An ESP32-based environmental protection anti-radiation biomimetic fish robot

Abstract

The application discloses an environmental protection anti-radiation bionic fish robot based on ESP32, which comprises a water main control end and an underwater bionic fish robot monitoring end. The underwater monitoring end adopts a bionic fish robot body, which is internally provided with an ESP32 chip and an expansion board. The ESP32 is electrically connected with a visual identification module, a water quality sensor, a nuclear radiation sensor, an ASR voice recognition module + a loudspeaker, a relay, a night light supplementing lamp, a three-color LED module and a buzzer. The relay is connected with a 4G communication module. The application integrates visual identification, water quality and nuclear radiation monitoring, voice interaction and remote communication functions, can actively identify marine pollution and fallen personnel, and voice interacts with the person in distress. When an abnormality is detected or a help-seeking instruction is received, the position and alarm information are reported through 4G. The robot adopts a bionic fish shape, has high maneuverability and low cost, realizes the integration of pollution monitoring and rescue assistance, and fills the gap of nuclear radiation mobile monitoring and intelligent rescue assistance.

Description

Technical Field

[0001] This invention relates to the field of marine environmental monitoring technology, specifically to an environmentally friendly, radiation-proof bionic fish robot based on ESP32. Background Technology

[0002] The marine ecological environment is facing unprecedented challenges, mainly including plastic waste pollution, oil spill pollution, and increasingly serious nuclear radiation pollution (such as nuclear wastewater discharge and nuclear facility leaks). These pollutants not only disrupt the marine ecological balance but also threaten human health through the food chain. At the same time, near-shore fishing, offshore construction, and other activities are frequent, and incidents such as people falling into the water and ships losing contact occur from time to time.

[0003] For marine pollution monitoring: Currently, it mainly relies on marine monitoring buoys, sampling and analysis equipment carried by patrol vessels, and satellite remote sensing technology. Buoy monitoring: It can monitor at fixed points for a long time, but the deployment is fixed and cannot be moved. The monitoring range is limited to the buoy point, and it usually does not have the function of monitoring nuclear radiation. Patrol vessel monitoring: The monitoring range is large, but the cost is high (requiring personnel and fuel), the monitoring frequency is low, it is difficult to achieve all-weather, high-density patrols, and it is limited in shallow water and narrow areas. Satellite remote sensing: It can monitor oil pollution and red tides on the sea surface over a large area, but it is ineffective for underwater pollution and nuclear radiation, and its resolution is limited and its timeliness is poor.

[0004] For maritime rescue support measures: These primarily rely on Automatic Identification System (AIS), radar, and active distress calls from those in distress (such as radio or satellite phone). AIS / Radar: Can only identify vessels equipped with the relevant equipment; it cannot effectively detect individual people in the water. Manual lookout / distress calls: This is the main method for finding people in the water, but it is extremely inefficient due to limitations imposed by weather, sea conditions, visibility, and the physical condition of the person in distress, and it is very easy to miss the "golden rescue time."

[0005] Therefore, the current marine monitoring and rescue system is relatively independent and lacks a low-cost, highly mobile integrated platform that can simultaneously take into account both "environmental monitoring (especially nuclear radiation)" and "intelligent rescue assistance". Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the defects of the above-mentioned technologies and provide an environmentally friendly radiation-proof bionic fish robot based on ESP32.

[0007] To solve the above-mentioned technical problems, the technical solution provided by this invention is an environmentally friendly, radiation-proof bionic fish robot based on ESP32:

[0008] Includes a surface-based main control terminal and an underwater biomimetic fish robot monitoring terminal that interacts with the surface-based main control terminal via a wireless communication module;

[0009] The underwater biomimetic fish robot monitoring terminal includes a biomimetic fish robot body. The biomimetic fish robot body is equipped with an ESP32 expansion board and an ESP32 chip. The ESP32 chip is installed on the ESP32 expansion board. The ESP32 chip is electrically connected to an ASR voice recognition module + speaker, a visual recognition module, a water quality sensor, a nuclear radiation sensor, a relay, a night supplement light, a tri-color LED module, and a buzzer. The relay is electrically connected to a 4G communication module. The ESP32 chip is wirelessly connected to the surface main control terminal through a wireless communication module.

[0010] The main control terminal on the water can be a computer, a mobile app, or a dedicated remote control with a receiving program.

[0011] Furthermore, the ESP32 chip is electrically connected to a positioning module and a power module.

[0012] Furthermore, the power module employs a solar charging panel to achieve long-term battery life.

[0013] Furthermore, the visual recognition module adopts the Xiaohuanxiong AI visual module.

[0014] Furthermore, the visual recognition module, water quality sensor, nuclear radiation sensor, nighttime supplementary light, and tri-color LED module are all fixedly installed on the outside of the bionic fish robot body. The nighttime supplementary light is located in front of the visual recognition module and is used to provide supplementary lighting when the visual recognition module is working at night.

[0015] Furthermore, the biomimetic fish robot body adopts existing biomimetic fish robots.

[0016] The advantages of this invention compared to the prior art are:

[0017] 1. Multifunctional integration: The bionic fish robot integrates multiple technologies such as ESP32, visual recognition, water quality sensing, nuclear radiation sensing, voice interaction, and 4G communication into its integrated design, realizing the dual functions of "pollution monitoring + rescue assistance".

[0018] 2. More comprehensive monitoring dimensions: The biomimetic fish robot creatively incorporates nuclear radiation sensors, filling the gap in conventional pollution monitoring and forming a comprehensive monitoring capability of "conventional pollution + nuclear radiation pollution".

[0019] 3. Smarter and Safer Rescue Assistance: Compared to traditional passive rescue methods, this invention can proactively identify people in distress and interact with them via voice. More importantly, it can act as a "scout" to detect potential nuclear radiation risks at the scene, transforming rescue operations from "blind" to "knowable and controllable," greatly improving rescue efficiency and personnel safety.

[0020] 4. Better environmental adaptability and concealment: Adopting a biomimetic fish shape, it is maneuverable and can enter narrow and shallow water areas that traditional ships cannot reach. Its appearance does not disturb marine life, making it especially suitable for monitoring tasks in ecologically sensitive areas.

[0021] 5. Low deployment cost and high cost-effectiveness: Built on low-cost, high-performance modules such as ESP32, this robot is inexpensive and easy to deploy on a large scale compared to expensive patrol boats and professional monitoring equipment, enabling high-frequency and routine near-shore patrols. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the underwater bionic fish robot monitoring end of an environmentally friendly radiation-proof bionic fish robot based on ESP32 according to the present invention.

[0023] Figure 2 This is a schematic diagram of a module of an environmentally friendly, radiation-proof bionic fish robot based on ESP32 according to the present invention.

[0024] Figure 3 This is a pin connection diagram of the ESP32 part of an environmentally friendly radiation-proof bionic fish robot based on ESP32 according to the present invention.

[0025] Figure 4 This is a schematic diagram of the program flow of an environmentally friendly, radiation-proof bionic fish robot based on ESP32 according to the present invention.

[0026] As shown in the figure:

[0027] 1. Main control unit on water; 2. Monitoring unit for bionic fish robot; 201. Bionic fish robot body; 202. ESP32 expansion board; 203. ESP32 chip; 204. ASR voice recognition module + speaker; 205. Visual recognition module; 206. Water quality sensor; 207. Nuclear radiation sensor; 208. Relay; 209. Night light; 210. Tri-color LED module; 211. Buzzer; 212. 4G communication module; 213. Positioning module; 214. Power supply module. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Example 1, in conjunction with Appendix Figure 1-4An environmentally friendly radiation-proof bionic fish robot based on ESP32 includes an above-water main control terminal 1 and an underwater bionic fish robot monitoring terminal 2 that interacts with the above-water main control terminal 1 via a wireless communication module.

[0030] The underwater biomimetic fish robot monitoring terminal 2 includes a biomimetic fish robot body 201. The biomimetic fish robot body 201 internally houses an ESP32 expansion board 202 and an ESP32 chip 203. The I / O ports of the ESP32 chip 203 are connected to the ESP32 expansion board 202 for pin routing. The ESP32 chip 203 connects to an ASR voice recognition module + speaker 204, a vision recognition module 205, a water quality sensor 206, and a nuclear radiation sensor 207 via a serial port (UART) or I / O port for data input. The ESP32 chip 203 also connects to... The system connects to relay 208, night light 209, tri-color LED module 210, and buzzer 211. The system is controlled by high and low level outputs from ESP32 chip 203. ESP32 chip 203 is connected to positioning module 213 via serial port (UART). The power supply terminal of 4G communication module 212 is connected to relay 208, and the control terminal of relay 208 is connected to ESP32 chip 203. This enables ESP32 chip 203 to control the on / off state of 4G communication module 212, triggering alarm information transmission. ESP32 chip 203 is wirelessly connected to the main control terminal 1 on the water via a wireless communication module.

[0031] The main control terminal 1 on the water uses a computer, mobile phone app, or dedicated remote control with a receiving program.

[0032] In this embodiment, the ESP32 chip 203 is responsible for receiving data from various sensors, performing logical operations, and issuing control commands; the visual recognition module 205 is used to acquire underwater images in real time and identify marine debris (such as plastic bottles), oil pollution (such as oil slick characteristics), and people who have fallen into the water; the water quality sensor 206 is used to detect parameters such as turbidity, pH value, and conductivity of the water body to determine whether the water quality is abnormal (for example, when the sensor value is ≥ a set threshold of 40, it is determined to be abnormal); the nuclear radiation sensor 207 is used to monitor the concentration of radioactive substances (such as cesium-137, tritium, etc.) in the water body in real time, and triggers an alarm when the value exceeds the standard; the ASR voice recognition module + speaker 204 is used to play preset voice prompts (such as "Do you need help?"). The system can recognize the voice distress commands of people in distress (such as "Help me" or "Help me"); a night light 209 is located in front of the visual recognition module 205 to provide supplementary lighting when the night visual recognition module 205 is working; a three-color LED module 210 is used for status (e.g., yellow light for detecting garbage / oil pollution, green and yellow lights for exceeding nuclear radiation limits, and red light for rescue status); a buzzer 211 is used to emit a high-decibel alarm to attract attention; a 4G communication module 212 is controlled by an ESP32 chip 203 via a relay 208 to remotely send alarm information and location data to the main control terminal 1 on the water via WeChat, SMS, or telephone when an alarm is triggered; a positioning module 213... The underwater bionic fish robot monitoring terminal 2 is used to obtain the real-time location of the underwater bionic fish robot monitoring terminal 2 and report the location information when pollution is detected or rescue is initiated. The surface main control terminal 1 includes a manual control button, which is connected to the underwater bionic fish robot monitoring terminal 2 via a wireless signal (such as WiFi, Bluetooth) or a communication protocol. The manual control button is operated by touching it and is used to receive alarm information and location information sent by the underwater bionic fish robot monitoring terminal 2 and issue control commands.

[0033] In this specific embodiment, the power module 214 uses a solar charging panel to achieve long-term battery life.

[0034] In this specific embodiment, the visual recognition module 205 adopts the Xiaohuanxiong AI visual module.

[0035] In this specific embodiment, the visual recognition module 205, water quality sensor 206, nuclear radiation sensor 207, night light 209, and tri-color LED module 210 are all fixedly installed on the outside of the bionic fish robot body 201.

[0036] In this specific embodiment, the bionic fish robot body 201 adopts an existing bionic fish robot.

[0037] In this specific implementation, the core of the program is the control logic of the ESP32 chip 203, which mainly includes the design of the following parts:

[0038] 1. Initialization configuration: Set the baud rate of the serial port to enable normal communication between modules; adjust the parameters of the ASR voice recognition module + speaker 204, such as setting the volume to 10, the speaking speed to medium, and using a clear female voice for broadcasting; set the mode of each pin, which are outputs (such as night light 209, tri-color LED module 210, buzzer 211), and which are inputs (such as manual control buttons).

[0039] 2. ASR voice recognition module + speaker 204 part programming: Add 5 commonly used voices, such as distress prompts, oil pollution alarms, garbage pollution alarms, water quality abnormality alarms, and nuclear radiation exceeding standards alarms. Set corresponding IDs and priorities for each voice to ensure accurate broadcasting in different situations.

[0040] 3. Data Interaction Programming: Receive data from various modules via serial port and determine which function to trigger based on the received signal. For example, receiving "88" triggers an SOS message, and receiving "77" triggers a rescue alarm.

[0041] 4. Control logic programming: Enables functions such as lighting, buzzer, positioning, and 4G communication to work together. For example, after identifying a person in distress and receiving a distress call, it can simultaneously trigger the three-color LED module 210, buzzer 211, and positioning module 213, and can also send information through the 4G communication module 212.

[0042] After program design, the workflow and logic control are as follows:

[0043] After power-on, the ESP32 chip 203 first performs initialization configuration, and then enters the main loop to process multiple tasks in real time:

[0044] Pollution monitoring and alarm process:

[0045] Visual recognition trigger: If the visual recognition module 205 identifies "garbage" or "oil pollution", the ESP32 chip 203 will perform the following actions after receiving the signal: a) Light up the corresponding color LED (e.g., yellow); b) Control the buzzer 211 to sound an alarm for 1 second; c) Control the relay 208 to activate, power the 4G communication module 212, and send alarm information; d) Control the ASR voice recognition module + speaker 204 to broadcast the corresponding pollution type prompt.

[0046] Water quality detection trigger: If the water quality sensor 206 returns a value ≥ 40, the ESP32 chip 203 determines that the water quality is abnormal and executes: a) triggering the positioning module 213 to obtain the current location; b) reporting "water quality abnormality" and location information through the 4G communication module 212; c) the ASR voice recognition module + speaker 204 broadcasting the corresponding voice prompt.

[0047] Nuclear radiation detection trigger: If the value of the nuclear radiation sensor 207 exceeds the standard, the ESP32 chip 203 will execute: a) simultaneously light up the green and yellow LEDs; b) control the buzzer 211 to sound an alarm for 1 second; c) the ASR voice recognition module + speaker 204 will broadcast a voice prompt "Radiation in this water area exceeds the standard, please stay away immediately".

[0048] Personnel rescue auxiliary procedures:

[0049] Personnel recognition triggers interaction: If the visual recognition module 205 recognizes a "person", the ESP32 chip 203 controls the ASR voice recognition module + speaker 204 to play a prompt tone: "Do you need help? If you need help, please say 'Help me'".

[0050] Voice command response: If the ASR voice recognition module + speaker 204 recognizes the command "Help me" or "Help my life", the ESP32 chip 203 executes: a) Light up the red LED; b) Activate the buzzer 211 to sound an alarm; c) Trigger the positioning module 213 to report the location; d) Send rescue information through the 4G communication module 212; e) The ASR voice recognition module + speaker 204 broadcasts a reassuring message: "Current location has been sent to the rescue center. Please remain calm and wait for rescue."

[0051] Manual control process:

[0052] The ESP32 chip 203 monitors the communication signal with the main control terminal 1 on the water in real time. When it receives the "short press" command of button 18, it switches the on / off state of the night supplement light 209. When it receives the "short press" command of button 19, it immediately triggers the positioning module 213 to work and report the position.

[0053] In the description of the embodiments of the present invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0055] In the description of the embodiments of the present invention, "multiple" means at least two.

[0056] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0057] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An environmentally friendly, radiation-resistant biomimetic fish robot based on ESP32, characterized in that: Includes a surface control terminal (1) and an underwater bionic fish robot monitoring terminal (2) that interacts with the surface control terminal (1) via a wireless communication module. The underwater bionic fish robot monitoring terminal (2) includes a bionic fish robot body (201). The bionic fish robot body (201) is equipped with an ESP32 expansion board (202) and an ESP32 chip (203). The ESP32 chip (203) is installed on the ESP32 expansion board (202). The ESP32 chip (203) is electrically connected to an ASR voice recognition module + speaker (204), a visual recognition module (205), a water quality sensor (206), a nuclear radiation sensor (207), a relay (208), a night light (209), a three-color LED module (210), and a buzzer (211). The relay (208) is electrically connected to a 4G communication module (212). The ESP32 chip (203) is wirelessly connected to the surface main control terminal (1) through a wireless communication module. The main control terminal (1) on the water uses a computer, mobile phone app or dedicated remote control with a receiving program.

2. The environmentally friendly, radiation-resistant bionic fish robot based on ESP32 according to claim 1, characterized in that: The ESP32 chip (203) is electrically connected to a positioning module (213) and a power supply module (214).

3. The environmentally friendly, radiation-resistant bionic fish robot based on ESP32 according to claim 2, characterized in that: The power module (214) uses a solar charging panel to achieve long-term battery life.

4. The environmentally friendly, radiation-resistant bionic fish robot based on ESP32 according to claim 1, characterized in that: The visual recognition module (205) adopts the Xiaohuanxiong AI visual module.

5. The environmentally friendly, radiation-resistant bionic fish robot based on ESP32 according to claim 1, characterized in that: The visual recognition module (205), water quality sensor (206), nuclear radiation sensor (207), night light (209), and tri-color LED module (210) are all fixedly installed on the outside of the bionic fish robot body (201). The night light (209) is located in front of the visual recognition module (205) and is used to provide supplementary lighting for the visual recognition module (205) when it is working at night.

6. The environmentally friendly, radiation-resistant bionic fish robot based on ESP32 according to claim 1, characterized in that: The biomimetic fish robot body (201) adopts the existing biomimetic fish robot.

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