The invention discloses an underwater net cage inspection robot based on a side-scan sonar and an AUV platform and a use method of the underwater net cage inspection robot. The underwater net cage inspection robot comprises a pressure-resistant cabin, a control system in the cabin, a main body frame, a propelling system on the main body frame, a communication device and an inspection operation system. Wherein the inspection operation system comprises a detection camera, an inspection auxiliary side-scan sonar and a navigation technology combining a GPS (Global Positioning System) and an INS (Inertial Navigation System). And the underwater robot determines the position of the underwater robot through combined positioning of the GPS and the INS and keeps communication with the ground station. And after the net cage arrives at a specified inspection area, detecting the position, the shape and the surrounding environment of the net cage by using a side-scan sonar, constructing a detailed seabed image, and planning an inspection path and performing efficient inspection according to the path by cooperating with the synergistic effect of a control system. Meanwhile, the camera is used for monitoring the surface condition of the net cage in real time, the problem of damage or foreign matter attachment can be recognized, and the comprehensiveness and accuracy of inspection work are ensured.
本发明公开了一种基于侧扫声呐与AUV平台的水下网箱巡检机器人及其使用方法。水下网箱巡检机器人包括:耐压舱体以及舱体内部的控制系统、主体框架以及主体框架上的推进系统、通信装置和巡检作业系统。其中,巡检作业系统包括检测摄像头、巡检辅助侧扫声呐和GPS与INS(惯性导航系统)结合的导航技术。水下机器人通过GPS和INS的组合定位确定自身位置并与地面站保持通信。到达指定巡检区域后,利用侧扫声呐来探测网箱的位置、形状及周围环境,构建出详细的海底图像,配合控制系统的协同作用,规划巡检路径并按照该路径进行高效巡检。同时,利用摄像头实时监测网箱表面状况,能够识别出破损或异物附着的问题,确保巡检工作的全面性和准确性。
Underwater net cage inspection robot based on side-scan sonar and AUV platform
一种基于侧扫声呐与AUV平台的水下网箱巡检机器人
2025-02-18
Patent
Electronic Resource
Chinese
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