基于机器鱼的违规排污口定位方法

为解决违规排污口的侦测和定位的问题，本文使用机器鱼作为传感器的城体对违规排污口排放的污染物质进行检测分析，结合污染物的扩散模型对污染物浓度场进行分析并对排污阴进行定位。论文对违规排污侦测机器鱼所需的功能进行了分析，并根据分析结果对机器鱼的机械机构和内部电路结构进行设计，使用机器鱼结合污染物的扩散模型的方法设计出违规排污口的追踪定位方法，并对机器鱼和追踪算法进行实际测试，通过实际测试表明了设计的正确性。

The Research and Application of Illegal Pollution Detection Robot Fish

To solve the problem of detecting and positioning drainage outlet, this paper studies to use using robot fish as the carrier of sensor to detect pollution and position drainage outlet. The design of robotic fish mechanical structure and circuit structure is based on analyzing the function of illegal pollution detection robot fish. The drainage outlet position is based on the pollutant diffusion model. Through the actual test shows that the robotic fish position drainage outlet algorithm is correct.