Research On Lake Water Quality Detecting Robotic Fish

In recent years，the robotic fish becomes the research focus in the field of bionics.Robotic fish’s features include the excellent performance of bionic, low noise and goodmobility. It has high application value to study it. Lake water quality detecting roboticfish "Hei Xun-I" is set up in the robotic fish as the carrier, combining the water qualitydetection technology, making the robotic fish’s research applied more widely while thewater quality detection technology to be more intelligent, independent.This thesis takes the carangiform mode fish as biological model object of study,through analysis and research the hovers mechanism to the carangiform mode fish, hasdesigned a carangiform mode robotic fish with four degrees of freedom and thecrescent-shaped tail fin. It also has established the parametrization mathematical modelfor three joints caudal fin propulsion system, and has carried on the kinematics anddynamics analysis to the robotic fish, and carried on the simulation of the correspondingmathematical model by Matlab.The subject has designed hardware control system of “Hei Xun-I” based onLPC2368which used the ARM7as core, including the power supply part, the drive part,the sensor processing part and others. Meanwhile, the software control system has beendeveloped by C language, including the signal acquisition part, the serial communicationpart and the motion control part. The upper control software of “Hei Xun-I” has beendeveloped by LabWindows/CVI instrument, including the communication part and thedata processing part. The returned data of “Hei Xun-I” can be display real-time andpreserve. Meanwhile, The upper control software shows its cruise track in thecorresponding map.Finally, the system experiment of “Hei Xun-I” has been integrated in the lake,underwater debugging is completed, which verifies the feasibility of this design.