CN108902063A - Fishing machinery arm - Google Patents
Fishing machinery arm Download PDFInfo
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- CN108902063A CN108902063A CN201811045222.XA CN201811045222A CN108902063A CN 108902063 A CN108902063 A CN 108902063A CN 201811045222 A CN201811045222 A CN 201811045222A CN 108902063 A CN108902063 A CN 108902063A
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- mechanical arm
- arm body
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- camera
- image
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- 230000007246 mechanism Effects 0.000 claims abstract description 50
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000000694 effects Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000010287 polarization Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000005304 optical glass Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 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
- 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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Studio Devices (AREA)
Abstract
The embodiment of the present invention proposes a kind of fishing machinery arm, is used for underwater finishing device, and underwater finishing device has control unit, and fishing machinery arm includes：Mechanical arm body has conveyance conduit；Pedestal is connect with the suction side of mechanical arm body, and suction side penetrates through pedestal；Grasping mechanism is connect with pedestal, and grasping mechanism is for grabbing fished species；Image collecting device is connect with mechanical arm body, for acquiring the image of ambient enviroment；Mechanical arm body, grasping mechanism and image collecting device are electrically connected with control unit, and mechanical arm body and/or the grasping mechanism control instruction according to caused by image of the control unit based on image acquisition device carry out fishing movement.The fishing machinery arm of the embodiment of the present invention, by the grasping mechanism of the conveyance conduit of assimilating type and gripping-type, realizes the accurate fishing of different object due to being provided with image acquisition units therefore can accurately obtain the position to fished species.
Description
Technical field
The present invention relates to technical field of intelligent equipment more particularly to a kind of fishing machinery arms.
Background technique
Although manually caught relatively by way of machine marine fishing at present it is more convenient, due to the sea in water
Product size is different and quantity is different, fishing while single fishing style is unable to satisfy various types marine product.Another party
Face, machine catch the image for depending on image acquisition device, and image collecting device is generally arranged at fishing dress at present
On the shell set, therefore the position in water to fished species can not be accurately obtained sometimes, so that appearance fishing is easy to cause to lose
The problem of losing reduces catching rate.
Disclosed above- mentioned information are only used for reinforcing the understanding to background of the invention in the background technology, therefore it may be wrapped
Containing the information for not being formed as the prior art that those of ordinary skill in the art are known.
Summary of the invention
The embodiment of the present invention provides a kind of fishing machinery arm, to solve one or more technical problems in the prior art.
In a first aspect, it is used for underwater finishing device the embodiment of the invention provides a kind of fishing machinery arm, it is described to catch under water
Fishing out device has control unit, and the fishing machinery arm includes：
Mechanical arm body has conveyance conduit, and the conveyance conduit is for drawing and conveying fished species；
Pedestal is connect with the suction side of the mechanical arm body, and the suction side penetrates through the pedestal；
Grasping mechanism is connect with the pedestal, and the grasping mechanism is for grabbing fished species；
Image collecting device is connect with the mechanical arm body, for acquiring the image of ambient enviroment；
The mechanical arm body, the grasping mechanism and described image acquisition device are electrically connected with the control unit, institute
State the image institute that mechanical arm body and/or the grasping mechanism are acquired according to described control unit based on described image acquisition device
The control instruction of generation carries out fishing movement.
With reference to first aspect, the embodiment of the present invention is in the first implementation of first aspect, the mechanical arm body
Using retractable structure.
The first implementation with reference to first aspect, second implementation of the embodiment of the present invention in first aspect
In, the mechanical arm body includes multistage casing, and two adjacent described sleeve pipes are slidably connected, to realize the mechanical arm body
It is flexible.
With reference to first aspect, in the third implementation of first aspect, the grasping mechanism is the embodiment of the present invention
Multiple, each grasping mechanism and the pedestal are rotatablely connected；Each grasping mechanism has multiple linkage sections, described in adjacent two
Linkage section is hinged, to realize the multi-degree-of-freedom flexible movement of the grasping mechanism.
With reference to first aspect, the embodiment of the present invention is in the 4th kind of implementation of first aspect, described image acquisition dress
Set including：
Cover is connect with the mechanical arm body；
Camera is arranged in the cover and is rotatablely connected with the cover；
Polarizing film, is arranged in the bottom of the cover, and the camera acquires the figure of ambient enviroment via the polarizing film
Picture；
Wherein, the camera is electrically connected with the control unit, and is based on the camera according to described control unit and is adopted
Control instruction caused by the image of collection and rotate, adjust the turned position of the relatively described polarizing film of the camera to improve figure
As acquisition quality.
The 4th kind of implementation with reference to first aspect, five kind implementation of the embodiment of the present invention in first aspect
In, described image acquisition device also has multiple light sources device, and each light supply apparatus is circumferentially disposed on the cover, and
Each light supply apparatus setting is below the camera or below the polarizing film.
The 4th kind of implementation with reference to first aspect, six kind implementation of the embodiment of the present invention in first aspect
In, described image acquisition device also has the position-limit mechanism being arranged in the cover, and the position-limit mechanism setting is taken the photograph described
As the outside of head, for limiting the turned position of the camera.
The 4th kind of implementation with reference to first aspect, seven kind implementation of the embodiment of the present invention in first aspect
In, the camera is rotatablely connected by rotating mechanism and the cover.
With reference to first aspect any one of to the 7th kind of implementation of first aspect, the embodiment of the present invention is in first party
In the 8th kind of implementation in face, it is provided with rotatable baffle at the sucking end position of the mechanical arm body, it is described
Baffle is under the internal suction effect of the conveyance conduit towards overturning inside the conveyance conduit.
With reference to first aspect any one of to the 7th kind of implementation of first aspect, the embodiment of the present invention is in first party
In the 9th kind of implementation in face, further includes power unit, connect with the conveyance conduit, for being provided for the conveyance conduit
Suction.
A technical solution in above-mentioned technical proposal has the following advantages that or beneficial effect：Fishing machinery arm is due to setting
There are image acquisition units therefore can accurately obtain the position to fished species, and passes through the conveyance conduit of assimilating type and crawl
The grasping mechanism of formula realizes the accurate fishing of different object.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the overall structure figure for the fishing machinery arm that embodiment of the present invention provides.
Fig. 2 is the overall structure figure for the image collecting device that embodiment of the present invention provides.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
The embodiment of the invention provides a kind of fishing machinery arms, can be used for underwater finishing device, underwater finishing device tool
There are shell, accommodating chamber and control unit.Accommodating chamber and control unit setting are in the housing.
As described in Figure 1, fishing machinery arm includes：Mechanical arm body 1, pedestal 2, grasping mechanism 3 and image collecting device
4。
Mechanical arm body 1 has conveyance conduit 11, and conveyance conduit 11 is for drawing and conveying fished species.The object of fishing
It can be the marine product in water, other objects being also possible in water.
Pedestal 2 is connect with the suction side 12 of mechanical arm body 1, and suction side 12 penetrates through pedestal 2, in order to the suction of fished species
Enter.
Grasping mechanism 3 is connect with pedestal 2, and grasping mechanism 3 is for grabbing fished species.
Image collecting device 4 is connect with mechanical arm body 1, for acquiring the image of ambient enviroment.It should be noted that figure
As the setting position of acquisition device 4 can be adjusted according to the size shape of pedestal 2.I.e. image collecting device 4 is in acquisition image
When not will receive the interference of pedestal 2 or grasping mechanism 3, guarantee the integrality of acquired image.
Control unit is electrically connected with mechanical arm body 1, grasping mechanism 3 and image collecting device 4.Mechanical arm body 1 and/or
It is dynamic to carry out fishing for the control instruction according to caused by the image that control unit is acquired based on image collecting device 4 of grasping mechanism 3
Make.
It should be noted that then passing through grasping mechanism 3 when being greater than the bore of conveyance conduit 11 when the size of fished species
Fished species are treated to be grabbed.The figure that dimension information to fished species acquires image collecting device 4 according to control unit
It is obtained as carrying out discriminatory analysis.Meanwhile control unit being capable of robotically controlled arm being ontology 1 and gripper according to the image of acquisition
Structure 3 is moved to the orientation to fished species, realizes the intelligence fishing of automation.
In one embodiment, grasping mechanism 3 and mechanical arm body 1 are connect with the accommodating chamber of underwater finishing device.Conveying
Pipeline 11 is connected to the accommodating chamber of underwater finishing device.
In one embodiment, mechanical arm body 1 uses retractable structure, and then realizes the flexible fortune of mechanical arm body 1
It is dynamic, to catch the object for being in different depth position.Existing any retractable structure can be used in mechanical arm body 1, as long as energy
The function of enough realizing the mechanical arm body 1 of the present embodiment, is not specifically limited herein.
For example, mechanical arm body 1 includes multistage casing 13, two adjacent casings 13 are slidably connected, to realize mechanical arm sheet
Body 1 stretches.Preferably, the end of two adjacent casings 13 can be hinged, to realize mechanical arm body 1 according to wait catch
The position of object is different, to different bearing oscillations and stretches.
Or mechanical arm body 1 uses bellows structure, is provided with support frame in the tube wall of bellows structure,
So that mechanical arm body 1 is while with certain telescopic flexible, additionally it is possible to there is certain support strength, so that mechanical arm
Ontology 1 is able to maintain position under pedestal 2, grasping mechanism 3 or flow action and is basically unchanged.
In one embodiment, grasping mechanism 3 is multiple, and each grasping mechanism 3 is rotatablely connected with pedestal 2.Each crawl
Mechanism 3 all has multiple linkage sections 31, and adjacent two linkage section 31 is hinged, to realize the multi-degree-of-freedom flexible movement of grasping mechanism 3.
Multi-degree-of-freedom flexible is it is to be understood that being rotated in different directions and being moved.
In a specific embodiment, one end of grasping mechanism 3 and pedestal 2 are rotatablely connected, to realize that grasping mechanism 3 exists
It can be rotated on different directions.The other end of grasping mechanism 3 is provided with handgrip, handgrip can when grasping mechanism 3 rotates tune
Whole crawl angle.Flexible and handgrip orientation the swing tune of handgrip in different directions is realized by multiple linkage sections 31 simultaneously
It is whole.
In one embodiment, as shown in Fig. 2, image collecting device 4 includes cover 41, camera 42 and polarizing film
43.Wherein, cover 41 is connect with mechanical arm body 1.Camera 42 is arranged in cover 41 and is rotatablely connected with cover 41.Polarization
The bottom of cover 41 is arranged in piece 43, and camera 42 acquires the image of ambient enviroment via polarizing film 43.
Wherein, camera 42 is electrically connected with control unit, and is produced according to the image that control unit is acquired based on camera 42
Raw control instruction and rotate, adjust 42 opposite polarization piece 43 of camera turned position to improve Image Acquisition quality.
It should be noted that the relative orientations arc of image collecting device 4 describes, Fig. 2 can be referred to.43 institute of polarizing film in Fig. 2
It is at one end the lower orientation of image collecting device 4, camera 42 is the upper position of image collecting device 4 at one end.
In one embodiment, since there are the picture qualities that impurity and suspended particles, camera 42 acquire in water
It may be unsatisfactory for requiring.By the way that camera 42 to be electrically connected with control unit, control unit can be made to be adopted according to camera 42
The image control camera 42 of collection rotates, and adjusts the position of 42 opposite polarization piece 43 of camera to improve Image Acquisition quality.
In one embodiment, image collecting device 4 can be multiple, along the circumferential direction setting of mechanical arm body 1.So as to
The comprehensive environmental information (for example, image of ambient enviroment) obtained around fishing machinery arm.
In one embodiment, image collecting device 4 also has multiple light sources device 44, and each setting of light supply apparatus 44 is being taken the photograph
As first 42 or the lower section of polarizing film 43, and it is circumferentially disposed on cover 41.Preferably, the evenly spaced cloth of each light supply apparatus 44
It sets.Due to the evenly spaced arrangement of each light supply apparatus 44, so that the uniform illumination of each light supply apparatus 44, camera 42 is acquired
Image be easily handled and improve the quality and clarity that acquire image.
In one embodiment, as shown in Fig. 2, image collecting device 4 also has the position-limit mechanism being arranged in cover 41
45.The outside of camera 42 is arranged in position-limit mechanism 45, for limiting the turned position of camera 42.Position-limit mechanism 45 can wrap
Include bracket 451 and enclosing 452.Bracket 451 is connect with 41 inner wall of cover and enclosing 452.Enclosing 452 has for accommodating camera
42 groove structure.The groove structure area defined of enclosing 452 is the rotatable position of camera 42 limited.Due to
It is provided with enclosing 452, so that camera 42 remains in the range of can acquiring image, avoids rotating because of camera 42
Range is excessive to cause Image Acquisition incomplete.
For the ease of the rotation of camera 42, camera 42 can be connect by rotating mechanism 46 with cover 41, and rotating machine
Structure 46 is electrically connected with control unit, by control unit according to the analysis of acquisition image as a result, control rotating mechanism 46 rotates.
In one embodiment, camera 42 is white light camera, and white light camera supports automatic white balance function, color
Reduction degree is high, image fidelity and support backlight compensation, therefore the picture quality obtained is enabled to improve.
In one embodiment, polarizing film 43 uses double sided optical glass structure, and double sided optical glass has been embedded in polarisation
Film.
In one embodiment, cover 41 is made of waterproof material, prevents water from entering 41 internal damage image of cover
Acquisition device 4.
In one embodiment, rotatable baffle is provided at 12 position of suction side of mechanical arm body 1 (not show in figure
Out), baffle is under the internal suction effect of conveyance conduit 11 towards overturning inside conveyance conduit.Baffle is not by conveyance conduit 11
When portion's suction, in 12 state of suction side for blocking conveyance conduit 11.When baffle is by 11 internal suction of conveyance conduit
It can be overturn towards 11 internal direction of conveyance conduit, so that the inner space of conveyance conduit 11 is connected to exterior space, to make to catch
Fishing object can be inhaled into conveyance conduit 11.After conveyance conduit 11, which is drawn, completes fished species, baffle resets to conveying
12 state of suction side of pipeline 11.It should be noted that baffle is only rotated from block-up position to the direction of conveyance conduit 11, with
And block-up position is returned from 11 internal rotating of conveyance conduit, it will not be overturn from block-up position to the outside direction of suction side 12.Exist
Under fished species pressure effect in conveyance conduit 11, baffle still is able to prevent from storing in conveyance conduit 11 in block-up position
Fished species dropped out from conveyance conduit 11.
In one embodiment, fishing machinery arm further includes power unit (not shown), power unit and delivery pipe
Road 11 connects, for providing suction for conveyance conduit 11.
Fishing machinery arm of the invention at work, acquires fishing machine by the camera 42 of image collecting device 4 first
The image of tool arm external environment, and the image that will acquire is sent to control unit.Control unit is parsed and is judged to image
Picture quality.If picture quality does not meet identification and requires, the rotation of camera 42 is controlled, to adjust 42 opposite polarization piece of camera
43 position removes influence of the seabed suspending power to imaging, improves the clarity for the image that camera 42 obtains.After adjustment
Camera 42 obtain image again and be sent to control unit, control unit continues to adjust the quality for obtaining image, until take the photograph
The image obtained as first 42 can satisfy quality requirement.Control unit parses the image for meeting quality requirement, judge to
Fished species position, unit 3 of then controlling fishing carry out object fishing.
The specific fishing process for catching unit 3 is to judge whether the size to fished species is greater than 11 bore of conveyance conduit.
When being greater than the bore of conveyance conduit 11 when the size of fished species, then fished species is treated by grasping mechanism 3 and is grabbed,
And it is put into the accommodating chamber of underwater finishing device.When being less than the bore of conveyance conduit 11 when the size of fished species, then lead to
The conveyance conduit 11 for crossing mechanical arm body 1 is treated fished species and is drawn, to be drawn in the accommodating chamber of underwater finishing device.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized：With for realizing the logic gates of logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (10)
1. a kind of fishing machinery arm is used for underwater finishing device, the underwater finishing device has control unit, and feature exists
In the fishing machinery arm includes：
Mechanical arm body has conveyance conduit, and the conveyance conduit is for drawing and conveying fished species；
Pedestal is connect with the suction side of the mechanical arm body, and the suction side penetrates through the pedestal；
Grasping mechanism is connect with the pedestal, and the grasping mechanism is for grabbing fished species；
Image collecting device is connect with the mechanical arm body, for acquiring the image of ambient enviroment；
The mechanical arm body, the grasping mechanism and described image acquisition device are electrically connected with the control unit, the machine
Tool arm body and/or the grasping mechanism are according to produced by the image that described control unit is acquired based on described image acquisition device
Control instruction, carry out fishing movement.
2. fishing machinery arm as described in claim 1, which is characterized in that the mechanical arm body uses retractable structure.
3. fishing machinery arm as claimed in claim 2, which is characterized in that the mechanical arm body includes multistage casing, adjacent
Two described sleeve pipes be slidably connected, to realize the flexible of the mechanical arm body.
4. fishing machinery arm as described in claim 1, which is characterized in that the grasping mechanism is multiple, each gripper
Structure and the pedestal are rotatablely connected；Each grasping mechanism has multiple linkage sections, and adjacent two linkage section is hinged, to realize
The multi-degree-of-freedom flexible of the grasping mechanism acts.
5. fishing machinery arm as described in claim 1, which is characterized in that described image acquisition device includes：
Cover is connect with the mechanical arm body；
Camera is arranged in the cover and is rotatablely connected with the cover；
Polarizing film, is arranged in the bottom of the cover, and the camera acquires the image of ambient enviroment via the polarizing film；
Wherein, the camera is electrically connected with the control unit, and is acquired according to described control unit based on the camera
Control instruction caused by image and rotate, the turned position for adjusting the relatively described polarizing film of the camera is adopted with improving image
Collect quality.
6. fishing machinery arm as claimed in claim 5, which is characterized in that described image acquisition device also has multiple light sources dress
It sets, each light supply apparatus is circumferentially disposed on the cover, and each light supply apparatus is arranged below the camera
Or below the polarizing film.
7. fishing machinery arm as claimed in claim 5, which is characterized in that described image acquisition device, which also has, to be arranged described
The outside of the camera is arranged in position-limit mechanism in cover, the position-limit mechanism, for limiting the rotation of the camera
Position.
8. fishing machinery arm as claimed in claim 5, which is characterized in that the camera passes through rotating mechanism and the cover
Rotation connection.
9. such as the described in any item fishing machinery arms of claim 1-8, which is characterized in that the sucking of the mechanical arm body
Rotatable baffle is provided at end position, the baffle is under the internal suction effect of the conveyance conduit towards the delivery pipe
Overturning inside road.
10. such as the described in any item fishing machinery arms of claim 1-8, which is characterized in that it further include power unit, and it is described defeated
Pipeline is sent to connect, for providing suction for the conveyance conduit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045222.XA CN108902063A (en) | 2018-09-07 | 2018-09-07 | Fishing machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045222.XA CN108902063A (en) | 2018-09-07 | 2018-09-07 | Fishing machinery arm |
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| CN108902063A true CN108902063A (en) | 2018-11-30 |
Family
ID=64408015
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811045222.XA Pending CN108902063A (en) | 2018-09-07 | 2018-09-07 | Fishing machinery arm |
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Cited By (2)
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| 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 |
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
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Application publication date: 20181130 |