CN112162075A - Autonomous navigation bionic robot fish for water quality monitoring and control method thereof - Google Patents

Autonomous navigation bionic robot fish for water quality monitoring and control method thereof Download PDF

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Publication number
CN112162075A
CN112162075A CN202011132646.7A CN202011132646A CN112162075A CN 112162075 A CN112162075 A CN 112162075A CN 202011132646 A CN202011132646 A CN 202011132646A CN 112162075 A CN112162075 A CN 112162075A
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water quality
fish
bionic robot
robot fish
water
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文小玲
喻盈
张川
黄晨华
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Wuhan Institute of Technology
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Wuhan Institute of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Pathology (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Food Science & Technology (AREA)
  • Analytical Chemistry (AREA)
  • Medicinal Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an autonomous navigation bionic robot fish for water quality monitoring, wherein infrared sensors are arranged at the head, the left side, the right side, the upper part and the lower part of the bionic robot fish; the inside of the fish body is provided with a control module, a water tank, a GPS module and a wireless communication module, and the bottom of the fish body is provided with a water quality sensor; the tail part is provided with tail fins which are connected with the fish body through a double-joint structure formed by 2 steering engine units; 5 infrared sensor, water tank, GPS module, wireless communication module, water quality sensor and 2 steering engines all are connected with control module. The bionic robotic fish is small in size, can be automatically navigated, can automatically monitor water quality in all directions, realizes remote wireless transmission of data, and performs storage and early warning at a terminal.

Description

Autonomous navigation bionic robot fish for water quality monitoring and control method thereof
Technical Field
The invention belongs to the technical field of mobile water quality monitoring, and particularly relates to an autonomous navigation bionic robot fish for water quality monitoring and a control method thereof.
Background
The water quality monitoring is an important basis for implementing water quality management, can prevent water environment resources from being damaged, and improves the effect of protection and treatment. In recent years, with the rapid development of social economy, the importance of water resources is more remarkable, the total amount of water resources in China is large, but the occupied amount of people is less than one fourth of the average occupied amount of the world, the water resources in China are still deficient on the whole, and the water quality monitoring in each water area is of great importance in order to protect the existing water resources. In the field of aquaculture, various water quality parameters such as dissolved oxygen, temperature, pH value, ammonia nitrogen and the like all affect the yield and quality of aquatic products, and the implementation of water quality monitoring can ensure that the aquatic products grow in a proper environment and prevent the aquatic products from being reduced in yield and even dying due to the fact that microorganisms and algae multiply to deteriorate the water environment.
The traditional water quality monitoring method comprises manual site fixed-point sampling and automatic monitoring site establishment, but cannot comprehensively reflect the water quality condition of the whole water area. The traditional water quality monitoring method such as manual sampling detection in a laboratory wastes time and labor, is complex to operate, and is easy to influence the sampling process; the fixed-point monitoring cost of the monitoring station is high, the monitoring station is only suitable for large water areas, and the water quality cannot be monitored in all directions; the mobile monitoring ship is huge in size and needs manual operation. The transmission and storage of water quality data in the method also have great problems, and the requirements of automation and intellectualization of the current water quality monitoring technology cannot be met. With the rapid development of embedded and wireless communication networks, the water quality monitoring technology is also gradually automated, intelligentized and networked. The mobile monitoring equipment utilizes a remote data transmission technology to carry out omnibearing monitoring on a water area, but the general monitoring equipment has larger volume, difficult operation and higher cost. Therefore, it is necessary to develop a small autonomous navigation water quality monitoring device suitable for various water areas, which can automatically monitor water quality in all directions, remotely and wirelessly transmit data, and store and warn at a terminal.
Disclosure of Invention
The invention aims to provide an autonomous navigation bionic robot fish for water quality monitoring and a control method thereof, and solves the problems that the traditional water quality monitoring method is high in cost, time-consuming and labor-consuming, complex to operate, huge in size and manual operation and cannot carry out omnibearing monitoring on water quality due to the fact that the existing mobile monitoring equipment is large in size.
The invention provides an autonomous navigation bionic robot fish for water quality monitoring, wherein infrared sensors are arranged at the head, the left side, the right side, the upper part and the lower part of the bionic robot fish; the inside of the fish body is provided with a control module, a water tank, a GPS module and a wireless communication module, and the bottom of the fish body is provided with a water quality sensor; the tail part is provided with tail fins which are connected with the fish body through a double-joint structure formed by 2 steering engine units; the 5 infrared sensors, the water tank, the GPS module, the wireless communication module, the water quality sensor and the 2 steering engines are all connected with the control module;
the bionic robot fish floats upwards and submerges by controlling the water amount in the water tank; the tail fin is controlled to swing back and forth by controlling the steering engine, so that the bionic robot fish can move forwards and turn in water; the obstacle detection is carried out through 5 infrared sensors, and automatic obstacle avoidance is realized; the GPS module is used for acquiring the position information of the bionic robot fish, further acquiring the course angle between the current position and the target position and carrying out autonomous navigation; the water quality sensor is used for collecting water quality parameters; the wireless communication module is used for uploading the collected water quality parameters.
Further, the water quality parameters comprise dissolved oxygen, temperature, PH value and ammonia nitrogen.
Further, a battery is arranged inside the fish body of the bionic robot fish, and a switch is arranged outside the fish body.
The invention also provides a control method of the self-navigation bionic robot fish for water quality monitoring, which is characterized by comprising the following steps:
s1, introducing a target position into the bionic robot fish;
s2, acquiring initial position information of the bionic robot fish, and calculating an initial course angle between the initial position and the target position;
s3, performing tour and obstacle avoidance on the bionic robot fish;
s4, acquiring current position information of the bionic robot fish, and calculating the current course angle between the current position and the target position;
s5, comparing the current course angle with the initial course angle, adjusting the course of the bionic robot fish, and making the current course angle equal to the initial course angle;
and S6, repeating the steps S3, S4 and S5 until the target position is reached, and collecting and uploading the water quality parameters.
The invention has the beneficial effects that:
the bionic robot fish utilizes the bionics principle, simulates the appearance of fish, is small in size, is suitable for various water areas, realizes propulsion by swinging of the double-joint tail fin, has higher flexibility and low disturbance compared with a propeller-propelled structure, is friendly to aquatic organisms, is provided with a water tank in the fish body, and realizes floating and submerging in water through water inlet and water outlet of a water pump.
The bionic robot fish can conduct autonomous navigation according to the longitude and latitude coordinates of the set target point, obstacle avoidance is conducted through the infrared sensor in the process of going to the target position, the fish body carries the water quality sensor, water quality parameters are monitored in real time and all-directionally in the moving process, manual control is not needed, and automation and intellectualization are achieved in the whole process.
And thirdly, the bionic robot fish transmits the water quality data to the terminal by adopting wireless communication, and floats to the water surface when transmitting, so that signal attenuation caused in water is prevented. The terminal can analyze and early warn after receiving the data, thereby facilitating scientific management of water quality.
And fourthly, the battery adopts a wireless charging mode, so that the sealing and waterproof performance of the bionic robot fish is ensured.
Due to the appearance characteristics of the bionic robot fish, the bionic robot fish can be used for water quality monitoring, and can also have various purposes by adding other modules, such as narrow pipeline detection, underwater biological observation, military reconnaissance application, underwater archaeology and the like.
Drawings
FIG. 1 is a system architecture of a biomimetic robotic fish;
FIG. 2 is a front view of the structure of the biomimetic robotic fish;
FIG. 3 is a top view of the structure of the biomimetic robotic fish;
FIG. 4 is a model of the tail swing of a biomimetic robotic fish;
FIG. 5 is an autonomous navigation path of the biomimetic robotic fish;
FIG. 6 is a flow chart of the operation of the biomimetic robotic fish.
In the figure: 1-front side infrared sensor, 2-left side infrared sensor, 3-upper side infrared sensor, 4-lower side infrared sensor, 5-control module, 6-water tank, 7-wireless communication module, 8-GPS module, 9-switch, 10-battery, 11-water quality sensor, 12-first steering engine, 13-first connecting rod, 14-second steering engine, 15-second connecting rod, 16-tail fin and 17-right side infrared sensor.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
the autonomous navigation bionic robot fish for water quality monitoring disclosed by the invention combines bionics into the field of water quality monitoring, so that the monitoring equipment simulates the appearance of fish and has double-joint tail fins, the swimming mode of the fish is simulated, the acting force is generated by the swinging of the double-joint tail fins to carry out propulsion and steering, and the autonomous navigation bionic robot fish is flexible and efficient in water, small in size, low in pollution and free of disturbance. The control method comprises the following steps: firstly, setting coordinates of a target monitoring point, enabling the bionic robot fish to reach the target point from a starting point through autonomous navigation and infrared obstacle avoidance, detecting parameters such as a PH value, dissolved oxygen, temperature, conductivity, turbidity and salinity in water by using a multi-parameter water quality sensor carried in a body, acquiring water quality data, transmitting the water quality data to a wireless communication module through a control module, realizing long-distance wireless transmission, and finally receiving, storing and displaying the data by an upper computer.
According to the autonomous navigation bionic robot fish for water quality monitoring, disclosed by the embodiment of the invention, as shown in fig. 2 and 3, the shape of the autonomous navigation bionic robot fish simulates fish, and the head, the left side, the right side, the upper part and the lower part of the bionic robot fish are provided with infrared sensors; when the front side has an obstacle, the emitted infrared light is reflected, the infrared sensor outputs a level signal to the control module, and obstacle avoidance operation is carried out. The inside of the fish body is provided with a control module, a water tank 6, a GPS module 8 and a wireless communication module 7, and the bottom of the fish body is provided with a water quality sensor 11; the tail part is provided with a tail fin 16 which is connected with the fish body through a double-joint structure formed by 2 steering engine units; 5 infrared sensor, water tank 6, GPS module 8, wireless communication module 7, water quality sensor 11 and 2 steering engines all are connected with control module. As shown in FIG. 1, the control module may employ an STM32 control module.
The water pump is used for pumping water and draining water to control the water amount in the water tank, so that the gravity of the bionic robot fish is changed, and floating and submerging are realized. The bionic robot fish controls the tail fin to swing back and forth by controlling the steering engine, and the bionic robot fish moves forwards and turns in water, namely the driving module shown in figure 1. As shown in figure 4, the fish body and the tail fin are formed by connecting two steering engines to form double joints, the tail ends of the two steering engines are connected with the tail fin, the steering engines are connected through connecting rods, the connecting rods can be controlled by the steering engines to rotate, and then the joints and the tail fin are controlled to swing back and forth. The control module outputs a PWM signal with a certain frequency, the steering engine unit drives the tail fin to swing back and forth, reaction force is generated in water to enable the robot fish to propel, when the robot fish linearly moves forward, the swing amplitude of a single joint along the two sides of the fish body shaft is equal, when left steering is needed, the steering engine unit rotates to enable the tail fin to be deviated to the left side of the fish body shaft, when right steering is needed, the tail fin is deviated to the right side of the fish body shaft, and left and right steering is completed through inertia.
The bionic robot fish can detect the obstacle through 5 infrared sensors to realize automatic obstacle avoidance; the GPS module is used for acquiring the position information of the bionic robot fish, further acquiring the course angle between the current position and the target position, and performing autonomous navigation. After receiving the longitude and latitude coordinates of the target point, determining the current longitude and latitude coordinates by using a GPS module, calculating an initial course angle moving to the target point, avoiding obstacles and continuously adjusting the course angle when the robotic fish moves to the target point, finally stopping moving after reaching the target point, collecting water quality parameters of the target point, including dissolved oxygen, temperature, PH value, ammonia nitrogen and the like, by using a water quality sensor carried on the lower part of the fish body, transmitting the parameters to an STM32 control module through RS-485 communication, and uploading the analyzed data to a remote terminal by a Lora wireless communication module.
Furthermore, a battery 10 is also arranged in the fish body of the bionic robot fish, and a wireless charging mode is adopted, so that the influence on the waterproofness of the robot fish is avoided; the outside of the fish body is provided with a switch 9.
The invention also provides a control method of the self-navigation bionic robot fish for water quality monitoring, which comprises the following steps as shown in fig. 6:
and S1, introducing the target position into the bionic robot fish.
S2, acquiring initial position information of the bionic robot fish, and calculating an initial course angle between the initial position and the target position;
s3, performing tour and obstacle avoidance on the bionic robot fish;
s4, acquiring current position information of the bionic robot fish, and calculating the current course angle between the current position and the target position;
s5, comparing the current course angle with the initial course angle, adjusting the course of the bionic robot fish, and making the current course angle equal to the initial course angle;
and S6, repeating the steps S3, S4 and S5 until the target position is reached, and collecting and uploading the water quality parameters. When the water quality parameter is not in the expected range, an alarm is sent to a user so as to take corresponding measures.
The specific process is as follows: open back switch 9 during the start, lead in the target point coordinate through the host computer, acquire the initial position coordinate by GPS module 8, calculate target course angle, STM32 control module 5 outputs PWM signal control first steering wheel 12 and second steering wheel 14 and rotates, drive first connecting rod 13 and second connecting rod 15 and rotate, tail fin 16 is connected to second connecting rod 15, tail fin 16 uses the fish body axle to equal at side direction wobbling range as the center, produce the power and control the machine fish and advance, control the afterbody during turning to incline left side or right side, the machine fish relies on inertia to turn to the left side or turn to the right side. In the moving process, the left infrared sensor 2, the front infrared sensor 1 and the right infrared sensor 17 detect obstacles on a path, the steering is carried out to avoid the obstacles, when the steering cannot avoid the obstacles and no obstacles are detected by the upper infrared sensor 3 and the lower infrared sensor 4, the water tank 6 is drained to float up and submerge, the front obstacles are avoided, and the course angle is adjusted to continue to sail to a target point. After reaching the target point, the water quality sensor detects the water quality parameters, transmits the water quality parameters to the STM32 control module by using RS-485 communication, transmits the water quality parameters to the Lora wireless module through the serial port after processing, and remotely transmits the water quality data of the target point to the upper computer for display and analysis. When the bionic robot fish breaks down and can not move, the robot fish can be searched according to the GPS positioning information.
FIG. 5 is an autonomous navigation roadmap of the biomimetic robotic fish. Establishing a planar two-dimensional coordinate system in the north and east directions, acquiring the current positioning coordinate in real time in the moving process as shown in fig. 5, calculating the course angle of the current position from the target position, comparing the course angle with the course angle theta of the initial position, and adjusting the moving direction of the robotic fish. When the bionic robot fish swims to the position A, theta1<Theta, driving the robotic fish to adjust the swimming direction rightwards by the control system; when in the B position, theta2>And theta, adjusting the swimming direction to the left until the target position M is reached.
The invention provides a small autonomous navigation water quality monitoring device suitable for various water areas, which can automatically monitor water quality in an all-round way, remotely and wirelessly transmit data, and store and early warn at a terminal.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.

Claims (4)

1. An autonomous navigation bionic robot fish for water quality monitoring is characterized in that infrared sensors are arranged at the head, the left side, the right side, the upper part and the lower part of the bionic robot fish; the inside of the fish body is provided with a control module, a water tank, a GPS module and a wireless communication module, and the bottom of the fish body is provided with a water quality sensor; the tail part is provided with tail fins which are connected with the fish body through a double-joint structure formed by 2 steering engine units; the 5 infrared sensors, the water tank, the GPS module, the wireless communication module, the water quality sensor and the 2 steering engines are all connected with the control module;
the bionic robot fish floats upwards and submerges by controlling the water amount in the water tank; the tail fin is controlled to swing back and forth by controlling the steering engine, so that the bionic robot fish can move forwards and turn in water; the obstacle detection is carried out through 5 infrared sensors, and automatic obstacle avoidance is realized; the GPS module is used for acquiring the position information of the bionic robot fish, further acquiring the course angle between the current position and the target position and carrying out autonomous navigation; the water quality sensor is used for collecting water quality parameters; the wireless communication module is used for uploading the collected water quality parameters.
2. The self-contained navigation bionic robot fish for water quality monitoring according to claim 1, wherein the water quality parameters comprise dissolved oxygen, temperature, PH value and ammonia nitrogen.
3. The self-contained navigation bionic robot fish for monitoring water quality as claimed in claim 1, characterized in that a wireless charging battery is arranged inside the fish body of the bionic robot fish, and a switch is arranged outside the fish body.
4. A control method of an autonomous navigation bionic robot fish for water quality monitoring is characterized by comprising the following steps:
s1, introducing a target position into the bionic robot fish;
s2, acquiring initial position information of the bionic robot fish, and calculating an initial course angle between the initial position and the target position;
s3, performing tour and obstacle avoidance on the bionic robot fish;
s4, acquiring current position information of the bionic robot fish, and calculating the current course angle between the current position and the target position;
s5, comparing the current course angle with the initial course angle, adjusting the course of the bionic robot fish, and making the current course angle equal to the initial course angle;
and S6, repeating the steps S3, S4 and S5 until the target position is reached, and collecting and uploading the water quality parameters.
CN202011132646.7A 2020-10-21 2020-10-21 Autonomous navigation bionic robot fish for water quality monitoring and control method thereof Pending CN112162075A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113104184A (en) * 2021-04-24 2021-07-13 上海海洋大学 Pump-shooting type exploration trolley
CN113311848A (en) * 2021-04-30 2021-08-27 江苏科技大学 Underwater detector and surrounding edge obstacle avoidance method thereof
CN113636048A (en) * 2021-08-19 2021-11-12 武汉工程大学 Multi-joint robot fish and motion control method thereof
CN114460949A (en) * 2022-02-17 2022-05-10 浙江省海洋水产养殖研究所 Underwater inspection system of bionic robot fish
CN114545953A (en) * 2022-04-26 2022-05-27 中国科学院自动化研究所 Bionic fish path control method and device and bionic fish
CN114758570A (en) * 2022-04-12 2022-07-15 上海海洋大学 Bionic robot fish teaching aid

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113104184A (en) * 2021-04-24 2021-07-13 上海海洋大学 Pump-shooting type exploration trolley
CN113104184B (en) * 2021-04-24 2024-04-19 上海海洋大学 Pump-jet type exploration trolley
CN113311848A (en) * 2021-04-30 2021-08-27 江苏科技大学 Underwater detector and surrounding edge obstacle avoidance method thereof
CN113311848B (en) * 2021-04-30 2022-12-30 江苏科技大学 Underwater detector and surrounding edge obstacle avoidance method thereof
CN113636048A (en) * 2021-08-19 2021-11-12 武汉工程大学 Multi-joint robot fish and motion control method thereof
CN114460949A (en) * 2022-02-17 2022-05-10 浙江省海洋水产养殖研究所 Underwater inspection system of bionic robot fish
CN114758570A (en) * 2022-04-12 2022-07-15 上海海洋大学 Bionic robot fish teaching aid
CN114545953A (en) * 2022-04-26 2022-05-27 中国科学院自动化研究所 Bionic fish path control method and device and bionic fish
CN114545953B (en) * 2022-04-26 2022-07-12 中国科学院自动化研究所 Bionic fish path control method and device and bionic fish

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