摘要：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.
关键词：Robot fish; image acquisition; binarization; linear regression.
