ROV-based feed box recovery and seedling planting device and recovery and planting method

Abstract

This invention relates to an ROV-based feed box retrieval and seedling sowing device. The device includes an unmanned submersible, a sensing and navigation module, a feed box retrieval module, and an aquatic seedling sowing module. The sensing and navigation module includes a depth sensing system, a positioning system, and an environmental sensing system installed on the unmanned submersible. The feed box retrieval module includes a main working arm and an auxiliary working arm located on both sides of the bow of the unmanned submersible, which work together to retrieve the feed box. The aquatic seedling sowing module includes a seedling suction system and a centrifugal sowing system located at the bottom of the unmanned submersible. The seedling suction system gently suctions seedlings from the seedling area into a temporary storage compartment inside the unmanned submersible, and the centrifugal sowing system sows the seedlings from the temporary storage compartment into the sowing area. This device enables intelligent collaborative operation of feed box retrieval and seedling sowing, improving operational efficiency and reducing costs.

Description

Technical Field

[0001] This invention belongs to the field of shipbuilding and marine engineering, and specifically relates to a feed box recycling and seedling sowing device and method based on ROV. Background Technology

[0002] With the continuous expansion of marine ranching, deep-sea aquaculture and bottom seeding have become important pillars of marine economic development. In the process of modernizing aquaculture equipment, the demand for maintenance and upgrading of various underwater facilities and bottom seeding operations is becoming increasingly prominent.

[0003] In existing technologies, feed box recovery equipment mostly relies on surface lifting equipment in conjunction with underwater operations by divers. Personnel must perform high-risk operations in complex sea conditions, which is difficult to ensure safety and whose work efficiency is limited by human physical strength. This results in problems such as high operational risk, long cycle, and great dependence on sea conditions. Aquatic seedling sowing devices mostly use surface throwing or simple pipeline transportation methods, resulting in poor seed distribution uniformity and the settling process being greatly affected by ocean currents. This leads to dense or blank areas in the sowing area, resulting in bottlenecks such as poor sowing uniformity, high seedling damage rate, and difficulty in controlling operational precision. Underwater operation equipment has serious functional limitations. Feed box maintenance and seedling sowing require the use of separate dedicated vessels and equipment, resulting in low equipment utilization and high overall operating costs. These two types of operations usually need to be carried out by different dedicated vessels, resulting in low equipment utilization and high overall costs. The equipment lacks intelligent seabed environment recognition capabilities and cannot automatically adjust operating parameters according to seabed topography, resulting in poor adaptability to complex seabed environments. Existing systems mostly use centralized surface power supply methods, and underwater actuators rely on umbilical cables to transmit energy and signals, resulting in high towing resistance and operating radius limited by cable length. Summary of the Invention

[0004] To address at least one of the problems in the prior art, the present invention aims to provide a feed box retrieval and seedling sowing device and method based on an ROV. Using a heavy-duty remotely operated vehicle (ROV) as a comprehensive transport platform, the platform integrates a sensing and navigation module, a feed box retrieval module, and an aquatic seedling sowing module, enabling coordinated operation of feed box retrieval and seedling sowing. This device leverages the underwater stability and maneuverability advantages of the ROV, combined with visual recognition and precise control technology, to solve the problems of low efficiency and high cost in existing operating methods.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A ROV-based feed box recycling and seedling sowing device includes:

[0007] Unmanned submersible;

[0008] The perception and navigation module includes a depth sensing system, a positioning system, and an environmental perception system installed on the unmanned submersible. The depth sensing system is used to provide the depth of the unmanned submersible, the positioning system is used to provide the position information of the unmanned submersible, and the environmental perception system is used to provide three-dimensional point cloud data of the seabed in the scanning area.

[0009] The feed box recovery module includes a main working arm and an auxiliary working arm located on both sides of the bow of the unmanned submersible. The main working arm and the auxiliary working arm work together to recover the feed box.

[0010] The aquatic seedling sowing module includes a seedling suction system and a centrifugal sowing system installed at the bottom of the unmanned submersible. The seedling suction system is used to gently suction the seedlings from the seedling area into a temporary storage compartment inside the unmanned submersible, and the centrifugal sowing system is used to sow the seedlings in the temporary storage compartment into the sowing area.

[0011] Preferably, the depth sensing system includes a depth sonar located at the stern of the unmanned submersible and a Doppler log located at the bow of the unmanned submersible. The depth sonar, in conjunction with the Doppler log, can provide depth and velocity information of the unmanned submersible. The positioning system integrates an ultra-short baseline underwater acoustic positioning system, which can enable the unmanned submersible to be positioned. The environmental perception system includes a forward-looking sonar located at the bow of the unmanned submersible and two pairs of laser scanners. The laser scanners can generate three-dimensional point cloud data of the seabed.

[0012] Preferably, the main working arm is a hydraulic robotic arm, which is equipped with a main robotic arm servo motor and a main robotic arm x-axis rotary joint. The end of the main working arm is equipped with a double arc-shaped gripper, and the inner surface of the inner side of the double arc-shaped gripper is inlaid with tungsten carbide anti-slip teeth.

[0013] Preferably, the auxiliary working arm is an electric robotic arm, which is equipped with an auxiliary robotic arm servo motor, an auxiliary robotic arm x-axis rotary joint and a y-axis rotary joint. The end of the auxiliary working arm is equipped with a hydraulic shearing tool, and the inner side of the hydraulic shearing tool is provided with an arc-shaped groove fixing buckle for fixing the feed box.

[0014] Preferably, the seedling suction system includes a seedling delivery pipe with a venturi structure, and a horn-shaped outer cover is provided at the suction port at the end of the seedling delivery pipe; the top of the seedling delivery pipe is connected to the temporary storage chamber; and a first seedling suction pump is provided on the seedling delivery pipe.

[0015] Preferably, the centrifugal seeding system includes a seedling output pipe, the top of which is connected to the temporary storage chamber, and the end of which is connected to a centrifugal disc. The bottom of the centrifugal disc is provided with multiple seedling guide grooves and a flow guide cover. A permanent magnet synchronous servo motor is connected to the bottom of the centrifugal disc to drive the centrifugal disc to rotate. A second seedling suction pump is provided in the seedling output pipe.

[0016] A method for recycling feed boxes based on ROV, implemented using the aforementioned device, specifically includes the following steps:

[0017] S01. The unmanned submersible navigates using a positioning system and a depth sensing system, and moves and positions itself to the target feed box area.

[0018] S02, the unmanned submersible scans and acquires three-dimensional data of the feed box and its surrounding environment through an environmental perception system, and transmits the three-dimensional data to the controller of the unmanned submersible; the controller plans the approach path of the unmanned submersible and the movement trajectories of the main working arm and the auxiliary working arm;

[0019] S03. The unmanned submersible approaches the feed box according to the planned path and remains hovering when it is at a set position away from the feed box; the main working arm approaches and grasps the feed box according to the planned motion trajectory; the auxiliary working arm extends synchronously and cuts the fixing cable of the feed box according to the planned motion trajectory. After the cutting is completed, the auxiliary working arm maintains auxiliary support for the feed box.

[0020] S04. Lift the unmanned submersible and transport the feed box to the recycling area.

[0021] Preferably, in step S02, the main working arm grasps the feed box according to a planned motion trajectory; the auxiliary working arm simultaneously deploys and cuts the fixing rope of the feed box according to the planned motion trajectory. In this step, the motion control of both the main and auxiliary working arms employs a position deviation adjustment method.

[0022] ;

[0023] Where, Δ p This is the position deviation vector. p target The target location coordinates, p current The coordinates of the current position;

[0024] The control quantity is calculated in real time based on the position deviation, and the main working arm and the auxiliary working arm are driven to approach the target along the optimal path.

[0025] A seedling sowing method based on ROV, implemented using the aforementioned device, specifically includes the following steps:

[0026] B01. The unmanned submersible scans and maps the three-dimensional data and seabed type information of the target seeding area through the environmental perception system, and transmits the data to the controller of the unmanned submersible.

[0027] B02. Based on the mapping results and the set seedling sowing density requirements, the controller generates the sowing operation path of the unmanned submersible and the parameter settings of the centrifugal sowing system.

[0028] B03. The centrifugal seeding system sows the seedlings from the temporary storage compartment to the target sowing area according to the controller's instructions.

[0029] Preferably, in the step where the B02 controller controls the seeding density based on the mapping results and the set seedling sowing density requirements, the sowing density is controlled by the following formula:

[0030] ;

[0031] in, ρ For unit sowing density, n The rotational speed of the centrifuge disc. r The radius of the seedling launch. v This refers to the forward speed of the ROV.

[0032] By adjusting these three parameters, the sowing density can be controlled.

[0033] The present invention has the following advantages due to the adoption of the above technical solutions:

[0034] 1. The present invention provides a feed box recycling and seedling sowing device and method based on ROV. The device uses a heavy-duty remotely operated vehicle (ROV) as a comprehensive transport platform, which integrates a sensing and navigation module, a feed box recycling module, and an aquatic seedling sowing module, enabling coordinated operation of feed box recycling and seedling sowing. The device utilizes the underwater stability and maneuverability advantages of ROV, combined with visual recognition and precise control technology, to improve operational efficiency and reduce costs. The ROV integrates feed box recycling and seedling sowing functions, reducing the scheduling and coordination time of different vessels compared to traditional methods, and improving equipment utilization. The ROV replaces underwater operations by divers, reducing operational risks in high sea states and complex environments, and reducing reliance on large engineering vessels and support teams. Automated operation reduces reliance on operator experience, and the device reduces the overall operating costs of marine ranching maintenance and renewal by reducing the number of vessel voyages and personnel configuration.

[0035] 2. The ROV-based feed box recovery and seedling sowing device and method provided by this invention utilizes an eight-propeller full-vector layout, including a bow forward / backward vectoring propeller, a midships heave / descent vectoring propeller, and a stern auxiliary steering propeller, forming a six-degree-of-freedom motion control system. Combined with an ultra-short baseline underwater acoustic positioning system and a Doppler log, it achieves centimeter-level positioning accuracy and strong current resistance. This configuration enables the ROV to maintain stable attitude and precise trajectory navigation in complex sea conditions, providing a fundamental motion guarantee for uniform sowing. The centrifugal sowing system employs a collaborative design of a rotating centrifugal disk and an adjustable guide shield. Multiple adjustable seedling guide slots are distributed along the edge of the centrifugal disk to ensure that seedlings are smoothly captured and orderly ejected under centrifugal force. The guide shield optimizes the flow field distribution during seedling ejection, eliminating aggregation caused by turbulence and allowing seedlings to uniformly cover the seabed in a fan-shaped pattern, achieving a three-dimensional uniform distribution of seedlings on the seabed surface.

[0036] 3. The ROV-based feed box recycling and seedling sowing device and method provided by this invention employs a seedling suction system designed based on the Venturi principle. Low-pressure airflow generates negative pressure to gently suck seedlings from the seedling area to a temporary storage chamber. The ultra-smooth food-grade coating on the inner wall of the storage chamber and the slow-speed stirring mechanism prevent damage to the seedlings during transport due to collisions or sedimentation, ensuring seedling integrity. Seedling sowing density control is achieved through a multi-sensor fusion target recognition system. Based on the three-dimensional point cloud data of the seabed obtained by a laser scanner, topographic features and initial seedling distribution are identified, dynamically adjusting the centrifuge disc speed, projection radius, and ROV forward speed. The centrifuge disc speed is precisely controlled by a permanent magnet synchronous servo motor, and the ROV forward speed is fed back in real time by a Doppler speedometer, forming a closed-loop control system that achieves millimeter-level precision control of sowing density.

[0037] 4. The ROV-based feed box recycling and seedling sowing device and method provided by this invention features a hydraulically driven main working arm equipped with a double-arc gripper designed based on the biomimetic principle of crab claws. The inner surface is inlaid with tungsten carbide anti-slip teeth, allowing it to adapt to the curved surface shape of feed boxes of different sizes. This biomimetic design maximizes the contact area and minimizes unit pressure, ensuring a firm grip while preventing structural deformation. The auxiliary working arm is electrically driven, with a multi-functional hydraulic shearing tool integrated at its end. The arc-shaped groove fixing buckle is lined with elastic rubber material, absorbing operational impact through elastic deformation. During operation, the two arms form a collaborative "gripping-stabilizing" process: the main working arm grips the main frame of the feed box, while the auxiliary working arm simultaneously disassembles the connecting parts. The device monitors the operational status and uses a position deviation-based control algorithm to achieve precise motion control. When encountering unexpected resistance, the device automatically stops and replans its path to ensure operational safety. The entire recycling process forms a closed-loop control system, dynamically adjusting operational parameters through multi-sensor data fusion, ensuring both operational efficiency and complete recycling of the feed box. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the first structure of the ROV-based feed box recycling and seedling sowing device provided in Embodiment 1 of the present invention.

[0039] Figure 2 This is a schematic diagram of the second structure of the ROV-based feed box recycling and seedling sowing device provided in Embodiment 1 of the present invention.

[0040] Figure 3 This is a schematic diagram of the main working arm provided in Embodiment 1 of the present invention.

[0041] Figure 4 This is a schematic diagram of the auxiliary working arm provided in Embodiment 1 of the present invention.

[0042] Figure 5 This is a schematic diagram of the seedling suction system provided in Embodiment 1 of the present invention.

[0043] Figure 6 This is a schematic diagram of the centrifugal seeding system provided in Embodiment 1 of the present invention.

[0044] Figure 7 This is a flowchart of the steps of the ROV-based feed box recycling method provided in Embodiment 2 of the present invention.

[0045] Figure 8 This is a flowchart of the steps of the ROV-based seedling sowing method provided in Embodiment 3 of the present invention.

[0046] Marked in the attached diagram:

[0047] 1 is the unmanned underwater vehicle; 101 is the forward / backward vectoring propeller; 102 is the heave / descent vectoring propeller; 103 is the auxiliary steering propeller; 104 is the safety hook ring; 2 is the main working arm; 201 is the main robotic arm servo motor; 202 is the main robotic arm X-axis rotary joint; 203 is the double-arc gripper; 204 is the tungsten carbide anti-slip toothed joint; 3 is the auxiliary working arm; 301 is the auxiliary robotic arm servo motor; 302 is the auxiliary robotic arm X-axis rotary joint; 303 is the Y-axis rotary joint. Section 304 is a hydraulic shearing tool, 305 is an arc-shaped groove fixing buckle, 4 is a depth sonar, 5 is a Doppler logger, 6 is an ultra-short baseline underwater acoustic positioning system, 7 is a forward-looking sonar, 8 is a laser scanner, 9 is a seedling delivery pipe, 901 is a first seedling suction pump, 10 is a temporary storage chamber, 11 is a seedling output pipe, 1101 is a second seedling suction pump, 12 is a centrifuge tray, 13 is a seedling guide trough, 14 is a flow guide hood, and 15 is a permanent magnet synchronous servo motor. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0049] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the system 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 invention.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "assembly," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] This invention provides a feed box recycling and seedling sowing device and method based on ROV. The device uses a heavy-duty remotely operated vehicle (ROV) as a comprehensive transport platform, which integrates a sensing and navigation module, a feed box recycling module, and an aquatic seedling sowing module, enabling coordinated operation of feed box recycling and seedling sowing. This device utilizes the underwater stability and maneuverability advantages of ROV, combined with visual recognition and precise control technology, to solve the problems of low efficiency and high cost of existing operation methods.

[0052] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0053] Example 1

[0054] Please refer to Figure 1 and Figure 2 This embodiment provides a ROV-based feed box recycling and seedling sowing device, including an unmanned submersible 1, a sensing and navigation module, a feed box recycling module, and an aquatic seedling sowing module:

[0055] The perception and navigation module includes a depth sensing system, a positioning system, and an environmental perception system installed on the unmanned submersible 1. The depth sensing system is used to provide the depth of the unmanned submersible 1, the positioning system is used to provide the position information of the unmanned submersible 1, and the environmental perception system is used to provide the three-dimensional point cloud data of the seabed in the scanning area.

[0056] The feed box recovery module includes a main working arm 2 and an auxiliary working arm 3 located on both sides of the bow of the unmanned submersible 1. The main working arm 2 and the auxiliary working arm 3 work together to recover the feed box.

[0057] The aquatic seedling sowing module includes a seedling suction system and a centrifugal sowing system installed at the bottom of the unmanned submersible 1. The seedling suction system is used to gently suction the seedlings from the seedling area into the temporary storage compartment 10 inside the unmanned submersible 1, and the centrifugal sowing system is used to sow the seedlings in the temporary storage compartment 10 into the sowing area.

[0058] Specifically, in this embodiment, the unmanned underwater vehicle 1 uses a heavy-duty operational remotely operated vehicle (ROV) 1 as a comprehensive transport platform. Through a modular architecture design, it deeply integrates two key operational functions: feed box retrieval and precise seeding of aquatic seedlings. Based on the operational ROV 1, this device retains the original ROV 1's underwater maneuverability and stable control characteristics, and further achieves multi-functional operational capabilities through structural optimization and system integration. The main body of the ROV 1 adopts a frame structure made of high-strength aluminum alloy, providing ample installation space and load-bearing capacity for various functional modules.

[0059] The propulsion system of the unmanned submersible 1 adopts an eight-propeller layout, including a pair of forward and backward vectoring propellers 101 at the bow, two pairs of heave and sag vectoring propellers 102 midway, and a pair of auxiliary steering propellers 103 at the stern, which together constitute a complete six-degree-of-freedom motion control system. The top of the unmanned submersible 1 is equipped with a safety hook ring 104, which can be connected to a safety rope to prevent the unmanned submersible 1 from going out of control and being lost.

[0060] In this embodiment, the perception and navigation module constitutes the intelligent senses of the operating platform. The depth sensing system includes a depth sonar 4 installed at the bottom of the stern of the unmanned submersible 1 and a Doppler log 5 installed at the bow of the unmanned submersible 1. The depth sonar 4 can detect the depth data of the unmanned submersible 1 from the seabed, and the Doppler log 5 can measure the speed information of the unmanned submersible 1. The depth sonar 4, together with the Doppler log 5, can obtain the current depth and speed information of the unmanned submersible 1.

[0061] The positioning system integrates an ultra-short baseline underwater acoustic positioning system 6, and achieves data fusion through a Kalman filter algorithm, with a positioning accuracy of centimeter level, which can achieve the centimeter-level positioning accuracy of the unmanned underwater vehicle 1;

[0062] The environmental perception system includes a forward-looking sonar 7 and two pairs of laser scanners 8 installed at the bow of the unmanned submersible 1. The two pairs of laser scanners 8 can generate three-dimensional point cloud data of the seabed.

[0063] Please refer to Figure 3 In this embodiment, the feed box recycling module adopts a dual-robotic arm collaborative operation architecture. The cooperation between the two robotic arms makes the feed box recycling operation smoother. The main working arm 2 is a hydraulic robotic arm, driven by a hydraulic mechanism; the main working arm 2 is equipped with a main robotic arm servo motor 201 and a main robotic arm x-axis rotary joint 202; the end of the main working arm 2 is equipped with a double arc-shaped gripper 203, and the inner surface of the inner side is inlaid with tungsten carbide anti-slip teeth 204, which are specifically used to grip the main frame structure.

[0064] Please refer to Figure 4 The auxiliary working arm 3 is an electric robotic arm, equipped with an auxiliary robotic arm servo motor 301, an auxiliary robotic arm x-axis rotary joint 302, and a y-axis rotary joint 303. The end of the auxiliary working arm 3 is equipped with a hydraulic shearing tool 304, which can quickly cut various connecting materials. The hydraulic shearing tool 304 has an arc-shaped groove fixing buckle 305 at a relatively opposite position on its inner side. The arc-shaped groove fixing buckle 305 is a semi-circular fixing buckle, and the inner side of the arc-shaped groove fixing buckle 305 is lined with elastic rubber, which can both help fix the feed box and avoid damage to the feed box frame structure.

[0065] In this embodiment, the controller of the unmanned underwater vehicle 1 can control the movements of the main working arm, the auxiliary working arm, the double arc-shaped gripper, and the hydraulic shearing tool.

[0066] Please refer to Figure 5 In this embodiment, the seedling suction system includes a seedling delivery pipe 9 with a Venturi structure; the top end of the seedling delivery pipe 9 is connected to a temporary storage chamber 10; a first seedling suction pump 901 is installed on the seedling delivery pipe 9. The seedling delivery pipe 9 with the Venturi structure can gently suction seedlings from the seedling area to the temporary storage chamber 10 through a low-pressure, high-flow-rate method. The inner wall of the temporary storage chamber 10 is coated with an ultra-smooth food-grade coating, and it is equipped with a slow-speed stirring mechanism to prevent seedling deposition. The delivery pipe adopts a composite structure design, with an inner layer of high molecular weight polyethylene and an outer layer of polyurethane protective layer, which ensures both flexibility and sufficient pressure resistance.

[0067] Please refer to Figure 6In this embodiment, the centrifugal seeding system includes a seedling output pipe 11, the top of which is connected to a temporary storage chamber 10. A second seedling suction pump 1101 is installed on the seedling output pipe 11, and the end of the seedling output pipe 11 is connected to a centrifugal disc 12. Multiple seedling guide channels 13 and a flow guide shroud 14 are provided at the bottom of the centrifugal disc 12. Seedlings are sown through the flow guide shroud 14 and the seedling guide channels 13. A permanent magnet synchronous servo motor 15 is connected to the bottom of the centrifugal disc 12 to drive the centrifugal disc 12 to rotate and perform seedling distribution operations in the temporary storage chamber 10. Sixty seedling guide channels 13 are evenly distributed along the edge of the centrifugal disc 12.

[0068] Example 2

[0069] Please refer to the reference. Figure 7 This embodiment provides a feed box recycling method based on ROV, implemented using the device described in Embodiment 1, and specifically includes the following steps:

[0070] S01, the unmanned submersible 1 navigates using a positioning system and a depth sensing system, and moves and positions itself to the target feed box area;

[0071] S02, the unmanned underwater vehicle 1 scans and acquires three-dimensional data of the feed box and its surrounding environment through the environmental perception system, and transmits the three-dimensional data to the controller of the unmanned underwater vehicle 1; the controller plans the approach path of the unmanned underwater vehicle 1 and the movement trajectory of the main working arm 2 and the auxiliary working arm 3.

[0072] S03. The unmanned underwater vehicle 1 approaches the feed box according to the planned path and remains hovering when it is close to the set position of the feed box; the main working arm 2 approaches and grabs the feed box according to the planned motion trajectory; the auxiliary working arm 3 extends synchronously and cuts the fixed cable of the feed box according to the planned motion trajectory. After the cutting is completed, the auxiliary working arm 3 maintains auxiliary support for the feed box.

[0073] S04. Lift the unmanned submersible 1 and transport the feed box to the recycling area.

[0074] In practical applications, before the feed box retrieval operation begins, the unmanned underwater vehicle 1 uses an ultra-short baseline underwater acoustic positioning system 6 to precisely locate the target feed box area and hovers at a set distance from the feed box. The main working arm 2 first extends, and the double-arc gripper 203 accurately positions itself to the gripping point of the feed box's main frame. Force feedback sensors are installed on the double-arc gripper 203, which monitor changes in gripping force in real time. When the double-arc gripper contacts the feed box frame, the controller automatically adjusts the gripping force to a preset range, ensuring reliable gripping without damaging the feed box structure.

[0075] The auxiliary working arm 3 deploys synchronously, using its end-mounted hydraulic shearing tool 304 to position the feed box's cables and connectors. Once the shearing position is confirmed, the controller activates the hydraulic shearing tool to complete the cutting operation. After all necessary cuts are completed, the main working arm 2 maintains its grip on the feed box, and the ROV activates its propulsion system to lift the feed box from the seabed at a controllable speed. During the lifting process, the sensing and navigation module continuously monitors the ROV's attitude and position, and the ROV's propulsion system automatically adjusts the output of each thruster to maintain a smooth lift. Once the feed box reaches a safe height, the ROV transports it to the recovery area along a predetermined path.

[0076] The entire recovery operation employs a closed-loop control approach, dynamically adjusting operational parameters through multi-sensor data fusion and real-time feedback. The dual-arm motion control utilizes a position deviation-based adjustment method, where the controller calculates control inputs in real-time based on the position deviation, driving the arms to approach the target along the optimal path.

[0077] The device in this embodiment employs an intelligent operation method based on environmental perception. By recognizing the features and spatially locating the underwater operation target, it achieves precise operation control. The device first acquires real-time data of the operation area using a laser scanner 8, and then uses existing feature extraction algorithms to identify the feed box structure and suitable terrain areas for sowing, thus establishing an environmental model.

[0078] In step S02, the main working arm grasps the feed box according to the planned motion trajectory; the auxiliary working arm extends synchronously and cuts the fixing rope of the feed box according to the planned motion trajectory. In this step, the motion control of both the main working arm 2 and the auxiliary working arm 3 adopts the position deviation adjustment method.

[0079] ;

[0080] Where, Δ p This is the position deviation vector. p target The target location coordinates, p current The coordinates of the current position;

[0081] The unmanned underwater vehicle 1 obtains the position coordinates of the feed box by scanning the environmental perception system. Combined with the current position coordinates of the unmanned underwater vehicle 1, the controller calculates the control quantity in real time according to the position deviation, and drives the main working arm 2 and the auxiliary working arm 3 to approach the target along the optimal path.

[0082] Example 3

[0083] Please refer to the reference. Figure 8 This embodiment provides a seedling sowing method based on ROV, implemented using the device described in Embodiment 1, and specifically includes the following steps:

[0084] B01, the unmanned submersible 1 scans and maps the three-dimensional data and substrate type information of the target seeding area through the environmental perception system, and transmits the data to the controller of the unmanned submersible 1;

[0085] B02. Based on the survey results and the set seedling sowing density requirements, the controller generates the sowing operation path of the unmanned submersible 1 and the parameter settings of the centrifugal sowing system.

[0086] B03. The centrifugal seeding system, according to the controller's instructions, sows the seedlings in the temporary storage compartment 10 to the target sowing area.

[0087] In practical applications, the seeding process for aquatic products involves the following steps: Before seeding begins, the ROV first performs topographic mapping of the target seeding area. A laser scanner 8 generates high-precision three-dimensional point cloud data of the seabed, and a forward-looking sonar 7 acquires information about the seabed type. The device uses existing feature extraction algorithms to identify suitable terrain areas for seeding, excluding unsuitable areas such as reefs and steep slopes.

[0088] Based on the survey results and preset seeding density requirements, the controller automatically generates the ROV seeding operation path and parameter settings. Seeding density is controlled by the following formula:

[0089] ;

[0090] in, ρ For unit sowing density, n The centrifuge disc rotates at 12 rpm. r The radius of the seedling launch. v This refers to the forward speed of the ROV.

[0091] By adjusting these three parameters, precise control of sowing density can be achieved.

[0092] The seedling suction system is activated, using the low pressure generated by the Venturi principle to gently draw the seedlings into the temporary storage chamber 10. A slow-speed stirring mechanism within the temporary storage chamber 10 prevents seedling sedimentation and ensures even seedling delivery. The seedlings are then transported through the seedling output pipe 11 to the centrifugal sowing system.

[0093] The centrifugal seeding system starts working according to the controller's instructions. The permanent magnet synchronous servo motor 15 drives the centrifugal disc 12 to rotate, and the seedlings move along the seedling guide trough 13 under the action of centrifugal force. The ROV travels along a predetermined path at a constant speed, and the centrifugal seeding system continues to work. The device monitors the ROV's forward speed and the rotation speed of the centrifugal disc 12 in real time to ensure uniform seeding density. The food-grade silicone buffer layer inside the flow guide shroud 14 effectively reduces the seedling collision damage rate.

[0094] Throughout the seeding process, the sensing and navigation module continuously updates the ROV's location information to ensure complete coverage of the seeding area. If encountering complex terrain or obstacles, the device automatically adjusts its path to avoid collisions or repeated seeding.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for recycling feed boxes based on ROV, characterized in that, A feed box recycling and seedling sowing device based on ROV is implemented, the device comprising: Unmanned submersible; The perception and navigation module includes a depth sensing system, a positioning system, and an environmental perception system installed on the unmanned submersible. The depth sensing system is used to provide the depth of the unmanned submersible, the positioning system is used to provide the position information of the unmanned submersible, and the environmental perception system is used to provide three-dimensional point cloud data of the seabed in the scanning area. The feed box recovery module includes a main working arm and an auxiliary working arm located on both sides of the bow of the unmanned submersible. The main working arm and the auxiliary working arm work together to recover the feed box. The aquatic seedling sowing module includes a seedling suction system and a centrifugal sowing system installed at the bottom of the unmanned submersible. The seedling suction system is used to gently suction the seedlings from the seedling area into a temporary storage compartment inside the unmanned submersible, and the centrifugal sowing system is used to sow the seedlings in the temporary storage compartment into the sowing area. The seedling suction system includes a seedling delivery pipe with a Venturi structure, and a horn-shaped outer cover is provided at the suction port at the end of the seedling delivery pipe; the top of the seedling delivery pipe is connected to the temporary storage chamber; and a first seedling suction pump is provided on the seedling delivery pipe. The centrifugal seeding system includes a seedling output pipe, the top of which is connected to the temporary storage chamber, and the end of which is connected to a centrifugal disc. The bottom of the centrifugal disc is provided with multiple seedling guide grooves and a flow guide cover. A permanent magnet synchronous servo motor is connected to the bottom of the centrifugal disc to drive the centrifugal disc to rotate. A second seedling suction pump is provided in the seedling output pipe. The method specifically includes the following steps: S01. The unmanned submersible navigates using a positioning system and a depth sensing system, and moves and positions itself to the target feed box area. S02, the unmanned submersible scans and acquires three-dimensional data of the feed box and its surrounding environment through an environmental perception system, and transmits the three-dimensional data to the controller of the unmanned submersible; the controller plans the approach path of the unmanned submersible and the movement trajectories of the main working arm and the auxiliary working arm; S03. The unmanned submersible approaches the feed box according to the planned path and remains hovering when it is at a set position away from the feed box; the main working arm approaches and grasps the feed box according to the planned motion trajectory; the auxiliary working arm extends synchronously and cuts the fixing cable of the feed box according to the planned motion trajectory. After the cutting is completed, the auxiliary working arm maintains auxiliary support for the feed box. The motion control of both the main working arm and the auxiliary working arm adopts the position deviation adjustment method: D p = p target p current Where, Δ p This is the position deviation vector. p target The target location coordinates, p current The coordinates of the current position; The control quantity is calculated in real time based on the position deviation, and the main working arm and the auxiliary working arm are driven to approach the target along the optimal path; S04. Lift the unmanned submersible and transport the feed box to the recycling area.

2. The ROV-based feed box recycling method according to claim 1, characterized in that, The depth sensing system includes a depth sonar located at the stern of the unmanned submersible and a Doppler log located at the bow of the unmanned submersible. The depth sonar, in conjunction with the Doppler log, can provide the depth and velocity information of the unmanned submersible. The positioning system integrates an ultra-short baseline underwater acoustic positioning system, which can enable the unmanned submersible to be positioned. The environmental perception system includes a forward-looking sonar located at the bow of the unmanned submersible and two pairs of laser scanners. The laser scanners can generate three-dimensional point cloud data of the seabed.

3. The ROV-based feed box recycling method according to claim 1, characterized in that, The main working arm is a hydraulic robotic arm. The main working arm is equipped with a main robotic arm servo motor and a main robotic arm x-axis rotary joint. The end of the main working arm is equipped with a double arc-shaped gripper. The inner surface of the inner side of the double arc-shaped gripper is inlaid with tungsten carbide anti-slip teeth.

4. The ROV-based feed box recycling method according to claim 1, characterized in that, The auxiliary working arm is an electric robotic arm, which is equipped with an auxiliary robotic arm servo motor, an auxiliary robotic arm x-axis rotary joint and a y-axis rotary joint. The end of the auxiliary working arm is equipped with a hydraulic shearing tool, and the inner side of the hydraulic shearing tool is provided with an arc-shaped groove fixing buckle for fixing the feed box.

5. A seedling sowing method based on ROV, characterized in that, Based on the apparatus described in any one of claims 1 to 4, the specific steps include: B01. The unmanned submersible scans and maps the three-dimensional data and seabed type information of the target seeding area through the environmental perception system, and transmits the data to the controller of the unmanned submersible. B02. Based on the mapping results and the set seedling sowing density requirements, the controller generates the sowing operation path of the unmanned submersible and the parameter settings of the centrifugal sowing system. In the B02 controller's step of determining the seedling sowing density based on the survey results and the set seedling sowing density requirements, the sowing density is controlled by the following formula: in, ρ For unit sowing density, n The rotational speed of the centrifuge disc. r The radius of the seedling launch. v This refers to the forward speed of the ROV. By adjusting these three parameters, the sowing density can be controlled; B03. The centrifugal seeding system sows the seedlings from the temporary storage compartment to the target sowing area according to the controller's instructions.

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