大型养殖工船养殖舱壁清洁机器人设计  

Design of the Cleaning Robot for Breeding Tank Wall of the Aquaculture Vessel

作　　者：林礼群 王云杰[1] LIN Li-qun;WANG Yun-jie(Fishery Machinery and Instrument Research Institute,Chinese Academy of Fishery Sciences,Key Laboratory of Fishery Equipment and Engineering,Ministry of Agriculture,Shanghai 200092,China)

机构地区：[1]中国水产科学研究院渔业机械仪器研究所,农业部远洋渔船与装备重点实验室,上海200092

出　　处：《船海工程》2023年第1期16-20,共5页Ship & Ocean Engineering

基　　金：浙江省科技计划项目(2019C02087);中国水产科学研究院渔业捕捞装备创新团队(2020TD80)。

摘　　要：为解决深远海大型养殖工船养殖舱壁水下智能清洗问题,制定水下清洁机器人本体结构与控制系统方案,分析其机器人力学特性,计算满足稳定行走不倾覆与打滑的最小磁吸力要求,阐述基于机器视觉的清洁度图像识别的具体实现方法。制作水下清洁机器人样机,并在养殖工船中试船上开展机器人清洗验证试验,结果显示,机器人平均清洗效率为413 m^(2)/h,清洗效果良好,满足技术要求。In order to solve the problem of underwater intelligent cleaning for the breeding tank wall of aquaculture vessel,the structure and control system scheme of underwater cleaning robot were studied.By analyzing the mechanical characteristics of the robot,the minimum magnetic force was calculated to meet the requirements of stable walking without overturning and slipping.The specific implementation method of cleanliness image recognition based on machine vision was elaborated.The prototype of underwater cleaning robot was made,and cleaning verification test was carried out on the test aquaculture ship.Test results showed that the average cleaning efficiency of the robot is 413 m^(2)/h,so the cleaning effect is good,which meets the technical requirements.

关 键 词：水下清洁机器人 养殖工船 磁力吸附 清洁度识别 清洗试验 

分 类 号：U672.7[交通运输工程—船舶及航道工程]