Research On Key Technologies Of Underwater Fish Tank Cleaning Robot

China is the largest aquaculture country in the world.The aquaculture models mainly include pond culture,cage culture and factory culture,etc.,and the aquaculture output accounts for more than 75% of the total fishery output.Compared with the development scale of the aquaculture industry,China’s aquaculture-related supporting facilities have relatively insufficient investment in research and development,and the degree of mechanization and automation is relatively low.Although industrialized aquaculture is a highly industrialized aquaculture mode,automatic feeding machines,seed classification and other equipment have been more commonly used,but there are still some links in the aquaculture process that need to be completed manually,such as fish tank cleaning and catching,etc.,resulting in high personnel costs and high labor intensity,is one of the important factors restricting the popularization and application of the factory breeding model.In Europe and the United States,its breeding model has basically achieved information and intelligence.Take Norwegian salmon cage farming as an example,the farming production process has basically achieved unmanned management,and the level of intelligence and information of farming equipment is very high.With the progress of society and the development of industry,the industrialized aquaculture in our country is bound to become intelligent,and the use of robotic cleaning is the main development direction of the cleaning of industrialized aquaculture ponds in the future.This paper first describes the research status and application of underwater cleaning equipment and wall mobile robots at home and abroad,understands the characteristics and working principles of various cleaning robots;analyzes the existing cleaning robot technology,combined with the cleaning robot’s The working environment and design requirements,after comparison and analysis,determine the overall scheme design of the fish tank cleaning robot.It adopts open frame,propeller thrust absorption,double track movement and disc brush cleaning method.According to the underwater working environment and performance requirements of the fish tank cleaning robot,the robot base,motion mechanism,cleaning mechanism,thrust mechanism and control part are modularly designed,and each module cooperates with each other.Detailed design of each part of the cleaning robot.The robot base is made of aluminum alloy and has a streamlined design.Design a rotating reciprocating mechanism,so that the robot can have a certain ground pressure with the cleaning surface during the cleaning operation,and calculate the resistance torque of the brush when cleaning;the absolute speed of the brush and the driving speed are analyzed The influence of speed;increase the speed of the brush plate,the absolute speed and direction of the contact point of the brush plate and the ground change the same;increase the robot drive speed,the absolute speed and direction of the touch point of the brush plate and the ground change the opposite.Because the grounding area of the crawler is large and the movement is stable,the crawler movement method is selected.The stress of the cleaning robot on the wall is analyzed in detail,and the conditions for the robot not to overturn on the wall are analyzed and calculated,that is,to increase the propeller thrust and reduce the robot’s own weight.The detailed design of the control system hardware of the cleaning robot is adopted.The control scheme adopts a decentralized control method.The upper computer uses a PC and the lower computer uses an STM32 microcontroller.Detailed design of DC motor speed control module,stepper motor speed control module,power supply module,etc.Use 3D software to build a virtual prototype of the cleaning robot,select the standard parts,process the non-standard parts,and complete the assembly of the cleaning robot prototype.The dynamic model of the underwater fish tank cleaning robot is established,the coordinate system is used to describe the robot’s movement,and the kinematics equation six-degree-of-freedom equation is constructed and solved.Use CFD fluid software to simulate the water resistance and wall adsorption of the cleaning robot.By establishing the calculation domain model of the flow field,dividing the grid and setting the parameters,the resistance cloud diagram and streamline diagram are obtained.Through the prototype experiment,the preliminary experimental research on the cleaning effect of the cleaning robot was carried out.Using the orthogonal experimental analysis method,the primary and secondary order and the optimal combination plan of the three influencing factors of the brush disc speed,driving speed and cleaning path were found.That is,the speed of the brush disc is the main factor that affects the cleaning effect.The optimal combination scheme is that the speed of the brush disc is600r/min,the driving speed is 0.4m/s,and the entire spiral area covers the cleaning path,which is the cleaning effect.The best combination plan.