Design and test of automatic cleaning robot for land-based industrial aquaculture ponds
Aiming at the problems of high labor intensity and low efficiency in the manual cleaning of land-based industrial aquaculture ponds,an automatic cleaning robot based on track movement with the function of crossing the pond is designed.The robot is composed of a moving mechanism,a cleaning mechanism and a control system.The moving mechanism moves forward,backward and left along the guide rail above the breeding tank.The cleaning mechanism cleans the bottom and wall of the breeding tank through rotation and upside-down telescopic device.The control system realizes accurate control of the cleaning robot through STM32F103 microcontroller.The path planning is carried out by establishing full coverage raster map,and the algorithm of shortest tangent line and wildfire method is used to realize automatic obstacle avoidance,and the robot is tested.The results show that the optimal combination of brush speed and drive speed is 600 r/min and 0.2 m/s.
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