CN-224225271-U - Bionic fish for detecting water quality and fish shoal motion law

CN224225271UCN 224225271 UCN224225271 UCN 224225271UCN-224225271-U

Abstract

The utility model relates to the technical field of underwater robots, and provides a bionic fish for detecting water quality and a fish swarm movement rule, which comprises a main body, a fish body and a fish body, wherein the main body is provided with a head part, a trunk part and a tail part, and a cavity is arranged in the trunk part; the driving assembly is provided with pectoral fins which are symmetrical to two sides of the trunk and tail fins which are arranged at the tail, the tail fins swing to provide advancing power for the bionic fish, the linear advancing, steering control and decelerating stopping of the bionic fish are realized by adjusting the angle switching of the pectoral fins between axes parallel to or perpendicular to the body of the bionic fish, the sinking and floating assembly, the gravity adjusting assembly and the detecting assembly are also arranged in the cavity and are respectively used for realizing the floating or submerging control, the dynamic gravity adjusting of the bionic fish and the real-time monitoring of the water quality parameters and the motion rules of surrounding fish shoals, and through the structural design, the bionic fish in the scheme realizes various functions such as advancing, sinking and floating, gravity adjusting, environment sensing and the like, and has the advantages of convenience in operation, high response speed, strong environmental adaptability and the like.

Inventors

JIANG KAILEI
JIN AIGUO
HUANG YULING
LI JIACHENG

Assignees

宁波职业技术学院

Dates

Publication Date: 20260512
Application Date: 20250729

Claims (10)

1. A bionic fish for detecting water quality and fish school movement law, comprising: A body having a head, a torso, and a tail, the torso having a cavity disposed therein; The driving assembly is provided with pectoral fins symmetrically arranged on two sides of the trunk and tail fins arranged on the tail part, and the tail fins are used for driving the bionic fish to advance; When the pectoral fins on two sides are parallel to the body axis of the bionic fish, the bionic fish is in a forward state, when the pectoral fins on one side are parallel to the body axis of the bionic fish and the pectoral fins on the other side are perpendicular to the body axis of the bionic fish, the bionic fish is turned to the side perpendicular to the pectoral fins, and when the pectoral fins on two sides are perpendicular to the body axis of the bionic fish, the bionic fish is decelerated and stopped; the sinking and floating assembly is arranged in the cavity and used for controlling the raising or submerging of the bionic fish; the gravity adjusting component is arranged in the cavity and used for adjusting the gravity center position of the bionic fish; the detection component is arranged in the cavity and is used for detecting water quality parameters and the motion law of surrounding shoals of fish.
2. The bionic fish for detecting water quality and fish school movement law according to claim 1, wherein a supporting plate is arranged in the cavity.
3. The biomimetic fish for detecting water quality and fish school movement law as recited in claim 2, wherein said drive assembly further comprises: the driving rod is provided with connecting ropes at two sides, connecting holes are formed in two sides of the tail fin, one end of each connecting rope is connected to the driving rod, the other end of each connecting rope is connected to the corresponding connecting hole, and the driving rod drives the tail fin to swing through the connecting ropes; The first driving piece is arranged on the supporting plate, the driving rod is connected to the output end of the first driving piece, and the first driving piece is used for driving the driving rod to swing; The two sides of the supporting plate are respectively provided with the second driving pieces, the output end of each second driving piece is connected with one pectoral fin, and the second driving pieces are used for driving the pectoral fin to rotate.
4. The biomimetic fish for detecting water quality and fish school movement law as recited in claim 2, wherein said sinking and floating assembly comprises: The water storage piece is arranged in the cavity and positioned below the supporting plate; The first water pump is arranged in the cavity, the water outlet end of the first water pump is communicated with the water storage piece through a pipeline, and the water inlet end of the first water pump is communicated with the outside through a pipeline and is used for sucking outside water into the water storage piece; The water inlet end of the second water pump is communicated with the water storage piece through a pipeline, and the water outlet end of the second water pump is communicated with the outside through a pipeline and is used for discharging water in the water storage piece to the outside; when the water storage piece is filled with water, the bionic fish is in a submerged state, and when the water storage piece is drained, the bionic fish is in an upward floating state.
5. The biomimetic fish for detecting water quality and fish school movement law as recited in claim 2, wherein said gravity adjusting assembly comprises: the balancing weight is movably arranged on the supporting plate; The screw rod is arranged on the balancing weight in a penetrating way and is in threaded connection with the balancing weight, and is used for driving the balancing weight to move; The screw rod is connected to the output end of the third driving piece, and the third driving piece is used for driving the screw rod to rotate.
6. The biomimetic fish for detecting water quality and fish school movement law according to claim 1, wherein said detecting assembly comprises: The first detection piece is arranged in the cavity, a first perforation is arranged at the bottom of the trunk, and the induction end of the first detection piece is inserted into the first perforation and is used for detecting water quality parameters; The second detection piece is arranged in the cavity, a second perforation is arranged at the bottom of the trunk, and the induction end of the second detection piece is inserted in the second perforation and is used for monitoring the motion law of surrounding shoals of fish.
7. A biomimetic fish for detecting water quality and fish school movement law as claimed in claim 1, wherein the head is provided with a visual detector for detecting obstacles.
8. The biomimetic fish for detecting water quality and fish school movement law according to claim 1, wherein said tail further comprises: A connecting frame connected to the trunk; the connecting joints at the head end are connected to the connecting frame, the connecting joints at the tail end are connected with the tail fin, and the outer diameter of the connecting joints is gradually reduced along the direction of the tail fin; and the protection layer is covered on the connecting frame and the connecting joint.
9. The bionic fish for detecting water quality and fish school movement according to claim 8, wherein said protective layer is a silica gel skin.
10. The bionic fish for detecting water quality and fish school movement rules according to claim 8, wherein a first sealing gasket is arranged between the head and the trunk, and a second sealing gasket is arranged between the trunk and the connecting frame.

Description

Bionic fish for detecting water quality and fish shoal motion law Technical Field The utility model belongs to the field of underwater robots, and particularly relates to a bionic fish for detecting water quality and a fish swarm movement rule. Background Along with the increasing requirements of water ecological environment monitoring and protection, the application range of the underwater detection equipment is continuously expanded. The traditional underwater robot mostly adopts a rigid structural design and is provided with a propeller propulsion system or a three-steering engine driving mode, and although the underwater movement and control functions are realized to a certain extent, a plurality of defects still exist in practical application. Firstly, the traditional underwater robot generally adopts a box body or a cylindrical structure, has complex appearance and does not accord with hydrodynamic optimization design (such as clear edges and corners, rough surface and the like), so that the fluid resistance is larger when the robot moves in water, the energy consumption is higher, the surrounding water environment is disturbed due to high-speed movement, and the accuracy of ecological observation is affected. In addition, the propulsion mode of the underwater vehicle depends on high-speed rotation of a propeller or the cooperative work of a plurality of independent steering engines, so that the complexity of a control system is increased (if accurate synchronous multipoint driving is needed), and the underwater vehicle is difficult to realize efficient and stable underwater operation due to low response speed and high operation difficulty (if manual real-time posture adjustment is needed). Disclosure of utility model Aiming at the defects of the prior art, the utility model aims to solve the technical problems of providing the bionic fish for detecting the water quality and the fish shoal motion law, and the bionic fish in the scheme realizes the integration of multiple functions such as bionic propulsion, sinking and floating control, gravity center adjustment, environment detection and the like by arranging the driving component, the sinking and floating component, the gravity adjusting component and the detecting component, has the advantages of simplicity and convenience in operation, rapid response, strong environment adaptability and the like, can be widely applied to the fields such as water ecological environment monitoring, fishery scientific research, underwater detection and the like, and has good application prospect and popularization value. The technical scheme adopted for solving the technical problems is that the bionic fish for detecting the water quality and the fish swarm movement law comprises the following components: A body having a head, a torso, and a tail, the torso having a cavity disposed therein; The driving assembly is provided with pectoral fins symmetrically arranged on two sides of the trunk and tail fins arranged on the tail part, and the tail fins are used for driving the bionic fish to advance; When the pectoral fins on two sides are parallel to the body axis of the bionic fish, the bionic fish is in a forward state, when the pectoral fins on one side are parallel to the body axis of the bionic fish and the pectoral fins on the other side are perpendicular to the body axis of the bionic fish, the bionic fish is turned to the side perpendicular to the pectoral fins, and when the pectoral fins on two sides are perpendicular to the body axis of the bionic fish, the bionic fish is decelerated and stopped; the sinking and floating assembly is arranged in the cavity and used for controlling the raising or submerging of the bionic fish; the gravity adjusting component is arranged in the cavity and used for adjusting the gravity center position of the bionic fish; the detection component is arranged in the cavity and is used for detecting water quality parameters and the motion law of surrounding shoals of fish. In the bionic fish for detecting water quality and fish shoal, the cavity is internally provided with the supporting plate. In the above-mentioned bionic fish for detecting water quality and fish shoal, the driving assembly further includes: the driving rod is provided with connecting ropes at two sides, connecting holes are formed in two sides of the tail fin, one end of each connecting rope is connected to the driving rod, the other end of each connecting rope is connected to the corresponding connecting hole, and the driving rod drives the tail fin to swing through the connecting ropes; The first driving piece is arranged on the supporting plate, the driving rod is connected to the output end of the first driving piece, and the first driving piece is used for driving the driving rod to swing; The two sides of the supporting plate are respectively provided with the second driving pieces, the output end of each second driving piece is connected with one pectoral fi