具水下環境偵測功能之仿生機器魚開發

Development of Bio-Robotic Fish with Functions of Underwater Environment Detection

謝承軒(Hsieh Cheng-Hsuan)

指導教授 ： 苗志銘

國立屏東科技大學/工學院/材料工程研究所/碩士(2019年)

https://doi.org/10.6346/NPUST201900049

摘要

論文摘要內容：
本研究主要利用仿生學的概念，透過模仿鯽魚的外型特徵，製作仿生機器魚以探討其運動特性，並使其具有水下環境偵測之功能。
以SolidWorks工程繪圖軟體來設計，並接續以3D列印技術印製魚體。主控端為Arduino開發板，輸入程式後，使其能用一支智慧型手機，就能運用藍牙無線控制機器魚。在魚體上搭載電導率(EC)、pH、溫度等水質感測器，以達到量測水質的實驗目的。另透過物聯網之概念，使用ESP8266晶片上傳Thingspeak平台，使使用者能利用智慧型裝置即時觀測水質感測數據。
本研究已建立對應的實驗平台，藉此平台以分析機器魚配置不同尾鰭推進時，拍動的頻率及角度對於前進速度的影響。研究中找出半月尾鰭最佳的拍動參數組合，幫助其在水中推進時，達到最快之游動速度，提升整體運動效率。另外研究也在魚體前端裝設RGB攝像頭，使機器魚在遊動時，能隨時將水中畫面回傳至智慧型裝置。機器魚實際應用方面，可應用於水產養殖產業，幫助魚塭測量水質及探勘水中情況，希望能藉此研究成果對產業界有所貢獻，回饋社會。

關鍵字：仿生機器魚、3D列印、水質檢驗、攝像控制、水下環境偵測。

關鍵字

仿生機器魚 ； 3D列印 ； 水質檢驗 ； 攝像控制 ； 水下環境偵測

並列摘要

The Contents of Abstract in the Thesis:
The aims of present study is mainly using the concept of bionics to create a bio- robotic fish with single flapping tail. The shape of robotic fish is inspired from the crucian carp. The characteristics of this robotic-fish is that it can not only straight swim and turn but also has the function of underwater environment detection and explores characteristics.
The manufacture of present bio-robotic fish was stared from the concept design by SolidWorks drawing software. Then the picture of individual parts of fish body, fins, and tail and made by 3D printing technology. For electrical-mechanical system, the main control terminal is the Arduino nano board to connect the motors and sensors. After input the code in the Arduino board, the signal to control motion of fish can be transmitted through Bluetooth wireless communication. Present study also develop an APP installed in a mobile phone to gives on-line commands. An experimental platform was established to analyze the effects of flapping frequency and angle on the swimming performance of fish with four different the caudal fins.
The bio- robotic fish also equipped with conductivity (EC), pH and temperature sensors, therefore the fish can dynamically measure the water quality distribution in the pool. To meet the IOT, present work used the ESP8266 chip to upload the measured data based on Thingspeak cloud platform. Growers can observe the variation of water quality on the internet when the bio- robotic fish is swimming.
In addition, a tiny RGB camera was installed in the afore-body of robotic –fish to take picture or video then transfer them to mobile cellphone. Make the robtic-fish have the function of underwater exploration capacity. In practical applications, it can be applied to the aquaculture industry to help the gills have a flexible tool to measure water quality and explore the underwater situation. It is hoped that this research can contribute to the industry and give back to the society.

Keywords: Bio-robotic fish,3D printing , Water quality inspection, Camera control, Underwater environment detection.

並列關鍵字

Bio-Robotic Fish ； 3D printing ； Water quality inspection ； Camera control ； Underwater environment detection.

參考文獻

參考文獻

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