小型智能机器鱼系统研究与设计  

Research and Design of Small Intelligent Robot Fish System

作　　者：房启志 张树宁 徐嵩 祝俊杰 李昱洁 陈玺光 马毓徽 贾和儒 FANG Qizhi;ZHANG Shuning;Xu Song;ZHU Junjie;LI Yujie;CHEN Xiguang;MA Yuhui;JIA Heru(School of Electronic and Information Engineering,Shenyang Aerospace University,Shenyang Liaoning 110136,China;School of Innovation,Shenyang Aerospace University,Shenyang Liaoning 110136,China)

机构地区：[1]沈阳航空航天大学电子信息工程学院,辽宁沈阳110136 [2]沈阳航空航天大学创新创业学院,辽宁沈阳110136

出　　处：《电子器件》2021年第1期197-202,共6页Chinese Journal of Electron Devices

基　　金：辽宁省自然科学基金项目(2019-MS-251);辽宁省教育厅项目(L201716);沈阳市高层次创新人才计划项目(RC190030);沈阳航空航天大学创新创业项目(X2019246,X2019250,X2019420,X20201014310,X202010143230,X202010143296,X202010143341)。

摘　　要：文中研究并设计了小型智能机器鱼系统,该系统作为监测终端可实现水下寻迹与避障,系统利用MPU6050获取姿态信息并构建闭环控制保持机器鱼平衡,采用AJ-SR04M超声波传感器进行测距,GPS/BDS双模定位模块对探测到的水下目标进行定位,利用GSM/GPRS无线传输技术将获取的信息发送至监控手机App端。文中研究并给出了系统的软硬件详细设计,对机器鱼运动控制算法进行了仿真,系统实验测试结果表明:该系统可实现对水下目标的探测与测量数据的传输,并具有自动避障等功能,研究结果具有一定的实用价值。A small intelligent robotic fish system based on BeiDou is designed. The system can be used as a monitoring terminal for underwater tracking and obstacle avoidance,with the MPU6050 to acquire the attitude information and build closed-loop control to balance the robot fish,with the AJ-SR04 M for underwater ranging,with the GPS/BDS dual-mode to get the space and time,and the obtained information is transmitted to the App by GSM/GPRS. The paper studies and gives detailed design of the system’s hardware and software,and carries out theoretical simulation and experimental testing. The results show that it can realize the functions on the underwater target detection,the measured date transmission and automatic obstacle avoidance. Moreover,the system is of certain significant value.

关 键 词：智能机器鱼系统 北斗卫星导航系统 无线网络 超声波传感器 自动避障 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP212.9