Underwater razor clam catching device and catching method
By designing an underwater razor clam harvesting device, which combines tracked walking, visual recognition, and brine spraying with a mechanical gripper, the device achieves efficient, safe, and non-destructive harvesting of razor clams, solving the problems of low efficiency, significant environmental damage, and high safety risks associated with traditional harvesting methods.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-03-13
AI Technical Summary
Existing razor clam harvesting techniques suffer from low efficiency, high cost, significant environmental damage, and high safety risks, especially traditional trawl fishing and manual diving harvesting methods.
Design an underwater razor clam harvesting device, including a chassis walking mechanism, a visual recognition module, a mobile positioning mechanism, a harvesting execution mechanism, and a collection and storage mechanism. It adopts tracked walking, visual recognition, brine spraying, and mechanical grippers to achieve an automated and precise harvesting process.
This method enables efficient, safe, and non-destructive harvesting of razor clams, reducing damage to the marine environment, improving harvesting efficiency, ensuring the safety of workers, and protecting biodiversity.
Smart Images
Figure CN121647225A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of marine ranching technology, and relates to a device for harvesting razor clams and a method for harvesting razor clams underwater. Background Technology
[0002] As an important marine economic species, the large-scale harvesting of razor clams is a key aspect of marine ranching production management. Currently, razor clam harvesting mainly relies on two traditional methods: trawling by boat and underwater harvesting, both of which have significant technical limitations and negative ecological impacts.
[0003] Vessel trawling and its drawbacks: This method involves fishing vessels towing nets along the seabed to scrape and catch razor clams. While it has a certain level of efficiency, its non-selective fishing mechanism leads to the accidental capture of a large number of non-target organisms (including razor clam larvae and other benthic organisms), resulting in a waste of biological resources and damage to benthic population structure. Furthermore, the scraping action of trawling severely disturbs the seabed environment, directly damaging important habitats such as seagrass beds and stirring up large amounts of sediment, causing long-term water turbidity, dust pollution, and a continuous negative impact on the water quality and ecological balance of surrounding waters.
[0004] Artificial underwater harvesting and its limitations: In some ecologically sensitive areas or small-scale aquaculture farms, underwater harvesting by divers is often used. Although this method causes relatively little disturbance to the seabed and biological communities, it relies on human experience and physical labor, resulting in low harvesting efficiency, high costs, and limited operational range. Furthermore, underwater harvesting is severely constrained by environmental factors such as seawater visibility, current velocity, and water temperature, leading to poor operational stability. Divers also face safety risks such as drowning and decompression sickness in complex seabed environments, further limiting the promotion and application of this technology. Summary of the Invention
[0005] The present invention aims to provide an underwater razor clam harvesting device and method to achieve automatic harvesting, high targeting, and minimal environmental damage.
[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An underwater razor clam harvesting device includes a chassis walking mechanism, a visual recognition module, a mobile positioning mechanism, a harvesting execution mechanism, and a collection and storage mechanism; The visual recognition module is fixed on the chassis walking mechanism and is used to identify areas with dense clams burrows, so that the chassis walking mechanism can move to a position with ≥3 burrows per square meter. The mobile positioning mechanism includes a longitudinal moving frame, a horizontal moving plate, a longitudinal moving positioning mechanism, and a horizontal moving positioning mechanism. The longitudinal moving frame is slidably mounted on the chassis walking mechanism and moves longitudinally through the longitudinal moving positioning mechanism. The horizontal moving plate is slidably mounted on the longitudinal moving frame and moves laterally through the horizontal moving positioning mechanism. The harvesting mechanism is equipped with multiple components, each including a fixed base, a visual recognition camera, a water spray head, and a mechanical gripper. The fixed base is fixed on a horizontal moving plate. The water spray head is connected to a storage tank via a water pipe. The storage tank contains a brine mixture. A water pump supplies the brine mixture from the storage tank to the water spray head. The visual camera determines the center coordinates of a single cave. The water spray head sprays the brine mixture into the cave to lure the razor clam out of the cave. The mechanical gripper then harvests the clams. The collection and storage mechanism includes a net box and a propeller fixed on the chassis walking mechanism. The net box is open at both ends, and a mesh is fixed at the end away from the chassis walking mechanism. The water flow generated by the rotation of the propeller and the gravity of the razor clams are combined to suck the razor clams released by the mechanical gripper into the net box.
[0007] As a limitation of the present invention, the spray diameter of the spray head is ≤5cm and the spray duration is 8-12s.
[0008] As a further limitation of the present invention, the visual recognition module includes a camera and a fill light.
[0009] As another limitation of the present invention, the chassis walking mechanism is a tracked structure.
[0010] As a limitation of the present invention, the capture execution mechanism is staggered along both sides of the horizontal moving plate.
[0011] As a further limitation of the present invention, the end of the cage connected to the chassis walking mechanism is inclined downward and then extends horizontally.
[0012] As a third limitation of the present invention, guide rods are fixedly provided at the four corners of the chassis walking mechanism, and the four corners of the longitudinal moving frame are slidably arranged on the four guide rods respectively.
[0013] As a limitation of the present invention, sliding grooves are provided on opposite sides of the longitudinal moving frame, and the two ends of the horizontal moving plate are respectively slidably disposed in the two sliding grooves.
[0014] As a further limitation of the present invention, the mechanical gripper includes two silicone grippers, which are opened and closed by a servo motor.
[0015] A method for harvesting razor clams underwater, the method including: S1. Deploy the above-mentioned underwater razor clam harvesting device to the target sea area, where the water depth must be 0-10m. S2. The visual recognition module collects images of the seabed area in real time. When the number of caves per square meter is ≥3, the chassis walking mechanism reaches the area to work. S3. After arriving at the work area, the longitudinal movement positioning mechanism moves the mechanical gripper 2-3 cm away from the seabed surface, and the horizontal movement positioning mechanism moves the mechanical gripper to one side of the net cage, placing it in the initial capture position. The capture actuator mechanism moves in steps of 5 cm away from the net cage, pausing for 2 seconds at each step, and simultaneously activates the visual recognition camera to scan individual holes in the area covered by the gripper in real time. S4. When the visual recognition camera detects a single razor clam burrow, the current position is locked, the water pump is started, and the brine mixture is delivered to the spray head to spray continuously at the target burrow for 8-12 seconds. After the spraying ends, wait for 10 seconds until the visual recognition camera detects the razor clam crawling out of the burrow. S5. The mechanical gripper grasps the razor clam with a clamping force of 0.8N for 0.5s. After the visual recognition camera confirms the successful grasp, the mechanical gripper moves towards the net cage, the propeller starts to generate a directional water flow, the mechanical gripper releases, and the razor clam enters the net cage. S6. After capturing a single row of caves, the horizontal moving plate continues to move away from the net cage in 5cm increments to continue capturing until the current working area is covered. When there are no uncaptured caves in the current area, the chassis walking mechanism is activated and moves forward in 1m increments with the longitudinal moving frame covering the length, repeating the capture process.
[0016] By adopting the above-described technical solution, the beneficial effects achieved by this invention compared to the prior art are as follows: (1) This invention realizes full automation of the process from identification and stimulation to capture, completely replacing the high-risk manual capture mode of divers, fundamentally eliminating the safety threats such as drowning and decompression sickness faced by operators. Moreover, the capture device can carry out long-term and large-scale operations, and its capture efficiency is far superior to manual capture. The stability of the operation is not affected by environmental factors such as seawater visibility and water flow, effectively meeting the harvesting needs of large-scale aquaculture. (2) The entire harvesting process of this invention does not require violent scraping with the seabed sediment, which eliminates the problems of sediment structure damage, seagrass bed damage and sand pollution from the mechanism, and effectively maintains the ecological balance and water quality stability of the harvesting area. (3) Based on the sensitivity of razor clams to salinity, this invention achieves “point-to-point” directional stimulation by precisely controlling the spray range of high-concentration salt water (diameter ≤ 5cm), which only prompts the target individual to come out of the hole, thus minimizing the disturbance to the surrounding benthic community and avoiding the indiscriminate destruction of traditional trawl nets. (4) The present invention uses a flexible grasping mechanism made of silicone material, which can adaptively cover the razor clam body upon contact, ensuring zero damage to the shell and soft tissue during the grasping process, thus protecting the product's activity and commercial value; (5) In view of the complex seabed environment, the present invention adopts a tracked walking mechanism, which significantly reduces the ground pressure, enabling it to move and operate stably on soft bottom materials such as sand and mud, effectively preventing sinking and stagnation, and ensuring the smooth execution of the harvesting task.
[0017] In summary, the harvesting device of the present invention integrates high efficiency, precision, non-destructive operation, and safety, which not only directly improves the operational efficiency and product quality of razor clam harvesting, but also maximizes the protection of the marine ranch environment. Attached Figure Description
[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.
[0019] Figure 1 This is a schematic diagram of the main structure of Embodiment 1 of the present invention; Figure 2 This is a three-dimensional structural diagram of the mobile positioning mechanism according to Embodiment 1 of the present invention; Figure 3 This is a top view of the mobile positioning mechanism according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the main structure of the acquisition actuator in Embodiment 1 of the present invention; Figure 5 This is a three-dimensional structural diagram of the acquisition actuator of Embodiment 1 of the present invention; Figure 6 for Figure 3 A schematic diagram of the AA cross-sectional structure.
[0020] In the diagram: 10. Chassis; 11. Track; 12. Track drive wheel; 13. Track guide wheel; 14. Track roller; 15. Crossbeam; 20. Camera; 21. Supplemental light; 30. Longitudinal moving frame; 31. Longitudinal moving positioning mechanism; 32. Guide rod; 33. Horizontal moving plate; 34. Horizontal moving positioning mechanism; 35. Sliding groove; 40. Fixed seat; 41. Visual recognition camera; 42. Water spray head; 43. Mechanical gripper; 44. Servo motor; 45. Water pipe; 51. Net cage; 52. Mesh net; 53. Propeller. Detailed Implementation
[0021] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and understanding purposes only and are not intended to limit the scope of the invention.
[0022] Example 1: An underwater razor clam harvesting device like Figure 1 As shown, this embodiment includes a chassis-mounted walking mechanism, a vision recognition module, a motion positioning mechanism, a harvesting execution mechanism, and a collection and storage mechanism. The chassis-mounted walking mechanism is an integral supporting and driving mechanism. The vision recognition module is used for a wide-range search to locate areas with dense clams (razor clams) burrows, causing the chassis-mounted walking mechanism to move towards those areas. The motion positioning mechanism is used to drive the harvesting execution mechanism to the specific burrow for harvesting. After harvesting, the clams are placed in the collection and storage mechanism for collection.
[0023] like Figure 1 , Figure 2 As shown, the chassis traveling mechanism includes a chassis 10, tracks 11, track drive wheels 12, track guide wheels 13, support rollers 14, and a crossbeam 15. Its core function is to enable stable movement of the device in different seabed terrains. The traveling mechanism uses tracks 11 to ensure that it does not get stuck in soft seabed materials such as sand and mud, adapting to complex seabed terrain. Track drive wheels 12, track guide wheels 13, and support rollers 14 are all made of corrosion-resistant alloy material with rust-proof treatment to extend their underwater service life. The crossbeam 15 is located between the tracks 11 on both sides and is used to fix the chassis 10. The crossbeam 15 is made of high-strength alloy material and has sufficient structural strength to support the weight of each functional module. The chassis 10 is a box-type frame structure with baffles on two opposite sides. Guide rods 32 are fixed at each of the four corners of the chassis 10.
[0024] The visual recognition module includes a camera 20 and an underwater supplementary light 21. The camera 20 is a high-definition industrial waterproof camera with a resolution of no less than 5 megapixels. The supplementary light 21 is a waterproof LED light. The combination of the camera 20 and the underwater supplementary light 21 effectively solves the problem of image acquisition in low-visibility seabed environments, ensuring clear image acquisition of seabed areas within a water depth range of 0-10m. The camera 20 is used for large-scale searches to identify areas with dense burrows of razor clams. When there are ≥3 burrows per square meter, the chassis walking mechanism moves towards that location.
[0025] like Figure 2 , Figure 3As shown, the moving positioning mechanism includes a longitudinal moving frame 30, a horizontal moving plate 33, a longitudinal moving positioning mechanism 31, and a horizontal moving positioning mechanism 34. The four corners of the longitudinal moving frame 30 are slidably fitted onto the four guide rods 32 of the chassis 10, ensuring that the longitudinal moving frame 30 does not wobble during lifting and lowering. The longitudinal moving frame 30 moves longitudinally along the chassis 10 via the longitudinal moving positioning mechanism 31, which is a motor-screw structure. The motor is a waterproof stepper motor with a protection rating of not less than IP68. The matching screw is made of stainless steel with a hard chrome plating to increase wear resistance and rust prevention. The screw is installed parallel to the guide rods 32, and both ends are fixed to the chassis 1 via bearing seats. The longitudinal moving frame 30 is threadedly connected to the screw. The forward and reverse rotation of the motor drives the longitudinal moving frame 30 to rise and fall longitudinally along the guide rods 32. The maximum lifting stroke of the longitudinal moving frame 30 is 40cm, and the movement accuracy error is ≤1cm.
[0026] The horizontal moving plate 33 is a long strip-shaped plate structure. Sliding grooves 35 are provided on both opposite sides of the longitudinal moving frame 30. The two ends of the horizontal moving plate 33 are slidably positioned within the sliding grooves 35 on both sides of the longitudinal moving frame 30. The horizontal moving plate 33 moves laterally along the chassis 10 via a horizontal moving positioning mechanism 34. The horizontal moving positioning mechanism 34 is a motor-screw structure. The motor and screw adopt the same requirements as described above. The horizontal moving positioning mechanism 34 is installed parallel to the sliding grooves 35; the installation method will not be described further.
[0027] like Figure 1 , Figure 3 As shown, multiple harvesting mechanisms are arranged alternately on both sides of the horizontal moving plate 33 to ensure no area is missed during harvesting. The distance between two adjacent harvesting mechanisms is 50mm. Each harvesting mechanism includes a fixed base 40, a visual recognition camera 41, a water spray head 42, and a mechanical gripper 43. The fixed base 40 is bolted to the horizontal moving plate 33 and has an inverted L-shaped structure for mounting and fixing the visual recognition camera 41, the water spray head 42, and the mechanical gripper 43. The visual recognition camera 41 is mounted on the fixed base 40 of the harvesting mechanism and is located directly above the mechanical gripper 43. It has a built-in image recognition algorithm and real-time image transmission and processing capabilities, enabling it to accurately identify the center coordinates of the razor clam burrow.
[0028] like Figure 4As shown, the spray head 42 is located above the mechanical gripper 43. The spray head 42 is connected to a storage tank on the mother ship (not shown in the figure) via a water pipe 45. The storage tank contains a high-concentration brine mixture and is connected to a micro water pump (not shown in the figure). The micro water pump injects the brine mixture from the storage tank into the spray head 42. The high-concentration brine mixture can trigger the razor clam to crawl out of its burrow, making it easy to harvest. The pressure of the micro water pump is adjustable to ensure that the spray range diameter of the spray head 42 is ≤5cm, accurately covering the area that the mechanical gripper 43 can capture, preventing salinity stress from spreading to the surrounding area, and the spray duration is 8-12s to avoid waste. After the harvesting device passes through the harvesting area, the propeller 53 (described below) in the collection and storage mechanism disturbs the water flow, allowing the salinity to return to a normal concentration, without causing salinity stress to surrounding organisms and the environment.
[0029] like Figure 5 As shown, the mechanical gripper 43 includes two silicone grippers. Each gripper is 50mm long and covers a gripping area of 50mm×50mm. The grippers are driven to open and close by a small servo motor 44. The servo motor 44 is waterproof and has a gripping force of 0.8N when the grippers are closed. It can adapt to the size of the razor clam and avoid damaging its shell and meat.
[0030] like Figure 6 As shown, the collection and storage mechanism includes a net cage 51, a mesh screen 52, and a propeller 53, used for collecting razor clams and filtering impurities. The net cage 51 is fixed to the chassis 10 and positioned opposite the harvesting actuator mechanism. The net cage 51 is a square structure with openings at both ends. One end, connected to the chassis 10, slopes downwards and extends horizontally, facilitating the entry of razor clams into the net cage 51 under the influence of water flow and gravity. The mesh screen 52 is fixed to the other opening of the net cage 51. The mesh screen 52 has a mesh size of 1-2 mm, effectively filtering fine sand and seabed impurities while preventing razor clams from escaping. The propeller 53 is a ducted propeller 53, fixed to the end of the net cage 51 and located to the right of the mesh screen 52. It is driven by a waterproof motor with a protection rating of at least IP68. When rotating, it generates a directional water flow, which, in conjunction with gravity, quickly draws the razor clams released by the mechanical gripper 43 into the net cage 51, ensuring no escape after capture.
[0031] Example 2: A method for underwater harvesting of razor clams S1. Deploy the device to the target sea area using hoisting equipment. The target sea area must meet the conditions of water depth 0-10m and bottom sediment of sand or mud. The surface support vessel starts the control system and completes the self-test of each module, including motor rotation flexibility test, camera 20 image transmission clarity test, water pump pressure test, etc., to ensure that all components are working properly. After the self-test is passed, turn on the underwater supplementary light 21 and underwater camera 20, and enter the operation preparation state.
[0032] S2. The underwater camera 20 acquires images of the seabed area in real time and transmits the image data to the mother ship's control system. The control system processes the images using an edge detection algorithm to identify razor clam burrows (the burrows are characterized by circular depressions, 2-3 cm in diameter, with no obvious impurities covering the surrounding area). When a dense area of burrows is detected (the criterion is ≥3 burrows per square meter), the system marks the coordinates of the area and sends a command to the chassis walking mechanism to drive it to the marked area, achieving precise positioning of the work area.
[0033] S3. Upon reaching the work area, the longitudinal movement positioning mechanism 31 moves the longitudinal movement frame 30 closer to the burrow of the razor clam until the visual recognition camera 41 detects that the mechanical gripper 43 is 2-3 cm away from the seabed surface, at which point the longitudinal movement stops. Simultaneously, the horizontal movement positioning mechanism 34 moves the horizontal movement plate 33 to one side of the net cage 51, positioning the mechanical gripper 43 in its initial grasping position. Subsequently, the harvesting actuator moves in 5 cm increments away from the net cage 51, pausing for 2 seconds at each step, while simultaneously activating the visual recognition camera 41 to scan individual burrows within the gripper's coverage area in real time.
[0034] S4. When the visual recognition camera 41 detects a single razor clam burrow, the system controls the horizontal moving plate 33 to stop moving and lock the current position; the mother ship starts the micro water pump, and the brine mixture is delivered to the spray head 42 through the water pipe 45, and sprayed continuously into the target burrow for 8-12 seconds. In this embodiment, the spraying lasts for 10 seconds. During the spraying process, the visual recognition camera 41 continuously monitors the dynamics of the burrow; after the spraying ends, wait for 10 seconds (the razor clam's reaction delay time to salinity changes) until the visual recognition camera 41 detects the razor clam crawling out of the burrow.
[0035] S5. The small servo motor 44 is activated, driving the mechanical gripper 43 to close and grasp the razor clam with a clamping force of 0.8N for 0.5s. After the visual recognition camera 41 confirms the successful grasp, it sends a signal to the control system. The longitudinal movement positioning mechanism 31 moves the longitudinal movement frame 30 to the highest point, while the horizontal movement positioning mechanism 34 drives the horizontal movement plate 33 to move to one side of the net cage 51. Subsequently, the propeller 53 is activated to generate a directional water flow, the mechanical gripper 43 is released, and the razor clam enters the net cage 51 under the combined action of water flow and gravity. The mesh 52 of the net cage 51 filters out the fine sand and impurities that enter with the water flow.
[0036] S6. After the single-row cave capture is completed, the horizontal moving plate 33 continues to move away from the net cage 51 in steps of 5cm, repeating the above steps of salinity stimulation, soft capture and collection until the current working area is covered; when there are no uncaptured caves in the current area, the chassis walking mechanism is activated, and the device moves forward in steps of "the longitudinal moving frame 30 covering a length of 1m". After it is in place, the entire process from the positioning of the capture actuator mechanism to collection is repeated, and the capture operation in the new area is started to achieve large-scale continuous capture.
[0037] S7. When the preset harvesting time is reached or the target area harvesting is completed, the control system shuts down all functional modules, and the device moves autonomously to below the mother ship. The mother ship uses hoisting equipment to retrieve the device to the deck. The staff opens the net cage 51, removes the razor clams inside, cleans the remaining impurities inside the net cage 51, checks the wear and tear of key components, and replaces damaged parts in a timely manner to prepare for the next operation.
[0038] It should be noted that the above description is merely 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 make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. An underwater razor clam harvesting device, characterized in that, It includes a chassis walking mechanism, a vision recognition module, a mobile positioning mechanism, a harvesting execution mechanism, and a collection and storage mechanism; The visual recognition module is fixed on the chassis walking mechanism and is used to identify areas with dense clams burrows, so that the chassis walking mechanism can move to a position with ≥3 burrows per square meter. The mobile positioning mechanism includes a longitudinal moving frame, a horizontal moving plate, a longitudinal moving positioning mechanism, and a horizontal moving positioning mechanism. The longitudinal moving frame is slidably mounted on the chassis walking mechanism and moves longitudinally through the longitudinal moving positioning mechanism. The horizontal moving plate is slidably mounted on the longitudinal moving frame and moves laterally through the horizontal moving positioning mechanism. The harvesting mechanism is equipped with multiple components, each including a fixed base, a visual recognition camera, a water spray head, and a mechanical gripper. The fixed base is fixed on a horizontal moving plate. The water spray head is connected to a storage tank via a water pipe. The storage tank contains a brine mixture. A water pump supplies the brine mixture from the storage tank to the water spray head. The visual camera determines the center coordinates of a single cave. The water spray head sprays the brine mixture into the cave to lure the razor clam out of the cave. The mechanical gripper then harvests the clams. The collection and storage mechanism includes a net box and a propeller fixed on the chassis walking mechanism. The net box is open at both ends, and a mesh is fixed at the end away from the chassis walking mechanism. The water flow generated by the rotation of the propeller and the gravity of the razor clams are combined to suck the razor clams released by the mechanical gripper into the net box.
2. The underwater razor clam harvesting device according to claim 1, characterized in that, The spray diameter of the spray head is ≤5cm, and the spray duration is 8-12s.
3. The underwater razor clam harvesting device according to claim 2, characterized in that, The visual recognition module includes a camera and a fill light.
4. An underwater razor clam harvesting device according to any one of claims 1-3, characterized in that, The chassis walking mechanism is a tracked structure.
5. The underwater razor clam harvesting device according to claim 4, characterized in that, The harvesting and capturing mechanism is staggered along both sides of the horizontal moving plate.
6. The underwater razor clam harvesting device according to claim 5, characterized in that, The end of the cage connected to the chassis walking mechanism tilts downward and then extends horizontally.
7. An underwater razor clam harvesting device according to any one of claims 1-3, 5, and 6, characterized in that, Guide rods are fixed at each of the four corners of the chassis traveling mechanism, and the four corners of the longitudinal moving frame are slidably mounted on the four guide rods respectively.
8. The underwater razor clam harvesting device according to claim 7, characterized in that, The longitudinal moving frame has sliding grooves on opposite sides, and the two ends of the horizontal moving plate are respectively slidably disposed in the two sliding grooves.
9. The underwater bamboo clam harvesting device according to claim 8, characterized in that, The mechanical gripper includes two silicone grippers that open and close via a servo motor.
10. A method for harvesting razor clams underwater, characterized in that, The methods of capture include: S1. Deploy the underwater razor clam harvesting device according to any one of claims 1-9 to the target sea area, where the target sea area must have a water depth of 0-10m; S2. The visual recognition module collects images of the seabed area in real time. When the number of caves per square meter is ≥3, the chassis walking mechanism reaches the area to work. S3. After arriving at the work area, the longitudinal movement positioning mechanism moves the mechanical gripper 2-3 cm away from the seabed surface, and the horizontal movement positioning mechanism moves the mechanical gripper to one side of the net cage, placing it in the initial capture position. The capture actuator mechanism moves in steps of 5 cm away from the net cage, pausing for 2 seconds at each step, and simultaneously activates the visual recognition camera to scan individual holes in the area covered by the gripper in real time. S4. When the visual recognition camera detects a single razor clam burrow, the current position is locked, the water pump is started, and the brine mixture is delivered to the spray head to spray continuously at the target burrow for 8-12 seconds. After the spraying ends, wait for 10 seconds until the visual recognition camera detects the razor clam crawling out of the burrow. S5. The mechanical gripper grasps the razor clam with a clamping force of 0.8N for 0.5s. After the visual recognition camera confirms the successful grasp, the mechanical gripper moves towards the net cage, the propeller starts to generate a directional water flow, the mechanical gripper releases, and the razor clam enters the net cage. S6. After capturing a single row of caves, the horizontal moving plate continues to move away from the net cage in 5cm increments to continue capturing until the current working area is covered. When there are no uncaptured caves in the current area, the chassis walking mechanism is activated and moves forward in 1m increments with the longitudinal moving frame covering the length, repeating the capture process.