基于Gazebo的深海网箱洗网机器人动力学仿真平台搭建  

Construction of a dynamics simulation system for net cleaning robot based on Gazebo

作　　者：邢旺 黄小华[2,3] 李根 庞国良 袁太平 XING Wang;HUANG Xiaohua;LI Gen;PANG Guoliang;YUAN Taiping(Zhejiang Ocean University,Zhoushan 316022,China;South China Sea Fisheries Research Institute,Chinese Academy of Fishery Sciences/Key Laboratory for Sustainable Utilization of Open-Sea Fishery,Ministry of Agriculture and Rural Affairs/Guangdong Cage Engineering Research Center,Guangzhou 510300,China;Sanya Tropical Fisheries Research Institute,Sanya 572024,China)

机构地区：[1]浙江海洋大学,浙江舟山316022 [2]中国水产科学研究院南海水产研究所/农业农村部外海渔业可持续利用重点实验室/广东省网箱工程技术研究中心,广东广州510300 [3]三亚热带水产研究院,海南三亚572024

出　　处：《南方水产科学》2024年第1期1-10,共10页South China Fisheries Science

基　　金：海南省科技专项资助(ZDYF2021XDYN305,ZDYF2023XDNY066);中国水产科学研究院中央级公益性科研院所基本科研业务费专项资金资助(2023TD97,2023XT06);中国水产科学研究院南海水产研究所中央级公益性科研院所基本科研业务费专项资金资助(2022TS06,2021SD10);广州市科技计划项目资助(202201010066)。

摘　　要：深海网箱养殖是重要的海水养殖模式,网箱网衣的定期清洗是确保养殖质量和安全的关键环节。目前,网衣普遍采用人工清洗,不仅费时费力,且随着深海网箱规格越来越大,人工方式难度显著提升。洗网机器人为深海网箱网衣清洗提供了更加安全、便捷的方式;然而,洗网机器人在贴网清洁和水下穿梭过程中,受力难建模、状态难观测,设计抗扰动能力强、能耗低的控制器困难,开展全面实验及数据记录成本高、时间长。针对上述问题,在物理仿真环境Gazebo的基础上,考虑了推进器和洗盘的存在,并分析了在水下环境中诸如附加质量、阻尼等各项水动力学特性以及流场环境等因素对洗网机器人的影响,构建了一套洗网机器人仿真系统,使得洗网机器人水下工作完备数据易获得、控制性能易验证、模型性能易对比,从而助力洗网机器人的控制器开发。Deep-sea cage aquaculture is an important marine aquaculture mode.Regular cleaning of cage nets is a critical step to ensure aquaculture quality and safety.Currently,nets are commonly cleaned manually,which is time-consuming and labor-intensive.As deep-sea cages grow larger,their manual cleaning become more difficult.Net washing robots provide a safer and more convenient way to clean nets for deep-sea cages.However,it is challenging to design controllers with strong disturbance resistance and low energy consumption for net washing robots,as the forces are difficult to model and the states are hard to observe during net cleaning and underwater shuttling.Moreover,conducting comprehensive experiments and data recording requires high costs and much time.To address these problems,we constructed a simulation system for a net washing robot based on the physical simulation environment Gazebo,considering the presence of thrusters and washing discs.Besides,we analyzed the effects of various hydrodynamic characteristics in underwater environment,such as added mass and damping,and factors like flow field environment on the washing robot.The established net washing robot can obtain complete data on the underwater operation of the net washing robot,verify control performance,and compare model performance more easily,thereby assisting in the controller development of washing robots.

关 键 词：洗网机器人 深海网箱 Gazebo 运动仿真 水动力建模 

分 类 号：O352[理学—流体力学] TP242.3[理学—力学]