水产养殖水下机器人研究进展  

Progress of underwater robots for aquaculture

作　　者：夏英凯 朱明[1,2] 曾鑫 王懿偲 齐湘洪 XIA Yingkai;ZHU Ming;ZENG Xin;WANG Yicai;QI Xianghong(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment in Mid-Lower Yangtze River,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院,武汉430070 [2]农业农村部长江中下游农业装备重点实验室,武汉430070

出　　处：《华中农业大学学报》2021年第3期85-97,共13页Journal of Huazhong Agricultural University

基　　金：中央高校基本科研业务费专项(2662020GXQD003);国家自然科学基金项目(52001132)。

摘　　要：水产养殖是世界范围内食品领域发展最快的行业之一,为人类提供了超过一半的水产品。但是,水产养殖目前面临机械化、自动化程度较低以及产量及效率不高等问题,因此迫切需要转型升级。水下机器人是一种机动灵活的水下作业装备,与传统的水下作业手段相比,在作业方式、范围、适应能力等方面具有明显的优势,应用于水产养殖监测及作业后,有望改变现有养殖模式,推进水产养殖业向机械化、工程化、智慧化、智能化转型,缓解水产养殖业的发展危机。尽管水下机器人近年来得到了蓬勃发展,但是目前在水产养殖业的推广应用仍非常有限,而且尚有诸多技术瓶颈未得到解决。本文面向水产养殖水下机器人的应用实际,对水质监测、视频监控及传输、目标识别与定位、高精度水下导航、智能规划与控制、机器人-机械手系统精准作业等关键技术进行了详细分析,并展望了未来的发展方向,以期为水产养殖水下机器人的研究和应用提供综合性参考。Aquaculture is one of the fastest growing industries in the food industry worldwide,providing more than half of the aquatic products for human beings.However,aquaculture is currently facing problems including low degree of mechanization and automation,low production and efficiency,and so on.Therefore,it is urgent to be transformed and upgraded.The underwater robot is a mobile and flexible underwater operation equipment.Compared with traditional underwater operations,it has obvious advantages in terms of operating methods,scope,and adaptability.After being applied to aquaculture monitoring and operations,it is expected to change the existing aquaculture mode,promote the transformation of the aquaculture industry to mechanization,engineering and intelligence,and alleviate the development crisis of the aquaculture industry.Although underwater robots have developed vigorously in recent years,its application in the aquaculture industry is still very limited,and there are still many technical bottlenecks that have not been resolved.This article focuses on the practical application of underwater robots for aquaculture,and analyzes the key technologies covering water quality monitoring,video surveillance and transmission,target recognition and positioning,high-precision underwater guidance,intelligent planning and motion control,and precise operations of underwater vehicle-manipulator systems in detail.The direction of future development is prospected to provide a comprehensive reference for studying and applying underwater robots for aquaculture.

关 键 词：精准水产养殖 水下机器人 水质监测 目标识别定位 智能规划控制 图像捕捉与采集 柔性机械手 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]