Water-air amphibious cross-medium bio-robotic flying fish

A water-air amphibious cross-medium bio-robotic flying fish, comprising a body, pitching pectoral fins, variable-structure pectoral fins, a caudal propulsion module, a sensor module and a controller, wherein

• there are two pitching pectoral fins;
• the two pitching pectoral fins are symmetrically arranged on left and right sides of the body;
• the two pitching pectoral fins are rotatably mounted on the body around a left-right axis under a drive of a first power device;
• there are two variable-structure pectoral fins;
• the two variable-structure pectoral fins are symmetrically arranged on the left and right sides of the body;
• the two variable-structure pectoral fins are foldably mounted on the body along a front-back direction under a drive of a second power device;
• each of the two variable-structure pectoral fins comprises a leading edge fin ray, a median fin ray, a trailing edge fin ray, a fin membrane and a fin ray transmission shaft;
• wherein the leading edge fin ray is fixedly mounted on the fin ray transmission shaft;
• the trailing edge fin ray is fixed to the body;
• the median fin ray is provided with a D-shaped hole, the fin ray transmission shaft is provided with a sliding and rotating part, and the sliding and rotating part is in clearance fit with the D-shaped hole;
• in a driving process of the second power device, the fin ray transmission shaft drives the leading edge fin ray to rotate outwards, and the median fin ray slides relative to the fin ray transmission shaft through the sliding and rotating part until the corresponding D-shaped hole is engaged and rotates synchronously;
• the caudal propulsion module is mounted at a rear of the water-air amphibious cross-medium bio-robotic flying fish;
• the sensor module is mounted on the body, and the sensor module is configured to detect at least one of the following:
• an attitude of the body, a rotation angle of the two pitching pectoral fins, a depth of the water-air amphibious cross-medium bio-robotic flying fish in a water environment and a gliding height of the water-air amphibious cross-medium bio-robotic flying fish in the air, an unfolded/folded state of the two variable-structure pectoral fins, a swing frequency of the caudal propulsion module and an ambient environment of the body;
• and a signal output terminal of the sensor module, a control terminal of the first power device, and a control terminal of the second power device are respectively signal-connected to the controller.