30 results about "Swimming speed" patented technology

The invention relates to the technical field of data processing, and discloses a hydropower station fish gathering system inlet flow field adaptability optimization method and system. The method comprises the following steps: grading target fishes according to swimming speed and body length, setting a flow velocity adaptation threshold value, monitoring a flow field through an acoustic Doppler current meter, fusing data by using a Kalman filtering algorithm, calculating a fish rheotaxis index, and carrying out matching analysis to evaluate the adaptability of the flow field, according to the evaluation result, the flow guide pier and the microbubble curtain are controlled to conduct multi-stage linkage regulation and control, and a fuzzy PID control algorithm is adopted to achieve self-adaptive flow field control with the fish hydrotaxis index as a feedback signal. The problem that flow field optimization lacks fish behavior response feedback and multi-device coordination control in the prior art is solved, and the biological adaptability and the regulation and control precision of the inlet flow field of the fish gathering system are improved.

The invention discloses a fishway hydraulic power and fishway structure design method and related equipment, and the method comprises the steps: obtaining swimming capability parameters of each target fish species in a target water area, the swimming capability parameters comprising an induction flow rate, a critical swimming speed and an outbreak swimming speed; selecting the target fingerling with the minimum critical swimming speed as a limited fingerling; according to the critical swimming speed corresponding to the limited fingerling, calculating a first energy consumption rate of swimming of the limited fingerling at the first hydraulic flow speed; according to the first energy consumption rate, hydraulic function partitions and space sequence layout of the fishway are determined; and determining fishway hydraulic parameters according to the induction flow velocity of each target fingerling and the critical swimming speed and the outbreak swimming speed of the limited fingerling. According to the fishway, inclusive passing of the fishway to multiple species can be achieved, the structural design of the fishway can adapt to the natural behavior rhythm of fishes, the overall energy consumption of dam passing of fish schools is remarkably reduced, then the ecological efficiency of the fishway is improved, and the fishway can be widely applied to the technical field of fishway design.

The utility model relates to the technical field of fishery breeding equipment, and discloses a touch type bait feeder convenient for feeding, which comprises a suspension block, a triggering quantitative feeding part and a positioning induction triggering part, and a suspension ring is sleeved on the outer wall of the suspension block. Through cooperation of the mounting block, the take-up wheel, the connecting line and the positioning anchor, the feeder can be positioned at a specific position in a fishpond, the feeding position of the feeder can be set in advance according to distribution habits of fish schools and water quality difference areas in large-scale fishpond cultivation, the ultrasonic fish school detector plays a key role, and the feeding effect of the feeder is improved. The dynamic states of fish schools around the feeder, including the number of the fish schools, the distance from the feeder and the swimming speed of the fish schools, can be monitored in real time, and when the ultrasonic fish school detector detects that a large number of fish schools are close to the feeder and the density of the fish schools exceeds a preset threshold value, a signal is transmitted to the controller; and the controller controls the stirring motor to start according to a signal received by the controller, and quantitative feeding is carried out.

The invention provides a fry adaptive domestication system and method based on multidirectional flow impact exercise, and relates to the technical field of fishery breeding, the system comprises three-section domestication pool bodies, the domestication pool bodies are detachably connected through flange plates, the bottom of each domestication pool body is fixedly connected with a supporting column, the upper portion of each supporting column is fixedly connected with a supporting seat, and the supporting seat is fixedly connected with the bottom of the corresponding domestication pool body. A motor is arranged on the upper portion of the supporting seat, a third bevel gear is fixed to the output end of the motor, and a connecting assembly facing the side wall of the domestication pool body in the radial direction is meshed with the third bevel gear. The invention provides a multi-directional flow impact training structure, which enables the fry to swim back and forth, turn and avoid and the like in radial, annular and spiral flow, the caudal peduncle muscle fiber density is improved by 20-30%, the swimming speed is improved by 40% compared with that of the traditional domesticated fry, the anti-countercurrent ability intensified training in the three-dimensional space of the fry is realized, and the endurance, explosive power and turning flexibility of the fry are improved in a balanced manner.

The invention relates to a shape rigidity variable tail fin and a bionic robotic fish and a motion mode thereof, and belongs to the technical field of underwater robot application. The device specifically comprises a tail handle center rod (35), a tail handle side rod (36), a tail fin center rod (49) and the like. The two sides of the tail fin center rod (49) are provided with single-side composite parallelogram mechanisms; a variable-stiffness regulation and control area of the tail fin is arranged between the tail fin center rod (49) and the tail handle center rod (35), and a first sliding block (37) is arranged between the tail fin center rod (49) and the tail handle center rod (35); the sliding of the first sliding block (37) can change the coverage range of the first sliding block (37) on a variable stiffness regulation and control area on one hand, and drives the single-side composite parallelogram mechanism to generate cooperative deformation on the other hand; the shape and rigidity of the tail fin of the robotic fish are cooperatively controlled, so that the swimming speed and the propelling efficiency of the robotic fish are effectively improved.

The application relates to the technical field of aquatic product monitoring, and discloses a large yellow croaker swimming speed monitoring method and system based on target detection, which comprises the following steps: acquiring a to-be-monitored image of a target water area, real-time environmental flow rate data and real-time water body turbidity data of the target water area; performing target detection on the to-be-monitored image to obtain coordinate data of the large yellow croaker; performing linkage verification on the coordinate data to obtain verified coordinate data; determining real-time posture features of the large yellow croaker according to the verified coordinate data; optimizing the real-time posture features through a flow rate phase joint mechanism to obtain optimized posture features; and constructing a posture fluid coupling model according to the optimized posture features and the real-time environmental flow rate data to determine the swimming speed of the large yellow croaker. The application fully considers the influence of the posture of the large yellow croaker and the environment, and combines the biomechanical features to realize accurate calculation of the real swimming speed of the large yellow croaker.

The invention discloses a shellfish larva vitality measuring device, and relates to the field of marine bivalve shellfish larva behavioristics, a measuring device is arranged in a heat preservation device, swimming tracks and swimming speeds of shellfish larvae in different temperature environments are simulated through the heat preservation device, and the measuring device comprises a measuring chamber, a camera and a measuring scale, a measuring ruler is arranged on the inner side wall of the measuring chamber, the camera faces the measuring chamber and is arranged on the opposite side of the measuring ruler, the camera records the motion trail of the shellfish larvae in the measuring chamber in the background of the measuring ruler, and the clearness of the motion trail of the shellfish larvae in the video is increased through irradiation of the light source. The swimming speed of the shellfish larvae is calculated by combining a measuring scale in a video, so that the accuracy of shellfish larva vitality evaluation is improved; meanwhile, the invention further discloses a determination method applying the shellfish larva vitality determination device, and the vitality strength of the shellfish larvae under the actual condition is judged.

The application relates to the technical field of image processing, and discloses a fish school target tracking and swimming speed calculation method based on a sonar image, which comprises the following steps: acquiring a sonar video set and a parameter set collected by a sonar sensor array, performing isochronous interval frame processing to obtain a first video frame set, performing screening and denoising to obtain a second video frame set, determining position data and fish school type data of a target fish school based on the second video frame set, the parameter set, a pre-trained identification model, performing identification frame marking on each video frame image in the second video frame set, extracting target data of the identification frame, and calculating the swimming speed of the target fish school. Through implementation of the application, from comprehensive and accurate data collection to high-quality image processing, accurate target identification and tracking are realized, and the problems that related technologies are not perfect, target loss or misjudgment is prone to occurring when multiple targets are tracked, and the demand for accurate measurement of fish school speed cannot be met are solved.

The application discloses a four-fingered tetra intelligent net cage breeding system and method based on behavior recognition and low stress control, which comprises a flexible anti-collision light-blocking net cage module, an underwater AI behavior early warning module, a micro-bubble and sound-light soothing intervention module and a dry-free flexible transfer module. The flexible anti-collision light-blocking net cage eliminates net collision and scale shedding and visual disturbance from the physical structure, the underwater AI behavior early warning module extracts three-dimensional features of sudden change rate of swimming speed, spatial dispersion and gill cover vibration frequency to calculate a comprehensive stress index, realizes four-level grading early warning, the micro-bubble and sound-light soothing intervention module realizes targeted soothing through mute oxygenation, blue-green light and low-frequency sound waves, and the dry-free flexible transfer module realizes underwater zero-fishing transfer of fish bodies. The application improves the survival rate of four-fingered tetra by 22.6% and reduces the scale infection rate by 93.5%, solves the stress bottleneck of large-scale breeding of the four-fingered tetra and is suitable for large-scale near-shore net cage breeding of the four-fingered tetra.

The invention discloses a swimming speed measurement simulation display device for a swimming pool, and belongs to the technical field of swimming speed measurement, the swimming speed measurement simulation display device comprises the swimming pool, the outer wall of the swimming pool is provided with a speed measurement assembly and a timing assembly, the timing assembly is provided with a water removal assembly, one side of the swimming pool is provided with a display screen, and the speed measurement assembly comprises a mounting box. The mounting box is fixedly mounted on the side wall of the swimming pool, a first stroke groove is formed in the top surface of the mounting box, a first motor is fixedly mounted on the inner wall of the mounting box, and a power rod is rotatably mounted on the inner wall of the mounting box; according to the device, the speed measuring assembly is arranged, through the design, real-time swimming stroke capturing and speed measuring of an athlete are effectively achieved, the athlete does not need to wear any device, the speed is accurately measured, the athlete can conduct real-time comparison and interaction according to previous data or set data, the athlete is effectively helped to increase the swimming speed, and the use effect is good.

The application relates to the field of machine fish, and particularly discloses a high-speed bionic machine fish based on tail fin enhanced propulsion, which comprises a fish head bionic part, a fish body bionic part and a tail fin piece; the end of the fish body bionic part is movably connected with an open tail bone support; a crank rocker structure is arranged on the fish body bionic part; the crank rocker structure is connected with the open tail bone support; the open tail bone support is partially connected with the tail fin piece; and a tail handle side convex fin piece is arranged on the open tail bone support; the crank rocker structure is used for converting rotary motion into the reciprocating swing action of the whole body of the open tail bone support and the tail fin piece; the tail handle side convex fin piece is used for generating a backward rolling vortex and colliding with the leading edge vortex generated by the tail fin piece in the reciprocating swing process. The open tail bone support is used as the tail handle connecting structure of the machine fish to connect the tail fin piece and the fish body bionic part, so that a faster swimming speed can be obtained under the automatic swimming model of the machine fish.

The invention discloses a variable stiffness rope-driven robotic fish, which comprises a robotic fish body, a control part and an electronic function module, the robotic fish body comprises a rigid fish head part, a flexible fish skeleton and an adjustable fish tail part, the flexible fish skeleton is formed by combining a variable stiffness mechanism and a rope and is used for driving the robotic fish to swim, and the variable stiffness characteristic is provided by a spring element; a variable stiffness mechanism is matched with a rope driven by a motor to simulate the antagonism of muscles when fishes swim in nature, so that the swim speed and efficiency are improved to a certain extent, and tail fins of different models can be detached and replaced at the tail part of the fish; the control part, the electronic function module and the power supply are all arranged in the cavity of the fish head part; the robotic fish is controlled by an infrared remote control open loop, can realize swinging of the fish tail at different frequencies, can be used for researching optimization of a variable stiffness mechanism, and is expected to be used in the fields of underwater exploration, environment detection and the like after being carried with other detection modules.

The utility model discloses a swimming auxiliary device capable of increasing swimming speed, which comprises a body connecting piece used for being connected and bound with a body part, and further comprises a limiting head of a disc structure, a plurality of hinge seats and a plurality of umbrella ribs are arranged below the limiting head, and the limiting head is connected with the body connecting piece. The plurality of hinge seats and the plurality of umbrella ribs are radially and circumferentially distributed by taking the central axis of the limiting head as a center, and the distribution directions of the hinge seats and the umbrella ribs are in one-to-one correspondence; a rotating shaft is arranged at the inner end of each umbrella rib, and then the umbrella ribs are rotationally arranged on the corresponding hinge seats through the rotating shafts and are unfolded upwards or folded downwards by taking the rotating shafts as rotating points; when the umbrella ribs are opened upwards and abut against the lower edge of the limiting head, the opening angle of the umbrella ribs is the largest. And an umbrella film is fixedly connected between the adjacent umbrella ribs. The limiting heads are arranged above the umbrella ribs, a traditional complex tensile rope structure is abandoned, the overall structure is simplified, manufacturing difficulty and cost are reduced, and the umbrella has the advantages of being simple and firm in structure and easy to maintain.

The utility model relates to the technical field of water sports equipment, and particularly discloses a flipper which comprises a shoe body and a paddle body. The shoe body comprises a vamp on the upper portion, a toe cap on the front side and a sole at the bottom, and the vamp, the toe cap and the sole jointly define a shoe cavity capable of containing the foot. One end of the paddle body is connected with the vamp, the other end of the paddle body extends outwards, the other end of the paddle body is bent towards one side of the sole at a certain angle, and a paddling cavity is formed in the connecting position of the paddle body and the toe cap; a reset reinforcing rib is arranged in the paddling cavity, and the shoe head and the paddle body are connected through the reset reinforcing rib. According to the utility model, the paddle body extends outwards and is bent towards one side of the sole at a certain angle, so that water flow can be grabbed more effectively, and larger thrust can be generated in the backward paddling process. Therefore, the swimming speed of the user can be increased in breaststroke or similar swimming actions, and physical exhaustion is reduced.

The invention discloses a multi-source data fusion-based circulating water culture water quality accurate regulation and control method, and belongs to the technical field of aquaculture. The method comprises the following steps: synchronously acquiring water quality parameters, fish school images and water body particulate matter multi-dimensional data through an acquisition system consisting of a water quality sensor, an underwater high-definition camera and a water body particulate matter sensor; a dynamic association model is constructed to fuse multi-source data, a deep learning image recognition algorithm is introduced to quantify the fish school food grabbing intensity and swimming speed, early warning of fish school stress is achieved, meanwhile, a time sequence prediction algorithm is adopted to construct a water quality prediction model, and real-time and historical data and a feeding plan are fused to predict the key water quality parameter change trend in several hours in the future; on the basis of the prediction result and the early warning signal, operating parameters of the aerator and the pH adjusting pump are regulated and controlled in real time, and a feeding strategy is dynamically optimized. Cooperative monitoring and advanced regulation and control of water quality and fish shoal behaviors are achieved, the culture water quality is effectively stabilized, fish shoal stress damage is reduced, and the benefits of circulating water culture are improved.

The application discloses a fish identification, counting, speed measurement, early warning and in-out quantity statistical system. Users can combine their own actual conditions to customize a training data set, combine a trained weight file with a multi-target tracking algorithm based on Deepsort, a counting algorithm based on double-convex track measurement and a speed measurement algorithm based on visual inclination used in the application, and realize a series of functions such as fish multi-target tracking, counting of various fish quantities in a picture, calculation of fish quantities entering and leaving a monitoring picture and speed measurement of the swimming speed of each fish. The application can achieve intelligent management and control effects according to the ornamental fish to be managed. The application has good application expansibility, and can be developed secondarily in many ways by adding some algorithms according to user demands.

The invention relates to the technical field of aquatic product monitoring, and discloses a large yellow croaker swimming speed monitoring method and system based on target detection, and the method comprises the steps: obtaining a to-be-monitored image of a target water area, and real-time environment flow velocity data and real-time water turbidity data of the target water area; performing target detection on the to-be-monitored image to obtain coordinate data of the large yellow croaker, performing linkage verification on the coordinate data to obtain verification coordinate data, determining a real-time attitude feature of the large yellow croaker according to the verification coordinate data, and optimizing the real-time attitude feature through a flow velocity phase joint mechanism to obtain an optimized attitude feature; constructing an attitude fluid coupling model according to the optimized attitude features and the real-time environment flow velocity data to determine the swimming speed of the large yellow croaker; according to the method, the influence of the posture of the pseudosciaena crocea and the environment is fully considered, and the real swimming speed of the pseudosciaena crocea is accurately calculated in combination with biomechanical characteristics.

An application of carbasalate calcium in preparing the drug for the treatment of hydrocephalus is provided, and the drug uses carbasalate calcium as the only or main active ingredient. The invention first discovered the effect of carbasalate calcium in the treatment of hydrocephalus, which can significantly reduce the area of the fourth ventricle of the zebrafish model of hydrocephalus, and significantly increase the swimming distance, swimming time, swimming speed, and rotational motion frequency of the zebrafish model of hydrocephalus; the experimental data provided by the invention show that carbasalate calcium has great application prospects in the treatment of hydrocephalus, and provides an effective candidate drug for alleviating the pain of hydrocephalus patients and reducing the risk and cost of treatment; it broadens the scope of action of carbasalate calcium.

The swimming gloves can be independent gloves and can also be one-piece gloves connected with sleeves of the clothes, the fingers of the gloves are connected through soft elastic objects and can be made of the same material or different materials (connecting objects can also be called webs) for manufacturing the gloves, and when a person wears the gloves, the fingers of the gloves can be made of the same material or different materials (the connecting objects can also be called webs). When a user wears the gloves or wears the clothes with the gloves and the clothes connected together (equivalent to that the user wears the gloves), the user moves in water, and when the user swims the hands in the water, due to the gloves, the stress area of the hands is increased, and when the user swims the hands, more water is driven, the interaction force between the water and the hands is increased, the swimming speed is increased, and the strength of the arms is saved.

The present application provides a kind of flexible electric bionic fish fin, including fin part and motor drive part, by base installation to the main frame of bionic robot, fin part includes frame structure, fin part swing mechanism and fin part twist mechanism, fin part swing mechanism is driven by two flexible elastic belts, two elastic belts are synchronously driven by electric drive part installed in base, respectively along the fin direction with opposite speed and direction reciprocating motion, two described elastic belts are hinged with frame structure, fin part twist mechanism includes universal joint in fin part and long shaft connected by universal joint, long shaft connected by universal joint is driven by electric drive part installed in base, so that fin part is twisted around root part.The present application adopts multi-section universal joint coupling to drive fish fin twist, and variable cross-section elastic belt makes bionic fish fin device swing stiffness more closely real fish fin stiffness, twist and swing superposition effect makes movement more bionic, improves fin part swing power, improves the swimming speed of bionic fish.

The invention relates to the technical field of swimming pool control, in particular to a swimming pool water speed self-adaptive control method and system based on human body detection, and the method comprises the steps: outputting the observation position and detection confidence of a human body target according to a target detection model; predicting a prediction position according to the motion model, and calculating a difference value between the observation position and the prediction position to obtain an observation deviation; performing weighted statistics on the observation deviation sequence by using the detection confidence to obtain a trend factor; an observation noise covariance is determined according to the detection confidence coefficient, after a process noise covariance is determined according to the trend factor, a Kalman gain is calculated, the Kalman gain is utilized to fuse observation deviation into a prediction position, and an optimal state is obtained; and adaptively adjusting the output power of the swimming pool propeller according to the optimal state. According to the technical scheme, it can be ensured that the swimming pool propeller can output water flow dynamically matched with the swimming speed of a swimmer, and self-adaptive control over the water speed is achieved.

The invention provides a method for accurately predicting the outbreak swimming speed of pseudosciaena crocea based on a caudal peduncle length index, and the method comprises the steps: 1) collecting healthy pseudosciaena crocea individuals which come from the same breeding group and are cultured under the same condition, and measuring the caudal peduncle length of the pseudosciaena crocea one by one; and 2) predicting the outbreak swimming speed of the pseudosciaena crocea according to the measured pseudosciaena crocea tail stem length data and based on the established pseudosciaena crocea outbreak swimming speed prediction model. According to the method, a fish swimming capacity related measuring device and a tedious measuring process do not need to be set up, but the outbreak swimming speed difference between healthy large yellow croaker individuals of the same breeding group is directly predicted by measuring the length of the caudal peduncle. According to the method, a technology for accurately predicting the outbreak swimming speed of the pseudosciaena crocea based on the measurement of the length of the caudal peduncle is established for the first time, a tedious, time-consuming and labor-consuming test process is avoided, the damage of the test process to the pseudosciaena crocea is reduced, and the technology can powerfully promote the cultivation of new anti-flow varieties of the pseudosciaena crocea and the development of the deep sea culture industry.

The utility model belongs to the technical field of weever growth monitoring, and particularly relates to a portable fry proofing and catching device. The fishing device comprises a telescopic rod and a fishing net, the fishing net is of a quadrilateral structure, a plurality of buoys are evenly fixed to the upper side edge of the fishing net, and a plurality of lead weights are evenly fixed to the lower side edge of the fishing net; the four corners of the fishing net are each fixedly provided with a fixing rope in an extending mode, and the fishing net is fixed between the tops of the two telescopic rods through the fixing ropes. The micropterus salmoides fry sampling fishing net is simple in structure, low in fishing cost, convenient to carry and high in operability, an operator can give an initial speed to the fishing net through the telescopic rod to help the fishing net sink into water quickly during sampling fishing, the escape time of micropterus salmoides fries is shortened, sampling fishing can be completed without cooperation of other related equipment, and the working efficiency is improved. And the micropterus salmonides with high speed can be caught easily, and the proofing effect of the growth health condition of the micropterus salmonides is guaranteed.

The application discloses a carp attracting method based on an analog wake path bionic robot fish, and provides a complete scheme for precisely attracting carps. The robot fish is 40 cm in full length, is divided into four parts such as a fish head and a fish body, is internally provided with three rudders as movable joints, is externally covered with soft rubber waterproof fish skin, has motor noise controlled in 60-80 dB, and supports remote control through Bluetooth. The working process of the robot fish is as follows: first, light and water flow speed information is collected; then, four behavior parameters such as carp swimming speed and speed synchronism are obtained through a quantitative formula; subsequently, the swimming speed, tail swing frequency and trajectory are adjusted according to the environment and parameters; the light environment adopts a circular trajectory, and the dark environment adopts a close-range circling trajectory; finally, the wake path of the carp is simulated to induce the carps to form leading and following behaviors. The scheme realizes dynamic adaptation of fish attracting strategies, greatly improves the success rate of fishway fish attracting, and is suitable for carp migration guiding and breeding management.

Embodiments of footwear to optimize propulsion while swimming in the water and walking on land, in particular, amphibious footwear capable of duty on land and in the water as well as versions that are optimized for predominantly use in the water for swimming. The exoskeleton amphibious footwear reduces metabolic demand of walking and swimming while also improving gait speed and swim speed. This is accomplished by assisting plantar flexion during land mode, and assisting dorsiflexion in water mode.

The invention provides a kinetic energy estimation-based floating swimming fish ingestion intensity evaluation method, which comprises the following steps of: performing image acquisition on a fish school in an ingestion state, including a static image and a dynamic image; obtaining fish body size data based on the collected static image; processing the fish body size data to obtain fish school quality parameters; obtaining a fish school speed parameter based on the collected dynamic image; estimating fish school kinetic energy based on the fish school quality parameter and the speed parameter; and setting a kinetic energy threshold, and evaluating the ingestion intensity of the fish school based on the kinetic energy parameters of the fish school. According to the floating swimming fish feeding intensity evaluation method based on kinetic energy estimation, the kinetic energy threshold value of the fish school can be obtained based on the quality, the swimming speed and the direction of the fish school in the region, the feeding intensity of the fish school in the region can be further accurately evaluated based on the kinetic energy threshold value, the operability is high, and the reproducibility is good.

The embodiment of the utility model discloses a swimming cap which comprises a wall at least partially wrapping a head volume; the elastic hair cover comprises a tubular structure, the elastic hair cover is provided with a first end and a second end which are communicated through the tubular structure, the first end and the second end are both provided with elastic annular structures, and the wall is connected with the elastic hair cover. The swimming cap solves the problem that a long-hair swimmer is difficult to wear the swimming cap, and meanwhile it is ensured that the swimming cap is worn well, so that the advancing speed of the swimmer is prevented from being affected.

The invention discloses a feeding control system and method based on aquatic organism culture, and relates to the technical field of aquatic organism culture, and the system comprises four core modules: an environment coupling data acquisition system construction module, a biological behavior and environment parameter sensing unit deployed in a target aquaculture pond, and a data processing module. Data such as swimming speed and water temperature are collected and analyzed to obtain a biological ingestion active coefficient and an environment adaptive feeding coefficient; the feeding demand abnormity trend analysis module is used for predicting feeding demand abnormity according to the two types of coefficients, marking an abnormal scene and analyzing a trend type of the abnormal scene; the feeding adjustment risk index analysis module is used for calculating abnormal scene risk indexes and formulating first-level, second-level and third-level graded feeding strategies; and the feeding strategy execution and dynamic feedback module is used for controlling the intelligent device to execute feeding and collecting data correction risk indexes and strategies after feeding in real time to form a closed loop. And the whole process intelligence of perception, analysis, decision making, execution and feedback is realized.

The present application belongs to the technical field of underwater bionic robots, and particularly relates to a deformable tail fin of a robot fish based on hydraulic drive and a working method thereof. The robot fish based on hydraulic drive is designed, a four-cylinder plunger pump is arranged in a fish head as a hydraulic power source, a fish body comprises three connecting bodies of large, medium and small, the large connecting body divides hydraulic oil into a bionic drive unit group of joint I, left and right bending of the fish body is realized, the hydraulic oil is delivered to the medium connecting body through an oil delivery pipe, after pressure synchronization is ensured through an internal pressure equalizing annular pipeline, a piston of joint II is driven to move, the fish tail is designed as a deformable tail fin, the tail arm is rotated through the piston in synchronous movement, and then the tail edge pipe is deformed and relatively displaced, so that the fish tail can dynamically change area, camber and shape in swimming, thereby adapting to different swimming speeds and maneuverability requirements. Through centralized hydraulic system and bionic structure design, active controllable adjustment of the deformable tail fin form is realized.

The application relates to the technical field of pool control, in particular to a pool water speed self-adaptive control method and system based on human body detection. The method comprises the following steps: outputting an observation position and a detection confidence of a human body target according to a target detection model; predicting a predicted position according to a motion model, and calculating a difference between the observation position and the predicted position to obtain an observation deviation; weighting and statistically processing the observation deviation sequence by using the detection confidence to obtain a trend factor; determining an observation noise covariance according to the detection confidence, determining a process noise covariance according to the trend factor, calculating a Kalman gain, fusing the observation deviation into the predicted position by using the Kalman gain, and obtaining an optimal state; and adaptively adjusting the output power of a pool propeller according to the optimal state. Through the technical scheme, the pool propeller can output water flow dynamically matched with the swimming speed of a swimmer, and water speed self-adaptive control is realized.