Underwater flying net capturing device and underwater vehicle

Abstract

The invention discloses an underwater flying net capturing device and an underwater vehicle. The capturing device is provided with at least three launching sleeves, and the launching sleeves are evenly distributed around the same central axis in the circumferential direction. The drivers are in one-to-one correspondence with the launching sleeves, the drivers are located in the launching sleeves in a non-launching state, and the launching directions of the drivers are the axial directions of the launching sleeves. The driver comprises a motor and a propeller, and an output shaft of the motor is fixedly connected with the propeller. Each driver is connected with the net, the net is arranged between the launching sleeves when the net is not launched, and the drivers are used for driving the net to move forwards and stretch towards the periphery after being launched from the launching sleeves. The underwater vehicle comprises a capturing device. According to the technical scheme, advancing power is provided by the propellers all the time from launching of the net, so that the net can move forwards with enough power to achieve fishing in the deep sea environment, and the application effect in the deep sea environment is improved.

Description

Technical Field

[0001] This application relates to the field of deep-sea fishing technology, and more specifically to an underwater aerial net capture device and an underwater vehicle. Background Technology

[0002] With the advancement of the maritime power strategy, the demand for deep-sea resource development and ecological environmental protection is becoming increasingly urgent. Deep-sea fishing generally relies on underwater unmanned aerial vehicles (UAVs). The aerial net capture device carried by these UAVs uses flexible nets to envelop and capture target organisms, offering advantages such as strong adaptability and eco-friendliness. However, the inventors have discovered that due to underwater resistance in deep-sea environments, existing aerial net capture devices face problems such as insufficient power, limiting their practical application effectiveness. Summary of the Invention

[0003] This application provides an underwater net capture device and an underwater vehicle to improve their application effect in the deep-sea environment.

[0004] On one hand, this application provides an underwater flying net capture device, which includes a launch sleeve, a driver, and a net. There are at least three launch sleeves, which are evenly distributed around the same central axis. The driver corresponds to each launch sleeve. When not launching, the driver is inside the launch sleeve, and the launching direction of the driver is the axial direction of the launch sleeve. The driver includes a motor and a propeller, and the output shaft of the motor is fixedly connected to the propeller. Each driver is connected to the net. When not launching, the net is placed between the launch sleeves. The driver is used to launch the net from the launch sleeve and drive it to move forward and open in all directions.

[0005] The technical solution of this application uses a motor to drive a propeller to rotate, thereby launching and opening the net forward. The propeller provides forward power for the net from the start of launch, so there is enough power to drive the net forward to achieve fishing even in the deep sea environment. The application effect of the underwater flying net capture device in the deep sea environment is improved.

[0006] In the optional scheme, the launching sleeve forms an angle of 10°-20° with the central axis, and the distance between the launching sleeves gradually increases from back to front.

[0007] In an alternative configuration, adjacent launching sleeves are connected by at least one rib.

[0008] In an optional configuration, an axial inner groove is provided on the side of the launching sleeve facing the central axis. The net is connected to the driver via a lead wire. When not launching, the lead wire passes through the axial inner groove, and the axial length of the axial inner groove is equal to the axial length of the launching sleeve.

[0009] In an optional configuration, an axial outer groove is provided on the side of the launch sleeve opposite to the axial inner groove, and the axial outer groove extends from the front end of the launch sleeve to the position corresponding to the propeller of the driver when the launch is not in the launch state.

[0010] In an alternative configuration, the motor is connected to at least one cable that extends from the rear of the launching sleeve.

[0011] In an optional configuration, the driver also includes a motor sleeve, in which the motor is fixed and the motor's output shaft passes through the motor sleeve, with the propeller located in front of the motor sleeve; and at the rear of the propeller, the motor sleeve is provided with a tapered / streamlined drag-reducing surface.

[0012] On the other hand, this application also provides an underwater vehicle that includes the above-mentioned underwater net capture device.

[0013] In an optional configuration, the underwater vehicle also includes an underwater main unit and an underwater monitor. The underwater main unit is electrically connected to the underwater monitor and the motor. The underwater monitor is used to photograph the fishing area, and the underwater main unit is used to control the motor to start and stop.

[0014] In an optional configuration, the underwater vehicle also includes a vertical propeller and a horizontal propeller, with the underwater main unit electrically connected to the vertical and horizontal propellers respectively.

[0015] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, some embodiments are listed below for detailed description. Attached Figure Description

[0016] Figure 1 A perspective view of an underwater net capture device according to at least one embodiment.

[0017] Figure 2 A cross-sectional view of an underwater net-catching device according to at least one embodiment.

[0018] Figure 3 A perspective view of a driver according to at least one embodiment.

[0019] Figure 4 A perspective view of the launching sleeve for at least one embodiment.

[0020] Figure 5 This is a schematic diagram illustrating the gradual deployment of a net device after launch, according to at least one embodiment.

[0021] Figure 6 A perspective view of an underwater vehicle according to at least one embodiment.

[0022] It should be noted that the products shown in the above views have been appropriately scaled down / enlarged to fit the drawing size and ensure clarity of the views, and there is no limitation on the size of the products shown in the views. Detailed Implementation

[0023] Traditional underwater fishing techniques mainly rely on robotic arms or trawls. However, robotic arms are less efficient at capturing irregular, highly flexible, or microscopic marine organisms, while trawls suffer from poor selectivity and severe ecological damage. In recent years, the development of underwater unmanned aerial vehicle (UAV) technology has provided new solutions for deep-sea fishing, but its stability and capture efficiency in complex current environments still need improvement.

[0024] Formula for estimating the resistance of a net sinker in water: Where F represents water resistance, Let A represent the density of water, and let A represent the cross-sectional area of ​​the object. Let V represent the drag coefficient of an object, and V represent the object's velocity. Since water is 1000 times denser than air, under the same conditions, the drag on a net in water is 1000 times greater than the drag in air. Existing underwater nets mainly have the following limitations: 1. Incomplete deployment of the net: Existing net systems are difficult to fully deploy in the deep-sea environment due to the great resistance of water currents, resulting in a severely limited capture range.

[0025] 2. Insufficient power: Existing net propulsion devices have limited power reserves (such as mechanical energy storage launch, pneumatic launch, etc.), which cannot provide sufficient initial velocity for net launch in the deep sea environment, thus adversely affecting the capture success rate.

[0026] 3. Trajectory deviation: During the launch of existing flying nets, the vertical displacement is too large due to interference from gravity and water flow, making it difficult to accurately cover the target area.

[0027] 4. Insufficient system stability: The existing flying net has unstable attitude control when maneuvering in complex flow fields, which reduces the reliability of operation.

[0028] To address this, the inventors specifically researched a novel power propulsion scheme for fishing nets, using a small propeller as the net sinker. During the deployment of the net, the propeller can continuously provide propulsion power, overcoming the enormous water resistance encountered during the deployment process, in order to meet the complex needs of deep-sea fishing operations.

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0031] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0032] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] One or more embodiments of this application are underwater net capture devices, the specific structure of which is as follows: Figures 1-5 As shown. Underwater aerial net capture devices are mainly used to launch nets in underwater environments (especially deep-sea environments) to capture aquatic organisms. The nets are underwater fishing nets. Figure 1 A perspective view of the driver 20 being inserted into the firing sleeve 10 in a non-firing state. Figure 2 A cross-sectional view of the actuator 20 installed inside the launch sleeve 10, the net 30 located between the launch sleeves, in a non-launching state. Figure 3 A perspective view of the interior of the launch sleeve 10 without a driver. Figure 4 This is a 3D view of the driver 20. Figure 5This is a schematic diagram showing the gradual unfolding of the net 30 after the actuator 20 is launched from inside the launching sleeve 10.

[0034] Combination Figure 1 and Figure 2 As shown, the underwater net capture device includes a launch sleeve 10, a driver 20, and a net 30. There are at least three launch sleeves 10, and they are evenly distributed circumferentially around the same central axis 100. Each driver 20 corresponds to one launch sleeve 10. When not in use, the driver 20 is located inside the launch sleeve 10, and its launch direction is along the axis of the launch sleeve 10. The driver 20 includes a motor 21 and a propeller 22. The output shaft of the motor 21 is fixedly connected to the propeller 22, and the motor 21 directly drives the propeller 22 to rotate and generate forward propulsion. The propeller 22 is an underwater fixed-pitch propeller, and the motor 21 is a special underwater motor. The maximum outer diameter of the propeller 22 is slightly larger than the inner diameter of the launch sleeve 10 (forming a tight fit), which both confines the propeller 22 within the launch sleeve 10 and ensures that the propeller 22 flies smoothly outward along the central axis of the launch sleeve 10. In the non-launching state, motor 21 and propeller 22 are located inside launch sleeve 10, with propeller 22 positioned in front of motor 21, while net 30 is placed between the launch sleeves. Each actuator 20 is connected to net 30, and the actuator 20 is used to launch net 30 outward from launch sleeve 10, driving net 30 forward and opening it in all directions. Thus, the underwater flying net capture device uses motor 21 to drive propeller 22 to rotate, thereby launching and opening net 30 forward. From the start of launch, net 30 is continuously propelled forward by propeller 22, providing sufficient power even in deep-sea environments to overcome the significant resistance of water currents and drive net 30 forward for catching fish. This improves the effectiveness of the underwater flying net capture device in deep-sea environments.

[0035] In some embodiments, such as Figure 1 As shown, there are four launch sleeves 10, evenly distributed circumferentially, with adjacent launch sleeves 10 spaced 90° apart. The launch sleeves 10 are made of corrosion-resistant materials, such as stainless steel, to improve their service life in deep-sea environments. The launch direction of the actuator 20 is along the axial direction of the launch sleeves 10. Figure 2 As shown, in some embodiments, the launching sleeve 10 forms an angle of 10°-20° with the central axis 100, and the distance between the launching sleeves 10 gradually increases in the direction A from back to front. Figure 5As shown, after the actuators 20 are launched from the launching sleeve 10, they gradually move away from each other. The launched actuators 20 then drive the net 30 to gradually open in all directions until it is fully open. Only when the net 30 is fully open can the fishing success rate be improved. After the net 30 is fully open, the actuators 20 are restricted by the net 30, so the actuators 20 can no longer gradually move away from each other. The actuators 20 can only drive the net 30 forward until the net 30 catches the object 80 to be caught.

[0036] In some embodiments, such as Figure 2 As shown, the rear end of each launching sleeve 10 is fixed to a disc 51, and a connecting rod 52 is fixed behind the disc 51. The underwater net capture device is fixedly mounted on an external platform (such as an underwater vehicle) via the connecting rod 52. In some embodiments, adjacent launching sleeves 10 are connected by at least one rib 15, and the rib 15 and the launching sleeve 10 are integrally formed or fixed to each other by welding. Figure 2 and Figure 3 As shown, in some embodiments, adjacent launching sleeves 10 are connected by two arc-shaped ribs 15. The ribs 15 ensure the relative position of the launching sleeves 10 is fixed, and reduce the contact area with the water flow, allowing a large amount of water to flow through the launching sleeves 10, which helps reduce fluid resistance and increases maneuverability. In at least one other embodiment, the ribs 15 have smooth surfaces without sharp edges, and the cross-sectional shape of the ribs 15 is circular or elliptical to reduce the water flow resistance on the ribs. In at least one other embodiment, adjacent launching sleeves 10 are connected by only one arc-shaped rib 15.

[0037] In some embodiments, such as Figure 2 As shown, at least one cable 40 is connected to the rear end of each motor 21, and the cable 40 extends through the through hole 13 at the rear of the launching sleeve 10. The cable 40 includes a power cable for transmitting electrical energy and data to the motor 21 and a pull rope for holding the actuator. The length of the cable and pull rope is determined according to the maximum fishing distance. For example, if the maximum fishing distance of the underwater net capture device is 5 meters, the length of the cable and pull rope should be no less than 6 meters, including redundancy. In at least one embodiment, the cable 40 is a composite cable, with metal wire as the cable and aramid fiber as the pull rope. This reduces the number of cables 40, helps to reduce resistance, and improves the overall strength of the cable 40. After the net 30 completes the fishing action, the cable 40 needs to be pulled to retrieve the net 30, the actuator 20, and the caught object.

[0038] In some embodiments, combined with Figure 1 and Figure 2As shown, the launching sleeve 10 has an axial inner groove 11 on one side of its cylinder wall facing the central axis 100. The net 30 is connected to four actuators 20 via lead wires 31. The actuators 20 drive the net 30 to be launched and deployed via the lead wires 31. In the non-launching state, the lead wires 31 pass through the axial inner groove 11, and the axial length of the axial inner groove 11 is equal to the axial length of the launching sleeve 10. The axial inner groove 11 provides clearance for the lead wires 31, facilitating the installation of the actuators 20 and the net 30, and also ensuring that the lead wires 31 are not obstructed when the actuators 20 launch forward, allowing the net 30 to be easily pulled out.

[0039] In some embodiments, combined with Figure 2 and Figure 3 As shown, the side wall of the launch sleeve 10 opposite to the axial inner groove 11 is provided with an axial outer groove 12. The axial outer groove 12 extends from the front end of the launch sleeve 10 to the position corresponding to the propeller 22 of the driver 20 in the non-launch state. It can be seen that the length of the axial outer groove 12 is less than the length of the axial inner groove 11. The axial outer groove 12 and the axial inner groove 11 introduce surrounding water flow during the launch process of the propeller 22 to reduce the pressure difference resistance experienced by the motor 21 and the propeller 22 in the launch sleeve 11. This helps the propeller 22 to obtain a greater initial velocity when leaving the opening of the launch sleeve 10, thereby ensuring directional stability.

[0040] In some embodiments, combined with Figure 2 and Figure 4 As shown, the driver 20 also includes a motor sleeve 23, into which the motor 21 passes and is fixed. In specific implementations, the motor 21 is fixed in the motor sleeve 23 by means of snap-fit, adhesive, or interference fit. The output shaft of the motor 21 passes through the motor sleeve 23, and the propeller 22 is located in front of the motor sleeve 23 and is fixedly connected to the output shaft of the motor 21. Figure 4 As shown, at the rear of the propeller 22, the motor sleeve 23 is provided with a drag-reducing surface 231. The drag-reducing surface 231 guides the water jet behind the propeller 22, which can significantly reduce the water flow resistance on the driver 20, and help increase the forward speed of the driver 20 and the net 30. Figure 4 As shown, the drag-reducing surface 231 is a tapered surface that is smaller at the front and larger at the back. In at least one other embodiment, the drag-reducing surface is a streamlined surface, for example... Figure 4 The drag-reducing surface 231' shown by the dashed line is a convex arc surface. Furthermore, as... Figure 4 As shown, three clearance grooves 232 are evenly provided at the rear end of the sleeve wall of the motor sleeve 23. The clearance grooves 232 facilitate the disassembly and assembly of the motor 21 inside the motor sleeve 23.

[0041] In at least one other embodiment, the propeller is located behind the motor, and when the driver fires, the motor is in front, with the propeller rotating behind to generate thrust on the motor.

[0042] Compared with previous technologies, the underwater net capture device of one or more embodiments has the following advantages: 1. Since the motor 21 drives the propeller 22 to rotate, it continuously provides forward power to the net 30, which helps the net 30 to overcome water flow resistance and fully unfold during the forward movement, thus ensuring the fishing range.

[0043] 2. There is no need to use the previous mechanical energy storage launch structure or pneumatic launch structure. The propeller 22 continuously provides propulsion to the net 30. The initial velocity requirement when leaving the launch sleeve 10 is relatively low. Under the continuous thrust, the net 30 can move continuously towards the target object without stopping midway due to insufficient initial velocity, which is conducive to improving the success rate of fishing.

[0044] 3. As the motor 21 drives the propeller 22 to rotate continuously, a rotating water flow is generated behind the propeller 22. The influence of the gravity of the net 30 and the water flow interference on the movement trajectory of the propeller 22 and the net 30 is reduced. It is only necessary to raise the launch direction by a small angle to compensate for the vertical displacement of the net 30 during the movement, making it easier to accurately cover the target area.

[0045] 4. The propeller 22 continuously accelerates the net 30 during its movement, which helps the propeller 22 and the net 30 to obtain a greater initial velocity when leaving the launch sleeve 10. This improves their ability to resist water flow interference during subsequent movement and allows them to maintain a more stable attitude in the complex flow field of the deep sea environment, thus ensuring the reliability of the operation.

[0046] One or more embodiments of this application are underwater vehicles, the specific structure of which is as follows: Figure 6 As shown. The underwater vehicle includes the underwater net capture device of one or more embodiments described above. Figure 6 As shown, the underwater vehicle also includes a truss body 90, in which an underwater net-catching device 70 is fixed, with the launching sleeve 10 facing outwards from the truss body 90. Specifically, the connecting rod 52 of the underwater net-catching device is fixedly connected to the truss body 90 by clamping blocks or welding. The truss body 90 is composed of several connected rods made of corrosion-resistant stainless steel to improve its service life in the underwater environment. Adjacent rods are fixedly connected by two-way or three-way pipes. The rods of the truss body 90 are equipped with several sponge tubes 91, which are used to increase buoyancy to balance the weight of the entire underwater vehicle, making it easier for the entire underwater vehicle to float in the water.

[0047] In some embodiments, such as Figure 6As shown, the underwater vehicle also includes an underwater main unit 61 and an underwater monitor 62. The underwater main unit 61 is electrically connected to the underwater monitor 62 and each motor 21. The underwater monitor 62 uses a waterproof camera that can rotate within a certain range. The underwater monitor 62 is mainly used to film the fishing area of ​​the underwater vehicle. The real-time footage is directly transmitted to the underwater main unit 61, which then transmits it in real-time to the surface main unit (not shown) via a wired connection. The surface main unit is connected to a display screen (not shown), and the real-time footage captured by the underwater monitor 62 is displayed on the display screen for the operator to observe in real time. The underwater main unit has a built-in object recognition module that automatically identifies the object to be caught (such as marine life) through real-time video and determines if it is located within the catchable area of ​​the live video feed. The module then outlines the object on the display screen using highlighted lines (such as green lines) to indicate its location and size to the operator. The operator can then issue commands (by directly touching control buttons on the display screen or entering commands on the keyboard) to start the motor 21, rotate the propeller 22, and launch the drive unit 20 to propel the net 30 towards the object to be caught. Alternatively, the object recognition module can automatically issue commands to the underwater main unit 61 when it detects the object in the live video feed and confirms it is within the catchable area. The underwater main unit then controls the drive unit 20 and the net 30 to launch from the launch sleeve 10 and advance to the location of the object to be caught, achieving automated harvesting, reducing manual intervention, and improving harvesting efficiency. In addition, the object recognition module built into the underwater main unit can distinguish between objects to be caught (such as marine life) and non-target objects (such as marine debris, rocks, etc.), avoiding the catching of non-target objects and helping to improve the success rate of catching.

[0048] In at least one other embodiment, the waterborne main unit receives real-time images and displays them directly on the screen. The operator then manually determines whether there is an object to be caught in the image, whether the object is within the catchable area, and when to launch the net 30 to carry out the catching action.

[0049] In some embodiments, when the launched net 30 touches the target object, it controls the motor 21 to stop, causing the propeller 22 to stop rotating. Whether the net 30 has touched the target object can be determined manually by the operator observing the real-time image on the display screen, or by the fishing identification module built into the surface mount unit. In the real-time image, the launched net 30 gradually opens, its coverage area gradually increasing until it reaches its maximum. The area corresponding to the net 30 that touches the target object will change. The fishing identification module recognizes that the mesh size of the net in the surrounding area corresponding to the target object in the real-time image will change significantly. At this time, the fishing identification module will display a net-retrieval prompt on the display screen, allowing the operator to issue a command to the underwater host 61 to control the motor 21 to stop rotating for net retrieval, or the surface mount unit can automatically issue a command to the underwater host 61 to control the motor 21 to stop rotating for net retrieval.

[0050] When the net 30 touches the target object, the motor 21 stops, and the propeller 22 also stops rotating. At this time, the actuator 20 still has a certain speed and weight, meaning it still has some inertia. Multiple actuators 20 continue to move under the influence of inertia, but since the net 30 is partially blocked by the target object, these actuators 20 will converge towards the center, eventually causing the net 30 to close and enclose the target object. Thus, the actuators 20 also act as a sinker, assisting in enclosing the target object. Furthermore, when the actuators 20 converge, the blades of the propeller 22 easily get caught in the mesh of the net 30, forming a fixed connection between the actuators 20 and the mesh of the net 30. This helps the net 30 to form a more complete and reliable enclosure of the target object, reducing the chance of the target object escaping from the net 30.

[0051] In at least one other embodiment, the underwater vehicle is equipped with a reel (not shown), in which the cable 40 connected to the motor 21 is wound, allowing the cable 40 to be neatly positioned. The launched cable 40 is gradually retrieved by the reel, reducing manual operation of cable 40 retrieval. The reel is electrically connected to the underwater host 61, which controls the start and stop of the reel. When the net 30 is launched for fishing, if the catch is successful, the reel can be controlled to start reeling, allowing the net 30 to return to the underwater vehicle with the catch, and the underwater vehicle then rises to the surface with the catch. When the net 30 is launched for fishing, if the cable 40 has reached its maximum length but the net 30 has not yet reached the area of ​​the catch, the catch fails. In this case, the underwater host 61 controls the motor 21 to stop rotating and starts the reel to gradually retrieve the cable 40. Since cable 40 is connected to the rear end of motor 21, the gradually retracting cable 40 will eventually bring driver 20 into the launch sleeve 10, with motor 21 at the rear and propeller 22 at the front.

[0052] In some embodiments, such as Figure 6 As shown, the underwater vehicle also includes a vertical propeller 63 and two horizontal propellers 64. The underwater main unit 61 is electrically connected to the vertical propeller 63 and the horizontal propellers 64. The vertical propeller 63 is used to drive the underwater vehicle to surface or submerge. The horizontal propellers 64 are used to drive the underwater vehicle to move laterally underwater and adjust its attitude in the water, so as to more accurately aim at the target object.

[0053] The above examples are merely illustrative of the technical content of this application to facilitate reader understanding, but do not imply that the implementation methods of this application are limited to these. Any technical extensions or re-creations made based on this application are protected by this application. The scope of protection of this application is determined by the claims.

Claims

1. An underwater net-catching device, characterized in that, It includes: The launching sleeves are at least three in number and are evenly distributed around the same central axis. The driver corresponds one-to-one with the launching sleeve. When not launching, the driver is located inside the launching sleeve, and the launching direction of the driver is the axial direction of the launching sleeve. The driver includes a motor and a propeller, and the output shaft of the motor is fixedly connected to the propeller. The net is connected to each of the aforementioned actuators. When not in use, the net is placed between the launching sleeves. The actuators are used to drive the net forward and open outwards after it is launched from the launching sleeves.

2. The underwater net capture device as described in claim 1, characterized in that, The launching sleeve forms an angle of 10°-20° with the central axis, and the distance between the launching sleeves gradually increases from back to front.

3. The underwater net capture device as described in claim 1, characterized in that, Adjacent launching sleeves are connected by at least one rib.

4. The underwater net capture device as described in claim 1, characterized in that, The launching sleeve has an axial inner groove on one side facing the central axis. The net is connected to the driver through a lead wire. When not launching, the lead wire passes through the axial inner groove. The axial length of the axial inner groove is equal to the axial length of the launching sleeve.

5. The underwater net capture device as described in claim 4, characterized in that, The launch sleeve has an axial outer groove on the side opposite to the axial inner groove. The axial outer groove extends from the front end of the launch sleeve to the position corresponding to the propeller of the driver when it is not launched.

6. The underwater net capture device as described in claim 1, characterized in that, The motor is connected to at least one cable, which extends from the rear of the launching sleeve.

7. The underwater net capture device as described in claim 1, characterized in that, The driver also includes a motor sleeve, the motor is fixed inside the motor sleeve, the output shaft of the motor passes through the motor sleeve, and the propeller is located in front of the motor sleeve; at the rear of the propeller, the motor sleeve is provided with a tapered / streamlined drag-reducing surface.

8. An underwater vehicle, characterized in that, It includes the underwater net capture device as described in any one of claims 1-7.

9. The underwater vehicle as described in claim 8, characterized in that, It also includes an underwater main unit and an underwater monitor. The underwater main unit is electrically connected to the underwater monitor and the motor respectively. The underwater monitor is used to photograph the fishing area, and the underwater main unit is used to control the motor to start and stop.

10. The underwater vehicle as claimed in claim 9, characterized in that, It also includes a vertical propeller and a horizontal propeller, and the underwater main unit is electrically connected to the vertical propeller and the horizontal propeller respectively.

Images