Underwater intelligent identifying and active capturing device for ampullaria gigas and working method

Abstract

The invention provides a pomacea canaliculata underwater intelligent identification and active capturing device which comprises a cabin, a capturing mechanical arm and a driving mechanism, the capturing mechanical arm is arranged at the front end of the advancing direction of the cabin, the tail end of the capturing mechanical arm is connected with the cabin, and the driving mechanism is arranged at the rear end of the advancing direction of the cabin. The universal cutting machine is arranged at the front end of the advancing direction of the cabin body, and a master control module, a battery module, a cabin inner container, a first lighting module, a first monitoring and recognition module, a sensor module, an opening and closing door and an exit are arranged in the cabin body; the cabin inner container is connected with an opening and closing door arranged at the top of the cabin body and an outlet arranged at the bottom of the cabin body through two cabin inner container channels. A second monitoring and recognition module and a second lighting module are further arranged at the front end of the advancing direction of the cabin body. According to the device, aquatic plants or sundries blocking the view field and the path are cleaned, the device freely moves underwater, automatic observation, intelligent recognition, capturing and storage are integrated, the labor cost is reduced, and the environment damage caused by manual capturing work is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of aquatic organism catching, and in particular to an underwater intelligent identification and active catching device for Pomacea canaliculata and a working method. Background Art

[0002] The golden apple snail is a hard-shelled mollusk of the family Physalis in the order Mesogastropoda. The golden apple snail is large, has a wide range of diets, and is highly fertile. It prefers waters with abundant aquatic plants, fresh water, and good ventilation, and is a feed for some precious aquatic animals. However, eating raw or undercooked golden apple snails can cause meningoencephalitis, which can cause symptoms such as headaches, fever, and stiff necks. In severe cases, it can lead to dementia or even death.

[0003] In the existing snail fishing methods, people usually carry out manual fishing and mechanical fishing. As for the golden apple snail, it is the intermediate host of many parasites such as nematodes and trematodes, such as Guangzhou roundworm, Opisthostrongylus, and Echinostoma, which can cause headaches, vomiting, and even mental disorders, which are harmful to health. It is also not suitable to touch it directly with your hands. The method of searching for golden apple snails in the intertidal zone or mudflats for general snails, and then fishing them out with your hands or tools is no longer applicable. Using nets is a more efficient fishing method. The fishermen will set up fishing nets in places where golden apple snails often appear, place bait in a suitable position, wait for the golden apple snails to actively enter the net, and then capture them. All of these methods require a great deal of manpower and resources for patrolling on the surface and underwater, and human vision is limited. The depth and turbidity of rivers and reservoirs greatly reduce visibility, making manual operations more difficult. In addition, on-site personnel may be infected with parasites due to unprofessionalism and inadequate protection, which may affect their own health. Draining rivers and reservoirs will also cause economic losses to ordinary fish. Biological or chemical methods require a lot of equipment and professional personnel, and may also cause harm to the environment, or these methods cannot eradicate the golden apple snails in this area. There are no professional underwater navigation devices for catching golden apple snails on the market. Summary of the invention

[0004] In order to solve the problem that it is difficult to identify and catch golden apple snails in rivers and reservoirs in the above-mentioned prior art.

[0005] The present invention proposes an underwater intelligent identification and active capture device for golden snails. The present invention is achieved through the following technical solutions:

[0006] The present invention includes a cabin, a capture mechanical arm and a driving mechanism. The capture mechanical arm is arranged at the front end of the cabin in the direction of travel and the end is connected to the cabin. The driving mechanism is arranged at the rear end of the cabin in the direction of travel. There are two capture mechanical arms, one of which is provided with a net at the front end and a manipulator at the front end of the other capture mechanical arm. The control module is arranged at the connection between the capture mechanical arm and the cabin, and the motion mechanism is arranged in the middle of the capture mechanical arm. The present invention also includes a universal cutting machine arranged at the front end of the cabin in the direction of travel. The cabin is provided with a master control module, a battery module, a cabin container, a first lighting module, a first monitoring and identification module, a transmission module, and a control module. The cabin container is connected to the opening and closing door on the top of the cabin body and the exit at the bottom through two cabin container channels. A second lighting module and a second monitoring and identification module are arranged at the front end in the direction of travel of the cabin body. The general control module is placed at the bottom of the cabin body and controls all movement states of the capture device. The battery module is arranged at the bottom of the cabin body and provides power for the entire capture device. The first lighting module is arranged on both sides of the cabin container. The first monitoring and identification module and the sensor module are arranged on the top of the cabin container. A second monitoring and identification module and a second lighting module are also arranged at the front end in the direction of travel of the cabin body.

[0007] Furthermore, the master control module includes an intelligent recognition module, a GPS positioning module and a wireless transceiver. The intelligent recognition module determines the category of organisms or objects through the EfficientDet target detection algorithm, and uses the underwater image enhancement algorithm to optimize and improve the picture.

[0008] Furthermore, the battery module includes four small high-capacity soft-pack batteries.

[0009] Furthermore, the first lighting module is composed of eight LED lamps.

[0010] Furthermore, the first monitoring and identification module includes a high-definition camera and a transmission element, and the sensor module includes four intelligent sensors.

[0011] Furthermore, the second monitoring and identification module is composed of a high-definition camera and a transmission element, which is arranged on both sides of the front end of the cabin in the direction of travel and is integrated with the second lighting module.

[0012] Furthermore, there are two universal cutters, which are arranged below the front end of the cabin in the direction of travel and include a single-phase series-excited motor, a reduction gearbox, a protective cover and a circular saw blade.

[0013] Furthermore, the outlet consists of an opening and closing door and a charging port.

[0014] Furthermore, the driving mechanism includes two first screw propellers and two second screw propellers, which are respectively embedded in the middle and rear end of the cabin's travel direction. The first screw propellers are arranged parallel to the cabin's travel direction, and the second screw propellers are arranged perpendicular to the cabin's travel direction.

[0015] The present invention provides a working method for an underwater intelligent identification and active capture device for Pomacea canaliculata, comprising the following steps:

[0016] S1, the master control module sends a signal to the second monitoring and identification module and the second lighting module, turns on the second lighting module, and at the same time, the second monitoring and identification module detects the front view and transmits the picture to the master control module in real time. If there is a large area of ​​aquatic plants in front, the master control module sends a signal to the universal cutter, and the universal cutter starts to work to clean the aquatic plants; if there is only a small amount of aquatic plants or no obstacles such as aquatic plants in front, the master control module sends a signal to the drive mechanism to continue moving forward;

[0017] S2. When the master control module recognizes and detects that there are golden apple snails in front, if there are a small amount of water plants and a small amount of golden apple snails in the front area, a capture instruction is sent to the control module, and the control module controls the manipulator to move or push away the water plants to clean the route, and capture and collect the golden apple snails; if there are more golden apple snails in the front area, a fishing instruction is sent to the control module, and the control module controls the net to catch the golden apple snails;

[0018] S3, the master control module sends a signal to the opening and closing door, the opening and closing door opens, the capture robot arm puts the captured golden apple snail into the cabin, the golden apple snail enters the cabin container through the cabin container channel, the opening and closing door closes, and the capture robot arm continues to fish for the golden apple snail;

[0019] S4. The first monitoring and identification module and the sensor module monitor the interior of the cabin in real time and send the data to the master control module. If the cabin container is full of Pomacea canaliculata or the water pressure and temperature data in the cabin are abnormal or the battery module power is less than %, the master control module sends a return instruction to the drive mechanism and the control device immediately returns to the shore.

[0020] S5. The master control module sends a signal to the opening and closing door of the exit, and the opening and closing door opens to clean the golden apple snails inside the container in the cabin.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] (1) The present invention can clear aquatic plants or debris that block the field of vision and path, move freely underwater, and realize automatic observation, intelligent identification, capture and storage in one.

[0023] (2) The present invention can complete intelligent identification and capture tasks at one time, facilitate the detection of underwater targets, and guide the operating robot arm to capture the golden apple snails, effectively saving the time required for fishing, improving fishing efficiency, saving labor costs, and avoiding damage to the environment caused by manual fishing.

[0024] (3) The intelligent recognition system of the present invention uses the EfficientDet target detection algorithm and the attention mechanism algorithm, and uses the pre-trained Pomacea canaliculata target detection model to detect the pictures or videos transmitted by the underwater monitoring and recognition module, and judge the category of the organisms or objects. During intelligent recognition, the underwater image enhancement algorithm is used to enhance the clarity of the picture or video, so as to make correct decisions.

[0025] Advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments thereof, which are given by way of example only with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 It is a schematic diagram of the structure of the motion mechanism of the capture robot arm of the present invention.

[0028] Figure 3 It is a schematic diagram of the internal cross-sectional structure of the cabin of the present invention (towards the direction of the robotic arm).

[0029] Figure 4 It is a schematic diagram of the internal cross-sectional structure of the cabin body of the present invention (towards the propeller).

[0030] Figure 5 It is a schematic diagram of the structure of the container in the cabin of the present invention.

[0031] Figure 6 It is a schematic diagram of the forward structure (excluding the robotic arm part) of the present invention.

[0032] Figure 7 This is a control structure block diagram of the present invention.

[0033] Indicated in the figure:

[0034] 1. First propeller; 2. Second propeller; 3. Cabin; 4. Universal cutter; 5. Capture robot arm; 6. Net; 7. Robot; 8. Opening and closing door; 9. Control module; 10. Movement mechanism; 11. Cabin container channel; 12. Cabin container; 13. Sensor module; 14. First monitoring and identification module; 15. Exit; 16. First lighting module; 17. Master control module; 18. Battery module; 19. Second monitoring and identification module; 20. Second lighting module. DETAILED DESCRIPTION

[0035] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0036] like Figures 1 to 6 As shown, the present invention designs an underwater intelligent identification and active capture device for golden apple snails, which includes a cabin 3, a capture mechanical arm 5, a universal cutter 4 and a driving mechanism. The capture mechanical arm 5 and the universal cutter 4 are both arranged at the front end of the cabin 3 in the direction of travel, and the ends are connected to the cabin 3, and the driving mechanism is arranged at the rear end of the cabin 3 in the direction of travel. There are two capture mechanical arms 5, one of which is provided with a net 6 at the head end, and the other capture mechanical arm 5 is provided with a manipulator 7 at the head end. There are two universal cutters 4.

[0037] The cabin body 3 is provided with a master control module 17, a battery module 18, a cabin container 12, a first lighting module 16, a first monitoring and identification module 14, a sensor module 13, an opening and closing door 8 and an exit 15. The cabin container 12 is used to place the golden apple snails captured by the capture mechanical arm 5. The cabin container 12 is connected to the opening and closing door 8 at the top of the cabin body 3 and the exit 15 at the bottom through two cabin container channels 11.

[0038] A driving mechanism is arranged outside the cabin 3 , and a second lighting module 20 , a second monitoring and identification module 19 , a capture robot arm 5 and a universal cutter 4 are arranged at the front end of the cabin 3 in the direction of travel, all of which are controlled by the master control module 17 .

[0039] The master control module 17 is placed at the bottom of the cabin 3 and is composed of a high-performance microcomputer, including an intelligent identification module, a GPS positioning module and a wireless transceiver. Its functions include intelligent identification, GPS positioning and signal transceiver processing. The battery module 18 supplies power to the master control module 17. The master control module 17 controls the opening and closing of the door 8, the second lighting module 20, the second monitoring and identification module 19, the universal cutting machine 4, the first lighting module 16, the first monitoring and identification module 14, the sensor module 13, the battery module 18 and the control module 9.

[0040] Among them, the intelligent recognition function uses the EfficientDet target detection algorithm and the pre-trained golden apple snail target detection model to detect the pictures or videos transmitted by the second monitoring and recognition module 19 to determine the category of the organism or object.

[0041] Among them, due to the harsh underwater environment, the intelligent recognition function uses underwater image enhancement algorithm to optimize and improve the picture during recognition, with obvious improvements in clarity, increase and decrease of picture noise, and brightness adjustment, further improving the detection accuracy of golden apple snails.

[0042] Among them, the GPS positioning function records the longitude, latitude and altitude through the GPS positioning module, records the shore location information of the device released, and records the location information of the underwater intelligent identification and active capture device of the golden apple snail in real time, and updates and feeds back to the user's display device. The user's external processing equipment draws the device location information to intuitively display the device's route, providing reliable reference material for other underwater research.

[0043] Among them, the signal receiving and sending function is realized by the wireless transceiver, which includes two functional layers, such as the physical layer and the media access control layer. The physical layer includes the RF front end and the baseband processor. The processor converts the bit stream into an acquisition symbol stream for data transmission. The MAC layer provides link flow control for the transmitter to contact the wireless link, avoid conflicts and improve data throughput. The signal receiving and sending device sends and receives signals to the user control device through this principle, thereby controlling the operation of each sub-device and module in the underwater intelligent identification and active capture device of the golden apple snail.

[0044] The battery module 18 includes four small high-capacity soft-pack batteries, which are located at the bottom of the cabin 3, supply power to the entire device, and are monitored by the master control module 17. The master control module 17 sends the real-time remaining power to the user display device through a signal transceiver, so that the user can control the usage time.

[0045] Among them, the main control module 17 monitors the power of the battery module 18. If the battery power is less than 10%, the main control module 17 sends a return instruction to the drive mechanism, and controls the underwater intelligent identification and active capture device of the golden apple snail to return to the shore immediately through the shore position information pre-stored by the GPS positioning system.

[0046] Among them, the user can issue a return command on the shore. After the signal transceiver receives the return signal, the main control block 17 sends a return command to the drive mechanism according to the location information provided by the GPS positioning system, controlling the underwater intelligent identification and active capture device of the golden apple snail to return to the shore immediately.

[0047] The first lighting module 16 is composed of eight LED lights, which are arranged on both sides of the cabin container 12 and are powered by a battery module 18. The master control module 17 controls the switch of the first lighting module 16. The user can also send an instruction to turn on or off the first lighting module 16 through a signal transceiver to control the first lighting module 16 and assist the first monitoring and identification module 14 in inspecting and monitoring the cabin environment.

[0048] The first monitoring and identification module 14 includes a high-definition camera and a transmission element, which is arranged on the top of the cabin container 12, and is powered by a battery module 18. The high-definition camera switch is controlled by the master control module 17. The user can also send a command to turn on or off the first monitoring and identification module 14 through a signal transceiver to monitor the environment in the cabin 3, and synchronize the picture to the user's display device in real time through a transmission signal. When it is detected that the cabin container 12 is full, the transmission signal simultaneously sends a return command to the master control module 17.

[0049] The sensor module 13 includes four intelligent sensors, which are located on the top of the cabin container 12 and are powered by a battery module 18. The switch of the sensor module 13 is controlled by the master control module 17. The user can also send instructions to turn on or off the sensor module 13 through a signal transceiver to monitor the environment of the cabin container 12 and assist the first monitoring and identification module 14 to check and monitor the water pressure and temperature of the cabin container 12.

[0050] Among them, the intelligent sensor is equipped with a microprocessor, which has the ability to collect, process and exchange information. It can store the detected water pressure, temperature and other data, and process these data according to instructions. It can also exchange information with each other, and can self-determine the data to be transmitted, discard abnormal data, complete analysis and statistical calculations, and transmit them to the main control module 17. The signal transceiver device of the main control module 17 can send the processed and calculated data in the intelligent sensor to the user end.

[0051] The second lighting module 20 is arranged at the front end of the travel direction of the cabin 3, connected to the second monitoring and identification module 19, composed of five LED lights, and illuminates the front area through a lens. The battery module 18 supplies power to it. The main control module 17 controls the switch of the second lighting module 20. The user can also send an instruction to turn on or off the second lighting module 20 through the signal transceiver device to assist the second monitoring and identification module 19 to detect the front area.

[0052] The second monitoring and identification module 19 is composed of a high-definition camera and a transmission element, and is arranged on both sides of the front end of the cabin 3 in the direction of travel, and is integrated with the second lighting module 20. The battery module 18 powers it, and controls the switch of the high-definition camera of the second monitoring and identification module 19 through the master control module 17 to detect the front field of view, and uses the transmission element to transmit the picture in real time to the master control module 17 and the user's display device.

[0053] Among them, the transmission element includes a transmission wire and a wireless transmitter. The transmission wire transmits the image to the main control module 17. The wireless transmitter converts the electric energy provided by the battery module 18 into radio waves, and then transmits the radio waves through the antenna, and then receives the radio waves to the display device specified by the user, thereby realizing the transmission and reception of wireless signals.

[0054] Among them, the second monitoring and identification module 19 transmits the picture to the intelligent identification system of the main control module 17 through the transmission element. If the intelligent identification system determines that there is a large area of ​​aquatic plants in front, which seriously blocks the travel route, the main control module 17 turns on the universal cutter 4 to clean up the aquatic plants.

[0055] The universal cutter 4 is arranged at the lower sides of the front end of the cabin 3 in the direction of travel, and includes a single-phase series-excited motor, a reduction gearbox, a protective cover and a circular saw blade. Its switch is controlled by the general control module 17, and the battery module 18 supplies power to it. The circular saw blade is driven by the motor to rotate at high speed to clear the aquatic plants blocking the route ahead.

[0056] The blade of the universal cutter 4 is an alloy circular saw blade, and the blade connection includes a large-range motion joint, which can be driven by a motor to rotate at a large angle to achieve the purpose of quickly passing through the water area and improve efficiency.

[0057] The capture robot arm 5 includes a pair of operating robot arms, which are respectively arranged on both sides of the front end of the cabin body 3 in the direction of travel. The capture robot arm 5 is a high-precision, multi-input and multi-output, highly nonlinear, and strongly coupled complex system. It has multiple sensors at various parts and is powered by a battery module 18. When operating, the robot arm door is opened and the robot arm is extended to operate. If the intelligent recognition system in the master control module 17 detects the golden apple snail, it immediately sends a capture instruction to the control module 9, and at the same time sends the coordinates of the golden apple snail to the control module 9. The movement of the robot arm is controlled by the control module 9. After the golden apple snail is captured, the master control module 17 sends an instruction to open the opening and closing door 8. The robot arm puts the golden apple snail into the cabin container 12 through the cabin container channel 11 and then exits the opening and closing door 8. The master control module 17 sends an instruction to close the opening and closing door 8. The user can also send an instruction to the capture robot arm 5 through the signal transceiver of the master control module 17, and the user controls the robot arm in real time to capture the golden apple snail.

[0058] The control module 9 is composed of a high-performance chip and a signal transceiver component, and controls the operation of the robot arm by receiving instructions from the main control module 17 through the signal transceiver component.

[0059] One of the capture robot arms 5 is composed of three parts: a robot 7, a motion mechanism 10 and a control module 9. The robot 7 can imitate the movement functions of human hands and arms, and is an automatic operating device for grabbing and carrying golden apple snails according to a fixed program; a control module 9 is set at the connection position between the capture robot arm 5 and the cabin 3, and the motion mechanism 10 is set between the robot arm 7 and the control module 9, so that the hand can complete various rotations, movements or compound movements to achieve the specified actions, change the position and posture of the grasped object, and has 6 degrees of freedom to ensure that the robot arm has greater flexibility; the control system completes specific actions by controlling the motor of each degree of freedom of the robot arm 7, and at the same time receives information fed back by the sensor to form a stable closed-loop control. The core of the control system is composed of a pre-trained microcontroller chip, which is programmed to realize the function of controlling the robot arm 7 to clamp the golden apple snail. If the intelligent recognition system determines that there is a small amount of aquatic plants blocking the route in the front area, there is no need to open the cutting sub-device, and the robot arm 7 can move the aquatic plants or push away the aquatic plants to clean the route.

[0060] Among them, another capturing robotic arm 5 is composed of three parts: a net 6, a motion mechanism 10 and a control module 9. The net 6 is a chemical fiber woven net woven from chemical fibers such as nylon threads. The motion mechanism 10 and the control system are the same as the capturing robotic arm 5 with the manipulator 7. If the intelligent recognition system determines that there are more golden apple snails in the front area, the control module 9 will issue a fishing instruction to the capturing robotic arm 5 with the net 6.

[0061] An opening and closing door 8 is installed at the top of the front end of the cabin body 3 in the direction of travel, and the battery module 18 supplies power to it. After the robotic arm captures the golden apple snail, it is placed into the cabin container 12 through the opening and closing door 8. The opening and closing of the opening and closing door 8 is controlled by the master control module 17.

[0062] The bottom of the cabin 3 is provided with an outlet 15, which is composed of an opening and closing door 8, a container channel 11 in the cabin and a charging port, and is used to charge the total battery module 18. The charging port shell is made of waterproof material. The battery module 18 supplies power to the opening and closing door 8, and the main control module 17 controls the opening and closing of the opening and closing door 8. When on the shore, it can be used as an outlet for the golden apple snails to clean.

[0063] The driving mechanism includes two first propellers 1 and two second propellers 2, which are respectively embedded in the middle and rear end of the travel direction of the cabin 3. The battery module 18 supplies power to them, and the operation of the first propellers 1 and the second propellers 2 is controlled by the general control module 17. The first propellers 1 and the second propellers 2 are composed of a motor, propeller blades and a fairing. The motor is used to directly drive the propeller and can rotate at a certain angle to meet the direction change.

[0064] Among them, the first screw propeller 1 is arranged parallel to the moving direction of the cabin 3, and the floating and sinking operations are realized through underwater suspension technology. The second screw propeller 2 is arranged perpendicular to the moving direction of the cabin 3 to realize the forward and backward movement of the device.

[0065] like Figure 7 The control structure block diagram between the components of the present invention is shown in FIG. The working method of the underwater intelligent identification and active capture device of Pomacea canaliculata of the present invention is as follows:

[0066] First, the main control module 17 sends a signal to the second monitoring and identification module 19 and the second lighting module 20 to turn on the second lighting module 20. At the same time, the second monitoring and identification module 19 detects the field of view ahead and transmits the image to the main control module 17 in real time. The main control module 17 determines that if there is a large area of ​​aquatic plants ahead, the main control module 17 sends a signal to the universal cutter 4, and the universal cutter 4 starts to work to clear the aquatic plants. If there is only a small amount of aquatic plants or no aquatic plants or other obstacles ahead, the main control module 17 sends a signal to the drive mechanism to continue moving forward.

[0067] Next, when the master control module 17 recognizes and detects the presence of golden apple snails in front, it will make another judgment. If there are a small amount of aquatic plants and a small amount of golden apple snails in the front area, a capture instruction will be immediately sent to the control module 9. The control module 9 controls the manipulator 7 to move or push away the aquatic plants to clean the route and capture and collect the golden apple snails; if there are more golden apple snails in the front area, a fishing instruction will be immediately sent to the control module 9. The control module 9 controls the net 6 to catch the golden apple snails.

[0068] Then, the master control module 17 sends a signal to the opening and closing door 8, the opening and closing door 8 opens, the capturing robotic arm 5 puts the captured golden apple snails into the cabin 3, the golden apple snails enter the cabin container 12 through the cabin container channel 11, the opening and closing door 8 closes, and the capturing robotic arm 5 continues to catch the golden apple snails.

[0069] Then, the first monitoring and identification module 14 and the sensor module 13 monitor the interior of the cabin 3 in real time, and send the data to the main control module 17. The main control module 17 determines that if the cabin container 12 is full of golden apple snails or the water pressure and temperature data in the cabin 3 are abnormal or the battery module 18 has a power level less than 10%, the main control module 17 sends a return instruction to the drive mechanism, and the control device immediately returns to the shore.

[0070] Finally, the master control module 17 sends a signal to the opening and closing door 8 of the exit 15, and the opening and closing door 8 opens to clean the golden apple snails inside the container 12 in the cabin.

[0071] In addition to the above embodiments, the present application may also have other implementation modes. Any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present application.

Claims

1. An underwater intelligent identification and active capture device for Pomacea canaliculata, comprising a cabin (3), a capture mechanical arm (5) and a drive mechanism, characterized in that: The capture mechanical arm (5) is arranged at the front end of the cabin (3) in the direction of travel and the rear end is connected to the cabin (3); the driving mechanism is arranged at the rear end of the cabin (3) in the direction of travel; the capture mechanical arm (5) is two in number, one of the capture mechanical arms (5) is provided with a net (6) at the front end, and the other capture mechanical arm (5) is provided with a manipulator (7) at the front end; the control module (9) is arranged at the connection between the capture mechanical arm (5) and the cabin (3); the motion mechanism (10) is arranged in the middle of the capture mechanical arm (5); and the universal cutting machine (4) is also arranged at the front end of the cabin in the direction of travel; the cabin (3) is provided with a master control module (17), a battery module (18), a cabin container (12), a first lighting module (16), a first monitoring and identification module (14), a sensor module (13), an opening and closing door (8) and an exit The container (12) is connected to an opening and closing door (8) arranged at the top of the cabin body (3) and an exit (15) at the bottom through two cabin container channels (11). A second lighting module (20) and a second monitoring and identification module (19) are arranged at the front end of the cabin body (3) in the direction of travel. The master control module (17) is arranged at the bottom of the cabin body (3) and controls all movement states of the capture device. The battery module (18) is arranged at the bottom of the cabin body (3) and provides power for the entire capture device. The first lighting module (16) is arranged on both sides of the container (12) in the cabin. The first monitoring and identification module (14) and the sensor module (13) are arranged at the top of the container (12) in the cabin. The front end of the cabin body (3) in the direction of travel is also provided with a second monitoring and identification module (19) and a second lighting module (20).

2. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The master control module (17) comprises an intelligent recognition module, a GPS positioning module and a wireless transceiver. The intelligent recognition module determines the category of the organism or object by using the EfficientDet target detection algorithm, and optimizes and improves the image by using the underwater image enhancement algorithm.

3. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The battery module (18) includes four small high-capacity soft-pack batteries.

4. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The first lighting module (16) is composed of eight LED lamps.

5. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The first monitoring and identification module (14) comprises a high-definition camera and a transmission element, and the sensor module (13) comprises four intelligent sensors.

6. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The second monitoring and identification module (19) is composed of a high-definition camera and a transmission element, and is arranged on both sides of the front end of the cabin (3) in the direction of travel, and is integrated with the second lighting module (20).

7. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The number of the universal cutting machines (4) is two, which are arranged below the front ends of the cabin (3) in the direction of travel and include a single-phase series-excited motor, a reduction box, a protective cover and a circular saw blade.

8. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The outlet (15) consists of an opening and closing door (8) and a charging port.

9. The device for underwater intelligent identification and active capture of Pomacea canaliculata according to claim 1, characterized in that: The driving mechanism comprises two first screw propellers (1) and two second screw propellers (2), which are respectively embedded in the middle and rear end of the travel direction of the cabin (3); the first screw propellers (1) are arranged parallel to the travel direction of the cabin (3), and the second screw propellers (2) are arranged perpendicular to the travel direction of the cabin (3).

10. A working method for the underwater intelligent identification and active capture device of Pomacea canaliculata according to any one of claims 1 to 9, characterized in that: The following steps are included: S1, the main control module (17) sends a signal to the second monitoring and identification module (19) and the second lighting module (20), and turns on the second lighting module (20). At the same time, the second monitoring and identification module (19) detects the front view and transmits the picture to the main control module (17) in real time. If there is a large area of ​​waterweed in front, the main control module (17) sends a signal to the universal cutter (4), and the universal cutter (4) starts to work to clean the waterweed; if there is only a small amount of waterweed or no waterweed or other obstacles in front, the main control module (17) sends a signal to the drive mechanism to continue moving forward; S2, when the master control module (17) identifies and detects that there are golden apple snails in front, if there are a small amount of water plants and a small amount of golden apple snails in the front area, a capture instruction is sent to the control module (9), and the control module (9) controls the manipulator (7) to move or push away the water plants to clean up the route, and capture and collect the golden apple snails; if there are a large number of golden apple snails in the front area, a fishing instruction is sent to the control module (9), and the control module (9) controls the net (6) to fish the golden apple snails; S3, the master control module (17) sends a signal to the opening and closing door (8), the opening and closing door (8) opens, the capture mechanical arm (5) puts the captured golden apple snail into the cabin body (3), the golden apple snail enters the cabin container (12) through the cabin container channel (11), the opening and closing door (8) closes, and the capture mechanical arm (5) continues to carry out the golden apple snail fishing work; S4, the first monitoring and identification module (14) and the sensor module (13) monitor the interior of the cabin (3) in real time and send the data to the main control module (17); if the interior container (12) is full of golden snails or the water pressure and temperature data in the cabin (3) are abnormal or the power of the battery module (18) is less than (10)%, the main control module (17) sends a return instruction to the drive mechanism, and the control device immediately returns to the shore; S5, the master control module (17) sends a signal to the opening and closing door (8) of the exit (15), the opening and closing door (8) opens, and the golden apple snails inside the container (12) in the cabin are cleaned.

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