CN108617603A - A kind of crawler type shellfish harvester tool of submersible operation - Google Patents
A kind of crawler type shellfish harvester tool of submersible operation Download PDFInfo
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- CN108617603A CN108617603A CN201710194478.6A CN201710194478A CN108617603A CN 108617603 A CN108617603 A CN 108617603A CN 201710194478 A CN201710194478 A CN 201710194478A CN 108617603 A CN108617603 A CN 108617603A
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- shellfish
- intelligent
- control
- water
- submersible
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
Abstract
The aquatic product fishery machinery of the present invention, using submersible device, Integration ofTechnology and scientific and technical innovation are carried out, intelligence control system has intelligent flight course planning, intelligent barrier avoiding, cruise, inertial navigation, intelligence and makes a return voyage and full intelligent independent navigation control, submersible operation and in seabed crawler-type traveling.The crawler type shellfish harvester tool of submersible operation by underwater camera monitoring device energy accurate observation, finds shellfish growth district；Its cterpillar drive is in seabed action stable working；Its digging mechanism and collection device cooperation are compact, and picking rate can be made very fast.The crawler type shellfish harvester tool of this submersible operation, is equipped with electronic remote controller, being capable of autonomous navigation control；The operation under autonomous, remote control and monitoring Three models can be realized under complex environment.
Description
One, technical field
It is mechanical that a kind of crawler type shellfish harvester for submersible operation that we invent belongs to aquatic product fishery.Our innovative designs
This machinery of manufacture belongs to innovation and creation.
Two, background technology
China coast beach and ocean area are very vast, and artificial breeding and the shellfish type grown naturally are various.Mesh
Before, shellfish harvesting is main using artificial acquisition and fishing, also has using fishing boat trawl fishing and artificial diving fishing operation.Shellfish
The tradition of class captures acquisition method and is affected by tide, and the artificial of beach adopts shellfish when can only be on the ebb and could implement, and labour is strong
Degree is big, and low production efficiency works under hard conditions.
Fishing boat trawl fishing can only be directed to several shellfishes, and operation at sea is difficult specifically to find the marine product for having nature to grow
Region, and trawling and machinery inhale shellfish percentage of damage it is high.Artificial diving fishing is made under water by oxygen cylinder dive is carried
The limited time of industry, and unsuitable deep diving, the shellfish in depths marine site can not acquire.
In recent years, it is that fishery is underwater with the development of the technologies such as energy technology, the communication technology, artificial intelligence and sensor
The research and development of Work machine provide the foundation and platform.The power source of underwater operating machine conventional batteries, fuel cell and
There is larger progress in terms of heat engine system；Underwater signal receives processing and has overcome past difficulty by optical cable；It takes the photograph under water
The reciprocation of the apparatus such as camera, ship control system improves the degree of intelligence of underwater observation operation.
The underwater fishing machinery of the present invention, using Integration ofTechnology and scientific and technical innovation, intelligence control system has intelligent course line
Planning, intelligent barrier avoiding, cruise, inertial navigation, intelligence is maked a return voyage and the navigation control of full intelligent independent, submersible operation and in sea
Bottom crawler-type traveling, not only can be adapted for beach and adopts shellfish, can also catch the shellfish of 30 meters or so of the ocean depth of water of acquisition.
The crawler type shellfish harvester tool of submersible operation by Underwater Camera and sonar sounding set energy accurate observation, is found
Shellfish growth district；Its cterpillar drive is in seabed action stable working；Its digging mechanism and collection device cooperation are compact,
Picking rate can be made very fast.It can be equipped with various fishing instrument on its diving outfit framework, deep water Jiang Yaobei and various can be acquired
Shellfish；It is equipped with flexible manipulator, sea cucumber etc. can be captured.
The crawler type shellfish harvester tool of this submersible operation, is equipped with electronic remote controller, being capable of autonomous navigation control；It can
Under complex environment, the operation under autonomous, remote control and monitoring Three models is realized.In the case where being remotely controlled operating mode, topside personnel can
To be remotely controlled operation by optical cable；Under pre-programmed operating mode, AUTONOMOUS TASK can be carried out；In the monitoring mode, the water surface
Personnel carry out manual intervention by optical cable.
Relative to traditional fishing operation mode, the crawler type shellfish harvester tool of submersible operation has the advantage that：
1, job area is wider, can also both be carried by lash ship (fishing boat) in beach, shallow sea seawater region job
It discharges in deeper sea area operation.
2, device structure modularization, the cost built and used is relatively low, and maneuverability is easy to operate, supports the water surface
Lash ship it is of less demanding.
3, underwater information acquisition real-time Transmission, sub-aqua sport walking and the real time monitoring operated can be carried out and manually done
In advance, it can be remotely controlled and harvest automatically.
4, production efficiency is higher, can greatly improve shellfish harvest efficiency, reduce labor intensity, and increases economic effect
Benefit.
Three, invention content
The invention of the crawler type shellfish harvester of submersible operation is the progress of demand and science and technology based on market.This fishing
Industry fishing machinery uses the use function of submersible, absorbs new energy, new material, new technology, has carried out fruitful
Integrated and innovation.
Powerful generator, diesel engine had both been used on power source, had also selected power stronger and safe and applicable
Marine battery；Cterpillar drive ensure that the steady of sub-aqua sport walking；Diving outfit can make the nimble underground of shellfish harvester
Latent, floating；Underwater signal receiving and processing device carries out effective contact control by optical cable connection underwater equipment and water-surface working boat
System；It is equipped with Underwater Camera and sonar sounding set, improves the convenient degree of underwater observation operation；Ship control system and fishing
The mechanical equipment configuration reciprocal of operation.
These advanced technologies it is integrated, make the shellfish harvester of the present invention that there is relatively advanced intelligent control function and good
Mechanical work performance.
The crawler type shellfish harvester of submersible operation includes mainly：Crawler unit, diving outfit, digging mechanism, conveying
Mechanism, collection device, appliance arrangement of commanding behind the scenes etc..
1, diving outfit by two seal water tank and dive, floating facility constitute (also can use one sealing water tank and
Dive, floating facility are constituted).Its up-down mode can be used air pressure and be controlled into draining control, hydraulic pressure into draining control and propeller.
Shellfish harvester can be made to need to carry out dive and floating operation according to shellfish environment is adopted.
2, cterpillar drive is by " one band of four-wheel " (i.e. driving wheel, directive wheel, thrust wheel, support roller, crawler belt), tensioning dress
It sets and the compositions such as buffer spring, walking mechanism, walker.Crawler unit is driven by motor and hydraulic drive, and shellfish harvester turns
To when by (needing to use when with an oil pump feed on two crawler belts, respectively by the running motor of two hydraulic pressure oil pump feeds
Dedicated control valve manipulates) by the control to oil circuit, it easily realizes and turns to or turn on the spot, existed with adapting to shellfish harvester
Various ground, field overground locomotion.
3, digging mechanism is made of vibration digger blade, water pump, sand surfing pipe etc., is excavated using vibrospade, is passed through crank rocker
Mechanism completes shellfish moving upwards in shovel face.Vibration digger blade anterior edge is designed as waveform, reduces contact area, increases
Big pressure.Water pump connects sand surfing pipe by water pipe, for blowing afloat silt and shellfish.
4, conveying mechanism is made of grid, transmission device, lifting device etc..It is connected to digger blade rear portion, grid can make mud
Sand passes out, and shellfish is transmitted to collection device and is transmitted on the collecting platform (oceangoing ship) of the water surface.
5, collection device is made of acquisition cage frame, collecting net, water pump, cleaning pipe etc..Collection device is connected to digging mechanism
On, collecting net is connected on the frame of acquisition cage frame, and is nested with the acquisition cage frame, and water pump connects cleaning pipe by water pipe, clearly
Pipe is washed for towards the shellfish in the collecting net interior flushing acquisition cage frame.
6, device of commanding behind the scenes is made of camera monitoring equipment, ship control system etc..It is transmitted to water after video camera underwater photography
Face operation console is intuitively observed, finds shellfish growth district；Intelligent ship control system has intelligent flight course planning, intelligent barrier avoiding, determines
Fast cruise, inertial navigation, intelligence is maked a return voyage and the functions such as full intelligent independent navigation control.
Description of the drawings
Fig. 1, crawler type shellfish harvester schematic diagram；
Fig. 2, crawler type shellfish harvester structural plan figure；
Fig. 3, crawler type shellfish harvester structural facades figure；
Fig. 4, running gear and diving outfit schematic diagram.
In figure：1- diving outfits, 2- cterpillar drives, 3- diggings mechanism, 4- conveying mechanisms, 5- collection devices.
Four, specific implementation mode
The crawler type shellfish harvester tool for the submersible operation that we manufacture and design, main composition include：Diving outfit, crawler belt
Running gear, digging mechanism, conveying mechanism, collection device, appliance arrangement of commanding behind the scenes etc..Using advanced Integration ofTechnology and section
Innovation is learned, makes the machinery of the present invention that there are relatively advanced intelligent control function and good transaction capabilities.
It can be directly entered field operation in beach and neritic province domain；2 meters of the depth of water or more sea area operation then by fishing
Ship carries out operation as working mother boat.
The workflow of the crawler type shellfish harvester (fishing shellfish machine) of submersible operation is：
1, after entering beach cultivation or the shellfish grown naturally harvesting area, visual observation or underwater observation are first carried out,
Job parameter is inputted to control system.
2, start shellfish harvester tool motor, check shellfish harvester tool device and equipment, reach normal operation condition.
3, crawler unit and diving outfit are operated, shellfish harvester tool is made to enter region and the fishing scene of safety work.
4, digger blade, water pump, flush pipe etc. is operated to carry out adopting shellfish operation.Harvesting path and operation are adjusted according to field working conditions
Parameter makes shellfish harvester tool enter optimum Working.
5, the operating condition for checking conveying mechanism and collection device, workboat or collection are transmitted to by the shellfish of capture in time
On oceangoing ship.
6, after the completion of per subjob, shellfish harvester tool is overhauled, air source, oil plant is replenished in time and replaces shellfish harvester tool
Energy battery.
Claims (9)
1. the underwater fishing machinery of the present invention, uses the diving outfit of new material, new technology, especially unique design, technology
Integrated and scientific and technical innovation shows following aspects.
Diving outfit：Be by two seal water tank and dive, floating facility constitute (also can use one sealing water tank and under
Latent, floating facility is constituted).Its up-down mode can be used：Air pressure is controlled into draining；Hydraulic pressure is controlled into draining；Propeller control etc.
Mode.Shellfish harvester can be made to need to carry out dive and floating operation according to shellfish environment is adopted.
2. cterpillar drive：By " one band of four-wheel " (i.e. driving wheel, directive wheel, thrust wheel, support roller, crawler belt), tensioning apparatus
With the compositions such as buffer spring, walking mechanism, walker.Crawler unit is driven by motor and hydraulic drive, and shellfish harvester turns to
When by (special with that need to be used when an oil pump feed on two crawler belts, respectively by the running motor of two hydraulic pressure oil pump feeds
Control valve manipulates) by the control to oil circuit, it easily realizes and turns to or turn on the spot, to adapt to shellfish harvester each
Kind ground, field overground locomotion.
3. in terms of power source：Directly diesel engine can be used as power in mudflat operation；It can be in mother in deeper seawater
Generator cable connection power supply is used on ship (fishing boat)；The marine battery for selecting power stronger and safe and applicable, battery must accord with
Environmental Technology condition peculiar to vessel is closed, can adapt to vibrate and is impacted, adapts to tilt and wave, adapts to maritime air temperature and sea water temperature
Degree adapts to humidity, salt fog, mist of oil and mould environment.The materials such as cable for ship, electric wire good flame resistance, mechanical strength it is good and
Corrosion-resistant material.Battery peculiar to vessel generally uses 200AH (or 150AH) homalocephalus battery, should select with national ship probatio inspectionem pecuoarem
Battery.
4. digging mechanism：It is made of vibration digger blade, water pump, sand surfing pipe etc., is excavated using vibrospade, pass through crank and rocker mechanism
Complete shellfish moving upwards in shovel face.Vibration digger blade anterior edge is designed as waveform, reduces contact area, increases pressure
By force.Water pump connects sand surfing pipe by water pipe, for blowing afloat silt and shellfish.
5. conveying mechanism：It is made of grid, transmission device, lifting device etc..Grid, transmission device are connected to digger blade rear portion,
Grid can be such that silt passes out, and shellfish is transmitted to collection device and is transmitted on the collecting platform (oceangoing ship) of the water surface.
6. collection device：It is made of acquisition cage frame, collecting net, water pump, cleaning pipe etc..Collection device is connected in digging mechanism,
Collecting net is connected on the frame of acquisition cage frame, and is nested with the acquisition cage frame, and water pump connects cleaning pipe, cleaning pipe by water pipe
For towards the shellfish in the collecting net interior flushing acquisition cage frame.Shellfish after cleaned classification is cased respectively.
7. operating control device：It is configured with handle operation and control and electronic telecontrol, can realize autonomous, remote control under complex environment
With the operation under monitoring Three models.In the case where being remotely controlled operating mode, topside personnel can be remotely controlled operation by optical cable；Pre-
Under programing work pattern, AUTONOMOUS TASK can be carried out；In the monitoring mode, topside personnel carries out manual intervention by optical cable.
8. underwater camera monitors：High-definition video camera and sonar test set are configured, picture signal passes through light after underwater photography
Cable is transmitted to surface operations platform, intuitively observes, finds shellfish growth district.Since the ratio of refraction air of water is big, video camera
Angle of view in water be air in 3/4ths.In order to observe subject, underwater camera in wide range
The video camera of machine must select wide-angle lens.In addition, lens require have transmissivity as high as possible.Sonar test set is used for detecting
Underwater atural object and biocoene.
9. intelligent ship control system：System uses bus topolopy, by server, CAN intelligent cells and CAN local area network bus
Composition.Server completes the data management of system and analysis calculates, and CAN intelligent cells complete the data processing, display, report at scene
Alert and control.The data of each node realize transmission mutually by CAN bus.System have intelligent flight course planning, intelligent barrier avoiding,
Cruise, inertial navigation, intelligence are maked a return voyage and the functions such as full intelligent independent navigation control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194478.6A CN108617603A (en) | 2017-03-24 | 2017-03-24 | A kind of crawler type shellfish harvester tool of submersible operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194478.6A CN108617603A (en) | 2017-03-24 | 2017-03-24 | A kind of crawler type shellfish harvester tool of submersible operation |
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| Publication Number | Publication Date |
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| CN108617603A true CN108617603A (en) | 2018-10-09 |
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| CN201710194478.6A Pending CN108617603A (en) | 2017-03-24 | 2017-03-24 | A kind of crawler type shellfish harvester tool of submersible operation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110651734A (en) * | 2019-11-06 | 2020-01-07 | 山东省淡水渔业研究院（山东省淡水渔业监测中心） | Ecological experimental device for mudflat shellfish and using method thereof |
| CN110876362A (en) * | 2019-11-11 | 2020-03-13 | 盐城工学院 | Automatic sowing and harvesting device and process for mudflat shellfish culture |
| CN110978919A (en) * | 2019-12-18 | 2020-04-10 | 张继威 | Crawler-type marine organism fishing robot |
| CN113068665A (en) * | 2021-05-21 | 2021-07-06 | 浙江海洋大学 | Underwater shellfish picking machine for smart fishery |
| CN113959747A (en) * | 2021-10-18 | 2022-01-21 | 浙江大学 | Shellfish excavating test bed |
-
2017
- 2017-03-24 CN CN201710194478.6A patent/CN108617603A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110651734A (en) * | 2019-11-06 | 2020-01-07 | 山东省淡水渔业研究院（山东省淡水渔业监测中心） | Ecological experimental device for mudflat shellfish and using method thereof |
| CN110651734B (en) * | 2019-11-06 | 2023-08-04 | 山东省淡水渔业研究院（山东省淡水渔业监测中心） | Tidal flat shellfish ecological experimental device and application method thereof |
| CN110876362A (en) * | 2019-11-11 | 2020-03-13 | 盐城工学院 | Automatic sowing and harvesting device and process for mudflat shellfish culture |
| CN110978919A (en) * | 2019-12-18 | 2020-04-10 | 张继威 | Crawler-type marine organism fishing robot |
| CN110978919B (en) * | 2019-12-18 | 2023-07-14 | 威海多鱼海洋科技有限公司 | Crawler-type marine organism fishing robot |
| CN113068665A (en) * | 2021-05-21 | 2021-07-06 | 浙江海洋大学 | Underwater shellfish picking machine for smart fishery |
| CN113068665B (en) * | 2021-05-21 | 2022-08-02 | 浙江海洋大学 | Underwater shellfish picking machine for smart fishery |
| CN113959747A (en) * | 2021-10-18 | 2022-01-21 | 浙江大学 | Shellfish excavating test bed |
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