Underwater inspection robot with underwater net cage damage position indicating device

Abstract

The invention discloses an underwater inspection robot with an underwater net cage damage position indicating device. The indicating device mainly comprises an upper clamping jaw and a lower clamping jaw, the first locking mechanism is used for keeping the lower clamping jaw and the upper clamping jaw in an open state; the second locking mechanism is used for keeping the lower clamping jaw and the upper clamping jaw in a clamping state when the first locking mechanism is unlocked; a buoy, a connecting wire and a wire coil; the third locking mechanism is used for fixing the wire coil relative to the mounting seat when the first locking mechanism enables the lower clamping jaw and the upper clamping jaw to be kept in an open state; during use, when the underwater inspection robot finds a damaged part of the underwater net cage, the first locking mechanism is unlocked, the second locking mechanism enables the lower clamping jaw and the upper clamping jaw to keep a clamping state, the third locking mechanism is unlocked, the connecting wire is released from the wire coil under the buoyancy action of the buoy, and finally the buoy emerges from the water surface. The damage position can be accurately marked, and manual repair can be conveniently guided in time.

Description

Technical Field

[0001] The invention relates to a cage monitoring and maintenance technology in deep-water fish farming, and in particular to an underwater inspection robot with an underwater cage damage position indicating device. Background Art

[0002] In the field of marine fisheries and aquaculture, cages are important aquaculture facilities, and their structural integrity and stability are directly related to the safety and growth efficiency of farmed organisms. In particular, the net part, as the core component of the cage, is susceptible to erosion by wind and waves, attachment of marine organisms, corrosion, and accidental collisions, which can lead to damage. The damage of the net may not only cause the escape of farmed organisms and affect the breeding efficiency, but also cause unnecessary interference to the marine ecological environment. Therefore, the development of an efficient and accurate cage net damage monitoring and positioning system is of great significance for ensuring aquaculture safety, improving aquaculture efficiency, and maintaining the marine ecological environment.

[0003] At present, with the rapid development of Internet of Things technology and intelligent sensor technology, a variety of solutions for monitoring the damage of cage nets have been proposed and implemented. Among them, the patent application with publication number CN114199944A discloses an innovative monitoring system and method. The system builds a complete monitoring network by integrating power supply module, water surface monitoring module, cage, net detection module and user end. Specifically, the system uses wires made of wires wrapped with insulating layers to weave into nets. The net detection module is deployed underwater and identifies the damage of the net by monitoring the changes in the current signal in the water. When the net is damaged, the breakage of the wire at the damaged part will cause the change of the current intensity. This change is captured by the net detection module and converted into a data signal, which is then transmitted to the water surface monitoring module through wires. The water surface monitoring module is not only responsible for receiving these data, but also for parsing and processing. Once the damage information is identified, an alarm message is sent to the user end through wireless communication, thereby realizing real-time monitoring and positioning of the damage.

[0004] Although this system has demonstrated its potential in monitoring damage to cage nets, it still faces some challenges and limitations in practical applications that cannot be ignored. First, from the perspective of manufacturing cost, the design of embedding metal wires into the net wires requires special treatment of the net material during the production process to ensure that the wires can be evenly distributed and firmly embedded, while ensuring the integrity and durability of the insulation layer. This process is not only technically complex, but also greatly increases production costs. Especially for deep-sea aquaculture environments, the area and strength of the nets required are higher, making the cost issue more prominent, which may discourage some farmers.

[0005] Secondly, the integrity of the insulation layer is the key to the long-term stable operation of the system. The marine environment is complex and changeable, and the corrosiveness of seawater, biological attachment, and physical wear may damage the insulation layer. Once the insulation layer is damaged, seawater will directly contact the wires, and the conductivity of water may cause short circuits or current leakage, resulting in the failure of the entire monitoring system, and may even affect the overall structure and functional safety of the cage, bringing greater economic losses and risks.

[0006] Furthermore, the solution requires the use of customized nets to replace traditional nets, which not only means that additional funds need to be invested in the renewal and replacement of nets, but also increases the complexity of installation and commissioning. For most farmers, the original net replacement and installation process is relatively mature. The introduction of new customized nets not only requires retraining of operators, but may also cause unnecessary delays and increased costs due to compatibility issues with existing farming systems.

[0007] In summary, although the cage net damage monitoring system described in the patent application with publication number CN114199944A has certain innovation and practicality in terms of technical principles, it still has certain shortcomings in terms of cost control, system stability and compatibility, which limits its application and promotion in a wider range of breeding environments. Therefore, continuing to explore more economical, efficient and easy-to-implement net damage monitoring technology is still an important issue that needs to be urgently solved in the current fishery and aquaculture fields. Summary of the invention

[0008] Based on this, the applicant proposed an economical, practical and well-scalable underwater cage damage position indicating device. The device has a simple structure and low cost. During installation and use, no modification of the existing cage equipment is required. It can be directly equipped on a commonly used inspection robot. It has strong scalability and practicality, and can better meet the actual application needs of the underwater aquaculture industry.

[0009] Specifically, the present invention aims to solve the problem that it is difficult to quickly and accurately locate the damaged position of an underwater cage. Due to the complexity of the underwater environment, such as insufficient light, water disturbance, and turbid water, manually finding the damaged position of the net is extremely challenging, time-consuming, labor-intensive, and has low precision. The present invention proposes an automated underwater cage damaged position indicator device, which can quickly sound an alarm after detecting the damaged position, and accurately mark the damaged position by releasing a fluorescent buoy to the water surface, so as to guide manual repairs in a timely manner. Moreover, this solution does not require the replacement of existing cage equipment or the addition of complex processes. The device can be easily integrated into existing inspection robots, is suitable for a variety of aquaculture environments, and effectively improves the efficiency of the damage detection link in underwater aquaculture operations, meeting the modern underwater aquaculture industry's demand for efficient and low-cost management.

[0010] The present invention provides an underwater inspection robot with an underwater cage damage position indicating device, comprising an underwater inspection robot body, a telescopic arm extending from the underwater inspection robot body, an underwater cage damage position indicating device being provided at the end of the telescopic arm, and a base for installing the underwater cage damage position indicating device being provided at the end of the telescopic arm;

[0011] The underwater cage damage position indicating device comprises:

[0012] A mounting seat, used for mounting on the base;

[0013] A pair of clamping jaws, comprising an upper clamping jaw and a lower clamping jaw, each of the upper clamping jaw and the lower clamping jaw comprising a mounting portion and a clamping mouth portion, the clamping mouth portion of the upper clamping jaw being provided with a plurality of clamping teeth; the clamping mouth portions of the upper clamping jaw and the lower clamping jaw being in a clamping state when they are close to each other, and being in an open state when they are away from each other; the mounting portion of the upper clamping jaw is fixedly arranged with the mounting seat; a first locking mechanism for keeping the lower clamping jaw and the upper clamping jaw in an open state is provided between the base and the lower clamping jaw; a second locking mechanism for keeping the lower clamping jaw and the upper clamping jaw in a clamping state when the first locking mechanism is unlocked is provided between the mounting portion of the lower clamping jaw and the mounting portion of the upper clamping jaw;

[0014] A buoy unit, comprising a buoy, a connecting line and a wire drum, wherein the wire drum is rotatably connected to the mounting seat, one end of the connecting line is connected to the buoy, and the other end is connected to the wire drum, and the connecting line is wound around the wire drum;

[0015] a third locking mechanism, for fixing the wire drum relative to the mounting seat when the first locking mechanism keeps the lower clamping jaw and the upper clamping jaw in an open state;

[0016] During use, when the underwater inspection robot finds the damaged part of the underwater cage, the first locking mechanism is unlocked, the second locking mechanism keeps the lower jaw and the upper jaw in a clamped state, the third locking mechanism is unlocked, and the connecting line is released from the wire drum under the buoyancy of the buoy, and finally the buoy floats to the surface.

[0017] Preferably, at least part of the base is an electromagnet, and at least part of the lower clamp is an iron material that can be magnetically adsorbed by the base; the first locking mechanism includes the electromagnet part in the base and the iron material part in the lower clamp;

[0018] In the initial state, the electromagnet part of the base is energized to generate magnetism to adsorb the lower clamping claw; when the underwater cage damage position indicating device needs to be released, the electromagnet part of the base is de-energized to cancel the adsorption of the lower clamping claw.

[0019] Furthermore, the mounting seat has a mounting plate, and the mounting plate has an avoidance hole for the base to pass through; when the first locking mechanism is in a locked state, the lower clamping jaw is adsorbed on the base.

[0020] Design of base and clamping jaws:

[0021] The base is at least partially an electromagnet, and the lower clamp is at least partially an iron material that can be magnetically adsorbed by the base: this design enables the first locking mechanism to be simply and effectively implemented. By controlling the power on and off of the electromagnet, the adsorption and release of the lower clamp can be conveniently controlled without the need for additional mechanical structures, thereby reducing the complexity and failure rate of the system.

[0022] In the initial state, the electromagnet part of the base is energized to generate magnetism, thereby adsorbing the lower clamp: this ensures that the lower clamp can remain stably in the open state during the movement of the underwater inspection robot, avoiding unnecessary false triggering.

[0023] The mounting base has a mounting plate with a clearance hole for the base to pass through: this design allows the base to be firmly mounted on the end of the telescopic arm, while the design of the clearance hole allows the lower clamping jaw to be smoothly moved into the clamping state when necessary.

[0024] Specifically, the second locking mechanism includes a guide column passing through the mounting portion of the upper clamping jaw, one end of the guide column is fixed to the mounting portion of the lower clamping jaw, and the other end is provided with a stopper, and the guide column is provided between the mounting portion of the upper clamping jaw and the stopper to provide a return spring for maintaining the lower clamping jaw and the upper clamping jaw in a clamping state. The elastic force of the spring is utilized so that when the clamping mouths of the upper clamping jaw and the lower clamping jaw are close to each other, they can automatically enter a clamping state without the need for an additional power source.

[0025] Preferably, the guide posts include at least two arranged axially along the mounting portion of the lower clamping jaw, and each guide post is provided with a return spring. The design of multiple guide posts and return springs improves the stability and clamping force of the clamping jaw, ensuring that the clamping jaw can firmly grasp the damaged part of the cage and is not easy to fall off.

[0026] Preferably, the stopper is provided with a protrusion, and the protrusion has a threading hole for the connecting wire to pass through, which not only provides a path for the connecting wire to pass through, but also ensures that the connecting wire will not be disturbed by the movement of the clamping claw when it is released.

[0027] Specifically, a magnet induction sensor for detecting the lower clamping jaw is provided at the end of the telescopic arm near the base, so as to monitor the state of the lower clamping jaw in real time and ensure that the lower clamping jaw can correctly move to the clamping state after the first locking mechanism is unlocked.

[0028] Preferably, the mounting seat has a mounting shaft for mounting the wire drum, and the axial direction of the mounting shaft is arranged parallel to the axial direction of the lower clamping jaw;

[0029] The axial middle portion of the cable drum is provided with a mounting hole rotatably connected to the mounting shaft.

[0030] Further preferably, the third locking mechanism comprises a linkage piece whose bottom end is rotatably connected to the mounting seat, the linkage piece is provided with a guide groove, and the mounting portion of the lower clamping jaw is provided with a slider extending into the guide groove;

[0031] The wire drum is provided with a slot on one side facing the linkage piece for the top end of the linkage piece to be inserted into when in a locked state;

[0032] When the lower jaw is in a position to maintain an open state with the upper jaw, the slider is located at the lower part of the guide groove, and the top end of the linkage piece extends out from the groove of the wire drum; when the lower jaw is in a position to maintain a clamping state with the upper jaw, the slider is located at the upper part of the guide groove, and the top end of the linkage piece is inserted into the groove of the wire drum. A plurality of groups of the grooves are provided on the wire drum around the mounting hole.

[0033] The rotation of the linkage piece and the sliding of the slider realize the locking and unlocking of the cable drum. When the jaws are in the open state, the linkage piece allows the cable drum to rotate freely; when the jaws are in the clamping state, the linkage piece locks the cable drum to prevent the connecting wire from being accidentally released.

[0034] The present invention also provides a method for indicating the damaged position of an underwater cage, using the underwater inspection robot with the underwater cage damaged position indicating device. When a damaged part of the underwater cage is detected, the telescopic arm is extended to allow the clamping mouths of the upper and lower jaws to pass through the underwater cage, the first locking mechanism is unlocked, the second locking mechanism allows the lower and upper jaws to remain in a clamping state, the third locking mechanism is unlocked, and the connecting line is released from the wire drum under the buoyancy of the buoy, and finally the buoy floats to the surface.

[0035] Beneficial effects of the present invention:

[0036] (1) Reduce the difficulty of manually searching for damaged locations: Manually searching for damaged locations of nets underwater often faces great challenges. Due to the complexity of the underwater environment, including insufficient light, water disturbances, and turbid water, it is not only time-consuming and laborious for divers to locate damaged points in a large net cage, but also inefficient and difficult to ensure accuracy. In deep-water aquaculture or harsh underwater environments, the difficulty of divers' operations is further increased, and repeated searches for a long time may be required, and even small damaged points may be missed. This method not only affects the timely repair of damaged nets, increases the risk of fish escape, but also greatly increases the operating costs of the farm. The present invention can quickly and accurately locate the damaged location and mark it on the water surface in a timely manner, which greatly simplifies the process of finding the damaged location, reduces the difficulty and time of manual operation, and improves the repair efficiency.

[0037] (2) Shorten response time and reduce economic losses: When the net cage is damaged, the inspection robot can quickly hover and mark the damaged location, and send an early warning signal to the host computer through the wireless communication module. The onshore personnel can quickly locate and repair the damaged net through the surface mark of the fluorescent buoy, thereby effectively preventing the fish from escaping and avoiding major economic losses.

[0038] (3) Simplify system structure and enhance adaptability: The present invention adopts a modular design and can be easily mounted on various types of underwater inspection robots. It is suitable for cage equipment of different specifications and types. It not only simplifies the system structure, but also enhances the scalability and adaptability of the system, and can be applied in a variety of aquaculture scenarios.

[0039] (4) Reduce production and operation costs: In the prior art, it is necessary to embed wires in the nets for detection. This solution not only increases the complexity of the production process, but also requires the special manufacture of nets with special functions, resulting in a significant increase in production and maintenance costs. The present invention avoids such cumbersome embedded designs and adopts a modular damage detection device that can be directly integrated into existing underwater inspection robots without large-scale modification or replacement of existing cage facilities. The device has a simple structure and low cost, which reduces the dependence on net production and reduces the operating burden of the farm.

[0040] In summary, the present invention significantly improves the efficiency and accuracy of cage damage detection, reduces production and operation costs, and is suitable for wide promotion and application in the aquaculture industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a top view schematic diagram of an underwater inspection robot with an underwater cage damage position indicating device.

[0042] Figure 2 This is a status diagram of the telescopic arm and underwater cage damage position indication device in the patrol state.

[0043] Figure 3 Status diagram of the telescopic arm and underwater cage damage position indicator device after clamping.

[0044] Figure 4 This is a status diagram of the underwater cage damage position indication device during patrol status.

[0045] Figure 5 This is a top view of the underwater cage damage position indicator device during inspection.

[0046] Figure 6 This is a status diagram of the underwater cage damage position indication device after clamping.

[0047] Figure 7 This is a diagram of the cooperation structure in the third locking mechanism.

[0048] Figure 8 This is a diagram of the coordination between the linkage plate and the lower clamping jaw.

[0049] Markings in the figure: 1- underwater inspection robot, 2- telescopic arm, 21- base, 22- magnet induction sensor, 3- underwater cage damage position indicating device, 31- mounting seat, 311- mounting plate, 3111- avoidance hole, 312- mounting shaft, 32- clamping jaw, 321- upper clamping jaw, 322- lower clamping jaw, 323- mounting part, 3231- slider, 324- clamping mouth, 325- clamping teeth, 326- first locking mechanism, 327- second locking mechanism, 3271- guide column, 3272- stopper, 32721- bump, 32722- threading hole, 3273- reset spring, 33- buoy, 34- connecting line, 35- wire drum, 351- mounting hole, 352- slot, 36- third locking mechanism, 361- linkage piece, 3611- guide groove, DETAILED DESCRIPTION

[0050] Depend on Figure 1-8 As shown, the present invention provides an underwater inspection robot with an underwater net cage damaged position indicating device, comprising an underwater inspection robot 1 body, a telescopic arm 2 extending from the underwater inspection robot 1 body, an underwater net cage damaged position indicating device 3 being provided at the end of the telescopic arm 2, a base 21 for installing the underwater net cage damaged position indicating device 2 being provided at the end of the telescopic arm 11, the telescopic arm 2 connecting the underwater inspection robot and the underwater net cage damaged position indicating device 2, having a linear telescopic function, being able to flexibly adjust the length, and accurately positioning the device at the damaged position of the net, thereby ensuring the accuracy and efficiency of the operation.

[0051] The underwater cage damage position indicating device 3 of the present invention comprises: a mounting seat 31, which is used to be mounted on the base 21;

[0052] A pair of clamping jaws 32, including an upper clamping jaw 321 and a lower clamping jaw 322, each of the upper clamping jaw 321 and the lower clamping jaw 322 including a mounting portion 323 and a clamping mouth portion 324, the clamping mouth portion 324 of the upper clamping jaw 321 is provided with a plurality of clamping teeth 325; the clamping mouth portions 324 of the upper clamping jaw 321 and the lower clamping jaw 322 are in a clamping state when they are close to each other, and in an open state when they are away from each other; the mounting portion 323 of the upper clamping jaw 321 is fixedly arranged with the mounting seat 31; a first locking mechanism 326 for keeping the lower clamping jaw 322 and the upper clamping jaw 321 in an open state is provided between the base 21 and the lower clamping jaw 322; a second locking mechanism 327 for keeping the lower clamping jaw 322 and the upper clamping jaw 321 in a clamping state when the first locking mechanism 326 is unlocked is provided between the mounting portion 323 of the lower clamping jaw 322 and the mounting portion 323 of the upper clamping jaw 321;

[0053] The buoy unit includes a buoy 33, a connecting line 34 and a wire drum 35. The wire drum 35 is rotatably connected to the mounting seat 31. One end of the connecting line 34 is connected to the buoy 33, and the other end is connected to the wire drum 35. The connecting line 34 is wound around the wire drum 35.

[0054] A third locking mechanism 36 is used to fix the wire drum 35 relative to the mounting seat 31 when the first locking mechanism 326 keeps the lower clamping jaw 322 and the upper clamping jaw 321 in an open state;

[0055] During use, when the underwater inspection robot finds the damaged part of the underwater cage, the first locking mechanism 326 is unlocked, the second locking mechanism 327 keeps the lower clamp 322 and the upper clamp 321 in a clamped state, the third locking mechanism 36 is unlocked, and the connecting line 34 is released from the reel 35 under the buoyancy of the buoy 33, and finally the buoy 33 floats to the surface.

[0056] Preferably, the base 21 is at least partially an electromagnet, and the lower jaw 322 is at least partially an iron material that can be magnetically adsorbed by the base 21; the first locking mechanism 326 includes the electromagnet part in the base 21 and the iron material part in the lower jaw 322; the jaw is the core executive component of the device, and is divided into an upper jaw and a lower jaw. The lower jaw can be made of iron so that it can be attracted to the electromagnet when the magnet induction sensor is triggered. In the inspection state, the electromagnet is energized, and the lower jaw is attracted to the electromagnet. When the net is detected to be damaged, the electromagnet is de-energized, and the upper jaw and the lower jaw work together to firmly clamp the damaged position, ensuring the accuracy and stability of the marking and repair operations.

[0057] In the initial state, the electromagnet part of the base 21 is energized to generate magnetism to adsorb the lower clamping claw 322; when the underwater cage damage position indicating device 3 needs to be released, the electromagnet part of the base 21 is de-energized, thereby canceling the adsorption of the lower clamping claw 322. By controlling the power on and off of the electromagnet, the adsorption and release of the lower clamping claw can be conveniently controlled without the need for an additional mechanical structure, thereby reducing the complexity and failure rate of the system.

[0058] Furthermore, the mounting seat 31 has a mounting plate 311 , and the mounting plate 311 has an escape hole 3111 for the base 21 to pass through; when the first locking mechanism 326 is in a locked state, the lower clamping jaw 322 is adsorbed on the base 21 .

[0059] The second locking mechanism 327 in the present invention includes a guide column 3271 passing through the mounting portion 323 of the upper clamp 321, one end of the guide column 3271 is fixed to the mounting portion 323 of the lower clamp 322, and the other end is provided with a stop block 3272. For automated processing, the guide column 3271 is provided with a return spring 3273 between the mounting portion 323 of the upper clamp 321 and the stop block 3272 for maintaining the lower clamp 322 and the upper clamp 321 in a clamping state. The elastic force of the spring is utilized so that when the clamping mouths of the upper clamp and the lower clamp are close to each other, they can automatically enter a clamping state without the need for an additional power source.

[0060] The guide column 3271 in the present invention includes at least two axially arranged along the mounting portion 323 of the lower clamp 322, and each guide column 3271 is provided with a return spring 3273, which can improve the stability and clamping force of the clamp, ensuring that it can firmly grasp the damaged part of the clamping cage and is not easy to fall off.

[0061] The stopper 3272 is provided with a protrusion 32721, and the protrusion 32721 has a threading hole 32722 for the connecting wire 34 to pass through, thereby ensuring that the connecting wire will not be disturbed by the movement of the clamping claw when it is released.

[0062] In order to monitor whether the gripper is completely separated from the robot, a magnet sensing sensor 22 for detecting the lower gripper 322 is provided at the end of the telescopic arm 2 near the base 21, so that the robot can continue to perform inspection operations and monitor the status of the lower gripper in real time to ensure that the lower gripper can move correctly to the clamping state after the first locking mechanism is unlocked.

[0063] The mounting seat 31 has a mounting shaft 312 for mounting the wire drum 35 , and the axial direction of the mounting shaft 312 is arranged parallel to the axial direction of the lower clamping jaw 322 ; the axial middle part of the wire drum 35 has a mounting hole 351 rotatably connected to the mounting shaft 312 .

[0064] The third locking mechanism 36 of the present invention comprises a linkage piece 361 whose bottom end is rotatably connected to the mounting seat 31, and a guide groove 3611 is provided on the linkage piece 361, and a slider 3231 extending into the guide groove 3611 is provided on the mounting portion 323 of the lower clamping jaw 322; the wire drum 35 is provided with a slot 352 on one side facing the linkage piece 361, into which the top end of the linkage piece 361 is inserted when in a locked state;

[0065] When the lower jaw 322 is in a position to maintain an open state with the upper jaw 321, the slider 3231 is located at the lower part of the guide groove 352, and the top end of the linkage piece 361 extends out from the slot 352 of the wire drum 35; when the lower jaw 322 is in a position to maintain a clamping state with the upper jaw 321, the slider 3231 is located at the upper part of the guide groove 3611, and the top end of the linkage piece 361 is clamped into the slot 352 of the wire drum 35.

[0066] There is a card slot on the wire drum. During the inspection operation, the lower clamping jaw cooperates closely with the wire drum card slot through the linkage piece to lock the wire drum firmly, preventing the connection line from accidentally releasing or loosening, ensuring that the device remains stable during normal inspections. When the damage is detected, the electromagnet is powered off, the cooperation between the wire drum and the linkage piece will be released, and the connection line will be released to start the release process of the buoy.

[0067] A plurality of groups of slots 352 may be provided around the mounting hole 351 on the cable drum 35 of the present invention, so that the cable drum can be locked at different positions, thereby adjusting the release length of the connecting line as required.

[0068] The present invention also provides a method for indicating the damaged position of an underwater cage, using the underwater inspection robot with the underwater cage damaged position indicating device. When a damaged part of the underwater cage is detected, the telescopic arm 2 is extended to allow the upper clamp 321 and the clamping mouth 324 of the lower clamp 322 to pass through the underwater cage, the first locking mechanism 326 is unlocked, the second locking mechanism 327 allows the lower clamp 322 and the upper clamp 321 to maintain a clamping state, the third locking mechanism 36 is unlocked, and the connecting line 34 is released from the line drum 35 under the buoyancy of the buoy 33, and finally the buoy 33 floats to the surface.

[0069] The specific method for indicating the damaged position of underwater cage is as follows:

[0070] like Figure 2 As shown, in the normal inspection operation state, the electromagnet is in the energized state, generating magnetic force to firmly adsorb the lower part of the clamping claw so that it is fixed in the card slot 352 of the line disk 35 (as shown in FIG. Figure 4 As shown in the figure, at this time, the upper jaw 321 and the lower jaw 322 remain stationary and are not in contact with the net. The device is in standby detection mode, ready to respond to any damage to the net at any time. Since the electromagnet is energized to adsorb the lower jaw 322, the entire device remains stable, avoiding accidental loosening or malfunction during the inspection process. At the same time, the buoy is firmly fixed to the device through the wire drum 35 and the connecting line 34, and the reset spring 3273 remains in a contracted state to prevent the buoy from being released unnecessarily. The entire device maintains stable operation during normal inspections to ensure that no misoperation or accidental release of the buoy occurs.

[0071] When the inspection robot detects that the net is damaged, the device will immediately switch to the damaged position indication state. Figure 3 and Figure 6 As shown, at this time, the electromagnet is powered off after receiving the signal from the magnet induction sensor 22, and loses its magnetism. The lower jaw 322 approaches the upper jaw 321 under the action of the reset spring 3273, and cooperates with the upper jaw 321 to clamp the damaged area to ensure that the damaged point is firmly clamped. At the same time, because the lower jaw 322 approaches the upper jaw 321, the slider 3231 approaches the upper jaw 321 through the guide groove 3611, so that the linkage piece 361 is separated from the slot 352 of the wire drum 35, and the connecting line 34 is released. With the release of the connecting line 34, the fluorescent buoy 33 quickly floats to the water surface using the buoyancy of the seawater, accurately marking the damaged location.

[0072] When the clamp 32 successfully clamps the damaged position, the underwater inspection robot 1 will retract the telescopic arm 2 and separate the clamp 32 part from the underwater cage damaged position indicator 3 at the damaged position. The magnet sensing sensor 22 monitors in real time whether the clamp 32 is completely separated from the underwater inspection robot 1 to ensure safe operation. Once the clamp 32 is completely separated from the underwater inspection robot 1, it will continue to perform the inspection task. At the same time, the underwater inspection robot 1 sends a real-time warning signal of damage to the upper computer through the wireless communication module. The onshore staff can quickly locate the damaged area through the guidance of the fluorescent buoy 33 and the connecting line 34 on the water surface, and send divers to carry out repairs to ensure the timeliness of damage repair and reduce the economic losses caused by the escape of fish.

Claims

1. An underwater inspection robot with an underwater cage damage position indicating device, comprising an underwater inspection robot body, characterized in that: A telescopic arm extends from the underwater inspection robot body, an underwater cage damage position indicating device is provided at the end of the telescopic arm, and a base for mounting the underwater cage damage position indicating device is provided at the end of the telescopic arm; The underwater cage damage position indicating device comprises: A mounting seat, used for mounting on the base; A pair of clamping jaws, comprising an upper clamping jaw and a lower clamping jaw, wherein the upper clamping jaw and the lower clamping jaw each comprise a mounting portion and a clamping mouth portion; the clamping mouth portions of the upper clamping jaw and the lower clamping jaw are in a clamping state when they are close to each other, and in an open state when they are away from each other; the mounting portion of the upper clamping jaw is fixedly arranged with the mounting seat; a first locking mechanism for keeping the lower clamping jaw and the upper clamping jaw in an open state is provided between the base and the lower clamping jaw; a second locking mechanism for keeping the lower clamping jaw and the upper clamping jaw in a clamping state when the first locking mechanism is unlocked is provided between the mounting portion of the lower clamping jaw and the mounting portion of the upper clamping jaw; A buoy unit, comprising a buoy, a connecting line and a wire drum, wherein the wire drum is rotatably connected to the mounting seat, one end of the connecting line is connected to the buoy, and the other end is connected to the wire drum, and the connecting line is wound around the wire drum; a third locking mechanism, for fixing the wire drum relative to the mounting seat when the first locking mechanism keeps the lower clamping jaw and the upper clamping jaw in an open state; During use, when the underwater inspection robot finds the damaged part of the underwater cage, the first locking mechanism is unlocked, the second locking mechanism keeps the lower jaw and the upper jaw in a clamped state, the third locking mechanism is unlocked, and the connecting line is released from the wire drum under the buoyancy of the buoy, and finally the buoy floats to the surface.

2. The underwater inspection robot with an underwater cage damage position indicating device according to claim 1 is characterized in that: The base is at least partially an electromagnet, and the lower clamp is at least partially an iron material that can be magnetically adsorbed by the base; the first locking mechanism includes an electromagnet portion in the base and an iron material portion in the lower clamp; In the initial state, the electromagnet part of the base is energized to generate magnetism to adsorb the lower clamping claw; when the underwater cage damage position indicating device needs to be released, the electromagnet part of the base is de-energized to cancel the adsorption of the lower clamping claw.

3. The underwater inspection robot with the underwater cage damage position indicating device according to claim 2 is characterized in that: The mounting seat has a mounting plate, and the mounting plate has an avoidance hole for the base to pass through; when the first locking mechanism is in a locked state, the lower clamping claw is adsorbed on the base.

4. The underwater inspection robot with an underwater cage damage position indicating device according to claim 3 is characterized in that: The second locking mechanism includes a guide column passing through the mounting portion of the upper jaw, one end of the guide column is fixed to the mounting portion of the lower jaw, and the other end is provided with a stop block, and the guide column is provided with a return spring between the mounting portion of the upper jaw and the stop block for keeping the lower jaw and the upper jaw in a clamping state.

5. The underwater inspection robot with underwater cage damage position indicating device according to claim 4 is characterized in that: The guide posts include at least two which are axially arranged along the mounting portion of the lower clamping jaw, and each guide post is provided with a return spring.

6. The underwater inspection robot with underwater cage damage position indicating device according to claim 4 is characterized in that: The stopper is provided with a convex block, and the convex block has a threading hole for the connecting wire to pass through.

7. The underwater inspection robot with an underwater cage damage position indicating device according to claim 2, characterized in that: A magnet induction sensor for detecting the lower clamping claw is provided at the end of the telescopic arm at a position close to the base.

8. The underwater inspection robot with an underwater cage damage position indicating device according to claim 1, characterized in that: The mounting seat has a mounting shaft for mounting the wire drum, and the axial direction of the mounting shaft is arranged parallel to the axial direction of the lower clamping jaw; The axial middle portion of the cable drum is provided with a mounting hole rotatably connected to the mounting shaft.

9. The underwater inspection robot with underwater cage damage position indicating device according to claim 8, characterized in that: The third locking mechanism comprises a linkage piece whose bottom end is rotatably connected to the mounting seat, the linkage piece is provided with a guide groove, and the mounting portion of the lower clamping jaw is provided with a slider extending into the guide groove; The wire drum is provided with a slot on one side facing the linkage piece for the top end of the linkage piece to be inserted into when in a locked state; When the lower jaw is in a position to maintain an open state with the upper jaw, the slider is located at the lower part of the guide groove, and the top end of the linkage piece extends out from the groove of the wire drum; when the lower jaw is in a position to maintain a clamping state with the upper jaw, the slider is located at the upper part of the guide groove, and the top end of the linkage piece is stuck in the groove of the wire drum.

10. A method for indicating the damaged position of an underwater cage, characterized in that: When using the underwater inspection robot with the underwater cage damage position indicating device as described in any one of claims 1 to 9, when a damaged part of the underwater cage is detected, the telescopic arm is extended to allow the clamping mouths of the upper and lower jaws to pass through the underwater cage, the first locking mechanism is unlocked, the second locking mechanism allows the lower and upper jaws to maintain a clamping state, the third locking mechanism is unlocked, and the connecting line is released from the wire drum under the buoyancy of the buoy, and finally the buoy floats to the surface.

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