Binocular recognition robot for fishing and weeding sea cucumbers

Abstract

The utility model discloses a binocular recognition robot for fishing and weeding sea cucumbers, and relates to the technical field of underwater fishing and weeding robots. Comprising a diving device, and the bottom of the diving device is connected with a mechanical arm through a mechanical arm connecting device; the mechanical arm comprises a first-stage connecting rod arranged at the bottom of the diving device, the end, away from the mechanical arm connecting device, of the first-stage connecting rod is rotationally connected with a second-stage connecting rod, and the end, away from the first-stage connecting rod, of the second-stage connecting rod is rotationally connected with a third-stage connecting rod The end, away from the second-stage connecting rod, of the third-stage connecting rod is rotationally connected with a mechanical claw used for fishing sea cucumbers and cleaning sea grass. The diving device can serve as a power source, can move on the water surface and underwater, can ascend or descend underwater, and can drive the mechanical arm to swing, so that the mechanical claw can clean sea grass and catch sea cucumbers, the sea grass and the sea cucumbers can be accurately recognized, traditional manual underwater fishing operation is effectively replaced, and the sea cucumber fishing efficiency is improved. The operation risk is obviously reduced; and the fishing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater fishing weeding robot technical field especially sea cucumber fishing weeding binocular identification robot. BACKGROUND

[0002] With the increasing attention to marine resources worldwide, sea cucumber and seaweed as important marine biological resources, its demand in the field of food, medicine and ecological protection is growing. However, the traditional fishing and weeding method often relies on manual operation, low efficiency, and may cause damage to the marine environment

[0003] The existing sea cucumber fishing technology mainly relies on divers or simple mechanical devices, these methods not only have high labor intensity, but also may cause irreversible damage to the living environment of sea cucumber. In addition, since sea cucumber usually inhabits in complex underwater environment, the traditional fishing method is difficult to realize precise and selective fishing. However, the current sea cucumber fishing and cofferdam weeding work all rely on manual work, there is a lack of effective batch fishing equipment on the market, resulting in low efficiency and high cost.

[0004] In recent years, although the application of robot technology in marine resource exploration and development gradually increases, but the application in sea cucumber fishing and seaweed weeding is still relatively limited. The existing underwater robot is mainly used for exploration and simple operation task, and lacks the identification and precise operation ability for specific marine organisms, therefore, a sea cucumber fishing and weeding binocular identification robot is needed, which can effectively replace human labor, effectively avoid the labor shortage and the danger of operation, and effectively improve the work efficiency. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a sea cucumber fishing and weeding binocular identification robot to solve the problems existing in the prior art.

[0006] In order to achieve the above purpose, the utility model provides the following scheme: the utility model provides a sea cucumber fishing and weeding binocular identification robot, including diving device, the bottom of diving device is connected with mechanical arm through mechanical arm connecting device, the mechanical arm includes the primary connecting rod arranged in the bottom of diving device, the end, away from the mechanical arm connecting device of primary connecting rod is rotatably connected with secondary connecting rod, the end, away from the primary connecting rod of secondary connecting rod is rotatably connected with tertiary connecting rod, the end, away from the secondary connecting rod of tertiary connecting rod is rotatably connected with the mechanical claw for fishing sea cucumber and cleaning seaweed.

[0007] Preferably, the mechanical arm connecting device is installed in the middle of the bottom of the diving device, the front section and the rear end of the diving device are respectively provided with binocular camera and power device, and the two sides of the diving device are respectively provided with stabilizing fin device.

[0008] Preferably, the binocular camera is mounted on the bottom of the front end of the diving device, and the power device is mounted on the rear end of the diving device.

[0009] Preferably, horizontal adjustment devices are arranged on the two sides of the power device respectively, and the horizontal adjustment devices are mounted on the rear end of the diving device.

[0010] Preferably, the bottom of the diving device is fixedly connected with the mechanical arm connecting device, one end of the mechanical arm connecting device away from the diving device is connected with a third connecting device through the first connecting rod, and one end of the third connecting device away from the mechanical arm connecting device is rotationally connected with the second connecting rod through a first corner.

[0011] Preferably, one end of the second connecting rod away from the first corner is connected with a first connecting device through a second corner, and one end of the first connecting device away from the second corner is connected with the third connecting rod.

[0012] Preferably, a speed changer is fixedly connected in the third connecting rod, the speed changer is drivingly connected with a main transmission wheel, the main transmission wheel is drivingly connected with a driven wheel through a transmission belt, the driven wheel is rotationally connected with a second connecting device through a third corner, and one end of the second connecting device away from the third corner is connected with the mechanical claw.

[0013] Preferably, the first connecting device is mounted with a counterweight around one end of the second corner.

[0014] Preferably, the mechanical claw comprises a fourth connecting device fixedly connected with the second connecting device, mechanical connecting rod devices are symmetrically mounted on one end of the fourth connecting device away from the second connecting device, and a mechanical claw grabbing head is mounted on one end of the mechanical connecting rod device away from the fourth connecting device.

[0015] Preferably, a plurality of infrared sensors are mounted on the outer wall of the diving device.

[0016] The diving device can be used as a power source, can move on the water surface and underwater, and can ascend or descend underwater until the mechanical claw moves to a target position and swings through the driving mechanical arm, so that the mechanical claw can clean seaweed and catch sea cucumbers.

[0017] The diving device can be used as a power source, can move on the water surface and underwater, and can ascend or descend underwater until the mechanical claw moves to a target position and swings through the driving mechanical arm, so that the mechanical claw can clean seaweed and catch sea cucumbers.

[0018] The utility model discloses simple structure, coordinated action, stable operation, easy to control can batch production and be used for sea cucumber fishing operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the following will briefly introduce the drawing needed to be used in the embodiments, obviously, the drawing in the following description only is some embodiments of the utility model, for ordinary skilled person in the art, under the premise of not paying creative labor, still can obtain other drawings according to these drawings.

[0020] Figure 1 It is the mechanical arm structure schematic drawing of the utility model;

[0021] Figure 2 It is the mechanical claw structure schematic drawing of the utility model;

[0022] Figure 3 It is the tertiary connecting rod structure schematic drawing of the utility model;

[0023] Figure 4 It is the diving device upside down structure schematic drawing of the utility model;

[0024] Wherein, 1, primary connecting rod;2, first corner ware;3, second corner ware;4, counterweight;5, first connecting device;6, main transmission wheel;7, second connecting device;8, third corner ware;9, mechanical claw;10, third connecting device;11, secondary connecting rod;12, tertiary connecting rod;15, driven wheel;17, transmission;19, conveyer belt;20, fourth connecting device;21, diving device;22, mechanical connecting rod device;23, mechanical claw grab head;24, mechanical arm connecting device;25, power device;26, horizontal adjustment device;27, stabilizing fin device;28, binocular camera. DETAILED DESCRIPTION

[0025] The technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model, obviously, the described embodiments only are a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary skilled person in the art without making creative labor belong to the scope of protection of the utility model.

[0026] In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, the following will be further detailed to the utility model in conjunction with the drawings and specific embodiments.

[0027] REFERENCE Figures 1-4The utility model discloses a kind of sea cucumber fishing weeding binocular recognition robots, including diving device 21, the bottom of diving device 21 is connected with mechanical arm by mechanical arm connecting device 24;Mechanical arm includes the first connecting rod 1 being arranged at the bottom of diving device 21, the end of the first connecting rod 1 away from mechanical arm connecting device 24 is rotatably connected with the second connecting rod 11, the end of the second connecting rod 11 away from the first connecting rod 1 is rotatably connected with the third connecting rod 12, the end of the third connecting rod 12 away from the second connecting rod 11 is rotatably connected with mechanical claw 9 for sea cucumber fishing and cleaning seaweed.

[0028] Diving device 21 refers to the active diving device with underwater observation and operation ability, mainly used to perform underwater investigation, seabed exploration, seabed cleaning and salvage tasks, and provides power source for mechanical arm through diving device 21, also provides underwater operation platform for mechanical arm.

[0029] The power system of diving device 21 generally uses battery as energy source, and can be equipped with offshore operation platform, usually uses diesel engine or cable, and is equipped with one or more propellers to realize movement, the offshore operation platform can provide temporary platform for diving device 21 and workers to carry out operation activities, the offshore operation platform is equipped with energy storage device, and other equipment is connected externally, and the offshore operation platform can also be used for temporary storage of sea cucumber and water grass; Diving device 21 can be provided with temporary electric energy by offshore operation platform; The control system controls the stability of the diving device by using the main ballast tank, the weight adjusting assembly or the trim adjusting assembly; The detection equipment can install compass, depth gauge, obstacle detection sonar, height depth sonar, direction detection sound receiver and various underwater communication equipment according to needs.

[0030] The connecting rod used by the first connecting rod 1, the second connecting rod 11 and the third connecting rod 12 is usually used to connect two or more objects to enable them to move relatively; The connecting rod is a rigid rod connecting two or more moving parts, and its main function is to transmit the movement or force of one part to another part, while realizing the conversion of movement form.

[0031] The connecting rod is usually composed of a rod body, a connecting end (such as a pin hole, a bearing seat, etc.) and other additional components (such as a balance block, an adjusting screw).

[0032] The working principle of the connecting rod is based on the theories of lever and connecting rod mechanism in mechanics. In a mechanical system, the connecting rod serves as a bridge for transmitting power, and its movement state is constrained and driven by the components connected thereto. As part of the transmission, the connecting rod can transmit power to the working device.

[0033] The diving device 21 can be used as a power source, can move on the water surface and underwater, and can ascend or descend underwater until the mechanical claw 9 moves to a target position, and the mechanical claw 9 can clean seaweed and catch sea cucumbers by driving the mechanical arm to swing, which can not only accurately identify sea cucumbers and seaweed, effectively replace traditional manual underwater fishing operations, but also significantly reduce operation risks and improve fishing efficiency.

[0034] The utility model discloses simple structure, coordinated action, stable operation, easy control can batch production and be used in sea cucumber fishing operation.

[0035] Further optimization scheme, mechanical arm connecting device 24 is installed in the bottom middle of diving device 21, and the front section and the rear end of diving device 21 are respectively provided with binocular camera 28 and power device 25, and the two sides of diving device 21 are respectively provided with stabilizing fin device 27.

[0036] Mechanical arm connecting device 24 is composed of two parts of quick connecting female assembly and quick connecting male assembly, and locking is realized by expansion bolt expansion pre-tightening force, and guiding and positioning are realized by wedge structure cooperation in assembly docking process, and the device has the characteristics of small operating torque, simple operation and rapid disassembly and assembly in space environment.

[0037] Further optimization scheme, binocular camera 28 is installed at the bottom of the front end of diving device 21, and power device 25 is installed at the rear end of diving device 21. Power device 25 is used to drive diving device 21 to move.

[0038] Binocular camera 28 is a device capable of acquiring three-dimensional information of an object; binocular camera 28 simultaneously shoots the same object through two cameras, calculates the parallax between the two cameras by using computer algorithm, and thus obtains the depth information of the object; the parallax refers to the position difference of the object in two images when the same object is shot by two cameras; the computer determines the distance of the object from the camera by measuring the difference.

[0039] Binocular camera 28 is used to shoot underwater image information in real time, and provides the position and size information of sea cucumbers and seaweed.

[0040] Further optimization scheme, the two sides of power device 25 are respectively provided with horizontal adjustment device 26, and horizontal adjustment device 26 is installed at the rear end of diving device 21.

[0041] Horizontal adjustment device 26 is a device used to adjust an object to a horizontal position, which ensures that the surface or axis of the object is parallel to the horizontal plane through measurement and adjustment.

[0042] Horizontal adjustment device 26 commonly has:

[0043] Mechanical leveling devices: These typically use mechanical components such as screws, nuts, and washers to adjust the levelness. By rotating the screw, the nut moves along the screw, thereby changing the height of the object and achieving the purpose of leveling.

[0044] Hydraulic leveling device: This device uses a hydraulic system to adjust the levelness of an object. Pressure changes in the hydraulic oil within the hydraulic cylinder cause displacement of the piston, thereby adjusting the object's height.

[0045] Electronic leveling device: This device uses electronic sensors to measure the levelness of an object and controls actuators such as motors or hydraulic cylinders through an electronic control system to make adjustments. It features high precision and a high degree of automation.

[0046] In a further optimized design, the bottom of the diving device 21 is fixedly connected to the robotic arm connecting device 24. The end of the robotic arm connecting device 24 away from the diving device 21 is connected to a third connecting device 10 via a first-stage connecting rod 1. The end of the third connecting device 10 away from the robotic arm connecting device 24 is rotatably connected to a second-stage connecting rod 11 via a first angler 2.

[0047] In a further optimized design, the end of the second-stage link 11 furthest from the first angler 2 is connected to the first connecting device 5 via the second angler 3, and the end of the first connecting device 5 furthest from the second angler 3 is connected to the third-stage link 12.

[0048] Further optimization involves a gearbox 17 fixedly connected within the three-stage linkage 12. The gearbox 17 is driven by a main drive wheel 6, which is connected to a driven wheel 15 via a conveyor belt 19. The driven wheel 15 is rotatably connected to a second connecting device 7 via a third angler 8. The end of the second connecting device 7 furthest from the third angler 8 is connected to a mechanical gripper 9. The use of a conveyor belt 19 to transmit power in the three-stage linkage 12 improves stability compared to a four-link linkage without altering the overall dimensions of the linkage mechanism.

[0049] An angler is a device used to change the direction of an object's movement or to connect two parts. An angler can connect parts and adjust angles to meet different usage needs.

[0050] Compared to a linkage mechanism with four links, the angle lever can significantly increase the swing angle and swing amplitude without changing the overall size of the linkage mechanism. This allows the mechanical claw to swing within a wider adjustment range to successfully pick up sea cucumbers, thus improving the success rate of sea cucumber harvesting.

[0051] In a further optimized design, a counterweight 4 is mounted on one end of the second angler 3, surrounding the first connecting device 5. The counterweight 4 enables the second angler 3 to effectively drive the first connecting device 5 to rotate.

[0052] In a further optimized design, the mechanical gripper 9 includes a fourth connecting device 20 fixedly connected to the second connecting device 7. A mechanical linkage device 22 is symmetrically mounted on the end of the fourth connecting device 20 away from the second connecting device 7, and a mechanical gripper head 23 is mounted on the end of the mechanical linkage device 22 away from the fourth connecting device 20.

[0053] A mechanical gripper is a mechanical device used to grasp and move objects, and is commonly used in fields such as industrial automation, robotics, and logistics.

[0054] Classification of mechanical grippers:

[0055] Classification by structural form:

[0056] Parallel mechanical grippers consist of two parallel gripper arms. The opening and closing motion of the gripper arms is achieved by a drive device such as a motor or cylinder. They are commonly used to grip objects with regular shapes and flat surfaces, such as sheets and block materials.

[0057] Three-jaw mechanical gripper: It has three claw arms, which can more stably grasp round or cylindrical objects, and can grasp objects of different diameters by adjusting the angle of the claw arms.

[0058] Four-claw mechanical gripper: The design of the four claw arms makes it more adaptable and stable when grasping square, rectangular or irregularly shaped objects.

[0059] Flexible mechanical grippers: Using flexible materials or special structural designs, they can adaptively conform to the surface of objects to achieve non-destructive gripping of irregularly shaped, fragile, or surface-sensitive objects, such as fruits and glass products.

[0060] Classified by driving method:

[0061] Pneumatic mechanical grippers: Powered by compressed air, they have the advantages of simple structure, rapid action, and low cost. They are suitable for occasions where the gripping force requirement is not high and the working environment is relatively harsh.

[0062] Hydraulic mechanical grippers: They use hydraulic oil to transmit power, have a large gripping force and high precision, and are suitable for gripping heavy and large objects, but their structure is relatively complex and their cost is high.

[0063] Electric mechanical grippers: Driven by a motor, they can achieve precise control and complex motion trajectories, with a high degree of automation and flexibility, and are suitable for applications with high requirements for precision and speed.

[0064] Servo robotic grippers: Driven by servo motors and combined with advanced control algorithms, they can achieve high-precision position and force control, and are widely used in high-precision fields such as electronics manufacturing and semiconductor processing.

[0065] The mechanical linkage device 22 is a mechanical structure composed of multiple links and joints. It transmits force and motion through the movement of the links to achieve specific mechanical functions.

[0066] Mechanical linkage devices 22 are commonly found in various mechanical systems, such as engines, robots, and automated production lines, and are used to realize functions such as force transmission, motion conversion, and control.

[0067] The machine uses a combination of mechanical gripper head 23 and mechanical linkage device 22 to achieve more complex mechanical movements and functions. The mechanical linkage device 22 can serve as a drive mechanism for the mechanical gripper head 23, and the gripping and releasing actions of the mechanical gripper head 23 are realized by controlling the movement of the linkage. This combination can make the mechanical gripper head 23 more flexible and precise, and can adapt to the gripping needs of objects of different shapes and sizes.

[0068] A connecting device is a device used to connect two or more components, parts, equipment, etc.

[0069] Further optimization of the design involves installing several infrared sensors on the outer wall of the diving device 21. These infrared sensors are used for obstacle avoidance and water temperature detection; simultaneously, they enable the device to automatically decelerate and remain on the offshore work platform when approaching it. The offshore work platform serves as an auxiliary facility for storing sea cucumbers and seaweed, and also provides a temporary work platform for fishermen.

[0070] Work process:

[0071] The power unit 25 drives the diving device 21 to move, and the binocular camera 28 captures underwater images in real time, providing information on the location and size of the sea cucumber and seaweed. Then, through the actions of the first-stage linkage 1, the second-stage linkage 11, and the third-stage linkage 12, the mechanical claw head 23 can approach the sea cucumber and grab it. When there is too much seaweed on the seabed, the mechanical claw head 23 is used to remove the seaweed appropriately before grabbing the sea cucumber.

[0072] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0073] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A binocular recognition robot for sea cucumber harvesting and weed removal, characterized in that: Includes a diving device (21), the bottom of which is connected to a robotic arm via a robotic arm connection device (24); The robotic arm includes a primary link (1) located at the bottom of the diving device (21). A secondary link (11) is rotatably connected to the end of the primary link (1) away from the robotic arm connecting device (24). A tertiary link (12) is rotatably connected to the end of the secondary link (11) away from the primary link (1). A mechanical claw (9) for harvesting sea cucumbers and cleaning seaweed is rotatably connected to the end of the tertiary link (12) away from the secondary link (11).

2. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 1, characterized in that: The robotic arm connecting device (24) is installed in the middle of the bottom of the diving device (21). The front and rear ends of the diving device (21) are respectively equipped with a binocular camera (28) and a power device (25). Stabilizing fin devices (27) are installed on both sides of the diving device (21).

3. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 2, characterized in that: The binocular camera (28) is mounted at the bottom of the front end of the diving device (21), and the power unit (25) is mounted at the rear end of the diving device (21).

4. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 3, characterized in that: The power unit (25) is provided with a horizontal adjustment device (26) on both sides, and the horizontal adjustment device (26) is installed at the rear end of the diving device (21).

5. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 1, characterized in that: The bottom of the diving device (21) is fixedly connected to the robotic arm connecting device (24). The end of the robotic arm connecting device (24) away from the diving device (21) is connected to a third connecting device (10) through the first-level connecting rod (1). The end of the third connecting device (10) away from the robotic arm connecting device (24) is rotatably connected to the second-level connecting rod (11) through the first angler (2).

6. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 5, characterized in that: The end of the secondary link (11) away from the first angler (2) is connected to the first connecting device (5) via the second angler (3), and the end of the first connecting device (5) away from the second angler (3) is connected to the tertiary link (12).

7. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 1, characterized in that: A gearbox (17) is fixedly connected inside the three-stage linkage (12). The gearbox (17) is driven by a main drive wheel (6). The main drive wheel (6) is driven by a driven wheel (15) via a conveyor belt (19). The driven wheel (15) is rotatably connected to a second connecting device (7) via a third angler (8). The end of the second connecting device (7) away from the third angler (8) is connected to the mechanical claw (9).

8. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 6, characterized in that: The first connecting device (5) is mounted with a counterweight (4) on one end of the second corner device (3).

9. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 7, characterized in that: The mechanical claw (9) includes a fourth connecting device (20) fixedly connected to the second connecting device (7). A mechanical linkage device (22) is symmetrically installed at one end of the fourth connecting device (20) away from the second connecting device (7). A mechanical claw head (23) is installed at one end of the mechanical linkage device (22) away from the fourth connecting device (20).

10. The binocular recognition robot for sea cucumber harvesting and weeding according to claim 1, characterized in that: Several infrared sensors are installed on the outer wall of the diving device (21).

Images