Overall Design Of ROV For Deep-Sea Aquaculture Netting Dead Fish Cleaning

Remote Operated Vehicle(ROV)has a broad application prospect in the fields of underwater structure inspection,marine biological observation,underwater archaeology,fishery resources investigation,etc.Among them,the development of ROV for dead fish cleaning in deep-sea aquaculture nets is of great significance for aquaculture,environmental monitoring,disease prevention and control in deep-sea waters of China.The purpose of this study is to design and develop a modular ROV for dead fish cleaning in deep-sea aquaculture nets,which can not only quickly clean up dead fish in large quantities,but also complete the tasks of underwater environmental monitoring and netting damage detection.In this paper,based on the study of existing ROV designs at home and abroad,a crawler type underwater dead fish cleaning ROV is designed according to the deep and distant marine aquaculture net tank environment and ROV functional requirements,and the following research work is conducted:The overall plan of ROV with underwater dead fish cleaning operation function is proposed for the deep-sea aquaculture net tank environment.Firstly,the functional requirements and performance indexes of the dead fish cleaning ROV are summarized according to the thesis objectives,and the ROV is divided into crawler drive system module,underwater control system module,control cabin module,underwater sensing system module,cleaning operation system module and main frame module according to the modular design idea.Secondly,according to the functional requirements and performance indexes of ROV,the scheme design of each key module was completed,and finally the overall layout and 3D model virtual assembly of ROV was completed.According to the overall plan of underwater dead fish cleaning ROV and combined with the actual working environment,the mechanical structure design and strength check of key modules of ROV were carried out.Firstly,the mechanical structure design and selection calculation of the crawler drive system;secondly,the structural design and calculation of the cleaning system;the structural design of the control module was completed and the strength and stability of the control module was checked using theoretical calculation and finite element simulation software;the design of the main frame of the ROV and finite element static simulation analysis were completed;finally,the calculation of the gravity,buoyancy,center of gravity and buoyancy of the ROV was completed.Finally,the calculation of gravity,buoyancy,center of gravity and floating center of ROV was completed,which verified its underwater stability and met the operational requirements.For the problem of underwater dead fish cleaning ROV water resistance calculation,the dead fish cleaning ROV near the wall surface movement and the net clothing surface movement resistance calculation.According to the calculation process of STAR-CCM+ software,the numerical calculation results of the water resistance of the dead fish cleaning ROV under different operating surfaces were compared and analyzed.For the performance verification of underwater dead fish cleaning ROV cleaning system,firstly,the T80 S propeller thruster model was simulated using STAR-CCM+ software and compared and analyzed with the existing experimental data,which matched with the experimental thrust curve.Secondly,the simulation of the whole cleaning system,mainly calculate the pressure difference between the area to be cleaned and the box,the dead fish cleaning ROV cleaning performance verification,the results meet the design requirements.