Multi-degree-of-freedom bionic robot fish for real-time mobile monitoring of water quality and control method thereof

Abstract

The invention provides a multi-degree-of-freedom bionic robot fish for real-time mobile monitoring of water quality and a control method thereof. The bionic robot fish comprises a hard head shell, a hard fish body shell, a hard dorsal fin shell, a tail connecting piece, a fishtail component, an underwater lifting device, an underwater monitoring module, a battery, a main control circuit board, a data acquisition module, a 4G wireless communication module, a 4G antenna, a GPS antenna, a GPS positioning receiver module, a voltage stabilizing module, a radio receiving module, a water quality pH value detection sensor and a water quality turbidity value detection sensor. A short-range control method and a remote control method are provided, the bionic robot fish is wide in available range, convenient to carry, easy to operate and visual in display, the real-time acquisition of different water quality parameters and underwater environment images of different water areas can be realized, theremote operation can be achieved through 4G communication, and the cost is effectively saved; and the bionic robot fish is widely applied to underwater resource exploration, hydrological monitoring and the like, and a technical reserve is provided for future water quality monitoring robotic fish development.

Description

technical field [0001] The invention relates to the application field of robot technology, in particular to a multi-degree-of-freedom bionic robot fish and a control method thereof for real-time mobile monitoring of water quality. Background technique [0002] The global ocean area accounts for about 71% of the earth's surface area. It is a treasure trove of rich resources that has not yet been developed, and it is also a battlefield for military battles. In the future, human beings will face three conflicting challenges: population expansion and living space, land resource depletion and social production growth, ecological environment deterioration and human development. To maintain their own survival, reproduction and development, they must make full use of marine resources. For our country, which lacks per capita resources, the development of marine resources has special significance. In the new era, it has been pointed out that we must build a marine power. Therefore, t...

AI Technical Summary

Problems solved by technology

The opening and closing of the gas valve is controlled by the signal fed back by the pressure sensor to control whether the cavity is liquid or gas. This method requires a pressure pump with its own gas source. The pressure pump stores, releases gas and controls the buoyancy, increasing the A certain degree of complexity, while the head must be a hard hollow body shell (http: / / www.72byte.com / product / airacuda); the Chinese patent application number CN201710573740.8 discloses a water quality monitoring method through the Internet The bionic fish device for monitoring and analysis, for the application of water quality monitoring, uses a pressurized water tank to realize the ups and downs of the fish body. Although it is equipped with a global satellite positioning device and a 360-degree panoramic camera device, due to the influence of underwater radio communication, it is difficult to monitor underwater. It is impossible to upload video signals to the client in real time; the Chinese patent application number CN201820207880.3 discloses a bionic fish structure for environmental monitoring, which adopts the propeller propulsion method, which may be entangled with aquatic plants in actual application, affecting the application effect; application The Chinese patent No. CN201610718523.9 discloses a bionic fish for detecting river water components. It is driven by a rack and pinion method, which is relatively inefficient, and the tail fin only has a single degree of freedom swing.

[0004] So far, most of the bionic robot fish used for water quality monitoring are still far from practical application, especially the real-time communication of underwater video, less freedom of movement of the caudal fin, and the use of traditional propeller propulsion methods, but for multi-freedom The high-degree bionic robot fish can swim freely on the water surface. It can also detect underwater video and other information in real time through the underwater lifting device, and transmit back to the client in real time through GPRS communication. It will have a wide range of real-time unmanned mobile monitoring of water quality. At present, this kind of multi-degree-of-freedom bionic robotic fish and its movement method for real-time monitoring of water quality have not been reported yet.

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