水产养殖水下作业机器人关键技术研究进展  

Research progress on key technologies of underwater operation robot for aquaculture

作　　者：李道亮[1,2] 包建华 Li Daoliang;Bao Jianhua(College of Information and Electrical Engineering,China Agricultural University,Beijing 100083,China;School of Electrical Engineering and Automation,Jiangsu Normal University,Xuzhou 221116,China;Beijing Engineering and Technology Research Center for Internet of Things in Agriculture,Beijing 100083,China)

机构地区：[1]中国农业大学信息与电气工程学院,北京100083 [2]北京农业物联网工程技术研究中心,北京100083 [3]江苏师范大学电气工程及自动化学院,徐州221116

出　　处：《农业工程学报》2018年第16期1-9,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家国际科技合作专项项目(2015DFA00090;2015DFA00530)

摘　　要：传统水产养殖的水下作业任务主要依靠人工完成,劳动强度大,危险性高,水产养殖水下作业面临严峻的人工危机。随着技术进步和制造成本的降低,将水下机器人应用于水产养殖作业有着巨大的需求空间。机器人水下捡拾作业强耦合、多干扰、时变、多体、多环节、作业目标规格形状不一,且作业的精度和速度要求高,机器人水下精准作业是困扰水产养殖界多年的公认难题。本文在对水下机器人-机械手系统(underwater vehicle-manipulator system,UVMS)进行了系统分析的基础上,从弱光照、强耦合、非结构化海洋环境下UVMS的精准捕捞作业目标识别、时变多体捡拾作业条件下水下机器人-机械手系统动力学模型、多扰动条件下目标动物位置识别与定位模型、多约束条件下浅海养殖精准捡拾作业的优化控制等4个方面,对UVMS捕捞作业所涉及的关键技术的地位、国内外研究现状展开分析与讨论,并对所述关键技术的研究前景进行了展望,以期为水产养殖水下作业机器人软件开发提供理论依据和综合性参考。Underwater operations in the traditional aquaculture are mainly carried out by manual labor,and it is labor-intensive and dangerous,at the same time the aquaculture industry is facing a severe labor crisis.With the advancement of technologies and the reduction of manufacturing costs,there is a huge demand for the application of underwater robots for aquaculture operations.The underwater vehicle-manipulator system(UVMS)is a new type of underwater operational robots.In recent years,the research of UVMS has gradually attracted the attention of scholars at home and abroad,and the application of UVMS to aquaculture fishing operations has a broad prospect.UVMS is a multibody dynamics system with dynamic coupling between the robot body and the manipulator.The modeling and control of the UVMS in the floating situation is very complicated,and its coupling control is not only affected by the conservation of momentum,but also affected by hydrodynamics.In addition,the aquaculture underwater operation environment is complex,the light is dim,the ocean current is time-varying,the target animals(sea cucumber,dead fish)are different in size,and the precision and speed requirements of the fishing operation are high,and the rapid identification of target animals and precision fishing operations are recognized challenges for the aquaculture community for many years.The application of UMVS to aquaculture fishing operations requires addressing several key technical issues,such as real-time target object recognition in complex environment,dynamics analysis and modeling of the UVMS as a multibody object,dynamic estimation of the underwater vehicle position relative to a target object,and constrained optimal guidance and control of UVMS under uncertainties.In order to provide a theoretical basis and comprehensive reference for the software development of aquaculture underwater robots,this paper focuses on the analysis and discussion of the role as well as the domestic and foreign research status of the aforementioned key technologies inv

关 键 词：水产养殖 机器人 控制 导航 水下机器人 目标识别 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]