一种双关节机器鱼的设计与实现

针对水产养殖和水环境保护领域对移动式水质监测的需求，本文设计了一种双关节仿生机器鱼。通过分析机器鱼的游动和转向规律，建立了双关节机器鱼的动力学模型，提出了基于模糊控制的复合避障算法、并通过仿真验证了其可行性。选择双关节尾鳍推进方式，完成了机器鱼的机械结构设计；以STM32单片机为控制核心、舵机作为运动执行元件、5个红外测距传感器合理布局实现避障、Lora无线传输方式实现机器鱼与主机的通信，完成了机器鱼控制系统的设计。最后，搭载水质传感器在实际水域对该机器鱼进行了应用测试，测试结果表明机器鱼可以成功避开障碍物并完成水质参数的采集任务、数据准确性高且具有低扰动性。

Composition of Bionic Robotic Fish

Aiming at the current demand for mobile water quality monitoring in the fields of aquaculture and water environmental protection， a double-joint bionic robotic fish was designed. A dynamic mathematical model of the double-joint robotic fish was established by analyzing the swimming and turning motion rules of the robotic fish. Furthermore， a compound obstacle avoidance algorithm based on fuzzy control was proposed， and its feasibility was verified by simulation. The mechanical structure of the robotic fish was designed by double-joint caudal fin propulsion method； and the design of the robotic fish control system mainly contains the following parts， including the STM32 single-chip microcomputer and the steering gear were used as the control core and the motion executive element， respectively； 5 infrared ranging sensors were reasonably arranged to avoid obstacles， the Lora wireless transmission model was used to realize the communication between robotic fish and the host computer. Finally， the bionic robotic fish equipped with the water quality sensors was tested in the actual environment. The testing results have shown that the robotic fish can successfully avoid obstacles and complete the task of collecting water quality parameters with high accuracy and low disturbance.