DOI：10.3969/j.issn.1672-3872.2025.11.005
基金项目：大学生创新创业训练计划项目“基于GAN生成对抗网络与集群协同控制算法（MAUV）的海洋探测仿生机器鱼设计”（202310566015）；广东海洋大学深蓝智能机电产品创新团队（CXTD2023009）
作 者：徐文轩 1，2 ，余 江 1，2 ，李佳兴 1，3 ，林钰贵 2，3 ，苏伟豪 2，3 ，罗晓丽 4
（1. 广东海洋大学机械工程学院，广东 湛江 524088；2. 广东海洋大学深蓝智能机电产品创新团队，广东 湛江 524088；3. 广东海洋大学电子与信息工程学院，广东 湛江 524088；4. 广东海洋大学文学与新闻传播学院，广东 湛江 524088）
摘 要：传统的水产养殖监测机器人因其非生物形态的设计，不仅难以顺利进行养殖水域的信息数据采集，而且易扰乱水生生态系统的自然平衡。文章介绍了一种用于水产养殖监测的仿生机器鱼，该仿生机器鱼采用柔性TPU材料作为其结构主体，并设计有流线型外观和多鳍摆动机制，有效降低游动阻力。该机器鱼通过采用模糊PID控制算法和基于树莓派4B与STM32H750的图像处理系统，实现自主控制和智能响应，并集成多种传感器进行养殖水域信息的实时监测与采集。测试结果表明，该仿生机器鱼可自主完成数据采集、避障导航及环境监测任务，显著提升水产养殖管理的智能化水平，为复杂水下环境监测和生态可持续发展提供技术支持。
关键词：水产养殖；仿生机器鱼；流线型外观；多鳍摆动；模糊PID控制算法
A Biomimetic Robotic Fish for Aquaculture Monitoring
Author:Xu Wenxuan1,2, Yu Jiang1,2, Li Jiaxing1,3, Lin Yugui2,3, Su Weihao2,3, Luo Xiaoli4
(1.School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.Deep Blue Intelligent Mechatronics Product Innovation Team, Guangdong Ocean University, Zhanjiang 524088, China; 3.School of Electronics and Information Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 4.School of Literature, Journalism, and Communication, Guangdong Ocean University, Zhanjiang 524088, China)
Abstract: Traditional aquaculture monitoring robots, due to their non-biological form design, not only struggle to smoothly collect information and data from aquaculture waters but also easily disrupt the natural balance of aquatic ecosystems. This paper introduces a biomimetic robotic fish designed specifically for aquaculture monitoring. The biomimetic robotic fish uses flexible TPU material as its main structure, and designs a streamlined appearance and multi-fin oscillating mechanism to effectively reduce swimming resistance. The robot fish realizes autonomous control and intelligent response by using fuzzy PID control algorithm and image processing system based on Raspberry Pi 4B and STM32H750, and integrates a variety of sensors to enable real-time monitoring and data collection of aquaculture water conditions. The test results show that the biomimetic robotic fish can independently complete data acquisition, obstacle avoidance navigation and environmental monitoring tasks, significantly improve the intelligent level of aquaculture management, and provide technical support for complex underwater environmental monitoring and ecological sustainable development.
Keywords: aquaculture; biomimetic robotic fish; streamlined appearance; multi-fin oscillation; fuzzy PID control algorithm
引文信息：[1]徐文轩，余江，李佳兴，等.一种用于水产养殖监测的仿生机器鱼[J].南方农机，2025，56(11)：20-23.
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