CN114771779B

CN114771779B - Wave measuring fish

Info

Publication number: CN114771779B
Application number: CN202210437271.8A
Authority: CN
Inventors: 曹露; 赵西增; 曹娟; 金志远
Original assignee: Zhejiang University ZJU; Zhejiang Ocean University ZJOU; Zhoushan Ocean Research Center of ZJU
Current assignee: Zhejiang University ZJU; Zhejiang Ocean University ZJOU; Zhoushan Ocean Research Center of ZJU
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2023-08-15
Anticipated expiration: 2042-04-25
Also published as: CN114771779A

Abstract

The invention discloses a wave-measuring fish which comprises a main cabin body, wherein a bottom protection cabin is arranged at the bottom of the main cabin body, a control cabin is arranged at the top of the main cabin body, a stabilizing device is arranged at the upper part of the control cabin, a buoyancy control component is arranged below the bottom protection cabin, a camera is arranged on one side wall of the main cabin body, a side fin is arranged on the outer side wall of the main cabin body, a propeller is arranged below the side fin, an ultrasonic probe is arranged on the inner side wall of the control cabin, a searchlight is arranged on the inner side wall of the control cabin, a storage battery is arranged in the control cabin, a singlechip is arranged in the control cabin, a first motor is arranged in the control cabin, a tail fin is hinged at the output end of the first motor, and a wave-measuring device is arranged at the bottom of the bottom protection cabin; the invention provides a novel wave observation system, which is added on the basis of the design of the existing bionic robot fish, and supports long-distance real-time wave data observation through a singlechip, a detection module of a pressure sensor and a wireless communication module.

Description

Wave measuring fish

Technical Field

The invention relates to the technical field of hydrological exploration, in particular to a wave measuring fish.

Background

Ocean wave is one of the main forms of sea water movement, the fluctuation energy is huge, and the main causes of damage and deformation to structures such as ships, ocean platforms, offshore engineering and the like are caused, so that the wave is an environmental element which has to be considered in the fields of ocean engineering construction, ocean disaster prevention, navigation safety and the like, the change of the wave is monitored, the movement rule is researched, the research of ocean observation methods and the research of instrument equipment are promoted by the increase of human development activities on the ocean in recent decades, the research and development of robots are rapid along with the improvement of computer level, sensor technology and intelligent control level, and the research and development of bionic robot fish are developed successively based on the characteristics of fish, and the technology of designing the robot fish to simulate fish swimming is small in volume, flexible and efficient, low pollution and low disturbance.

According to the underwater patrol robot fish (CN 113928517A) disclosed in the prior art, the steering or turning of the robot fish can be realized by adjusting the angle between the propeller and the robot fish body, so that the robot fish has flexible maneuverability, and the angle of the blades in the adjustable blades is adjusted to adapt to the current water flow direction, the current water flow speed and the speed of the robot fish, so that the robot fish has an optimal motion state, but the robot fish does not have a wave observation system and an intelligent control device.

Disclosure of Invention

The invention aims to provide a wave-measuring fish, which solves the problems that wave monitoring and intelligent control capability is low in the existing device which cannot be finished in extreme weather.

In order to achieve the above purpose, the present invention provides the following technical solutions: the wave-measuring fish comprises a main cabin body, wherein the main cabin body is provided with a streamline shell structure, the bottom of the main cabin body is provided with a bottom protection cabin, the top of the main cabin body is provided with a control cabin, the upper part of the control cabin is provided with a stabilizing device, a buoyancy control component is arranged below the bottom protection cabin and fixedly connected with the bottom of the bottom protection cabin through a connecting piece, a camera is arranged on one side wall of the main cabin body, a side fin is arranged on the outer side wall of the main cabin body, a propeller is arranged below the side fin, an ultrasonic probe is arranged on the inner side wall of the control cabin, a searchlight is arranged on the inner side wall of the control cabin, a storage battery is arranged inside the control cabin, a singlechip is arranged inside the control cabin, a first motor is arranged inside the control cabin, the output end of the first motor is hinged with a tail fin, and the bottom of the bottom protection cabin is provided with a wave-measuring device;

the wave-measuring fish can move freely, has low energy consumption and strong cruising ability, and can realize the wave observation function under water; the searchlight can provide illumination under the relatively poor condition of submarine light, and auxiliary camera shoots the picture, and ultrasonic probe then can carry out range finding early warning, can accelerate the motion of this oscillography fish in water through the propeller that is equipped with of side fin below, also drives the swing of tail fin through first motor, can imitate the swimming of fish and control the direction.

The stabilizing device is provided with a first dorsal fin, the first dorsal fin is arranged on the outer side wall of the top of the control cabin, the stabilizing device is provided with a guide bar, the guide bar is of a plate-shaped structure, the lower surface of the guide bar is attached to the outer surface of the top of the control cabin, the first dorsal fin is close to one end of the guide bar, the upper surface of the guide bar is provided with a second dorsal fin, the second dorsal fin is close to the first dorsal fin, the upper surface of the guide bar is provided with a third dorsal fin, and the third dorsal fin is close to the other end of the guide bar;

the stability of the wave-measuring fish in water can be improved by arranging the stabilizing device, so that the wave-measuring fish is kept in an upright state in water, the wave-measuring fish is prevented from tilting left and right to shake, and the mobility of the wave-measuring fish is improved; additionally, the first dorsal fin, the second dorsal fin and the third dorsal fin which are arranged step by step are beneficial to reducing the water resistance in the running process of equipment and can also avoid the winding of aquatic weeds and the like on the wave measuring fish through the streamline structure of the first dorsal fin, the second dorsal fin and the third dorsal fin.

The buoyancy control assembly is provided with a hollow cylinder structure in the interior, a sealing plate is arranged in the buoyancy control assembly, one end part of the buoyancy control assembly is provided with a protection plate, the protection plate is provided with an arc-shaped plate structure, a water tank is formed between the protection plate and the sealing plate, and one side surface of the sealing plate, which is close to the protection plate, is provided with an underwater special plug; an adjusting cabin is arranged on the other side face of the sealing plate, a second motor is arranged in the adjusting cabin, a screw rod is connected to an output shaft of the second motor, a piston is connected to the other end of the screw rod, an O-shaped ring is arranged on the side face of the piston, and an oil cavity is formed on the other side of the piston; the other end part of the buoyancy control component is provided with an oil outlet pipe, and the oil outlet pipe is connected with the oil cavity through a connecting joint; the side surface of the oil outlet pipe is circumferentially provided with a plurality of oil bags, the end parts of the oil bags are in through connection with the side wall of the oil outlet pipe, a blade is arranged between two adjacent oil bags, and the blade is in sliding connection with the side wall of the oil outlet pipe;

the buoyancy control component is arranged at the bottom of the wave measurement fish, on one hand, the gravity center counterweight at the bottom of the wave measurement fish can be realized, the gravity center stability of the wave measurement fish is kept, the stable motion of the wave measurement fish in water is guaranteed by being matched with the stabilizing device at the top of the wave measurement fish, and the accuracy of data acquired by all parts on the wave measurement fish is facilitated, such as the infrared sensing accuracy of an autonomous obstacle avoidance module, the definition of pictures shot by a camera and the like; on the other hand, through the design of the oil outlet pipe at one end part of the buoyancy control component, the buoyancy is controlled by a plurality of oil bags, and the adjustable range of the buoyancy is enlarged;

the blades arranged between two adjacent oil bags can play a role in separating each oil bag at a certain interval, controlling the deformation range of the oil bags, avoiding the mutual extrusion and rupture of the oil bags, and rotating or swinging the blades around the side wall of the oil outlet pipe under the action of water flow, and playing a role in steering or propelling the device by matching with tail fins on the wave-measuring fish; the design of the blade plate is also beneficial to reducing the flow velocity of the water body near the oil bag, so that the probability of oil separating from the oil outlet pipe in the running process of the device is reduced.

The two sides of the camera are provided with the flow passage which is provided with an arc-shaped structure and is symmetrically arranged, an expansion passage is arranged in the flow passage, the diameter of the expansion passage is larger than that of the flow passage, an auxiliary piece is arranged in the expansion passage, the auxiliary piece is provided with a telescopic rod, two end parts of the telescopic rod are provided with limiting parts, a spring is sleeved on the telescopic rod, the limiting parts are provided with auxiliary holes, the auxiliary holes penetrate through the limiting parts and the telescopic rod, the axis of each auxiliary hole coincides with the axis of the corresponding auxiliary piece, and the limiting parts are circumferentially provided with through holes;

by arranging a plurality of flow channels on the upstream surface of the wave-measuring fish, on one hand, the flow guiding effect on the oncoming water flow can be realized, and the water flow resistance is prevented from reducing the advancing speed of the wave-measuring fish; on the other hand, the water flow entering the flow passage can drive the auxiliary piece in the expansion passage to vibrate, the vibration is generated by the spring and is transmitted to the discharged water flow, the effect of driving living things nearby the wave fish is achieved, specifically, the water flow entering the flow passage can generate pressure on the auxiliary piece, then the pressure is transmitted to the telescopic rod and the spring through the limiting part on the auxiliary piece, when waves are generated, the water flow size and the pressure in each period are inconsistent, the elastic potential energy generated by the spring can also change along with the pressure generated by the waves, so that the auxiliary piece vibrates, and the water flow in the expansion passage can quickly pass through the circumferential through holes formed in the limiting part; on the other hand, the overcurrent channel can discharge partial water flow through the side of the inner part of the main cabin body of the wave-measuring fish, so that the discharge of heat generated by the operation of electric equipment in the wave-measuring fish is facilitated, and the auxiliary heat dissipation effect can be achieved.

Compared with the prior art, the invention has the beneficial effects that:

1. the wave measurement fish provides a novel wave observation system, a wave element observation system is added on the basis of the design of the existing bionic robot fish, and long-distance real-time wave data observation is supported through a singlechip, a detection module of a pressure sensor and a wireless communication module;

2. according to the wave measuring fish, the balance of the wave measuring fish in water can be improved through the stabilizing device arranged at the top of the wave measuring fish, so that the wave measuring fish is kept in an upright state in water, the wave measuring fish is prevented from tilting and shaking left and right, and the mobility of the wave measuring fish is improved;

3. according to the wave-measuring fish, through the buoyancy control component arranged at the bottom of the wave-measuring fish, on one hand, the gravity center counterweight at the bottom of the wave-measuring fish can be realized, so that the stable motion of the wave-measuring fish in water can be ensured by being matched with the stabilizing device at the top of the wave-measuring fish, and the accuracy of data acquired by all parts on the wave-measuring fish is facilitated;

4. according to the wave-measuring fish, the deformation range of the oil bags is controlled through the blade plates arranged between two adjacent oil bags on the buoyancy control component at the bottom of the wave-measuring fish, so that the oil bags are prevented from being mutually extruded and broken, and the device can be steered or propelled by being matched with tail fins on the wave-measuring fish under the action of water flow;

5. according to the wave-measuring fish, the plurality of flow-through channels are arranged on the upstream surface of the wave-measuring fish, so that on one hand, the flow guiding effect on the water flow coming from the head can be realized, and the water flow resistance is prevented from reducing the advancing speed of the wave-measuring fish; on the other hand, the water flow entering the flow passage can drive the vibration of the auxiliary piece in the expansion passage, and the spring is utilized to generate vibration and transmit the vibration to the discharged water flow, so that the effect of driving living things nearby the wave-measuring fish is achieved.

Drawings

FIG. 1 is a schematic diagram of the basic working principle framework of the invention;

FIG. 2 is a schematic diagram of a preferred embodiment of a wave fish according to the present invention;

FIG. 3 is a front view of FIG. 1;

FIG. 4 is a front cross-sectional view of FIG. 2

FIG. 5 is a partial cross-sectional view of the buoyancy adjustment assembly shown in FIG. 2;

FIG. 6 is a partial cross-sectional view taken along the direction A-A of FIG. 2;

FIG. 7 is an enlarged view of I-I shown in FIG. 5;

fig. 8 is a schematic structural view of the auxiliary member shown in fig. 6.

In the figure: 1. a main cabin body; 11. a bottom protection cabin; 12. an ultrasonic probe; 13. a searchlight; 14. a camera; 15. a wave measuring device; 16. a control cabin; 17. a storage battery; 18. a single chip microcomputer; 19. a first motor; 2. a stabilizing device; 21. a flow guiding strip; 22. a first dorsal fin; 23. a second dorsal fin; 24. a third dorsal fin; 25. side fins; 26. a propeller; 27. tail fins; 3. a buoyancy control assembly; 31. a connecting piece; 32. a protection plate; 33. a water tank; 34. an underwater special plug; 35. a second motor; 36. a screw rod; 37. a piston; 38. an O-ring; 39. an adjustment cabin; 310. an oil chamber; 311. a connection joint; 312. an oil outlet pipe; 313. an oil bag; 314. a blade; 315. a sealing plate; 4. a flow-through channel; 41. expanding the channel; 42. an auxiliary member; 43. a spring; 44. an auxiliary hole; 45. a telescopic rod; 46. a limit part; 47. and a through hole.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-4, an embodiment of the present invention is provided: the wave-measuring fish comprises a main cabin body 1, wherein the main cabin body 1 is provided with a streamline shell structure, the bottom of the main cabin body 1 is provided with a bottom protection cabin 11, the top of the main cabin body 1 is provided with a control cabin 16, the upper part of the control cabin 16 is provided with a stabilizing device 2, the lower part of the bottom protection cabin 11 is provided with a buoyancy control component 3, the buoyancy control component 3 is fixedly connected with the bottom of the bottom protection cabin 11 through a connecting piece 31, one side wall of the main cabin body 1 is provided with a camera 14, the outer side wall of the main cabin body 1 is provided with a side fin 25, the lower part of the side fin 25 is provided with a propeller 26, the inner side wall of the control cabin 16 is provided with an ultrasonic probe 12, the inner side wall of the control cabin 16 is provided with a searchlight 13, the inside of the control cabin 16 is provided with a storage battery 17, the inside of the control cabin 16 is provided with a singlechip 18, the inside of the control cabin 16 is provided with a first motor 19, the output end of the first motor 19 is hinged with a tail fin 27, and the bottom of the bottom protection cabin 11 is provided with a wave-measuring device 15;

the structure of the bionic fish is split in the paper of a study on design and control of the bionic robot fish, which is respectively as follows: (1) the sensing part, namely a sensor of the bionic robot fish and the like are equivalent to sensing organs of the fish, so that the fish can know external obstacle conditions and the like; (2) the behavior part is a circuit and other elements for controlling and controlling the motion of the motor; (3) the power part is used for driving the fish body to move, and the bionic robot fish part is correspondingly provided with a steering engine and other structures and elements for driving the fish body to move; (4) the instruction part mainly plays a role in simulating the brain of fish and mainly comprises a control program and a main control chip;

based on the above research examples, the wave-measuring fish forms a wave detection module and an autonomous obstacle avoidance module by using the pressure sensor and the infrared sensor, and is provided with the lora wireless communication module and the GPS positioning module, so that corresponding data can be transmitted to the singlechip 18, and meanwhile, a control instruction of the singlechip 18 is received to execute a task; the searchlight 13 can provide illumination under the condition that the underwater light is poor, the auxiliary camera 14 shoots images, the ultrasonic probe 12 can perform ranging early warning, the movement of the oscillometric fish in water can be accelerated through the propeller 26 arranged below the lateral fins 25, the tail fin 27 is driven to swing through the first motor 19, and the swimming of fish can be imitated to control the direction.

Referring to fig. 2-4, the stabilizer 2 has a first dorsal fin 22, the first dorsal fin 22 is disposed on the top outer side wall of the control cabin 16, the stabilizer 2 has a guide bar 21, the guide bar 21 has a plate structure, the lower surface of the guide bar 21 is attached to the top outer surface of the control cabin 16, the first dorsal fin 22 is close to one end of the guide bar 21, the upper surface of the guide bar 21 is provided with a second dorsal fin 23, the second dorsal fin 23 is close to the first dorsal fin 22, the upper surface of the guide bar 21 is provided with a third dorsal fin 24, and the third dorsal fin 24 is close to the other end of the guide bar 21;

the stability of the wave-measuring fish in water can be improved by arranging the stabilizing device 2, so that the wave-measuring fish is kept in an upright state in water, the wave-measuring fish is prevented from tilting left and right and shaking, and the mobility of the wave-measuring fish is improved; additionally, the first dorsal fin 22, the second dorsal fin 23 and the third dorsal fin 24 which are arranged step by step are beneficial to reducing the water resistance in the running process of the equipment and can also avoid the winding of aquatic weeds and the like on the oscillograph through the streamline structure of the first dorsal fin 22, the second dorsal fin 23 and the third dorsal fin 24.

Referring to fig. 3-5, the buoyancy control assembly 3 has a hollow cylindrical structure, a sealing plate 315 is disposed in the buoyancy control assembly 3, a protecting plate 32 is disposed at one end of the buoyancy control assembly 3, the protecting plate 32 has an arc-shaped plate structure, a water tank 33 is formed between the protecting plate 32 and the sealing plate 315, and an underwater special plug 34 is disposed on a side of the sealing plate 315 close to the protecting plate 32; the other side surface of the sealing plate 315 is provided with an adjusting cabin 39, a second motor 35 is arranged in the adjusting cabin 39, the output shaft of the second motor 35 is connected with a screw rod 36, the other end part of the screw rod 36 is connected with a piston 37, the side surface of the piston 37 is provided with an O-shaped ring 38, and the other side of the piston 37 forms an oil cavity 310; the other end part of the buoyancy control component 3 is provided with an oil outlet pipe 312, and the oil outlet pipe 312 is connected with the oil cavity 310 through a connecting joint 311; a plurality of oil bags 313 are circumferentially arranged on the side surface of the oil outlet pipe 312, the end parts of the oil bags 313 are in through connection with the side wall of the oil outlet pipe 312, a blade plate 314 is arranged between two adjacent oil bags 313, and the blade plate 314 is in sliding connection with the side wall of the oil outlet pipe 312;

the buoyancy control component 3 is arranged at the bottom of the wave-measuring fish, on one hand, the gravity center balance weight at the bottom of the wave-measuring fish can be realized, the gravity center stability of the wave-measuring fish is kept, the stable motion of the wave-measuring fish in water can be guaranteed by being matched with the stabilizing device 2 at the top of the wave-measuring fish, and the accuracy of data acquired by all parts on the wave-measuring fish, such as the infrared sensing accuracy of an autonomous obstacle avoidance module, the definition of pictures shot by the camera 14 and the like, can be facilitated; on the other hand, the buoyancy control assembly 3 is designed to realize the control of the buoyancy by the multi-oil bag 313 by the oil outlet pipe 312 at one end part, so that the adjustable range of the buoyancy is enlarged;

the blades 314 arranged between two adjacent oil bags 313 can separate each oil bag 313 at a certain interval, control the deformation range of the oil bags 313 to avoid mutual extrusion and rupture of the oil bags 313, and can rotate or swing around the side wall of the oil outlet pipe 312 under the action of water flow to cooperate with the tail fins 27 on the wave-measuring fish to steer or push the device; the design of the vanes 314 also helps to reduce the flow rate of the body of water adjacent the oil pocket 313, thereby reducing the chance of oil escaping from the flowline 312 during travel of the device.

Referring to fig. 3-4 and fig. 6-8, two sides of the camera 14 are provided with a through-flow channel 4, the through-flow channel 4 is provided with an arc structure and is symmetrically arranged, an expansion channel 41 is arranged in the through-flow channel 4, the diameter of the expansion channel 41 is larger than that of the through-flow channel 4, an auxiliary piece 42 is arranged in the expansion channel 41, the auxiliary piece 42 is provided with a telescopic rod 45, two ends of the telescopic rod 45 are provided with limiting parts 46, the telescopic rod 45 is sleeved with a spring 43, the limiting parts 46 are provided with auxiliary holes 44, the auxiliary holes 44 penetrate through the limiting parts 46 and the telescopic rod 45, the axis of the auxiliary holes 44 coincides with that of the auxiliary piece 42, and the limiting parts 46 are provided with through holes 47 in the circumferential direction;

by arranging a plurality of flow channels 4 on the upstream surface of the wave-measuring fish, on one hand, the flow guiding effect on the oncoming water flow can be realized, and the water flow resistance is prevented from reducing the advancing speed of the wave-measuring fish; on the other hand, the water flow entering the flow passage 4 can drive the auxiliary piece 42 in the expansion passage 41 to vibrate by the spring 43 and transmit the vibration to the discharged water flow, so as to play a role in driving living things nearby the wave fish, specifically, the water flow entering the flow passage 4 can generate pressure on the auxiliary piece 42 and then transmit the pressure to the telescopic rod 45 and the spring 43 through the limiting part 46 on the auxiliary piece, and when waves are generated, the water flow size and the pressure in each period are inconsistent, the elastic potential energy generated by the spring 43 can also change along with the pressure generated by the waves, so that the auxiliary piece 42 vibrates, and the water flow in the expansion passage 41 rapidly passes through the circumferential through holes 47 on the limiting part 46; on the other hand, the through-flow channel 4 can discharge partial water flow through the inner side of the main cabin body 1 of the wave-measuring fish, so that the heat generated by the operation of the electric equipment in the wave-measuring fish can be discharged, and the auxiliary heat dissipation effect can be achieved.

Working principle:

the method comprises the steps that an STM32 single-chip microcomputer microprocessor is selected as a control core, a pressure sensor is used as a wave detection module, a motion module, a wireless transmission module, a GPS positioning and infrared obstacle avoidance module and a power module are built again, meanwhile, according to the application scene of the wave detection fish, the characteristics of the temperature, the salinity and the like of sea water are considered, durable and corrosion-resistant materials are selected as the fish body of the robot fish, and the gravity center of the wave detection fish is maintained below a floating center through a buoyancy adjusting device, so that the wave detection fish has good stability in underwater operation;

when the wave measuring fish is used for measuring waves, the course angle of the initial position and the target position and the course angle of obstacle avoidance adjustment are calculated through the compiler codes, and the wave observation is started when the wave measuring fish reaches the designated position;

the propulsion and steering functions are realized by means of the propeller 26 of the side fin 25 and the swinging of the tail fin 27, and the GPS positioning module performs autonomous navigation and task completion automatic return, and the underwater obstacle is avoided independently;

in consideration of the fact that the bionic robot fish may be damaged or lost in severe weather such as typhoons, tsunami and the like, the Lora wireless module is arranged to transmit data to the upper computer in real time, a large amount of data accumulation is generated after each data transmission, and the data are stored in the database.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a wave-measuring fish, includes, main cabin body (1) has streamline housing structure, the bottom of main cabin body (1) is equipped with end protection cabin (11), the top of main cabin body (1) is equipped with control cabin (16), control cabin (16) upper portion is equipped with stabilising arrangement (2), end protection cabin (11) below is equipped with buoyancy control module (3), buoyancy control module (3) pass through connecting piece (31) with the bottom fixed connection of end protection cabin (11), its characterized in that: a camera (14) is arranged on one side wall of the main cabin body (1), a side fin (25) is arranged on the outer side wall of the main cabin body (1), a propeller (26) is arranged below the side fin (25), an ultrasonic probe (12) is arranged on the inner side wall of the control cabin (16), a searchlight (13) is arranged on the inner side wall of the control cabin (16), a storage battery (17) is arranged in the control cabin (16), a singlechip (18) is arranged in the control cabin (16), a first motor (19) is arranged in the control cabin (16), a tail fin (27) is hinged to the output end of the first motor (19), and a wave measuring device (15) is arranged at the bottom of the bottom protection cabin (11);

the stabilizing device (2) is provided with a first dorsal fin (22), the first dorsal fin (22) is arranged on the outer side wall of the top of the control cabin (16), the stabilizing device (2) is provided with a guide bar (21), the guide bar (21) is provided with a plate-shaped structure, the lower surface of the guide bar (21) is attached to the outer surface of the top of the control cabin (16), the first dorsal fin (22) is close to one end of the guide bar (21), the upper surface of the guide bar (21) is provided with a second dorsal fin (23), the second dorsal fin (23) is close to the first dorsal fin (22), the upper surface of the guide bar (21) is provided with a third dorsal fin (24), and the third dorsal fin (24) is close to the other end of the guide bar (21);

the camera is characterized in that two sides of the camera (14) are provided with a through-flow channel (4), the through-flow channel (4) is provided with an arc-shaped structure and is symmetrically arranged, an expansion channel (41) is arranged in the through-flow channel (4), the diameter of the expansion channel (41) is larger than that of the through-flow channel (4), an auxiliary piece (42) is arranged in the expansion channel (41), the auxiliary piece (42) is provided with a telescopic rod (45), two end parts of the telescopic rod (45) are provided with limiting parts (46), the telescopic rod (45) is sleeved with a spring (43), the limiting parts (46) are provided with auxiliary holes (44), the auxiliary holes (44) penetrate through the limiting parts (46) and the telescopic rod (45), the axis of the auxiliary holes (44) coincides with the axis of the auxiliary piece (42), and through holes are formed in the limiting parts (46) in the circumferential direction.

The water flow entering the flow passage (4) generates pressure on the auxiliary piece (42), the pressure is transmitted to the telescopic rod (45) and the spring (43) through the limiting part (46), the elastic potential energy generated by the spring (43) changes along with the pressure generated by waves, the auxiliary piece (42) generates vibration to drive living organisms around the wave fish, and through the circumferential through holes (47) on the limiting part (46), the water flow in the expansion passage (41) passes through quickly; the flow passage (4) can discharge partial water flow through the side of the inner part of the main cabin body (1) of the wave measuring fish, so that the heat in the wave measuring fish is discharged.

2. The oscillometric fish according to claim 1, wherein: the buoyancy control assembly (3) is provided with a hollow cylinder structure, a sealing plate (315) is arranged in the buoyancy control assembly (3), a protection plate (32) is arranged at one end of the buoyancy control assembly (3), the protection plate (32) is provided with an arc-shaped plate structure, a water tank (33) is formed between the protection plate (32) and the sealing plate (315), and an underwater special plug (34) is arranged on one side surface, close to the protection plate (32), of the sealing plate (315).

3. The oscillometric fish according to claim 2, wherein: the novel oil tank is characterized in that an adjusting cabin (39) is arranged on the other side face of the sealing plate (315), a second motor (35) is arranged in the adjusting cabin (39), a screw rod (36) is connected to an output shaft of the second motor (35), a piston (37) is connected to the other end portion of the screw rod (36), an O-shaped ring (38) is arranged on the side face of the piston (37), and an oil cavity (310) is formed in the other side of the piston (37).

4. A wave fish according to claim 3, characterized in that: the other end part of the buoyancy control assembly (3) is provided with an oil outlet pipe (312), and the oil outlet pipe (312) is connected with the oil cavity (310) through a connecting joint (311).

5. The oscillometric fish according to claim 4, wherein: the side circumference of play oil pipe (312) is equipped with a plurality of oil pocket (313), the tip of oil pocket (313) with go out oil pipe (312) lateral wall through connection is equipped with blade (314) between two adjacent oil pocket (313), blade (314) with go out oil pipe (312) lateral wall sliding connection.