Underwater object capturing device and capturing method

Abstract

The invention belongs to the technical field of underwater object capturing, and relates to an underwater object capturing device and method, and the device comprises a pedestal which is used for fixing the capturing device on the seabed; the launching device is connected with the base and used for providing launching power; the ultrasonic device is arranged on the base and is used for detecting the position of an underwater object in an induction domain; the flexible capturing assembly is arranged in the launching device and comprises a floating ball, a flexible netting, a kite device and a sinker, the kite device is arranged on the surface of the flexible netting and used for providing tension for the flexible netting, the floating ball is arranged on the edge of the flexible netting and used for providing rising buoyancy for the flexible netting, and the sinker is arranged in the center of the flexible netting and used for providing rising buoyancy for the flexible netting; the device is used for maintaining the shape of the flexible netting in the rising process. The automatic capturing device can realize real-time monitoring and automatic capturing, can improve the capturing efficiency, precision and safety, reduces the labor cost, and has wide application prospects in the fields of fishery, marine science, environmental protection and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater object capturing, and in particular relates to an underwater object capturing device and a capturing method. Background Art

[0002] In recent years, with the active exploration and development of marine resources by humans, various marine activities have become more frequent, and equipment loss is inevitable in marine activities. Various equipment accidentally lost in marine activities, including fishing equipment, marine monitoring equipment, and marine detection equipment, will cause a series of impacts such as economic losses, environmental damage, scientific research obstruction, and safety hazards.

[0003] First, there are economic losses caused by the loss of equipment. Lost high-tech marine monitoring and detection equipment is usually expensive, and replacing these equipment will result in direct economic losses. Secondly, the lost equipment will become marine garbage, especially plastic products such as fishing nets, which may cause changes in the seabed ecological environment, cause long-term pollution to the marine ecosystem, and harm marine life; and lost fishing nets and other fishing equipment may continue to "ghost fishing", inadvertently catching and harming fish, turtles, seabirds and other creatures, seriously affecting the survival of marine life. Third, the loss of equipment may lead to reduced fishing efficiency and the loss of monitoring and detection data, thereby affecting the progress of related industries and scientific research projects; the loss of marine monitoring and detection equipment will lead to the interruption of key data, affecting the continuity of long-term scientific research projects and the integrity of data. Finally, the lost equipment may float or sink to the bottom of the sea, becoming an obstacle to the navigation of other ships, increasing navigation risks, especially in busy waterways.

[0004] At present, the capture devices used to salvage lost equipment are mostly connected to the hull. The capture devices have the following forms: single-arm type, gantry type, integrated type, slide type, midship moon pool type, and use mechanical arms, mechanical claws or hooks to recover underwater equipment. The existing traditional underwater equipment capture device uses a mechanical arm or a hook to capture underwater equipment. Although this form is flexible to operate, it requires operators to operate, and there are problems such as low capture efficiency and high cost. In addition, manual operation in complex sea conditions is extremely dangerous. Some of the lost equipment may be located in the deep sea or complex seabed terrain, which is difficult and costly to salvage, increasing the risk and difficulty of salvage operations.

[0005] Based on this, the present invention proposes a novel automatic underwater object capturing device and a capturing method using the capturing device. Summary of the invention

[0006] The purpose of the present invention is to solve the problems of low capture efficiency, high cost, and high risk of manual operation in existing capture devices, and proposes an underwater object capture device and capture method. The underwater object capture device is an automatic capture device. The device is arranged on the seabed and can realize real-time monitoring and automatic capture within the sensing field of the device. The automatic capture device has significant advantages in improving capture efficiency, accurate capture, reducing labor costs, environmental protection and safety, etc. It has broad application prospects in the fields of fisheries, marine science, environmental protection, etc., and helps to achieve intelligent and sustainable development.

[0007] The technical solution of the present invention is:

[0008] An underwater object capturing device, comprising:

[0009] A base for fixing the capture device to the seabed;

[0010] A launching device, connected to the base, for providing launching power;

[0011] An ultrasonic device, arranged on the base, for detecting the position of underwater objects within the sensing field;

[0012] A flexible capture assembly is arranged inside the launching device, and includes a float, a flexible net, a kite device and a sinker. The kite device is arranged on the surface of the flexible net to provide tension for the flexible net. The float is arranged on the edge of the flexible net to provide buoyancy for the flexible net to rise. The sinker is arranged at the center of the flexible net to ensure that the flexible net does not deform during the rising process.

[0013] Furthermore, the ultrasonic device is installed on the surface of the base, and the size of its sensing domain is calculated using the following formula (1):

[0014]

[0015] Where h is the vertical distance from the launch device to the water surface, in m, r is the radius of the launch device, in m, and α is the angle between the boundary of the ultrasonic device and the vertical direction.

[0016] Furthermore, the kite device provides outward tension to the flexible net under the action of the water flow, constituting the resistance F of the outward tension of the kite device. D and lift F L Calculated by formula (2) and (3) respectively:

[0017]

[0018]

[0019] Where ρ is the fluid density in kg / m3 ; v is the flow velocity, in m / s; C D is the drag coefficient; C L is the lift coefficient; S 0 is the area of ​​the kite device in m 2 .

[0020] Furthermore, the minimum area S of the flexible mesh is min It can be calculated by formula (4):

[0021]

[0022] Where h is the vertical distance from the launch device to the water surface, in meters; r is the radius of the launch device, in meters; and H is the water depth, in meters.

[0023] Furthermore, the launching device is cylindrical in shape. When the flexible capturing assembly is located inside the launching device, the sinker is located at the bottom of the launching device, and the float is located at the upper part of the launching device.

[0024] Furthermore, the buoyancy of the flexible capture assembly during the ascent is provided by a floating ball, and the ascent buoyancy F provided by the floating ball satisfies F>0, wherein the buoyancy magnitude is calculated by formula (5):

[0025] F=ρg(4V a -V b ) (5)

[0026] Where ρ is the fluid density in kg / m 3 ; g is the acceleration due to gravity, in m / s 2 ; V a is the volume of the float; V b is the volume of the captured underwater object.

[0027] Furthermore, the flexible net is in the shape of a rectangular fishing net, the buoys are connected to the four corners of the flexible net, and a GPS device for positioning is arranged inside the buoys.

[0028] Furthermore, the flexible capture component has a flexible net, and the flexible net is provided with 4 buoys and 8 kite devices.

[0029] The present invention also provides a method for capturing an underwater object, using any of the above-mentioned capturing devices to capture the underwater object, the steps are as follows:

[0030] When an object enters the sensing field, the ultrasonic device emits ultrasonic waves to analyze and determine the shape, size and material characteristics of the object in order to distinguish between marine equipment and marine life. When the object is determined to be equipment, the launch device launches the flexible capture component, and the flexible net gradually opens during the ascent. After capturing the target object, it floats to the surface of the water and provides its location for recovery personnel to fish it out, and the capture is completed.

[0031] Beneficial effects of the present invention:

[0032] (1) The novel underwater object capturing device provided by the present invention is an automatic capturing device. The device is deployed on the seabed and can realize all-day real-time monitoring and automatic capturing without manual operation, and is used to capture lost marine equipment. In the process of using the capturing device to capture underwater objects, the device launches a flexible net to capture the underwater object. At the same time, the device has a kite device inside to provide tension during the rising process of the flexible net, so that it floats to the sea level and realizes automatic capturing. After successful capturing, it is located by GPS for easy recovery.

[0033] (2) The capture device reduces the reliance on manual operation and reduces labor costs. Especially in harsh environments, the device can replace manual operation and reduce labor intensity and risks.

[0034] The device can be applied to different environments and tasks, such as deep-sea capture, shallow-sea aquaculture, marine garbage cleaning, etc.; moreover, the automatic capture device has a modular design and can be configured and upgraded according to specific needs to enhance adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is an overall schematic diagram of the underwater object capture device;

[0036] Figure 2 A top view of an underwater object capture device;

[0037] Figure 3 is a schematic diagram of the structure of the flexible capture component;

[0038] Figure 4 A schematic diagram of the process of underwater object capture method;

[0039] In the above figures, 1. transmitting device; 11. ultrasonic device; 2. flexible capture component; 21. float; 22. flexible net; 23. kite device; 24. sinker. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to further understand the present invention, the present invention will be further described in conjunction with the accompanying drawings and embodiments.

[0042] The present invention provides Figure 1 and Figure 2 The underwater object capturing device shown is composed of a base, a transmitting device 1, an ultrasonic device 11 and a flexible capturing component 2.

[0043] The base is fixed on the seabed; the launching device 1 is cylindrical in shape and installed on the base to provide launching power; the ultrasonic device 11 is distributed around the base to sense whether there is any marine equipment that needs to be captured and recovered in the area where the capturing device is located.

[0044] like Figure 3 As shown, the flexible capture assembly 2 is composed of a float 21, a flexible net 22, a kite device 23 and a sinker 24. When the capture device is not activated, the flexible capture assembly 2 is placed inside the launch device 1. The flexible net 22 in this specific embodiment is in the shape of a rectangular fishing net, on which there are 4 floats 21 and 8 kite devices 23. The kite device 23 is in the shape of a hexagon and is a flexible body. It will deform under the action of water flow. The kite device 23 is sewn on the surface of the flexible net 22 to provide tension for the net during the rising process of the flexible net 22. The float 21 is connected to the four corners of the flexible net 22 with a network cable. The float 21 is equipped with a GPS positioning system to facilitate the recovery of underwater objects after being captured. The sinker 24 is located at the center of the flexible net 22, that is, the bottom position when the flexible net 22 is inside the launch device 1. The function of the sinker 24 is to ensure that the flexible net 22 does not deform during the rising process.

[0045] The ultrasonic device 11 can detect the position of underwater objects within a certain range, that is, within the sensing domain. The ultrasonic device 11 is arranged on the surface of the base. To ensure the capture efficiency of the flexible net 22, the minimum area (S min ) is the cross-sectional area of ​​the sensing domain (V). Sensing domain V and mesh area S min The formula is as follows:

[0046]

[0047] Where, h is the vertical distance from the transmitting device 1 to the water surface (m), r is the radius of the transmitting device 1 (m), α is the angle between the boundary of the ultrasonic device and the vertical direction, and H is the water depth (m).

[0048] When the launching device 1 ejects the flexible net 22 to the designated position, the kite device 23 provides the flexible net 22 with outward tension under the action of the water flow, ensuring that the flexible net 22 can be fully unfolded when the flexible net 22 ejects the device and rises, thereby increasing the capture area. D ) and lift (F L ) is as follows:

[0049]

[0050] Where ρ is the fluid density (kg / m 3 ), v is the flow velocity (m / s), S 0 is the kite installation area (m 2 );C D is the drag coefficient; C L The drag coefficients C of the flexible nets 22 and kite devices 23 of different sizes are D and lift coefficient C L The specific coefficient parameter is a fixed value and needs to be obtained through a water tank physical model test. When the kite device proposed by the present invention is used, the corresponding resistance coefficient C of the kite device 23 of different sizes is obtained according to the water tank test. D and lift coefficient C L The kite device model is fixed in the test water tank to measure the hydrodynamic force of the kite device under different flow rates, that is, the resistance F D and lift F L , and a more specific lift-drag coefficient is obtained based on formulas (2) and (3).

[0051] The sinker 24 provides a small gravity for the flexible net 22 to ensure that the net does not deform during the opening process. The flexible net 22 relies on the buoyancy provided by the float 21 to ensure that the flexible net 22 and the captured marine equipment rise to the sea surface. To ensure that the lift F provided by the float 21 is greater than 0, the volume of the float 21 (V a ) and the catch (V b ) conforms to the following relationship formula:

[0052] F=ρg(4V a -V b )>0 (5)

[0053] Where ρ is the fluid density (kg / m 3 ); g is the acceleration due to gravity (m / s2 ).

[0054] In the specific practical application process:

[0055] Different sea areas and different sizes of captured objects have different parameter requirements for the underwater object capture device. If a capture device with a radius of 3m is used in a sea area with a water depth of 15m, the sensing range of the device, i.e. the sensing domain V, is about 770m. 3 , the corresponding required area is about 16m 2 If the area of ​​the kite device 23 is 1m 2 The drag coefficient of the kite device 23 obtained through the power tank object model test is 2.5, and the lift coefficient is 1.7.

[0056] When the water flow speed in the sea area is 2m / s, the resistance of the kite device 23 is 5N and the lift is 3.4N; that is, the kite device 23 at different positions provides 5N horizontal tension and 3.4N vertical tension for the flexible net 22, ensuring that the flexible net 22 can be continuously opened during its ascent.

[0057] The size of the captured object is related to the buoyancy of the float 21. If the volume of each float 21 is 0.01 to 1 m 3 , the volume range of the captured object is 0.04~4m 3 .

[0058] The present invention also provides a capture method using the underwater object capture device, the steps are as follows:

[0059] When an underwater object enters the sensing field of the capture device, the ultrasonic device 11 transmits ultrasonic waves of a specific frequency to a designated location, and after a period of time, receives reflected waves reflected from the object. The processor analyzes and processes the filtered signal to analyze the shape, size and material characteristics of the detected object, thereby distinguishing between marine equipment and marine life.

[0060] When the object is determined to be equipment, the launch device 1 autonomously launches the flexible capture component 2, and the flexible net 22 rises to the water surface with the lift provided by the launch device 1. During the rise, the kite device 23 continuously provides tension to the flexible net 22, so that the flexible net 22 gradually opens. During the opening of the net, the capture area of ​​the flexible net 22 gradually increases, and the capture success rate continues to increase. After the flexible net 22 contacts the captured object, it gradually floats up to the surface of the water with the buoyancy provided by the float 21.

[0061] The capture process is as follows Figure 4 Finally, the flexible net 22 relies on the GPS in the buoy 21 to provide the position, and the recovery personnel catch it.

[0062] The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, modification, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater object capturing device, characterized in that: include: A base for fixing the capture device to the seabed; A launching device, connected to the base, for providing launching power; An ultrasonic device, arranged on the base, for detecting the position of underwater objects within the sensing field; A flexible capture assembly is arranged inside the launching device, and includes a float, a flexible net, a kite device and a sinker. The kite device is arranged on the surface of the flexible net to provide tension for the flexible net. The float is arranged on the edge of the flexible net to provide buoyancy for the flexible net to rise. The sinker is arranged at the center of the flexible net to ensure that the flexible net does not deform during the rising process.

2. The underwater object capturing device according to claim 1, characterized in that: The ultrasonic device is installed on the surface of the base, and the size of its sensing domain is calculated using the following formula (1): Where h is the vertical distance from the launch device to the water surface, in m, r is the radius of the launch device, in m, and α is the angle between the boundary of the ultrasonic device and the vertical direction.

3. The underwater object capturing device according to claim 1, characterized in that: The kite device provides outward tension to the flexible net under the action of water flow, forming a resistance F of the outward tension of the kite device. D and lift F L Calculated by formula (2) and (3) respectively: Where ρ is the fluid density in kg / m 3 ; v is the flow velocity, in m / s; C D is the drag coefficient; C L is the lift coefficient; S0 is the area of ​​the kite device, in m 2 .

4. The underwater object capturing device according to claim 3, characterized in that: The minimum area S of the flexible mesh min It can be calculated by formula (4): Where H is the water depth in meters.

5. The underwater object capturing device according to claim 1, characterized in that: The launching device is cylindrical in shape. When the flexible capture assembly is located inside the launching device, the sinker is located at the bottom of the launching device, and the float is located at the upper part of the launching device.

6. The underwater object capturing device according to claim 1, characterized in that: The buoyancy of the flexible capture assembly during the ascent is provided by a floating ball, and the ascent buoyancy F provided by the floating ball satisfies F>0, wherein the buoyancy magnitude is calculated by formula (5): F=ρg(4V a -V b ) (5) Where g is the acceleration due to gravity, in m / s 2 ; V a is the volume of the float; V b is the volume of the captured underwater object.

7. The underwater object capturing device according to claim 1, characterized in that: The flexible net is in the shape of a rectangular fishing net. The floating balls are connected to the four corners of the flexible net. A GPS device for positioning is arranged inside the floating balls.

8. The underwater object capturing device according to claim 1, characterized in that: The flexible capture component comprises a flexible net, on which four buoys and eight kite devices are arranged.

9. A method for capturing an underwater object, characterized in that: The capture device according to any one of claims 1 to 7 is used to capture an underwater object, and the steps are as follows: When an object enters the sensing field, the ultrasonic device emits ultrasonic waves to analyze and determine the shape, size and material characteristics of the object in order to distinguish between marine equipment and marine life. When the object is determined to be equipment, the launch device launches the flexible capture component, and the flexible net gradually opens during the ascent. After capturing the target object, it floats to the surface of the water and provides its location for recovery personnel to fish it out, and the capture is completed.

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