摘要
针对水产养殖水下监测点有限、人工巡检开销大等问题,提出一种以STM32F103C8T6为中控的自主巡游机器鱼。该设备以多传感器配合实现管道外部边缘和标记检测,以舵机执行直行、转弯等动作且游速可控。试验结果表明,该机器鱼依据水下管道及其标记实现特定水域自主巡游,对水质要求较低,且为搭载传感器进行水下全域监测奠定基础。
To solve the problems of limited underwater detection points and high cost of manual inspection in ordinary aquaculture detection, an underwater autonomous inspection robot fish based on STM3232F103C8T6 is proposed in this paper. With the help of multisensor information fusion, the robot recognizes the external border and marking points of pipeline. Through the power provided from actuator, the robot fish could carry out direct and rotational movements with adjustable swimming speed. The result shows that the robot fish could cruise the specific waters independently with less water quality demand according to the common underwater pipeline as the track and the black mark on the track as the indication. This paper provides the foundation for real-time detection under full-area waters with sensors.
作者
李林葳
王衡
卢震宇
李砚禾
刘振宇
关宇泽
Li Linwei;Wang Heng;Lu Zhenyu;Li Yanhe;Liu Zhenyu;Guan Yuze(College of Information Science and Engineering,Shanxi Agricultural University,Taigu Shanxi 030801,China;College of Engineering,Shanxi Agricultural University,Taigu Shanxi 030801,China)
出处
《山西电子技术》
2019年第4期27-30,共4页
Shanxi Electronic Technology
基金
国家自然科学基金项目(31772651)
山西农业大学科技创新基金项目(2018023)
