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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 centroiddoi:10.2478/cait-2018-0043 fatcat:gee5f5ubhfhf5fpsmwtnhfzah4