A towed sea cucumber harvesting equipment and harvesting method based on submerged wall jet

Abstract

The invention discloses a towed sea cucumber harvesting equipment and a harvesting method based on submerged wall-attached jets. The towed sea cucumber harvesting equipment comprises an ROV underwater robot, on which a traveling module, a sensing module and a harvesting module are arranged; the harvesting module comprises a collecting net box, a harvesting component, an ejection flow tube, a jet pipeline, a jet pump and an ejection flow pump; the harvesting component is connected to the ejection flow pump at the entrance of the collecting net box through the ejection flow tube, and the harvesting component is connected to the jet pump through the jet pipeline; based on the ejection flow principle, a stable suction flow field is formed inside a short-range sea cucumber transport pipeline, and when the sea cucumber enters the ejection flow tube from the harvesting component, the ejection flow drives it to move toward the collecting net box; the whole process avoids direct contact between the sea cucumber and the mechanical device, can gently and effectively suck and capture the transported sea cucumbers, prevents collision and extrusion during transportation, ensures that the activity and integrity of the sea cucumbers are not affected, and reduces losses during the harvesting process.

Description

Technical Field

[0001] The invention belongs to the technical field of aquatic product harvesting equipment, and in particular relates to a towing sea cucumber harvesting equipment and a harvesting method based on submerged wall-attached jets. Background Art

[0002] Sea cucumbers are of great edible and medicinal value, with high economic returns, and their aquaculture scale is expanding rapidly. The existing harvesting methods mainly include diver fishing, robot grabbing and tube suction. Since sea cucumber fishing is a high-risk industry, fishermen are prone to decompression sickness, and as the cost of manual fishing becomes higher and higher, the use of underwater robots to harvest sea cucumbers is an inevitable development trend.

[0003] Deficiencies and reasons of the existing technology: 1. The existing technology mostly uses a circular tube suction method or a mechanical arm clamping method to capture sea cucumbers. Although the circular tube suction method has its advantages, the suction process involves complex problems such as sea cucumbers passing through the pump, which can easily cause damage to the sea cucumbers. The mechanical arm clamping method has the risk of directly damaging the sea cucumbers, and its capture efficiency is relatively low, which is difficult to meet the needs of high efficiency and non-destructiveness. 2. Since the existing technology relies on underwater image recognition technology, in actual application, it is often easy to cause inaccurate identification of sea cucumbers due to environmental factors, thereby affecting the accuracy and efficiency of capture. 3. The capture devices in the existing technology mostly adopt a suspended design. This design is easily affected by ocean currents and waves in a complex and changeable marine environment, resulting in unstable operating posture and frequent position displacement. This not only increases the complexity of the operation, but also significantly reduces the efficiency of the capture operation, making it difficult to meet the needs of actual production. Summary of the invention

[0004] The present invention provides a towed sea cucumber harvesting equipment and a harvesting method based on submerged wall-attached jets, which optimizes and innovates key links such as pipeline transportation and storage, path planning and terrain adaptation in the sea cucumber harvesting process, aiming to improve the harvesting efficiency, ensure the quality of sea cucumbers and reduce operating costs.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] An embodiment of the present invention provides a towed sea cucumber harvesting equipment based on a submerged wall jet, comprising an ROV underwater robot (1), wherein the ROV underwater robot (1) is provided with a traveling module, a sensing module and a harvesting module; the traveling module is used to drive the ROV underwater robot (1) to move on the seabed; the sensing module comprises an underwater camera and a lighting assembly (12), and the underwater camera and the lighting assembly (12) are used to determine the position of the towed sea cucumber harvesting equipment and the distribution of sea cucumbers;

[0007] The capture module comprises a collection net box (2), a capture component (3), an ejection pipe (5), a jet pipeline (7), a jet pump (8) and an ejection pump (9); the collection net box (2) is fixed inside the ROV underwater robot (1); the capture component (3) is connected to the bottom of the ROV underwater robot (1) via two traction arms (4); the jet pump (8) is fixed below the collection net box (2); the capture component (3) is connected to the ejection pump (9) at the entrance of the collection net box (2) via the ejection pipe (5); and the capture component (3) is connected to the jet pump (8) via the jet pipeline (7);

[0008] The jet pump (8) is used to generate a jet from the jet inlet (7-1) of the harvesting component (3) to generate a wall-attached jet in the direction of the convex curved wall thereof, thereby forming a pressure gradient field, so that the sea cucumbers (6) below and in front of the harvesting component (3) are subjected to an upward lift force; the jet pump (9) drives the seawater in the jet pipe (5) to flow, thereby providing lift force for the sea cucumbers (6) so that they enter the collection cage (2).

[0009] In an optional embodiment of the present invention, mud sled slides (14) are provided at the bottom of both sides of the capture component (3), and the mud sled slides (14) are used to increase the contact area between the capture component (3) and the seabed, thereby reducing the degree of depression of the capture component (3) on the seabed and ensuring the stability of the height from the bottom.

[0010] In an optional embodiment of the present invention, a flexible brush (15) is provided on the side of the harvesting component (3). During the process of harvesting sea cucumbers, seabed mud and sand will be stirred up to form a plume flow. The flexible brush (15) is used to inhibit the diffusion of the plume flow and promote sedimentation, thereby protecting the environment of the sea cucumber breeding area.

[0011] In an optional embodiment of the present invention, the jet pipe (7) is connected to a solenoid valve (13), and the solenoid valve (13) is installed on both ends of the top of the capture component (3).

[0012] In an optional embodiment of the present invention, a plurality of jet openings (16) are provided on a side surface of the capture component (3) close to the jet inlet (7-1).

[0013] In an optional embodiment of the present invention, two traction arms (4) are connected to the bottom of the ROV underwater robot (1) via hinges, and hydraulic support rods are connected between the two traction arms (4) and the ROV underwater robot (1).

[0014] In an optional embodiment of the present invention, the traveling module comprises eight propeller thrusters (11), and the eight propeller thrusters (11) are used to control the position and posture of the towed sea cucumber harvesting equipment, wherein four propeller thrusters (11) are located at the top of the ROV underwater robot (1) and are used to control its height and pitch angle; and the remaining four propeller thrusters (11) are distributed on both sides of the ROV underwater robot (1) and are used to control its horizontal position and traveling direction.

[0015] The embodiment of the present invention provides a method for harvesting sea cucumbers by towing based on submerged wall jet, which is realized by a towing sea cucumber harvesting equipment based on submerged wall jet of the above embodiment, and includes the following steps:

[0016] Step 1, moving: the entire ROV underwater robot (1) includes a support frame, a collection cage (2) is arranged in the middle of the support frame, and four screw propellers (11) are arranged on both sides and the top of the support frame to control the posture, moving direction and lifting of the ROV underwater robot (1), and to pull the collection component (3) to move by the traction arm (4); during the whole process, the perception module can monitor the seabed terrain. When encountering a small terrain change, the ROV underwater robot (1) does not need to adjust its posture, and can achieve terrain adaptive movement by passively adjusting the angle of the traction arm (4); when encountering a large obstacle or terrain change, it can autonomously adjust its posture and control the screw propeller (11) to change the route to complete obstacle avoidance;

[0017] Step 2, identification and harvesting: Based on the images captured by the camera, the characteristics of the sea cucumber are identified, and the path planning is performed for the sea cucumbers that meet the standards. According to the sea cucumbers to be harvested each time, the control parameters of the jet flow rate, the height from the bottom, and the travel speed are adjusted; the harvesting component (3) harvests the sea cucumbers with the help of the negative pressure formed by the wall jet, and the sea cucumbers enter the entrainment flow tube (5) through the sea cucumber harvesting outlet, and finally are lifted into the collection cage (2) under the combined action of the entrainment flow and the wall jet; during the whole process, the sea cucumbers do not come into direct contact with the machine, so their integrity can be guaranteed;

[0018] Step 3, recovery: When the capacity of the collection cage (2) reaches the preset amount, the sea cucumber catching task is considered completed, the screw propeller (11) stops working, and the ROV underwater robot (1) automatically returns to the shore and floats to the water surface, waiting for recovery.

[0019] Compared with the prior art, the embodiment of the present invention provides a towed sea cucumber harvesting equipment and harvesting method based on submerged wall jet, which has the following beneficial effects:

[0020] (1) The present invention proposes a non-destructive collection and transportation method based on wall jet picking and short-range transport by induced jet: the design cleverly combines wall jet and induced jet technology, and induces the formation of wall jet in the collection module by precisely controlling the fluid dynamics parameters. The velocity is high and the pressure is low near the upper surface of the arc, and the velocity is low and the pressure is high near the sea cucumber on the surface of the bottom, so that the sea cucumber is forced to start under the action of the pressure difference. This velocity distribution feature of low velocity near the bottom and high velocity near the upper side of the sea cucumber can minimize the serious scouring of the bottom while efficiently collecting sea cucumbers, thereby reducing the disturbance of the seabed and the large degree of sediment suspension that interferes with underwater photography.

[0021] Based on the principle of induced jet flow, a stable suction flow field is formed inside the short-distance sea cucumber transportation pipeline. The principle of induced jet flow is: a water pump that generates a jet is arranged outside the pipeline. Based on the shear characteristics of the jet, the jet generated by it will drive the water inside the induced jet flow tube to flow in the same direction to generate an induced jet, namely the induced jet flow. When the sea cucumber enters the transportation pipeline from the capture component, the induced jet flow will drive it to move toward the collection cage. The entire process avoids direct contact between the sea cucumber and the mechanical device, and can gently and effectively capture and transport the sea cucumber, preventing it from collision and extrusion during transportation. This design ensures that the activity and integrity of the sea cucumber are not affected, and reduces losses during the capture process.

[0022] (2) Seabed terrain adaptive traction arm and bamboo mud sled slide structure: The present invention designs a seabed terrain adaptive traction arm and mud sled slide structure, which are specially used for sea cucumber harvesting operations in complex seabed environments. Among them, the traction arm adopts a multi-joint design, which can be adaptively adjusted according to the ups and downs of the seabed terrain to ensure the stable operation of the equipment on complex terrain. The height from the bottom is particularly important for the harvesting efficiency during the harvesting process. Therefore, mud sled slide structures for controlling the height from the bottom are set on both sides of the harvesting component. The mud sled slide is made of high-strength and wear-resistant bamboo. Bamboo has good anti-slip and anti-wear properties due to its low density and smooth surface, and can maintain sufficient strength in a seabed environment covered with sand and stones. This design not only improves the operating ability of the equipment in complex seabed environments, but also extends its service life and reduces maintenance costs.

[0023] (3) Autonomous route planning harvesting strategy based on image recognition and intelligent control: The present invention proposes a harvesting method that can change control parameters according to the type of sea cucumber, aiming to improve the harvesting efficiency and accuracy. The strategy is based on advanced visual technology and recognition technology. First, the optimal traversal harvesting path is automatically planned according to the position of the sea cucumber. During the harvesting process, the control parameters (including travel speed, jet flow rate, height from the bottom, etc.) are accurately optimized according to the characteristics of the next sea cucumber to be harvested (including extracting density according to the sea cucumber species, predicting its volume and weight according to the shape, etc.), so as to achieve accurate and gentle harvesting of sea cucumbers. In addition, the strategy can also automatically identify and avoid non-target organisms and obstacles to ensure that only sea cucumbers that meet quality standards are collected. This strategy not only improves the harvesting efficiency, but also reduces the need for manual intervention and improves the intelligence level of the entire harvesting process. In order to prevent the harvesting process from interfering with image recognition, a brush shielding structure is designed around the harvesting device to prevent sand and stones raised by harvesting from affecting the field of vision. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of catching sea cucumbers using a towed sea cucumber catching equipment based on a submerged wall jet provided in an embodiment of the present application.

[0026] Figure 2 A schematic diagram of a towed sea cucumber harvesting equipment based on submerged wall jet for catching sea cucumbers provided in an embodiment of the present application.

[0027] Figure 3 and Figure 4 A schematic diagram of a towed sea cucumber harvesting equipment structure based on a submerged wall jet provided in an embodiment of the present application.

[0028] Figure 5 A schematic diagram of an ROV underwater robot providing towed sea cucumber harvesting equipment based on submerged wall jets provided in an embodiment of the present application.

[0029] Figure 6 A schematic diagram of a collection cage and harvesting components of a towed sea cucumber harvesting equipment based on submerged wall jet provided in an embodiment of the present application.

[0030] Figure 7 A front view of a collection cage and harvesting components of a towed sea cucumber harvesting equipment based on a submerged wall jet provided in an embodiment of the present application.

[0031] Figure 8 and Fig. 9 A structural diagram of a harvesting component of a towed sea cucumber harvesting equipment based on a submerged wall jet provided in an embodiment of the present application.

[0032] Fig.10 A schematic diagram of an autonomous route planning and capture strategy based on image recognition and intelligent control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, an embodiment of the present invention provides a towed sea cucumber harvesting equipment based on submerged wall-attached jets, including an ROV underwater robot 1, on which a traveling module, a sensing module and a harvesting module are provided; the traveling module is used to drive the ROV underwater robot 1 to move on the seabed; the sensing module includes an underwater camera and a lighting assembly 12, and the underwater camera and the lighting assembly 12 are used to determine the position of the towed sea cucumber harvesting equipment and the distribution of sea cucumbers.

[0035] The capture module includes a collecting net box 2, a capturing component 3, an ejection pipe 5, a jet pipeline 7, a jet pump 8 and an ejection pump 9; the collecting net box 2 is fixed inside the ROV underwater robot 1, the capturing component 3 is connected to the bottom of the ROV underwater robot 1 through two traction arms 4, the jet pump 8 is fixed below the collecting net box 2, the capturing component 3 is connected to the ejection pump 9 at the entrance of the collecting net box 2 through the ejection pipe 5, and the capturing component 3 is connected to the jet pump 8 through the jet pipeline 7; the jet pump 8 and the ejection pump 9 are both submersible jet pumps.

[0036] The jet pump 8 is used to generate a jet from the jet inlet 7-1 of the capture component 3 to generate a wall-attached jet along the convex curved wall, thereby forming a pressure gradient field, so that the sea cucumber 6 below and in front of the capture component 3 is subjected to an upward lift; the jet pump 9 drives the seawater in the jet pipe 5 to flow, providing lift for the sea cucumber 6, so that it enters the collection cage 2.

[0037] like Figure 8 and Fig. 9As shown, mud sled slides 14 are provided at the bottom of both sides of the harvesting assembly 3. The mud sled slides 14 are used to increase the contact area between the harvesting assembly 3 and the seabed, thereby reducing the degree of depression on the seabed and ensuring the stability of the height from the bottom. The mud sled slides 14 of this embodiment are distributed on both sides of the harvesting assembly 3 and are connected to it through hinges and springs. The mud sled slides 14 can rotate within a certain range with the terrain, which is convenient for coping with the uneven terrain of the seabed and ensuring the stable movement of the harvesting assembly.

[0038] A flexible brush 15 is provided on the side of the capture component 3. During the process of capturing sea cucumbers, the seabed mud and sand will be raised to form a plume. The flexible brush 15 is used to suppress the diffusion of the plume and promote sedimentation, thereby protecting the environment of the sea cucumber breeding area. This embodiment uses the flexible brush 15 to form a dynamic closed space, which can effectively suppress the diffusion of mud and sand plumes, reduce the disturbance to the seabed ecological environment, and prevent the impact on the camera field of view. At the same time, it can also play an interception role, blocking some sea cucumbers from escaping and improving the capture rate. In addition, the flexible brush 15, as the boundary condition of the flow field, interacts with the high-pressure jet and the suction flow to form a coupled flow field, which is conducive to the start-up and collection of sea cucumbers. The flexible brush 15 can change its shape according to different terrains, can adapt to complex seabed conditions, and has terrain adaptability.

[0039] The jet pipe 7 is connected to a solenoid valve 13, which is installed on both ends of the top of the capture component 3. A plurality of jet ports 16 are provided on one side of the capture component 3 near the jet inlet 7-1, and the plurality of jet ports 16 are used for the pressure gradient field water flow in the capture component 3 to flow out.

[0040] like Figure 3 and Figure 4 As shown, the two traction arms 4 are connected to the bottom of the ROV underwater robot 1 through a hinge, which can ensure that the harvesting assembly 3 is always attached to the ground when the ROV underwater robot 1 floats up and down due to the influence of ocean currents and waves, which is beneficial to maintaining the efficiency of sea cucumber harvesting. A hydraulic support rod is also connected between the two traction arms 4 and the ROV underwater robot 1, which is beneficial to keep the harvesting assembly 3 stable.

[0041] like Figure 5 As shown, the traveling module includes 8 propeller thrusters 11, which are used to control the position and posture of the towed sea cucumber harvesting equipment, of which 4 propeller thrusters 11 are located at the top of the ROV underwater robot 1 to control its height and pitch angle; the remaining 4 propeller thrusters 11 are distributed on both sides of the ROV underwater robot 1 to control its horizontal position and travel direction. The traveling module of this embodiment is mainly composed of 8 propeller thrusters 11, and is equipped with a traction arm 4 and a mud sled 14 to drive the harvesting assembly to move.

[0042] The embodiment of the present invention further provides a method for harvesting sea cucumbers by towing based on submerged wall jet, which is realized by a towing sea cucumber harvesting equipment based on submerged wall jet of the above embodiment, and includes the following steps:

[0043] Step 1, moving: the entire ROV underwater robot 1 includes a support frame, a collection cage 2 is arranged in the middle of the support frame, and 4 screw propellers 11 are arranged on both sides and the top of the support frame to control the posture, moving direction and lifting of the ROV underwater robot 1, and the traction arm 4 is used to pull the capture component 3 to move; during the whole process, the perception module can monitor the seabed terrain. When encountering a small terrain change, the ROV underwater robot 1 does not need to adjust its posture, and the adaptive movement of the terrain can be completed by passively adjusting the angle of the traction arm 4; when encountering a large obstacle or a terrain change, the posture can be adjusted autonomously, and the screw propeller 11 can be controlled to change the route to complete the obstacle avoidance;

[0044] Step 2, such as Fig.10 As shown, identification and harvesting: according to the picture taken by the camera, the characteristics of sea cucumbers are identified, and the path planning is carried out for the sea cucumbers that meet the standards. According to the sea cucumbers to be harvested each time, the control parameters of the jet flow, the height from the bottom, and the travel speed are adjusted; the harvesting component 3 harvests the sea cucumbers with the help of the negative pressure formed by the wall jet, and the sea cucumbers enter the entrainment flow tube 5 through the sea cucumber harvesting outlet, and finally are lifted into the collection cage 2 under the joint action of the entrainment flow and the wall jet; during the whole process, the sea cucumbers are not in direct contact with the machine, so that their integrity can be guaranteed;

[0045] Step 3, recovery: When the capacity of the collection cage 2 reaches a preset amount, the task of catching ginseng is considered completed, the propeller 11 stops working, and the ROV underwater robot 1 automatically returns to the shore and floats to the water surface to wait for recovery. The preset amount in this embodiment is 70% to 90%.

[0046] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A towing sea cucumber catching equipment based on submerged wall jet, characterized in that: The invention comprises an ROV underwater robot (1), wherein the ROV underwater robot (1) is provided with a traveling module, a sensing module and a harvesting module; the traveling module is used to drive the ROV underwater robot (1) to move on the seabed; the sensing module comprises an underwater camera and a lighting assembly (12), and the underwater camera and the lighting assembly (12) are used to determine the position of the towed sea cucumber harvesting equipment and the distribution of sea cucumbers; The capture module comprises a collection net box (2), a capture component (3), an ejection pipe (5), a jet pipeline (7), a jet pump (8) and an ejection pump (9); the collection net box (2) is fixed inside the ROV underwater robot (1); the capture component (3) is connected to the bottom of the ROV underwater robot (1) via two traction arms (4); the jet pump (8) is fixed below the collection net box (2); the capture component (3) is connected to the ejection pump (9) at the entrance of the collection net box (2) via the ejection pipe (5); and the capture component (3) is connected to the jet pump (8) via the jet pipeline (7); The jet pump (8) is used to generate a jet from the jet inlet (7-1) of the harvesting component (3) to generate a wall-attached jet in the direction of the convex curved wall thereof, thereby forming a pressure gradient field, so that the sea cucumbers (6) below and in front of the harvesting component (3) are subjected to an upward lift force; the jet pump (9) drives the seawater in the jet pipe (5) to flow, thereby providing lift force for the sea cucumbers (6) so that they enter the collection cage (2).

2. The towing sea cucumber catching equipment based on submerged wall jet according to claim 1 is characterized in that: Mud sled slides (14) are provided at the bottom of both sides of the capture component (3), and the mud sled slides (14) are used to increase the contact area between the capture component (3) and the seabed, thereby reducing the degree of depression of the capture component (3) on the seabed and ensuring the stability of the height from the bottom.

3. The towing sea cucumber catching equipment based on submerged wall jet according to claim 2 is characterized in that: A flexible brush (15) is provided on the side of the harvesting component (3). During the harvesting of sea cucumbers, seabed mud and sand are stirred up to form a plume flow. The flexible brush (15) is used to inhibit the diffusion of the plume flow and promote sedimentation, thereby protecting the environment of the sea cucumber breeding area.

4. The towing sea cucumber catching equipment based on submerged wall jet according to claim 3 is characterized in that: The jet pipe (7) is connected to a solenoid valve (13), and the solenoid valve (13) is installed on both ends of the top of the capture component (3).

5. The towing sea cucumber catching equipment based on submerged wall jet according to claim 4 is characterized in that: A plurality of jet openings (16) are arranged on a side surface of the capture component (3) close to the jet inlet (7-1).

6. The towing sea cucumber catching equipment based on submerged wall jet according to claim 1 is characterized in that: Two traction arms (4) are connected to the bottom of the ROV underwater robot (1) via hinges, and hydraulic support rods are connected between the two traction arms (4) and the ROV underwater robot (1).

7. The towing sea cucumber catching equipment based on submerged wall jet according to claim 1 is characterized in that: The traveling module comprises eight propeller thrusters (11), and the eight propeller thrusters (11) are used to control the position and posture of the towed sea cucumber harvesting equipment, wherein four propeller thrusters (11) are located at the top of the ROV underwater robot (1) and are used to control its height and pitch angle; the remaining four propeller thrusters (11) are distributed on both sides of the ROV underwater robot (1) and are used to control its horizontal position and traveling direction.

8. A method for harvesting sea cucumbers by towing based on submerged wall jet, which is realized by a towing sea cucumber harvesting equipment by towing based on submerged wall jet according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1, moving: the entire ROV underwater robot (1) includes a support frame, a collection cage (2) is arranged in the middle of the support frame, and four propeller thrusters (11) are arranged on both sides and the top of the support frame to control the posture, moving direction and lifting of the ROV underwater robot (1), and to pull the collection component (3) to move by the traction arm (4); during the whole process, the perception module can monitor the seabed terrain. When encountering a small terrain change, the ROV underwater robot (1) does not need to adjust its posture, and can achieve terrain adaptive movement by passively adjusting the angle of the traction arm (4); when encountering a large obstacle or terrain change, it can autonomously adjust its posture and control the propeller thrusters (11) to change the travel route to complete obstacle avoidance; Step 2, identification and harvesting: Based on the images captured by the camera, the characteristics of the sea cucumber are identified, and the path planning is performed for the sea cucumbers that meet the standards. According to the sea cucumbers to be harvested each time, the control parameters of the jet flow rate, the height from the bottom, and the travel speed are adjusted; the harvesting component (3) harvests the sea cucumbers with the help of the negative pressure formed by the wall jet, and the sea cucumbers enter the entrainment flow tube (5) through the sea cucumber harvesting outlet, and finally are lifted into the collection cage (2) under the combined action of the entrainment flow and the wall jet; during the whole process, the sea cucumbers do not come into direct contact with the machine, so their integrity can be guaranteed; Step 3, recovery: When the capacity of the collection cage (2) reaches the preset amount, the sea cucumber catching task is considered completed, the propeller thruster (11) stops working, and the ROV underwater robot (1) automatically returns to the shore and floats to the water surface, waiting for recovery.

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