基于机器视觉的渔业垃圾收集机器人设计  

Design of Fishery Garbage Collection Robot Based on Machine Vision

作　　者：赵海钦 牟铭睿 王小荣 Zhao Haiqin;Mou Mingrui;Wang Xiaorong(School of Intelligent Manufacturing and Modern Industry,Xinjiang University,Urumqi,China;Engineering Training Center,Xinjiang University,Urumqi,China)

机构地区：[1]新疆大学智能制造现代产业学院,新疆乌鲁木齐 [2]新疆大学工程训练中心,新疆乌鲁木齐

出　　处：《科学技术创新》2024年第20期217-220,共4页Scientific and Technological Innovation

基　　金：2023年国家级大学生创新训练计划(202310755027)。

摘　　要：随着渔业的高速发展,大量的渔业垃圾被投放入海洋,海洋污染愈发严重,海洋生物的生命受到了严重的威胁。为了收集海洋中的垃圾,本文设计了一种新型的渔业垃圾收集机器人,以基于机器视觉技术为核心,实现对渔业垃圾的高效收集。为了实现该目的,本文进行了机器人仿生结构、收集和储存装置和智能检测系统等方面的全面设计,以确保各部分功能和工作方式的协调性和高效性。在机器人的控制设计方面,本文采用ROS框架和A*算法对机器人上位机进行了部署,能够实现对机器人的避障和巡航控制。经过对机器人样机的大量测试,结果表明:该机器人的结构设计、控制算法和上位机部署等方面较好,在水面环境下具有出色的适应能力。With the rapid development of fishery,a large number of fishery garbage is put into the ocean,marine polluti-on is becoming more and more serious,and the life of marine organisms has been seriously threatened.In order to achieve this purpose,this paper carries out a comprehensive design of the robot's bionic structure,collection and storage device,and intelligent detection system to ensure the coordination and efficiency of the functions and working methods of each part.In terms of the control design of the robot,this paper uses the ROS framework and A*algorithm to deploy the robot host comp-uter,which can realize the obstacle avoidance and cruise control of the robot.After a large number of tests on the prototype of the robot,the results show that the robot has good structural design,control algorithm and host computer deployment,and has excellent adaptability in the water environment.

关 键 词：渔业垃圾清理 路径规划 ROS框架 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] X52[自动化与计算机技术—控制科学与工程]