摘要
为助力水产养殖现代化发展,针对渔业环境检测和水生物监视需求,设计了一款便携式水下机器人。首先提出了总体结构设计方案,在确立便携式水下机器人整体外形的基础上,对耐压舱体进行模块化设计,同时完成动力执行机构的布局与具体器件选择;然后考虑机器人在水产养殖中的实际需求,搭建了以STM32为核心的电控系统,旨在实现各项水质参数检测和水生物的生长状况监视;最后在完成了样机可靠性验证实验及推进器的推力性能测试的基础上,对渔情监视作业任务进行了视景展示。该机器人制造和使用成本低、操作简单,对渔业智能装备的技术创新具有一定参考意义。
To help the development of aquaculture modernization,a portable underwater vehicle is designed to meet the requirements of fishery environment detection and aquatic biological monitoring.Firstly,the total structure design scheme is proposed.After establishing the overall shape of the portable underwater vehicle,the modular design of the pressure cabin is carried out,and the layout and specific model selection of the power actuator are completed.Then,considering the practical needs of robots in aquaculture,the functional framework of the electric control system with the core of STM32 is built to realize the detection of various water quality parameters and the monitoring of aquatic organisms’growth.Finally,on the basis of the reliability verification experiment of the portable underwater vehicle prototype and the thrust performance test of the thruster,the visual display of the fishing situation monitoring task is carried out in the simulation environment.The robot is valuable to the technological innovation of intelligent fishery equipment because of the low cost of manufacture and use and simple operation.
作者
孙栋
汤奇荣
李江
崔国华
SUN Dong;TANG Qirong;LI Jiang;CUI Guohua(Institute of Intelligent Collaborative Robot,School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Laboratory of Robotics and Multibody System,School of Mechanical Engineering,Tongji University,Shanghai 201804,China)
出处
《自动化与仪表》
2023年第7期47-51,56,共6页
Automation & Instrumentation
基金
国家自然科学基金项目(61873192)
“十四五”装备预研共用技术项目(50912030501)。
关键词
水产养殖
环境检测
水下机器人
机械设计
机电一体化
视景仿真
aquaculture
environmental detection
underwater vehicle
mechanical design
mechatronics
visual simulation
