Design of Wireless Mobile Environment Monitoring System Based on Spherical Amphibious Robots

A wireless mobile environmental monitoring system based on spherical amphibious robots is proposed in this paper, which is used to monitor environmental data in aquaculture. The control interface is designed by using labViewto display the collected environmental data. The XBee module is used to realize the wireless communication between robot and PC. The robot is equipped with temperature and humidity sensors, pressure sensors and high-definition cameras to collect environmental information. An adaptive weighted fusion algorithm is proposed for deal with the multi source data collected by multiple robots and improve the accuracy of data. In this paper, the underwater kinematic model of amphibious robot is established, and the proportional-integral-derivative(PID) controller is designed to control the depth of spherical amphibious robot. The simulation and experimental results verified the effectiveness of the system.