CN104813975A - Underwater unmanned operation aquaculture robot - Google Patents
Underwater unmanned operation aquaculture robot Download PDFInfo
- Publication number
- CN104813975A CN104813975A CN201510244554.0A CN201510244554A CN104813975A CN 104813975 A CN104813975 A CN 104813975A CN 201510244554 A CN201510244554 A CN 201510244554A CN 104813975 A CN104813975 A CN 104813975A
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- China
- Prior art keywords
- frame
- unmanned operation
- under water
- buoyancy unit
- water according
- Prior art date
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- 238000009360 aquaculture Methods 0.000 title claims abstract description 20
- 244000144974 aquaculture Species 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 21
- 235000021050 feed intake Nutrition 0.000 claims description 14
- 210000000245 forearm Anatomy 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 238000005260 corrosion Methods 0.000 abstract description 7
- 230000007797 corrosion Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 7
- 239000013535 sea water Substances 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241000252229 Carassius auratus Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000251511 Holothuroidea Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002906 microbiologic effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Zoology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater unmanned operation aquaculture robot. An unmanned underwater vehicle is connected with a remote control station through a communication cable; a base plate is provided with a frame and a hydraulic system; the frame is provided with a communication interface, a plurality of propellers and a control system; the communication interface is connected with the communication cable; a rear buoyancy unit is connected with the frame through a frame side plate; the rear buoyancy unit is connected with a front buoyancy unit; the front buoyancy unit is provided with a plurality of cameras; the frame is provided with two mechanical arms; the base plate is provided with a bait storage tank and a feeding and capture execution device which are connected with each other. According to the underwater unmanned operation aquaculture robot, the working capability is high, the corrosion resistance to the seawater is high, carried operation tools are more, the manipulation is simple, the object grabbing technology is accurate, the combination is rapid and convenient, the function configuration is flexible and diverse, the efficiency is high, and the cost is low.
Description
Technical field
The present invention relates to robotics, particularly relate to one unmanned operation aquaculture robot under water.
Background technology
At present, domestic many enterprises, scientific research institutions develop many underwater robots in succession, as Shenyang automation research institute of the Chinese Academy of Sciences " goldfish series " underwater robot, the ROV_JTR-21 light work under water robot of Shanghai Communications University's development, the safe rich female V8Sii underwater robot in Beijing etc., these machines are per capita with deeper water data acquisition, the operations such as exploration are main, in professional field of marine aquaculture, as fixed point bait throwing in, classification fish for, special data sampling, bad weather circumstances operation etc. still need research further.
Summary of the invention
The technical problem to be solved in the present invention is to provide one unmanned operation aquaculture robot under water, and solving aquaculture robot cannot Rapid Combination, and functional configuration is dumb various, the problem that efficiency low cost is high.
For solving the problems of the technologies described above, technical scheme of the present invention is: unmanned operation aquaculture robot under water, comprises submerge device and remote control station, and submerge device is connected by communication cable with between remote control station, submerge device comprises camera, mechanical arm, bait storage bin, feed intake and catch actuating unit, communication interface, framework lateral plate, preposition buoyancy unit, propeller, rearmounted buoyancy unit, frame, base plate, hydraulic system and control system, base plate is provided with frame, hydraulic system, frame is provided with communication interface, several propellers, control system, communication interface is connected with communication cable, rearmounted buoyancy unit is connected by framework lateral plate with between frame, rearmounted buoyancy unit is connected with preposition buoyancy unit, preposition buoyancy unit is provided with several cameras, frame is provided with two mechanical arms, base plate is provided with bait storage bin, feed intake and catch actuating unit, bait storage bin is caught actuating unit and is connected with feeding intake.
Further, angle of rake quantity is six.
Further, the quantity of camera is three.
Further, mechanical arm comprises base, large arm, forearm and paw, and floor installation, in frame, is connected by joint motion between base with large arm, is connected between large arm with forearm by joint motion, is connected between forearm with paw by joint motion.
Further, paw comprises finger block, connecting rod and finger, is connected between finger block with finger by connecting rod.
Further, mechanical arm is six-freedom degree.
Further, feed intake and catch actuating unit and comprise Connection Block, pipeline, linking arm and feed intake and catch sucker, Connection Block is arranged on base plate, and Connection Block is connected with linking arm, one end of pipeline is caught sucker and is connected with feeding intake, and the other end is connected with bait storage bin through linking arm.
Further, the outer surface of frame is provided with resistant material jacket.
Further, camera adopts two-dimensional imaging vision technique.
Beneficial effect of the present invention:
1, ability to work is strong; People can be replaced to carry out bait throwing under water, fertilising, kind grass, mowing, monitoring etc., bait throwing in of particularly fixing a point under water, key area seawater, environments such as subsea Real-Time Monitoring and because of marine product Density Distribution or environment undesirable and need to carry out fanout free region transfer etc.;
2, resistance to corrosion seawater is high; Select resistant material, adopt optimal design in design, carry out finite element stress analysis, increase resistant material jacket etc., solve spot corrosion, crevice corrosion, low frequency corrosion fatigue, stress corrosion and microbiologic(al) corrosion etc.;
3, carrying operation instrument is many; Two can Fast Installation formula six degree of freedom mechanical arm, carry that sea cucumber is fished for, shell pickup, weed cutting, the professional monitoring instrument etc. such as fixed point bait throwing in instrument and seawater, ocean bottom soil temperature, water quality, flow rate detection;
4, manipulation is simple; Adopt iPad or reinforced notebook computer conputer controlled, touch or remote-control handle mode operate, and in real time image and sensor signal can be uploaded to internet, for fishery Internet of Things, industrialization cultivation provide accurate data;
5, accurate grasping body technology; Adopt advanced two-dimensional imaging vision technique and accurate intelligent control technology, realize robot automatic job;
6, combine rapid and convenient, functional configuration is versatile and flexible, and efficiency high cost is low.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is submerge device interior exploded view;
Fig. 3 is mechanical arm structural representation;
Fig. 4 is the partial structurtes schematic diagram of paw;
Fig. 5 feeds intake to catch actuating unit structural representation.
Wherein: 1. camera, 2. remote control station, 3. mechanical arm, 4. bait storage bin, 5. feeds intake and catches actuating unit, 6. communication cable, 7. communication interface, 8. framework lateral plate, 9. preposition buoyancy unit, 10. propeller, 11. rearmounted buoyancy unit, 12. frames, 13. base plates, 14. hydraulic systems, 15. control systems, 16. bases, 17. large arm, 18. forearms, 19. paws, 20. finger blocks, 21. connecting rods, 22. fingers, 23. Connection Blocks, 24. pipelines, 25. linking arms, 26. feed intake catches sucker.
Embodiment
As Figure 1-Figure 5, unmanned operation aquaculture robot under water, comprises submerge device and remote control station 2, is connected between submerge device with remote control station 2 by communication cable 6, remote control station (2) works on the water, is responsible for carrying out control & monitor to submerge device, submerge device comprises camera 1, mechanical arm 3, bait storage bin 4, feed intake and catch actuating unit 5, communication interface 7, framework lateral plate 8, preposition buoyancy unit 9, propeller 10, rearmounted buoyancy unit 11, frame 12, base plate 13, hydraulic system 14 and control system 15, base plate 13 is provided with frame 12, hydraulic system 14, the outer surface of frame 12 is provided with resistant material jacket, frame 12 is provided with communication interface 7, six propellers 10, control system 15, communication interface 7 is connected with communication cable 6, rearmounted buoyancy unit 11 is connected by framework lateral plate 8 with between frame 12, rearmounted buoyancy unit 11 is connected with preposition buoyancy unit 9, preposition buoyancy unit 9 is provided with three cameras 1, camera 1 can realize the monitoring of underwater environment, realize the acquisition of binocular range images simultaneously, frame 12 is provided with two mechanical arms 3, mechanical arm 3 is six-freedom degree, mechanical arm 3 comprises base 16, large arm 17, forearm 18 and paw 19, base 16 is arranged in frame 12, paw 19 comprises finger block 20, connecting rod 21 and finger 22, be connected by connecting rod 21 between finger block 20 with finger 22, be connected by joint motion between base 16 with large arm 17, be connected by joint motion between large arm 17 with forearm 18, be connected by joint motion between forearm 18 with paw 19, left, right two mechanical arms 3 can collaborative work, effectively complete executable operations, base plate 13 is provided with bait storage bin 4, feeds intake and catch actuating unit 5, bait storage bin 4 is caught actuating unit 5 and is connected with feeding intake, feed intake and catch actuating unit 5 and comprise Connection Block 23, pipeline 24, linking arm 25 and feed intake and catch sucker 26, Connection Block 23 is installed on base 13, Connection Block 23 is connected with linking arm 25, one end of pipeline 24 is caught sucker 26 and is connected with feeding intake, the other end is connected with bait storage bin 4 through linking arm 25, feed intake and catch the accurate input that actuating unit 5 can complete bait, can catching marine product be realized simultaneously, submerge device operation point two kinds of patterns, i.e. remote control mode and automatic mode, remote control mode sends robot motion order at control end by control by control staff, automatic mode is according to default course line, GPS navigation, by dynamically course, the speed of a ship or plane control in real time, nobody navigates by water at task of independently hitting the target, and ensure that course line is fixed, according to real-time Dynamic controlling feed rate of parameter such as real-time voyage, the speed of a ship or plane, doses, ensure that even bait throwing in, relevant for the data and system of part of data acquisition collection operational factor is transferred to earth station by data and image stage in real time, submerge device is in the manipulation of remote control station 2 with under monitoring, carry two mechanical arms 3, feed intake and catch actuating unit 5 and carry out operation at the bottom, large arm 17 is rotated, forearm 18, paw 19 also follow movement simultaneously, operationally, general employing two mechanical arm 3 coordinated modes carry out work, greatly increase work efficiency and success rate that increase task completes, feed intake and catch actuating unit 5 and have two kinds of mode of operations, the pattern that namely feeds intake and acquisition mode, in the pattern of feeding intake, bait deposited by bait storage bin 4, caught sucker 26 by pipeline 24 and be connected with feeding intake, and feeds intake to catch sucker 26 and perform and accurately throw in action, completes bait and throw in, at acquisition mode, bait storage bin 4, as aquatic products memory, stores the product of catching, binocular stereo vision measurement is the main path that human use's eyes obtain surrounding three-dimensional information, this technology adopts advanced two-dimensional imaging vision technique and accurate intelligent control technology, realize robot automatic job, two-dimensional imaging vision technique takes same width scene by two of diverse location video cameras (CCD), by computer memory point parallax in two images, calculate the degree of depth of scenery, obtain the D coordinates value of this point.
My company is engaged in seawater aquaculture history for many years, and have accumulated a large amount of professional techniques and knowhow in this field, the present invention have passed through a large amount of verification experimental verifications, and performance safety is reliable.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (9)
1. unmanned operation aquaculture robot under water, is characterized in that: comprise submerge device and remote control station (2), is connected between submerge device with remote control station (2) by communication cable (6);
Submerge device comprises camera (1), mechanical arm (3), bait storage bin (4), feed intake and catch actuating unit (5), communication interface (7), framework lateral plate (8), preposition buoyancy unit (9), propeller (10), rearmounted buoyancy unit (11), frame (12), base plate (13), hydraulic system (14) and control system (15), base plate (13) is provided with frame (12), hydraulic system (14), frame (12) is provided with communication interface (7), several propellers (10), control system (15), communication interface (7) is connected with communication cable (6), be connected by framework lateral plate (8) between rearmounted buoyancy unit (11) with frame (12), rearmounted buoyancy unit (11) is connected with preposition buoyancy unit (9), preposition buoyancy unit (9) is provided with several cameras (1), frame (12) is provided with two mechanical arms (3), base plate (13) is provided with bait storage bin (4), feed intake and catch actuating unit (5), bait storage bin (4) is caught actuating unit (5) and is connected with feeding intake.
2. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: the quantity of described propeller (10) is six.
3. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: the quantity of described camera (1) is three.
4. the aquaculture robot of unmanned operation under water according to claim 1, it is characterized in that: described mechanical arm (3) comprises base (16), large arm (17), forearm (18) and paw (19), base (16) is arranged in frame (12), be connected by joint motion between base (16) with large arm (17), be connected by joint motion between large arm (17) with forearm (18), be connected by joint motion between forearm (18) with paw (19).
5. the aquaculture robot of unmanned operation under water according to claim 4, it is characterized in that: described paw (19) comprises finger block (20), connecting rod (21) and finger (22), is connected between finger block (20) with finger (22) by connecting rod (21).
6. the aquaculture robot of unmanned operation under water according to claim 4 or 5, is characterized in that: described mechanical arm (3) is six-freedom degree.
7. the aquaculture robot of unmanned operation under water according to claim 1, it is characterized in that: described feeding intake is caught actuating unit (5) and comprised Connection Block (23), pipeline (24), linking arm (25) and feed intake and catch sucker (26), Connection Block (23) is arranged on base plate (13), Connection Block (23) is connected with linking arm (25), one end of pipeline (24) is caught sucker (26) and is connected with feeding intake, and the other end is connected with bait storage bin (4) through linking arm (25).
8. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: the outer surface of described frame (12) is provided with resistant material jacket.
9. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: described camera (1) adopts two-dimensional imaging vision technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510244554.0A CN104813975B (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510244554.0A CN104813975B (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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| Publication Number | Publication Date |
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| CN104813975A true CN104813975A (en) | 2015-08-05 |
| CN104813975B CN104813975B (en) | 2017-06-06 |
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| CN201510244554.0A Expired - Fee Related CN104813975B (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105075953A (en) * | 2015-09-15 | 2015-11-25 | 于锡汉 | Choice rare sea food seedling arranging robot |
| CN105598973A (en) * | 2016-02-04 | 2016-05-25 | 山东建筑大学 | Multi-leg drive holothurian fishing robot based on footholds |
| WO2017216512A1 (en) * | 2016-06-16 | 2017-12-21 | Atlantic Lionshare Ltd | Method and apparatus for controlling fish |
| CN107751124A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | A kind of robot for being used to excavating and picking up conch |
| CN107992089A (en) * | 2018-01-19 | 2018-05-04 | 美钻能源科技(上海)有限公司 | A kind of intelligent automation ocean culture system (OCS) and its method |
| CN108012971A (en) * | 2017-12-14 | 2018-05-11 | 郑州搜趣信息技术有限公司 | A kind of fish feeding device for being used to feed fish under water |
| CN108012970A (en) * | 2017-12-14 | 2018-05-11 | 郑州搜趣信息技术有限公司 | A kind of underwater fish-feeding device |
| CN108032314A (en) * | 2018-01-19 | 2018-05-15 | 美钻能源科技(上海)有限公司 | A kind of underwater culture robot and its method |
| CN108750045A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of modular underwater robot |
| CN110402901A (en) * | 2019-01-16 | 2019-11-05 | 上海海洋大学 | A kind of bionical squid living body acquisition equipment and control method |
| CN111587831A (en) * | 2020-06-23 | 2020-08-28 | 上海天行控制科技有限公司 | ROV bait casting robot |
| CN112335588A (en) * | 2020-10-14 | 2021-02-09 | 江苏叁拾叁信息技术有限公司 | Aquaculture robot for user unmanned underwater operation |
| CN112677132A (en) * | 2020-12-22 | 2021-04-20 | 关文婷 | Automatic detection robot for farm crop medicines |
| US11617358B2 (en) * | 2017-10-12 | 2023-04-04 | Atlantic Lionshare Limited | Method apparatus and system for controlling fish |
| WO2023206690A1 (en) * | 2022-04-25 | 2023-11-02 | 胡灵芝 | Submersible probe robot, fishing net unit, flow guide plate unit and fishing method |
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| CN106043631B (en) * | 2016-06-15 | 2017-11-14 | 青岛赶海机器人有限公司 | A kind of manipulator backpack underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105075953A (en) * | 2015-09-15 | 2015-11-25 | 于锡汉 | Choice rare sea food seedling arranging robot |
| CN105598973A (en) * | 2016-02-04 | 2016-05-25 | 山东建筑大学 | Multi-leg drive holothurian fishing robot based on footholds |
| WO2017216512A1 (en) * | 2016-06-16 | 2017-12-21 | Atlantic Lionshare Ltd | Method and apparatus for controlling fish |
| US11617358B2 (en) * | 2017-10-12 | 2023-04-04 | Atlantic Lionshare Limited | Method apparatus and system for controlling fish |
| CN107751124A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | A kind of robot for being used to excavating and picking up conch |
| CN107751124B (en) * | 2017-11-16 | 2023-09-05 | 钦州学院 | Robot for excavating and picking conch |
| CN108012971A (en) * | 2017-12-14 | 2018-05-11 | 郑州搜趣信息技术有限公司 | A kind of fish feeding device for being used to feed fish under water |
| CN108012970A (en) * | 2017-12-14 | 2018-05-11 | 郑州搜趣信息技术有限公司 | A kind of underwater fish-feeding device |
| CN107992089A (en) * | 2018-01-19 | 2018-05-04 | 美钻能源科技(上海)有限公司 | A kind of intelligent automation ocean culture system (OCS) and its method |
| CN108032314A (en) * | 2018-01-19 | 2018-05-15 | 美钻能源科技(上海)有限公司 | A kind of underwater culture robot and its method |
| CN108750045A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of modular underwater robot |
| CN108750045B (en) * | 2018-08-14 | 2020-10-23 | 深圳潜水侠创新动力科技有限公司 | Modular underwater robot |
| CN110402901A (en) * | 2019-01-16 | 2019-11-05 | 上海海洋大学 | A kind of bionical squid living body acquisition equipment and control method |
| CN111587831B (en) * | 2020-06-23 | 2022-02-22 | 上海天行控制科技有限公司 | ROV bait casting robot |
| CN111587831A (en) * | 2020-06-23 | 2020-08-28 | 上海天行控制科技有限公司 | ROV bait casting robot |
| CN112335588A (en) * | 2020-10-14 | 2021-02-09 | 江苏叁拾叁信息技术有限公司 | Aquaculture robot for user unmanned underwater operation |
| CN112677132A (en) * | 2020-12-22 | 2021-04-20 | 关文婷 | Automatic detection robot for farm crop medicines |
| CN112677132B (en) * | 2020-12-22 | 2022-05-10 | 山东韵丰环保科技有限公司 | Automatic detection robot for farm crop medicines |
| WO2023206690A1 (en) * | 2022-04-25 | 2023-11-02 | 胡灵芝 | Submersible probe robot, fishing net unit, flow guide plate unit and fishing method |
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