Design And Research Of An Open-frame Sea Cucumber Fishing Robot

This thesis takes the open-frame sea cucumber fishing ROV as the research object,and conducts in-depth research on structural design,dynamic modeling and control system.The experiments of underwater movement and sea cucumber fishing performance were also carried out.Based on the in-depth analysis of the functional requirements of the robot,this thesis has carried out a hierarchical modular design of its structure.It mainly includes the calculation and selection of the robot thruster and the scheme design of layout,the selection of the main frame and buoyancy matching materials,the structural design,the underwater lighting of the robot,the selection and layout design of the CCD,the design of the robot electronic seal cabin and its fixing method,the sea cucumber suction component design,etc.Aiming at the situation of the robot in hoisting and stationary,the finite element analysis software is used to calculate and simulate the reliability of the structural strength of the main frame,which verifies the reliability of the robot under the above conditions.The dynamic model of the sea cucumber fishing robot is established,The dynamic model is simplified and analyzed according to the working environment and structural characteristics of the sea cucumber fishing robot.The hydrodynamic performance was analyzed by computational fluid dynamics software,obtained by quadratic curve fitting related hydrodynamic coefficients.Based on the above research,the identification of unknown parameters in the kinetic model is completed,and the establishment of the kinetic model is finally completed.The applicability of the PID double closed-loop control algorithm in the robot depth determination and attitude stabilization control is deeply studied.On this basis,the control system is developed.Through these,the controllable acceleration and deceleration of the robot's ascending and descending,level and rotation in all directions,and uniform and smooth motion are realized.as well as the suction and fishing of the target sea cucumber.In this thesis,the robot prototype is developed,and a underwater movement experiment and an underwater fishing experiment are carried out successively.The rationality of the robot structure,the stability of the control system and the applicability of sea cucumber fishing are fully verified through experiments.