Design Of Robotic Fish System And Its Energy Consumption Modeling For The Caudal Fin Of Robotic Fish

With the continuous deterioration of water pollution problems,aquatic products and human water sources constantly are affected,which is a great obstacle to the survival and development of human beings.Therefore,effective detection of pollution sources has a profound significance on the protection of water resources.However,the traditional detection device of water quality has the disadvantages of poor flexibility and poor mobility.Combined with the advantages of fish,realization of robotic fish by bionic research can effectively solve the problems above.In addition,because the robotic fish work in the aquatic environment,and its carrying battery power is limited,which will greatly limit the application of robotic fish.It is very necessary to study the motion energy consumption for the caudal fin of robotic fish,because it can prolong the working time of the robotic fish in the complex environment,and improve the working efficiency and practicability of the robotic fish.This paper is based on the National Natural Science Foundation of China,a key technology research of low energy consumption collaborative scheduling of the robotic fish sensor network(item no.61472050).According to the carangidae fish used as the biomimetic object,the robotic fish which have an oscillating caudal fin is designed and implemented and its motion energy consumption model for caudal fin of robotic fish is established.The main contents are listed as follows:(1)This article will design and implement a robotic fish based on ARM microprocessor S3C2440 A and embedded Linux operating system.The robotic fish is driven by a caudal fin which is a single joint structure with crescent shape,and its internal and external information is collected through its own carrying temperature sensor,GPS,turbidity sensor,far infrared sensors and attitude sensor,and wireless communication between robotic fish with PC is realized through ZigBee wireless communication module.In this paper,the design of the robotic fish system is divided into two parts: hardware circuit design and software design.The hardware circuit part includes the design and debugging of the whole hardware circuit of the robotic fish.The software design mainly includes the application and driver of the embedded Linux operating system.After the hardware and software are debugged,the robotic fish is assembled,weighted and waterproofed.Finally,the experimental platform is built,and the basic performance experiments of robotic fish are completed.(2)The motion energy consumption for the caudal fin is an important part of the total energy consumption of robotic fish.In order to prolong the working time of the robotic fish,motion energy consumption for the caudal fin is researched.Since the caudal fin of robotic fish are swung by imitating the fish,the movement of the caudal fin is related to its three oscillating parameters,so that the motion energy consumption for the caudal fin is also associated with the three parameters.In this paper,the current measurement equipment is designed and installed to obtain the current of the servo when the robotic fish swims straight and turns in the robotic fish.According to the experimental data,a mathematical model of the motion energy consumption is established with respect to the swing parameters of the caudal fin,and verified.