Sea urchin catching robot and sea urchin catching method

Abstract

The application belongs to the technical field of sea urchin catching, and particularly relates to a sea urchin catching robot and a sea urchin catching method. The sea urchin catching robot is characterized in that claws 1 and claws 2 provided with semispherical protrusions on surfaces are used to catch sea urchins under the action of springs of a spring telescopic frame; the sea urchin catching robot fixes the sea urchins by hook strips on a transmission tooth belt during the process of transporting the sea urchins to a collection bin, and cooperates with other robots through a cooperative operation module to position, catch and transport the sea urchins. The sea urchin catching robot and the sea urchin catching method have the advantages of small damage to the sea urchins, high catching efficiency, safety and high automation degree.

Description

Technical Field

[0001] This invention belongs to the field of sea urchin harvesting technology, specifically relating to a sea urchin harvesting robot and a sea urchin harvesting method. Background Technology

[0002] With the continuous development of the marine economy and the increasing abundance of marine resources, the harvesting industry for seafood such as sea urchins has developed rapidly. However, traditional sea urchin harvesting methods mainly rely on manual diving, which is not only inefficient but also poses significant safety hazards and causes some damage to the marine ecosystem. Therefore, developing a highly automated, efficient, and environmentally friendly sea urchin harvesting robot has become an urgent need for the industry.

[0003] Existing marine harvesting robots are mostly focused on harvesting larger seafood such as sea cucumbers and scallops. Harvesting smaller, uniquely shaped sea urchins remains a significant technical challenge. Current robots struggle to accurately identify and locate sea urchins, and they are prone to damaging them during harvesting, resulting in low harvesting efficiency and compromised quality. Summary of the Invention

[0004] This invention addresses the problems of existing sea urchin harvesting robots and methods, such as difficulty in accurately identifying and locating sea urchins, easy damage to sea urchins, low efficiency, and serious safety hazards during sea urchin harvesting operations. The invention provides a sea urchin harvesting robot comprising: a capture module, a collection module, a drive module, a detection module, a body frame, and a collaborative operation module. The capture module is located at the top of the body frame; the collection module is located inside the body frame; the drive module, detection module, and collaborative operation module are located on the frame structure of the body frame; the capture module, collection module, drive module, and detection module are each connected to the collaborative operation module.

[0005] The top and bottom surfaces of the body frame are respectively provided with a top plate and a base, and a support frame is provided between the top plate and the base;

[0006] The capture module includes a capture claw; the capture claw is connected to a motor controller three for controlling its vertical movement and a motor controller four for controlling its horizontal movement; a fixing plate is provided on the machine frame; the motor controller three is set on the slide rail of the top plate and the motor controller four is set on the slide rail of the base, and the motor controller three and the motor controller four are set on the machine frame through the fixing plate.

[0007] The collection module includes a conveying bracket, with axially rotatable conveying rollers at both ends of the conveying bracket; an annular conveying toothed belt is attached to the conveying rollers; the conveying toothed belt rotates around the two conveying rollers under the drive of the two conveying rollers; a power belt is connected to the conveying rollers; one end of the power belt is connected to a drive motor fixed on the conveying bracket; the drive motor drives the power belt to rotate, thereby driving the conveying rollers to drive the conveying toothed belt to rotate around the two conveying rollers.

[0008] A slider is symmetrically fixed on the upper part of the conveyor support, and the slider is connected to the second motor controller; the second motor controller drives the conveyor belt to move towards the capture claw.

[0009] A collection chamber for collecting sea urchins is fixed on the base. A door is located directly below the collection chamber. The door is located on the bottom surface of the base and is connected to a motor controller that controls its closing. The motor controller is located on the slide rail of the base.

[0010] The drive module includes a propulsion housing; the propulsion housing is fixedly mounted on the side of the top plate; a propeller is connected to the propulsion housing, and the propulsion housing provides power to the propeller; wheels are symmetrically distributed along the center line of the base on its side; a motor housing is fixed on the base and provides power to the wheels; batteries are connected to the propulsion housing and the motor housing respectively, and the batteries are fixed on the support frame; the batteries provide power to the fishing robot.

[0011] The detection module is used to determine whether obstacle avoidance conditions are triggered and the location of the sea urchin is detected based on the underwater conditions, thereby sending a signal to the drive module to avoid obstacles and move to a location close to the sea urchin;

[0012] The collaborative operation module enables multiple robots to work together, sharing their own location, speed, and task status information in real time. Each fishing robot can obtain information from other fishing robots in real time, analyze and formulate its own fishing route, coordinate actions, and avoid collisions.

[0013] According to the above-described sea urchin harvesting robot, the characteristic feature is that: the capturing claw includes: a harvesting support, a power support mounted on the harvesting support; a power compartment mounted on the power support; a claw plate one and a claw plate two for gripping sea urchins are mounted inside the power compartment, the claw plate one and the claw plate two are rectangular plates with protrusions on their surfaces; the claw plate one is fixedly mounted on the harvesting support, and a spring telescopic frame is mounted on the top of the claw plate two, with three springs arranged in a triangular pattern on the spring telescopic frame; a push plate is fixed on one side of the claw plate two; the push plate is mounted on the slide rail of the power support.

[0014] According to the above-described sea urchin harvesting robot, the following features are provided: the conveyor belt in the collection module includes: a conveyor belt plate, a chain connected to the conveyor belt plate, and hooks evenly distributed on the upper surface of the conveyor belt plate.

[0015] According to the above-described sea urchin harvesting robot, the top plate, base and support frame are all made of aluminum alloy plates, the support frame is provided with weight reduction holes, and the top plate located directly above the collection chamber is provided with a viewing window.

[0016] According to the above-described sea urchin harvesting robot, the following features are provided: the conveying bracket in the collection mechanism is a thin aluminum alloy steel plate structure with weight-reducing holes distributed on it; the conveying bracket is provided with symmetrical grooves and fixedly connected to the slider; a baffle is provided on the frame at one end of the conveying bracket.

[0017] According to the above-described sea urchin harvesting robot, the following features are provided: the motor controller one, motor controller two, motor controller three and motor controller four have the same shape and size, and each of them is provided with a wear-resistant sleeve at its bottom, which is connected to the track at its bottom.

[0018] According to the above-described sea urchin harvesting robot, the collection chamber is characterized by having an inverted pyramid-shaped fence structure, and the sea urchins are discharged from the collection chamber after the door is opened.

[0019] According to the above-described sea urchin harvesting robot, the hatch is characterized in that: the hatch is provided with a groove and is connected to the raised sliding strip of the base so that the hatch will not fall off; the protrusions on the surfaces of claw plate one and claw plate two are hemispherical.

[0020] The sea urchin harvesting robot described above is characterized in that: the wheels have a staggered perforation design and the wheel material is engineering plastic.

[0021] According to the above-described sea urchin harvesting robot, the springs on the spring telescopic frame are distributed in a triangular pattern, and three non-collinear points determine a plane, thus ensuring the stability of the second claw plate.

[0022] The method for harvesting sea urchins using a sea urchin harvesting robot, as described above, is characterized by the following steps:

[0023] Step 1: Identify the specific location of the sea urchins and determine the sea urchin harvesting robot to be used through the detection module and the collaborative operation module;

[0024] Step 2: The drive module drives the sea urchin harvesting robot to the location of the sea urchin;

[0025] Step 3: The first and second claw plates of the capture module grip the sea urchin;

[0026] Step 4: Release claw plate one and claw plate two and place the sea urchin onto the conveyor belt. The sea urchin will be secured by the hooks on the conveyor belt.

[0027] Step 5: The conveyor belt rotates, transporting the sea urchins to the collection tank;

[0028] Step Six: After the collection compartment is full of sea urchins, the drive module drives the sea urchin harvesting robot to the fishing vessel, opens the hatch, and puts the sea urchins into the collection net cage.

[0029] The beneficial effects of the present invention are as follows:

[0030] 1. The sea urchin harvesting robot of the present invention uses claw plates one and two with hemispherical protrusions on their surfaces to capture sea urchins under the action of springs in a spring telescopic frame. Compared with hooks, nets, etc., the catching claws are more efficient and stable in catching sea urchins. The unique claw plate design prevents sea urchins from falling off during the harvesting process.

[0031] 2. The sea urchin harvesting robot of the present invention is fixed by hooks on the conveyor belt during the process of transporting sea urchins to the collection chamber. Compared with ordinary conveyor belts, the conveyor belt is more suitable for the transportation of sea urchins. During the transportation of sea urchins, the hooks can firmly fix the sea urchins and prevent them from falling.

[0032] 3. Compared with traditional underwater robots, the sea urchin harvesting robot of the present invention is equipped with multiple driving methods, which can travel in the sea or walk on the seabed through the driving device, better cope with the complex seabed environment, and improve operation efficiency and safety.

[0033] 4. The sea urchin harvesting robot of the present invention enables multiple robots to work together through a collaborative operation module, sharing information such as their own position, speed, and task status in real time. Each harvesting robot can obtain information from other harvesting robots in real time, analyze and formulate its own harvesting route, coordinate actions and avoid collisions. The harvesting robot significantly improves harvesting efficiency and can accurately locate and harvest in complex underwater environments, saving a lot of manpower and time costs. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of the sea urchin harvesting robot of the present invention. Figure 1 .

[0035] Figure 2 This is a three-dimensional structural diagram of the sea urchin harvesting robot of the present invention. Figure 2 .

[0036] Figure 3 This is a bottom view of the structural schematic diagram of the sea urchin harvesting robot of the present invention.

[0037] Figure 4 This is a schematic diagram of the collection device of the sea urchin harvesting robot of the present invention.

[0038] Figure 5 This is a schematic diagram of the capture claw structure of the sea urchin harvesting robot of the present invention. Figure 1 .

[0039] Figure 6 This is a schematic diagram of the capture claw structure of the sea urchin harvesting robot of the present invention. Figure 2 .

[0040] Figure 7 A schematic diagram of a fishing vessel and its collection cages.

[0041] Figure 8 This is a schematic diagram of the transmission toothed belt of the sea urchin harvesting robot of the present invention.

[0042] Figure 9 This is a top view of the conveyor belt plate of the sea urchin harvesting robot of the present invention.

[0043] Figure 10 This is a front view of the conveyor belt plate of the sea urchin harvesting robot of the present invention.

[0044] Figure 11 This is a schematic diagram of the second claw plate of the sea urchin harvesting robot of the present invention.

[0045] The diagram is labeled as follows: 1: Thruster, 2: Fixing plate, 3: Thruster housing, 4: Top plate, 5: Support frame, 6: Base, 7: Wheel, 8: Motor controller one, 9: Collection compartment, 10: Motor housing, 11: Vision sensor, 12: Wear-resistant sleeve, 13: Motor controller two, 14: Motor controller three, 15: Fishing bracket, 17: Slider, 18: Battery, 19: Fixing plate, 20: Front searchlight, 21: Motor controller four, 22.1-22.4: Slide rail, 23: Capture claw, 24: Searchlight, 25: Door, 26: Conveyor 27: Conveyor toothed belt, 28: Power belt, 29: Drive motor, 30: Conveyor roller, 31: Power compartment, 32: Power support, 33: Claw plate one, 34: Slide rail, 35: Spring telescopic frame, 36: Claw plate two, 37: Push plate, 38: Collection cage, 39: Conveyor toothed belt plate, 40.1-40.15: Hook bar, 41: Fishing vessel, 42: Protrusion, 43: Chain, 100: Capture module, 200: Collection module, 300: Drive module, 400: Detection module, 500: Body frame, 600: Cooperative operation module. Detailed Implementation

[0046] Preferred Implementation

[0047] A sea urchin harvesting robot includes: a capture module 100, a collection module 200, a drive module 300, a detection module 400, a body frame 500, and a collaborative operation module 600; the capture module 100 is disposed on the top of the body frame 500; the collection module 200 is disposed inside the body frame 500; the drive module 300, the detection module 400, and the collaborative operation module 600 are disposed on the frame structure of the body frame 500; the capture module 100, the collection module 200, the drive module 300, and the detection module 400 are respectively connected to the collaborative operation module 600;

[0048] The top plate 4 and the base 6 are respectively provided on the upper and lower surfaces of the body frame 500, and a support frame 5 is provided between the top plate 4 and the base 6;

[0049] The capture module 100 includes a capture claw 23; the capture claw 23 is connected to a motor controller 3 14 for controlling its vertical movement and a motor controller 4 21 for controlling its horizontal movement; a fixing plate 19 is provided on the body frame 500; the motor controller 3 14 is provided on the slide rail 22.2 of the top plate 4, and the motor controller 4 21 is provided on the slide rail 22.1 of the base 6; the motor controller 3 14 and the motor controller 4 21 are provided on the body frame 500 through the fixing plate 19.

[0050] The collection module 200 includes a conveying bracket 26, with axially rotatable conveying rollers 30 at both ends of the conveying bracket 26; an annular toothed conveying belt 27 is attached to the conveying rollers 30; the toothed conveying belt 27 rotates around the two conveying rollers 30 under the drive of the two conveying rollers 30; a power belt 28 is connected to the conveying rollers 30; one end of the power belt 28 is connected to a drive motor 29 fixed on the conveying bracket 26; the drive motor 29 drives the power belt 28 to rotate, thereby driving the conveying rollers 30 to drive the toothed conveying belt 27 to rotate around the two conveying rollers 30.

[0051] A slider 17 is symmetrically fixed on the upper part of the conveyor bracket 26. The slider 17 is connected to the motor controller 13. The motor controller 13 drives the conveyor belt 27 to move toward the capture claw 23.

[0052] A collection chamber 9 for collecting sea urchins is fixed on the base 6. A door 25 is provided directly below the collection chamber 9. The door 25 is located on the bottom surface of the base 6. The door 25 is connected to a motor controller 8 that controls its closing. The motor controller 8 is located on the slide rail 22.4 of the base 6.

[0053] The drive module 300 includes a propulsion housing 3; the propulsion housing 3 is fixedly mounted on the side of the top plate 4; a propeller 1 is connected to the propulsion housing 3, and the propulsion housing 3 provides power to the propeller 1; wheels 7 are symmetrically distributed along the center line of the base 6 on its side; a motor housing 10 is fixed on the base 6 and provides power to the wheels 7; batteries 18 are respectively connected to the propulsion housing 3 and the motor housing 10, and the batteries 18 are fixed on the support frame 5; the batteries 18 provide power to the fishing robot.

[0054] The detection module 400 is used to determine whether obstacle avoidance conditions are triggered and the location of the sea urchin is detected based on the underwater conditions, thereby sending a signal to the drive module 300 to avoid obstacles and move to a location close to the sea urchin.

[0055] The detection module 400 can employ a detection system and method similar to an underwater target multibeam sonar detection system and method (patent number: CN109975815A) to detect the underwater environment. When the detection module 400 detects obstacles around the sea urchin harvesting robot, it sends a signal to the drive module 300 to avoid obstacles. When it detects sea urchins around the sea urchin harvesting robot, it sends a signal to the drive module 300 to drive the sea urchin harvesting robot to move to the vicinity of the sea urchins.

[0056] The detection module 400 includes a transmitting sonar array, a receiving linear array, and a multi-beam scanning sonar. The transmitting sonar array is located in front of the sea urchin harvesting robot and is used to transmit vertical beams to scan targets. When an underwater target is detected, the direction of the vertical beam is locked, and a horizontal beam is transmitted in a spotlight-like manner along the direction of the vertical beam for narrow-strip scanning. The receiving linear array is located on the side of the detection module 400 and is used to receive echo signals in response to the vertical or horizontal beams transmitted by the transmitting sonar array. First, the multi-beam scanning sonar, composed of a cylindrical array at the front of the sea urchin harvesting robot, transmits vertical beams to perform a wide-range coarse scan of underwater targets. After detecting an underwater target, the direction of the vertical beam is locked, and it works in conjunction with the receiving linear array to detect the underwater target. The detection results are sent to the drive module 300, which then avoids obstacles and moves to a position close to the sea urchin.

[0057] The collaborative operation module 600 enables multiple robots to work together, sharing their own location, speed, and task status information in real time. Each fishing robot can obtain information from other fishing robots in real time, analyze and formulate its own fishing route, coordinate actions, and avoid collisions.

[0058] The catching claw 23 includes: a catching support 15, on which a power support 32 is mounted; a power compartment 31 is mounted on the power support 32; the power compartment 31 contains a first claw plate 33 and a second claw plate 36 for gripping sea urchins, the first claw plate 33 and the second claw plate 36 are rectangular plates with protrusions 42 on their surfaces; the first claw plate 33 is fixedly mounted on the catching support 15, and a spring telescopic frame 35 is mounted on the top of the second claw plate 36, with three springs arranged in a triangle on the spring telescopic frame 35; a push plate 37 is fixed on one side of the second claw plate 36; the push plate 37 is mounted on the slide rail 34 of the power support 32.

[0059] The conveyor belt 27 in the collection module 200 includes: a conveyor belt plate 39, a chain 43 connected to the conveyor belt plate 39, and hooks 40.1-40.15 evenly distributed on the upper surface of the conveyor belt plate 39.

[0060] The top plate 4, base 6 and support frame 5 mentioned above are all made of aluminum alloy plates. The support frame 5 is provided with weight reduction holes, and the top plate 4 located directly above the collection chamber 9 is provided with a viewing window.

[0061] The conveying bracket 26 in the collection mechanism is a thin aluminum alloy steel plate structure with weight-reducing holes distributed on it. The conveying bracket 26 is provided with symmetrical grooves and is fixedly connected to the slider 17. A baffle is provided on the frame at one end of the conveying bracket 26.

[0062] The motor controller 1 8, motor controller 2 13, motor controller 3 14 and motor controller 4 21 are identical in shape and size, and each of them is provided with a wear-resistant sleeve 12 at its bottom, which is connected to the track at its bottom.

[0063] The collection chamber 9 has an inverted pyramid fence structure. After the hatch 25 is opened, the sea urchins are discharged from the collection chamber 9.

[0064] The hatch 25 is provided with a groove that connects to the raised slide of the base 6, so that the hatch 25 will not fall off; the protrusions 42 on the surfaces of claw plate 1 33 and claw plate 2 36 are hemispherical.

[0065] The wheel 7 has a staggered hole design and is made of engineering plastic.

[0066] The method for harvesting sea urchins using the aforementioned sea urchin harvesting robot is characterized by the following steps:

[0067] Step 1: Identify the specific location of the sea urchin and determine the sea urchin harvesting robot to be used through the detection module 400 and the collaborative operation module 600;

[0068] Step 2: Drive module 300 drives the sea urchin harvesting robot to the location of the sea urchin;

[0069] Step 3: The claw plate 1 (33) and claw plate 2 (36) of the capture module 100 grasp the sea urchin;

[0070] Step 4: Release claw plate 1 33 and claw plate 2 36 and place the gripped sea urchin onto the conveyor belt 27. The sea urchin is secured by the hooks 40.1-40.15 on the conveyor belt 27.

[0071] Step 5: The conveyor belt 27 rotates, transporting the sea urchins to the collection chamber 9;

[0072] Step 6: After the sea urchins in the collection chamber 9 are full, the drive module 300 drives the sea urchin harvesting robot to the harvesting vessel 41, opens the hatch 25 and puts the sea urchins into the collection net cage 38.

[0073] The fishing robot includes a base 6, which is fixed to a support frame 5, and a top plate 4 is fixed to the support frame 5. Visual sensors 11 are respectively installed at the front and rear of the fishing robot, on the support frame 5, and on the base 6, for collecting environmental information. A searchlight 24 is fixedly installed on the upper front surface of the top plate 4 of the fishing robot, and a searchlight 24 is also fixed on the lower surface of the base 6 to create visual conditions for collecting fishing information.

[0074] The capture module 100 includes a capture claw 23, a motor controller 3 14, a motor controller 4 21, and a fixing plate 19. The capture claw 23 is connected to the motor controller 3 14 and the motor controller 4 21. The motor controller 3 14 is fixed on the slide rail of the top plate 4, and the motor controller 4 21 is fixed on the slide rail of the base 6. The fixing plate 19 fixes the motor controller 3 14 and the motor controller 4 21 to maintain the same movement state.

[0075] The collection module 200 includes a conveyor belt 27, conveyor rollers 30, a power belt 28, a drive motor 29, a conveyor support 26, a slider 17, a second motor controller 13, a collection chamber 9, a door 25, and a first motor controller 8. The conveyor belt 27 is connected to two conveyor rollers 30, which are fixed on both sides of the conveyor support 26. The conveyor rollers 30 are connected to the power belt 28, which is connected to the drive motor 29, which is fixed on the conveyor support 26. The slider 17 is symmetrically fixed at the top of the conveyor support 26. The second motor controller 13 is connected to the slider 17. The collection chamber 9 is fixed on the base 6. The door 25 is located directly below the collection chamber 9 and is fixed below the base 6. The door 25 is connected to the first motor controller 8.

[0076] The top plate 4, base 6 and support frame 5 of the fishing robot are made of aluminum alloy plate. Aluminum alloy has the advantages of light weight, high strength, corrosion resistance and low cost. The support frame 5 is designed with holes to reduce the weight of the body. The top plate 4 is designed with a viewing window directly above the collection chamber 9, which not only makes it convenient to observe the situation inside the collection chamber 9, but also reduces its own weight.

[0077] The searchlight 24 of the fishing robot is an LED light. LED lights are characterized by high efficiency, long life and high brightness, and are suitable for underwater lighting.

[0078] The catching claw 23 uses claw plate one 33 and claw plate two 36 to grab the sea urchin. Taking advantage of the sea urchin's spine-covered body, the surfaces of claw plate one 33 and claw plate two 36 are uneven, covered with hemispherical protrusions to prevent the sea urchin from falling off during grabbing and to increase friction. Claw plate one 33 is fixed to the catching support 15, and a spring telescopic frame 35 is connected to the top of claw plate two 36. The spring telescopic frame 35 is triangularly distributed, providing strong stability. The spring force grips the sea urchin, ensuring no damage. A push plate 37 is fixed to the front of claw plate two 36. The push plate 37 is mounted on the slide rail of the power support 33, and the power compartment 31 is fixed to the power support 33, providing power to the push plate 37.

[0079] The conveyor belt 27 in the collection module 200 is composed of a conveyor belt plate 39 and a chain 43. The upper surface of the conveyor belt plate 39 has hooks 40.1-40.15. When a sea urchin falls onto the conveyor belt 27, it will be bound by the hooks 40.1-40.15 and transported to the collection chamber.

[0080] Each conveyor belt plate 39 and chain 43 is an independent component, which is convenient for replacement and installation. The length of the conveyor belt 27 can be adjusted at any time. The hooks 40.1-40.15 on the conveyor belt plate 39 are fixed together with the conveyor belt plate 39 and cannot be replaced separately. The conveyor belt 27 meshes with the conveyor roller 30. The drive motor 29 drives the conveyor belt 27 and the conveyor roller 30 through the power belt 28. The conveyor bracket 26 is made of carbon fiber material, which reduces energy consumption and wear when the motor controller 213 drives the conveyor bracket 26.

[0081] To reduce weight, the conveyor bracket 26 in the collection module is connected with a thin aluminum alloy steel plate and has weight-reducing holes. Symmetrical grooves are provided on the conveyor bracket 26 to be fixed to the slider 17. A baffle is provided on the frame at one end of the conveyor bracket 26 to prevent the sea urchin from falling onto the conveyor belt 27 and popping out.

[0082] The collection compartment 9 is located at the rear of the fishing robot, below the conveyor bracket 26. The collection compartment 9 is made of engineering plastic. The collection compartment 9 is protected by a top plate 4, a base 6 and a support frame 5. The hatch of the collection compartment 9 is embedded in the base 6 and cooperates with the hatch 25.

[0083] The motor controller 8 controls the sliding of the hatch 25. The hatch 25 is made of aluminum alloy. The part where the hatch 25 connects to the protrusion of the base 6 is polished to make the sliding of the hatch 25 smooth.

[0084] The thruster 1 can rotate up and down to achieve acceleration and deceleration. The thrusters 1 are set around the fishing robot. During operation, the thrusters 1 cooperate with each other to enable the robot to move in all directions. The fixed plate 2 is fixed to the thruster 1 with bolts at both ends to prevent the thruster 1 from malfunctioning due to the thrusting force hindering the power transmission of the propulsion box 3.

[0085] The wheels 7 are made of engineering plastic and are located at the bottom of the fishing robot. Bolts are used to fix the wheels 7 to the base 6. The wheels 7 and the motor housing 10 are connected by multiple sets of gears to achieve the speed control requirements.

[0086] The collaborative operation module 600 of the fishing robot includes a variety of sensors, communication modules and navigation modules.

[0087] Multi-robot collaborative work involves a collaborative operation module 600 on the fishing robot, which is equipped with various sensors. This module shares its own fishing information, including fishing route, fishing status, and seabed environment information, with other fishing robots in real time. The PC can also directly control the collaborative operation module 600 to control the operation of the fishing robots. Multiple fishing robots will form an operation team, and they will exchange information and transmit instructions wirelessly through the collaborative operation module 600.

[0088] The fishing robot uses a searchlight 24 and a vision sensor 11 to locate sea urchins and collect information about the seabed environment. It then uses a capture module 100 to grab the sea urchins, which are collected by a collection module 200. Once the collection compartment 9 of the collection module 200 is full, it moves to the collection net cage 38 to empty it. While working underwater, the fishing robot communicates in real-time with other collaborative fishing robots through a collaborative operation module 600. It also analyzes and plans its own fishing route based on the fishing routes of other robots, achieving multi-robot collaborative fishing. After the harvest is complete, the sea urchins are collected and harvested by a fishing vessel 41.

Claims

1. A sea urchin harvesting robot, characterized in that: include: The system comprises a capture module (100), a collection module (200), a drive module (300), a detection module (400), a body frame (500), and a collaborative operation module (600). The capture module (100) is located on the top of the body frame (500). The collection module (200) is located inside the body frame (500). The drive module (300), detection module (400), and collaborative operation module (600) are located on the frame structure of the body frame (500). The capture module (100), collection module (200), drive module (300), and detection module (400) are respectively connected to the collaborative operation module (600). The upper and lower surfaces of the body frame (500) are respectively provided with a top plate (4) and a base (6), and a support frame (5) is provided between the top plate (4) and the base (6). The capture module (100) includes a capture claw (23); the capture claw (23) is connected to a motor controller three (14) that controls its vertical movement and a motor controller four (21) that controls its horizontal movement; a fixing plate (19) is provided on the body frame (500); the motor controller three (14) is provided on the slide rail (22.2) of the top plate (4), and the motor controller four (21) is provided on the first slide rail (22.1) of the base (6); the motor controller three (14) and the motor controller four (21) are provided on the body frame (500) through the fixing plate (19); The collection module (200) includes a conveying bracket (26), with axially rotatable conveying rollers (30) at both ends of the conveying bracket (26); an annular conveying toothed belt (27) is attached to the conveying rollers (30); the conveying toothed belt (27) rotates around the two conveying rollers (30) under the drive of the two conveying rollers (30); a power belt (28) is connected to the conveying rollers (30); one end of the power belt (28) is connected to a drive motor (29) fixed on the conveying bracket (26); the drive motor (29) drives the power belt (28) to rotate, thereby driving the conveying rollers (30) to drive the conveying toothed belt (27) to rotate around the two conveying rollers (30); A slider (17) is symmetrically fixed on the upper part of the conveyor bracket (26). The slider (17) is connected to the second motor controller (13). The second motor controller (13) drives the conveyor belt (27) to move towards the capture claw (23). A collection chamber (9) for collecting sea urchins is fixed on the base (6). A door (25) is provided directly below the collection chamber (9). The door (25) is located on the bottom surface of the base (6). The door (25) is connected to a motor controller (8) that controls its closing. The motor controller (8) is located on the fourth slide rail (22.4) of the base (6). The drive module (300) includes a propulsion housing (3); the propulsion housing (3) is fixedly mounted on the side of the top plate (4); a thruster (1) is connected to the propulsion housing (3), and the propulsion housing (3) provides power to the thruster (1); wheels (7) are symmetrically distributed along the center line of the base (6) on the side of the base (6); a motor housing (10) is fixed on the base (6) and provides power to the wheels (7); batteries (18) are respectively connected to the propulsion housing (3) and the motor housing (10), and the batteries (18) are fixed on the support frame (5); the batteries (18) provide power to the fishing robot; The detection module (400) is used to determine whether obstacle avoidance conditions are triggered and the location of the sea urchin is detected based on the underwater conditions, thereby sending a signal to the drive module (300) to avoid obstacles and move to a location close to the sea urchin; The collaborative operation module (600) enables multiple robots to work together and share their own position, speed, and task status information in real time. Each fishing robot can obtain information from other fishing robots in real time, analyze and formulate its own fishing route, coordinate actions and avoid collisions. The catching claw (23) includes: a catching support (15), a power support (32) on the catching support (15); a power compartment (31) on the power support (32); a claw plate one (33) and a claw plate two (36) for gripping sea urchins are provided in the power compartment (31), the claw plate one (33) and the claw plate two (36) are rectangular plates, and protrusions (42) are provided on their surfaces; the claw plate one (33) is fixedly mounted on the catching support (15), and a spring telescopic frame (35) is provided on the top of the claw plate two (36), and the springs on the spring telescopic frame (35) are arranged in a triangle; a push plate (37) is fixed on one side of the claw plate two (36); the push plate (37) is mounted on the slide rail (34) of the power support (32); The conveyor belt (27) in the collection module (200) includes: a conveyor belt plate (39), a chain (43) is connected to the conveyor belt plate (39), and hooks (40.1-40.15) are evenly distributed on the upper surface of the conveyor belt plate (39).

2. The sea urchin harvesting robot according to claim 1, characterized in that: The top plate (4), base (6) and support frame (5) are all made of aluminum alloy plates. The support frame (5) is provided with weight reduction holes, and the top plate (4) located directly above the collection chamber (9) is provided with a viewing window.

3. The sea urchin harvesting robot according to claim 2, characterized in that: The conveying bracket (26) in the collection module (200) is a thin aluminum alloy steel plate structure with weight-reducing holes distributed on it. The conveying bracket (26) is provided with symmetrical grooves and fixedly connected to the slider (17). A baffle is provided on the frame at one end of the conveying bracket (26).

4. The sea urchin harvesting robot according to claim 3, characterized in that: The motor controllers 1 (8), 2 (13), 3 (14) and 4 (21) are identical in shape and size, and each has a wear-resistant sleeve (12) at its bottom, which is connected to the track at its bottom.

5. The sea urchin harvesting robot according to claim 4, characterized in that: The collection chamber (9) is an inverted pyramid fence structure. After the door (25) is opened, the sea urchins are discharged from the collection chamber (9).

6. A sea urchin harvesting robot according to claim 5, characterized in that: The hatch (25) is provided with a groove and is connected to the raised slide of the base (6) so that the hatch (25) will not fall off; the protrusions (42) on the surface of the claw plate one (33) and the claw plate two (36) are hemispherical.

7. The sea urchin harvesting robot according to claim 6, characterized in that: The wheel (7) is designed with a staggered hole and the material of the wheel (7) is engineering plastic; the springs on the spring telescopic frame (35) are distributed in a triangle and the three non-collinear points determine a plane, thus ensuring the stability of the claw plate (36).

8. The method for harvesting sea urchins using the sea urchin harvesting robot according to claim 7, characterized in that: Includes the following steps: Step 1: Identify the specific location of the sea urchin and determine the sea urchin harvesting robot to be used by the detection module (400) and the collaborative operation module (600); Step 2: The drive module (300) drives the sea urchin harvesting robot to the location of the sea urchin; Step 3: The first claw plate (33) and the second claw plate (36) of the capture module (100) grasp the sea urchin; Step 4: Release claw plate one (33) and claw plate two (36) and place the gripped sea urchin onto the conveyor belt (27). The sea urchin is secured by the hooks (40.1-40.15) on the conveyor belt (27). Step 5: The conveyor belt (27) rotates to transport the sea urchins to the collection chamber (9). Step 6: After the sea urchins in the collection compartment (9) are full, the drive module (300) drives the sea urchin harvesting robot to the fishing boat (41), opens the hatch (25) and puts the sea urchins into the collection net cage (38).

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