<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Based on the simplified fish motion model, a robot fish which could detect the oil leakage point of pipeline was designed by the method of single-joint driving. The Hawkeye OV7725 was used to design the image acquisition module to obtain the current movement of the fish and the current pipeline situation and the collected data was processed for making the relevant decisions to achieve the direction of movement control with the STM32 microcontroller. On the basis of binarization image centroid method, the image recognition algorithm was studied. By using the coordinates of the white point in the two-dimensional array, a linear regression equation which can reflect the distribution trend of the white point in a frame image was designed and the motion direction of the current robot could be detected. Since the linear regression equation converge to the characteristics of discrete data points, the oil leakage point inside the white area of the image could be detected. Experiment results showed that the robot fish can effectively complete the oil spill point detection task.</p></abstract>

Based on the simplified fish motion model, a robot fish which could detect the oil leakage point of pipeline was designed by the method of single-joint driving. The Hawkeye OV7725 was used to design the image acquisition module to obtain the current movement of the fish and the current pipeline situation and the collected data was processed for making the relevant decisions to achieve the direction of movement control with the STM32 microcontroller. On the basis of binarization image centroid method, the image recognition algorithm was studied. By using the coordinates of the white point in the two-dimensional array, a linear regression equation which can reflect the distribution trend of the white point in a frame image was designed and the motion direction of the current robot could be detected. Since the linear regression equation converge to the characteristics of discrete data points, the oil leakage point inside the white area of the image could be detected. Experiment results showed that the robot fish can effectively complete the oil spill point detection task.

Study on the Design and Control of Pipeline Leak Detection Robot Fish

Department of Disaster Prevention Instrument, Institute of Disaster Prevention

Cybernetics and Information Technologies

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Study on the Design and Control of Pipeline Leak Detection Robot Fish"}

Based on the simplified fish motion model, a robot fish which could detect the oil leakage point of pipeline was designed by the method of single-joint...

Study on the Design and Control of Pipeline Leak Detection Robot Fish

Published Online: Sep 19, 2018

Page range: 120 - 131

Received: Oct 23, 2017

Accepted: Jun 25, 2018

DOI: https://doi.org/10.2478/cait-2018-0043

Keywords
Robot fish, image acquisition, binarization, linear regression

© 2018 Jian-xian Cai et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Study on the Design and Control of Pipeline Leak Detection Robot Fish

Published Online: Sep 19, 2018

Page range: 120 - 131

Received: Oct 23, 2017

Accepted: Jun 25, 2018

DOI: https://doi.org/10.2478/cait-2018-0043

KeywordsRobot fish, image acquisition, binarization, linear regression

© 2018 Jian-xian Cai et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Robot fish, image acquisition, binarization, linear regression