Design And Related Technology Research Of Underwater Fishing Robot

Benthic organisms such as sea cucumbers(sea urchins)have high medicinal and economic value and broad market prospects.With the improvement of people’s living standards,the demand for sea cucumbers(sea urchins)is gradually increasing.At present,sea cucumbers(sea urchins)are mainly caught artificially due to the harsh environment,many uncertainties,certain risks and low safety factor of underwater fishing.The existing sea cucumber(sea urchin)fishing robot has simple structure,poor stability,limited number of sea cucumber(sea urchin)fishing and low fishing efficiency.Therefore,this paper designs an underwater fishing robot for underwater sea cucumber(sea urchin)fishing,and conducts relevant technical research.The overall structure of the underwater fishing robot is designed.The relevant technical parameters and mechanisms of fishing robot are analyzed.The invention relates to a navigation propulsion fin device,which adopts a crank-rocker mechanism to propel the fishing robot to move underwater,uses computer simulation technology to obtain the optimal length of connecting rod and rocker in the crank-rocker mechanism,and solves the maximum polar angle,the maximum variation coefficient of stroke speed and the minimum drive angle.The submersible floating device adopts a combination of a waterproof motor and a propeller to promote the submerging-surfacing motion of the fishing robot.The fishing mechanical claw at the end of the fishing manipulator adopts a crank-slider mechanism,and uses computer simulation technology to analyze the motion of the connecting rod and the slider to obtain the required motion parameters.This paper analyzes the key components of the pressure-resistant electronic cabin and the electronic cabin shell,defines its design method and checking requirements,and obtains the stress of the electronic cabin shell through simulation analysis.The control system of underwater fishing robot is designed.The kinematicsequations of the fishing robot in six directions are established to discuss the principle of matrix conversion between the fixed system and the dynamic system.The overall framework of motion control is drafted for the selection and design of the waterproof motor,Beagle Board driving device and Arduino Mega2560 controller.The principle and design method of camera angle conversion function are analyzed to select and design the lighting system.The pulse method to measure the distance between robot and sea cucumber is analyzed in detail by using the laser ranging technology.In the LAN control module of CSMA/CD technology,it is analyzed that the controller changes the IP setting and subnet mask of the computer wireless network and enters the LAN operation platform of CSMA/CD technology to realize the underwater motion control and shooting of the underwater fishing robot.In the seal and balance design of underwater fishing robot,the importance of sealing is analyzed,and static sealing design is carried out.In the static seal design,the O-ring seal principle,size design and selection,ring type checking,installation position and actual seal effect in actual manufacturing are analyzed.In terms of balance,the importance and calculation methods of center of gravity position,floating center position and stable center height are analyzed.The force of the fishing robot in the vertical direction is analyzed underwater,drawing that the buoyancy is greater than the gravity.Then by calculating the coordinate difference between the center of gravity position and the floating center position,it can be verified that the fishing robot has a good balance when moving underwater.The hydrodynamic performance of the underwater fishing robot is analyzed.The principles of control equation and turbulence model are analyzed using fluid simulation theory.In the process of hydrodynamic simulation,necessary simplification of the model is carried out,then apply computational domain,divide grids,set boundary conditions and carry out calculation based on CFD technology to simulate graphs of lifting force,resistance,moment and residual error,as well as four hydrodynamic images of positive pressure,pressure cloud,streamline distribution and velocity cloud.It is concluded that the tail of the fishing robot is separated by flow,and the pressure on the head of the pressure-resistant electronic cabin is relatively high,which provides a theoretical basis for future design and manufacture.The underwater motion of the pressure-resistant electronic cabin of the underwater fishing robot and the shooting experiments at different angles are analyzed.It is verified that the pressure-resistant electronic cabin of the fishing robot moves well in the sixdirections underwater in the CSMA/CD LAN motion control interface,and the pictures taken from different perspectives are clear and bright.The shell of the pressure-resistant electronic cabin is in good stress condition and has no deformation.The O-ring is appropriately selected and accurately installed,and the joints of pressure-resistant electronic cabin,battery compartment and end cover are sealed well.