An underwater maneuverable dual mode fishing device and method of operation

Abstract

An underwater maneuverable dual-mode fishing device and operation method, comprising a maneuverable platform, the bottom of which is provided with an acoustic-optic identification system and a dual-mode fishing module, the structure of the dual-mode fishing module being as follows: a general frame is provided with an extension frame at the bottom, a clamping jaw is installed at the front end position of the bottom surface of the extension frame through a rotary support, a clamping jaw opening and closing electric cylinder is installed on the rotary support, the bottom of the general frame is provided with a clamping jaw folding electric cylinder, the clamping jaw opening and closing electric cylinder and the clamping jaw folding electric cylinder are cooperatively driven to drive the clamping jaw to open and close, and the maneuverable platform is driven to stretch and contract at the bottom; a net bag support is installed at the middle end position of the bottom surface of the extension frame through a support frame, meanwhile, a net bag folding electric cylinder is installed at the bottom of the general frame, a net bag body is installed on one side of the net bag support through a buckle, a net box and a camera are installed at the rear end position of the bottom of the general frame, and the net bag body is orderly stored in the net box before stretching, so that the operation is flexible and convenient.

Description

Technical Field

[0001] This invention relates to the field of underwater fishing equipment technology, and in particular to an underwater motorized dual-mode fishing device and its operating method. Background Technology

[0002] In the process of marine exploration and development, underwater organisms worthy of study, lost underwater detection equipment, and unidentified underwater targets are often discovered. These targets may be suspended, moving at low speed, or sunken. To minimize losses or further analyze and study these underwater targets, it is often necessary to retrieve them. Underwater fishing involves certain dangers. Using divers to perform fishing operations poses safety risks, and divers have limited physical strength underwater, resulting in low operational efficiency. Therefore, reliable underwater fishing equipment is needed to carry out such tasks. For example, the existing invention patent CN113978665A discloses a remotely controlled underwater salvage robot based on acoustic-optical-magnetic fusion. It uses acoustic-optical-magnetic fusion detection to achieve precise underwater multi-target search and uses two robotic arms to collaboratively salvage underwater targets. Another example is the existing invention patent CN112429173A, which discloses a heavy object underwater salvage device. It uses a crane on a salvage vessel connected to a grab bucket via a salvage rope to perform the salvage of heavy objects underwater. In the invention patent CN112279056A, a gripper body and an underwater salvage device are disclosed. The gripper body is equipped with a thruster, which includes a front and rear thruster and a lateral thruster. A clamping and locking mechanism is fixed on the inner wall of the gripper body. The two grippers are synchronously driven by a drive mechanism to open or close to perform salvage operations.

[0003] However, existing fishing equipment has relatively limited functionality. It is either not maneuverable enough, can only catch bottom-dwelling or large targets, or is bulky and complex in structure, making it unable to meet the fishing needs of diverse underwater targets. Summary of the Invention

[0004] In response to the shortcomings of the existing production technology, the applicant provides an underwater mobile dual-mode fishing device and operating method, which can conveniently and flexibly complete the fishing of underwater targets, with strong adaptability and good operational reliability.

[0005] The technical solution adopted in this invention is as follows:

[0006] An underwater mobile dual-mode fishing device includes a mobile platform. An audio-visual recognition system and a dual-mode fishing module are installed at the bottom of the mobile platform. The dual-mode fishing module has the following structure: an overall frame fixed to the bottom of the mobile platform; an extension frame at the bottom of the overall frame; a gripper mounted on the front end of the bottom of the extension frame via a rotating bracket; a gripper opening / closing electric cylinder mounted on the rotating bracket; a gripper folding electric cylinder mounted at the bottom of the overall frame; the output end of the gripper folding electric cylinder is connected to the rotating bracket; the gripper opens and closes, and extends and retracts at the bottom of the mobile platform, driven by the coordinated operation of the gripper opening / closing electric cylinder and the gripper folding electric cylinder; a net support frame is mounted at the middle of the bottom surface of the extension frame via a support frame; a net folding electric cylinder is also mounted at the bottom of the overall frame; the output end of the net folding electric cylinder is connected to the support frame; a net body is attached to one side of the net support frame via a buckle; a net box and a camera are installed at the rear end of the bottom of the overall frame; the net body is neatly placed in the net box before extension.

[0007] Its further technical solution is as follows:

[0008] The sound and light recognition system is located at the front end of the dual-mode fishing module.

[0009] The sound and light recognition system includes a camera, lighting, sonar, and a pan-tilt unit. The sound and light recognition system is connected and fixed to the base plate at the bottom of the mobile platform via a bracket.

[0010] Both the rotating bracket and the support frame have a vertical limiting function, ensuring that the gripper and net bracket extend from below the motorized platform and reach a vertical position under the driving action of the electric cylinder.

[0011] The rotating bracket of the gripper has a horizontal limiting function, ensuring that the gripper is symmetrical from left to right when it reaches its maximum opening range.

[0012] The structure of the net support is as follows: it includes a connecting support, a baffle is provided on the upper part of one side of the connecting support, and a left half support and a right half support are installed on the lower part of one side of the connecting support through a hinge point. The lower part of the left half support and the right half support are both arc-shaped, and the upper part of the left half support and the right half support are both bent. An electromagnet is provided at the head of the left half support and the right half support. The electromagnet corresponds to and attracts the two ends of the baffle. A spring is installed between the left half support and the right half support.

[0013] The lower arc structure of the left and right half-supports has slots on the outer side, and fasteners are installed in the slots.

[0014] The other side of the connecting bracket is provided with a fixing point for connecting to the electric cylinder for folding the net bag.

[0015] The overall frame is a flat structure with multiple elongated holes.

[0016] A method for operating an underwater maneuverable dual-mode fishing device includes the following steps:

[0017] In its initial state, the grippers and net holder in the dual-mode fishing module are folded and stored at the bottom of the motorized platform, while the net itself is stored inside the net box.

[0018] In operation, the first step is to use the acoustic and optical recognition system to perform long-range search and close-range identification and positioning of underwater targets;

[0019] For suspended or slow-moving targets, the grippers are sequentially operated to extend and open from the bottom of the motorized platform, and the net is operated to extend from the bottom of the motorized platform and release and unfold from the net box. The good mobility of the motorized platform is used to gradually approach the target, and after adjusting the body posture, the target is captured into the net.

[0020] If the target object can be completely stored in the net, the electric cylinder is controlled to retract the net to the bottom of the motorized platform to prevent the target from falling out and complete the catching.

[0021] If the target object is too large to fit completely in the net, the clamps will be manipulated to hold the target in place by the stop action of the net, thus completing the catch.

[0022] Without the need for a net, the operation can be completed simply by controlling the electric cylinder to extend and open the grippers from the bottom of the motorized platform. By adjusting the posture of the motorized platform, the grippers can be used to clamp the target that has sunk to the bottom, thus completing the fishing operation.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention features a compact and rational structure, and is easy to operate. Through the coordinated operation of a motorized platform, a dual-mode fishing module, and an acoustic-optical recognition system, it utilizes the acoustic-optical recognition system for long-range search and close-range identification and positioning of underwater targets. A human-in-the-loop mechanism enhances the accuracy of target identification. After target confirmation, the clamps extend and open from the bottom of the motorized platform, and the net extends and unfolds from the bottom of the platform, relying on the platform's mobility to approach the underwater target. The human-in-the-loop mechanism continuously assesses the target's status and then selects to utilize either the net's positioning and catching function or the clamping action to catch the underwater target. The net can catch small targets independently; the clamps can catch small targets independently or, in conjunction with the net's positioning function, catch larger targets. This dual-mode fishing device, utilizing both a net and grippers, can adapt to the capture of various types of underwater targets. It can also capture targets in various states, including moving, suspended, and bottom-dwelling underwater objects. It features diverse fishing functions, simple structure, and wide applicability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention (net bag omitted).

[0026] Figure 2 This is a schematic diagram of the structure of the present invention.

[0027] Figure 3 This is a schematic diagram of the structure of the net bag support of the present invention (net bag in an unclosed state).

[0028] Figure 4 This is a schematic diagram of the structure of the net bag support of the present invention (net bag closed state).

[0029] Figure 5 This is an application diagram of the present invention (initial state, with the grippers and net not extended).

[0030] Figure 6 This is an application diagram of the present invention (the gripper is extended alone).

[0031] Figure 7 This is an application diagram of the present invention (grippers extended, net bag partially extended).

[0032] Figure 8 This is an application diagram of the present invention (with the grippers and net fully extended).

[0033] Figure 9 This is an application diagram of the present invention (net bag closed).

[0034] The components include: 1. Sound and light recognition system; 2. Overall frame; 3. Gripper opening and closing electric cylinder; 4. Rotary bracket; 5. Gripper; 6. Gripper folding electric cylinder; 7. Support frame; 8. Extension frame; 9. Net bag folding electric cylinder; 10. Net bag bracket; 11. Net box; 12. Camera; 13. Net bag body; 14. Mobility platform;

[0035] 1001. Connecting bracket; 1002. Left half bracket; 1003. Hinge point; 1004. Spring; 1005. Right half bracket; 1006. Baffle; 1007. Electromagnet. Detailed Implementation

[0036] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0037] like Figures 1-9As shown, the underwater mobile dual-mode fishing device of this embodiment includes a mobile platform 14. An audio-visual recognition system 1 and a dual-mode fishing module are installed at the bottom of the mobile platform 14. The dual-mode fishing module has the following structure: it includes an overall frame 2 fixed to the bottom of the mobile platform 14; an extension frame 8 is provided at the bottom of the overall frame 2; a gripper 5 is installed at the front end of the bottom of the extension frame 8 via a rotating bracket 4; a gripper opening / closing electric cylinder 3 is installed on the rotating bracket 4; and a gripper folding electric cylinder 6 is installed at the bottom of the overall frame 2. The output end of the gripper folding electric cylinder 6 is connected to the rotating bracket 4. The gripper 5 is driven to open and close, and to extend and retract at the bottom of the motorized platform 14, by the coordinated operation of the gripper opening and closing electric cylinder 3 and the gripper folding electric cylinder 6. A net bag bracket 10 is installed at the middle of the bottom surface of the extension frame 8 via a support frame 7. At the same time, a net bag folding electric cylinder 9 is installed at the bottom of the overall frame 2. The output end of the net bag folding electric cylinder 9 is connected to the support frame 7. A net bag body 13 is installed on one side of the net bag bracket 10 via a buckle. A net box 11 and a camera 12 are installed at the bottom rear end of the overall frame 2. The net bag body 13 is neatly placed in the net box 11 before extension.

[0038] The sound and light recognition system 1 is located at the front end of the dual-mode fishing module.

[0039] The sound and light recognition system 1 includes a camera, a lighting lamp, a sonar and a pan-tilt unit. The sound and light recognition system 1 is connected and fixed to the base plate at the bottom of the motorized platform 14 via a bracket.

[0040] Both the slewing bracket 4 and the support frame 7 have a vertical limiting function, ensuring that the gripper 5 and the net bracket 10 extend from below the motorized platform 14 and reach a vertical position under the drive of the electric cylinder.

[0041] The rotating bracket 4 of the gripper 5 has a horizontal limiting function, ensuring that the gripper 5 is in a symmetrical state when it reaches its maximum opening range.

[0042] The structure of the net support 10 is as follows: it includes a connecting support 1001, a baffle 1006 is provided on the upper part of one side of the connecting support 1001, and a left half support 1002 and a right half support 1005 are installed on the lower part of one side of the connecting support 1001 through a hinge point 1003. The lower parts of the left half support 1002 and the right half support 1005 are both arc-shaped, and the upper parts of the left half support 1002 and the right half support 1005 are both bent. An electromagnet (1007) is provided at the head of the left half support 1002 and the right half support 1005. The electromagnet (1007) corresponds to and attracts the two ends of the baffle (1006). A spring 1004 is installed between the left half support 1002 and the right half support 1005. Initially, the net is not closed. After catching the target, the electromagnet 1007 is energized, the electromagnet loses its attraction force, and the net is closed under the pulling force of the spring 1004.

[0043] The lower arc structure of the left half bracket 1002 and the right half bracket 1005 has a slot on the outside, and a fastener is provided in the slot.

[0044] The other side of the connecting bracket 1001 is provided with a fixing point for connecting to the electric cylinder 9 for folding the net bag.

[0045] The overall frame 2 has a flat structure and multiple elongated holes.

[0046] The specific structure and function of the underwater mobile dual-mode fishing device described in this invention are as follows:

[0047] It mainly includes a mobile platform 14, a dual-mode fishing module, and an audio-visual recognition system 1.

[0048] Among them, the mobile platform 14 has good mobility and observation capabilities, and has an umbilical cable that connects to the shore control system to ensure real-time signal transmission.

[0049] The dual-mode fishing module includes an overall frame 2, grippers 5, a net body 13, an electric cylinder, and a camera 12. The grippers 5 are mounted at the front end of the overall frame 2 via a rotating bracket 4. Two electric cylinders with different strokes drive the opening and closing of the grippers 5, as well as their extension and retraction at the bottom of the motorized platform 14. The net is located in the middle of the overall frame 2 via a support frame 7. The extension and retraction at the bottom of the motorized platform 14 are performed by an electric cylinder. The net body 13 is connected to the net bracket 10 via a buckle and is neatly placed in the net box 11 before extension. The camera 12 is mounted at the rear end of the overall frame 2 to monitor the real-time working status of the grippers 5 and the net body 13.

[0050] The sound and light recognition system 1 includes a camera, lighting, sonar and gimbal, which are connected to the base plate via brackets. The system is installed at the bottom of the motorized platform 14 and at the front end of the dual-mode fishing module. It is mainly used to search for and identify underwater targets.

[0051] The dual-mode fishing module uses an electric cylinder drive, which allows for precise control of the cylinder's stroke. Compared to hydraulic drive, it eliminates the need for a hydraulic power source and valve box, resulting in better integration and control precision. It also facilitates modular installation and use of the dual-mode fishing module.

[0052] In the dual-mode fishing module, the gripper 5 and the net body 13 (including the net support 10) are folded and stored at the bottom of the motorized platform 14 in sequence, and the extension and opening of the gripper 5 and the net body 13 can be controlled according to actual needs.

[0053] The base of the gripper 5 and the net support 10 has a vertical limiting function, which can ensure that the gripper 5 and the net support 10 extend from below the motorized platform 14 and reach a vertical position under the driving action of the electric cylinder.

[0054] Among them, the rotating bracket 4 of the gripper 5 has a horizontal limiting function, which can ensure that the gripper 5 is in a symmetrical state when it reaches the maximum opening range.

[0055] In its initial state, the device of this invention has the gripper 5 and net support 10 in the dual-mode fishing module folded and stored at the bottom of the motorized platform 14, with the net body 13 stored inside the net box 11. In operation, the device first utilizes the acoustic-optical recognition system 1 for long-range search and close-range identification and positioning of underwater targets, using a human-in-the-loop mechanism to determine target characteristics. For suspended or slow-moving targets, the gripper 5 is sequentially extended and opened from the bottom of the motorized platform 14, and the net is extended from the bottom of the motorized platform 14 and released from the net box 11. Utilizing the good maneuverability of the motorized platform 14, the device gradually approaches the target. After adjusting its posture, the target is captured in the net, with the human-in-the-loop mechanism providing real-time assessment of the target's status. If the target object can be completely stored in the net, the electric cylinder is controlled to retract the net to the bottom of the motorized platform 14 to prevent the target from falling out and complete the capture. If the target object is large and cannot be completely stored in the net, the gripper 5 is then manipulated to clamp the target, completing the capture, under the stop action of the net. For underwater targets that sink to the bottom, there is no need for a net to be used. Instead, the electric cylinder is controlled to extend and open the gripper 5 from the bottom of the motorized platform 14. By adjusting the attitude of the motorized platform 14, the gripper 5 is assisted in clamping the target to the bottom, and the fishing operation is finally completed.

[0056] In actual work process:

[0057] Operating Condition 1:

[0058] When targeting an underwater object, the gripper 5 extends, but the net does not extend from the bottom of the motorized platform 14.

[0059] Operation mode: The 5-claw gripper operates independently.

[0060] Task Two:

[0061] Targeting both suspended and moving targets.

[0062] The gripper 5 and the net body 13 extend sequentially from the bottom of the motorized platform 14.

[0063] Work mode:

[0064] a) For small targets, catch them individually with a net, and close the net after catching to prevent the target from falling out;

[0065] b) For large targets, the net is used to return to the stop position, and then the gripper 5 works together to clamp the large target.

[0066] Working principle of the invention:

[0067] Under the action of the sound and light recognition system 1, the target is detected and identified. The human in the loop judges the shape of the target and then selects the corresponding fishing mode. The human controls the motorized platform 14 to approach the target and adjust its posture to complete the fishing of the target.

[0068] This invention utilizes an acoustic-optical recognition system 1 for long-range search and close-range identification and positioning of underwater targets. Depending on the characteristics and states of different underwater targets, it selects either the stopping and catching function of the net or the clamping and catching function of the grippers 5 to achieve the catching of underwater targets. This dual-mode catching device, utilizing the net body 13 and the grippers 5, can adapt to the catching of various types of underwater targets and can catch targets in various states such as underwater movement, suspension, and bottoming. It features diverse catching functions, simple structure, and wide applicability.

[0069] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. An underwater mobile dual-mode fishing device, characterized in that: The system includes a mobile platform (14), on the bottom of which is installed an audio-visual recognition system (1) and a dual-mode fishing module. The dual-mode fishing module has the following structure: it includes an overall frame (2) fixed to the bottom of the mobile platform (14), an extension frame (8) at the bottom of the overall frame (2), a gripper (5) at the front end of the bottom of the extension frame (8) via a rotating bracket (4), a gripper opening and closing electric cylinder (3) on the rotating bracket (4), a gripper folding electric cylinder (6) at the bottom of the overall frame (2), and the output end of the gripper folding electric cylinder (6) connected to the rotating bracket (4). The claw folding electric cylinder (6) drives the gripper (5) to open and close, and to extend and retract at the bottom of the motorized platform (14). A net bag bracket (10) is installed at the middle of the bottom surface of the extension frame (8) via a support frame (7). At the same time, a net bag folding electric cylinder (9) is installed at the bottom of the overall frame (2). The output end of the net bag folding electric cylinder (9) is connected to the support frame (7). A net bag body (13) is installed on one side of the net bag bracket (10) via a buckle. A net box (11) and a camera (12) are installed at the bottom rear end of the overall frame (2). The net bag body (13) is neatly placed in the net box (11) before extension.

2. The underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The sound and light recognition system (1) is located at the front end of the dual-mode fishing module.

3. The underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The sound and light recognition system (1) includes a camera, a lighting lamp, a sonar and a gimbal. The sound and light recognition system (1) is connected and fixed to the bottom plate of the motorized platform (14) by a bracket.

4. The underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The rotary bracket (4) and the support frame (7) both have a vertical limiting function, ensuring that the gripper (5) and the net bracket (10) extend from below the motorized platform (14) and reach the vertical position under the driving action of the electric cylinder.

5. The underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The rotating bracket (4) of the gripper (5) has a horizontal limiting function, ensuring that the gripper (5) is in a symmetrical state when it reaches the maximum opening range.

6. The underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The structure of the net support (10) is as follows: it includes a connecting support (1001), a baffle (1006) is provided on the upper part of one side of the connecting support (1001), and a left half support (1002) and a right half support (1005) are installed on the lower part of one side of the connecting support (1001) through a hinge point (1003). The lower parts of the left half support (1002) and the right half support (1005) are both arc-shaped, and the upper parts of the left half support (1002) and the right half support (1005) are both bent. An electromagnet (1007) is provided at the head of the left half support (1002) and the right half support (1005). The electromagnet (1007) corresponds to and attracts the two ends of the baffle (1006). A spring (1004) is installed between the left half support (1002) and the right half support (1005).

7. The underwater maneuverable dual-mode fishing device as described in claim 6, characterized in that: The lower arc structure of the left half bracket (1002) and the right half bracket (1005) has a slot on the outside, and a fastener is provided in the slot.

8. The underwater mobile dual-mode fishing device as described in claim 6, characterized in that: The other side of the connecting bracket (1001) is provided with a fixing point for connecting to the net bag folding electric cylinder (9).

9. The underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The overall frame (2) is a flat structure with multiple elongated holes.

10. A method for operating the underwater mobile dual-mode fishing device as described in claim 1, characterized in that: The process includes the following: In the initial state, the gripper (5) and net holder (10) in the dual-mode fishing module are folded and stored at the bottom of the motorized platform (14), and the net body (13) is stored in the net box (11); In operation, the acoustic and optical recognition system (1) is first used to perform long-range search and close-range identification and positioning of underwater targets; For suspended targets or slow-moving targets, the grippers (5) are operated to extend and open from the bottom of the motorized platform (14) in sequence, and the net is operated to extend from the bottom of the motorized platform (14) and release and unfold from the net box (11). The good mobility of the motorized platform (14) is used to gradually approach the target, and after adjusting the body posture, the target is captured in the net. If the target object can be completely stored in the net, the electric cylinder is controlled to retract the net to the bottom of the motorized platform (14) to prevent the target from falling off and to complete the catching; If the target object is too large to fit completely in the net, the clamps (5) are then manipulated to hold the target in place under the stop action of the net, thus completing the catching. For underwater targets that sink to the bottom, there is no need for a net to be used. Instead, the electric cylinder is controlled to extend and open the gripper (5) from the bottom of the motorized platform (14). By adjusting the posture of the motorized platform (14), the gripper (5) is assisted in clamping the target to the bottom, and the fishing operation is finally completed.

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