Design And Development Of Water Environment Monitoring System Based On Bionic Robot Fish

Due to the frequent occurrence of pollution incidents in various river basins,lakes,and coastal water resources,the status of water quality is not optimistic.A series of policies for the protection of water resources and the control of water pollution in order to strengthen the protection of the environment and water resources have been successively introduced by China's governments at all levels have.The continuous and effective monitoring of the water environment,the timely detection of abnormal changes in the water quality of the test waters,the diagnosis of the current water environment,and the timely tracking of pollution sources are important ways to achieve this goal.In view of the fact that existing water environment monitoring systems are mostly fixed-point monitoring systems,which are costly and can not accurately determine pollution sources and other deficiencies,a set of mobile distributed intelligent water environment monitoring platform using bionic robotic fish as a carrier has been developed in this project.And it can be applied to the aquaculture industry.The system has the characteristics of wide monitoring range,low cost,unmanned,etc.The main contents are as follows:?.The overall design and development of intelligent water environment monitoring platform has been completed.The parameters of the water environment monitoring vary according to the use of the measured water area.The main indicators are temperature,pH,turbidity,dissolved oxygen,electrical conductivity,chemical oxygen demand COD,biological oxygen demand BOD,total nitrogen,total phosphorus,ammonia nitrogen,etc.,also includes some heavy metal ions and other parameters.The prototype debugging of three parameters of water temperature,pH and turbidity has been completed.The value of the above parameters of the sampled waters can be accurately measured.The detection of other water quality parameters can be achieved in the same way.The host computer subsystem is composed of two parts: a computer client based on LabVIEW and a mobile phone client based on an Android system.It has the function of receiving,displaying,storing and analyzing the data collected by the lower computer in real time.It can display the change of water quality parameters in a given time period in a curve manner,and automatically alarm when any water quality parameter exceeds the preset threshold.At the same time,the host computer also has the function of monitoring and remote control of the robotic fish platform to ensure that the robotic fish can reach the designated area to collect water samples,and that when the robotic fish autonomously fails,it can be recovered by remote control.The lower computer subsystem consists of three parts: robotic fish,data acquisition system and positioning module.Its functions include: Through map navigation,robotic fish swim independently in the measured waters;Water quality parameters in the water area such as pH value,water temperature,turbidity,dissolved oxygen,and conductivity can be obtained at different times by the data acquisition module;The location information of the water area can be obtained by the navigation and positioning module based on BD-126 in real time.GPRS and serial communication are adopt between upper computer and lower computer.Serial communication is mainly used for the transmission of water quality data,GPRS is mainly used for remote map navigation services.?.According to the diffusion model of pollutants in liquids,the concentration of contaminants decreases from the inside to the outside,and the robotic fish uses a pollution source search method based on concentration gradients.Robotic fish move in the direction of the highest concentration of pollution sources.If multiple robotic fish are working at the same time,once one of the robotic fish measures an index anomaly in the water environment,it immediately sends instructions to the surrounding robotic fish so that other robotic fish can also move to the waters for carpet search until the highest concentration is found.Distributed positioning of pollution sources are achieved.?.Due to the abundant cold water and fresh water resources in Gansu Province,the potential for cold water fish such as carp breeding is huge.The water quality standards for aquaculture waters are extremely high,such as water temperature,pH value,dissolved oxygen,ammonia nitrogen,and other important indicators of concern in the aquaculture industry.the changes in important indicators of aquaculture waters must be accurately grasped.Water environment monitoring system is applied to aquaculture industry and can perform monitoring tasks well.At the same time,robotic fish will affect the sport behavior of real fish,make fish more lively,and more closely approach the growth of wild fish,which is conducive to the improvement of yield and quality.