A multifunctional robot for factory aquaculture

Abstract

The invention relates to a multifunctional robot for factory aquaculture, wherein a group of connecting parts are arranged on an equipment support, wherein the lower part of one connecting part is fixedly connected to a water quality monitoring device, and the lower part of another connecting part is connected to a telescopic net device; the upper end of a first-section mechanical arm of a combined mechanical arm is rotatably connected to a telescopic second-section mechanical arm through a universal rotating shaft, and the front end of the second-section mechanical arm is rotatably connected to a third-section mechanical arm through a universal rotating shaft; an auxiliary part is fixedly arranged at the front end of the third-section mechanical arm, and the auxiliary part comprises a contact end face with contacts distributed thereon, and a group of claw-shaped connecting parts extend out from the contact end face around; the contact end face is used to cooperate with the connecting parts on the equipment support to form communication and power supply; the claw-shaped connecting parts are used to be clamped into the clamping holes around the connecting parts to form fixed grasping; at least two groups of video frames are arranged at different heights on the first-section mechanical arm, and cameras are installed in the surrounding directions of each video frame, and the cameras are used for visual-walking control and fish pond observation.

Description

Technical Field

[0001] The invention relates to a multifunctional robot for factory aquaculture, which is suitable for an aquaculture factory with a plurality of culture ponds and belongs to the technical field of fishery machinery. Background Art

[0002] Based on the concept of welfare aquaculture, combined with the outstanding feature of the highly controllable aquaculture environment of closed recirculating water systems, advocating the construction of an industrialized recirculating water welfare aquaculture industry model suitable for China's national conditions has become a strategic need to promote the sustainable development of my country's modern fisheries.

[0003] In the prior art, the maintenance of aquaculture workshops in factory aquaculture is done manually, which consumes manpower, has a low degree of automation, and easily causes stress reactions in the fish being cultured, thus affecting the normal growth of the fish. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional robot for factory aquaculture. Through this device, automatic inspection of the breeding workshop can be realized, the number of times operators enter the breeding workshop can be reduced, and the stress response of fish can be avoided, so as to meet the system requirements under the concept of fish welfare breeding and enable fish to grow under optimal conditions; at the same time, the errors caused by manual operation can be reduced.

[0005] The present invention adopts the following technical solutions:

[0006] A multifunctional robot for factory aquaculture, comprising a walking platform, on which is provided an equipment support 3 and a combined mechanical arm; a group of connecting pieces 301 are provided on the equipment support 3, wherein the lower part of one connecting piece 301 is fixedly connected to a water quality monitoring device, and the lower part of another connecting piece 301 is connected to a telescopic net device; the water quality monitoring device is a water quality sensor 301b driven to rise / lower by a winch 301a, and the winch is driven by its own power mechanism; the telescopic net device is a dead fish catching net 301d driven to rise / lower by a telescopic rod 301c; the combined mechanical arm comprises a vertically arranged telescopic first section mechanical arm 6, the upper end of which is connected to a telescopic second section mechanical arm 6 through a universal rotating shaft 9. The first-section robot arm 6 is rotatably connected, and the front end of the second-section robot arm 10 is rotatably connected to the third-section robot arm 11 through a universal rotating shaft 9; an auxiliary part 12 is fixedly arranged at the front end of the third-section robot arm 11, and the auxiliary part 12 includes a contact end face with contacts 12b distributed thereon, and a group of claw-shaped connectors 12a extend around the contact end face; the contact end face is used to cooperate with the connector 301 on the equipment bracket 3 to form communication and power supply; the claw-shaped connector 12a is used to be inserted into the bayonet around the connector 301 to form a fixed grasping; at least two groups of video frames are provided at different heights on the first-section robot arm 6, and cameras are installed in the surrounding directions of each video frame, and the cameras are used for vision - walking control and fish pond observation.

[0007] Preferably, the walking platform includes a base 2 and walking wheels 1 installed at the lower part thereof, and distance sensors 15 for safety and anti-collision are arranged around the base 2.

[0008] Preferably, a control cabinet is also provided on the base 2, serving as the control center of the entire set of multifunctional robots for factory aquaculture.

[0009] Preferably, the video frame is divided into a first video frame 5 located at the bottom and a second video frame 8 located at the top. The first video frame 5 is directly fixed on the base 2 to reinforce the first section of the robotic arm 6. The second video frame 8 can drive the second camera 7 installed thereon to rotate up and down to observe the fish pond.

[0010] Preferably, a water quality sensor cleaning device is also fixedly arranged on the walking platform, and the bottom and surrounding of the water quality sensor cleaning device are provided with cleaning nozzles 14 , and the cleaning nozzles 14 are connected to the clean water tank through a cleaning water pump 13 .

[0011] Furthermore, a sewage tank is arranged below the clean water tank and the cleaning nozzle 14 , and the sewage tank is directly mounted on the base 2 .

[0012] A working method of a multifunctional robot for factory aquaculture, using any one of the multifunctional robots for factory aquaculture described above; workshop environment recording: the robot is manually controlled to walk in the workshop once, and during the walking process, the first camera 4 and the second camera 7 shoot all the equipment and breeding ponds in the workshop, and automatically generate a three-dimensional layout diagram through the machine vision function; the operator marks and sets on the layout diagram, and the robot automatically runs according to the marked settings during formal operation; robot walking control: according to the task setting, the robot automatically walks to each device and breeding pond for monitoring; the walking of the robot is controlled by the walking wheels under the base; the walking route and the designated walking program are determined by the shooting of the first camera 4 and the machine vision function, and the movement of the walking wheels is controlled by the walking wheel control program; the distance sensors 15 around the base are used to prevent collision during walking; the distance sensor 15 at the bottom of the base is used to prevent falling during walking; patrol function one: equipment monitoring: when the robot walks to each device, the first camera 4 and the second camera 7 shoot the device, and the operating status of the device is determined by machine vision; patrol function two: water quality monitoring: when the robot When walking to the water quality monitoring point, the three mechanical arms are connected through the auxiliary parts and the connecting parts of the water quality monitoring mechanism; through the action of the first section of the mechanical arm 6, the second camera 7 is extended to be higher than the breeding pond; the second section of the mechanical arm 10 is rotated to above the water surface of the breeding pond through the rotating shaft 9; the water surface height is determined by the second camera 7; the water quality sensor is lowered to set the water depth through the capstan; after the data monitoring is completed, the water quality sensor is raised through the capstan, and the second section of the mechanical arm 10 is rotated to move the water quality sensor above the cleaning device; the water quality sensor is placed in the sensor cleaning device through the adjustment of the overall mechanical arm; start The water quality sensor is cleaned by the dynamic cleaning device to prepare for the next fish pond; patrol function three: cleaning of the breeding pond; when the robot walks to the breeding pond, the second camera 2 is raised through the action of the first section of the mechanical arm 1 to observe whether the breeding pond needs to be cleaned and whether there are dead fish floating; if necessary, the third section of the mechanical arm 11 is connected to the connecting piece 301 of the cleaning brush or the telescopic net through the auxiliary part; the corresponding breeding pond cleaning process is realized through the second camera 7 recognition and the movement of the combined mechanical arm; the same set of cleaning brushes or telescopic nets do not act on different systems to prevent direct cross-infection of the systems.

[0013] Furthermore, the robot will perform the replenishment function when encountering the following situations: the robot is low on power; the robot completes one round of patrol and reaches the replenishment point; the water level in the clean water tank in the water quality sensor cleaning device is insufficient; the cleaning brush or mesh cover is replaced; when the robot runs to the replenishment point, it automatically connects to the charging device; turns on the water replenishment device of the clean water tank and the sewage discharge device of the sewage tank; through the movement of the robotic arm, it replaces the used cleaning brush and telescopic net with spare parts; when the replenishment is completed, it automatically waits for the next patrol or continues to complete the unfinished patrol.

[0014] The beneficial effects of the present invention are: through this device, automatic inspection of the breeding workshop can be realized, the number of times operators enter the breeding workshop can be reduced, and the stress response of fish can be avoided to meet the system requirements under the concept of fish welfare breeding, so that fish can grow under the best conditions; at the same time, the errors caused by manual operation can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of a multifunctional robot used in factory aquaculture.

[0016] Figure 2 It is a structural diagram of auxiliary parts.

[0017] Figure 3 It is a structural diagram of a water quality monitoring device.

[0018] Figure 4 It is a structural diagram of the telescopic net device.

[0019] Figure 5 It is a schematic diagram of the inspection process of a multifunctional robot used in factory aquaculture.

[0020] Figure 6 It is a schematic diagram of the monitoring process of multifunctional robot equipment for factory aquaculture.

[0021] Figure 7 It is a water quality monitoring flow chart.

[0022] Figure 8 This is the flow chart of the breeding pond cleaning.

[0023] In the figure, 1. walking wheel, 2. base, 3. equipment bracket, 4. first camera, 5. first video frame, 6. first section of mechanical arm, 7. second camera, 8. second video frame, 9. rotating shaft, 10. second section of mechanical arm, 11. third section of mechanical arm, 12. auxiliary parts, 13. cleaning water pump, 14. cleaning nozzle, 15. distance sensor; 12a. claw-shaped connecting part, 12b. contact, 301. connecting part, 301a. winch, 301b. water quality sensor, 301c. telescopic rod, 301d. net for scooping debris in the fish pond. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] See also Figure 1-Figure 4A multifunctional robot for factory aquaculture, comprising a walking platform, on which is provided an equipment support 3 and a combined mechanical arm; a group of connecting pieces 301 are provided on the equipment support 3, wherein the lower part of one connecting piece 301 is fixedly connected to a water quality monitoring device, and the lower part of the other connecting piece 301 is connected to a telescopic net device; the water quality monitoring device is a water quality sensor 301b driven up / down by a winch 301a, and the winch is driven by its own power mechanism; the telescopic net device is a dead fish catching net 301d driven up / down by a telescopic rod 301c; the combined mechanical arm comprises a vertically arranged telescopic first section mechanical arm 6, the upper end of which is connected to the telescopic second section mechanical arm 6 through a universal rotating shaft 9. The two-section robot arm 10 is rotatably connected, and the front end of the second-section robot arm 10 is rotatably connected to the third-section robot arm 11 through a universal rotating shaft 9; an auxiliary part 12 is fixedly arranged at the front end of the third-section robot arm 11, and the auxiliary part 12 includes a contact end face with contacts 12b distributed thereon, and a group of claw-shaped connectors 12a extend around the contact end face; the contact end face is used to cooperate with the connector 301 on the equipment bracket 3 to form communication and power supply; the claw-shaped connector 12a is used to be inserted into the bayonet around the connector 301 to form a fixed grasping; at least two groups of video frames are provided at different heights on the first-section robot arm 6, and cameras are installed in all directions of each video frame, and the cameras are used for visual-walking control and fish pond observation.

[0026] Continue to see Figure 1-4 , the structure is further described in detail as follows:

[0027] 1) Install a telescopic arm on the base. The arm is divided into three sections. The first and second sections have a retractable function. The three sections are connected by a 360° rotating axis and have the function of free movement in all directions in space.

[0028] 2) Install auxiliary parts on the third section of the robot arm, the auxiliary parts include a connection device and a communication contact. The connection device is composed of four claw-shaped connection parts, which are used for fixing with other devices; the communication contact is used for direct communication and power supply with other devices.

[0029] 3) Install 4 distance sensors on the edge of the base and install 1 distance sensor on the front bottom of the base to prevent collision and fall during walking control.

[0030] 4) Install a control cabinet on the base for robot control, power supply and communication.

[0031] 5) A water quality sensor cleaning device can be installed on the base. The device is divided into 4 parts: clean water tank; sewage tank; cleaning motor; cleaning nozzle.

[0032] 6) An equipment bracket can be installed on the base to place auxiliary devices such as water quality monitoring devices, telescopic nets, cleaning brushes, etc.

[0033] 7) The water quality monitoring device is composed of a connecting piece, a winch and a water quality sensor. The connecting piece is matched with the auxiliary piece on the third section of the mechanical arm.

[0034] 8) The telescopic net device is composed of a connecting piece, a telescopic rod and a net. The connecting piece is matched with the auxiliary piece on the third section of the mechanical arm.

[0035] 9) Install walking wheels on the base, which can rotate 360°.

[0036] 10) A video frame 1 is installed on the base, and 4 cameras are installed on the video frame for video monitoring during walking.

[0037] 11) Install a video frame 2 on the first section of the robotic arm, and install four cameras on the video frame for video monitoring when the robotic arm moves.

[0038] 12) Install automatic charging devices, water replenishment devices, and drainage devices at the supply points.

[0039] See also Figure 6-8 When the multifunctional robot for aquaculture in this factory works, the following specific methods are adopted:

[0040] Workshop environment recording: The robot is manually controlled to walk in the workshop. During the walking process, the first camera 4 and the second camera 7 shoot all the equipment and breeding ponds in the workshop, and automatically generate a three-dimensional layout diagram through the machine vision function; the operator marks and sets on the layout diagram, and the robot automatically runs according to the marking settings during formal operation; robot walking control: according to the task settings, the robot automatically walks to each equipment and breeding pond for monitoring; the robot's walking is controlled by the walking wheels under the base; the walking route and the designated walking program are determined by the shooting of the first camera 4 and the machine vision function, and the movement of the walking wheels is controlled by the walking wheel control program; the distance sensors 15 around the base are used to prevent collisions during walking; the distance sensor 15 at the bottom of the base is used to prevent falling during walking;

[0041] Patrol function 1: Equipment monitoring: When the robot walks to each device, it photographs the device through the first camera 4 and the second camera 7, and determines the operating status of the device through machine vision;

[0042] Patrol function 2: Water quality monitoring: When the robot walks to the water quality monitoring point, the three mechanical arms are connected through the auxiliary parts and the connecting parts of the water quality monitoring mechanism; through the action of the first section of the mechanical arm 6, the second camera 7 is extended to be higher than the breeding pond; the second section of the mechanical arm 10 is rotated to above the water surface of the breeding pond through the rotating shaft 9; the water surface height is determined by the second camera 7; the water quality sensor is lowered to set the water depth through the capstan; after the data monitoring is completed, the water quality sensor is raised through the capstan, and the second section of the mechanical arm 10 is rotated to move the water quality sensor above the cleaning device; the water quality sensor is placed in the sensor cleaning device through the adjustment of the overall mechanical arm; the cleaning device is started to clean the water quality sensor for use in the next fish pond;

[0043] Patrol function three: cleaning of the breeding pond; when the robot walks to the breeding pond, the second camera 7 is raised through the action of the first section of the robotic arm 6 to observe whether the breeding pond needs to be cleaned and whether there are any dead fish floating; if necessary, the third section of the robotic arm 11 is connected to the connecting piece 301 of the cleaning brush or telescopic net through the auxiliary part; the corresponding breeding pond cleaning process is realized through the recognition of the second camera 7 and the movement of the combined robotic arm; the same set of cleaning brushes or telescopic nets do not act on different systems to prevent direct cross-infection of the systems.

[0044] The robot will perform the replenishment function in the following situations: the robot is low on battery; the robot completes one round of patrol and reaches the replenishment point; the water level in the clean water tank in the water quality sensor cleaning device is low; the cleaning brush or net cover is replaced; when the robot runs to the replenishment point, it automatically connects to the charging device; the water replenishment device of the clean water tank and the sewage discharge device of the sewage tank are turned on; through the movement of the robotic arm, the used cleaning brush and telescopic net are replaced with spare parts; when the replenishment is completed, it automatically waits for the next patrol or continues to complete the unfinished patrol.

[0045] During the implementation of the present invention, the walking control of the robot, the control of the mechanical arm, the supply and matching devices of the robot, the water quality monitoring function, the patrol function, etc. are realized.

[0046] The above are preferred embodiments of the present invention. A person skilled in the art may make various changes or improvements on this basis. Without departing from the general concept of the present invention, these changes or improvements should fall within the scope of protection claimed by the present invention.

Claims

1. A working method of a multifunctional robot for factory aquaculture, characterized in that: The multifunctional robot for factory aquaculture comprises a walking platform, on which an equipment support (3) and a combined mechanical arm are arranged; a group of connecting parts (301) are arranged on the equipment support (3), wherein the lower part of one connecting part (301) is fixedly connected to a water quality monitoring device, and the lower part of the other connecting part (301) is connected to a telescopic net device; the water quality monitoring device is a water quality sensor (301b) driven to rise / lower by a winch (301a), and the winch is driven by its own power mechanism; the telescopic net device is a dead fish catching net (301d) driven to rise / lower by a telescopic rod (301c); the combined mechanical arm comprises a vertically arranged telescopic first section mechanical arm (6), the upper end of the first section mechanical arm (6) is connected to a telescopic second section mechanical arm through a universal rotating shaft (9). The arm (10) is rotatably connected, and the front end of the second section of the mechanical arm (10) is rotatably connected to the third section of the mechanical arm (11) through a universal rotating shaft (9); an auxiliary part (12) is fixedly arranged at the front end of the third section of the mechanical arm (11), and the auxiliary part (12) includes a contact end face with contacts (12b) distributed thereon, and a group of claw-shaped connecting parts (12a) extend around the contact end face; the contact end face is used to cooperate with the connecting part (301) on the equipment bracket (3) to form communication and power supply; the claw-shaped connecting part (12a) is used to be inserted into the bayonet around the connecting part (301) to form a fixed grasping; at least two groups of video frames are arranged at different heights on the first section of the mechanical arm (6), and cameras are installed in the directions around each video frame, and the cameras are used for visual-walking control and fish pond observation; The walking platform comprises a base (2) and walking wheels (1) installed at the bottom thereof, and distance sensors (15) for safety and anti-collision are arranged around the base (2); The video frame is divided into a first video frame (5) located at the bottom and a second video frame (8) located at the top. The first video frame (5) is directly fixed on the base (2) to reinforce the first section of the mechanical arm (6). The second video frame (8) can drive the second camera (7) installed thereon to rotate up and down so as to observe the fish pond. A water quality sensor cleaning device is also fixedly arranged on the walking platform, and the bottom and surrounding of the water quality sensor cleaning device are provided with cleaning nozzles (14), and the cleaning nozzles (14) are connected to the clean water tank through a cleaning water pump (13); A sewage tank is arranged below the clean water tank and the cleaning nozzle (14), and the sewage tank is directly mounted on the base (2); Workshop environment recording: The robot is manually controlled to walk in the workshop. During the walking process, the first camera (4) and the second camera (7) take pictures of all the equipment and breeding ponds in the workshop, and automatically generate a three-dimensional layout map through the machine vision function; the operator makes annotations and settings on the layout map, and the robot automatically runs according to the annotation settings during the formal operation; Robot walking control: according to the task setting, the robot automatically walks to various equipment and breeding ponds for monitoring; the walking of the robot is controlled by the walking wheels under the base; the walking route and the designated walking program are determined by the shooting of the first camera (4) and the machine vision function, and the movement of the walking wheels is controlled by the walking wheel control program; the distance sensors (15) around the base are used to prevent collisions during walking; the distance sensor (15) at the bottom of the base is used to prevent falling during walking; Patrol function 1: Equipment monitoring: When the robot walks to each device, it photographs the device through the first camera (4) and the second camera (7), and determines the operating status of the device through machine vision; Patrol function two: water quality monitoring: when the robot walks to the water quality monitoring point, the three mechanical arms are connected through the auxiliary parts and the connecting parts of the water quality monitoring mechanism; through the action of the first section of the mechanical arm (6), the second camera (7) is extended to a position higher than the aquaculture pond; the second section of the mechanical arm (10) is rotated to a position above the water surface of the aquaculture pond through the rotating shaft (9); the water surface height is determined through the second camera (7); the water quality sensor is lowered to set the water depth through the winch; after the data monitoring is completed, the water quality sensor is raised through the winch, and the second section of the mechanical arm (10) is rotated to move the water quality sensor to the top of the cleaning device; the water quality sensor is placed in the sensor cleaning device through the adjustment of the entire mechanical arm; Start the cleaning device to clean the water quality sensor for use in the next fish pond; Inspection function three: cleaning of breeding ponds; When the robot walks to the breeding pond, the second camera (7) is raised through the action of the first section of the mechanical arm (6) to observe whether the breeding pond needs to be cleaned and whether there are any dead fish floating on the pond; if necessary, the third section of the mechanical arm (11) is connected to the connecting piece (301) of the cleaning brush or the telescopic net through the auxiliary part; the corresponding breeding pond cleaning process is realized through the recognition of the second camera (7) and the movement of the combined mechanical arm; the same set of cleaning brushes or telescopic nets do not act on different systems to prevent direct cross infection of the systems; Also includes resupply functionality: The robot will perform the recharging function in the following situations: the robot is low on battery; the robot completes one round of patrol and reaches the recharging point; the water level in the clean water tank of the water quality sensor cleaning device is insufficient; Replace the cleaning brush or mesh cover; When the robot runs to the supply point, it automatically connects to the charging device; opens the water supply device of the clean water tank and the sewage discharge device of the sewage tank; replaces the used cleaning brushes and retractable nets with spare parts through the movement of the robotic arm; when the supply is completed, it automatically waits for the next inspection or continues to complete the unfinished inspection.

2. The working method of the multifunctional robot for factory aquaculture as claimed in claim 1, characterized in that: The base (2) is also provided with a control cabinet, which serves as the control center of the entire set of multifunctional robots for factory aquaculture.

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