CN219904704U - A multifunctional intelligent bionic robotic fish - Google Patents

Abstract

The utility model provides a multifunctional intelligent bionic robotic fish, which includes a head module, a control module, a power module and a tail fin module in order from front to back. The left and right sides of the control module are provided with pectoral fin modules. Through the technology of the utility model Solution, 1. Composite drive with multiple drive modes: with steering gear, propeller, buoyancy adjustment and other drive modes; 2. Multi-function in one: simultaneously with lateral line pressure sensing function, buoyancy adjustment function, underwater detection function, and underwater image Identification function, and has a modular mounting interface, which can mount a variety of sensors according to needs; 3. Modular design makes it easy to disassemble and maintain later.

Description

A multifunctional intelligent bionic robotic fish

Technical field

The utility model relates to the technical field of ocean detection equipment, specifically to a multifunctional intelligent bionic robotic fish.

Background technique

Ocean exploration is of critical significance to human development, and various underwater equipment and instruments required for exploration play an important role in this. In recent years, with the rapid development of mechanics, bionics and other disciplines, the development of underwater bionic robotic fish has attracted more and more attention from researchers. The research and application prospects of bionic robotic fish are very broad, and can realize research in underwater detection, reconnaissance, underwater search and rescue, underwater archeology, marine life observation and underwater equipment maintenance.

Most of the existing bionic robotic fish have single functions. They only have a single swimming function or underwater detection function or pressure lateral line sensing function, which cannot meet the needs of multi-scenario applications.

Utility model content

In order to make up for the shortcomings of the existing technology, the utility model provides a multifunctional intelligent bionic robotic fish.

The utility model is realized through the following technical solutions: a multifunctional intelligent bionic robotic fish, which includes a head module, a control module, a power module and a caudal fin module in order from front to back. The left and right sides of the control module are provided with pectoral fin modules. Among them, the head module includes an external head shell, a head mounting bracket is provided inside the head shell, and head pressure sensors are fixedly installed on the left and right ends of the head mounting bracket;

The control module includes an external upper shell of the control cabin and a lower shell of the control cabin. The interior of the upper shell of the control cabin and the lower shell of the control cabin is the control cabin. The top of the control cabin is fixedly installed with a first floating body material and a second floating body material. A battery compartment is fixedly installed at the bottom. A first side line pressure sensor and a second line pressure sensor are fixedly installed at the front and rear parts of the side wall of the control cabin. Several connectors are also installed on the side wall of the control cabin. The top of the upper shell of the control cabin is installed. Has dorsal fin;

The power module includes an external power unit upper housing and a power unit lower housing. The interior of the power unit upper housing and the power unit lower housing is a power unit for the robot fish to move forward and up and down;

The tail fin module includes the first tail fin, the second tail fin, the third tail fin and the tail fin arranged in sequence from front to back. The first tail fin includes the outer first tail fin upper shell and the first tail fin lower shell. The second tail fin The caudal fin includes the outer outer shell of the second caudal fin and the lower outer shell of the second caudal fin. The third caudal fin includes the outer outer shell of the third caudal fin. The interiors of the first, second and third caudal fins are all equipped with The tail fin waterproof steering gear device, the tail fin waterproof steering gear device includes a waterproof steering gear fixing piece, a tail fin waterproof steering gear is installed inside the waterproof steering gear fixing piece, and the tail fin waterproof steering gear is installed on the front end of the tail fin waterproof steering gear for connecting to the previous tail fin. Connectors, the left and right ends of the waterproof steering gear fixing parts of the first and second tail fins are equipped with tail fin side line pressure sensors;

The pectoral fin module includes a first set of pectoral fin waterproof servos, a second set of pectoral fin waterproof servos and pectoral fins. The first set of pectoral fin waterproof servos and the second set of pectoral fin waterproof servos are respectively composed of two pectoral fin waterproof servos. The first set of pectoral fin waterproof servos and the second set of pectoral fin waterproof servos are connected through the pectoral fin waterproof servos connector. The first set of pectoral fin waterproof servos are installed on the side wall of the control cabin through the pectoral fin waterproof servo fixing parts. The pectoral fins pass through the pectoral fin waterproof servos. The connecting plate is fixedly installed on the top of the second set of pectoral fin waterproof servos and is set on the outside of the lower shell of the control cabin.

As a preferred solution, a binocular camera and an underwater light are installed on the front end of the head mounting frame, and the head shell in front of the binocular camera is made of transparent material.

As a preferred solution, a reserved loading platform is fixedly installed on the top of the head mounting frame.

As an optimal solution, the control cabin integrates the motion control system, data acquisition system, motor drive system and video analysis system.

As a preferred solution, the power device is one of a propulsion device or a buoyancy adjustment device.

Further, the propulsion device includes a main frame fixed plate and three propellers. The main frame fixed plate is fixedly installed at the rear end of the control cabin. The left and right ends of the main frame fixed plate have thrusters installed horizontally through propeller fixings respectively. The propeller is installed vertically through the propeller fixing piece in the middle of the main frame fixed plate, and a through hole is provided in the middle of the upper housing of the power unit.

Further, the buoyancy adjustment device includes a buoyancy adjustment control cabin and a buoyancy adjustment airbag. A push-pull rod motor and an encoder are provided in the buoyancy adjustment control cabin. The encoder is connected to the push-pull rod motor through communication. The push-pull rod motor communicates with the buoyancy adjustment control cabin through a fixed screw. The bilge is fixed, and the output end of the push-pull rod motor is connected to the buoyancy adjustment air bag through the piston cylinder.

As a preferred solution, a WIFI module is packaged inside the dorsal fin.

Due to the adoption of the above technical solutions, the utility model has the following beneficial effects compared with the existing technology:

1. Composite drive with multiple drive modes: It has drive modes such as steering gear, propeller, and buoyancy adjustment.

2. Multi-function in one: it also has lateral line pressure sensing function, buoyancy adjustment function, underwater detection function, underwater image recognition function, and has a modular mounting interface that can mount a variety of sensors according to needs.

3. Adopt modular design, easy to disassemble and maintain later.

Additional aspects and advantages of the invention will be apparent from the description which follows, or may be learned by practice of the invention.

Description of the drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

Figure 1 is a schematic diagram of the three-dimensional structure of the utility model;

Figure 2 is a schematic diagram of the internal three-dimensional structure of Embodiment 1;

Figure 3 is a schematic diagram of the internal three-dimensional structure of Embodiment 2;

Figure 4 is a schematic front structural view of the interior of Embodiment 1;

Figure 5 is a schematic diagram of the three-dimensional structure of the pectoral fin module;

Figure 6 is a schematic diagram of the three-dimensional structure inside the tail fin module;

Figure 7 is a schematic three-dimensional structural diagram of the propulsion device;

Figure 8 is a schematic cross-sectional structural diagram of the buoyancy adjustment device;

Figure 9 is a schematic diagram of the cross-sectional structure of the dorsal fin.

Detailed ways

In order to understand the above-mentioned objects, features and advantages of the present invention more clearly, the present utility model will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes. It should be noted that, as long as there is no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Many specific details are set forth in the following description to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described here. Therefore, the protection scope of the present utility model is not limited by the following disclosure. limitations of specific embodiments.

The multifunctional intelligent bionic robotic fish according to the embodiment of the present utility model will be described in detail below with reference to FIGS. 1 to 9 .

Example 1

As shown in Figures 1, 2, and 4, this utility model proposes a multifunctional intelligent bionic robotic fish, which includes a head module, a control module, a power module and a tail fin module from front to back. The control module is provided on the left and right sides. There is a pectoral fin module, which adopts a modular design. It not only has rich functions, but also provides a mounting platform, which can carry a variety of equipment for operations. The modular design also makes it easy to disassemble and maintain later. The head module includes an external head shell 11. A head mounting bracket 41 is provided inside the head shell 11. Head pressure sensors 29 are fixedly installed on the left and right ends of the head mounting bracket 41; the front end of the head mounting bracket 41 is installed There is a binocular camera 30 and an underwater light 42. The head shell 11 in front of the binocular camera 30 is made of transparent material, which ensures the streamlined shape of the fish body while not interfering with the field of view of the binocular camera 30, thereby enabling underwater image recognition. Processing etc. A reserved mounting platform 10 is fixedly installed on the top of the head mounting frame 41. In order to realize the scalability of the robotic fish, the reserved mounting platform 10 is placed below the robotic fish and can be screwed to add multiple types of sensors.

The control module includes an external control cabin upper shell 24 and a control cabin lower shell 22. The interior of the control cabin upper shell 24 and the control cabin lower shell 22 is a control cabin 39. The top of the control cabin 39 is fixedly installed with a first floating body material 27 and a second floating body material 27. Two floating body materials 28, a battery compartment 36 is fixedly installed at the bottom of the control cabin 39 to provide power for the entire robotic fish, and a first lateral line pressure sensor 43 and a second line pressure sensor 44 are respectively fixedly installed on the front and rear parts of the side walls of the control cabin 39 to control Several connectors 37 are also installed on the side wall of the cabin 39. The connection between the inside and outside of the control cabin is realized through connectors. External devices such as pressure sensors, waterproof servos, and propellers are connected to the control cabin through connectors. The use of connectors greatly improves the convenience of installation and disassembly of each module, and also facilitates subsequent maintenance and replacement. A dorsal fin 13 is installed on the top of the upper shell 24 of the control cabin; as shown in Figure 9, a WIFI module 40 is packaged inside the dorsal fin 13. The control of the bionic robotic fish is mainly completed by the host computer, and the data between the host computer and the bionic robotic fish passes through Communication module implementation. The communication module uses WiFi transmission. It can communicate through the WIFI module of the dorsal fin to send sensor information such as the depth and attitude of the robotic fish to the host computer. The control cabin 39 integrates a motion control system, a data acquisition system, a motor drive system and a video analysis system, which can perform algorithm calculations such as motion control of the robotic fish, sensor data collection and storage, and image recognition.

The power module includes an external power unit upper casing 14 and a power unit lower casing 21. The interior of the power unit upper casing 14 and the power unit lower casing 21 is a power unit for the advancement and up-and-down movement of the robotic fish; the power unit is a propulsion device, and the machine The fish buoyancy adjustment module is interchangeable with the thruster unit. As shown in Figure 7, the propulsion device includes a main frame fixed plate 4 and three propellers 6. The main frame fixed plate 4 is fixedly installed at the rear end of the control cabin 39. The left and right ends of the main frame fixed plate 4 are pushed through respectively. The propeller 6 is installed horizontally on the propeller fixing part 5, and the propeller 6 is installed vertically on the middle part of the main body frame fixing plate 4 through the propeller fixing part 5. A through hole is provided in the middle part of the upper housing 14 of the power unit. The bionic robotic fish uses multiple servos and propellers to jointly drive forward, backward, dive, and float. Compared with a single-driven joint mechanism, the robotic fish of this utility model is equipped with two horizontal propellers and one vertical propeller. The motion of the robotic fish in the water can also be realized using the thruster module.

The tail fin module includes a first tail fin, a second tail fin, a third tail fin and a tail fin 18 arranged in sequence from front to back. The first tail fin includes an outer first tail fin upper shell 15 and a first tail fin lower shell 20. The second caudal fin includes an external second caudal fin upper shell 16 and a second caudal fin lower shell 19, the third caudal fin includes an external third caudal fin shell 17, the first caudal fin, the second caudal fin, the third caudal fin The tail fin is equipped with a tail fin waterproof steering gear device inside, as shown in Figure 6. The tail fin waterproof steering gear device includes a waterproof steering gear fixing part 1. The waterproof steering gear fixing part 1 is equipped with a tail fin waterproof steering gear 2 inside. The tail fin waterproof steering gear is installed inside. The front end of 2 is equipped with a caudal fin waterproof servo connector 3 for connecting the upper caudal fin. The caudal fin structure is realized by a multi-server drive joint mechanism in series. The swing angle of a single servo is 45° left and right, and can achieve 2Hz swing. While the tail fin swings forward or backward, the overall posture of the bionic robotic fish can be adjusted by swinging the pectoral fin to maintain overall balance and stability. The left and right ends of the waterproof steering gear fixation 1 of the first caudal fin and the second caudal fin are equipped with caudal fin lateral line pressure sensors 45; the robotic fish is equipped with lateral line pressure sensors to conduct bionic research on fish lateral lines.

The pectoral fin module includes a first set of pectoral fin waterproof servos 8, a second set of pectoral fin waterproof servos 12 and a pectoral fin 23. As shown in Figure 6, the first set of pectoral fin waterproof servos 8 and the second set of pectoral fin waterproof servos 12 pass through two The pectoral fin waterproof servos form a group. The first group of pectoral fin waterproof servos 8 and the second group of pectoral fin waterproof servos 12 are connected through the pectoral fin waterproof servo connector 7. The first group of pectoral fin waterproof servos are connected through the pectoral fin waterproof servos. The fixing part 9 is installed on the side wall of the control cabin 39. The pectoral fin 23 is fixedly installed on the top of the second group of pectoral fin waterproof servos 12 through the pectoral fin connecting plate 31 and is set on the outside of the lower shell 22 of the control cabin. The pectoral fin module passes through two waterproof pectoral fins. The servos form a group to achieve four degrees of freedom of pectoral fin swing. There is room for swinging up and down the pectoral fin, which can swing 60° up and down.

Example 2

As shown in Figure 3, the power device in Embodiment 2 is a buoyancy adjustment device. As shown in Figure 8, the buoyancy adjustment device includes a buoyancy adjustment control cabin 25 and a buoyancy adjustment air bag 26. A push-pull rod motor 33 is provided in the buoyancy adjustment control cabin 25. It communicates with the encoder 34 and is connected to the push-pull rod motor 33. The push-pull rod motor 33 is fixed to the bilge in the buoyancy adjustment control cabin 25 through the fixing screw 35 to ensure the coaxiality of the push-pull rod motor and the push-pull piston device and ensure the air bag. Adjust smoothly when adjusting. The encoder has its own threaded hole and can be directly fixed with the cabin. The output end of the push-pull rod motor 33 is connected to the buoyancy adjustment air bag 26 through the piston cylinder 32, and the size of the air bag is adjusted through the push-pull piston device in the buoyancy adjustment control cabin 25, thereby adjusting buoyancy of different sizes. The buoyancy adjustment device can adjust the size of the air bag through the push-pull rod motor and piston device in the motor control cabin, thereby realizing the adjustment of different buoyancy and controlling the diving and floating of the bionic robotic fish. The maximum buoyancy provided by the buoyancy adjustment module is equal to the buoyancy in propeller mode, so it can be directly replaced without adding a counterweight/buoyancy material to balance the buoyancy center.

The rest of the structure of Embodiment 2 is the same as that of Embodiment 1

Working process: The overall shape of the bionic robotic fish is shark-like streamlined, which can effectively reduce water resistance. The shell of the bionic robotic fish is made of 3D printing material, and the interior is wrapped with a floating body material. By default, through the balance of the floating body material, the robotic fish maintains slight positive buoyancy and floats on the water. At the same time, through the configuration of gravity and buoyancy, the robotic fish has a higher metacentric height, making the robotic fish have higher stability during movement.

In addition to the steering gear of the tail fin and pectoral fin, the driving mechanism of the robotic fish itself also has a propeller and a buoyancy adjustment device. The propeller module and the buoyancy adjustment module are interchangeable. The robotic fish has three movement modes. The first is driven by only servos. The tail fin part has three servos. By controlling the rotation frequency and angle of each servo, the fish body wave motion is simulated. The use of the 3-section drive joint can accurately control the swing posture of the fish tail during the swing process of the fish tail, and the bending of the tail fin is more in line with the swing pattern of natural fish, thus achieving lower power while generating greater thrust. consumption. Through the swing of the tail fin, the robotic fish can move forward, turn left, and turn right, and with the swing of the pectoral fin module, the robotic fish can rise and dive; the second movement mode is propeller-driven, achieved through two horizontal propellers Forward and backward, the vertical propeller is used to achieve ascending and descending. The third movement mode is driven by the steering gear and the buoyancy adjustment device. The buoyancy adjustment device realizes the ascent and dive of the robotic fish through the adjustment of buoyancy, and cooperates with the steering gear to achieve forward movement. And turn left and right.

The tail fin is divided into three sections. Each section swings left and right at an angle of 90 degrees, which can increase the maneuverability of the robotic fish. By controlling the swing angle of the tail fin servo, the propulsion and direction generated by the tail fin can be changed, thereby improving the performance of the robotic fish in the water. Mobility, more flexibility to complete various tasks. At the same time, the stability and controllability are improved. The larger swing angle of the caudal fin servo can also enhance the stability and controllability of the robotic fish, making it better resistant to external interference and water flow disturbances, so as to perform tasks more accurately. A larger swing angle can also cause the tail fin to produce more obvious changes in water flow, which is beneficial to the work of the lateral line pressure sensor of the robotic fish.

The buoyancy adjustment device is divided into a buoyancy adjustment control cabin (25) and a buoyancy adjustment airbag (26). The size of the airbag is adjusted through the push-pull piston device in the buoyancy adjustment control cabin (25), thereby adjusting buoyancy of different sizes. The push-pull rod motor in the buoyancy adjustment control cabin is fixed to the bilge through a fixed screw to ensure the coaxiality of the push-pull rod motor and the push-pull piston device and ensure smooth adjustment during air bag adjustment. The encoder has its own threaded hole and can be directly fixed with the cabin.

The side of the robotic fish is a lateral line pressure sensor. Two lateral line pressure sensors are placed on both sides of the head where the streamlined curvature of the fish body changes. Four lateral line pressure sensors are placed on both sides of the head with a smooth transition. The two tail fins are placed at the swing position. Four pressure side line sensors. By arranging lateral line pressure sensors at multiple points, pressure changes can be provided more accurately. The pressure sensors can be used to simulate the lateral lines of fish and better sense water flow information. The data collected through the lateral line pressure sensor can be used to form a pressure curve graph in professional software, which more intuitively reflects the surrounding water flow and other information when the robotic fish is operating underwater. The robotic fish lateral line pressure sensor can be used in marine resource exploration, marine environment monitoring, maritime public safety, etc. For these areas, the robotic fish lateral line pressure sensor can provide high-precision water flow information to help the robotic fish complete its tasks better.

The front end of the robotic fish is equipped with a binocular camera and an underwater light. The housing in front of the binocular camera is made of transparent material, which ensures the streamlined shape of the fish body without interfering with the field of view of the binocular camera. The control cabin of the robotic fish integrates a motion control system, data acquisition system, motor drive system and video analysis system, which can perform algorithm calculations such as motion control of the robotic fish, sensor data collection and storage, and image recognition. The connection between the inside and outside of the control cabin is realized through connectors, and external devices such as pressure sensors, waterproof servos, thrusters, etc. are connected to the control cabin through connectors. The use of connectors greatly improves the convenience of installation and disassembly of each module, and also facilitates subsequent maintenance and replacement.

In order to realize the scalability of the robotic fish, a mounting platform is reserved under the robotic fish, which can be screwed to add multiple types of sensors.

In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on that shown in the drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. restrictions; the terms "connection", "installation", "fixing", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or a Can be connected indirectly through intermediaries. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the description of this specification, the terms "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in the present application. At least one embodiment or example of the new type. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above are only preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (8)

1. A multifunctional intelligent bionic robotic fish, including a head module, a control module, a power module and a caudal fin module in order from front to back. The left and right sides of the control module are provided with pectoral fin modules, characterized in that, the head module It includes an external head shell (11), a head mounting bracket (41) is provided inside the head shell (11), and head pressure sensors (29) are fixedly installed on the left and right ends of the head mounting bracket (41); The control module includes an external control cabin upper shell (24) and a control cabin lower shell (22). The interior of the control cabin upper shell (24) and the control cabin lower shell (22) is a control cabin (39). The control cabin (39) The first floating body material (27) and the second floating body material (28) are fixedly installed on the top of the control cabin (39), the battery cabin (36) is fixedly installed on the bottom of the control cabin (39), and the front and rear parts of the side walls of the control cabin (39) are respectively The first side line pressure sensor (43) and the second line pressure sensor (44) are fixedly installed. Several connectors (37) are also installed on the side wall of the control cabin (39). The top of the upper shell (24) of the control cabin is installed. With dorsal fin (13); The power module includes an external power device upper shell (14) and a power device lower shell (21). The interior of the power device upper shell (14) and the power device lower shell (21) is a power device for the advancement and movement of the robotic fish. action up and down; The tail fin module includes a first tail fin, a second tail fin, a third tail fin and a tail fin (18) arranged in sequence from front to back. The first tail fin includes an outer first tail fin upper shell (15) and a first tail fin. The lower shell of the second caudal fin (20), the second caudal fin includes the outer upper shell of the second caudal fin (16) and the lower shell of the second caudal fin (19), and the third caudal fin includes the outer third caudal fin shell (17) , the first caudal fin, the second caudal fin, and the third caudal fin are equipped with a caudal fin waterproof steering gear device inside. The caudal fin waterproof steering gear device includes a waterproof steering gear fixing piece (1), and the inside of the waterproof steering gear fixing piece (1) Equipped with a caudal fin waterproof servo (2), the front end of the caudal fin waterproof servo (2) is equipped with a caudal fin waterproof servo connector (3) for connecting the upper caudal fin, and a waterproof rudder for the first caudal fin and the second caudal fin. The left and right ends of the machine fixing part (1) are equipped with caudal fin side line pressure sensors (45); The pectoral fin module includes a first set of pectoral fin waterproof servos (8), a second set of pectoral fin waterproof servos (12) and a pectoral fin (23), a first set of pectoral fin waterproof servos (8) and a second set of pectoral fin waterproof servos (8). (12) Two pectoral fin waterproof servos are used to form a group. The first group of pectoral fin waterproof servos (8) and the second group of pectoral fin waterproof servos (12) are connected through the pectoral fin waterproof servo connector (7). The first set of pectoral fin waterproof servos (8) is installed on the side wall of the control cabin (39) through the pectoral fin waterproof servo fixing piece (9), and the pectoral fins (23) are fixed and installed through the pectoral fin connecting plate (31). The second set of pectoral fin waterproof The top of the steering gear (12) is arranged on the outside of the lower shell (22) of the control cabin. 2. A multifunctional intelligent bionic robotic fish according to claim 1, characterized in that a binocular camera (30) and an underwater light (42) are installed on the front end of the head mounting frame (41). The head shell (11) in front of the eye camera (30) is made of transparent material. 3. A multifunctional intelligent bionic robotic fish according to claim 1, characterized in that a reserved mounting platform (10) is fixedly installed on the top of the head mounting frame (41). 4. A multifunctional intelligent bionic robotic fish according to claim 1, characterized in that the control cabin (39) integrates a motion control system, a data acquisition system, a motor drive system and a video analysis system. 5. A multifunctional intelligent bionic robotic fish according to claim 1, characterized in that the power device is one of a propulsion device or a buoyancy adjustment device. 6. A multifunctional intelligent bionic robotic fish according to claim 5, characterized in that the propulsion device includes a main frame fixed plate (4) and three propellers (6), and the main frame fixed plate (4) Fixedly installed at the rear end of the control cabin (39), the left and right ends of the main frame fixing plate (4) are installed horizontally with the propeller (6) through the propeller fixings (5) respectively, and the main frame fixing plate (4) The propeller (6) is installed vertically through the propeller fixing piece (5) in the middle, and a through hole is provided in the middle of the upper housing (14) of the power unit. 7. A multifunctional intelligent bionic robotic fish according to claim 5, characterized in that the buoyancy adjustment device includes a buoyancy adjustment control cabin (25) and a buoyancy adjustment airbag (26), and the buoyancy adjustment control cabin (25) A push-pull rod motor (33) and an encoder (34) are provided inside. The encoder (34) is connected to the push-pull rod motor (33) through communication. The push-pull rod motor (33) is connected to the buoyancy adjustment control cabin (25) through the fixed screw (35). The bilge inside is fixed, and the output end of the push-pull rod motor (33) is connected to the buoyancy adjustment air bag (26) through the piston cylinder (32). 8. A multifunctional intelligent bionic robotic fish according to claim 1, characterized in that a WIFI module (40) is packaged inside the dorsal fin (13).