摘要
为了实现水下机器人捕捞海参的功能,设计一种面向海参捕捞的水下机器人系统,在实现海参捕捞的同时降低操作要求和成本.系统总体方案包括供电系统、捕捞系统、传送系统、推进系统、平衡和定位系统以及防撞气囊等子系统;根据捕捞海参的实际需求,对各子系统的机械结构和尺寸进行设计,并采用SolidWorks完成整体系统的三维建模;对水下拍摄的海参图像采用多种图像处理方法进行对比分析,并针对水下机器人的定位装置实现动力定位控制;通过仿真验证系统设计的有效性.
In order to complete sea cucumber fishing,an underwater robot system for sea cucumber fishing is designed to reduce the operation requirement and costs.The overall system involves the design of subsystems such as power supply systems,fishing systems,transmission systems,propulsion systems,balancing and positioning systems,and anti-collision airbags.According to the actual requirements of sea cucumber fishing,the mechanical structure and size of each subsystem were designed,and SolidWorks was used to complete the three-dimensional modeling of the whole system.The sea cucumber images taken underwater are compared and analyzed by various image processing methods,and the dynamic positioning control is taken for the positioning device of underwater robots,and the validity of the system design is verified by simulations.
作者
施昕昕
朱晨阳
卢鹏程
SHI Xin-xin;ZHU Chen-yang;LU Peng-cheng(School of Automation,Nanjing Institute of Technology,Nanjing 211167,China;College of Artificial Intelligence,Beijing Technology and Business University,Beijing 100048,China)
出处
《南京工程学院学报（自然科学版）》
2020年第4期43-48,共6页
Journal of Nanjing Institute of Technology(Natural Science Edition)
基金
国家自然科学基金青年基金项目(51505213)
江苏高校“青蓝工程”基金项目
南京工程学院校级科研基金项目(CKJA201903)。
关键词
海参捕捞机器人
三维建模
图像处理
定位控制
sea cucumber fishing robots
three-dimensional modeling
image processing
positioning control
