Underwater sea grass identification robot and use method thereof

Abstract

The invention relates to an underwater sea grass identification robot and a use method thereof. The method comprises the steps that the type of sea grass is recognized through a sea grass recognition module arranged on a robot body, when recognition of the sea grass recognition module fails, the sea grass is cut through a sea grass collecting mechanism, the cut sea grass is collected into a collecting groove to be stored, and the collected sea grass can be taken out after the robot goes ashore; and the sea grass which cannot be identified by the sea grass identification module can be further identified and researched. According to the underwater sea grass identification robot provided by the invention, on one hand, preliminary identification and screening are carried out by utilizing the sea grass identification module so as to carry out targeted collection on sea grass, so that the sea grass research efficiency is improved; and on the other hand, the arranged sea grass collecting structure facilitates sea grass collection, and the problem that the action of the underwater sea grass recognition robot is hindered by organisms or solids such as sea grass can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robots, and in particular to an underwater seaweed identification robot and a method for using the same. Background Art

[0002] The marine ecosystem is one of the most complex and fragile ecosystems on Earth, and is of great significance to maintaining the ecological balance of the Earth and human well-being. As an important part of the marine ecosystem, seagrass beds not only provide habitats for many marine organisms, but also participate in ecological processes such as carbon cycling and water purification. With the rapid development of robotics technology, underwater robots have become an important tool for marine scientific research and environmental monitoring; underwater robots can carry various sensors and equipment to perform various tasks in complex underwater environments, such as structure detection, water quality monitoring, biodiversity surveys, etc.

[0003] Based on the underwater exploration advantages of underwater robots, it is expected that they will be applied to the study of seagrass. However, the current underwater robot technology still faces many problems, such as seagrass will hinder the operation of underwater robots and even damage the driving structure of underwater robots, and it is inconvenient to sample seagrass. In view of the above problems, underwater robots need to be improved for seagrass research. Summary of the invention

[0004] Based on this, it is necessary to provide an underwater seaweed identification robot and a method of using the robot to address the above technical issues in order to meet the needs of seaweed research.

[0005] In a first aspect, the present application provides an underwater seaweed identification robot, comprising:

[0006] A robot body, a seaweed identification module located on the robot body and used to identify the seaweed species, and a seaweed collection mechanism movably connected to the robot body and used to sample seaweed after the seaweed identification module fails to identify the seaweed species;

[0007] A collecting groove and a movable groove which are interconnected are provided on the surface of the robot body. The seaweed collecting mechanism includes a propulsion structure located in the collecting groove and a cutting structure located in the movable groove; the propulsion structure includes a first cover plate and an electric push rod, one end of the electric push rod is rotatably connected to the robot body, and the other end is rotatably connected to the first cover plate; the cutting structure is connected to the first cover plate connecting rod, so that the cutting structure extends out of the movable groove as the first cover plate moves when the electric push rod drives the first cover plate away from the opening of the collecting groove, and enters the movable groove as the first cover plate moves when the electric push rod drives the first cover plate close to the opening of the collecting groove, until the first cover plate completely closes the opening of the collecting groove.

[0008] In one embodiment, the cutting structure includes a fixed base plate slidably matched with the movable groove, a motor is arranged on the fixed base plate, an output end of the motor is connected to a fixed rod, and a plurality of cutting blades are arranged on the outer surface of the fixed rod.

[0009] In one embodiment, a first connecting rod is fixedly connected to the fixed base plate and fits with the inner wall of the movable groove. An end of the first connecting rod away from the fixed base plate is movably connected to a second connecting rod. An end of the second connecting rod away from the first connecting rod passes through a movable opening connecting the collection groove and the movable groove and is movably connected to the first cover plate.

[0010] In one embodiment, a limit sliding block is provided on the side wall of the fixed bottom plate, a limit sliding groove is provided on the inner side wall of the movable groove, and the limit sliding block is slidably matched with the limit sliding groove.

[0011] In one embodiment, the seaweed identification module includes an image acquisition device for acquiring seaweed images.

[0012] In one embodiment, a communication module is provided in the robot body for realizing communication connection between the seaweed identification module and the seaweed collection mechanism and the remote control terminal.

[0013] In one embodiment, a propeller for driving the robot body to move is provided on the robot body, and the propeller includes at least one of a traveling propeller, a sinking and floating propeller, and a lateral propeller.

[0014] In one embodiment, a searchlight is disposed on the robot body.

[0015] In one embodiment, the collecting tank runs through the robot body, a second cover plate is movably connected to the robot body, and the second cover plate is located at an opening on one side of the collecting tank away from the first cover plate.

[0016] In a second aspect, the present application further provides a method for using an underwater seaweed identification robot, which is applicable to a remote control terminal, and the remote control terminal is communicatively connected to the underwater seaweed identification robot, and the method comprises:

[0017] Identify the seaweed species by controlling the robot to move and controlling the seaweed identification module;

[0018] When receiving the information that the seaweed identification module fails to identify the seaweed species, the electric push rod is controlled to drive the first cover plate away from the collection tank opening, and the cutting structure that extends out of the movable tank synchronously with the movement of the first cover plate is controlled to start, so as to cut the seaweed and allow the cut seaweed to enter the collection tank for temporary storage along with the water flow generated by the operation of the cutting structure; when the seaweed collection is completed, the cutting structure is controlled to close, and the electric push rod is controlled to drive the first cover plate to close at the collection tank opening, so that the cutting structure enters the movable tank;

[0019] Control the robot to move and retract the robot to remove the seaweed in the collection tank.

[0020] The above-mentioned underwater seaweed identification robot and its use method identify the type of seaweed through the seaweed identification module set on the robot body. The entire operation process does not require personnel to enter the water for operation, which not only facilitates the operation of seaweed identification, but also reduces the danger of personnel operation. When the seaweed identification module fails to identify, the electric push rod in the seaweed collection mechanism is used to lift the first cover plate. When the first cover plate is lifted, it will pull the cutting structure to extend out of the movable groove synchronously, and start the cutting structure to cut the seaweed. The cut seaweed is collected and stored in the collection groove. After the seaweed collection is completed, the first cover plate is controlled to close again, and the cutting structure is stored in the movable groove to avoid the cutting structure from being entangled with the seaweed when not in use. The collected seaweed can be taken out after the robot goes ashore, which is convenient for further identification and research of seaweed that cannot be identified by the seaweed identification module. The underwater seaweed identification robot proposed in the present invention, on the one hand, uses the seaweed identification module to perform preliminary identification and screening so as to collect seaweed in a targeted manner, thereby improving the efficiency of seaweed research; on the other hand, the set seaweed collection structure not only facilitates seaweed collection, but also solves the problem of seaweed and other organisms or solids causing obstacles to the movement of the underwater seaweed identification robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of an underwater seaweed identification robot according to the present invention;

[0022] Figure 2 A closed schematic diagram of a seaweed collection mechanism of an underwater seaweed identification robot according to the present invention;

[0023] Figure 3 This is a schematic diagram of the implementation of a seaweed collection mechanism of an underwater seaweed identification robot of the present invention;

[0024] Figure 4 This is a schematic diagram of the internal structure of an activity tank of an underwater seaweed identification robot of the present invention;

[0025] Figure 5 This is a schematic diagram of the overall structure of the cutting structure of an underwater seaweed identification robot of the present invention;

[0026] Figure 6 The present invention is a flowchart of a method for using an underwater seaweed identification robot.

[0027] Among them: 1. Robot body; 2. Seaweed identification module; 3. Searchlight; 4. Traveling thruster; 5. Sinking and floating thruster; 6. Seaweed collecting mechanism; 7. Streamlined plate; 61. First cover plate; 62. Second cover plate; 63. Electric push rod; 64. First through hole; 65. Cutting structure; 66. Collecting trough; 67. Movable trough; 671. Limiting slide groove; 68. Movable opening; 651. Fixed bottom plate; 6511. Limiting slide block; 6512. Second through hole; 652. Motor; 653. Fixed rod; 6531. Blade; 654. First connecting rod; 655. Second connecting rod; 656. Fixed block. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] The present application embodiment provides an underwater seaweed recognition robot, such as Figures 1 to 5 As shown, it includes: a robot body 1, a seaweed identification module 2 located on the robot body 1 and used to identify the seaweed species, and a seaweed collecting mechanism 6 movably connected to the robot body 1 and used to collect seaweed after the seaweed identification module 2 fails to identify the seaweed species; the surface of the robot body 1 is provided with a collecting groove 66 and an active groove 67 that are interconnected, and the seaweed collecting mechanism 6 includes a propulsion structure located in the collecting groove 66 and a cutting structure 65 located in the active groove 67; the propulsion structure includes a first cover plate 61 and an electric pusher Rod 63, one end of the electric push rod 63 is rotatably connected to the robot body 1, and the other end is rotatably connected to the first cover plate 61; the cutting structure 65 is connected to the first cover plate 61 connecting rod, so that when the electric push rod 63 drives the first cover plate 61 away from the opening of the collection groove 66, the cutting structure 65 extends out of the movable groove 67 as the first cover plate 61 moves, and when the electric push rod 63 drives the first cover plate 61 close to the opening of the collection groove 66, the cutting structure 65 moves into the movable groove 67 as the first cover plate 61 moves, until the first cover plate 61 completely closes the opening of the collection groove 66.

[0030] Among them, the seaweed recognition module 2 is located at the front of the robot body 1, and the seaweed recognition module 2 includes an external image acquisition device for collecting seaweed images, such as a high-definition camera, an infrared camera, etc. In addition, the seaweed recognition module 2 also includes a recognition module for image recognition based on seaweed images, which is stored in the form of a program and is executed by a processor built into the robot to perform recognition tasks. When working, the seaweed recognition module 2 combines a high-definition camera with an existing recognition algorithm, so that the robot can accurately capture images and video data of seaweed on the seabed under remote control. This process not only eliminates the need for divers to go into the water directly, significantly improving the safety of the operation, but also optimizes and extracts features from the collected images through the recognition module, and finally obtains the species recognition results of the seaweed, which greatly simplifies the process of seaweed identification, and at the same time screens out seaweed that is not within the scope of research for the subsequent seaweed collection process, thereby improving the efficiency of seaweed research.

[0031] In other embodiments, in order to ensure the clarity and effectiveness of the images captured by the image acquisition device, two searchlights 3 are fixedly connected to the middle of the front end of the robot body 1, and the seaweed recognition module 2 is located between the two searchlights 3. The searchlights 3 can provide fill light for the image acquisition device.

[0032] The seaweed collecting mechanism 6 includes a propulsion structure and a cutting structure 65. Figure 2 and 3 As shown, the propulsion structure includes a first cover plate 61, which is hinged to the robot body. Two electric push rods 63 distributed front and back are movably connected to the lower side of the first cover plate 61. One end of the electric push rod 63 is rotatably connected to the robot body 1, and the other end is rotatably connected to the first cover plate 61. The lower side of the first cover plate 61 is connected to the cutting structure 65 by a connecting rod. A plurality of first through holes 64 are provided on the first cover plate 61 to facilitate the opening and closing of the cover plate. A collection groove 66 and a movable groove 67 are provided in sequence at the front end of the robot body 1, and a movable opening 68 connecting the collection groove 66 and the movable groove 67 is provided between the upper part of the collection groove 66 and the movable groove 67. The first cover plate 61 cooperates with the opening of the collection groove 66, and the electric push rod 63 pushes the first cover plate 61 to rotate, so as to realize the opening and closing of the opening of the collection groove 66. The cutting structure 65 moves synchronously with the first cover plate 61 under the action of the connecting rod. When the cutting structure 65 extends out of the movable groove 67 , seaweed can be cut and collected. When the cutting structure 65 returns to the movable groove 67 , the cutting structure 65 is stored to protect the cutting structure 65 .

[0033] In one embodiment, the cutting structure 65 includes a fixed base plate 651 that slidably cooperates with the movable groove 67, a motor 652 is disposed on the fixed base plate 651, an output end of the motor 652 is connected to a fixed rod 653, and a plurality of cutting blades 6531 are disposed on the outer surface of the fixed rod 653.

[0034] The cutting structure 65 includes a fixed bottom plate 651, which is slidably matched with the movable groove 67. When the electric push rod 63 controls the first cover plate 61 to move, the fixed bottom plate 651 drives the cutting structure 65 to slide up and down in the movable groove 67 under the action of the connecting rod. The upper end of the fixed bottom plate 651 is fixedly connected to a motor 652 and is provided with a plurality of second through holes 6512, which can reduce the sliding resistance of the fixed bottom plate 651. The output end of the motor 652 is fixedly connected to a fixed rod 653, and the outer surface of the fixed rod 653 is fixedly connected to a plurality of blades 6531 distributed in an equidistant annular staggered array.

[0035] When the cutting structure 65 extends out of the movable slot 67, the control motor 652 drives the fixing rod 653 to rotate, and the blade 6531 rotates accordingly, thereby achieving seaweed cutting.

[0036] In one embodiment, a first connecting rod 654 that fits in contact with the inner wall of the movable groove 67 is fixedly connected to the fixed base plate 651, and an end of the first connecting rod 654 away from the fixed base plate 651 is movably connected to a second connecting rod 655, and an end of the second connecting rod 655 away from the first connecting rod 654 passes through a movable opening 68 connecting the collection groove 66 and the movable groove 67 and is movably connected to the first cover plate 61.

[0037] like Figure 2 , Figure 3 and Figure 5 As shown, the upper rear portion of the fixed bottom plate 651 is fixedly connected to a first connecting rod 654, the upper portion of the first connecting rod 654 is movably connected to a second connecting rod 655, and the upper portion of the second connecting rod 655 is movably connected to a fixing block 656. The first connecting rod 654 is fitted with the inner wall of the movable groove 67, the second connecting rod 655 passes through the movable opening 68, and the fixing block 656 is fixedly connected to the middle portion of the lower end of the first cover plate 61. The plurality of blades 6531 do not contact the inner wall of the movable groove 67.

[0038] When the first cover plate 61 rotates under the drive of the electric push rod 63 , the first connecting rod 654 is driven to rotate, and the first connecting rod 654 pulls the second connecting rod 655 to move up and down, thereby realizing the sliding control of the cutting structure 65 .

[0039] In one embodiment, a limit slider 6511 is disposed on the side wall of the fixed bottom plate 651 , and a limit slide groove 671 is disposed on the inner side wall of the movable groove 67 . The limit slider 6511 slidably cooperates with the limit slide groove 671 .

[0040] like Figures 2 to 4As shown, the left side and the right side of the inner surface of the movable groove 67 are both provided with a limit slide 671, and the left side and the right side of the outer surface of the fixed bottom plate 651 are both fixedly connected with a limit slider 6511, and the two limit sliders 6511 are respectively located inside the corresponding limit slide 671 and are respectively slidably connected with the corresponding limit slide 671. Through the cooperation of the limit slider 6511 and the limit slide 671, the moving direction of the fixed bottom plate 651 in the movable groove 67 can be limited, thereby improving the reliability of the motion control of the cutting structure 65.

[0041] In one embodiment, the robot body 1 is provided with a propeller for driving the robot body 1 to move, and the propeller includes at least one of a traveling propeller 4, a sinking and floating propeller 5, and a lateral propeller.

[0042] like Figure 1 As shown, the left and right sides of the robot body 1 are fixedly connected with a traveling propeller 4, and the middle part of the upper end of the robot body 1 is provided with a sinking and floating propeller 5.

[0043] In other embodiments, in order to improve the mobility of the robot body 1, lateral thrusters (thrusters are provided on the left and right side walls of the robot body 1) etc. may be provided as needed.

[0044] In other embodiments, in order to reduce the risk of the propeller being damaged by seaweed, a streamlined plate 7 is fixedly connected to the front of the upper end of the robot body 11 and the front sides of the upper parts of the two traveling propellers 4, and the streamlined plate 7 is an integrally formed structure with the robot body 1. When working, the streamlined plates 7 are cleverly arranged around the traveling propellers 4 on both sides of the robot body 1. These designs not only optimize the water flow and reduce the resistance of the robot when swimming, but also effectively intercept the seaweed fragments generated during the cutting operation to prevent them from entering and clogging the propeller, thereby ensuring the continuous power output of the robot. At the same time, the sinking and floating propeller 5 equipped with the robot can blow away the seaweed behind when necessary to prevent entanglement, further enhancing the adaptability and safety of the robot in complex underwater environments.

[0045] In one embodiment, the collecting groove 66 passes through the robot body 1 , and a second cover plate 62 is movably connected to the robot body 1 . The second cover plate 62 is located at an opening on one side of the collecting groove 66 away from the first cover plate 61 .

[0046] like Figures 2 to 3As shown, the robot body 1 is also provided with a second cover plate 62, which is arranged opposite to the first cover plate 61 and is used to close the other side opening of the collection tank 66. The second cover plate 62 is also hinged to the robot body 1 and is also controlled by the electric push rod 63. When the underwater seaweed identification robot completes seaweed collection, it will be recycled. At this time, the electric push rod 63 is controlled to drive the second cover plate 62 to rotate, so that the seaweed collected in the collection tank 66 can be taken out, which is convenient for further research on the seaweed.

[0047] In one embodiment, a communication module is provided in the robot body 1 for realizing the communication connection between the seaweed identification module 2 and the seaweed collection mechanism 6 and the remote control terminal.

[0048] The communication module can be a wireless communication module, such as electromagnetic wave communication, optical communication, acoustic communication, etc., or a wired communication module, such as optical fiber, cable, etc. The control command of the remote control terminal is sent to the seaweed identification module 2 through the communication module to make it identify the seaweed species, and the control command of the remote control terminal is sent to the seaweed collection mechanism 6 to make the motor 652 and the electric push rod 63 work. The recognition result of the seaweed identification module 2 can be fed back to the remote control terminal through the communication module, and the execution result of the seaweed collection mechanism 6 can be fed back to the remote control terminal.

[0049] In addition, the remote control terminal is also connected to the thruster to control the movement of the robot body 1.

[0050] The specific implementation of the underwater seaweed identification robot proposed by the present invention is: using the seaweed identification module 2 to identify the type of seaweed. When the seaweed identification module 2 cannot directly determine the type of seaweed, the first cover plate 61 is raised by the power of the electric push rod 63 through the remote control terminal, and then the cutting structure 65 is linked to move up to the working position. Once the motor 652 in the cutting structure 65 is started, the high-speed rotating blade 6531 can quickly and accurately cut the seaweed, and use the power of the water flow to guide the cut seaweed into the collection tank 66 for temporary storage. After the operation is completed, the remote control terminal closes the first cover plate 61 again with the power of the electric push rod 63, and the cutting structure 65 is synchronously stored back in the movable groove 67, which effectively prevents accidental contact with the surrounding environment in the non-operating state and ensures the long-term stable operation of the equipment.

[0051] In summary, the underwater seaweed identification robot proposed in the present invention has the following advantages:

[0052] 1. The underwater seaweed recognition robot is provided with a seaweed recognition module 2 at the front of the robot body 1. The seaweed recognition module 2 includes an external high-definition camera and a built-in recognition module. When the robot is in use, the robot body 1 can be controlled by a remote control terminal, and the robot body 1 can capture and record seaweed pictures and videos through the high-definition camera in the seaweed recognition module 2. The image quality will be processed and the seaweed features will be extracted through the recognition module. Finally, the obtained data will be transmitted back to the remote control terminal through the recognition module. The whole operation process does not require personnel to enter the water for operation, which not only facilitates the operation of seaweed recognition, but also reduces the danger of personnel during operation;

[0053] 2. The underwater seaweed identification robot is provided with a seaweed collecting mechanism 6 on the upper front side of the robot body 1. When the robot is used for underwater seaweed identification, if the identification environment or the database cannot identify the seaweed, the first cover plate 61 in the seaweed collecting mechanism 6 can be controlled by the remote control terminal to be lifted up through two electric push rods 63. When the first cover plate 61 is lifted up, the cutting structure 65 will be pulled to move up synchronously. After the cutting structure 65 moves up, the motor 652 in the cutting structure 65 is started to rotate the multiple blades 6531. The rotating blades 6531 will cut the contacted seaweed. The cut seaweed can be collected into the collection tank 66 for storage by the water flow when the multiple blades 6531 rotate. After the seaweed collection is completed, the first cover plate 61 is controlled to close again, and the cutting structure 65 is stored in the movable tank 67 to avoid the cutting structure 65 from being entangled with the seaweed when not in use. The collected seaweed can be taken out through the second cover plate 62 after the robot goes ashore, which is convenient for identifying and studying the seaweed.

[0054] 3. The underwater seaweed identification robot is provided with streamlined plates 7 at the positions of the two traveling propellers 4 in the front part of the robot body 1, which can not only reduce the resistance of the robot when swimming, but also block the seaweed fragments generated when the seaweed is cut by the cutting structure 65 in the seaweed collection mechanism 6, thereby preventing the chopped seaweed from flowing into the traveling propeller 4 and causing propeller failure. At the same time, the sinking and floating propeller 5 can blow away the seaweed floating to the rear of the robot, and can also avoid the entanglement of the seaweed and the sinking and floating propeller 5, thereby ensuring the safety of the robot when in use.

[0055] Based on the same inventive concept, an embodiment of the present application also provides a method for using the underwater seaweed identification robot mentioned above.

[0056] In one embodiment, Figure 6 As shown, the method for using the underwater seaweed identification robot is applicable to a remote control terminal that is communicatively connected to the underwater seaweed identification robot, and the method comprises the following steps:

[0057] Step 1, seaweed identification: The underwater seaweed identification robot is controlled to move by the remote control terminal (by controlling each propeller), and the seaweed identification module 2 is controlled to identify the seaweed species. During identification, the high-definition camera in the seaweed identification module 2 will capture the image or video of the seaweed, and transmit the captured image or video to the processor in the seaweed identification module 2. The processor will automatically perform denoising, contrast enhancement and color correction on the image captured by the high-definition camera, and use image processing technology to extract the key features of the seaweed image. At the same time, the processor analyzes and compares the extracted features based on the machine learning algorithm, and finally feeds back the obtained identification results to the remote control terminal.

[0058] Step 2, seaweed collection: When seaweed cannot be identified in the operating waters due to external factors or information library reasons, the first cover plate 61 in the seaweed collection mechanism 6 can be controlled to be lifted by the electric push rod 63. When the first cover plate 61 is lifted, the cutting structure 65 will be simultaneously pulled out of the active slot 67 in the robot body 1. The cutting structure 65 is then started to make the multiple blades 6531 in the cutting structure 65 cut the seaweed. The cut seaweed can enter the collection slot 66 for temporary storage along with the water flow generated by the rotation of the blades 6531. After the seaweed collection is completed, the first cover plate 61 is closed and the cutting structure 65 is re-stored into the active slot 67.

[0059] Step 3, collecting seaweed: the underwater seaweed identification robot is recovered through the remote control terminal. After the underwater seaweed identification robot comes ashore, the second cover plate 62 in the seaweed collection mechanism 6 is controlled to be unfolded by the electric push rod 63, and the collected seaweed can be taken out, so as to facilitate the manual identification of the seaweed.

[0060] The control method of the above-mentioned remote control terminal can be implemented in whole or in part through software, hardware and their combination. It can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form to facilitate calling and executing the operations corresponding to the above steps.

[0061] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An underwater seaweed recognition robot, characterized in that: include: A robot body, a seaweed identification module located on the robot body and used to identify the seaweed species, and a seaweed collection mechanism movably connected to the robot body and used to sample seaweed after the seaweed identification module fails to identify the seaweed species; The surface of the robot body is provided with a collecting groove and a movable groove which are interconnected, and the seaweed collecting mechanism includes a propulsion structure located in the collecting groove and a cutting structure located in the movable groove; the propulsion structure includes a first cover plate and an electric push rod, one end of the electric push rod is rotatably connected to the robot body, and the other end is rotatably connected to the first cover plate; the cutting structure is connected to the first cover plate connecting rod, so that when the electric push rod drives the first cover plate away from the collection groove opening, the cutting structure extends out of the movable groove as the first cover plate moves, and when the electric push rod drives the first cover plate close to the collection groove opening, the cutting structure enters the movable groove as the first cover plate moves, until the first cover plate completely closes the collection groove opening.

2. The underwater seaweed identification robot according to claim 1, characterized in that: The cutting structure comprises a fixed bottom plate which is slidably matched with the movable groove, a motor is arranged on the fixed bottom plate, a fixed rod is connected to the output end of the motor, and a plurality of cutting blades are arranged on the outer surface of the fixed rod.

3. The underwater seaweed identification robot according to claim 2, characterized in that: A first connecting rod is fixedly connected to the fixed base plate and fits with the inner wall of the movable groove. An end of the first connecting rod away from the fixed base plate is movably connected to a second connecting rod. An end of the second connecting rod away from the first connecting rod passes through a movable opening connecting the collecting groove and the movable groove and is movably connected to the first cover plate.

4. The underwater seaweed identification robot according to claim 2, characterized in that: A limiting slide block is arranged on the side wall of the fixed bottom plate, and a limiting slide groove is arranged on the inner side wall of the movable groove, and the limiting slide block is slidably matched with the limiting slide groove.

5. The underwater seaweed identification robot according to claim 1, characterized in that: The seaweed identification module includes an image acquisition device for acquiring seaweed images.

6. The underwater seaweed identification robot according to claim 1, characterized in that: A communication module is arranged in the robot body, which is used to realize the communication connection between the seaweed identification module and the seaweed collection mechanism and the remote control terminal.

7. The underwater seaweed identification robot according to claim 1, characterized in that: The robot body is provided with a propeller for driving the robot body to move, and the propeller includes at least one of a traveling propeller, a sinking and floating propeller, and a lateral propeller.

8. The underwater seaweed identification robot according to claim 1, characterized in that: The robot body is provided with a searchlight.

9. The underwater seaweed identification robot according to claim 1, characterized in that: The collecting trough runs through the robot body, and a second cover plate is movably connected to the robot body. The second cover plate is located at an opening on one side of the collecting trough away from the first cover plate.

10. A method for using an underwater seaweed identification robot, applicable to a remote control terminal, wherein the remote control terminal is communicatively connected to the underwater seaweed identification robot according to any one of claims 1 to 9, characterized in that: The method comprises: Identify the seaweed species by controlling the robot to move and controlling the seaweed identification module; When receiving the information that the seaweed identification module fails to identify the seaweed species, the electric push rod is controlled to drive the first cover plate away from the collection tank opening, and the cutting structure that extends out of the movable tank synchronously with the movement of the first cover plate is controlled to start, so as to cut the seaweed and allow the cut seaweed to enter the collection tank for temporary storage along with the water flow generated by the operation of the cutting structure; when the seaweed collection is completed, the cutting structure is controlled to close, and the electric push rod is controlled to drive the first cover plate to close at the collection tank opening, so that the cutting structure enters the movable tank; The robot is controlled to move and recovered to take out the seaweed in the collecting tank.

Images