An underwater robot for repairing a net of a marine farming net cage

Abstract

This embodiment discloses an underwater robot for repairing the netting of marine aquaculture cages. Through a netting hole repair device combined with a vision component, it achieves fully automated underwater identification and repair of holes in the aquaculture cages, eliminating the need for manual diving operations and significantly reducing labor costs and safety risks. The robot employs an elastic repair net with upper and lower gripping hooks, adapting to netting holes of different sizes and shapes. The gripping hooks automatically tighten via tension springs, ensuring a firm and reliable repair. The repair device precisely controls the tensioning and release process through an underwater servo motor, and combined with the vision component, achieves high-precision, high-success-rate automatic repair.

Description

Technical Field

[0001] This invention relates to the field of cage aquaculture technology, and in particular to an underwater robot for repairing the netting of marine aquaculture cages. Background Technology

[0002] my country is a major marine aquaculture country, and marine ranching, as an important direction for the development of modern fisheries, continues to expand in scale. Aquaculture cages are the core facilities in marine ranches used to enclose aquaculture areas and prevent the escape of farmed organisms. However, the marine environment where marine ranches are located is complex. Cages are constantly subjected to the impact of wind, waves, and ocean currents, and are susceptible to damage from marine organisms and accidental collisions by fishing vessels, leading to frequent incidents of netting damage. Once a breach occurs, a large number of farmed fish can escape, causing huge economic losses to aquaculture enterprises. At the same time, damaged cages also destroy their original ecological isolation function, potentially causing cross-influence between the aquaculture area and the surrounding environment.

[0003] Currently, repair work on damaged netting in cages mainly relies on manual diving operations. Manual diving has significant limitations: First, divers are limited in depth and time, especially in deep water or areas with strong currents, making the work high-risk and difficult; second, manual repair is inefficient, as it takes a long time from discovering the damage to organizing divers to go underwater, making it difficult to deal with sudden, large-scale damage; third, it is severely affected by weather and sea conditions, and in adverse conditions, underwater operations are impossible, potentially delaying the best repair opportunity and leading to further losses.

[0004] To improve the automation level of underwater operations, some underwater robots (ROVs / AUVs) have emerged for observation or simple cleanup. However, these general-purpose underwater robots mainly focus on observation, photography, or sampling, and typically lack dedicated end effectors for net cage repair, making them unable to perform delicate operations such as grasping, positioning, sewing, or clamping flexible netting. Even the few devices equipped with robotic arms lack specialized tools and intelligent control systems highly adapted to repair tasks, making it difficult to stably and accurately complete repair tasks in complex water currents. Summary of the Invention

[0005] This invention discloses an underwater robot for repairing the netting of marine aquaculture cages, in order to overcome the above-mentioned technical problems.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] An underwater robot for repairing the netting of marine aquaculture cages includes: a cage hole repair device, a robot main frame, a cabin, a thruster, a vision component, and a main controller;

[0008] The cage hole repair device includes: a repair net, an L-shaped connecting plate, a limiting member connecting plate, a rear limiting plate, a front limiting plate, a rudder connecting arm, an underwater rudder, and a rudder connecting plate.

[0009] The repair net includes an upper hook connecting plate, multiple upper hooks, two tension springs, an elastic repair net, multiple lower hooks, and a lower hook connecting plate;

[0010] The upper hook connecting plate is fixedly installed on the top of the elastic repair net; the lower hook connecting plate is fixedly installed on the bottom of the elastic repair net; two tension springs are respectively fixedly installed on both sides of the elastic repair net, and the two ends of the tension springs are respectively fixedly connected to the upper hook connecting plate and the lower hook connecting plate; multiple upper hooks are fixedly connected to the upper hook connecting plate; multiple lower hooks are fixedly connected to the lower hook connecting plate.

[0011] The limiting component connecting plate is connected to the top of the robot's main frame on the forward side via an L-shaped connecting plate, and the limiting component connecting plate is parallel to the forward direction of the underwater robot.

[0012] Both the rear limiting plate and the front limiting plate are vertically fixed to the top of the limiting component connecting plate on the side away from the robot's main frame; an upper gripper connecting plate embedding groove is formed between the rear limiting plate and the front limiting plate; the upper gripper connecting plate can be embedded inside the upper gripper connecting plate embedding groove;

[0013] The servo motor connecting plate is fixedly mounted on the bottom of the forward side of the robot's main frame via a second L-shaped connecting plate;

[0014] The underwater servo motor is fixedly connected to the servo motor connecting plate via a servo motor mounting bracket; the servo motor connecting arm is rotatably connected to the underwater servo motor, so that the underwater servo motor can control the servo motor connecting arm to perform pitch movement; when the servo motor connecting arm abuts against the lower gripper connecting plate, the lower gripper connecting plate can move closer to or further away from the upper gripper connecting plate as the servo motor connecting arm pitches; the cabin is fixedly mounted on the robot's main frame; the cabin is equipped with a glass hemispherical viewing window, and a vision component is installed inside the cabin to acquire real-time underwater images to determine the location of the netting damage;

[0015] The vision component and the servo connecting arm are both communicatively connected to the main controller, which is communicatively connected to the thruster. The main controller is used to drive the movement of the underwater robot through the thruster, and to enable the repair net to cover the damaged area of ​​the net after the location of the net damage is determined, thereby repairing the net.

[0016] Furthermore, the robot's main frame includes a rear frame plate, a front frame plate, and several carbon fiber connecting pipes.

[0017] The two ends of the carbon fiber connecting tube are fixedly connected to the rear plate and the front plate of the frame, respectively.

[0018] Both the L-shaped connecting plate and the second L-shaped connecting plate are fixedly connected to the front panel of the frame.

[0019] Furthermore, the L-shaped connecting plate includes a first connecting plate and a second connecting plate;

[0020] The side of the first connecting plate is fixedly disposed on the top of the forward side of the robot main frame, and the second connecting plate is vertically fixed to the top of the first connecting plate and on the side away from the robot main frame.

[0021] The limiting member connecting plate is fixedly connected to the top of the second connecting plate, and the limiting member connecting plate is parallel to the second connecting plate.

[0022] Furthermore, the second L-shaped connecting plate includes a third connecting plate and a fourth connecting plate;

[0023] The side of the third connecting plate is fixedly disposed at the bottom of the forward side of the robot's main frame, and the fourth connecting plate is vertically fixed at the bottom of the side of the third connecting plate away from the robot's main frame.

[0024] The servo connecting plate is fixedly mounted on the top of the fourth connecting plate and is parallel to the fourth connecting plate.

[0025] Furthermore, it also includes the expansion of connecting rails;

[0026] The extended connecting rail is fixed to the main frame of the robot and is used to install lighting and robotic arms.

[0027] Beneficial Effects: This invention provides an underwater robot for repairing netting in marine aquaculture cages. Through a netting hole repair device combined with a vision component, it achieves fully automated underwater identification and repair of holes in aquaculture netting cages, eliminating the need for manual diving operations and significantly reducing labor costs and safety risks. The use of an elastic repair net with upper and lower gripping hooks allows it to adapt to netting holes of different sizes and shapes. The gripping hooks automatically tighten via tension springs, ensuring a firm and reliable repair. The repair device precisely controls the tensioning and release process through an underwater servo motor, and combined with the vision component, achieves high-precision and high-success-rate automatic repair. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the underwater robot for repairing aquaculture cages in this invention;

[0030] Figure 2 This is a schematic diagram illustrating the completion of underwater robot cage repair in an embodiment of the present invention;

[0031] Figure 3 This is a perspective view of the wire mesh cage hole repair device in an embodiment of the present invention;

[0032] Figure 4 This is a front view of the wire mesh cage hole repair device in an embodiment of the present invention;

[0033] Figure 5 This is a side view of the wire mesh cage hole repair device in an embodiment of the present invention;

[0034] Figure 6 As described in the embodiments of the present invention Figure 5 Enlarged view of a portion of point A in the middle;

[0035] Figure 7 This is a schematic diagram of the thruster fixing bracket in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the mesh repair method in an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram illustrating the specific implementation process of repairing a wire mesh cage using a wire mesh cage hole repair device in an embodiment of the present invention.

[0038] In the diagram: 1. Hull; 2. Thruster; 3. Thruster mounting bracket; 4. Rear frame panel; 5. Extension connecting rail; 6. Carbon fiber connecting pipe; 7. Front frame panel; 8. Net cage hole repair device; 9. Glass hemispherical window; 81. L-shaped connecting plate; 811. First connecting plate; 812. Second connecting plate; 82. Limiting component connecting plate; 83. Rear limiting plate; 84. Front limiting plate; 85. Repair net; 86. Servo connecting arm; 87. Servo mounting bracket; 88. Underwater servo; 89. Servo. Connecting plate; 851, Upper grab hook connecting plate; 8511, Upper grab hook connecting plate embedded groove; 852, Upper grab hook; 8521, First bending rod; 8522, Second bending rod; 8523, Third bending rod; 8524, Fourth bending rod; 8525, Fifth bending rod; 8526, Sixth bending rod; 853, Tension spring; 854, Elastic repair net; 855, Lower grab hook; 856, Lower grab hook connecting plate; 80, Second L-shaped connecting plate; 801, Third connecting plate; 802, Fourth connecting plate. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] This embodiment describes an underwater robot for repairing the netting of marine aquaculture cages, including, for example... Figures 1-7 As shown: Includes: a mesh cage hole repair device 8; the mesh cage hole repair device 8 includes: a repair mesh 85, an L-shaped connecting plate 81 for controlling the tension and contraction of the repair mesh, a limiting member connecting plate 82, a rear limiting plate 83, a front limiting plate 84, a servo motor connecting arm 86, a servo motor fixing bracket 87, an underwater servo motor 88, and a servo motor connecting plate 89.

[0041] The repair net 85 includes an upper hook connecting plate 851, multiple upper hooks 852, two tension springs 853, an elastic repair net 854, multiple lower hooks 855, and a lower hook connecting plate 856.

[0042] The upper hook connecting plate 851 is fixedly disposed on the top of the elastic repair net 854; the lower hook connecting plate 856 is fixedly disposed on the bottom of the elastic repair net 854; two tension springs 853 are respectively fixedly disposed on both sides of the elastic repair net 854, and the two ends of the tension springs 853 are respectively fixedly connected to the upper hook connecting plate 851 and the lower hook connecting plate 856; multiple upper hooks 852 are connected to the upper hook connecting plate 851; multiple lower hooks 855 are fixedly connected to the lower hook connecting plate 856.

[0043] The limiting member connecting plate 82 is connected to the top of the robot's main frame on the forward side via an L-shaped connecting plate 81, and the limiting member connecting plate 82 is parallel to the forward direction of the underwater robot.

[0044] Preferably, the L-shaped connecting plate 81 includes a first connecting plate 811 and a second connecting plate 812;

[0045] The side of the first connecting plate 811 is fixedly disposed on the top of the front plate 7 of the front end of the robot main frame, and the second connecting plate 812 is vertically fixed to the top of the first connecting plate 811 and on the side away from the robot main frame.

[0046] The limiting member connecting plate 82 is fixedly connected to the top of the second connecting plate 812, and the limiting member connecting plate 82 is parallel to the second connecting plate 812.

[0047] The rear limiting plate 83 and the front limiting plate 84 are both vertically fixed to the top of the limiting member connecting plate 82 on the side away from the robot's main frame; an upper gripper connecting plate embedding groove 8511 is formed between the rear limiting plate 83 and the front limiting plate 84; the upper gripper connecting plate 851 can be embedded inside the upper gripper connecting plate embedding groove 8511.

[0048] The servo motor connecting plate 89 is fixedly mounted on the bottom of the forward side of the robot's main frame via the second L-shaped connecting plate 80;

[0049] Preferably, the second L-shaped connecting plate 80 includes a third connecting plate 801 and a fourth connecting plate 802;

[0050] The side of the third connecting plate 801 is fixedly disposed at the bottom of the front plate 7 of the robot main frame, and the fourth connecting plate 802 is vertically fixed to the side of the third connecting plate 801 away from the robot main frame, and the fourth connecting plate 802 is vertically fixed to the bottom of the third connecting plate 801; so that the servo connecting plate 89 is fixedly disposed at the front end of the robot main frame through the second L-shaped connecting plate 80.

[0051] The servo connecting plate 89 is fixedly mounted on the top of the fourth connecting plate 802 and is parallel to the fourth connecting plate.

[0052] The underwater servo motor 88 is fixedly connected to the servo motor connecting plate 89 via a servo motor mounting bracket 87; wherein, the servo motor mounting bracket 87 is fixed on the servo motor connecting plate 89, and the underwater servo motor 88 is mounted on the servo motor mounting bracket 87.

[0053] The servo connecting arm 86 is rotatably connected to the underwater servo 88, so that the underwater servo 88 can control the servo connecting arm 86 to perform pitch movement. When the servo connecting arm 86 abuts against the lower grab hook connecting plate 856, the lower grab hook connecting plate 856 can move closer to or further away from the upper grab hook connecting plate 851 as the servo connecting arm 86 pitches.

[0054] In this embodiment, the upper gripper hook 852 includes a first bent rod 8521, a second bent rod 8522, a third bent rod 8523, a fourth bent rod 8524, a fifth bent rod 8525, and a sixth bent rod 8526. The first bent rod 8521 can be embedded inside the upper gripper hook connecting plate embedding groove 8511; the second bent rod 8522 is perpendicular to the first bent rod 8521 and is located on the side of the elastic repair net 854 away from the robot's main frame; one end of the third bent rod 8523 is connected to the other end of the second bent rod 8522, and the angle between the third bent rod 8523 and the second bent rod 8522 is an obtuse angle; the fourth bent rod 8524 is perpendicular to the third bent rod 8523; the fifth bent rod 8522... 5 is perpendicular to the fourth bending rod 8524; the sixth bending rod 8526 is perpendicular to the fifth bending rod 8525; the fourth bending rod 8524, the fifth bending rod 8525, and the sixth bending rod 8526 together form the shape of a hook; when the upper hook passes through the mesh above the damaged area of ​​the netting, and the tension spring contracts, the upper hook tends to move downwards, allowing the net wire at the upper mesh to be hooked by the bends formed by the fourth bending rod 8524, the fifth bending rod 8525, and the sixth bending rod 8526. The lower hook 855 and the upper hook 852 have the same structure and working principle, and will not be described further here.

[0055] In this embodiment, the upper hook 852 and the lower hook 855 can respectively engage the wires of the mesh above and below the damaged area of ​​the mesh.

[0056] The cabin 1 is fixedly mounted on the robot's main frame. A glass hemispherical viewing window 9 is installed on the cabin 1, and a camera is installed inside the cabin 1 to collect underwater image information to determine the location of the netting damage. The vision system uses the camera installed inside the cabin 1 to collect underwater image information through the glass hemispherical viewing window 9 to determine the location of the netting damage.

[0057] The vision component and servo connecting arm 86 are both communicatively connected to the main controller, which in turn is communicatively connected to the thruster 2. The main controller is used to drive the underwater robot's movement via the thruster and, once the location of the netting damage is determined, to ensure that the repair net 85 covers the damaged area, thus repairing the netting. The thruster 2 is fixedly mounted at the rear end of the robot's main frame.

[0058] The repair net 85 in this embodiment consists of an upper hook connecting plate 851, upper hooks 852, tension springs 853, an elastic repair net 854, lower hooks 855, and a lower hook connecting plate 856. Several upper hooks 852 are connected to the upper hook connecting plate 851, and several lower hooks 855 are connected to the lower hook connecting plate 856. The upper hooks 852 and lower hooks 855 cooperate to hook the mesh when repairing damaged fishing nets. Two tension springs 853 are installed on both sides of the connecting plate and fixed between the upper hook connecting plate 851 and the lower hook connecting plate 856 to control the extension and contraction of the repair net 85. The elastic repair net 854 is fixed between the upper hook connecting plate 851 and the lower hook connecting plate 856 to cover holes in the net cage.

[0059] In use, the upper grab hook connecting plate 851 is installed in the slot between the rear limit plate 83 and the front limit plate 84; the lower grab hook connecting plate 856 is fixed to the servo motor connecting arm 86, and the pitch angle of the servo motor connecting arm 86 is controlled by the underwater servo motor 88. When the servo motor connecting arm 86 rotates downward, it drives the lower grab hook connecting plate 856 to move downward, the tension spring 853 is stretched, and the distance between the upper grab hook connecting plate 851 and the lower grab hook connecting plate 856 increases; conversely, when the servo motor connecting arm 86 rotates upward, it drives the lower grab hook connecting plate 856 to move upward. When the tension spring 853 contracts, the upper hook connecting plate 851 and the lower hook connecting plate 856 move closer to each other under the drive of the tension spring 853. The upper hook 852 and the lower hook 855 hook the net above and below the location to be repaired. At this time, the servo motor connecting arm 86 continues to rotate upward, the lower hook connecting plate 856 disengages from below the servo motor connecting arm 86, and the upper hook connecting plate 851 disengages from the slot between the rear limit plate 83 and the front limit plate 84, thereby separating the repair net 85 from the underwater robot body. The repair net 85 stays at the damaged area of ​​the net to complete the repair.

[0060] Figure 2 This is a schematic diagram showing the completed repair of the underwater robot's net cage. After the repair is completed, the repair net 85 is fixed to the hole in the net and then separated from the underwater robot.

[0061] Figure 6 A partial enlarged view of the gripping device on the mesh cage hole repair device shows that the rear limit plate 83 and the front limit plate 84 are connected to the limit member connecting plate 82, and a slot is formed between the rear limit plate 83 and the front limit plate 84. The upper gripping hook connecting plate 851 in the repair mesh 85 is installed in the slot to achieve fixation.

[0062] Preferably, the robot's main frame includes a rear frame plate 4, a front frame plate 7, and several carbon fiber connecting pipes 6.

[0063] The two ends of the carbon fiber connecting tube 6 are fixedly connected to the rear plate 4 and the front plate 7 of the frame, respectively, so that the front plate 7 and the rear plate 4 of the frame are connected by the carbon fiber connecting tube 6 to form the main frame of the underwater robot. The L-shaped connecting plate 81 is fixedly connected to the front plate 7 of the frame through the first connecting plate 811, and the second L-shaped connecting plate 80 is fixedly connected to the front plate 7 of the frame through the third connecting plate 801.

[0064] Preferably, the thruster 2 is mounted on the thruster mounting bracket 3, and the thruster 2 is fixedly connected to the robot's main frame through the thruster mounting bracket 3.

[0065] Preferably, it also includes an extension connecting rail 5;

[0066] The extended connecting rail 5 is fixed on the main frame of the robot and is divided into two parts, one above the other of the cabin, for the installation of extended modules such as lighting and robotic arms; the cage hole repair device is installed on the front plate of the frame.

[0067] In this embodiment, the robot body is further equipped with a vision component providing real-time images, a motion control component providing underwater motion attitude perception and control, a power supply component, a communication component, and a main controller. The vision component, motion control component, power supply component, and communication component are all connected to the main controller. The motion control component is used to control the thruster 2, enabling the underwater robot to move along a preset inspection path; when the vision component acquires the location of the netting damage, the repair net 85 can cover the damaged location; and when the damaged location is repaired, the repair net separates from the underwater robot.

[0068] The communication component is used to transmit real-time underwater images to the main controller; and when the vision component obtains the location of the netting damage, it transmits control commands to the underwater servo motor 88 through the communication component, causing the servo motor connecting arm 86 to pitch and rotate, so that the underwater grab hook connecting plate 856 moves closer to or further away from the upper grab hook connecting plate 851 as the servo motor connecting arm 86 pitches and moves.

[0069] This embodiment describes a method for repairing the netting of an underwater robot used for repairing the netting of marine aquaculture cages. Figures 8-9 It includes the following steps:

[0070] S1: Insert the upper hook connecting plate 851 into the upper hook connecting plate embedding groove 8511;

[0071] At the same time, the underwater servo motor 88 drives the servo motor connecting arm 86 to rotate away from the upper grab hook connecting plate 851. At this time, the repair net 85 is tightened as the tension spring 853 stretches.

[0072] S2: When the underwater robot transports the repair net 85 to the damaged area of ​​the net, the repair net 85 and the net come into contact with each other on the same plane. At this time, the upper hook 852 and the lower hook 855 pass through the upper and lower meshes of the damaged area of ​​the net, respectively.

[0073] S3: The underwater servo motor 88 drives the servo motor connecting arm 86 to rotate towards the side where the upper grab hook connecting plate 851 is set. As the servo motor connecting arm 86 rotates, the lower grab hook connecting plate 856 decreases in distance from the upper grab hook connecting plate 851 due to the contraction of the tension spring 853.

[0074] At this point, the mesh wires below the damaged area of ​​the mesh can be hooked by the lower hook 855, while the mesh wires above the damaged area of ​​the mesh are hooked by the upper hook 852.

[0075] S4: After the tension spring 853 is reset, the servo motor connecting arm 86 continues to rotate towards the side where the upper grab hook connecting plate 851 is set. At this time, the distance between the lower grab hook connecting plate 856 and the upper grab hook connecting plate 851 does not continue to decrease. The servo motor connecting arm 86 disengages from the lower grab hook connecting plate 856. At this time, by controlling the movement of the underwater robot, the upper grab hook connecting plate 851 disengages from the upper grab hook connecting plate embedding groove 8511, thus completing the repair of the damaged position of the net.

[0076] In this embodiment, an inspection route is pre-set based on information such as the shape, size, and depth of the net cage. The underwater robot moves along the pre-set inspection route via a motion control component and transmits images of the net cage to the main controller in real time using a vision component. The main controller autonomously identifies the health status of the net cage using a visual image processing algorithm. When damage to the net cage is detected, the robot autonomously records video information, measures the size of the hole, and records the relative position of the damage point. The damage information is then transmitted to the ground station via a communication component. After the ground station operator confirms the repair instruction, the underwater robot autonomously navigates to the recorded damage location. Upon arrival, the main controller controls the underwater servo motor to drive the servo motor connecting arm to rotate downwards, bringing the repair net to a taut state. The robot then uses its vision components to precisely locate the center of the hole and adjusts its posture to center the hole in the image. Next, the robot slowly moves forward, embedding the hole into the central area of ​​the repair net, while the upper and lower grippers hook into the intact mesh on either side of the hole. Then, the underwater servo rotates in the opposite direction, causing the servo connecting arm to move upwards. Under the action of a tension spring, the upper and lower gripper connecting plates move closer together, firmly clamping the net. When the servo connecting arm continues to rotate upwards to a preset angle, the lower gripper connecting plate disengages from the servo connecting arm, and the upper gripper connecting plate disengages from its slot. The repair net is then released and remains at the damaged area, completing the automatic repair. The robot then returns to base or continues its inspection. The motion control components, vision components, and main controller are all existing products, and the method for identifying the health condition of the net is existing technology in the field and will not be described in detail in this embodiment.

[0077] Specifically, before the underwater robot is launched, the repair net 85 is fixed to the underwater robot. The method is as follows: the upper gripper connecting plate 851 is inserted into the slot between the rear limit plate 83 and the front limit plate 84, and the upper gripper connecting plate is embedded in the slot 8511. The lower gripper connecting plate 856 is below the servo motor connecting arm 86. The underwater servo motor 88 is controlled to drive the servo motor connecting arm 86 to rotate downward, so that the repair net 85 is in a pre-tensioned state and the tension spring 853 is in a state with a short extension. At this time, the repair net 85 can be fixed to the underwater robot.

[0078] The underwater robot reaches the hole in the netting and begins repair work. First, the underwater servo motor 88 drives the servo motor connecting arm 86 to rotate downwards, causing the lower grab hook connecting plate 856 to move downwards, stretching the tension spring 853 and putting the repair netting 85 under tension. Next, the underwater robot locates the tear in the netting using its vision system and controls its movement using the underwater propulsion system to center the tear in the image captured by the robot. Then, the robot moves forward, and the netting hole repair device impacts the tear, centering the tear in the repair netting 85. The upper grab hook 852 and lower grab hook 855 on both sides engage. Within the intact mesh of the net, the underwater servo motor 88 rotates upward, driving the servo motor connecting arm 86 to move upward. The repair net 85 tightens under the drive of the tension spring 853, causing the upper hook connecting plate 851 and the lower hook connecting plate 856 to move closer together, bringing the upper hook 852 and the lower hook 855 closer together, allowing the repair net 85 to firmly grip the net. Finally, the servo motor connecting arm 86 continues to rotate upward, eliminating the restriction on the lower hook connecting plate 856. The upper hook connecting plate 851 disengages from the slot between the rear limit plate 83 and the front limit plate 84, leaving the repair net 85 at the damaged area of ​​the net. The underwater robot separates from the repair net 85, completing the repair work. After the aquaculture net cage completes this operation and is brought ashore, technicians will perform further fine repairs on the damaged area of ​​the net.

[0079] This embodiment of an underwater robot for repairing netting in marine aquaculture cages includes a robot body integrating vision components, motion control components, power supply components, communication components, and a main controller. A netting hole repair device is located at the front end of the robot body frame. This repair device includes a repair net and a fixing component that controls the tension and contraction of the repair net. An underwater servo motor drives the servo motor connecting arm to pitch, which, in conjunction with a tension spring, achieves the tensioning, gripping, and release of the repair net. During operation, the robot inspects along a preset route, identifies the location of the netting damage through the vision system, aligns the repair net with the hole, and uses the upper and lower grippers to hook into the intact mesh. Tightening the grippers clamps the netting, thus automatically detaching and retaining the repair net. This invention enables fully automatic identification and underwater repair of damaged netting in cages, eliminating the need for manual diving. It offers advantages such as high safety, strong adaptability, and precise operation, contributing to improved maintenance efficiency and economic benefits for marine aquaculture cages. The modular design of this embodiment facilitates maintenance and functional expansion. The expansion connection rail supports the addition of auxiliary equipment such as lighting and robotic arms, enhancing the system's versatility.

[0080] 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater robot for repairing of a net of a sea cage, c h a r a c t e r i s e d i n that include: The net cage hole repair device (8), the robot's main frame, the cabin (1), the thruster (2), the vision component, and the main controller; The cage hole repair device (8) includes: repair net (85), L-shaped connecting plate (81), limiting member connecting plate (82), rear limiting plate (83), front limiting plate (84), servo motor connecting arm (86), underwater servo motor (88), and servo motor connecting plate (89). The repair net (85) includes an upper hook connecting plate (851), multiple upper hooks (852), two tension springs (853), an elastic repair net (854), multiple lower hooks (855), and a lower hook connecting plate (856). The upper hook connecting plate (851) is fixedly installed on the top of the elastic repair net (854); the lower hook connecting plate (856) is fixedly installed on the bottom of the elastic repair net (854); two tension springs (853) are respectively fixedly installed on both sides of the elastic repair net (854), and the two ends of the tension springs (853) are respectively fixedly connected to the upper hook connecting plate (851) and the lower hook connecting plate (856); multiple upper hooks (852) are fixedly connected to the upper hook connecting plate (851); multiple lower hooks (855) are fixedly connected to the lower hook connecting plate (856); The limiting member connecting plate (82) is connected to the top of the robot's main frame on the forward side via an L-shaped connecting plate (81), and the limiting member connecting plate (82) is parallel to the forward direction of the underwater robot. The rear limiting plate (83) and the front limiting plate (84) are both vertically fixed to the top of the limiting member connecting plate (82) on the side away from the robot's main frame; an upper gripper connecting plate embedding groove (8511) is formed between the rear limiting plate (83) and the front limiting plate (84); the upper gripper connecting plate (851) can be embedded inside the upper gripper connecting plate embedding groove (8511); The servo motor connecting plate (89) is fixedly installed at the bottom of the forward side of the robot's main frame via the second L-shaped connecting plate (80); The underwater servo motor (88) is fixedly connected to the servo motor connecting plate (89) via the servo motor fixing bracket (87); the servo motor connecting arm (86) is rotatably connected to the underwater servo motor (88) so that the underwater servo motor (88) controls the servo motor connecting arm (86) to perform pitch movement; when the servo motor connecting arm (86) abuts against the lower gripper connecting plate (856), the lower gripper connecting plate (856) can approach or move away from the upper gripper connecting plate (851) with the pitch movement of the servo motor connecting arm (86); the cabin (1) is fixedly installed on the robot's main frame; the cabin (1) is provided with a glass hemispherical window (9), and the cabin (1) is provided with a vision component for acquiring real-time underwater images to determine the location of the netting damage; The vision component and the servo connecting arm (86) are both connected to the main controller, which is connected to the thruster (2) to drive the movement of the underwater robot through the thruster, and to enable the repair net (85) to cover the damaged area of ​​the net after the damaged area is determined, so as to repair the net.

2. An underwater robot for repairing a net of a sea cage according to claim 1, characterized in that, The robot's main frame includes a rear frame plate (4), a front frame plate (7), and several carbon fiber connecting pipes (6). The two ends of the carbon fiber connecting tube (6) are fixedly connected to the rear plate (4) and the front plate (7) of the frame, respectively. Both the L-shaped connecting plate (81) and the second L-shaped connecting plate (80) are fixedly connected to the front panel (7) of the frame.

3. An underwater robot for repairing marine aquaculture cage netting according to claim 2, characterized in that, The L-shaped connecting plate (81) includes a first connecting plate (811) and a second connecting plate (812); The side of the first connecting plate (811) is fixedly disposed on the top of the forward side of the robot main frame, and the second connecting plate (812) is vertically fixed to the top of the first connecting plate (811) and on the side away from the robot main frame. The limiting member connecting plate (82) is fixedly connected to the top of the second connecting plate (812), and the limiting member connecting plate (82) is parallel to the second connecting plate (812).

4. An underwater robot for repairing a net of a sea cage according to claim 2, characterized in that, The second L-shaped connecting plate (80) includes a third connecting plate (801) and a fourth connecting plate (802); The side of the third connecting plate (801) is fixedly disposed at the bottom of the forward side of the robot main frame, and the fourth connecting plate (802) is vertically fixed at the bottom of the side of the third connecting plate (801) away from the robot main frame. The servo connecting plate (89) is fixedly mounted on the top of the fourth connecting plate (802) and is parallel to the fourth connecting plate.

5. An underwater robot for repairing marine aquaculture cage netting according to claim 1, characterized in that, It also includes an extension connection rail (5); The extended connecting rail (5) is fixed on the main frame of the robot and is used to install lighting and robotic arms.

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