229 results about "Underwater robot" patented technology

The invention provides an underwater robot multi-task rapid adaptive control method based on meta reinforcement learning. The method comprises the following steps: constructing an underwater robot dynamic model and a thrust distribution strategy matrix; three reinforcement learning controllers, namely, a non-overshoot position controller, an overshoot allowing position controller and a propeller flexible control controller, are respectively designed according to diversified task requirements; introducing a meta-learning mechanism to build a meta-training platform, and training the three reinforcement learning controllers to obtain a group of optimal initialization parameters; and deploying the obtained optimal initialization parameters and the subtask reinforcement learning controller to the underwater robot, and carrying out two-stage training according to different tasks. Finally, when the controller is deployed in engineering practice, the output of the propeller can be intelligently adjusted according to the relative distance and speed information, calculated in real time, between the controller and the target position, and it is ensured that accurate position control can be achieved in various task scenes. The method aims at meeting the requirement for rapid self-adaption of multiple tasks of the underwater robot in the complex and changeable underwater environment, and accurate and flexible response to position control is achieved through the control method based on meta reinforcement learning when the task requirements change.

This invention relates to the field of force sensor technology, and more particularly to a pressure-balanced underwater six-dimensional force sensor sealing structure and method. It primarily addresses the problems of insufficient sealing pressure resistance and susceptibility to seawater leakage when existing six-dimensional force sensors are applied in underwater scenarios, and the fact that high underwater pressure can cause deformation of the main structure, interfering with strain measurement and leading to force signal deviation. The proposed technical solution includes a force sensor body, with a mounting plate installed at the output end of the force sensor body, and an elastic element disposed at and penetrated by the elastic element at the output end of the force sensor body; a sealing element disposed on the side of the force sensor body away from the elastic element, the sealing element being made of rigid or elastic material. The force sensor body, the elastic element, and the sealing element form a sealing structure that encloses the deformable beam and the PCB board. This invention can improve its underwater sealing pressure resistance and anti-interference capability, ensure force measurement accuracy, and assist underwater robots in precise operation.

This invention relates to a self-leveling rotary transport device and method for docking and transferring multiple AUVs, belonging to the field of underwater robot equipment. It includes a docking module, a vertical transport module, and a rotary transport module. The docking module includes a rotary platform with a guide frame, and a first clamping device is provided on the top surface of the rotary platform. A vertical transport module is installed on one side of the docking module. The vertical transport module includes a liftable transport platform, and a locking device and a second clamping device are provided on the transport platform. The rotary transport module is installed below the docking module. The rotary transport module includes multi-branch shafts and horizontal plates installed on each set of branch shafts. An AUV charging and information interaction device and a third clamping device are arranged on the horizontal plates. This device increases the number of AUVs that can be docked and transferred, and can maintain the horizontal position of the AUVs during transfer, preparing them for subsequent actions such as AUV unloading. This invention also uses a separate rotary drive for the docking part to reduce the rotational resistance of the mechanism in seawater.

The application provides an underwater robot obstacle avoidance system based on object capture. The method comprises the following steps: collecting spatial vision information of a target area where an underwater robot is located in real time; acquiring multi-modal environment data of the target area where the underwater robot is located; constructing a water body scattering model for correcting optical distortion in the spatial vision information by using Mueller matrix for polarization light data in the multi-modal environment data; acquiring real-time motion state of the underwater robot by using an inertial measurement unit; acquiring water flow disturbance data of the underwater robot, and correcting position drift in the real-time motion state caused by water flow disturbance by using a water flow model and the real-time collected water flow disturbance data; constructing a dynamic risk field corresponding to the target area based on the spatial vision information, the corrected real-time motion state and sonar ranging data in the multi-modal environment data; and generating an obstacle avoidance strategy of the underwater robot in a future preset period based on the dynamic risk field, so as to realize dynamic avoidance of obstacles.

The application provides a kind of sub-body ROV accurate recovery method and device for sub-mother type AUV, it is related to underwater robot technical field, the method comprises: during the task execution of sub-body ROV in underwater, in response to sub-body recovery instruction, control parent body AUV stay in specified recovery position, and collect the optical image of sub-body ROV;Determine the orientation of sub-body ROV based on optical image;Determine the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the target heading angle of sub-body ROV based on orientation, the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the correction torque required when control cable-releasing mechanism pulls back sub-body ROV based on the heading angle of parent body AUV and the target heading angle of sub-body ROV;Determine the operating parameter of each propeller on sub-body ROV in combination with correction torque;Correspondingly control propeller operation based on operating parameter, to recover sub-body ROV.

This invention specifically relates to a biomimetic underwater robot body perception and autonomous obstacle avoidance method based on dual-path 1D-CNN, comprising: measuring the deformation data of the structure during water movement using digital image correlation equipment; deploying multiple flexible sensors in an array in areas of significant deformation to accurately acquire deformation signals; a central control unit monitoring the sensor signals in real time and performing collision detection using a lightweight dual-path 1D-CNN algorithm; when a collision signal is detected, the central control unit automatically issues control commands, which are converted into motor output parameters by a central pattern generator to change the robot's motion posture, enabling autonomous obstacle avoidance. This invention achieves real-time motion monitoring and highly robust, low-latency autonomous obstacle avoidance for biomimetic underwater robots in complex aquatic environments, providing an effective self-protection mechanism and improving its swimming safety and intelligence level.

The application discloses an underwater robot capable of autonomously replacing a working tool and a method thereof, and belongs to the field of underwater robots. The robot main body is vertically stacked from bottom to top by a driving cabin, a battery cabin and a main control cabin, can be spliced with a tool cabin through the top features of the main control cabin; the driving cabin is used for providing power, the battery cabin provides energy support, the control cabin makes decision control, and the light signal beacon on the tool cabin can be identified and pose estimated through the visual perception system of the multiple cameras. The application captures the beacon on the tool through the camera, realizes underwater positioning by combining a pose settlement method, identifies the tool type by reverse projection using the pose information, guides the magnetic attraction module to cooperate in the close-range docking stage, realizes the splicing and autonomous replacement of the tool cabin, and overcomes the single limitation of the traditional robot carrying tools through modular design, realizes the autonomous replacement of the working tool, and significantly improves the operation ability of the underwater robot in complex environments.

This invention discloses a dual-arm cooperative gripping and positioning device for underwater inspection. Two multi-link robotic arms are symmetrically mounted on both sides of an underwater robot, and can extend to the side and forward via two multi-link auxiliary mechanisms to grip objects in front. A top plate mechanism is mounted on the front of the underwater robot and can extend forward. Through the coordinated action of the multi-link robotic arms, multi-link auxiliary mechanisms, and top plate mechanism, the device can stably grip the target object in front of the underwater robot and precisely control the distance between the underwater robot and the target object. This invention solves the problem of underwater robots struggling to stably approach and accurately position inspection targets due to water flow disturbances, effectively improving the stability and accuracy of inspection operations on underwater structures such as bridge piers.

The application provides a complex terrain adaptive crawler type dredging robot and a method for escaping from trouble, wherein the robot comprises a robot body, a pair of forward rotatable support mechanisms symmetrically installed on the left and right sides of the front part of the robot body, a pair of rearward telescopic support mechanisms symmetrically installed on the left and right sides of the rear part of the robot body, a plurality of propeller propulsion mechanisms installed in the middle part of the robot body, and a control unit; and the underwater robot can quickly and stably escape from trouble such as silt through the close cooperation of the support mechanisms and the propeller propulsion mechanisms.

This invention provides a multi-agent cooperative underwater logistics system and method based on reinforcement learning, applicable to the fields of underwater robot cooperative control and intelligent logistics technology. The system integrates six modules: task management, multimodal communication, cooperative localization, path planning, energy management, and fault handling. Through a dynamic switching mechanism in multimodal communication, it adaptively selects between acoustic, optical, and magnetic induction modes to ensure communication reliability in underwater environments. A distributed cooperative localization method based on dynamic weights is employed, optimizing weight allocation by considering communication quality, battery power, and computing power to achieve cooperative localization. A multi-agent reinforcement learning controller with a multi-branch attention mechanism is introduced to achieve real-time obstacle avoidance, formation maintenance, and task-oriented cooperative path planning. An intelligent charging strategy based on multi-level battery thresholds and task urgency supports continuous system operation. A sliding window fault detection and adaptive task reassignment mechanism enhance the system's fault tolerance and robustness.

This invention relates to a method for roll reduction and anti-sway control during the deployment and recovery of an underwater robot. The method includes: estimating the position coordinates of the gantry pivot in the ship's coordinate system; calculating the motion state of the gantry pivot in the geodetic coordinate system based on the position coordinates, the mother ship's heading angle, pitch angle, roll angle, and the mother ship's coordinate position in the geodetic coordinate system; obtaining the linear acceleration and linear velocity of the underwater robot in the robot's coordinate system, and projecting the linear acceleration and linear velocity onto the geodetic coordinate system to obtain the underwater robot's motion state in the geodetic coordinate system; calculating the lateral and longitudinal sway angles of the underwater robot relative to the gantry pivot based on the motion state; and generating control commands based on the lateral and longitudinal sway angles to drive the anti-sway device to perform motion compensation along the lateral and longitudinal directions, thereby achieving roll reduction and anti-sway control. This method achieves a fundamental shift from "passive servoing" to "active roll reduction," significantly improving the safety and reliability of deployment and recovery operations.

This invention discloses a device and method for co-collecting polymetallic nodules and rare earth elements in deep sea. The collection device includes a mining vehicle, a mineral collection device mounted on the mining vehicle, and an underwater robot. The mining vehicle is equipped with a solidification liquid tank for loading a solidification solution for the soft, rare earth substrate. The solidification liquid tank is connected to the underwater robot, which is equipped with a spraying device for spraying the solidification solution onto the coexisting area of ​​polymetallic nodules and rare earth elements. The mineral collection device collects and transports the polymetallic nodules and the solidified rare earth solids into a storage bin within the mining vehicle. This invention utilizes an underwater robot to spray the solidification solution onto the soft, rare earth substrate in the coexisting area, thereby solidifying the soft, rare earth substrate into rare earth solids. This facilitates collection by the mineral collection device, prevents the flow and dispersion of the soft, rare earth substrate, reduces disturbance during the collection process, avoids the formation of plumes, and achieves efficient co-collection of polymetallic nodules and rare earth elements.

The application relates to the technical field of underwater detection, and discloses a 3D modeling method and device for an underwater target and an underwater robot. The method comprises the following steps: performing fixed-distance observation on a to-be-detected object according to a preset path, and acquiring a two-dimensional observation image in real time; performing real-time identification on the image, and confirming a target area; for the identified target area, based on two-dimensional visual data of the target area, a multi-view three-dimensional reconstruction algorithm is used to construct a local three-dimensional model, and corresponding navigation pose data of the underwater robot is recorded synchronously; after the observation is completed, based on each local three-dimensional model and the corresponding navigation pose data, an overall three-dimensional reference model of the to-be-detected object is constructed; finally, according to the navigation pose data, each local three-dimensional model is filled into the three-dimensional reference model, and a complete three-dimensional model is generated. The application combines selective local fine modeling and overall reference model construction based on the pose, greatly reduces the amount of image data required to be processed, and significantly improves the modeling efficiency.

This invention relates to the field of underwater robot technology, specifically to an autonomous recovery method and system for underwater robots based on binocular vision and multi-source fusion. The system includes an AUV and a recovery platform. The AUV is equipped with a binocular camera, IMU, DVL, and USBL. The recovery platform is equipped with a guide light array, an auxiliary light source, a pressure sensor array, and a recovery cage. The method includes four stages: long-distance repositioning, high-precision visual guidance, multi-source fusion control in the visual failure zone, docking determination, and fixation. In the visual failure zone, the system activates the bottom auxiliary light source and constructs a multi-source fusion framework. It deeply fuses the two-dimensional deflection angle of the auxiliary vision, the high-frequency attitude of the IMU, the three-dimensional velocity of the DVL, and the absolute position of the USBL, and outputs the six-degree-of-freedom pose of the AUV in real time. This ensures end-effector attitude stability, improves system robustness and environmental adaptability, and solves the problems of not being able to provide complete attitude information and poor anti-disturbance capability in the near-range visual failure zone.

This invention discloses a method and system for visual enhancement of underwater robots in turbid waters, relating to the fields of machine vision and image restoration technology. The method includes: acquiring a sequence of original color images collected in real-time by the underwater robot; mapping the pixel intensity of the original color image sequence to a complex space to construct a complex domain analytic signal; extracting the multi-directional spatial gradient tensor of the original color image, and calculating pseudo-polarization information and environmental characterization parameters accordingly; constructing a virtual phase compensation operator using the pseudo-polarization information and the environmental characterization parameters; wherein the pseudo-polarization information drives the compensation intensity of the virtual phase compensation operator, and the environmental characterization parameters are used to locally weight the compensation intensity. Its beneficial effects include: correcting edge blurring and texture obfuscation caused by wavefront phase disturbances, and significantly improving the edge steepness of structural contours in the image.

The application provides an ARV relay laying and recycling device and method, and belongs to the field of underwater robot recycling. The application better solves the recycling problem of ARV in mud point monitoring operation. The ARV relay laying and recycling device comprises a TMS frame, a tail side thruster, an optical fiber communication device, an underwater winch system, an USBL acoustic positioning system, a head side thruster, a power supply module, an ARV tail locking self-locking device, an ARV head locking self-locking device, an ARV guide rod, a left main thruster, a right main thruster, an ARV docking locking device and a TMS control system. The TMS frame comprises a lower tray frame and an upper support frame connected to the upper end face of the lower tray frame. After the TMS control system responds to a signal, the tail side thruster and the head side thruster are controlled to adjust the positions of the ARV tail locking self-locking device and the ARV head locking self-locking device, so that the self-locking of the ARV is completed. The ARV docking locking device is arranged at the front end of the ARV and is used for cooperating with the ARV guide rod to limit the freedom degree of the ARV. The device is mainly used for recycling the ARV.

The application provides a ROV recovery device and a use method thereof, relates to the technical field of underwater robots, and comprises a remote control unit for receiving control instructions and displaying system state information; a cable arranging and executing unit arranged on a base and used for guiding the orderly arrangement of a cable; a power transmission unit arranged on the base and used for providing the cable arranging and executing unit with power for winding and unwinding the cable and realizing synchronous transmission; and an intelligent sensing and control unit in signal connection with the remote control unit, the cable arranging and executing unit and the power transmission unit, used for acquiring position information and cable state information of the underwater robot and controlling the operation of the power transmission unit. The application can realize the automation and intelligentization of the ROV recovery process, effectively solves the technical problems of low efficiency, high risk and easy winding of the traditional recovery mode, and significantly improves the operation safety and multi-scene adaptability.

The present disclosure provides an intelligent autonomous remote control underwater robot ARV and its control system, and relates to the technical field of machine learning, which comprises: a body environment perception and risk assessment system that collects environment risk information and current operation execution information and constructs a current risk vector; an adaptive boundary generation and optimization system that stores at least two risk boundary vectors and calculates a similarity index between the current risk vector; a control mode decision and switching system that determines a target control mode according to the comparison result of the similarity index and a preset threshold value and executes; an intelligent performance evaluation and feedback optimization system that collects key performance indicators to determine a task score and judges whether to update the risk boundary vector according to the task score, and when updating, the adaptive boundary generation and optimization system generates a candidate boundary vector based on the task score and replaces the original risk boundary vector after verification. The scheme solves the problem that the ARV control mode switching in the prior art relies on manual operation and is difficult to adapt to environmental changes.

The application discloses a kind of underwater self-explosion barrier robots in the technical field of underwater robot, including fuselage, propeller, mechanical arm, attachment mechanism, observation instrument and charging mechanism;The propeller includes horizontal propeller and vertical propeller, the horizontal propeller and vertical propeller are symmetrically installed in the left and right sides of fuselage, the observation instrument is installed in the grabbing surface of fuselage, the attachment mechanism is installed in one end of horizontal propeller, and with the grabbing surface same direction;The mechanical arm is symmetrically installed in the upper and lower sides of fuselage, the mechanical arm has at least three degrees of freedom, the free end of the mechanical arm is provided with mechanical claw, the mechanical arm can be gripped with pincer type;The charging mechanism is installed in the non-grabbing surface of fuselage.The underwater self-explosion barrier robot provided by the application can be closely adsorbed on the surface of barrier, suitable for a variety of complex shape barriers, high applicability range and high stability, high barrier efficiency and low manufacturing cost.

The application discloses a multi-wall surface operation path planning method and system for an underwater wall-climbing cleaning robot, and belongs to the technical field of special robots. The method comprises the following steps: constructing a three-dimensional motion model of the underwater wall-climbing cleaning robot according to a basic motion form of the underwater wall-climbing cleaning robot; performing stress analysis on the three-dimensional motion model to obtain an energy efficiency coefficient of the underwater wall-climbing cleaning robot; constructing an underwater three-dimensional multi-wall surface operation target model; establishing a target function with the purpose of minimizing the total energy consumption generated by the underwater wall-climbing cleaning robot during the motion process; obtaining the motion speed of the underwater robot; and solving the target function by using a simulated annealing algorithm according to the motion speed and the corresponding energy efficiency coefficient to obtain an optimal energy consumption operation path of the underwater wall-climbing cleaning robot. The method can improve the efficiency and accuracy of multi-wall surface operation path planning, and solves the problem that the existing technology has a method for evaluating the power consumption of an underwater robot which is too complex and not universal.

This invention belongs to the field of underwater robots, specifically an in-situ filtration and preservation device for an underwater sampling robot. The inlet and outlet trays are sealed together. A filter membrane and sand core are located on the open side of the outlet tray's inner cavity. A preservative sealant cap is sealed within the inlet tray's inner cavity, and a filter chamber cover is located between the preservative sealant cap and the filter membrane. The inner cavity of the inlet tray is divided into a relatively independent preservative chamber and a seawater chamber by the preservative sealant cap and the filter chamber cover. A preservative sealant plug is installed inside the filter chamber cover. One end of the filter's suction connector is connected to the inlet tray, and the other end is fixed to a filter suction port fixing component. A one-way valve is installed between the filter suction connector and the filter suction port fixing component. This invention achieves in-situ filtration in the deep sea and automatically injects biological sample fixative for sample preservation after in-situ filtration, solving the problem of the impact of changes in environmental parameters such as temperature and pressure on the diversity and gene expression of planktonic microbial communities after deep-sea samples reach the sea surface.

The utility model relates to a hybrid drive variable gliding wing underwater robot belongs to underwater robot field, including streamline shell, its appearance imitates seat head whale body shape design, surface smooth transition, cross section is oval, variable gliding wing mechanism, relative to the symmetrical surface of shell 1 symmetrical arrangement, including gliding wing, worm, worm wheel and steering wheel, the gliding wing is connected through the meshing of worm wheel and worm, and the worm is driven by the steering wheel, hybrid power system, including propeller and pump jet propeller, and the propeller includes two symmetrical side propellers and a stern propeller, the pump jet propeller is installed in the recess inside the bottom of shell, and the nozzle is rearward and is equipped with a fairing, buoyancy adjusting system, including high-pressure gas cylinder and air release valve, and the robot float center is adjusted through gas charging and discharging, the utility model realizes the efficient cooperation of gliding, propulsion and attitude control, and has good environmental adaptability and recyclability.

This invention discloses a six-degree-of-freedom underwater robot, comprising a frame, a propulsion system, a sensor monitoring system, and a controller. The propulsion system includes four horizontal vector thrusters and two vertical thrusters. The controller is communicatively connected to the propulsion system and the sensor monitoring system, and achieves independent, decoupled control of the propulsion system's six degrees of freedom based on multi-dimensional sensor data collected by the sensor monitoring system. This invention also discloses a corresponding six-degree-of-freedom underwater robot control system, including a host computer layer, a ROS core layer, a control layer, a drive layer, and a hardware terminal layer, all connected by communication. This solution optimizes the hardware layout, achieves independent, decoupled control of the six degrees of freedom, and improves underwater motion and hovering stability. This design features deep hardware and software synergy, improving underwater operational stability, shortening the development cycle, and enhancing operational safety, making it suitable for various scenarios such as underwater exploration, detection, and scientific research.

The application discloses a multi-AUV anti-communication noise mean square bounded consensus control method and system, relates to the cooperative control technical field of multi-underwater robot systems, and is based on a discrete linear dynamics model and a state measurement model of the multi-underwater robot system, designs a Kalman filter measurement base state estimator, solves filter gain and error covariance, and acquires optimal state estimation values of each robot; based on the discrete linear dynamics model and communication topology characteristics, a state estimation gain matrix and a coupling strength parameter satisfying topology constraints are solved; and based on the optimal state estimation values, the state estimation gain matrix and the coupling strength parameter, a distributed dynamic output feedback controller is designed, sufficient conditions for the multi-underwater robot system to realize mean square bounded consensus are obtained, the influence of communication packet loss and measurement noise on system consensus control is effectively inhibited, and mean square bounded state convergence of the multi-underwater robot system under a fixed undirected topology is realized.

The application belongs to the field of autonomous operation of underwater robots, and particularly relates to a visual mechanical arm grabbing method after autonomous underwater robots sit on the bottom, which comprises the following steps: after the AUV sits on the bottom, a binocular camera is used to shoot the seabed image, and target recognition and positioning for seabed grabbing are performed; a transformation matrix of the camera coordinate system and the mechanical arm coordinate system is used to determine whether the grabbing target is in the seabed movement space of the flexible hand, if not, the AUV body pose is adjusted, and the target recognition and positioning are re-executed; if the target is in the seabed movement space of the flexible hand, the AUV performs mechanical arm movement planning and execution based on the look-up table interpolation method according to the spatial position information of the target, so that the flexible hand moves to the target position, and the flexible hand is controlled to close to complete grabbing. The visual mechanical arm grabbing movement planning method provided by the application can quickly complete the autonomous grabbing action of the mechanical arm and the flexible hand under low calculation complexity, and has small grabbing position error and high grabbing success rate.

1. Name of the designed product: Underwater robot (open rack type). 2. Use of the designed product: For underwater operation. 3. Design points of the designed product: In shape. 4. Picture or photo best indicating the design points: Perspective view 1.

The application relates to the technical field of underwater salvage technology and discloses a universal underwater salvage device which comprises a fixed base, a salvage module and a safety pin, a through hole is arranged on the fixed base; the salvage module comprises a salvage hook, an anti-falling pawl and a buoyancy compensation cylinder; the salvage hook comprises a connecting part and a hook part connected with the connecting part; the connecting part is arranged through the through hole of the fixed base, the end of the connecting part protrudes from the end surface of the fixed base, and the safety pin is arranged on the end of the connecting part for limiting; the buoyancy compensation cylinder penetrates the side wall of the fixed base and is connected with the connecting part; the anti-falling pawl which faces the hook part is movably arranged on the connecting part, and a limiting hole is formed between the anti-falling pawl and the hook part. The universal underwater salvage device is used for completing a rescue task in cooperation with an underwater robot, has the searching and positioning capability in the rescue work, has the salvage implementation function by itself, has the simple overall structure, the salvage work is reliable, and the universal underwater salvage device is easy to realize.

Embodiments of the present application disclose a method and device for returning a submersible robot to a charging base. The method comprises: the submersible robot confirming docking and charging with the charging base; controlling the submersible robot to move to a first position; controlling the submersible robot to climb to a waterline from the first position and track along the waterline towards the base, until the first position marker is detected; determining an initial position according to the first position marker, and controlling the submersible robot to move to the initial position; controlling the submersible robot to move from the initial position towards an entrance of the base track, until the second position marker is detected; determining a target position when a front of the submersible robot faces a center of the base track according to the second position marker, and controlling the submersible robot to move from the target position to the base track. The method significantly improves the success rate and accuracy of returning the submersible robot to the charging base, while effectively reducing the computational complexity.

The application discloses a method for typhoon disaster prevention and rapid recovery after disaster in deep-sea net cage culture, which comprises the following steps: before the disaster, an unmanned aerial vehicle is used to take aerial photos of the water surface structure of the net cage by carrying a high-definition camera, and an underwater robot is used to collect underwater images by layer scanning through a sonar, so that structure data and fish school data before the disaster are generated; weak points such as framework, netting and anchor chain are analyzed and repaired and reinforced through three-dimensional modeling, the stocking density is optimized in combination with typhoon information, the risk of facility damage and fish loss is reduced, and after the disaster, the structure data and fish school data are repeated, the degree of framework damage, netting damage, anchor chain breakage and fish escape or death is compared and evaluated by taking the data before the disaster as a reference, and a grading repair scheme and disaster relief plan are generated. Through the cooperation of multiple devices and data fusion, the detection accuracy and evaluation efficiency are improved, the damaged parts are quickly located, and the recovery strategy is optimized, so that an efficient disaster prevention and reduction and rapid recovery solution after disaster is provided for the deep-sea net cage culture.