Research On Image Processing And Control System Of Sea Cucumber Fishing Robot

Underwater robots are widely used in Marine resources exploitation,Marine biological exploration,submarine engineering applications and so on.They play an important role in the seabed where human beings cannot be involved or stay for a long time.The ocean has rich biological and mineral resources,so it is of great significance and practical value to develop a Marine biological fishing robot.Among them,the emphases of research and development are the structure design,kinematics modeling and parameter identification,image processing of underwater Marine organisms and control system design of underwater robot.In this paper,the structure of the sea cucumber fishing robot is designed according to the project requirements and tasks firstly.According to the robot's required function and operating environment,the shell structure is analyzed and designed mainly for carrying the hardware structure of the robot and storing the caught sea cucumber.ANSYS software is used to check the strength of the outer shell structure.The grasping manipulator device and the sea cucumber basket components that can be used to grasp,transfer and store sea cucumber are designed.The driving mode and working process of the manipulator are studied.According to the tasks of the robot,we can determine the selection and distribution of thrusters;Then,we design the underwater capsule and check the performance of the capsule by using ANSYS software and theoretical analysis,while the sealing method and buoyancy material selection of the robot were introduced in detail.Secondly,sea cucumber harvesting robot kinematics and dynamics model is set up.According to the actual situation,decoupling simplified analysis is reasonably in the mathematical model and the three-dimensional model of the sea cucumber harvesting robot is simplified reasonably,Computational fluid dynamic method was carried out on the fluid mechanics simulation analysis of the sea cucumber harvesting robot by using CFD.In addition,MATLAB was used for curve fitting of simulation data to complete parameter identification of mathematical model,and the complete kinematics model of sea cucumber fishing robot was finally obtained.OpenCV contrast limited adaptive histogram equalization and other methods were used to process the collected underwater sea cucumber images,and the image processing results were objectively evaluated by image quality evaluation indexes to determine the feasibility and effectiveness of the scheme.Finally,the control system of sea cucumber fishing robot is established,the hardware equipment of the control system is designed,and its hardware performance is analyzed.Determining the communication mode of the control system and studying the control algorithm of grabbing manipulator and propeller propeller respectively,we will finally complete the control system designing.