Underwater seagrass recognition robot and method of use thereof

Abstract

The application relates to an underwater seagrass identification robot and a use method thereof. The method comprises the following steps: identifying the type of seagrass through a seagrass identification module arranged on a robot main body; when the seagrass identification module fails to identify, cutting the seagrass through a seagrass collecting mechanism; the cut seagrass is collected into a collecting groove for storage; and the collected seagrass can be taken out after the robot is landed, so that the seagrass which cannot be identified by the seagrass identification module can be further identified and researched. The underwater seagrass identification robot has the advantages that: on one hand, the seagrass identification module is used for preliminary identification and screening, so that the seagrass can be collected in a targeted manner, and the seagrass research efficiency is improved; and on the other hand, the seagrass collecting structure is arranged, so that the seagrass can be conveniently collected, and the problem that seagrass and other organisms or solids hinder the movement of the underwater seagrass identification robot can be solved.

Description

TECHNICAL FIELD

[0001] The application relates to the underwater robot technical field, in particular to an underwater seagrass identification robot and a use method thereof. BACKGROUND

[0002] The marine ecosystem is one of the most complex and fragile ecosystems on earth, and it is of great significance to maintain the ecological balance of the earth and the well-being of human beings. As an important part of the marine ecosystem, the seagrass bed not only provides habitat for a large number of marine organisms, but also participates in ecological processes such as carbon cycle and water purification. With the rapid development of robot 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 investigation, etc.

[0003] Based on the advantages of underwater exploration of underwater robots, it is expected to apply them to the research of seagrass. However, the current underwater robot technology still faces many problems, such as seagrass hindering the operation of underwater robots, even damaging the driving structure of underwater robots, and seagrass sampling inconvenience. In view of the above problems, the underwater robot needs to be improved for seagrass research. SUMMARY

[0004] Therefore, it is necessary to provide an underwater seagrass identification robot and a use method thereof to meet the needs of seagrass research in view of the above technical problems.

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

[0006] a robot body, a seagrass identification module located on the robot body and used for identifying the type of seagrass, and a seagrass collection mechanism movably connected to the robot body and used for collecting seagrass after the seagrass identification module fails to identify the type of seagrass;

[0007] The surface of the robot body is provided with a collection groove and a movable groove which are in communication with each other, and the seagrass collection mechanism comprises a pushing structure located in the collection groove and a cutting structure located in the movable groove; the pushing structure comprises 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 by a connecting rod, so that the cutting structure extends out of the movable groove with the movement of the first cover plate when the electric push rod drives the first cover plate away from the opening of the collection groove, and enters the movable groove with the movement of the first cover plate when the electric push rod drives the first cover plate to approach the opening of the collection groove, until the first cover plate completely closes the opening of the collection groove.

[0008] In one embodiment, the cutting structure comprises a fixed base plate in sliding fit with the movable groove, a motor is arranged on the fixed base 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.

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

[0010] In one embodiment, a limiting sliding block is arranged on the side wall of the fixed base plate, and a limiting sliding groove is arranged on the inner side wall of the movable groove, and the limiting sliding block and the limiting sliding groove are in sliding fit.

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

[0012] In one embodiment, a communication module is arranged 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 is arranged on the robot body for driving the robot body to move, and the propeller comprises at least one of a traveling propeller, a sinking and floating propeller, and a lateral propeller.

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

[0015] In one embodiment, the collecting groove penetrates the robot body, a second cover plate is movably connected to the robot body, and the second cover plate is arranged at the opening of the collecting groove away from the first cover plate.

[0016] In a second aspect, the application further provides a use method of the underwater seaweed identification robot, which is suitable for a remote control terminal in communication connection with the underwater seaweed identification robot, and the method comprises:

[0017] controlling the robot to move and controlling the seaweed identification module to identify the type of seaweed;

[0018] when receiving the information that the seaweed identification module fails to identify the type of seaweed, controlling the electric push rod to drive the first cover plate away from the opening of the collecting groove, controlling the cutting structure in the movable groove to be extended synchronously with the movement of the first cover plate to start cutting the seaweed and allowing the cut seaweed to enter the collecting groove through the water flow generated by the operation of the cutting structure; when the seaweed collection is completed, controlling the cutting structure to be closed, and controlling the electric push rod to drive the first cover plate to be closed at the opening of the collecting groove to allow the cutting structure to enter the movable groove;

[0019] Control the robot to move and retrieve it to remove the seaweed from the collection tank.

[0020] The aforementioned underwater seaweed identification robot and its operating method identify seaweed species through a seaweed identification module mounted on the robot's main body. The entire operation requires no personnel to enter the water, simplifying seaweed identification and reducing the risks associated with human operation. When the seaweed identification module fails to identify the seaweed, the electric push rod in the seaweed collection mechanism lifts the first cover plate. As the first cover plate lifts, it pulls the cutting structure to extend its movable slot, activating the cutting structure to cut the seaweed. The cut seaweed is then collected and stored inside the collection slot. After collection, the first cover plate is closed again, and the cutting structure is retracted into the movable slot, preventing it from becoming entangled with the seaweed when not in use. The collected seaweed can be retrieved after the robot comes ashore, facilitating further identification and research of seaweed that the identification module could not recognize. The underwater seaweed identification robot proposed in this invention, on the one hand, uses a seaweed identification module for preliminary identification and screening to collect seaweed in a targeted manner, thereby improving the efficiency of seaweed research; on the other hand, the designed seaweed collection structure not only facilitates seaweed collection but also solves the problem of seaweed and other organisms or solid objects hindering the movement of the underwater seaweed identification robot. Attached Figure Description

[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 This is a schematic diagram of the closed seaweed collection mechanism of an underwater seaweed identification robot according to the present invention;

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

[0024] Figure 4 This is a schematic diagram of the internal structure of the active trough of an underwater seaweed identification robot according to the present invention;

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

[0026] Figure 6 This is a flowchart illustrating the method of using an underwater seaweed identification robot according to the present invention.

[0027] The components include: 1. Robot body; 2. Seaweed recognition module; 3. Searchlight; 4. Propeller; 5. Bobbing propeller; 6. Seaweed collection mechanism; 7. Streamlined plate; 61. First cover plate; 62. Second cover plate; 63. Electric push rod; 64. First through hole; 65. Cutting structure; 66. Collection trough; 67. Movable trough; 671. Limiting slide groove; 68. Movable opening; 651. Fixed base plate; 6511. Limiting slider; 6512. Second through hole; 652. Motor; 653. Fixed rod; 6531. Blade; 654. First connecting rod; 655. Second connecting rod; 656. Fixed block. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] This application provides an underwater seaweed identification 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 for identifying seaweed species, and a seaweed collection mechanism 6 movably connected to the robot body 1 for sampling seaweed after the seaweed identification module 2 fails to identify seaweed species; the surface of the robot body 1 has a collection groove 66 and a movable groove 67 that are interconnected; the seaweed collection mechanism 6 includes a propulsion structure located in the collection groove 66 and a cutting structure 65 located in the movable groove 67; the propulsion structure includes a first cover plate 61 and an electric propulsion mechanism. Rod 63, one end of which is rotatably connected to the robot body 1, and the other end of which is rotatably connected to the first cover plate 61; cutting structure 65 is connected to the first cover plate 61 by a connecting rod, so that when the electric push rod 63 drives the first cover plate 61 away from the opening of the collection tank 66, the cutting structure 65 extends out of the movable slot 67 with the movement of the first cover plate 61, and when the electric push rod 63 drives the first cover plate 61 close to the opening of the collection tank 66, it enters the movable slot 67 with the movement of the first cover plate 61, until the first cover plate 61 completely closes the opening of the collection tank 66.

[0030] The seaweed recognition module 2 is located at the front of the robot body 1, and the seaweed recognition module 2 comprises an external image acquisition device for acquiring seaweed images, such as a high-definition camera, an infrared camera and the like. In addition, the seaweed recognition module 2 further comprises an identification module for image recognition based on seaweed images, which is stored in the form of a program and is executed by a processor built-in the robot. In operation, the seaweed recognition module 2 combines the high-definition camera with the existing recognition algorithm, so that the robot can accurately capture the images and video data of the seaweed on the seabed under remote control. This process not only eliminates the need for divers to dive directly, significantly improving the safety of the operation, but also optimizes and extracts features of the collected images through the identification module, finally obtains the seaweed species recognition result, greatly simplifies the seaweed recognition process, and at the same time filters out seaweed not in the research range for the subsequent seaweed collection process, improving the seaweed research efficiency.

[0031] In other embodiments, in order to ensure the clarity and effectiveness of the images acquired 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 light for the image acquisition device.

[0032] The seaweed collection mechanism 6 comprises a propulsion structure and a cutting structure 65. As shown in Figure 2 and 3 The propulsion structure comprises a first cover plate 61 hinged to the robot body, and two front and rear distributed electric push rods 63 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 first cover plate 61 is connected to the cutting structure 65 through a connecting rod. A plurality of first through holes 64 are formed in 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 sequentially formed in the front end of the robot body 1, and an opening 68 is formed in the upper part of the collection groove 66 and the movable groove 67 to communicate 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, it can cut and collect seaweed. 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 comprises a fixed bottom plate 651 slidably connected to the movable groove 67, and a motor 652 is arranged on the fixed bottom plate 651. The output end of the motor 652 is connected with a fixed rod 653, and the outer surface of the fixed rod 653 is provided with a plurality of cutting blades 6531.

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

[0035] When the cutting structure 65 extends out of the movable groove 67, the motor 652 is controlled to drive the fixed rod 653 to rotate, and the blade 6531 rotates accordingly to realize seaweed cutting.

[0036] In one embodiment, the fixed base plate 651 is fixedly connected with a first connecting rod 654 which is in fit with the inner wall of the movable groove 67, the first connecting rod 654 is movably connected with a second connecting rod 655 at the end away from the fixed base plate 651, and the second connecting rod 655 is movably connected to the first cover plate 61 at the end away from the first connecting rod 654.

[0037] As shown in Figure 2 , Figure 3 and Figure 5 , the fixed base plate 651 is fixedly connected with the first connecting rod 654 at the rear upper end, the first connecting rod 654 is movably connected with the second connecting rod 655 at the upper part, and the second connecting rod 655 is movably connected with the fixed block 656 at the upper part. The first connecting rod 654 is in fit with the inner wall of the movable groove 67, the second connecting rod 655 passes through the movable opening 68, and the fixed block 656 is fixedly connected with the first cover plate 61 at the lower middle part. The plurality of blades 6531 are not in contact with 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, 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, the side wall of the fixed base plate 651 is provided with a limiting sliding block 6511, and the inner side wall of the movable groove 67 is provided with a limiting sliding groove 671, and the limiting sliding block 6511 is in sliding fit with the limiting sliding groove 671.

[0040] As shown in Figures 2 to 4As shown, the left inner surface and the right inner surface of the movable groove 67 are provided with limiting sliding grooves 671, and the left outer surface and the right outer surface of the fixed bottom plate 651 are fixedly connected with limiting sliding blocks 6511, which are respectively located in the limiting sliding grooves 671 and are in sliding connection with the limiting sliding grooves 671. Through the cooperation of the limiting sliding blocks 6511 and the limiting sliding grooves 671, the movement direction of the fixed bottom plate 651 in the movable groove 67 can be limited, thereby improving the reliability of the movement 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] As shown in the drawings, Figure 1 The robot body 1 is fixedly connected with the traveling propeller 4 on the left side and the right side, and the sinking and floating propeller 5 is arranged at the middle of the upper end of the robot body 1.

[0043] In other embodiments, in order to improve the movement flexibility of the robot body 1, lateral propellers (propellers arranged on the left and right side walls of the robot body 1) and the like can be arranged as needed.

[0044] In other embodiments, in order to reduce the risk of damage to the propeller by seaweed, a streamlined plate 7 is fixedly connected to the front upper side of the two traveling propellers 4 on the front upper end of the robot body 11, and the streamlined plate 7 is integrally formed with the robot body 1. During work, the streamlined plate 7 is ingeniously arranged around the traveling propellers 4 on both sides of the robot body 1. These designs not only optimize the water flow passability and reduce the resistance when the robot swims, but also effectively intercept the seaweed fragments generated during the cutting operation, preventing them from entering and blocking the propeller, thereby ensuring the continuous power output of the robot. At the same time, the sinking and floating propeller 5 provided by the robot can blow away the seaweed behind it when needed, preventing entanglement and further enhancing the adaptability and safety of the robot in complex underwater environments.

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

[0046] As shown in the drawings, Figures 2 to 3As shown, the robot body 1 is further provided with a second cover plate 62, which is arranged opposite to the first cover plate 61 and used to close the other side opening of the collecting groove 66. The second cover plate 62 is also hinged to the robot body 1 and controlled by the electric push rod 63. When the underwater seagrass identification robot is completed with seagrass collection, the robot is recycled, at which time the electric push rod 63 is controlled to drive the second cover plate 62 to rotate, so that the collected seagrass in the collecting groove 66 can be taken out, facilitating further research on the seagrass.

[0047] In one embodiment, the robot body 1 is provided with a communication module for realizing communication connection between the seagrass identification module 2 and the seagrass collecting 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 instructions of the remote control terminal are sent to the seagrass identification module 2 through the communication module to make the seagrass identification module 2 identify the seagrass species, and the control instructions of the remote control terminal are sent to the seagrass collecting mechanism 6 to make the motor 652 and the electric push rod 63 work. The identification result of the seagrass identification module 2 can be fed back to the remote control terminal through the communication module, and the execution result of the seagrass collecting mechanism 6 can be fed back to the remote control terminal.

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

[0050] The specific implementation of the underwater seagrass identification robot provided in the present application is to identify the seagrass species by using the seagrass identification module 2. When the seagrass identification module 2 cannot directly determine the seagrass species, the remote control terminal is used to make the first cover plate 61 rise by the force of the electric push rod 63, and then the cutting structure 65 is moved to the working position, and once the motor 652 in the cutting structure 65 is started, the high-speed rotating blade 6531 can quickly and accurately cut the seagrass, and the cut seagrass is guided into the collecting groove 66 for temporary storage by using the water flow power. After the operation is completed, the remote control terminal makes the first cover plate 61 close again by the force of the electric push rod 63, and the cutting structure 65 is simultaneously stored back into the movable groove 67, effectively preventing accidental contact with the surrounding environment in the non-working state, and ensuring the long-term stable operation of the equipment.

[0051] In summary, the underwater seagrass identification robot provided in the present application has the following advantages:

[0052] 1. The underwater seaweed identification robot, a seaweed identification module 2 is arranged at the front of the robot body 1, the seaweed identification module 2 includes an external high-definition camera and an internal identification module, when the robot is used, the robot body 1 can be controlled through a remote control terminal, and the robot body 1 captures pictures and videos of seaweed through the high-definition camera in the seaweed identification module 2, the subsequent quality processing and seaweed feature extraction are performed by the identification module, and finally the data obtained by the identification module is transmitted back to the remote control terminal, the whole operation process does not need personnel to operate in water, which not only facilitates the operation of seaweed identification, but also reduces the danger of personnel operation;

[0053] 2. The underwater seaweed identification robot, a seaweed collection mechanism 6 is arranged at the front side of the upper part of the robot body 1, when the seaweed identification robot is used, if the seaweed cannot be identified in the identification environment or the database, the first cover plate 61 in the seaweed collection mechanism 6 can be controlled through the remote control terminal to be lifted up by two electric push rods 63, when the first cover plate 61 is lifted up, the cutting structure 65 is pulled up synchronously, after the cutting structure 65 is lifted up, the motor 652 in the cutting structure 65 is started to rotate the plurality of blades 6531, the rotating blades 6531 cut the contacted seaweed, the cut seaweed is stored in the collection groove 66 through the water flow generated by the rotation of the plurality of blades 6531, after the seaweed collection is completed, the first cover plate 61 is controlled to be closed again, and the cutting structure 65 is stored in the movable groove 67, so that the cutting structure 65 does not entangle with the seaweed when not in use, and the collected seaweed can be taken out through the second cover plate 62 after the robot is landed, which is convenient for identification and research of seaweed;

[0054] 3. The underwater seaweed identification robot, a streamline plate 7 is arranged at the front of the robot body 1 and located between the two travel propellers 4, which not only reduces the resistance when the robot swims, but also blocks the seaweed fragments generated when the cutting structure 65 in the seaweed collection mechanism 6 cuts the seaweed, prevents the cut seaweed from flowing into the travel propeller 4 and causing the propeller to fail, at the same time, the buoyancy propeller 5 can blow away the seaweed floating towards the rear of the robot, and can also avoid the seaweed from entangling with the buoyancy propeller 5, thereby ensuring the safety of the robot in use.

[0055] Based on the same inventive concept, the embodiments of the present application also provide a use method of the underwater seaweed identification robot.

[0056] In one embodiment, as shown in Figure 6 the use method of the underwater seaweed identification robot is applicable to a remote control terminal in communication connection with the underwater seaweed identification robot, and the method comprises the following steps:

[0057] Step 1, seaweed identification: the seaweed identification robot is controlled to move by the remote control terminal (by controlling the propellers), and the seaweed identification module 2 is controlled to identify the type of seaweed. During identification, the high-definition camera in the seaweed identification module 2 captures the image or video of the seaweed, and transmits the captured image or video to the processor in the seaweed identification module 2. The processor automatically performs noise reduction, contrast enhancement and color correction on the image captured by the high-definition camera, extracts the key features of the seaweed image using image processing technology, and finally feeds back the identification result to the remote control terminal based on machine learning algorithm.

[0058] Step 2, seaweed collection: when the operation area cannot identify seaweed due to external factors or information library reasons, the first cover plate 61 in the seaweed collection mechanism 6 is controlled to be lifted by the electric push rod 63. When the first cover plate 61 is lifted, the cutting structure 65 is pulled out of the movable slot 67 in the robot body 1, and then the cutting structure 65 is started to cut the seaweed with the multiple blades 6531 in the cutting structure 65. The cut seaweed can enter the collection groove 66 for temporary storage when the blades 6531 rotate. After seaweed collection is completed, the first cover plate 61 is closed and the cutting structure 65 is retracted into the movable slot 67.

[0059] Step 3, collect seaweed: the seaweed recognition robot is recycled by the remote control terminal. After the seaweed recognition robot is landed, the second cover plate 62 in the seaweed collection mechanism 6 is controlled to be unfolded by the electric push rod 63, so that the collected seaweed can be taken out for manual identification.

[0060] The control method of the remote control terminal can be realized by software, hardware and their combination, and 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, so as to call and execute the above steps.

[0061] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present application, it should be noted that unless specifically stated and limited otherwise, the terms "mounting", "provided with", "connected" and the like, should be understood broadly, for example, "connected" can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0063] The technical features of the above embodiments can be combined in any way. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0064] The above embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as the limitation of the patent scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An underwater seaweed identification robot, characterized in that, include: The robot body, a seaweed identification module located on the robot body for identifying seaweed species, and a seaweed collection mechanism movably connected to the robot body for sampling seaweed after the seaweed identification module fails to identify seaweed species. The robot body has interconnected collection and movement slots on its surface. The seaweed collection mechanism includes a propulsion structure located in the collection slot and a cutting structure located in the movement slot. 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 by a connecting rod, so that when the electric push rod drives the first cover plate away from the opening of the collection slot, the cutting structure extends out of the movement slot with the movement of the first cover plate, and when the electric push rod drives the first cover plate closer to the opening of the collection slot, it enters the movement slot with the movement of the first cover plate, until the first cover plate completely closes the opening of the collection slot.

2. The underwater seaweed identification robot according to claim 1, characterized in that: The cutting structure includes a fixed base plate that slides with the movable groove. A motor is installed on the fixed base plate, and a fixed rod is connected to the output end of the motor. Multiple cutting blades are provided 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 against the inner wall of the movable groove. A second connecting rod is movably connected to the end of the first connecting rod away from the fixed base plate. The end of the second connecting rod away from the first connecting rod passes through the movable opening that connects the collection 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 slider is provided on the side wall of the fixed base plate, and a limiting groove is provided on the inner side wall of the movable groove. The limiting slider and the limiting groove slide in a sliding engagement.

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

6. The underwater seaweed identification robot according to claim 1, characterized in that: The robot body is equipped with a communication module, 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 equipped with a thruster that drives the robot body to move. The thruster includes at least one of a traveling thruster, a buoyancy thruster, and a lateral thruster.

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

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

10. A method of 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 includes: The robot is controlled to move, and the seaweed identification module is controlled to identify the types of seaweed. When the seaweed identification module receives feedback indicating a failure to identify the seaweed species, the system controls the electric actuator to drive the first cover away from the collection trough opening. Simultaneously, the system activates the cutting structure that extends synchronously from the movable trough as the first cover moves, cutting the seaweed and allowing the cut seaweed to be temporarily stored in the collection trough along with the water flow generated during the cutting structure's operation. After seaweed collection is complete, the system closes the cutting structure and controls the electric actuator to drive the first cover to close the collection trough opening, allowing the cutting structure to enter the movable trough. Control the robot to move and retrieve the robot to remove the seaweed from the collection tank.

Images