63 results about "Robot fish" patented technology

The invention, which belongs to the technical field of intelligent breeding equipment, discloses an underwater bionic robotic fish school cooperative breeding environment dynamic monitoring and regulation system comprising a bionic robotic fish body core module, a group cooperative control core module and an intelligent regulation core module. The bionic robotic fish module simulates a real fish swimming mode and carries various water quality sensors to autonomously cruise, so that interference to cultured fishes is reduced; the group cooperation module utilizes a cluster intelligent algorithm and an underwater acoustic communication technology to realize coordinated movement of multiple robotic fishes and full coverage of a monitoring area; the intelligent adjusting module is based on an abnormal detection algorithm, and integrates a miniature oxygenation device, a pH adjusting device and the like to achieve precise regulation and control of the local environment. By the adoption of the system, dynamic sensing and active regulation and control of the culture environment are achieved, a bionic monitoring regulation and control solution is provided for modern aquaculture through intelligent cooperation of the robot fish school and the management system, and the system has the important value of improving the culture efficiency and improving the growth environment.

The invention relates to the technical field of bionic robots, and particularly discloses a dielectric elastomer-based decapterus maruadsi-imitated robotic fish and a preparation and control method thereof, the dielectric elastomer-based decapterus maruadsi-imitated robotic fish comprises a robotic fish head, a driving unit, a tail fin, a buoy, a balancing weight and a connecting piece; the driving unit is composed of two bending drivers and an electrode, the end, in a bending state, of each bending driver is fixedly connected with one end of the connecting piece to form a fish fin, and the non-bending parts of the bending drivers are bonded and fixed to form a fish body; the robotic fish head is fixedly connected with the other end of the connecting piece, and the tail fin is pasted and fixed at one end of the fish body; the buoy is fixed to the upper portion of the head of the robotic fish, and the balancing weight is fixed to the lower portion of the head of the robotic fish. The dielectric elastomer-based decapterus-imitating robotic fish provided by the invention adopts the dielectric elastomer to manufacture the bending driver, can better simulate fish swimming, adapts to a complex underwater environment, and effectively improves the working efficiency.

The invention discloses a line-driven bionic flexible robotic fish and a using method thereof. The line-driven bionic flexible robotic fish comprises a rigid fish head, and a power source and a control module are arranged in the rigid fish head; the head end of the rigid fish body is connected with the rigid fish head; the flexible fish tail is connected with the rigid fish body, and the flexible fish tail comprises an elastic fish tail spine, a fish tail supporting joint, a tension spring and a flexible fish tail skin; the flexible fishtail driving module is arranged in the rigid fish body; wherein the flexible fishtail is driven by a single motor in cooperation with a stay wire, an intermuscular bone of a fish is simulated through a fishtail supporting joint, the swinging posture of the flexible fishtail is restrained while the driving stay wire is supported, and a nonlinear module is formed through a tension spring and an elastic fishtail spine. The intelligent flexible bionic robotic fish has the advantages that the energy consumption is reduced, and the swimming speed and the swimming efficiency can be improved.

The invention relates to the technical field of bionic robots, in particular to a PVC gel efficient composite swing propelling structure for medium and large bionic fishes, which comprises a plurality of swing joints connected in series; each swing joint comprises a structural part and two swing units, and each structural part comprises a driving force collecting plate, a cover plate, a bottom plate and a ridge plate; the two swing units are arranged between the cover plate and the bottom plate, and each swing unit comprises a PVC gel driver and a displacement amplification mechanism; one end of the PVC gel driver is fixed to the bottom plate, the other end of the PVC gel driver is connected with the displacement amplifying mechanism through the driving force collecting plate, and the displacement output tail end of the displacement amplifying mechanism makes contact with the boss of the cover plate. The displacement amplification mechanism is used for increasing the width (in the z direction) of the swing joint under the same PVC gel deformation condition so as to maintain or amplify the bending swing angle, so that the body type and the propelling performance of the bionic robotic fish are improved, and the bionic robotic fish has the advantages that the structure and the process are simple, and the swing angle and the bending moment can be well regulated and controlled.

The present invention provides a bionic robot fish control method and system based on fish body wave optimization, belonging to the field of robot control technology. The method comprises the following steps: obtaining the swing angle and swing angular velocity of the head of the bionic robot fish, as well as the joint angle and joint angular velocity of the tail in real time; generating the expected swing angle of the head of the fish, and the expected angle and expected angular velocity of each joint in the tail according to the preset expected trajectory of the bionic robot fish; obtaining the dynamic parameters of the bionic robot fish in the fluid; establishing an optimal control model, and obtaining the current optimal joint acceleration of the tail of the bionic robot fish as the control amount of the bionic robot fish. The method proposed by the present invention can effectively reduce the swing of the fish head during the swimming of the robot fish, and is more robust to parameter changes. When the parameters of the bionic robot fish change, stable control can still be achieved, and migration application can be achieved by simply modifying the joint parameters.

The application discloses a reconfigurable bionic robot fish and a combined bionic fish. The reconfigurable bionic robot fish comprises a main body mechanism and a tail mechanism. The main body mechanism comprises a sealed shell and an electrically controlled permanent magnet device which are connected with each other. The electrically controlled permanent magnet device comprises a magnetized state and a demagnetized state. The tail mechanism is used to drive the sealed shell to move. The tail mechanism can drive the main body mechanism to realize movement with at least one degree of freedom. When the electrically controlled permanent magnet device is in the magnetized state, the electrically controlled permanent magnet device can be connected with other reconfigurable bionic robot fish or other driving components, so that the structure after splicing can realize flexible movement in multiple movement directions. When facing a narrow use environment, the electrically controlled permanent magnet device can be controlled to be in the demagnetized state, so that the components connected with the electrically controlled permanent magnet device through magnetism are released, and then the reconfigurable bionic robot fish can be restored to the original size, so as to adapt to the use requirement of the narrow environment.

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.

According to the multi-task robot sensing method based on deep learning disclosed by the embodiment of the invention, a deep learning sensing method based on images is adopted, and compared with a high-cost laser radar sensing method, the cost is greatly saved. According to the embodiment of the invention, under the condition that the computing power of a robot system is limited, a lightweight and efficient network is used, feature extraction information is shared, a multi-task model of human body posture estimation, target detection and instance segmentation is realized, and the sensing ability of the robot is improved. Wherein the human body posture estimation can determine whether a person exists around the robot or not and judge the motion state of the person, such as the foot direction; target detection can determine whether obstacles exist around the robot or not; the instance segmentation can help the robot to better position and better deal with the obstacle shielding problem. Besides, the network adopted in the embodiment of the invention simplifies the attitude estimation of the key points of the whole body, improves the reasoning speed, and alleviates the problem of human missing detection under the fisheye camera of the robot.

The invention discloses a robotic fish school system for underwater autonomous obstacle avoidance and path planning, and relates to the technical field of robotic fish schools. The robot fish comprises a plurality of robot fish single bodies, and each robot fish single body comprises a head detection system, a control system, a middle power and steering engine bionic movement system and a tail balance system; the head detection system comprises a front sonar, a bottom sonar, two-side sonars and a binocular camera; the control system comprises a motion control module, and a data acquisition module, an image analysis module, a motor and a double-steering-engine motion module are electrically connected with the control device; the back of the robotic fish is provided with a dorsal fin and a wireless communication module. The environment is monitored through the sonar and the binocular camera, obstacles in the environment are recognized through the control system, a path is planned, and the motor and the double steering engines are driven to conduct obstacle avoidance operation. Compared with a traditional obstacle avoidance mode, the effective obstacle avoidance range is wider, modular design is adopted, and disassembly and later maintenance are easy.

The invention discloses a bionic robotic fish based on magnetic driving and a propelling method thereof, and relates to the technical field of fish bionics, the bionic robotic fish is composed of a bionic fish body, a magnetic driving device and a fish tail, and the magnetic driving device drives the fish tail to swing back and forth to propel the fish body to advance; according to the magnetic driving device, the magnetic field direction of the electromagnetic module is periodically changed through the control module, the magnetic driving device interacts with the permanent magnet module to generate torque, the swing module and the fishtail are driven to perform efficient and smooth reciprocating motion, and the driving mode is simple in structure and higher in reliability, durability and maintainability; the crescent-shaped structure of the fish tail simulates the swimming mechanism of real fishes, strong propulsive force is provided, and the bionic fish body is completed according to bionics, so that the bionic fish body has excellent adaptive capacity and flexible movement performance in complex submarine topography and high-current environment, and can easily pass through narrow space or execute fine operation.

The present invention relates to a bionic robot fish with tail self-sensing and a tail swing curve optimization method thereof, wherein the bionic robot fish comprises a control system, a driving mechanism, and a bionic flexible fish tail; the bionic flexible fish tail comprises a flexible bionic fish tail bone plate, a plurality of joint pieces vertically fixed on the bionic fish tail bone plate at a set spacing, and two flexible sensors arranged on both sides of the bionic fish tail bone plate; when the bionic fish tail bone plate swings, one of the flexible sensors on both sides is stretched and the other is compressed, and the resistance value changes, and the control system uses a predetermined algorithm to control the swing angle of the bionic fish tail bone plate in real time according to the resistance difference of the flexible sensors on both sides to achieve the expected fish tail bending state, thereby realizing self-sensing correction. The present invention mathematically models a simplified fish tail structure, selects the area difference between the traveling wave curve of the croaker fish and the machine fish tail curve as the objective function, optimizes the bending posture of the machine fish tail by adjusting the distribution spacing of the sheet joints of the robot fish, and makes the robot fish conform to the swimming characteristics of the croaker fish, and the swimming ability indicators such as the straight swimming speed and the turning radius after the optimization are significantly improved.

The invention relates to the technical field of underwater robotic fishes, in particular to a high-maneuverability bionic robotic fish kinetic model and parameter identification method, which comprises the following steps: constructing a kinetic model; determining power parameters needing to be identified; and determining parameters of the kinetic model. According to the method, the motion state of the robotic fish in water can be better described and predicted by constructing accurate dynamic modeling and performing parameter identification of the dynamic model, so that the motion control precision and maneuverability of the robotic fish are improved, and a foundation is laid for the expression of the robotic fish in practical application.

The invention discloses a multifunctional bionic robotic fish for marine new pollutant monitoring, and relates to the technical field of underwater robots, the multifunctional bionic robotic fish comprises a fish body, a swing assembly and a rigidity-adjustable fish tail; the front end of the fish body is provided with a channel cavity, an electromagnetic valve and a storage part and is used for collecting new pollutant fragment samples at different depths, and meanwhile, a built-in drainage channel assists in water circulation; a camera and a pectoral fin driven by a motor are arranged on two sides of the fish body; the swing assembly is of a multi-section annular outer bone and inner bone hinged structure, and flexible swing is achieved by pulling a pull rope system with a clamping ball through a rotating motor. A pressure sensor is arranged in the fish tail, an inflatable bag body is arranged, the air pressure adjusting function of an air storage tank in the fish body and an air pressure adjusting function of a miniature air pump are combined, the rigidity of the tail fin can be dynamically changed to adapt to the complex ocean current environment, and therefore driving energy consumption is reduced.

The application relates to a fish-shaped underwater robot driven in a multi-mode, and relates to a fish-shaped underwater robot. The application is used to solve the problems of low swimming efficiency, poor stability, poor maneuverability and the incapability of avoiding obstacles in time of the existing bionic robots. The application comprises a fish head, an upper shell plate, a lower shell plate, a fish tail, two first driving mechanisms, two second driving mechanisms, a tail fin assembly, a propeller and an electronic cabin. The upper shell plate and the lower shell plate are connected to form a fish body, the fish head, the fish body and the fish tail are sequentially connected in a head-to-tail mode, the two first driving mechanisms are respectively arranged on the two sides of the fish body close to the fish head end and are connected with the fish body, the two second driving mechanisms are respectively arranged on the two sides in the fish tail and are connected with the fish tail, the electronic cabin is arranged in the fish body, and the propeller is connected with the tail end of the fish tail through the tail fin assembly. The application has the vector propulsion driving of the propeller and the bionic tail swing driving, and the multi-mode switching swimming greatly improves the functional characteristics of the robot fish.

The invention relates to the technical field of bionic fishtail structures, and provides a bionic fishtail structure and an underwater bionic robot. The two ends of a fishbone structure are connected with a driving adapter and a tail fin structure correspondingly, the end, away from the fishbone structure, of the driving adapter is used for being connected with a driving device, and the fishbone structure is driven by the driving device to do reciprocating swing motion; the gradient variable stiffness structure covers the fishbone structure; the hyperelastic memory alloy wire penetrates through the fishbone structure, and the two ends of the hyperelastic memory alloy wire are connected with the driving adapter and the tail fin structure respectively. The driving adapter, the fishbone structure, the tail fin structure, the gradient variable stiffness structure and the hyperelastic memory alloy wire are matched with one another, elastic reset of the hyperelastic memory alloy wire can assist the driving device to enable the fishbone structure to passively swing, underwater stress changes are adapted, the simulation performance of the fishtail structure is improved, and the service life of the fishbone structure is prolonged. A fish body-tail fin propelling mode is simulated, the excellent flexible maneuvering performance is achieved, the noise level is lowered, and the concealment is improved.

The invention discloses an underwater robotic fish based on soft beam high-order vibration driving, and belongs to the technical field of underwater bionic robotic fish, the underwater robotic fish comprises a casing, a steering engine, a steering engine push rod and a soft coupling fishtail assembly; the steering engine is arranged in the shell; the output end of the steering engine is connected to a steering engine push rod, and the steering engine push rod is connected to the flexible coupling fishtail assembly; the steering engine drives the steering engine push rod to apply excitation to the flexible coupling fishtail assembly so that the flexible coupling fishtail assembly can generate vibration, and therefore the underwater robotic fish can advance and steer. The fishtail is designed and manufactured by using a soft material, the flexible beam is excited by using the steering engine, so that the flexible beam and the soft rubber tail fin generate vibration, the robot fish is pushed to advance by the reactive force of a water body to the fishtail in the vibration process, and the flexible fishtail moves more stably, more quickly and more closely to the movement of a real fish compared with a rigid fishtail; and the robot is small in occupied volume, can pass through a narrow water area, is better in movement effect, and can be used for underwater rescue and underwater narrow space exploration.

The present invention discloses a bionic robot fish capable of underwater sampling, and relates to the technical field of underwater sampling, including a bionic robot fish body, the bionic robot fish body including a fin plate, a propeller and an image collector, the image collector being arranged at the front end of the bionic robot fish body, an operating cavity being provided inside the bionic robot fish body, a buffer component being arranged inside the operating cavity, and the buffer component including two groups of first springs symmetrically fixedly connected inside the operating cavity. The descent of the bionic robot fish body can be buffered by the compressed first spring, wherein the impact of the bionic robot fish body on the bottom sand and gravel after the descent can be reduced, and in addition, the contact range between the bionic robot fish body and the bottom sand and gravel can be reduced by inserting a contact block into the sand and gravel, thereby reducing the diffusion of sand and gravel, avoiding the influence of the diffused sand and gravel on the image acquisition of the image collector, and improving the acquisition efficiency of the image collector.

The invention belongs to the technical field of underwater bionic robot control, and particularly relates to a motion control optimization method for a flexible robotic fish, a program, equipment and a storage medium. The method comprises the following steps: firstly, constructing a CPG network model of the flexible robotic fish based on a Hopf central pattern generator, simplifying flexible joints of a fishtail area of the flexible robotic fish into pseudo-chain models by using a pseudo-chain method, and connecting adjacent pseudo-chains through the pseudo-joints; and obtaining the expected speed of the flexible robotic fish, taking the transportation cost of the flexible robotic fish as an optimization target, and obtaining a control parameter corresponding to the lowest transportation cost through optimization. According to the characteristics of the flexible robotic fish, the motion control optimization method special for the flexible bionic robotic fish is constructed, control optimization can be effectively carried out on most flexible robotic fishes at present, the swimming speed and efficiency of the flexible robotic fish are further improved, and the motion control optimization method has wide application prospects in the fields of underwater detection, underwater exploration and the like.

The invention provides a bionic robotic fish and system for water environment monitoring, and relates to the technical field of water quality detection. The equipment comprises a bionic robotic fish device, a control device and a detection device, the bionic robotic fish device comprises a bionic robotic fish body structure, an action execution structure installed on the bionic robotic fish body structure, a water inlet structure and a water drainage structure, wherein the water inlet structure and the water drainage structure are arranged on the two sides of the bionic robotic fish body structure and are opened and closed periodically. The control device and the detection device are installed in the bionic robot fish body structure, and the control device is used for controlling the action execution structure according to a remote control signal; the detection device comprises a water collection structure and a detection structure installed in the water collection structure. The first end of the water collecting structure communicates with the water inlet structure, and the second end of the water collecting structure communicates with the drainage structure. The technical problems that an existing underwater bionic robot structure is insufficient in flexibility in water and cannot be remotely controlled can be solved.

A system of underwater swarm of robotic fish for monitoring and telepresence. The system comprising a floating platform communicatively coupled to a controller, a submersible sinker communicatively coupled to the floating platform, and a plurality of underwater drones communicatively coupled to the submersible sinker. The controller is configured to receive instructions from an operator for remotely exploring an underwater environment using the submersible sinker and the plurality of underwater drones, transmit the instructions to the plurality of underwater drones via the floating platform and the submersible sinker, the instructions directing the plurality of underwater drones to navigate the underwater environment and collect data, receive the collected data from the plurality of underwater drones via the floating platform and the submersible sinker, and display the collected data to the operator via a virtual display.

1. Name of this design product: Teaching Aid (Robot Fish‑Simplified Version). 2. Purpose of this design product: used as a children's teaching aid. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention provides a bionic movement and sensing bifunctional fish tendon based on hydrogel, which is prepared by the following steps: adding a PEDOT: PSS solution into a PVA solution, and uniformly stirring to obtain a PVA-PEDOT: PSS mixed solution; then adding the sodium citrate solution into the PVA-PEDOT: PSS mixed solution, fully stirring and separating out flocculent precipitate; and putting the flocculent precipitate into a mold, reacting at room temperature, freezing at low temperature, taking out, unfreezing at room temperature, and repeatedly freezing and thawing for multiple times to obtain the hydrogel-based bionic movement and sensing bifunctional fish tendon. According to the fish tendon, the sensing function is integrated into hydrogel, the motion and sensing functions are achieved, the underwater bionic robotic fish can sense the state of the robot fish in real time during motion, intelligent adjustment is conducted according to environment changes, the flexibility and autonomy of the robotic fish are remarkably improved, the adaptive capacity of the robotic fish in the complex underwater environment is enhanced, and the underwater bionic robotic fish is suitable for being used in the underwater environment. The method is suitable for manufacturing the tendon of the underwater robotic fish.

The utility model relates to an underwater robotic fish obstacle detection and avoidance device, which comprises a robotic fish body, a propulsion mechanism, a sensor array and a processor, the processor is integrated inside the robotic fish body, the processor comprises a master control core unit and a hardware acceleration unit, the master control core unit adopts a single chip microcomputer, and the hardware acceleration unit adopts a hardware acceleration unit. The cloud server is a global resource scheduling and decision-making center and is used for multi-source data fusion and real-time control instruction issuing; the hardware acceleration unit adopts an FPGA, is connected with the master control core unit and the sensor array, and is specially used for parallel obstacle avoidance decision calculation. According to the utility model, the master control single-chip microcomputer is cooperated with FPGA hardware for parallel calculation, so that the resources of the single-chip microcomputer can be released to guarantee the control During synchronous acquisition of multiple sensors, competition packet loss is avoided, signal loss is avoided, and ranging errors are eliminated; and meanwhile, storage pressure is shared, decision making and motion control focused on the single-chip microcomputer are released, and overall power consumption is optimized.

The application relates to a manta ray robot fish roll control method based on Q learning and pectoral fin amplitude bias, compared with a traditional control method, the application does not need to establish a control object model, collects experimental data, trains a Q table offline, then transplants the table into a prototype controller, obtains a control variable through table lookup, and controls the prototype to swim at a fixed depth. Compared with other reinforcement learning control methods, the application has low requirements on hardware resources, small space demand, low power consumption and convenient realization. The application has the beneficial effects that the application has low requirements on the hardware of a controller, and an ordinary single-chip microcomputer can be used for realization, thereby saving cost, space and energy. The application does not need to establish a mathematical model of a control object, can save a large amount of time cost, and is difficult to establish a bionic model. The application can realize roll control of the robot fish without expert experience for establishing a rule base, and the Q table can learn "expert experience" during training.

The present application belongs to the field of underwater bionic robots, and particularly relates to a double-joint flexible robot fish based on hydraulic drive. In the present application, the fish tail of the robot fish adopts a flexible joint, the flexible joint comprising a flexible matrix and a driving unit located inside the flexible matrix, the driving unit being arranged on the left and right sides of the central axial surface of the flexible joint and arranged along the axial direction of the fish body; when driving medium is pumped into the driving unit, the driving unit is axially contracted, and when the driving medium is sucked out of the driving unit, the driving unit is radially expanded; the driving medium is pumped into the driving unit on one side of the central axial surface of the flexible joint through a driving assembly, while the driving medium is sucked out of the driving unit on the other side of the central axial surface of the flexible joint, so that the whole flexible joint is deflected to the side where the driving medium is pumped in; by alternately pumping in from one side and sucking out from the other side of the driving medium, the fish tail is driven to swing.

The application discloses a boxfish type bionic robot fish driven by a shape memory alloy, which comprises a bionic fish base body, a pectoral fin, a flexible skin, a stroke amplification mechanism and a shape memory alloy wire driving mechanism arranged in the base body, and the stroke amplification mechanism is connected with the pectoral fin and the shape memory alloy wire driving mechanism at two ends respectively; the pectoral fin comprises upper and lower swing parts in Z-shaped structure, and the vertically extended two ends are a water-encountering part and a connecting part respectively; the front surface of the water-encountering part is arc-shaped, and the back surface is planar; when electric current is applied, the shape memory alloy wire contracts, the stroke amplification mechanism drives the pectoral fin to swing backward, the back water flow pushes the back surface of the water-encountering part, and the pectoral fin is opened to provide forward power for the bionic fish; when the application of electric current is stopped, the shape memory alloy wire restores to the original length, a spring pushes the sliding block and the shape memory alloy wire to the initial position, the stroke amplification mechanism drives the pectoral fin to swing forward, the front water flow pushes the front surface of the water-encountering part of the swing structure, the pectoral fin is closed, and the resistance is reduced.

The invention discloses a pipeline inspection bionic robotic fish based on a double-vision system and a control method thereof, and relates to the technical field of underwater robots. The robotic fish comprises a machine body and actuator unit, a measuring dual-camera subsystem, an upper processing and man-machine interaction unit, a control unit and a power supply unit. The machine body and actuator unit comprises a single-joint bionic fish body shell, a steering engine and a tail fin; the dual-camera subsystem comprises a line patrol subsystem and an identification subsystem; the upper processing unit is used for interaction and event summarization; and the control unit controls the steering engine according to the segmented adaptive control law. The control method comprises the steps of system initialization, image acquisition and return, line patrol and recognition image processing, upper computer event processing and the like. Through dual-vision function decoupling and segmented adaptive control, stable line patrol, rapid steering and reliable event detection in a complex pipeline environment are realized, and the system has the advantages of high real-time performance, stable control, low cost and the like, and is suitable for a pipeline patrol scene.

The utility model relates to bionic robot fish technical field, concretely is a kind of storage device of recycling pipeline detection bionic robot fish, including storage box, the box cover is hinged in storage box upper surface one side, bionic robot fish body is placed in the inside of storage box, the storage box includes box body, the two batteries of placing in the inside lower surface left and right sides of box body, the partition plate of placing in the battery upper side, recycling mechanism is installed in the middle position of the upper surface of partition plate and the placement board of placing in the top end of recycling mechanism. The utility model is when using bionic robot fish to detect water quality in pipeline, if bionic robot fish appears unexpected and cannot move, can pull out robot fish from pipeline by recycling mechanism, prevent robot fish from being unable to recycle, bionic robot fish can be conveniently taken out by recycling line, and in the use process, recycling mechanism will pre-emit part of recycling line to prevent recycling line from affecting robot fish swing.