Design and control of underwater robot system for sea cucumber fishing

Shi, Xinxin; Zhu, Chenyang; Lu, Peixiang

doi:10.1177/17298806221077625

Cited by 4 publications

(1 citation statement)

References 15 publications

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“…Currently, underwater manual operations are the primary means for sea cucumber monitoring and harvesting. However, prolonged underwater operations pose significant risks to personnel due to factors such as high pressure and low-temperature [ 3 ]. Therefore, highly intelligent autonomous underwater robots offer convenience for underwater mobile monitoring and harvesting [ 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Realization of a Novel Robotic Manta Ray for Sea Cucumber Recognition, Location, and Approach

Liu

Liu²,

Yang

et al. 2023

Biomimetics

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Sea cucumber manual monitoring and fishing present various issues, including high expense and high risk. Meanwhile, compared to underwater bionic robots, employing autonomous underwater robots for sea cucumber monitoring and capture also has drawbacks, including low propulsion efficiency and significant noise. Therefore, this paper is concerned with the design of a robotic manta ray for sea cucumber recognition, localization, and approach. First, the developed robotic manta ray prototype and the system framework applied to real-time target search are elaborated. Second, by improved YOLOv5 object detection and binocular stereo-matching algorithms, precise recognition and localization of sea cucumbers are achieved. Thirdly, the motion controller is proposed for autonomous 3D monitoring tasks such as depth control, direction control, and target approach motion. Finally, the capabilities of the robot are validated through a series of measurements. Experimental results demonstrate that the improved YOLOv5 object detection algorithm achieves detection accuracies (mAP@0.5) of 88.4% and 94.5% on the URPC public dataset and self-collected dataset, respectively, effectively recognizing and localizing sea cucumbers. Control experiments were conducted, validating the effectiveness of the robotic manta ray’s motion toward sea cucumbers. These results highlight the robot’s capabilities in visual perception, target localization, and approach and lay the foundation to explore a novel solution for intelligent monitoring and harvesting in the aquaculture industry.

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Section: Introductionmentioning

confidence: 99%