阅读说明：本技术 一种用于水质监测和增氧的移动式仿生机器鱼及控制方法 (Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method ) 是由 文小玲 喻盈 李小三 胡帅 于 2019-09-30 设计创作，主要内容包括：本发明公开了一种用于水质监测和增氧的移动式仿生机器鱼及控制方法,该仿生机器鱼的鱼头结构上设置有水下摄像头和红外传感器,内部设置有前水箱,鱼头结构的左右两侧均设置有胸鳍；仿生机器鱼的鱼身结构顶部设置有增氧泵、无线通信模块,底部设置有水质传感器,增氧泵上设置有进水口和出水口；鱼身结构的内部设置有GPS模块、控制中心和后水箱；仿生机器鱼的鱼尾结构包括尾鳍、软橡胶,鱼身结构通过软橡胶与可活动的尾鳍相连；鱼尾结构内部设置有电机、偏心轮和连杆装置,连杆装置贯穿尾鳍；本发明体积较小,携带方便,可在水中上浮下潜,实时监测目标水域中的水质参数,当水质参数低于设定值时,在软件上向用户发出警报,能实现有效的智能监测。(The invention discloses a movable bionic robot fish for water quality monitoring and oxygen increasing and a control method thereof, wherein an underwater camera and an infrared sensor are arranged on a fish head structure of the bionic robot fish, a front water tank is arranged in the bionic robot fish, and pectoral fins are arranged on the left side and the right side of the fish head structure; the top of the fish body structure of the bionic robot fish is provided with an oxygenation pump and a wireless communication module, the bottom of the bionic robot fish is provided with a water quality sensor, and the oxygenation pump is provided with a water inlet and a water outlet; a GPS module, a control center and a rear water tank are arranged in the fish body structure; the fish tail structure of the bionic robot fish comprises tail fins and soft rubber, and the fish body structure is connected with the movable tail fins through the soft rubber; a motor, an eccentric wheel and a connecting rod device are arranged in the fish tail structure, and the connecting rod device penetrates through the tail fin; the intelligent water quality monitoring device is small in size and convenient to carry, can float and submerge in water, monitors water quality parameters in a target water area in real time, and sends an alarm to a user on software when the water quality parameters are lower than a set value, so that effective intelligent monitoring can be realized.)

1. A movable bionic robot fish for water quality monitoring and oxygen increasing is characterized in that an underwater camera (1) and an infrared sensor (2) are arranged on a fish head structure of the bionic robot fish, a front water tank (19) is arranged in the bionic robot fish, and pectoral fins (18) are arranged on the left side and the right side of the fish head structure; an oxygenation pump (5) and a wireless communication module (7) are arranged at the top of the fish body structure of the bionic robot fish, a water quality sensor (17) is arranged at the bottom of the bionic robot fish, and a water inlet (3) and a water outlet (4) are arranged on the oxygenation pump (5); a GPS module (6), a control center (16) and a rear water tank (15) are arranged in the fish body structure; the fish tail structure of the bionic robot fish comprises tail fins (13) and soft rubber (12), and the fish body structure is connected with the movable tail fins (13) through the soft rubber (12); a motor (14), an eccentric wheel (11) and a connecting rod device are arranged in the fish tail structure, and the connecting rod device penetrates through the tail fin (13);

the underwater camera (1), the infrared sensor (2), the oxygenation pump (5), the GPS module (6), the wireless communication module (7), the motor (14), the rear water tank (15), the water quality sensor (17), the pectoral fins (18) and the front water tank (19) are all connected with the control center (16); wherein:

the underwater camera (1) is used for collecting water area survey images and uploading the water area survey images through the wireless communication module (7); when the bionic robot fish patrols in water, the obstacle is detected through the infrared sensor (2), so that automatic obstacle avoidance is realized; the water quality sensor (17) is used for collecting water quality parameters of a monitored water area and uploading the water quality parameters through the wireless communication module (7); the GPS module (6) is used for acquiring the position information of the bionic robot fish; the control center (16) is used for simultaneously controlling the water amount in the front water tank (19) and the water amount in the rear water tank (15) so as to realize the balance, submergence and floating of the bionic robot fish; the motor (14) drives the eccentric wheel (11) to rotate, so that the connecting rod device works to drive the tail fin (13) to swing, and the bionic robot fish is controlled to move forwards in water; the tail fin (13) and the pectoral fins (18) on the two sides are controlled to swing simultaneously, so that the bionic robot fish is controlled to realize steering motion in water.

2. The mobile bionic robot fish for water quality monitoring and oxygen increasing according to claim 1, characterized in that a switch (8) and a charging port (10) are arranged at the top of the fish body structure of the bionic robot fish, a battery (9) is arranged inside the bionic robot fish, the switch (8) is connected with a control center (16), and the charging port (10) is connected with the control center (16) through the battery (9); the charging port (10) is also provided with a waterproof cover.

3. The mobile bionic robotic fish for water quality monitoring and oxygen enrichment as claimed in claim 1, wherein the linkage comprises a first linkage (111), a second linkage (112), a movable buckle (113), a third linkage (114), a runner (115), a disc (116), and a fourth linkage (117); wherein:

one end of the first connecting rod (111) is fixed on the circumference of the eccentric wheel (11), the other end of the first connecting rod is connected with the third connecting rod (114) through a movable buckle (113), and the other end of the third connecting rod (114) is fixed on the disc (116); one end of the second connecting rod (112) is fixedly connected with the eccentric wheel (11), and the other end of the second connecting rod is connected with the disc (116) through a rotating wheel (115); when the motor (14) rotates, the first connecting rod (111) rotates along with the motor, the third connecting rod (114) swings left and right under the action of the movable buckle (113) to drive the disc (116) and the fourth connecting rod (117) fixed on the disc (116) to swing, and the fourth connecting rod (117) is located inside the tail fin (13) to realize the left and right swinging of the tail fin (13).

4. The mobile biomimetic robotic fish for water quality monitoring and oxygen enrichment as recited in claim 1, wherein the biomimetic robotic fish further comprises a remote server and a mobile client, the server performs data interaction with the wireless communication module through a gateway, and the mobile client accesses the server to obtain monitoring information of the biomimetic robotic fish and remotely control the monitoring information.

5. The mobile biomimetic robotic fish for water quality monitoring and oxygen enrichment as recited in claim 4, wherein the wireless communication module of the biomimetic robotic fish is networked through Zigbee and uploads the acquired data to the server through the gateway.

6. The mobile biomimetic robotic fish for water quality monitoring and oxygenation of claim 1, wherein the working modes of the biomimetic robotic fish include: an auto cruise mode and a manual control mode.

7. A control method of a mobile bionic robot fish for water quality monitoring and oxygen increasing is characterized by comprising the following steps:

detecting the electric quantity and the fault by the bionic robot fish;

judging the working mode of the bionic robot fish;

if the bionic robot fish is in the automatic cruise mode, the mobile phone client introduces a planned path into the bionic robot fish through the wireless communication module, an infrared sensor is used for detecting obstacles on the path, and the bionic robot fish performs automatic obstacle avoidance cruise according to the planned path; if the bionic robot fish is in the manual control mode, an operator remotely controls the bionic robot fish to move through the mobile phone client;

starting an underwater camera and a water quality sensor on the bionic robot fish, acquiring image information and water quality information of a monitored water area in real time, and transmitting the image information and the water quality information to a remote server by a control center through a wireless communication module;

judging whether the water quality parameter of the monitored water area is within the set threshold value range;

if the water quality is not in the threshold range, sending out alarm information that the water quality does not reach the standard;

judging whether the content of the dissolved oxygen is normal or not;

if not, controlling the bionic robot fish to float upwards, starting an oxygenation pump, and oxygenating the water area;

and if the water quality parameter of the monitored water area is within the threshold range or the content of the dissolved oxygen is normal, completing the water quality monitoring task of the position, and continuously moving to the next position for monitoring.

8. The method for controlling the mobile bionic robot fish for water quality monitoring and oxygen increasing as claimed in claim 7, wherein the specific method for detecting the electric quantity and the fault of the bionic robot fish in the method is as follows:

starting the bionic robot fish to perform fault self-checking;

if the fault exists, sending out a fault alarm;

judging whether the return voyage can be performed or not;

if yes, automatically returning; if the position information cannot be detected, the GPS module floats to the water surface, positioning is carried out through the GPS module, and the position information is uploaded to a server;

if no fault exists, judging whether the electric quantity of the battery is too low;

if the electric quantity is lower than 10%, sending out a low-electric-quantity alarm and automatically returning;

if the electric quantity is higher than 10%, the cruising is started.

Technical Field

The invention relates to the technical field of mobile water quality monitoring and oxygenation, in particular to a mobile bionic robot fish for water quality monitoring and oxygenation and a control method.

Background

Water is the basis of human survival, along with the rapid development of society, various industrial and domestic wastewater is discharged into rivers, the phenomenon of water resource pollution is more and more serious, water qualities such as rivers, seas, underground water and the like are gradually destroyed, great harm is caused to people, and in order to guarantee the quality of the water quality, water quality monitoring is of great importance at present. In the field of aquaculture, used pesticides and fertilizers can flow into aquaculture areas, bad influence is caused on water quality, aquatic products are reduced in yield and even die, and economic loss of farmers is directly caused. Therefore, in order to ensure the water quality safety of aquaculture and improve the yield and quality of aquatic products, the water quality of an aquaculture area must be monitored, so that farmers can more accurately acquire water quality data and make corresponding decisions according to water quality changes to carry out more scientific and healthy aquaculture.

At present, the method for monitoring water quality mainly comprises the steps of establishing a monitoring station in a key water area, automatically or remotely controlling to sample and analyze the water quality, and transmitting water quality parameters to a remote monitoring center. The method is suitable for large rivers, has high manufacturing cost and difficult point distribution, can be used for monitoring only at fixed sites, needs to establish a plurality of sites if the water quality needs to be monitored in all directions, and is not suitable for small culture water areas. In addition, the method is a laboratory instrument measuring method, water quality needs to be sampled manually on site, the water quality is sent back to a laboratory, and a professional instrument is used for analyzing water quality parameters. Aiming at a mobile water quality monitoring method, the monitoring instruments at home and abroad have huge volume and single function.

At present, the traditional manual sampling detection can not realize the real-time monitoring of multiple water environment points, in addition, the water quality monitoring equipment is large in size, single in function and poor in flexibility, most of the water quality monitoring equipment can only monitor at fixed points, particularly in the field of aquaculture, water quality monitoring is not paid attention yet, a plurality of aquaculture people judge the quality of water through the activity condition of aquatic products, the efficiency is low, the accuracy is poor, and once pollution occurs, the aquatic products can not be processed in time, so that the aquatic products are reduced in yield or even die. The concentration of dissolved oxygen influences aquatic products growth condition greatly, and the oxygen-increasing machine on the market is mostly at fixed point oxygenation, is not suitable for the waters of complicated topography, for example in the shrimp rice industry around the ditch dissolved oxygen that is used for breeding the crayfish around the paddy field not enough can lead to the crayfish to escape and die, obviously fixed point oxygenation can not satisfy the oxygenation demand in whole waters, consequently is necessary to develop a portable water quality monitoring and oxygenation device, cruises in whole waters and monitors and the oxygenation.

Disclosure of Invention

The invention aims to solve the technical problem of providing a mobile bionic robotic fish for water quality monitoring and oxygen increasing and a control method thereof, aiming at the defects in the prior art, the mobile bionic robotic fish has the advantages that the appearance simulates cyprinid fish, has small volume and convenient carrying, can float up and dive in water, can automatically or remotely control the device to cruise and move in rivers and lakes, monitors water quality parameters including dissolved oxygen, PH value, water temperature, turbidity and the like in a target water area in real time, and can give an alarm to a user on software when the water quality parameters are lower than a set value. The head of the bionic robot fish is provided with an underwater camera, and a video image is uploaded to a server through GPRS (general packet radio service), so that the bionic robot fish can be used for underwater surveying. In addition, in the field of aquaculture, when the concentration of dissolved oxygen in a water area is low, the robotic fish can float to the water surface to start an oxygen increasing function, a water spraying type oxygen increasing method is adopted in the device, water is sucked and then upwards sprayed out, and finally the water falls back into the water, so that the contact area of the water and the air is increased, and the purpose of increasing the oxygen is achieved. Meanwhile, after water quality data are obtained, the Zigbee networking uploads the water quality data to the server through the gateway, and a user can check water quality parameters in real time by using a mobile phone APP and make corresponding decisions, so that the purposes of intelligent and information management are achieved.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention provides a movable bionic robot fish for water quality monitoring and oxygen increasing, wherein an underwater camera and an infrared sensor are arranged on a fish head structure of the bionic robot fish, a front water tank is arranged in the bionic robot fish, and pectoral fins are arranged on the left side and the right side of the fish head structure; the top of the fish body structure of the bionic robot fish is provided with an oxygenation pump and a wireless communication module, the bottom of the bionic robot fish is provided with a water quality sensor, and the oxygenation pump is provided with a water inlet and a water outlet; a GPS module, a control center and a rear water tank are arranged in the fish body structure; the fish tail structure of the bionic robot fish comprises tail fins and soft rubber, and the fish body structure is connected with the movable tail fins through the soft rubber; a motor, an eccentric wheel and a connecting rod device are arranged in the fish tail structure, and the connecting rod device penetrates through the tail fin;

the underwater camera, the infrared sensor, the oxygenation pump, the GPS module, the wireless communication module, the motor, the rear water tank, the water quality sensor, the pectoral fins and the front water tank are all connected with the control center; wherein:

the underwater camera is used for collecting water area survey images and uploading the water area survey images through the wireless communication module; when the bionic robot fish patrols in water, the obstacle is detected by the infrared sensor, so that automatic obstacle avoidance is realized; the water quality sensor is used for collecting water quality parameters of a monitored water area and uploading the water quality parameters through the wireless communication module; the GPS module is used for acquiring the position information of the bionic robot fish; the control center simultaneously controls the water amount in the front water tank and the rear water tank to realize the balance, submergence and upward floating of the bionic robot fish; the motor drives the eccentric wheel to rotate, so that the connecting rod device works to drive the tail fin to swing, and the bionic robot fish is controlled to move forwards in water; the tail fins and the pectoral fins on the two sides are controlled to swing simultaneously, so that the bionic robot fish is controlled to realize steering motion in water.

Furthermore, a switch and a charging port are arranged at the top of the fish body structure of the bionic robot fish, a battery is arranged in the bionic robot fish, the switch is connected with a control center, and the charging port is connected with the control center through the battery; the charging port is also provided with a waterproof cover.

Furthermore, the connecting rod device comprises a first connecting rod, a second connecting rod, a movable buckle, a third connecting rod, a rotating wheel, a disc and a fourth connecting rod; wherein:

one end of the first connecting rod is fixed on the circumference of the eccentric wheel, the other end of the first connecting rod is connected with the third connecting rod through a movable buckle, and the other end of the third connecting rod is fixed on the disc; one end of the second connecting rod is fixedly connected with the eccentric wheel, and the other end of the second connecting rod is connected with the disc through a rotating wheel; when the motor rotates, the first connecting rod rotates along with the motor, the third connecting rod swings left and right under the action of the movable buckle to drive the disc and the fourth connecting rod fixed on the disc to swing, and the fourth connecting rod is located inside the tail fin to realize the left and right swinging of the tail fin.

Furthermore, the bionic robot fish further comprises a remote server and a mobile phone client, the server performs data interaction with the wireless communication module through the gateway, and the mobile phone client accesses the server to further acquire monitoring information of the bionic robot fish and remotely control the monitoring information.

Furthermore, the wireless communication module of the bionic robot fish is networked through Zigbee, and the acquired data is uploaded to the server through the gateway.

Further, the working modes of the bionic robot fish comprise: an auto cruise mode and a manual control mode.

The invention provides a control method of a mobile bionic robot fish for water quality monitoring and oxygen increasing, which comprises the following steps:

detecting the electric quantity and the fault by the bionic robot fish;

judging the working mode of the bionic robot fish;

if the bionic robot fish is in the automatic cruise mode, the mobile phone client introduces a planned path into the bionic robot fish through the wireless communication module, an infrared sensor is used for detecting obstacles on the path, and the bionic robot fish performs automatic obstacle avoidance cruise according to the planned path; if the bionic robot fish is in the manual control mode, an operator remotely controls the bionic robot fish to move through the mobile phone client;

starting an underwater camera and a water quality sensor on the bionic robot fish, acquiring image information and water quality information of a monitored water area in real time, and transmitting the image information and the water quality information to a remote server by a control center through a wireless communication module;

judging whether the water quality parameter of the monitored water area is within the set threshold value range;

if the water quality is not in the threshold range, sending out an alarm that the water quality does not reach the standard;

judging whether the content of the dissolved oxygen is normal or not;

if not, controlling the bionic robot fish to float upwards, starting an oxygenation pump, and oxygenating the water area;

and if the water quality parameter of the monitored water area is within the threshold range or the content of the dissolved oxygen is normal, completing the water quality monitoring task of the position, and continuously moving to the next position for monitoring.

Further, the specific method for detecting the electric quantity and the fault of the bionic robot fish in the method comprises the following steps:

starting the bionic robot fish to perform fault self-checking;

if the fault exists, sending out a fault alarm;

judging whether the return voyage can be performed or not;

if yes, automatically returning; if the position information cannot be detected, the GPS module floats to the water surface, positioning is carried out through the GPS module, and the position information is uploaded to a server;

if no fault exists, judging whether the electric quantity of the battery is too low;

if the electric quantity is lower than 10%, sending out a low-electric-quantity alarm and automatically returning;

if the electric quantity is higher than 10%, the cruising is started.

The invention has the following beneficial effects: the invention relates to a mobile bionic robotic fish for water quality monitoring and oxygen increasing and a control method, which comprises the following steps:

① the robot fish is based on bionics principle, simulates cyprinid fish, has small volume and convenient carrying, controls the floating of the robot fish by the swinging of the pectoral fin and the tail fin controlled by the motor, has more flexibility and high efficiency compared with the propeller-propelled structure, and the tail fin is connected with the eccentric wheel by the connecting rod, thus the swinging of the tail fin has more stability.

② robot fish can move about at terminal manual control or automatically patrol and move about according to the planning route and avoid the barrier, carries out portable water quality monitoring, can open simultaneously underwater camera and be used for submarine surveying, and the function is abundant, the quality of water condition of the different positions in all-round monitoring waters, including dissolved oxygen, pH value, temperature, water level and turbidity etc. the data accuracy that survey is high, guarantee quality of water safety.

③ communication antenna is installed on the top of the robot fish wireless communication module, water quality data and user instructions are communicated through Zigbee wireless network, image video is transmitted through GPRS, stability of data transmission is guaranteed, robot fish can be controlled at a remote terminal, water quality parameters and video can be checked in real time, and time and labor are saved.

④ the oxygen increasing pump can make the machine fish float to the water surface when the dissolved oxygen in the water area is insufficient, the oxygen increasing pump is provided with a filter screen at the water inlet, the water outlet is upward, the water is sucked and then is sprayed upward to increase the contact area between the water and the air, the water area dissolved oxygen concentration can be increased while the garden fountain landscape effect is achieved.

⑤ the battery power detecting and fault detecting module can make the robot fish return to the starting point automatically according to the planned route when the battery power detected by the robot fish is less than 10% or the robot fish has fault in the automatic tour process, and when the fault of the robot fish causes the robot fish not to return, the robot fish floats to the water surface and gives an alarm to the user, and the user can search the position of the robot fish according to the GPS location, so that the robot fish is more intelligent.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

fig. 1 is a system architecture of a biomimetic robotic fish.

Fig. 2 is a front view of the structure of the bionic robot fish.

Fig. 3 is a structural top view of the biomimetic robotic fish.

Fig. 4 is a schematic diagram of a tail fin swing structure.

FIG. 5 is a flow chart of the operation of the biomimetic robotic fish.

FIG. 6 is a flow chart of power and fault detection for a biomimetic robotic fish.

Fig. 7 is a wireless communication flow chart of the biomimetic robotic fish.

Description of reference numerals:

1-underwater camera, 2-infrared sensor, 3-water inlet, 4-water outlet, 5-oxygenation pump, 6-GPS module, 7-wireless communication module, 8-switch, 9-battery, 10-charging port, 11-eccentric wheel, 12-soft rubber, 13-tail fin, 14-motor, 15-rear water tank, 16-control center, 17-water quality sensor, 18-chest fin, 19-front water tank, 111-first connecting rod, 112-second connecting rod, 113-movable buckle, 114-third connecting rod, 115-rotating wheel, 116-disc, 117-fourth connecting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

According to the mobile bionic robot fish for water quality monitoring and oxygen increasing, the underwater camera 1 and the infrared sensor 2 are arranged on the fish head structure of the bionic robot fish, the front water tank 19 is arranged inside the fish head structure, and the pectoral fins 18 are arranged on the left side and the right side of the fish head structure; the top of the fish body structure of the bionic robot fish is provided with an oxygenation pump 5 and a wireless communication module 7, the bottom of the bionic robot fish is provided with a water quality sensor 17, and the oxygenation pump 5 is provided with a water inlet 3 and a water outlet 4; a GPS module 6, a control center 16 and a rear water tank 15 are arranged in the fish body structure; the fish tail structure of the bionic robot fish comprises tail fins 13 and soft rubber 12, and the fish body structure is connected with the movable tail fins 13 through the soft rubber 12; a motor 14, an eccentric wheel 11 and a connecting rod device are arranged in the fish tail structure, and the connecting rod device penetrates through the tail fin 13;

the underwater camera 1, the infrared sensor 2, the oxygenation pump 5, the GPS module 6, the wireless communication module 7, the motor 14, the rear water tank 15, the water quality sensor 17, the pectoral fins 18 and the front water tank 19 are all connected with the control center 16; wherein:

the underwater camera 1 is used for collecting water area survey images and uploading the water area survey images through the wireless communication module 7; when the bionic robot fish patrols in water, the infrared sensor 2 detects obstacles, so that automatic obstacle avoidance is realized; the water quality sensor 17 is used for collecting water quality parameters of a monitored water area and uploading the water quality parameters through the wireless communication module 7; the GPS module 6 is used for acquiring the position information of the bionic robot fish; the control center 16 is used for simultaneously controlling the water amount in the front water tank 19 and the water amount in the rear water tank 15, so that the balance, submergence and floating of the bionic robot fish are realized; the motor 14 drives the eccentric wheel 11 to rotate, so that the connecting rod device works to drive the tail fin 13 to swing, and the bionic robot fish is controlled to move forwards in water; the tail fin 13 and the pectoral fins 18 on the two sides are controlled to swing at the same time, so that the bionic robot fish is controlled to realize steering motion in water.

The top of the fish body structure of the bionic robot fish is provided with a switch 8 and a charging port 10, a battery 9 is arranged in the bionic robot fish, the switch 8 is connected with a control center 16, and the charging port 10 is connected with the control center 16 through the battery 9; a waterproof cover is also provided on the charging port 10.

The connecting rod device comprises a first connecting rod 111, a second connecting rod 112, a movable buckle 113, a third connecting rod 114, a rotating wheel 115, a disc 116 and a fourth connecting rod 117; wherein: one end of the first connecting rod 111 is fixed on the circumference of the eccentric wheel 11, the other end is connected with a third connecting rod 114 through a movable buckle 113, and the other end of the third connecting rod 114 is fixed on a disc 116; one end of the second connecting rod 112 is fixedly connected with the eccentric wheel 11, and the other end is connected with the disc 116 through a rotating wheel 115; when the motor 14 rotates, the first connecting rod 111 rotates along with the motor, the third connecting rod 114 swings left and right under the action of the movable buckle 113, the disc 116 and the fourth connecting rod 117 fixed on the disc 116 are driven to swing, and the fourth connecting rod 117 is located inside the tail fin 13, so that the tail fin 13 swings left and right.

The bionic robot fish also comprises a remote server and a mobile phone client, the server performs data interaction with the wireless communication module through the gateway, and the mobile phone client accesses the server to further acquire monitoring information of the bionic robot fish and remotely control the monitoring information. The wireless communication module of the bionic robot fish is networked through Zigbee, and the acquired data is uploaded to the server through the gateway. The work mode of the bionic robot fish comprises the following steps: an auto cruise mode and a manual control mode.

The embodiment of the invention provides a control method of a mobile bionic robot fish for water quality monitoring and oxygen increasing, which comprises the following steps:

detecting the electric quantity and the fault by the bionic robot fish;

judging the working mode of the bionic robot fish;

if the bionic robot fish is in the automatic cruise mode, the mobile phone client introduces a planned path into the bionic robot fish through the wireless communication module, an infrared sensor is used for detecting obstacles on the path, and the bionic robot fish performs automatic obstacle avoidance cruise according to the planned path; if the bionic robot fish is in the manual control mode, an operator remotely controls the bionic robot fish to move through the mobile phone client;

starting an underwater camera and a water quality sensor on the bionic robot fish, acquiring image information and water quality information of a monitored water area in real time, and transmitting the image information and the water quality information to a remote server by a control center through a wireless communication module;

judging whether the water quality parameter of the monitored water area is within the set threshold value range;

if the water quality is not in the threshold range, sending out an alarm that the water quality does not reach the standard;

judging whether the content of the dissolved oxygen is normal or not;

if not, controlling the bionic robot fish to float upwards, starting an oxygenation pump, and oxygenating the water area;

and if the water quality parameter of the monitored water area is within the threshold range or the content of the dissolved oxygen is normal, completing the water quality monitoring task of the position, and continuously moving to the next position for monitoring.

The specific method for detecting the electric quantity and the fault of the bionic robot fish in the method comprises the following steps:

starting the bionic robot fish to perform fault self-checking;

if the fault exists, sending out a fault alarm;

judging whether the return voyage can be performed or not;

if yes, automatically returning; if the position information cannot be detected, the GPS module floats to the water surface, positioning is carried out through the GPS module, and the position information is uploaded to a server;

if no fault exists, judging whether the electric quantity of the battery is too low;

if the electric quantity is lower than 10%, sending out a low-electric-quantity alarm and automatically returning;

if the electric quantity is higher than 10%, the cruising is started.

In another embodiment of the invention:

the bionic robot fish for water quality monitoring and oxygen increasing is disclosed by the embodiment of the invention. The structure of which is shown in fig. 1-4.

The appearance of the bionic robot fish imitates the carpidae fish, a switch on the back is firstly opened during use, the robot fish is set to be in an automatic cruising mode or a manual control mode, a planning path needs to be guided in through a GPS (global positioning system) when the robot fish automatically navigates, a waterproof cover of a charging port is opened when the electric quantity of a battery of the robot fish is insufficient, and a charger is connected for charging. The tail of the machine fish is connected with a movable tail fin by soft rubber, the tail fin drives an eccentric wheel and a connecting rod device to control swinging through a motor, one end of a first connecting rod is fixed on the eccentric wheel, one end of the first connecting rod is connected with a movable buckle for a third connecting rod, the other end of the third connecting rod is fixed on a disc, when the motor drives the eccentric wheel to rotate, the first connecting rod rotates along with the first connecting rod, the third connecting rod swings left and right under the action of the movable buckle, the disc and a fourth connecting rod fixed behind the disc are driven to swing, the fourth connecting rod is located inside the tail fin, so that the tail fin can swing left and right like a fish, the swinging frequency of the tail fin can be influenced by different rotating speeds of the motor, one end of the second connecting rod is fixed, the other end. Pectoral fins are respectively arranged on two sides of the fish body, and the motor is used for controlling the swing in the same way. The robotic fish moves forward when the tail fin swings in water, turns right when the tail fin and the left pectoral fin swing simultaneously, and turns left when the tail fin and the right pectoral fin swing simultaneously. The fish body is also provided with a front water tank and a rear water tank, water can be fed and discharged simultaneously to keep the fish body balanced, the robot fish submerges when the water tank is filled with water, and the fish body floats to the water surface after the water is discharged.

The bionic robot fish mouth is provided with an underwater camera, the robot fish starts the camera to survey a water area when patrolling in water, an image video is uploaded to a server through GPRS (general packet radio service) in a wireless communication module, and a user can check the image video at a remote available mobile phone terminal. The robot fish head is also provided with an infrared obstacle avoidance sensor, the obstacle avoidance sensor automatically avoids obstacles in water in an automatic tour mode, an emitting diode in the infrared sensor emits infrared signals with certain frequency, when the front side has obstacles, the infrared signals are reflected back to be received by a receiving diode, and the robot fish is controlled by a control center to turn after being processed. The fish body lower part embedding quality of water sensor, but the quality of water parameter in different waters of real-time supervision when the aquatic is patrolled and is walked, including dissolved oxygen, pH value, temperature, water level and turbidity etc. control center handles the back and transmits for the server through the gateway through Zigbee in the wireless communication module. The oxygen increasing pump is embedded in the upper portion of the fish body, when the situation that the concentration of dissolved oxygen in the water area is insufficient is monitored, the robot fish can enable the water tank to be emptied and float to the water surface, the oxygen increasing pump is started to spray water for oxygen increasing, water enters the oxygen increasing pump from the water inlet through the filter screen, is sprayed out from the water outlet after being pressurized, and falls back into the water after contacting with the air, and the purpose of oxygen increasing is achieved.

When the robot fish works, the robot fish can automatically cruise and avoid barriers according to the guided planned path through the GPS and the infrared sensor, the water quality condition of a target water area is monitored by the water quality sensor in real time, data are processed by the control center and then uploaded to a user, and when the condition that the dissolved oxygen in the target water area is insufficient is monitored, the robot fish can float to the water surface to start an oxygenation function.

The structural schematic diagram of the bionic machine fish is shown in fig. 2, the appearance of the bionic machine fish simulates cyprinid fish, the advancing and steering of the machine fish are completed by controlling the swinging of a tail fin and a pectoral fin through a motor, the tail fin is connected with an eccentric wheel through a connecting rod, a control center controls the motor to drive the eccentric wheel to rotate, the connecting rod fixed on the eccentric wheel drives the tail fin to continuously swing, soft rubber is arranged at the connecting part of the tail fin and a fish body, so that the swinging of the tail fin is more flexible, when the machine fish advances in water, only the tail fin needs to be quickly swung, when left steering is needed, the right pectoral fin and the tail fin swing simultaneously, and when right steering is needed, the left pectoral; the fish body is provided with a front water tank and a rear water tank, and floating and submerging of the robot fish and balance maintenance are realized through water inlet and water outlet of the water tanks; an underwater camera is arranged at the fish mouth and used for water area survey, videos are uploaded to a server through GPRS, and shot image videos can be checked in real time at a terminal; the head of the robotic fish is provided with an infrared diffuse reflection type obstacle avoidance sensor (namely an infrared sensor), when a route is planned by a GPS in the fish body, the robotic fish starts to automatically tour, and after the infrared sensor detects that an obstacle exists in front, a control center can control the pectoral fin and the tail fin of the robotic fish to swing so as to finish the steering of the robotic fish; the water quality sensor is arranged at the lower part of the fish body, water quality parameters of a target water area, including dissolved oxygen, a pH value, a water temperature, a water level, turbidity and the like, are sampled in real time during tour and are transmitted to an STM32 control center through RS-485 communication, data are analyzed and then uploaded to a server through a Zigbee networking network through a gateway, and the water quality parameters can be checked at terminals such as a mobile phone APP and the like; the back of the machine fish is provided with a small oxygenation pump, when the dissolved oxygen in the water area is insufficient, the machine fish can float to the water surface to start the oxygenation function, a filter screen is arranged at the water inlet of the oxygenation pump, a water outlet is upward, the water is sucked and then is upward sprayed to increase the contact area of the water and the air, so that the concentration of the dissolved oxygen in the water area is increased; the wireless communication module is connected with the control center, the top of the wireless communication module is provided with a communication antenna to enhance wireless signals, and videos, water quality parameters and control commands can be transmitted through wireless communication; the robot fish is wholly sealed and waterproof, a waterproof cover shell is arranged at a charging interface at the back of the robot fish, and a charger is connected to the robot fish after the cover shell is opened when a battery is charged; the inside battery power detection and fault detection module that has of machine fish, at the automatic tour in-process, when the battery power is less than 10% or detect that the machine fish breaks down, can return to the starting point according to the planning route is automatic, when the trouble of machine fish leads to the machine fish can not return to the navigation, can float to the surface of water, sends the police dispatch newspaper to the user, and the user can be according to GPS location look for the position of machine fish.

Fig. 5-7 illustrate the overall workflow and the workflow of a portion of the links of the present invention in detail.

The general working flow of the invention is shown in fig. 5, when the robot fish works, the electric quantity and fault detection is carried out, and when the electric quantity is insufficient and the robot fish is in fault, an alarm is given to a user. The method comprises the steps of firstly setting a robot fish cruising mode, enabling a user to remotely control the robot fish to swim during manual control, automatically avoiding obstacles by the robot fish according to a planned path during automatic cruising, swimming to a target water area, starting a camera, and monitoring water area water quality parameters in real time by a water quality sensor and uploading the water quality parameters through a wireless communication module. When parameters such as dissolved oxygen, PH value, water temperature, water level, turbidity and the like are not in the set range, an alarm is sent to a user at the terminal; when the concentration of the dissolved oxygen in the water area is insufficient, the robotic fish floats to the water surface to start the oxygenation function. After the water quality monitoring and oxygenation tasks are completed, the robotic fish automatically returns to the starting point.

The electric quantity and fault detection flow chart of the bionic robot fish is shown in fig. 6, when a fault is detected, if the motion control module is normal, the robot fish gives an alarm and returns, if the robot fish cannot return, the water tank is emptied, floats to the water surface and is positioned, and a user can conveniently search the water tank; and when the detected electric quantity is lower than the set value by 10%, the robot fish can end the current task, send out an alarm and return to the home.

The wireless communication flow chart of the bionic robot fish is shown in fig. 7, a water quality sensor collects real-time data of water quality parameters, the real-time data are transmitted to an STM32 control center through RS-485, the data are transmitted to a wireless communication module after analysis and processing, the data are uploaded to a server through a Zigbee networking gateway, video images shot by an underwater camera are directly uploaded to the server through GPRS, and APP can be used at a mobile phone terminal to check the water quality parameters and the video images and control the movement of the robot fish.

It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.