thread-making cone is threadedly connected with the clamping claw to achieve double reliable fixation. The mud can drive the unlocking structure to simplify the operation process, and significantly improve the operation efficiency and construction safety.

The utility model discloses a fish killing machine, and relates to the technical field of fish killing machines, the fish killing machine comprises a fish killing machine main body and a fish head adjusting device, the fish head adjusting device comprises a first rack, an adjusting table and a reciprocating driving structure; an adjusting cavity is formed in the adjusting table, a fish outlet is formed in the side, close to the fish killing machine body, of the adjusting table, one end of the fish outlet is communicated with the adjusting cavity, the other end of the fish outlet is matched with the fish killing machine body, the bottom face of the adjusting cavity is obliquely arranged, a fish pouring position is arranged at one end in the adjusting cavity, and a plurality of guide sliding grooves are formed in the other end of the adjusting cavity; the pair of sliding parts are arranged on the first rack in a matched mode, the adjusting table is arranged on the pair of sliding parts and is in sliding connection with the first rack through the pair of sliding parts, the driving part is arranged on the first rack and used for driving the adjusting table to reciprocate, and the problems that in the fish killing process of an existing fish killing machine, the position of a fish head cannot be automatically adjusted, manual adjustment is needed, and the fish killing efficiency is high are solved. And the fish killing efficiency is not high.

The utility model provides an annular slip fisher capable of milling a thin-wall short fish top, which relates to the technical field of petroleum underground fishing, and comprises an upper joint, a shell guide shoe and an annular slip, the bottom of the shell guide shoe is provided with a milling tooth structure, the inner side of the shell guide shoe is provided with a guide shoe inner conical surface close to the bottom end, the side surface of the shell guide shoe is provided with a guide shoe key slot, and the annular slip is provided with a milling tooth structure. The inner side of the annular slip is fixedly connected with alloy teeth, and the outer side face of the annular slip is provided with a guiding shoe inner conical face. By designing the annular slip matching conical surface of a thin-wall structure, when the fishing pipe column is lifted, the outer conical surface of the slip and the inner conical surface of the guide shoe extrude each other, so that the annular slip is deformed, the diameter is reduced to clamp a fish, and the fishing pipe column can be suitable for back-off.

The embodiment of the utility model discloses a lossless fish body fixing operating table, an adjusting device comprises an adjusting assembly which is arranged at the top end of the operating table and is used for erecting a fish body, and a first driving assembly which is used for driving the adjusting assembly to move left and right is arranged in the operating table; a clamping assembly used for clamping and fixing the fish head is arranged on the right side of the fixing column, and a second driving assembly used for driving the clamping assembly to move left and right is arranged on the left side of the clamping assembly. The hand wheel drives the screw rod to rotate, so that the shoveling plate can be controlled to drive the fish body to be shoveled; the fixing frame is stretched to approach the fish body, and the spring is in a stretched state; then the clamping plates stored in the fixing frame are unfolded, then the clamping plates are locked through the locking rods, finally external force for stretching the fixing frame is released, under the elastic effect of the springs, the fixing blocks can be stored into the fixing columns along the round rods, and the clamping plates can be driven to clamp and fix the head and the tail of a fish body.

The invention belongs to the technical field of ocean engineering, particularly relates to an underwater mobile robot based on an underwater acoustic communication technology, and provides the following scheme aiming at solving the problems that a fish-imitating underwater robot is easy to wind in a complex turbid water area, a sensor is easy to lose efficacy due to sediment adhesion, and the maneuvering operation capability of the fish-imitating underwater robot is seriously hindered. One side of the fish body shell is fixedly connected with a fish head, one side of the fish head is provided with a motorized auxiliary module, the motorized auxiliary module comprises a mounting plate, and the tail of the fish body shell is provided with a tail swinging mechanism. The underwater mobile robot based on the underwater acoustic communication technology has the advantages that entanglements can be actively removed through the movable cutting blade of the maneuvering auxiliary module, system faults are prevented, meanwhile, an automatic cleaning function is achieved, a sensor can be kept clean, it is ensured that the image quality is stable, and the maintenance requirement is remarkably reduced.

The application discloses a bionic fish structure with foldable and variable rigidity adjustment functions, and belongs to the technical field of bionic fish structures. In order to solve the problems of high energy loss rate, slow swimming speed, poor stability at high speed, and the fact that a large amount of space cannot be left in the fish head for bearing, the application comprises a fish head unit, a fish body unit and a foldable tail fin, the fish head unit and the foldable tail fin are arranged at two ends of the fish body unit respectively, the fish body unit comprises an outer skeleton, a foldable dorsal fin unit, a fish body swing unit and a fish tail variable rigidity adjustment assembly, the foldable dorsal fin unit, the fish body swing unit and the fish tail variable rigidity adjustment assembly are arranged in the outer skeleton, one end of the fish body swing unit is detachably connected with the fish head unit, the other end of the fish body swing unit extends out of the tail end of the outer skeleton and is detachably connected with the foldable tail fin, the foldable dorsal fin unit is located above the fish body swing unit, the top of the foldable dorsal fin unit penetrates through the outer skeleton and extends above the outer skeleton, and the fish tail variable rigidity adjustment assembly is located above the fish body swing unit and in the inner part of the outer skeleton. The application is used as a bionic fish structure for underwater detection.

This invention discloses an underwater multi-target tracking method based on stable semantic regions, relating to the fields of computer vision and underwater intelligent sensing technology. The method includes: acquiring underwater images and defining stable semantic regions for fish heads; performing feature extraction and fish head detection on the underwater images to obtain fish head detection results; generating a segmentation mask for the stable semantic region of each fish head based on the fish head detection results within the multi-target tracking framework; calculating the physical centroid of the stable semantic region of the fish head based on the segmentation mask, using the physical centroid as a tracking anchor point for target association and trajectory tracking; determining the real-time spatial position of the fish body and its real-time attitude by using the physical centroid of the stable semantic region of the fish head as a reference point and combining it with the positional information of the stable semantic region of the fish head, thus completing multi-target tracking. This invention effectively avoids problems such as positioning deviation and missed detection caused by the non-rigid deformation of the fish body, improving the accuracy and stability of underwater fish swarm tracking.

This invention discloses a biomimetic robotic fish with amphibious capabilities and its control method, belonging to the field of robotics technology. The robotic fish comprises an unsealed head assembly, a fully sealed body assembly, and a flexible tail assembly. Symmetrically positioned on both sides of the head assembly are dual pectoral fins controlled by independent waterproof bus servos. The body assembly integrates a microcontroller, a brushless DC motor, and a reel. In underwater maneuvering mode, the microcontroller controls the brushless DC motor to pull the flexible tail assembly through a transmission rope to provide axial thrust, while independently adjusting the fluid angle of attack of the dual pectoral fins to generate lift or sinking, achieving three-dimensional spatial maneuvering. In amphibious crawling mode, the dual pectoral fins serve as mechanical support limbs, propelling the body forward through periodic contact with the ground. This invention overcomes the limitations of traditional robotic fish that rely on water buoyancy and two-dimensional planar movement, achieving continuous operation and three-dimensional attitude control across various media environments.