渔业现代化

渔业现代化杂志

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基于仿生江豚鱼群共融型装置的设计与实现

  1. （1上海海洋大学 海洋科学学院，上海 201306；
    2国家远洋渔业工程技术研究中心，上海 201306；
    3上海海洋大学 工程学院，上海 201306；
    4大洋渔业资源可持续开发教育部重点实验室，上海 201306；
    5农业农村部大洋渔业开发重点实验室，上海 201306）
  • 出版日期:2021-10-20 发布日期:2021-11-24
  • 通讯作者: 陈新军（1967—），男，教授，博士，研究方向：渔业资源与渔场学、远洋鱿钓渔业、渔业资源经济学。E－mail: xjchen@shou.edu.cn
  • 作者简介:孔祥洪（1963—），女，副教授，硕士，研究方向：人工智能、物理应用与系统控制、机器鱼流体仿真。E-mail：xhkong@shou.edu.cn
  • 基金资助:
    国家重点研发计划（2019YFD0901404）；国家自然科学基金（41876141）；上海市科技创新行动计划（10DZ1207500）；2020年地方院校能力建设（20050501800）

Design and implementation of a fish symbiotic device based on bionic porpoise

  1. （1 College of Marine Sciences, Shanghai Ocean University, Shanghai 201306, China；
    2 National Engineering Research Center for Oceanic Fisheries, Shanghai 201306, China;
    3 College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China;
    4 Key Laboratory of Sustainable Development of Oceanic Fisheries Resources, Ministry of Education, Shanghai 201306, China;
    5 Key Laboratory of Oceanic Fisheries Exploration, Ministry of Agriculture and Rural Affairs, Shanghai 201306, China）
  • Online:2021-10-20 Published:2021-11-24

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摘要： 随着水产养殖领域现代化、智能化的不断发展，对养殖水监测与饲料投放系统提出了新的要求，为提高饲料投放效率和投放装置的智能化、共融性，降低移动投饲装置对鱼群的扰动性，研究出了一种基于仿生江豚机器鱼的鱼群共融性装置的设计与实现。首先基于NACA翼型方程构建仿生鱼几何模型，建立鱼体背腹式运动学方程，进而设计仿生机器江豚装置；利用计算流体力学方法，分析机器鱼水动力特性；最后通过池塘实地试验，验证鱼体运动模型的共融性与投饲装置集鱼的可行性。结果显示：基于NACA翼型方程的仿生豚体轮廓方程，实现了形体减阻机制，以降低作业时能耗；试验中鱼群跟随机器鱼游动，验证鱼体运动学模型对机器鱼的游动过程中共融性的提高具有一定作用。本研究为机器鱼作业机动性控制提供了一定基础，并为机器鱼在水产养殖自动化、智能化等方面的应用提供了新的思路与参考。

关键词: 机器鱼, 共融性, 仿生江豚, 移动投饲, 运动学方程, 数值模拟, 池塘养殖

Abstract: With the continuous development of aquaculture towards modernization and intelligentization, new requirements have been put forward for aquaculture water monitoring and feed delivery systems. In order to improve feed delivery efficiency and the intelligence and co-integration of delivery devices, reduce the disturbance of mobile feeding devices to the farmed fish, the design and implementation of a fish co-integration device based on the bionic robotic porpoise is studied in this paper. Firstly, a geometric model of the bionic fish was constructed based on the NACA airfoil equation, a dorsoventral kinematic equation of the fish body was established, and then the bionic robotic porpoise device was designed. Then the hydrodynamic characteristics of the robotic fish were analyzed using computational fluid dynamics methods. Finally, the co-integration of the fish movement model and the feasibility of fish collection by the feeding device were verified through pond field tests. The results showed that: the bionic guppy body contour equation based on the NACA airfoil equation achieved a form drag reduction mechanism to reduce energy consumption during operation; the fish followed the robot fish in the test, verifying that the fish kinematic model had a certain effect on the improvement of co-integration during the swimming of the robot fish. This study provides a certain basis for the manoeuvrability control of the machine fish operation, and provides new insights and references for machine fish application in the automation and intelligentization of aquaculture.

Key words: robotic fish, co-integration, bionic porpoise, mobile feeding, kinematic equations, numerical simulation, pond culture