CN112357030B - A water quality monitoring machine fish for ocean or inland river lake - Google Patents
A water quality monitoring machine fish for ocean or inland river lake Download PDFInfo
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- CN112357030B CN112357030B CN202011277307.8A CN202011277307A CN112357030B CN 112357030 B CN112357030 B CN 112357030B CN 202011277307 A CN202011277307 A CN 202011277307A CN 112357030 B CN112357030 B CN 112357030B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a water quality monitoring robot fish for oceans or inland rivers and lakes, which mainly rotates through a ducted propeller when floating and submerging, and has the characteristics of high starting speed and stability. In addition, the pectoral fins are driven to rotate by the rotation of the steering engine, so that the spatial free motion can be realized. The invention adopts the water jet propeller for propulsion, when in danger, the water jet propeller is used for main propulsion, and the fishtail swings for auxiliary propulsion, thereby escaping from the danger. In a safe area, the fish tail is adopted for propulsion, so that the energy consumption is saved, and the detection task can be reasonably finished. The water quality monitoring system and the target identification system can obtain the water quality parameters in real time and identify precious fishes so as to carry out tracking protection.
Description
Technical Field
The invention relates to a robotic fish for water quality monitoring, and belongs to the technical field of ship engineering.
Background
With the continuous development of economy, land resources are increasingly consumed, oceans occupy 71 percent of the surface area of the earth, and people are in the initial stage of exploring the oceans, so the development of ocean resources is particularly important. The robot fish can work in dangerous underwater environment and can be well adapted to variable underwater environment as a main tool for ocean exploration and underwater operation. The current robotic fish is mainly applied to the fields of data monitoring of marine environment, maintenance of underwater equipment, acquisition and identification of marine targets and the like.
However, the main propulsion mode of the existing robotic fish is tail fin propulsion, and the control mode of the robotic fish is that the swinging of a steering engine drives the fish tail to move or the force and the moment of the fish tail are controlled by applying a Shape Memory Alloy (SMA) driving technology, so that the robotic fish is propelled to advance. The former has slow speed and the latter has high cost. Through investigation, the current speed of the robot fish is generally 4-5 knots, and the cost is about 20 ten thousand.
Aiming at the defects of slow navigation speed and high cost of the existing robotic fish, the invention designs a novel robotic fish for water quality monitoring, which has the advantages of fast navigation speed, high efficiency, low cost and wide application range. Through related tests, the navigation speed can generally reach more than 5 sections, and the cost is about 10 ten thousand yuan.
The invention designs a robotic fish for water quality monitoring, which can realize free space movement, realize water quality monitoring by carrying a sensor and change the self speed according to different scenes. When detecting organisms such as sarcandra glabra and the like and detecting water quality, the low-speed navigation is adopted, and the driving mode depends on the swing of the fish tail. When encountering dangerous organisms, the ship sails at a high speed, and the driving mode is mainly pushing by the water jet propeller and assisting pushing by the fish tail. On one hand, the energy is saved, on the other hand, the operation is simple, convenient and fast, and the efficiency is high. Meanwhile, a target identification technology is carried, some endangered aquatic species can be identified, the living environment of the aquatic species can be detected by carrying corresponding sensors, and different schemes can be formulated so as to better protect the aquatic species and the aquatic species.
Disclosure of Invention
The purpose of the invention is realized by the following technical scheme:
a water quality monitoring robot fish for oceans or inland rivers and lakes comprises a robot fish main body, a sealed cabin, an intelligent control and pushing system, a tail pushing mechanism, an intelligent monitoring system, a target identification system, a semi-autonomous navigation system and a communication system, and is characterized in that pectoral fins positioned on two sides of the chest of the robot fish and tail fins positioned at the tail of the robot fish are arranged on the robot fish main body, and the sealed cabin is arranged in the robot fish main body;
the intelligent control and push system is arranged to be capable of driving the robot fish main body to be pushed and driving the pectoral fins to rotate, so that the course angle of the robot fish is changed;
the tail propelling mechanism is arranged at the rear part of the robot fish main body and can drive the tail fin to swing back and forth;
the intelligent monitoring system is at least capable of collecting water turbidity, water depth and pH value and transmitting information to the remote controller in a wireless communication mode;
the target recognition system can automatically capture images and automatically recognize the category of a target object so that the robot fish can conveniently make a reaction action corresponding to the category of the target object;
the semi-autonomous navigation system is used for wireless receiving and GPS positioning so as to realize semi-autonomous navigation of the robot fish;
the communication system is used for the robot fish to wirelessly communicate with the remote controller so as to be convenient for remotely controlling the movement and operation of the robot fish.
Further, preferably, the robot fish body (1) comprises a fish head, a fish body and a fish tail, and the whole robot fish body is in a spindle shape, the total length is 0.61.2m, the aspect ratio is 3:1, the length-height ratio is 4:1, the ratio of the extended length to the total length of the tail fin is about 4:1, and the aspect ratio is about 6: 1.
Further, preferably, the shape of the sealed cabin is cylindrical and is positioned in the fish body of the robot fish, the length of the sealed cabin is one half of the total length of the robot fish, the radius of the sealed cabin is one half of the maximum width of the robot fish, and the sealed cabin is fixedly connected with the robot fish main body through an upper plate, a front plate, a lower plate I, a lower plate II and a rear plate.
Further, preferably, the intelligent control and pushing system comprises a water jet propeller, a ducted propeller and a steering engine, wherein the ducted propeller is positioned at the fish head of the robot fish, a round pipe is sleeved outside the ducted propeller, and the round pipe is fixedly connected with the ducted propeller through two screws; the water jet propeller is located the machine fish bottom, and through hypoplastron one, hypoplastron two and machine fish main part fixed connection, two the steering wheel is located the both sides in the fish body, and the output all is connected to pectoral fin, thereby the swing of steering wheel drives pectoral fin and rotates, and then changes course angle.
Further, preferably, the tail propelling mechanism comprises a brushless speed reducing motor, a first bevel gear, a second bevel gear, a first synchronizing wheel, a second synchronizing wheel, a synchronous belt and a tail fin, wherein the brushless speed reducing motor is fixed on a bottom plate through a motor fixing part, the bottom plate is fixedly connected with the main body of the robotic fish through a third supporting plate and a fourth supporting plate, the first shaft at the output end of the brushless speed reducing motor is in transmission connection with the second shaft through the first bevel gear and the second bevel gear which are meshed with each other, the second shaft is rotatably supported and penetrates through the bottom plate and is fixedly connected with the first synchronizing wheel, the second synchronizing wheel is fixed on the third shaft, the third shaft is rotatably supported and penetrates through the bottom plate and is positioned at the rear part of the second shaft, the synchronous belt is wound between the first synchronizing wheel and the second synchronizing wheel in transmission, the tail fin is connected with the second synchronizing wheel through a connecting plate, and the brushless speed reducing motor is controlled to rotate, the first synchronizing wheel is driven to rotate through the first bevel gear and the second bevel gear, and then the second synchronizing wheel is driven to rotate through the synchronous belt, so that the tail fin is driven to swing back and forth.
Further, as preferred, the intelligent monitoring system includes turbidity sensor, depth of water sensor, pH value sensor, singlechip and remote controller, wherein, turbidity sensor, depth of water sensor and pH value sensor arrange in the sealed cabin rear portion, the singlechip is arranged inside the sealed cabin, turbidity sensor, depth of water sensor, pH value sensor are connected with the singlechip through the wire, gather water turbidity, depth of water and pH value through the programming singlechip to on information transmission to the remote controller through wireless communication's mode.
Further, as a preferred option, the target recognition system comprises a camera for capturing images, a wireless serial port module and a remote controller screen, wherein the camera is arranged at the position of the fish head, the wireless serial port module is positioned inside the sealed cabin, the remote controller screen is arranged on the shore, the underwater images are transmitted to the remote controller screen through the wireless serial port module, and the target recognition system is configured to be capable of recognizing by adopting a target recognition yolov model.
Preferably, the semi-autonomous navigation system comprises a single chip microcomputer, a GPS module and a receiver, wherein the single chip microcomputer, the GPS module and the receiver are arranged in the sealed cabin, the semi-autonomous navigation system adopts a fuzzy algorithm, calculates errors and error change rates by obtaining expected values and measured values obtained by the GPS module, performs quantization processing on the errors and the error change rates according to quantization factors to obtain quantized errors and error change rates, and finally obtains control quantities according to a fuzzy control table, so that semi-autonomous navigation is realized.
Further, as preferred, communication system includes receiver, antenna, remote controller, and the receiver is arranged and is in the sealed cabin, and the antenna is arranged on the surface of water, and the remote controller is arranged at the bank, through the mode of leading signal line, is connected the receiver and the antenna of machine fish through the wire to the remote controller communicates with machine fish, controls machine fish motion and operation, and can receive underwater image and sensor information in real time.
Further, as an optimization, the establishment of the goal identification yolov3 model specifically comprises: selecting a Baidu flying oar and marine fish data set as a training data set, firstly labeling objects on each picture by a labelImg labeling tool to manufacture a label file in an xml format, importing the manufactured data set into a model, YOLO divides the input image into SxS grids, if the coordinates of the center position of an object fall into a certain grid, the grid is responsible for detecting the object, the whole picture is used as the input of the network, the position of the bounding box and the category of the bounding box are directly regressed in the output layer, then, adopting batch normalization as scale training, adopting methods of regularization, accelerated convergence and over-fitting avoidance, after the BN layer and the leakage relu layer are layered to each convolution layer, and obtaining a final training result through multi-scale training, and finally carrying out target detection on the trained weight, so that more precious fishes are identified, and wild organisms are better protected.
Compared with the prior art, the invention has the beneficial effects that:
(1) the manipulating system of the invention is different from the conventional robotic fish manipulating system, firstly, in terms of heave movement, the current robotic fish mainly depends on pectoral fin swing when floating up and submerging, but the floating and submerging can be realized only by a quick initial speed. This results in a slow and unstable response. When the robot fish disclosed by the invention floats upwards and submerges, the rotation of the ducted propeller is mainly utilized, and the robot fish has the characteristics of high starting speed and stability. In addition, the pectoral fins are driven to rotate by the rotation of the steering engine, so that the spatial free motion can be realized.
(2) And secondly in terms of horizontal motion. The difference between the maximum speed and the minimum speed of the existing robotic fish depends on the swinging of the tail fin when the existing robotic fish moves forward, and the existing robotic fish is difficult to escape from danger by swinging of the tail fin when encountering dangerous organisms. In view of the above points, the invention adopts the water jet propeller for propulsion, when danger is met, the water jet propeller is used for main propulsion, and the fishtail swings for auxiliary propulsion, so as to escape from the danger. In a safe area, the fish tail is adopted for propulsion, so that the energy consumption is saved, and the detection task can be reasonably finished.
(3) The water quality monitoring system and the target identification system can obtain the water quality parameters in real time and identify precious fishes so as to carry out tracking protection.
Drawings
FIG. 1 is an overall oblique two-side view of the present invention;
FIG. 2 is a diagrammatic view of the antenna of the present invention;
FIG. 3 is a diagrammatic view of the capsule support system of the present invention;
FIG. 4 is a diagrammatic view of the operating system of the present invention;
FIG. 5 is a second oblique view of the skeg propulsion system of the present invention;
FIG. 6 is a side view diagrammatic view of the skeg propulsion system of the present invention;
FIG. 7 is a schematic top view of the skeg propulsion system of the present invention;
FIG. 8 is a diagrammatic side view of a robotic fish of the present invention;
FIG. 9 is a diagrammatic top view of the robotic fish of the present invention;
FIG. 10 is a diagrammatic front view of the robotic fish of the present invention;
FIG. 11 is a schematic diagram of the oblique two sides of the remote control of the present invention;
fig. 12 is a layout view of the capsule of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-12, the present invention provides a technical solution: the invention relates to a water quality monitoring robotic fish for oceans or inland rivers and lakes, which comprises a robotic fish main body 1, a sealed cabin 2, an intelligent control and push system 3, a tail push mechanism 4, an intelligent monitoring system 5, a target identification system 6, a semi-autonomous navigation system 7 and a communication system 8, and is characterized in that pectoral fins 3-3 positioned at two sides of the chest of the robotic fish and tail fins 4-17 positioned at the tail of the robotic fish are arranged on the robotic fish main body 1, and the sealed cabin 2 is arranged in the robotic fish main body 1;
the intelligent control and push system 3 is arranged to be capable of driving the robot fish main body 1 to be pushed and driving the pectoral fins 3-3 to rotate, so that the course angle of the robot fish is changed;
the tail propulsion mechanism 4 is arranged at the rear part of the robot fish main body, and the tail propulsion mechanism 4 is arranged to drive tail fins 4-17 to swing back and forth;
the intelligent monitoring system 5 is at least capable of collecting water turbidity, water depth and pH value and transmitting information to the remote controller 5-5 in a wireless communication mode;
the target recognition system 6 can automatically capture images and automatically recognize the category of the target object so that the robot fish can conveniently make a reaction action corresponding to the category of the target object;
the semi-autonomous navigation system 7 is used for wireless receiving and GPS positioning so as to realize semi-autonomous navigation of the robot fish;
the communication system 8 is used for the robot fish to wirelessly communicate with the remote controller 5-5 so as to be convenient for remotely controlling the movement and operation of the robot fish.
As shown in FIG. 1, the robotic fish body 1 includes a fish head, a fish body, and a fish tail. The overall structure is spindle-shaped, the total length is 0.6-1.2m, the length-width ratio is 3:1, the length-height ratio is 4:1, the ratio of the extended length to the total length of the tail fin is about 4:1, and the aspect ratio is about 6: 1.
As shown in fig. 3, the capsule 2 is cylindrical in shape, and is located in the fish body of the robotic fish, and the length is about half of the length of the ship. The radius is about one half of the width of the ship, and the robot fish is fixedly connected with the robot fish main body through an upper plate 2-1, a front plate 2-2, a lower plate 2-3, a lower plate 2-4 and a rear plate 2-5.
As shown in figure 4, the intelligent control and pushing system comprises a water jet propeller 3-5, a ducted propeller 3-1 and a steering engine 3-4, wherein the ducted propeller 3-5 is positioned at the head of the robot fish, two holes are formed in a circular tube 3-2, the circular tube 3-2 is fixed with the ducted propeller 3-1 through two screws 3-6, and the water jet propeller 3-5 is positioned at the bottom of the robot fish and is fixedly connected with a main body of the robot fish through a lower plate I2-3 and a lower plate II 2-4. The two steering engines 3-4 are positioned on two sides of the fish body, output ends of the two steering engines are connected to the pectoral fins 3-3, and the pectoral fins 3-3 are driven to rotate by the aid of swinging of the steering engines 3-4 in the working process, so that the course angle is changed.
As shown in fig. 5-7, the tail propulsion mechanism comprises a brushless deceleration motor 4-1, a bevel gear one 4-4, a bevel gear two 4-5, a synchronous wheel one 4-12, a synchronous wheel two 4-15, a synchronous belt 4-8 and a tail fin 4-17, wherein the brushless deceleration motor 4-1 is fixed on a bottom plate 4-16 through a motor fixing member 4-2, the bottom plate 4-16 is fixedly connected with a robotic fish body 1 through a support plate three 4-10 and a support plate four 4-11, a shaft one 4-3 at the output end of the brushless deceleration motor 4-1 is in transmission connection with a shaft two 4-6 through the bevel gear one 4-4 and the bevel gear two 4-5 which are meshed with each other, the shaft two 4-6 is rotatably supported and passes through the bottom plate 4-8, the second shaft is fixedly connected with the first synchronous wheel 4-12, the second synchronous wheel 4-15 is fixed on the third shaft 4-9, the third shaft 4-9 can rotatably support and penetrate through the bottom plate 4-8 and is located at the rear part of the second shaft, the synchronous belt 4-16 is wound between the first synchronous wheel 4-12 and the second synchronous wheel 4-15 in a transmission mode, the tail fin 4-17 and the second synchronous wheel 4-15 are connected through a connecting plate 4-14, the first synchronous wheel 4-12 is enabled to rotate through the transmission of the first bevel gear 4-4 and the second bevel gear 4-5 by controlling the rotation of the brushless speed reduction motor 4-1, and the second synchronous wheel 4-15 is driven to rotate through the synchronous belt 4-8, so that the tail fin 4-17 is driven to swing back and forth.
As shown in fig. 9, 11 and 12, the intelligent monitoring system is composed of a turbidity sensor 5-1, a water depth sensor 5-2, a ph value sensor 5-3, a single chip microcomputer 5-4 and a remote controller 5-5. Wherein, the turbidity sensor 5-1, the water depth sensor 5-2, the ph value sensor 5-3 are arranged at the rear part of the sealed cabin 2, and the singlechip 5-4 is arranged in the sealed cabin 2. The turbidity sensor 5-1, the water depth sensor 5-2 and the ph value sensor 5-3 are connected with the singlechip 5-4 through leads, and the water turbidity, the water depth and the ph value can be collected through programming the singlechip, so that information is transmitted to the remote controller 5-5 in a wireless communication mode.
As shown in fig. 8, the target recognition system is composed of a camera 6-1, a wireless serial port module 6-2, and a remote controller screen 6-3. Wherein, the camera 6-1 is arranged at the fish head, the wireless serial port module 6-2 is arranged in the sealed cabin, and the remote controller screen 6-3 is arranged on the shore. The camera 6-1 captures an image, and the underwater image can be transmitted to the remote controller screen 6-3 through the wireless serial port module 6-2 and recognized by adopting a modern target recognition yolov3 model. In order to identify the categories of fishes, garbage bags, plastic bottles and the like, a Baidu fly oar and marine fish data set is selected as a training data set. Firstly, labeling the object on each picture by a labelImg labeling tool to manufacture a label file in an xml format. The prepared data set is imported into a model, YOLO divides the input image into SxS grids, and if the coordinates of the center position of a certain object group route fall into a certain grid, the grid is responsible for detecting the object. The whole picture is used as the input of the network, and the position of the bounding box (the bounding box) and the category of the bounding box are directly returned in the output layer. Then training using batch normalization as a scale. And adopting a method of regularization, accelerated convergence and over-fitting avoidance to layer the BN layer and the leak relu layer after each convolution layer. And obtaining a final training result through multi-scale training. And finally, carrying out target detection on the trained weight, so that more precious fishes can be identified, and the wild organisms can be better protected.
As shown in FIG. 12, the semi-autonomous navigation system is composed of a single chip microcomputer 5-4, a GPS module 7-1 and a receiver 7-2. The single chip microcomputer 5-4, the GPS module 7-1 and the receiver 7-2 are arranged in the sealed cabin 2, the used algorithm is a fuzzy algorithm, errors and error change rates are calculated by obtaining expected values and measured values obtained by the GPS module 7-1, the errors and the error change rates are quantized according to quantization factors to obtain quantized errors and error change rates, and finally, control quantities are obtained according to a fuzzy control table, so that semi-autonomous navigation is achieved.
As shown in fig. 2, fig. 11 and fig. 12, the communication system is composed of a receiver 7-2, an antenna 8-1 and a remote controller 5-5. The receiver 7-2 is positioned inside the sealed cabin 2, the antenna 8-1 is placed on the water surface, and the remote controller 5-5 is placed on the shore. The working principle of the robot fish remote control system is that a receiver 7-2 of the robot fish is connected with an antenna 8-1 through a lead wire in a signal wire leading mode, so that a remote controller 5-5 is communicated with the robot fish, the robot fish is controlled to move and operate, and underwater images and sensor information can be received in real time.
When the robot fish disclosed by the invention floats upwards and submerges, the rotation of the ducted propeller is mainly utilized, and the robot fish has the characteristics of high starting speed and stability. In addition, the pectoral fins are driven to rotate by the rotation of the steering engine, so that the spatial free motion can be realized. The invention adopts the water jet propeller for propulsion, when in danger, the water jet propeller is used for main propulsion, and the fishtail swings for auxiliary propulsion, thereby escaping from the danger. In a safe area, the fish tail is adopted for propulsion, so that the energy consumption is saved, and the detection task can be reasonably finished. The water quality monitoring system and the target identification system can obtain the water quality parameters in real time and identify precious fishes so as to carry out tracking protection.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A water quality monitoring robot fish for oceans or inland lakes comprises a robot fish main body (1), a sealed cabin (2), an intelligent pushing system (3), a tail pushing mechanism (4), an intelligent monitoring system (5), a target identification system (6), a semi-autonomous navigation system (7) and a communication system (8), and is characterized in that pectoral fins (3-3) positioned on two sides of the chest of the robot fish and tail fins (4-17) positioned at the tail of the robot fish are arranged on the robot fish main body (1), and the sealed cabin (2) is arranged in the robot fish main body (1);
the intelligent control and push system (3) is arranged to be capable of driving the robot fish main body (1) to be pushed and driving the pectoral fins (3-3) to rotate, so that the course angle of the robot fish is changed;
the tail propulsion mechanism (4) is arranged at the rear part of the robot fish main body, and the tail propulsion mechanism (4) is arranged to drive tail fins (4-17) to swing back and forth;
the intelligent monitoring system (5) is at least capable of collecting water turbidity, water depth and PH value and transmitting information to the remote controller (5-5) in a wireless communication mode;
the target recognition system (6) can automatically capture images and automatically recognize the category of a target object so as to facilitate the robot fish to make a reaction action corresponding to the category of the target object;
the semi-autonomous navigation system (7) is used for wireless receiving and GPS positioning so as to realize semi-autonomous navigation of the robot fish;
the communication system (8) is used for the robot fish to wirelessly communicate with the remote controller (5-5) so as to be convenient for remotely controlling the movement and operation of the robot fish;
the robot fish main body (1) comprises a fish head, a fish body and a fish tail, and the whole robot fish main body is in a spindle shape, the total length is 0.6-1.2m, the length-width ratio is 3:1, and the length-height ratio is 4: 1;
the sealed cabin (2) is cylindrical and is positioned in the fish body of the robot fish, the length of the sealed cabin (2) is one half of the total length of the robot fish, the radius of the sealed cabin (2) is one half of the maximum width of the robot fish, and the sealed cabin (2) is fixedly connected with the robot fish main body through an upper plate (2-1), a front plate (2-2), a lower plate I (2-3), a lower plate II (2-4) and a rear plate (2-5);
the intelligent monitoring system comprises a turbidity sensor (5-1), a water depth sensor (5-2), a pH value sensor (5-3), a singlechip (5-4) and a remote controller (5-5), wherein the turbidity sensor (5-1), the water depth sensor (5-2) and the PH value sensor (5-3) are arranged at the rear part of the sealed cabin (2), the single chip microcomputer (5-4) is arranged in the sealed cabin (2), the turbidity sensor (5-1), the water depth sensor (5-2) and the PH value sensor (5-3) are connected with the single chip microcomputer (5-4) through leads, the water turbidity, the water depth and the PH value are collected through a programming singlechip, so that information is transmitted to a remote controller (5-5) in a wireless communication mode;
the target recognition system comprises a camera (6-1) for capturing images, a wireless serial port module (6-2) and a remote controller screen (6-3), wherein the camera (6-1) is arranged at the position of the head of a fish, the wireless serial port module (6-2) is positioned in a sealed cabin, the remote controller screen (6-3) is arranged on the shore, underwater images are transmitted to the remote controller screen (6-3) through the wireless serial port module (6-2), and the target recognition system is constructed to be capable of recognizing by adopting a target recognition yolov3 model;
the specific method for establishing the target identification yolov3 model comprises the following steps: a Baidu flying oar and marine fish data set is selected as a training data set, objects on each picture are labeled through a labelImg labeling tool to manufacture a label file in an xml format, the manufactured data set is led into a model, an input image is divided into SxS grids through YOLO, if the coordinate of the center position of a certain object falls into a certain grid, the grid is responsible for detecting the object, the whole picture is used as the input of a network, the position of a boundary frame and the category of the boundary frame are directly regressed in an output layer, then batch normalization is used as scale training, a regularization, accelerated convergence and over-fitting avoidance method is adopted, a BN layer and a leaky relu layer are layered on each layer, a final training result is obtained through multi-scale training, and finally the trained weight is subjected to target detection.
2. The water quality monitoring robotic fish for oceans or inland lakes according to claim 1, which is characterized in that: the intelligent control and push system (3) comprises a water jet propeller (3-5), a ducted propeller (3-1) and a steering engine (3-4), wherein the ducted propeller (3-1) is located at the position of the fish head of the robot fish, a round pipe is sleeved outside the ducted propeller (3-1), and the round pipe is fixedly connected with the ducted propeller (3-1) through two screws (3-6); the water jet propeller (3-5) is located at the bottom of the robot fish and fixedly connected with the robot fish main body through a first lower plate (2-3) and a second lower plate (2-4), the two steering engines (3-4) are located on two sides of the fish body, output ends of the two steering engines are connected to the pectoral fins (3-3), and the swing of the steering engines (3-4) drives the pectoral fins (3-3) to rotate so as to change course angles.
3. The water quality monitoring robotic fish for oceans or inland lakes according to claim 1, which is characterized in that: the tail propelling mechanism comprises a brushless speed reducing motor (4-1), a bevel gear I (4-4), a bevel gear II (4-5), a synchronizing wheel I (4-12), a synchronizing wheel II (4-15), a synchronous belt (4-8) and a tail fin (4-17), wherein the brushless speed reducing motor (4-1) is fixed on a bottom plate (4-16) through a motor fixing piece (4-2), the bottom plate (4-16) is fixedly connected with a robot fish main body (1) through a support plate III (4-10) and a support plate IV (4-11), a shaft I (4-3) at the output end of the brushless speed reducing motor (4-1) is in transmission connection with a shaft II (4-6) through the bevel gear I (4-4) and the bevel gear II (4-5) which are meshed with each other, the second shaft (4-6) is rotatably supported and penetrates through the bottom plate (4-16) and is fixedly connected with the first synchronous wheel (4-12), the second synchronous wheel (4-15) is fixed on the third shaft (4-9), the third shaft (4-9) is rotatably supported and penetrates through the bottom plate (4-16) and is positioned at the rear part of the second shaft, the synchronous belt (4-8) is wound between the first synchronous wheel (4-12) and the second synchronous wheel (4-15), the tail fin (4-17) and the second synchronous wheel (4-15) are connected by a connecting plate (4-14), the first synchronous wheel (4-12) is rotated by controlling the rotation of the brushless speed reducing motor (4-1) and by the transmission of the first bevel gear (4-4) and the second bevel gear (4-5), and then the synchronous wheels II (4-15) are driven to rotate through the synchronous belts (4-8), so that the tail fins (4-17) are driven to swing back and forth.
4. The water quality monitoring robotic fish for oceans or inland lakes according to claim 1, which is characterized in that: the semi-autonomous navigation system comprises a single chip microcomputer (5-4), a GPS module (7-1) and a receiver (7-2), wherein the single chip microcomputer (5-4), the GPS module (7-1) and the receiver (7-2) are arranged inside a sealed cabin (2), the semi-autonomous navigation system adopts a fuzzy algorithm, calculates errors and error change rates by obtaining expected values and measured values obtained by the GPS module (7-1), performs quantization processing on the errors and the error change rates according to quantization factors to obtain quantized errors and error change rates, and finally obtains control quantities according to a fuzzy control table, so that semi-autonomous navigation is realized.
5. The water quality monitoring robotic fish for oceans or inland lakes according to claim 1, which is characterized in that: the communication system comprises a receiver (7-2), an antenna (8-1) and a remote controller (5-5), wherein the receiver (7-2) is arranged inside the sealed cabin (2), the antenna (8-1) is arranged on the water surface, the remote controller (5-5) is arranged on the shore, and the receiver (7-2) of the robot fish is connected with the antenna (8-1) through a lead wire in a signal wire mode, so that the remote controller (5-5) is communicated with the robot fish, the movement and operation of the robot fish are controlled, and underwater images and sensor information can be received in real time.
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| CN202011277307.8A CN112357030B (en) | 2020-11-16 | 2020-11-16 | A water quality monitoring machine fish for ocean or inland river lake |
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| CN202011277307.8A CN112357030B (en) | 2020-11-16 | 2020-11-16 | A water quality monitoring machine fish for ocean or inland river lake |
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| CN113928517A (en) * | 2021-11-10 | 2022-01-14 | 东华理工大学 | Underwater patrol robot fish |
| CN114516395B (en) * | 2022-01-28 | 2022-09-13 | 北京大学 | Bionic tail fin and water spray integrated composite propeller |
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| CN106428492B (en) * | 2016-11-09 | 2017-12-05 | 西北大学 | A kind of bionic machine fish |
| US9937986B1 (en) * | 2016-11-10 | 2018-04-10 | AIRO Inc. | Multi-joint fish robot capable of rapid acceleration propulsion |
| CN108082436A (en) * | 2018-01-25 | 2018-05-29 | 西南石油大学 | A kind of propulsion device and underwater robot for underwater robot |
| CN110356536A (en) * | 2019-08-21 | 2019-10-22 | 中国科学院自动化研究所 | A kind of bionic machine fish of Environment Oriented monitoring |
| CN110588931B (en) * | 2019-09-17 | 2020-11-06 | 西北工业大学 | Underwater bionic aircraft based on pectoral fin and propeller hybrid propulsion |
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