A Preliminary Study On Monitoring Robotic Fish On Water

With the continuous development of economy,land resources are increasingly consumed,and the ocean occupies 70% of the earth's surface area.Moreover,people's exploration of the ocean is still in its infancy,so the exploitation of Marine resources is particularly important.Underwater unmanned underwater vehicles(UUV)can explore the ocean and operate in dangerous underwater environments,helping people exploit the rich ocean resources.Compared with the traditional UUV,robotic fish has a greater prospect.First of all,the shape of robotic fish is streamlined,which makes it less resistance and higher swimming efficiency.Secondly,it makes use of the vortex energy in the wake area during sailing,so that it has excellent propulsive performance.Moreover,the propeller and rudder are combined into one during propulsion,saving energy.Finally,the wake field generated by its propulsion movement is similar to that of fish,and its shape is similar to fish,so that its stealth ability is greatly enhanced.Therefore,the research on robotic fish has important value.The specific research work of this thesis is as follows:1.An evaluation mathematical model of the integrated system of robotic fish is established by the analytic hierarchy process(AHP).The importance of each element in each group of each hierarchy,namely weight,is calculated by AHP,and then the membership function is determined by the fuzzy distribution method to calculate the corresponding membership value.Finally,the comprehensive performance evaluation values of the three UUVs were obtained through calculation of the three UUVs,which verified the reliability of the integrated robotic fish system.2.Preliminary design of robotic fish,including overall scheme conception,determination of main dimensions,appearance design,tail design,general layout design,calculation of gravity center and center of buoyancy,and sealed cabin design.Secondly,the propulsion system and control system are designed,including propeller design and motor selection,tailfin design and steering gear selection.3.With the main control STM32 microcontroller as the core,the modular design of the robotic fish system is carried out.The water quality monitoring system,communication system,target identification and intelligent control system of robotic fish are designed and demonstrated in detail from three aspects of system preliminary design analysis,hardware selection and software design.4.In order to further verify the excellent navigational performance of the designed robotic fish and the feasibility of the functional module system,performance and functional experiments are carried out on the robotic fish model.Performance experiments include watertight,rapidity,maneuverability and heave experiments;Through the analysis of the test data,it is found that the robot fish has good performance.In the functional experiment,water quality monitoring and target identification experiments were completed.According to the monitoring data and target identification results,this craft has good monitoring capability and target identification capability.5.Finally,the preliminary comprehensive optimization mathematical model of underwater robotic fish is established,and the corresponding optimization program is compiled by C# language.The genetic algorithm and chaos algorithm are respectively used for optimization calculation,and finally the boat type parameters with the best comprehensive performance of the boat are obtained.