Search

CN-224197953-U - Intelligent bionic fish

CN224197953UCN 224197953 UCN224197953 UCN 224197953UCN-224197953-U

Abstract

An intelligent bionic fish relates to the technical field of bionic fish. The novel pectoral device comprises a fish body, a fish head and a fish tail which are respectively connected to two opposite ends of the fish body, wherein the fish tail is connected with a tail fin, pectoral fins are arranged at the joint of the fish head and the fish body, the fish head, the fish body and the fish tail are sequentially communicated to form a containing cavity, the containing cavity is used for containing a control assembly, a first steering engine and a second steering engine, the first steering engine and the second steering engine are respectively connected with the control assembly in a signal mode, the first steering engine is in driving connection with the pectoral fins, the control assembly can drive the pectoral fins to circumferentially deflect and flap through the first steering engine, the second steering engine is in driving connection with the tail fin, the control assembly can drive the tail fins to circumferentially deflect and flap through the second steering engine, and the fish head is provided with an image sensor which is in signal connection with the control assembly and used for acquiring image information and transmitting the image information into the control assembly. The intelligent bionic fish has small disturbance to the water body, can acquire fish images at a short distance, and improves the reliability and accuracy of image data acquisition.

Inventors

  • SHEN JIAN
  • YANG WEIFENG
  • LIU CHUNNA
  • LIU DIE
  • WANG LUHAI
  • Zhu Mengen
  • LI RUI
  • YANG FAN
  • GAO DONGQI
  • PENG PENG

Assignees

  • 华电西藏能源有限公司
  • 中国水利水电科学研究院

Dates

Publication Date
20260505
Application Date
20250627

Claims (10)

  1. 1. An intelligent bionic fish is characterized by comprising a fish body (120) and a fish head (110) and a fish tail (130) which are respectively connected to two opposite ends of the fish body (120), wherein the fish tail (130) is connected with a tail fin (131), a pectoral fin (121) is arranged at the joint of the fish head (110) and the fish body (120), the inside of the fish head (110), the inside of the fish body (120) and the inside of the fish tail (130) are sequentially communicated to form a containing cavity, the containing cavity is used for containing a control assembly (140), a first steering engine (122) and a second steering engine (123), the first steering engine (122) and the second steering engine (123) are respectively in signal connection with the control assembly (140), the first steering engine (122) is in driving connection with the pectoral fin (121), the control assembly (140) can drive the pectoral fin (121) to deflect circumferentially, the second steering engine (123) is connected with the tail fin (120) in sequence to form a containing cavity, the second steering engine (123) is connected with the control assembly (131) in a driving mode, the second steering engine (123) can drive the image sensor (150) to deflect circumferentially, the image sensor (150) is connected with the tail fin (140), for acquiring image information and transmitting the image information into a control component (140).
  2. 2. The intelligent biomimetic fish according to claim 1, further comprising a depth sensor (160) arranged in the accommodating cavity, wherein the depth sensor (160) is used for acquiring depth information of the intelligent biomimetic fish (100) relative to the water surface, and the depth sensor (160) is in signal connection with the control assembly (140) and is used for transmitting the depth information to the control assembly (140).
  3. 3. The intelligent bionic fish according to claim 1, further comprising an ultrasonic sensor arranged in the accommodating cavity, wherein the ultrasonic sensor is used for acquiring height information of the intelligent bionic fish (100) relative to the water bottom, and the ultrasonic sensor is in signal connection with the control assembly (140) and used for transmitting the height information to the control assembly (140).
  4. 4. The intelligent bionic fish according to claim 1, further comprising a sonar surrounding the image sensor (150), the sonar being configured to emit sound waves and receive echoes reflected by objects, the sonar being in signal connection with the control assembly (140) and configured to transmit echo signals to the control assembly (140).
  5. 5. The intelligent bionic fish according to claim 1, further comprising an inertial measurement unit (170) disposed in the accommodating cavity, wherein the inertial measurement unit (170) is in signal connection with the first steering engine (122) and the second steering engine (123) respectively, and is configured to detect translational speeds, rotational speeds, translational accelerations and rotational accelerations of the pectoral fin (121) and the caudal fin (131) along an x-axis direction, a y-axis direction and a z-axis direction respectively, and the x-axis direction, the y-axis direction and the z-axis direction are perpendicular to each other, and the inertial measurement unit (170) is in signal connection with the control assembly (140) so as to transmit detection results to the control assembly (140).
  6. 6. The intelligent biomimetic fish according to claim 1, wherein the image sensor (150) comprises a waterproof panoramic camera.
  7. 7. The intelligent biomimetic fish according to claim 6, wherein the image sensor (150) further comprises at least one wide-angle motion camera, and when the number of the wide-angle motion cameras is plural, the plurality of the wide-angle motion cameras are uniformly arranged around the periphery of the waterproof panoramic camera.
  8. 8. The intelligent biomimetic fish according to claim 1, further comprising providing a light supplement lamp, the light supplement lamp being arranged at the periphery of the image sensor (150).
  9. 9. The intelligent bionic fish according to claim 8, wherein the number of pectoral fins (121) is two, the pectoral fins (121) are respectively located on two opposite sides of the joint of the fish body (120) and the fish head (110), the number of the first steering gears (122) is two, and each first steering gear (122) is connected with one pectoral fin (121).
  10. 10. The intelligent biomimetic fish according to claim 1, wherein the intelligent biomimetic fish (100) further comprises a power supply assembly (180), the power supply assembly (180) is arranged in the accommodating cavity and is electrically connected with the control assembly (140), the first steering engine (122), the second steering engine (123) and the image sensor (150).

Description

Intelligent bionic fish Technical Field The utility model relates to the technical field of bionic fish, in particular to an intelligent bionic fish. Background The bionic fish is used as novel underwater observation equipment, has unique application value in natural water ecological monitoring, replaces the traditional artificial investigation method by a bionic motion mechanism, can realize non-invasive tracking observation of fish population, and provides continuous dynamic data support for resource evaluation. The existing bionic fish technology mainly adopts a propeller propulsion system, but has basic motion capability, but water disturbance and noise generated by high-frequency rotation of the propeller are easy to surprise fish shoals, so that the observation distance is limited, and high-definition short-distance biological behavior characteristic images are difficult to acquire. In addition, the rigid propulsion structure has poor adaptability in a complex flow field, and when the flow speed is suddenly changed or the turbidity of the water body is increased, the heading deviation and the attitude instability are easy to occur, so that the image data is invalid due to intense shaking or defocusing. Disclosure of utility model The utility model aims to provide an intelligent bionic fish which has small disturbance to a water body, can acquire fish images in a short distance, has strong adaptability to water flow, and improves the reliability and accuracy of image data acquisition. Embodiments of the present utility model are implemented as follows: The utility model provides an intelligent bionic fish, which comprises a fish body, a fish head and a fish tail, wherein the fish head and the fish tail are respectively connected to two opposite ends of the fish body, the fish tail is connected with a tail fin, a pectoral fin is arranged at the joint of the fish head and the fish body, the fish head, the fish body and the fish tail are sequentially communicated to form a containing cavity, the containing cavity is used for containing a control assembly, a first steering engine and a second steering engine, the first steering engine and the second steering engine are respectively in signal connection with the control assembly, the first steering engine is in driving connection with the pectoral fin, the control assembly can drive the pectoral fin to deflect and flap through the first steering engine, the second steering engine is in driving connection with the tail fin, the control assembly can drive the tail fin to deflect and flap through the second steering engine, and the fish head is provided with an image sensor which is in signal connection with the control assembly and is used for acquiring image information and transmitting the image information into the control assembly. Optionally, the intelligent bionic fish water level monitoring device further comprises a depth sensor arranged in the accommodating cavity, wherein the depth sensor is used for acquiring depth information of the intelligent bionic fish relative to the water level, and the depth sensor is in signal connection with the control assembly and is used for transmitting the depth information to the control assembly. Optionally, the fish level sensor further comprises an ultrasonic sensor arranged in the accommodating cavity, wherein the ultrasonic sensor is used for acquiring the height information of the intelligent bionic fish relative to the water bottom, and the ultrasonic sensor is in signal connection with the control assembly and used for transmitting the height information to the control assembly. Optionally, the device further comprises a sonar which is arranged around the periphery of the image sensor and used for transmitting sound waves and receiving echoes reflected by the target objects, and the sonar is in signal connection with the control assembly and used for transmitting the echo signals to the control assembly. Optionally, the device further comprises an inertial measurement unit arranged in the accommodating cavity, wherein the inertial measurement unit is respectively connected with the first steering engine and the second steering engine in a signal manner and is used for respectively detecting translational speeds, rotational speeds, translational accelerations and rotational accelerations of the pectoral fin and the caudal fin along the x-axis direction, the y-axis direction and the z-axis direction, wherein the x-axis direction, the y-axis direction and the z-axis direction are perpendicular in pairs, and the inertial measurement unit is connected with the control assembly in a signal manner so as to transmit detection results to the control assembly. Optionally, the image sensor comprises a waterproof panoramic camera. Optionally, the image sensor further includes at least one wide-angle motion camera, and when the number of the wide-angle motion cameras is plural, the plural wide-angle motion cameras are un