Abstract: At present, a large number of underwater robots are used for monitoring and protection in the aquaculture industry in foreign countries. However, the research of underwater robots in domestic fisheries is still in its initial stage. In order to fill the gaps in the research field of underwater robots in domestic fisheries, and promote the development of deep sea aquaculture industry, a design and research on underwater robots for fisheries was carried out in this paper, where, through the research and optimization of several important robot systems, a robot with good structural stability, smoothness of motion, hydrodynamic, etc. for fishery environment was designed, and a mathematical model for ROV was established. Then the prototype of the robot was manufactured according to the design requirements, and various experiments were performed on the prototype under a simulated underwater environment. The results showed that the indicators of the underwater robot have met the design goals and can satisfy the requirements of underwater working conditions. The research carried out in this paper provides a good inspiration and reference for the subsequent design and manufacture of underwater robots in domestic fisheries.

Key words: fishery, underwater robot, propeller, system components

摘要： 鉴于目前国外在水产养殖行业中大量应用水下机器人进行监测、保护等工作，而国内对于渔业水下机器人研究应用尚处起步阶段，相应的研究较少。为了填补国内渔业水下机器人研究领域的空白，助力深蓝养殖行业的大力发展。本文针对一种渔业用水下机器人进行设计和研究。通过对几个系统进行研究和优化，设计出针对渔业环境使用的水下机器人；并对水下机器人建立数学模型，使其在水下具有良好的结构稳定性、运动平稳性、水动力性等。然后根据设计要求制造了机器人的样机，并在模拟水下环境对制造的样机进行耐压、运动等试验。结果显示：机器人完全可以在海水的工况下进行各项工作，满足水下作业严苛的环境要求，达到了水下监测和管理的目的。本研究为以后相关渔业水下机器人的设计及量化生产提供参考和借鉴。

关键词: 渔业, 水下机器人, 推进器, 系统组成