Citation: | XING Wang, HUANG Xiaohua, LI Gen, PANG Guoliang, YUAN Taiping. Construction of a dynamics simulation system for net cleaning robot based on Gazebo[J]. South China Fisheries Science, 2024, 20(1): 1-10. DOI: 10.12131/20230189 |
Deep-sea cage aquaculture is an important marine aquaculture mode. Regular cleaning of cage nets is a critical step to ensure aquaculture quality and safety. Currently, nets are commonly cleaned manually, which is time-consuming and labor-intensive. As deep-sea cages grow larger, their manual cleaning become more difficult. Net washing robots provide a safer and more convenient way to clean nets for deep-sea cages. However, it is challenging to design controllers with strong disturbance resistance and low energy consumption for net washing robots, as the forces are difficult to model and the states are hard to observe during net cleaning and underwater shuttling. Moreover, conducting comprehensive experiments and data recording requires high costs and much time. To address these problems, we constructed a simulation system for a net washing robot based on the physical simulation environment Gazebo, considering the presence of thrusters and washing discs. Besides, we analyzed the effects of various hydrodynamic characteristics in underwater environment, such as added mass and damping, and factors like flow field environment on the washing robot. The established net washing robot can obtain complete data on the underwater operation of the net washing robot, verify control performance, and compare model performance more easily, thereby assisting in the controller development of washing robots.
[1] |
侯海燕, 鞠晓晖, 陈雨生. 国外深海网箱养殖业发展动态及其对中国的启示[J]. 世界农业, 2017(5): 162-166.
|
[2] |
徐皓, 陈家勇, 方辉, 等. 中国海洋渔业转型与深蓝渔业战略性新兴产业[J]. 渔业现代化, 2020, 47(3): 1-9.
|
[3] |
韩立民, 王金环. “蓝色粮仓”空间拓展策略选择及其保障措施[J]. 中国渔业经济, 2013, 31(2): 53-58.
|
[4] |
朱玉东, 鞠晓晖, 陈雨生. 我国深海网箱养殖现状、问题与对策[J]. 中国渔业经济, 2017, 35(2): 72-78.
|
[5] |
张汉华, 梁超愉, 吴进锋, 等. 大鹏湾深水网箱养殖区的污损生物研究[J]. 中国水产科学, 2003, 10(5): 414-418.
|
[6] |
彭安华, 刘成文, 陆波. 一种带有清洗装置和数据采集系统的深水网箱[J]. 南方农业, 2016, 10(3): 169-171.
|
[7] |
宋协法, 孙跃, 何佳, 等. 深水网箱清洗技术及装备研究进展[J]. 渔业现代化, 2021, 48(5): 1-9.
|
[8] |
ALBITAR H, ANANIEV A, KAZAKOV I. In-water surface cleaning robot: concept, locomotion and stability[J]. Int J Mechatron Autom, 2014, 4(2): 104-115. doi: 10.1504/IJMA.2014.062338
|
[9] |
OSAKA T, NORITA J. Submersible cleaning robot: US20060282503[P]. 2014-06-24.
|
[10] |
JENSEN V. Fish farm cleaning robot: NO20170580A1[P]. 2018-10-08.
|
[11] |
FORD M. Net cleaning device for in-situ cleaning of a submerged net, propeller for use with net cleaning device, method and system: WO2020069556A1[P]. 2020-04-09.
|
[12] |
庞洪臣, 杨芳, 俞国燕, 等. 一种新型深海网箱清洗机器人: CN107052002A[P]. 2017-08-18.
|
[13] |
青岛炬荣工程科技有限公司. 空化射流水下网衣清洗机器人: CN201910677594.2[P]. 2019-10-18.
|
[14] |
付宗国, 杨俭健, 刘莹莹, 等. 一种深水网箱养殖水下智能清理机器人: CN103144118A[P]. 2013-06-12.
|
[15] |
青岛森科特智能仪器有限公司, 烟台中集蓝海洋科技有限公司. 一种模块化网箱水下机器人: CN202021730216.0[P]. 2021-04-23.
|
[16] |
LINDGREN P B. Aquaculture cage screen and cleaning apparatus: US 2012/0260443 A1[P]. 2012-10-18.
|
[17] |
LINDGREN P B. Fish cage screen and cleaning apparatus: US 2012/0260861 A1[P]. 2012-10-18.
|
[18] |
飞马滨 (青岛) 智能科技有限公司. 一种用于海洋牧场网箱清洗的水下机器人: CN202110996755.1[P]. 2021-11-26.
|
[19] |
FARLEY A, WANG J, MARSHALL J A. How to pick a mobile robot simulator: a quantitative comparison of CoppeliaSim, Gazebo, MORSE and Webots with a focus on accuracy of motion[J]. Simul Model Pract Th, 2022, 120: 102629. doi: 10.1016/j.simpat.2022.102629
|
[20] |
李志文, 程志江, 杜一鸣, 等. 基于ROS的清洁机器人运动控制研究[J]. 计算机仿真, 2023, 40(4): 455-460.
|
[21] |
KOENIG N, HOWARD A. Design and use paradigms for Gazebo, an open-source multi-robot simulator[C]//2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No. 04CH37566). IEEE, 2004, 3: 2149-2154.
|
[22] |
MANHÈS M M M, SCHERER S A, VOSS M, et al. UUV Simulator: a Gazebo-based package for underwater intervention and multi-robot simulation[C]//OCEANS 2016 MTS/IEEE Monterey, Monterey, CA, USA, 2016: 1-8. DOI: 10.1109/OCEANS.2016.7761080.
|
[23] |
JOUNG T H, SAMMUT K, HE F, et al. Shape optimization of an autonomous underwater vehicle with a ducted propeller using computational fluid dynamics analysis[J]. Int J Nav Archit Ocean Eng, 2012, 4(1): 44-56. doi: 10.2478/IJNAOE-2013-0077
|
[24] |
刘开周, 赵洋. 水下机器人建模与仿真技术[M]. 北京: 科学出版社, 2020: 28.
|
[25] |
宋伟刚. 机器人学: 运动学、动力学与控制[M]. 北京: 科学出版社, 2007: 78.
|
[26] |
FOSSEN, THOR I. Handbook of marine craft hydrodynamics and motion control[M]. Hoboken: Wiley, 2011: 15-52.
|
[27] |
LIMARCHENKO O, SEMENOVICH K. Effect of the Coriolis forces on dynamics of the system reservoir-liquid under uniform outflowing[J]. Math Model Comput, 2018, 5(1): 34-40. doi: 10.23939/mmc2018.01.034
|
[28] |
潘昊东, 王志光, 刘纯虎. 流线型高速 ROV 螺旋桨水动力性能分析[J]. 舰船科学技术, 2020, 42(12): 41-46.
|
[29] |
BERG V. Development and commissioning of a DP system for ROV SF 30k[D]. Trondheim: Norwegian University of Science and Technology, 2012: 30-31.
|
[30] |
ANTONELLI G. Underwater robots[M]. Berlin: Springer, 2018: 57.
|
[31] |
CHRIST R D, WERNLI R L. ROV技术手册: 水下机器人使用指南[M]. 中国造船工程学会《船舶工程》编辑部译. 上海: 上海交通大学出版社, 2018: 19-38.
|
[32] |
RUE H, HELD L. Gaussian Markov random fields: theory and applications[M]. New York: Chapman and Hall/CRC, 2005: 15-82.
|
[1] | ZHANG Gongjun, YANG Changping, LIU Yan, ZHOU Wenli, SHAN Binbin, WANG Liangming, WANG Sihan, SUN Dianrong, JIA Chunbin. Pattern of fish community and its relationship with environmental factors in Fangchenggang (Qinzhou coastal area of Beibu Gulf)[J]. South China Fisheries Science, 2022, 18(4): 20-33. DOI: 10.12131/20210255 |
[2] | GONG Yuyan, XIAO Yayuan, XU Shannan, LIU Yong, YANG Yutao, HUANG Zirong, LI Chunhou. Zooplankton community structure in Hailing Bay and its relationship with primary environmental factors[J]. South China Fisheries Science, 2019, 15(6): 49-55. DOI: 10.12131/20180220 |
[3] | WANG Yanfeng, HU Qiwei, YU Jing, CHEN Pimao, SHU Liming. Effect assessment of fishery resources proliferation in Zhelin Bay marine ranching in eastern Guangdong[J]. South China Fisheries Science, 2019, 15(2): 12-19. DOI: 10.12131/20180143 |
[4] | MA Huan, QIN Chuanxin, CHEN Pimao, LIN Huijie, DUAN Dingyu. Valuation of ecosystem service of marine ranching in Zhelin Bay[J]. South China Fisheries Science, 2019, 15(1): 10-19. DOI: 10.12131/20180041 |
[5] | MA Huan, QIN Chuanxin, CHEN Pimao, FENG Xue, YUAN Huarong, LI Xiaoguo, LIN Huijie. Study of biomass carbon storage in Zhelin Bay marine ranch of South China Sea[J]. South China Fisheries Science, 2017, 13(6): 56-64. DOI: 10.3969/j.issn.2095-0780.2017.06.007 |
[6] | YUAN Huarong, CHEN Pimao, QIN Chuanxin, LI Xiaoguo, ZHOU Yanbo, FENG Xue, YU Jing, SHU Liming, TANG Zhenzhao, TONG Fei. Seasonal variation of fish community structure in Zhelin Bay, the South China Sea[J]. South China Fisheries Science, 2017, 13(2): 26-35. DOI: 10.3969/j.issn.2095-0780.2017.02.004 |
[7] | TONG Fei, QIN Chuanxin, YU Jing, CHEN Pimao. Ecological basis assessment of artificial reef site selection in Liuniu coastal waters of Zhelin Bay, Eastern Guangdong[J]. South China Fisheries Science, 2016, 12(6): 25-32. DOI: 10.3969/j.issn.2095-0780.2016.06.004 |
[8] | LIAO Xiuli, CHEN Pimao, MA Shengwei, CHEN Haigang. Community structure of phytoplankton and its relationship with environmental factors before and after construction of artificial reefs in Yangmeikeng, Daya Bay[J]. South China Fisheries Science, 2013, 9(5): 109-119. DOI: 10.3969/j.issn.2095-0780.2013.05.017 |
[9] | GU Yangguang, LIN Qin, WANG Zenghuang, MA Shengwei, LU Tengteng, KE Changliang, DU Feiyan. Spatial distribution and potential ecological risk assessment of heavy metals in Zhelin Bay sediments and its vicinity, China[J]. South China Fisheries Science, 2013, 9(2): 32-37. DOI: 10.3969/j.issn.2095-0780.2013.02.006 |
[10] | JIANG Zengjie, FANG Jianguang, MEN Qiang, WANG Wei. Studies on the interaction between shellfish long-line culture and environment in Sungo Bay[J]. South China Fisheries Science, 2006, 2(1): 23-29. |
1. |
李珊,高延奇,赵立宁,王莎,陈善真. 丁香酚和2-苯氧乙醇对不同品系罗非鱼的麻醉效果比较. 水产学杂志. 2025(02): 64-73 .
![]() | |
2. |
宋霖,陈小江,高鹏. 常温下三卡因和丁香酚对条纹小鲃的麻醉效果研究. 水产科学. 2024(01): 144-151 .
![]() | |
3. |
吴冰,董秀金,徐一力,许建和. 丁香酚慢性麻醉对红鲫血液生理及肝脏hsp70和hsp90mRNA表达量的影响. 河北渔业. 2024(05): 17-21 .
![]() | |
4. |
董秀金,徐一力,吴冰,许建和. 鱼类麻醉保活运输研究进展. 河北渔业. 2024(06): 41-46 .
![]() | |
5. |
谢希尧,区又君,徐淑玉,林欣,李加儿,肖裕杰. MS-222和丁香酚胁迫对四指马鲅幼鱼鳃及肝脏组织微观结构的影响. 广东农业科学. 2024(05): 144-154 .
![]() | |
6. |
黄琼叶,张建明,朱友芳,许秋龙. 丁香酚对细点石斑鱼麻醉效果及肝脏生理生化指标的影响. 河北渔业. 2024(10): 24-29 .
![]() | |
7. |
周烨,骆小年,段友健,李姣,罗来幸,曾雪,刘佳欣. 2种麻醉剂对马口鱼幼鱼麻醉效果研究. 水产科学. 2024(06): 965-973 .
![]() | |
8. |
吕曼,董义超,李蒙,于会国,郭建东,石英. MS-222对墨瑞鳕麻醉效果及血清生化指标的影响. 浙江海洋大学学报(自然科学版). 2024(04): 352-358 .
![]() | |
9. |
谢希尧,区又君,徐淑玉,林欣,李加儿,肖裕杰. 丁香酚对四指马鲅幼鱼的麻醉效果及抗氧化影响. 中国渔业质量与标准. 2024(04): 1-13 .
![]() | |
10. |
马凯,朱晓磊,张澜澜,卫明亮,赵成,何宝全,尹家胜,张永泉. 黑龙江茴鱼对几种常用消毒药物和麻醉剂的耐受性. 水产学杂志. 2024(06): 38-44 .
![]() | |
11. |
唐忠林,张佳佳,周国勤,陈树桥,徐钢春,徐跑,强俊,王佩佩. 丁香酚对“优鲈3号”幼鱼运输水质及其血液、肌肉生理指标的影响. 水产科技情报. 2023(01): 44-52 .
![]() | |
12. |
韦政坤,董宏标,赵文,陈飞,张传镶,陈健,宫保华,朱长波,张家松. 两种麻醉剂对凡纳滨对虾麻醉效果及组织氧化损伤的影响. 南方水产科学. 2023(01): 136-146 .
![]() | |
13. |
胡望娇,王翠华,冯广朋,庄平,郑跃平,季强. 丁香酚和MS-222对松江鲈的麻醉效果. 海洋渔业. 2023(02): 181-190 .
![]() | |
14. |
林晨,吴敏,王凯,曾三妹,吴佳雯,钟莉萍,凌淞江. QuEChERS-超高压液相色谱-串联质谱法同时测定水产品中的6种丁香酚类麻醉剂. 食品科学. 2023(08): 324-329 .
![]() | |
15. |
章霞,徐志进,李伟业,殷小龙,王易帆,陈爽,马雪彬. MS-222对大黄鱼幼鱼麻醉效果、组织结构及抗氧化酶活性的影响. 大连海洋大学学报. 2023(02): 267-274 .
![]() | |
16. |
陈军平,武慧慧,沈方方,张佳鑫,于若梦,付永杰,赵道全,谢国强,孙文喜. MS-222与丁香酚对黄尾鲴麻醉效果的比较. 湖北农业科学. 2023(08): 133-139 .
![]() | |
17. |
陈欣怡,王好学,徐开达,李鹏飞,周永东. 丁香酚对褐菖鲉的麻醉效果. 广东海洋大学学报. 2023(06): 146-152 .
![]() | |
18. |
李娇妮,廖秀睿,李曦,吕布,杨守国,臧战,VASQUEZ Herbert Ely,王爱民,郑兴,顾志峰. 运输方式对马氏珠母贝(Pinctada fucata)稚贝存活率、生长、消化及抗氧化性能的影响探究. 海洋与湖沼. 2022(02): 414-420 .
![]() | |
19. |
戴晓娜,陆亦宽,蔡杨杨,孙虹,卢瑛,谢晶. 基于磁性纳米探针的渔用麻醉剂三卡因的快速检测方法. 食品与发酵工业. 2022(08): 245-253 .
![]() | |
20. |
朱晓玲,张菊,刘杰,韩智,吴婉琴,张莉,王会霞,江丰. 湖北省水产品兽药残留状况分析. 食品安全质量检测学报. 2021(01): 69-77 .
![]() | |
21. |
谢晶,曹杰. 渔用麻醉剂在鱼类麻醉保活运输中应用的研究进展. 上海海洋大学学报. 2021(01): 189-196 .
![]() | |
22. |
胡发文,王晓龙,高凤祥,李莉,菅玉霞,王雪,樊英,潘雷,郭文. 温度、盐度和两种麻醉剂对大泷六线鱼幼鱼耗氧率、排氨率的影响. 海洋科学. 2021(01): 54-61 .
![]() | |
23. |
刘阳,贾贵芳,杨飞,李忠利. 麻醉剂MS-222对运输胁迫黄颡鱼抗氧化系统的影响. 安徽农学通报. 2021(05): 67-69 .
![]() | |
24. |
陈旭,左涛,周胜杰,杨蕊,于刚,秦传新,马振华. 尖吻鲈幼鱼运输密度和时长对运输水质及其复苏率和抗氧化能力的影响. 南方水产科学. 2021(02): 122-128 .
![]() | |
25. |
曹杰,王琪,梅俊,谢晶. 有水与无水保活运输对大菱鲆生理应激及鱼肉品质的影响. 水产学报. 2021(07): 1034-1042 .
![]() | |
26. |
王维鑫,崔爱君,徐永江,李海宁,柳学周,王滨,姜燕,刘新富. MS-222和丁香油对黄条(鱼师)麻醉效果研究. 渔业科学进展. 2021(06): 205-214 .
![]() | |
27. |
曹杰,谢晶. 间氨基苯甲酸乙酯甲磺酸盐在大菱鲆模拟保活运输中的作用效果. 食品科学. 2021(23): 246-253 .
![]() | |
28. |
王金林,王万良,张忭忭,谭大明. MS-222和丁香酚对亚东鲑鱼麻醉效果的比较. 甘肃农业大学学报. 2021(06): 26-32+40 .
![]() | |
29. |
管敏,张德志,饶军,唐大明. 温度对中华鲟(Acipenser sinensis)幼鱼麻醉效果的影响. 生态学杂志. 2020(02): 576-585 .
![]() | |
30. |
朱之发,边力,刘心田,常青,阮晓红,陈四清,李凤辉,葛建龙,刘长琳. 12种麻醉剂对长蛸的麻醉效果. 中国水产科学. 2020(02): 195-203 .
![]() | |
31. |
黄小林,杨洁,戴超,李涛,杨育凯,黄忠,虞为,林黑着,孙莘溢,舒琥. 丁香酚对紫红笛鲷幼鱼的麻醉效果. 中国渔业质量与标准. 2020(02): 51-58 .
![]() | |
32. |
陈小江,熊俐灵,吴建顾,亓鲁,王权. MS-222和丁香酚对四川华吸鳅耗氧率和排氨率的影响. 南方水产科学. 2020(04): 69-74 .
![]() | |
33. |
王文豪,董宏标,孙彩云,段亚飞,李华,刘青松,张家松,曾祥兵. 石菖蒲挥发油和水溶性氮酮对鱼用麻醉剂的促皮渗透效果研究. 南方水产科学. 2020(04): 62-68 .
![]() | |
34. |
杨洁,朱晓玲. 丁香酚在水产品中的残留及风险评估研究进展. 食品安全质量检测学报. 2020(18): 6523-6529 .
![]() |