Mud snail catching machine

Abstract

The utility model provides a bullacta exarata collecting and catching machine which comprises a bottom frame, a moving device driving the bottom frame to move and a suction collecting and catching device, the suction collecting and catching device comprises a workbench, a steering wheel, a working arm, a hose, a suction nozzle, a collecting barrel, a negative pressure device, a control system and a visual camera, and the front end of the hose is installed at the front end of the working arm; when the visual camera detects an image of the bullacta exarata, the control system controls the steering wheel to rotate to the position of the bullacta exarata, a working arm on the steering wheel extends to the area where the bullacta exarata is located, and the bullacta exarata is collected through the negative pressure device. The bullacta exarata is sucked into the hose through the suction nozzle at the front end of the hose and then enters the collecting barrel, automation of bullacta exarata collecting and catching is achieved, the characteristic of high automation degree is achieved, and the collecting and catching efficiency can be improved; and the hose and the suction nozzle at the front end of the hose are made of soft materials, so that the breakage rate of the bullacta exarata during catching can be effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of tidal flat fisheries, in particular to a mud snail catching machine. Background Art

[0002] Shellfish farming and harvesting industry has always been an important part of the fishery industry, among which mud snail is a more common shellfish food. The shell of mud snail is oval, thin and brittle, with a large shell mouth, a smooth surface and a fat body. The existing mud snail harvesting industry is still a labor-intensive industry and is extremely dependent on manual labor because mud snails are relatively fragile and have a high breakage rate during harvesting. This leads to low harvesting efficiency and great pressure on the health of practitioners. Therefore, it is necessary to propose an efficient and automated harvesting machine to meet the needs of mud snail harvesting. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model provides a mud snail catching machine which has a high degree of automation, a low breakage rate and can improve the catching efficiency.

[0004] The technical solution of the utility model is achieved in this way:

[0005] A mud snail collecting machine comprises a base frame, a moving device for driving the base frame to move, and a suction collecting device. The suction collecting device comprises a workbench installed on the base frame, a steering wheel installed on the workbench, a working arm installed on the steering wheel, a hose, a suction nozzle connected to the front end of the hose, a collecting bucket connected to the rear end of the hose, a negative pressure device connected to the collecting bucket, a control system, and a visual camera installed on the workbench. The front end of the hose is installed on the front end of the working arm. The hose and the suction nozzle are both made of soft materials. The collecting bucket is installed on the workbench. The driving motor of the steering wheel, the negative pressure device, and the visual camera are electrically connected to the control system respectively.

[0006] Preferably, the steering wheel includes a fixed plate, a rotating plate and a plurality of supporting columns, the fixed plate is fixed on the workbench by the plurality of supporting columns, the rotating plate is rotated on the fixed plate by a bearing, a first motor is provided under the fixed plate, the first motor is electrically connected to the control system, the output shaft of the first motor passes through the fixed plate and is transmission-connected to the rotating plate so that the rotating plate can rotate horizontally, and the working arm is installed on the rotating plate.

[0007] Preferably, the negative pressure device includes a negative pressure tube and an air pump, the rear end of the negative pressure tube is connected to the air pump, the front end of the negative pressure tube is connected to the collection bucket, and the air pump is installed on the base frame.

[0008] Preferably, the air pump is an air pump, and the negative pressure pipe includes an air supply pipe and an exhaust pipe, the rear end of the air supply pipe is connected to the air pump, the front end of the air supply pipe is connected to the middle of the exhaust pipe, the front end of the exhaust pipe is connected to the collection bucket, and the rear end of the exhaust pipe is connected to the external atmospheric pressure.

[0009] Preferably, the angle between the air supply pipe and the exhaust pipe is an acute angle.

[0010] Preferably, the working arm includes a first arm, a connecting rod and a second arm, the front end of the hose is installed on one side of the first arm, and the second motor and the third motor are respectively installed at both ends of the connecting rod. The output shaft of the second motor is transmission-connected to one end of the first arm so that the first arm can rotate vertically relative to the connecting rod. The output shaft of the third motor is transmission-connected to one end of the second arm so that the connecting rod can rotate vertically relative to the second arm. A fourth motor is provided on the steering wheel, and the output shaft of the fourth motor is transmission-connected to one end of the second arm away from the connecting rod so that the second arm can rotate vertically relative to the steering wheel. The second motor, the third motor and the fourth motor are respectively electrically connected to the control system.

[0011] Preferably, the collection bucket is provided with a first magnetic member, and the workbench is provided with a second magnetic member, and the first magnetic member and the second magnetic member attract each other.

[0012] Preferably, the soft material is soft rubber.

[0013] Preferably, the motion device includes four Mecanum wheels and four stepper motors, the four Mecanum wheels are respectively arranged at four corners of the base frame, the four stepper motors are arranged on the base frame, and one stepper motor drives one Mecanum wheel.

[0014] Preferably, the control system includes a server, and the server runs the YOLOv5s algorithm.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] (1) The mud snail collecting machine includes a chassis, a motion device that drives the chassis to move, and a suction collecting device. The chassis can be moved on the tidal flat ground by setting the motion device, and the suction collecting device is used to collect mud snails by suction when the chassis moves. The suction collecting device includes a workbench, a steering wheel, a working arm, a hose, a suction nozzle, a collecting bucket, a negative pressure device, a control system, and a visual camera. The collecting bucket is connected to the negative pressure device and the hose, and the negative pressure device provides negative pressure for the collecting bucket and the hose. When the visual camera detects an image of the mud snail, the steering wheel is controlled by the control system to rotate to the position where the mud snail is located, the working arm on the steering wheel is extended to the area where the mud snail is located, and the mud snail is sucked into the hose through the suction nozzle at the front end of the hose and then enters the collecting bucket, thereby realizing the automation of mud snail collection. The machine has the characteristics of high automation and can improve the collection efficiency.

[0017] (2) The hose and the suction nozzle at the front end of the hose are made of soft materials, which can effectively reduce the breakage rate of the mud snails. In addition, the negative pressure value of the negative pressure device can be controlled by the control system, thereby adjusting the suction force of the suction nozzle, which can further reduce the breakage rate of the mud snails. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 2 It is a rear view of the utility model;

[0020] Figure 3 It is a structural schematic diagram of the workbench, steering wheel, working arm, hose and suction nozzle in the utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the collection bucket, hose and negative pressure pipe in the utility model.

[0022] Figure ID:

[0023] 1- chassis; 2- workbench; 21- panel; 3- steering wheel; 31- fixed plate; 32- rotating plate; 33- support column; 34- first motor; 4- working arm; 41- first arm; 42- connecting rod; 43- second arm; 44- second motor; 45- third motor; 46- fourth motor; 5- hose; 6- suction nozzle; 7- collection bucket; 71- bucket body; 72- bucket cover; 8- control system; 9- visual camera; 10- negative pressure tube; 101- exhaust pipe; 102- air supply pipe; 11- air pump; 12- Mecanum wheel; 13- stepping motor; 14- power cord. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] In the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] See also Figure 1 and Figure 2 The utility model provides a mud snail collecting machine, including a base frame 1, a motion device for driving the base frame 1 to move, and a suction collecting device, the suction collecting device including a workbench 2 installed on the base frame 1, a steering wheel 3 installed on the workbench 2, a working arm 4 installed on the steering wheel 3, a hose 5, a suction nozzle 6 connected to the front end of the hose 5, a collection bucket 7 connected to the rear end of the hose 5, a negative pressure device connected to the collection bucket 7, a control system 8 and a visual camera 9 installed on the workbench 2, the front end of the hose 5 is installed at the front end of the working arm 4, the hose 5 and the suction nozzle 6 are both made of soft materials, the collection bucket 7 is installed on the workbench 2, and the driving motor of the steering wheel 3, the negative pressure device and the visual camera 9 are electrically connected to the control system 8 respectively. By setting a moving device, the chassis 1 can be moved on the tidal flat ground, and the suction collection device is used to suck and collect mud snails when the chassis 1 moves. The suction collection device includes a workbench 2, a steering wheel 3, a working arm 4, a hose 5, a suction nozzle 6, a collection bucket 7, a negative pressure device, a control system 8 and a visual camera 9. The collection bucket 7 is connected to the negative pressure device and the hose 5. The negative pressure device provides negative pressure for the collection bucket 7 and the hose 5. When the visual camera 9 detects the image of the mud snail, the steering wheel 3 is controlled by the control system 8 to rotate to the position where the mud snail is located, the working arm 4 on the steering wheel 3 is used to extend to the area where the mud snail is located, and the mud snail is sucked into the hose 5 through the suction nozzle 6 at the front end of the hose 5 and then enters the collection bucket 7, so that the automation of mud snail collection is realized, which has the characteristics of high automation and can improve the collection efficiency;

[0027] The hose 5 and the suction nozzle 6 at the front end of the hose 5 are made of soft materials, which can effectively reduce the breakage rate of mud snails. In addition, the negative pressure value of the negative pressure device can be controlled by the control system 8, thereby adjusting the suction force of the suction nozzle 6, which can further reduce the breakage rate of mud snails.

[0028] The soft material is soft rubber, and other soft materials such as soft silica gel and soft resin can also be used as raw materials for the hose 5 and the suction nozzle 6 to reduce the breakage rate of mud snails.

[0029] Specifically, the steering wheel 3 includes a fixed plate 31, a rotating plate 32 and a plurality of support columns 33. The fixed plate 31 is fixed on the workbench 2 through the plurality of support columns 33. The rotating plate 32 is rotated on the fixed plate 31 through a bearing. A first motor 34 is provided under the fixed plate 31. The first motor 34 is electrically connected to the control system 8. The output shaft of the first motor 34 passes through the fixed plate 31 and is transmission-connected to the rotating plate 32 so that the rotating plate 32 can rotate horizontally. The working arm 4 is installed on the rotating plate 32.

[0030] The first motor 34 is a single-axis motor. The middle of the fixed disk 31 is connected to the outer ring of the bearing, and the output shaft of the first motor 34 passes through the inner ring of the bearing and is connected to the rotating disk 32, so that the rotating disk 32 can rotate horizontally. When the rotating disk 32 can rotate horizontally, it can drive the working arm 4 to rotate horizontally.

[0031] Specifically, the negative pressure device includes a negative pressure tube 10 and an air pump 11 . The rear end of the negative pressure tube 10 is connected to the air pump 11 , and the front end of the negative pressure tube 10 is connected to the collection bucket 7 . The air pump 11 is installed on the base frame 1 .

[0032] In this embodiment, the air pump 11 is an air pump, and the negative pressure pipe 10 includes an air supply pipe 101 and an exhaust pipe 102. The rear end of the air supply pipe 101 is connected to the air pump, the front end of the air supply pipe 101 is connected to the middle of the exhaust pipe 102, the front end of the exhaust pipe 102 is connected to the collection bucket 7, and the rear end of the exhaust pipe 102 is connected to the outside atmospheric pressure. The air pump supplies air to the exhaust pipe 102 through the air supply pipe 101, and the exhaust pipe 102 is connected to the outside atmospheric pressure. The gas is output from one end of the exhaust pipe 102 connected to the outside atmospheric pressure, and the negative pressure is provided for the suction and capture device through the fluid pressure. Preferably, the angle between the air supply pipe 101 and the exhaust pipe 102 is an acute angle, which is conducive to the air supply pipe 101 to supply air to the exhaust pipe 102.

[0033] In other embodiments, the air pump 11 is a suction pump that provides negative pressure for the suction capture device through suction force.

[0034] Specifically, the working arm 4 includes a first arm 41, a connecting rod 42 and a second arm 43. The front end of the hose 5 is installed on one side of the first arm 41. The second motor 44 and the third motor 45 are respectively installed at both ends of the connecting rod 42. The output shaft of the second motor 44 is transmission-connected to one end of the first arm 41 so that the first arm 41 can rotate vertically relative to the connecting rod 42. The output shaft of the third motor 45 is transmission-connected to one end of the second arm 43 so that the connecting rod 42 can rotate vertically relative to the second arm 43. A fourth motor 46 is provided on the steering wheel 3. The output shaft of the fourth motor 46 is transmission-connected to one end of the second arm 43 away from the connecting rod 42 so that the second arm 43 can rotate vertically relative to the steering wheel 3. The second motor 44, the third motor 45 and the fourth motor 46 are respectively electrically connected to the control system 8. The working arm 4 includes a first arm 41, a connecting rod 42 and a second arm 43. Three joints are formed between the first arm 41 and the connecting rod 42, between the connecting rod 42 and the second arm 43, and between the second arm 43 and the steering wheel 3. The three joints are respectively controlled by the second motor 44, the third motor 45 and the fourth motor 46 to realize the rotation of the joints, so that the working arm 4 can be turned with full freedom in combination with the steering wheel 3.

[0035] In this embodiment, the first arm 41 is a U-shaped bracket, and a second motor 44 is provided in its U-shaped opening. The second motor 44 is a double-axis motor, and the two output shafts of the double-axis motor are connected to the two sides of the opening of the U-shaped bracket, so that the second motor 44 can drive the first arm 41 to rotate vertically; the second arm 43 includes two mirror-arranged U-shaped brackets, and the openings of the two U-shaped brackets are back to back. The third motor 45 and the fourth motor 46 are both double-axis motors, and the two output shafts of the two double-axis motors are respectively connected to the two sides of the openings of the two U-shaped brackets, so that the third motor 45 and the fourth motor 46 can respectively drive the connecting rod 42 and the second arm 43 to rotate vertically.

[0036] Among them, the control system 8 includes a server, and the server runs the YOLOv5s algorithm. YOLOv5s is the smallest model in the YOLOv5 series. The scaling of the number of network layers and the number of channels is controlled by adjusting the depth_multiple network layer depth and the width_multiple network layer width parameters, so as to reduce the complexity of the model by reducing the width. After reducing the complexity, YOLOv5s can still provide a relatively balanced visual recognition effect. At the same time, it can be adapted to the site, change the resolution of the input image or adjust the depth and width of the model to balance speed and accuracy. While maintaining a high detection accuracy, it has a faster processing speed and lower resource consumption. Yolov5s is very suitable for running on a low-power embedded platform belonging to the mud snail harvesting machine. After collection, it outputs and converts coordinates for the working arm 4 to drive the hose 5 to move to absorb the mud snail.

[0037] Preferably, the collection bucket 7 is provided with a first magnetic part, and the workbench 2 is provided with a second magnetic part, and the first magnetic part and the second magnetic part attract each other. The collection bucket 7 can be detachably mounted on the workbench 2 through the mutual attraction of the first magnetic part and the second magnetic part. In this embodiment, the first magnetic part and the second magnetic part are both coated painted rubidium magnets.

[0038] In this embodiment, the action device includes four Mecanum wheels 12 and four stepper motors 13, the four Mecanum wheels are respectively arranged at the four corners of the chassis 1, the four stepper motors 13 are arranged on the chassis 1, and one stepper motor 13 drives one Mecanum wheel 12. The Mecanum wheel can control the direction and speed of each wheel by means of the control system 8, and the final synthesis of these forces produces a resultant force vector in any required direction, thereby ensuring that the chassis 1 can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself, so the use of the Mecanum wheel enables the mud snail harvesting machine to have the ability to move in all directions, and the mud snail harvesting machine can walk more flexibly. In addition, the Mecanum wheel can enhance the passability of the undulating ground, so that the mud snail harvesting machine can walk on the uneven tidal flat ground.

[0039] In this embodiment, the control system 8 is installed inside the workbench 2. The workbench 2 is a cubic structure formed by six panels 21, which has a cavity inside. The control system 8 can be placed in the cavity. The panel 21 plays a role in protecting the control system 8, and can prevent moisture from entering the cavity to avoid damage to the control system 8. Further, the panel 21 is installed and fixed by fastening screws, which is convenient for disassembly and maintenance. A dustproof and waterproof rubber ring is provided between the head of the fastening screw and the panel 21 to prevent dust and other debris, rainwater and seawater from entering the air. In addition, a power supply for power supply is also provided in the cavity of the workbench 2, and the power supply is connected to the power cord 14. The power cord 14 has a national standard plug, which is convenient for powering the mud snail harvesting machine.

[0040] In this embodiment, the collection barrel 7 includes a barrel body 71 and a barrel cover 72 covering the opening above the barrel body 71. The top surface of the barrel cover 72 is provided with a plug hole, and the negative pressure tube 10 is inserted into the plug hole. The side wall of the barrel body 71 is provided with a connecting hole for plugging the hose 5. After the mud snails in the collection barrel 7 are full, the barrel cover 72 can be opened to pour out the mud snails. Furthermore, soft sponges can be set inside the collection barrel 7, at the interface between the collection barrel 7 and the hose 5, and at the interface between the collection barrel 7 and the negative pressure tube 10 to prevent the mud snails from being damaged by impact when entering the collection barrel 7.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mud snail collecting machine, characterized in that: The invention comprises a base frame (1), a moving device for driving the base frame (1) to move, and a suction and collection device. The suction and collection device comprises a workbench (2) mounted on the base frame (1), a steering wheel (3) mounted on the workbench (2), a working arm (4) mounted on the steering wheel (3), a hose (5), a suction nozzle (6) connected to the front end of the hose (5), a collection bucket (7) connected to the rear end of the hose (5), a negative pressure device connected to the collection bucket (7), a control system (8), and a visual camera (9) mounted on the workbench (2). The front end of the hose (5) is mounted on the front end of the working arm (4). The hose (5) and the suction nozzle (6) are both made of soft materials. The collection bucket (7) is mounted on the workbench (2). The driving motor of the steering wheel (3), the negative pressure device, and the visual camera (9) are respectively electrically connected to the control system (8).

2. The mud snail collecting machine according to claim 1, characterized in that: The steering wheel (3) comprises a fixed plate (31), a rotating plate (32) and a plurality of supporting columns (33); the fixed plate (31) is fixed on the workbench (2) via the plurality of supporting columns (33); the rotating plate (32) is rotated on the fixed plate (31) via a bearing; a first motor (34) is provided below the fixed plate (31); the first motor (34) is electrically connected to the control system (8); an output shaft of the first motor (34) passes through the fixed plate (31) and is transmission-connected to the rotating plate (32) so that the rotating plate (32) can rotate horizontally; and the working arm (4) is mounted on the rotating plate (32).

3. The mud snail collecting machine according to claim 1, characterized in that: The negative pressure device comprises a negative pressure tube (10) and an air pump (11); the rear end of the negative pressure tube (10) is connected to the air pump (11); the front end of the negative pressure tube (10) is connected to the collection bucket (7); and the air pump (11) is mounted on the base frame (1).

4. The mud snail collecting machine according to claim 3, characterized in that: The air pump (11) is an air pump, and the negative pressure tube (10) comprises an air supply tube (101) and an exhaust tube (102). The rear end of the air supply tube (101) is connected to the air pump, the front end of the air supply tube (101) is connected to the middle of the exhaust tube (102), the front end of the exhaust tube (102) is connected to the collection bucket (7), and the rear end of the exhaust tube (102) is connected to the external atmospheric pressure.

5. The mud snail collecting machine according to claim 4, characterized in that: The included angle between the air supply pipe (101) and the exhaust pipe (102) is an acute angle.

6. The mud snail collecting machine according to claim 1 or 3, characterized in that: The working arm (4) comprises a first arm (41), a connecting rod (42) and a second arm (43); the front end of the hose (5) is mounted on one side of the first arm (41); a second motor (44) and a third motor (45) are mounted on both ends of the connecting rod (42); an output shaft of the second motor (44) is transmission-connected to one end of the first arm (41) so that the first arm (41) can rotate vertically relative to the connecting rod (42); an output shaft of the third motor (45) is transmission-connected to one end of the second arm (43) so that the connecting rod (42) can rotate vertically relative to the second arm (43); a fourth motor (46) is arranged on the steering wheel (3); an output shaft of the fourth motor (46) is transmission-connected to one end of the second arm (43) away from the connecting rod (42) so that the second arm (43) can rotate vertically relative to the steering wheel (3); and the second motor (44), the third motor (45) and the fourth motor (46) are respectively electrically connected to the control system (8).

7. The mud snail collecting machine according to claim 1, characterized in that: The collection bucket (7) is provided with a first magnetic component, and the workbench (2) is provided with a second magnetic component, and the first magnetic component and the second magnetic component attract each other.

8. The mud snail collecting machine according to claim 1, characterized in that: The soft material is soft rubber.

9. The mud snail collecting machine according to claim 1, characterized in that: The motion device comprises four Mecanum wheels (12) and four stepper motors (13), wherein the four Mecanum wheels are respectively arranged at four corners of the base frame (1), and the four stepper motors (13) are arranged on the base frame (1), and one stepper motor (13) drives one Mecanum wheel (12).

10. The mud snail collecting machine according to claim 1, characterized in that: The control system (8) comprises a server, and the server runs the YOLOv5s algorithm.

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