CN112660343B - Underwater robot for recovering dead fish in deep open sea net cage - Google Patents
Underwater robot for recovering dead fish in deep open sea net cage Download PDFInfo
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- CN112660343B CN112660343B CN202011621228.4A CN202011621228A CN112660343B CN 112660343 B CN112660343 B CN 112660343B CN 202011621228 A CN202011621228 A CN 202011621228A CN 112660343 B CN112660343 B CN 112660343B
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- 238000010408 sweeping Methods 0.000 claims abstract description 72
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- 238000011084 recovery Methods 0.000 claims abstract description 33
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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- 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
Abstract
The invention discloses a deep open sea cage fish recovery underwater robot dead of illness, which comprises a main body control module and a fish recovery module dead of illness, wherein the main body control module controls the action of the fish recovery module dead of illness, so that the recovery of the fish dead of illness of the cage is realized; the main body control module comprises a main controller, a vision system, a motion system and a battery compartment, the vision system, the motion system and the battery compartment are connected with the main controller, the recovery module for the fish died of illness comprises a slope plate driving rod system, a sweeping wheel group, a water flow control system and a storage net cage system, the slope plate driving rod system is used for collecting and transmitting the fish died of illness attached to the bottom of the net cage, and the fish died of illness is transported to the storage net cage system for recovery through the sweeping wheel group and the water flow control system; this scheme compact structure, convenient operation are exclusively used in the underwater robot of the recovery of the dead fish of illness of deep sea box with a net, can control the recovery that realizes the dead fish of illness through technical staff ashore, have higher practical application and worth and popularization prospect.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an underwater robot for recovering diseased and dead fishes in a deep and open sea net cage, which is used for fishing and cleaning diseased and dead cultured organisms and other sediments in the deep and open sea net cage.
Background
At present, mariculture has become an industry which makes important contributions to food safety, national economy and trade balance. However, the traditional extensive consumption type fishery production mode leads to serious damage to most of sea ecology, and the problems of serious aquatic organism diseases, worsening of culture environment and the like are caused, so that the healthy and sustainable development of the aquaculture industry is seriously restricted.
The construction of the marine ranch is an important way for the utilization of marine fishery resources and is also a necessary choice for ecological sea and scientific sea. The deep sea net cage is key equipment for deep sea cultivation, the problem of deposition of fish dying of diseases often occurs in the process of fish shoal cultivation, and if the deposits of the fish dying of diseases cannot be removed in time, water bodies can be polluted, diseases can be spread, and the deep sea cultivation safety can be damaged. At present, the recovery work of the sediments of the dead fishes in the net cages mainly adopts a manual fishing mode, the operation difficulty is high, the labor intensity is high, and the working efficiency is low.
The existing underwater robot applied to mariculture mainly detects whether a net cage is damaged or not, observes cultured organisms and monitors water quality, and solves the problem of fishing and cleaning sediments of the cultured organisms which are diseased and dead. The ill and dead cultured organisms in the net cage are not removed in time, the living environment of the cultured organisms in the net cage can be influenced, the water quality in the net cage is degraded, the growth of the cultured organisms is influenced, and huge economic loss is brought.
Aiming at the problems, no underwater robot can replace manpower to effectively clean the fish dying of illness of the net cage at present, so that a set of underwater robot for recovering the fish dying of illness of the net cage is urgently needed to be developed.
Disclosure of Invention
The invention provides a deep open sea cage fish recovery underwater robot for treating diseases and death, aiming at solving the defects of cleaning cage fish with diseases and death in the prior art, and realizing the fishing and cleaning of diseases, death breeding organisms and other sediments in deep open sea cages.
The invention is realized by adopting the following technical scheme: a deep open sea cage fish recovery underwater robot that dies of illness, including main body control module and fish recovery module that dies of illness, control the fish recovery module action that dies of illness by the main body control module, realize the cage fish recovery that dies of illness; the main body control module comprises a main controller, a vision system, a motion system and a battery compartment, the vision system, the motion system and the battery compartment are connected with the main controller, the recovery module for the fish died of illness comprises a slope plate driving rod system, a sweeping wheel group, a water flow control system and a storage net cage system, the slope plate driving rod system is used for collecting and transmitting the fish died of illness attached to the bottom of the net cage, and the fish died of illness is transported to the storage net cage system for recovery through the sweeping wheel group and the water flow control system;
the slope plate driving rod system comprises slope plate shovels, slope plate driving rods, slope plate side plates, a temporary storage platform, a first driving gear and a driving motor, wherein the slope plate driving rods are arranged between the slope plate side plates on two sides side by side, one end of each slope plate driving rod is provided with the first driving gear, the first driving gears are mutually meshed, the first driving gears are driven by the driving motor to rotate, and the temporary storage platform is arranged behind the slope plate driving rods;
the sweeping wheel set and water flow control system comprises a sweeping wheel set, a sweeping wheel set side plate, a sweeping wheel set motor and a bevel gear reduction box; the sweeping wheel set is arranged between the sweeping wheel set side plates and comprises a sweeping wheel set main shaft and a plurality of sweeping wheels arranged on the sweeping wheel set main shaft, and two ends of the sweeping wheel set main shaft are connected with an output shaft of a sweeping wheel set motor through a bevel gear reduction box.
Furthermore, the recovery module for the fish dying of illness further comprises a transition net cage transmission system arranged between the sweeping wheel set and the water flow control system and the storage net cage system, the transition net cage transmission system comprises a transition net cage and a transition net cage transmission rod, the transition net cage transmission rod is arranged at the bottom of the transition net cage side by side, a second transmission gear is arranged at one end of the transition net cage transmission rod, the second transmission gears are meshed with each other, and the second transmission gears rotate under the driving of a driving motor.
Further, the storage net cage system comprises a storage net cage, a one-way door is arranged on the storage net cage and comprises a one-way door sheet, a one-way door shaft, a spring fastener and a stop block, the one-way door sheet is arranged side by side along the entrance of the storage net cage, the top end of the one-way door sheet is installed on one side of the stop block through the one-way door shaft, the stop block is limited to the one-way door sheet, the spring fastener is installed between the upper end of the one-way door sheet and the stop block, and the spring fastener is in a stretching state under the closing state of the one-way door, so that the one-way door sheet can only be opened towards the direction of installing the spring fastener.
Furthermore, the sweeping wheel comprises sweeping wheel blades extending towards three different directions, and the sweeping wheel blades are arc-shaped and are bent towards the same direction.
Furthermore, a water flow control plate is further arranged on the sweeping wheel, and the water flow control plate is arranged along the length direction of the main shaft of the sweeping wheel set and is perpendicular to the main shaft of the sweeping wheel set.
Furthermore, the slope plate driving rod and the transition net cage driving rod are both processed by nylon bars, and a plurality of blunt spines made of rubber materials are arranged on the slope plate driving rod and the transition net cage driving rod.
Further, the slope board shovel is an arc-shaped slope shovel matched with the shape of the bottom surface of the net cage.
Furthermore, the motion system comprises crawler belts arranged on two sides of the bottom of the underwater robot, the crawler belts are connected with the main controller, and the controller controls the crawler belts to realize the walking of the underwater robot in the net cage.
Furthermore, the motion system further comprises a transverse propeller and a vertical propeller which are arranged on the side face of the underwater robot, the transverse propeller and the vertical propeller are connected with the main controller, the rotation and the translation in the horizontal plane of the underwater robot are realized by controlling the transverse propeller in an auxiliary mode, and the rotation and the translation of the underwater robot on the vertical plane are realized by controlling the vertical propeller.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the scheme, a slope plate driving rod system, a sweeping wheel set, a water flow control system, a transition net cage driving system and a storage net cage system which are specially used for recovering the dead fish at the bottom of the net cage are designed, the dead fish and other sediments are conveyed to a temporary storage platform from the net bottom based on the slope plate driving rod system, the dead fish is conveyed into the transition net cage by means of the centrifugal force of the sweeping wheels and control water flow, the dead fish is conveyed to the interior from the edge of the storage net cage, and the problem that the dead fish can rush out of the storage net cage along with water flow is solved by combining the design of a one-way door of the storage net cage;
besides, the robot is specially designed for recovering the fish died of illness in the net cage, more strict standards are adopted in the aspects of water prevention and the like, a large amount of optimization is also carried out for the environment of the net cage, if a crawler belt is used as a main part, a propulsion system with a propeller as an auxiliary part is used, the robot is specially designed for the cylindrical net cage, and the angle of a side plate of a sweeping wheel set is adjusted through a side plate steering engine of the sweeping wheel set so as to control the distance between the sweeping wheel set and a temporary storage platform.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an underwater robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a ramp plate drive rod system and a sweep wheel assembly and water flow control system according to an embodiment of the present invention;
FIG. 3 is a schematic side view of an underwater robot according to an embodiment of the present invention;
FIG. 4 is a schematic view of a one-way door of a storage net box in an operating state according to an embodiment of the present invention;
FIG. 5 is a schematic view of a sweeping wheel set and a water flow control system according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a drive rod according to an embodiment of the present invention;
FIG. 7 is a schematic view of a partial structure of a one-way door according to an embodiment of the present invention;
1. a ramp drive rod system; 2. a sweeping wheel group and a water flow control system; 3. an underwater light; 4. a high-definition camera; 5. a float; 6. a propeller; 7. storing the net cage; 8. a transition net cage; 9. a crawler belt; 10. a transition net cage driving rod; 11. fish dying of illness; 12. a ramp plate drive rod; 13. a ramp plate side plate; 14. a bevel gear reduction box; 15. sweeping wheels; 16. a sweeping wheel group side plate; 17. a temporary storage platform; 18. a first transmission gear; 19. a slope board shovel; 20. a second transmission gear; 21. a one-way door; 22. a sweeping wheel set motor; 23. a water flow control plate; 24. a main shaft of the sweeping wheel group; 25. a side plate steering engine of the sweeping wheel group; 26. a stopper; 27. a spring buckle; 28. a one-way door sheet; 29. a one-way door shaft.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and thus, the present invention is not limited to the specific embodiments disclosed below.
A deep sea cage fish recovery underwater robot that dies of illness, as shown in figure 1, includes the main body control module and the fish recovery module that dies of illness, control the fish recovery module action that dies of illness by the main body control module, realize the cage fish recovery that dies of illness, the said main body control module includes the main control unit and vision system, robot movement system and battery compartment, etc. that link with the main control unit, the said fish recovery module that dies of illness includes the driving rod system 1 of the ramp, sweep wheel group and rivers control system 2, transition cage transmission system and storage cage system, specifically, make detailed introduction to the invention below in connection with fig. 1-7:
the vision system is sealed in a front high-definition camera 4 and an ultrahigh lumen underwater lamp 3 in the central control cabin, the ultrahigh lumen underwater lamp and the high-definition underwater camera can rotate by means of a holder to acquire images of the robot in all directions, so that the surrounding environment of the underwater robot can be comprehensively observed, and a main controller of the vision system completes tasks such as fish school state analysis according to the images acquired by the cameras.
The robot motion system comprises 4 transverse thrusters and 4 vertical thrusters, wherein the 4 transverse thrusters are arranged at a certain angle as shown in 1,4, the robot can rotate and translate on the horizontal plane by controlling the 4 transverse thrusters, the 4 vertical thrusters are vertically arranged, the force generated during working is perpendicular to the robot, and the robot can rotate and translate on the vertical plane by controlling the 4 vertical thrusters. The 8 propellers are controlled in different modes, so that the pose and the motion form of the robot can be changed, and the robot can complete the motion in different modes.
The slope plate transmission rod system 1 is used for conveying dead fish attached to the bottom of the net cage to a temporary storage platform 17 for recovery, and as shown in fig. 2, the slope plate transmission rod system mainly comprises a slope plate shovel 19, slope plate transmission rods 12, slope plate side plates 13, a temporary storage platform 17, first transmission gears 18 and a driving motor, wherein the slope plate transmission rods 12 are arranged between the slope plate side plates 13 on two sides side by side, the end parts of the slope plate transmission rods 12 are provided with the first transmission gears 18, the first transmission gears 18 are meshed with each other, the driving motor is connected with the first transmission gears 18 through a synchronous gear belt, the first transmission gears 18 rotate under the transmission of the synchronous gear belt (the uppermost gear of the slope plate transmission rod system is driven by the synchronous gear belt, the power is derived from the driving motor, the driving motor simultaneously provides power for the transition net cage transmission system, the driving motor can also provide power for the transition net cage transmission rods, certainly two driving motors are used for respectively driving the slope plate transmission rods and the storage net cage transmission rods, and detailed description is not needed), and the temporary storage platform 17 is arranged behind the slope plate transmission rods 12; the slope plate shovel 19 is an arc slope with the inclination of 23 degrees, and like a shovel, shovels the dead fish deposited on the net and sends the dead fish to the slope plate driving rod 12 by means of thrust and friction; meanwhile, the arc-shaped slope of the slope board shovel 19 is more attached to the cylindrical net cage in deep open sea, so that sediments such as dead fish at corners can be effectively recovered;
wherein, the ramp driving rod 12 is formed by processing nylon bar stock, and the upper surface is distributed with blunt thorn of rubber material, increases driven frictional force. A plurality of driving rods are distributed side by side (as shown in figure 2) to form a crawler belt which conveys the fish died of illness to a temporary storage platform 17; the temporary storage platform 17 is a transition platform between the recovery system and the transition net cage 8, and the dead fishes are periodically cleaned by the sweeping wheel set system after being stacked; the transmission system is in gear transmission, power is provided by a driving motor, a top-layer slope plate driving rod gear is driven by a synchronous transmission belt, and an idler gear transmits power, so that each driving rod moves at the same speed and in the same direction.
The sweeping wheel set and water flow control system comprises a sweeping wheel set, a sweeping wheel set side plate 16, a sweeping wheel set motor 22, a sweeping wheel set main shaft 24 and a bevel gear reduction box 14; the sweeping wheel set comprises a plurality of specially-made sweeping wheels 15, in this embodiment, 24 sweeping wheels are selected and fixed on a main shaft 24 of the sweeping wheel set through screws, as shown in fig. 6. The sweeping wheel set main shaft 24 is a metal aluminum shaft, the strength can be effectively guaranteed, two ends of the sweeping wheel set main shaft 24 are connected with an output shaft of the motor 22 through the bevel gear reduction box 14, power is provided by the waterproof motor 22 through speed regulation and direction change of the bevel gear reduction box 14, and dead fish collected on the temporary storage platform 17 by the slope plate transmission rod system are swept into the transition net cage 8 by controlling the rotation of the sweeping wheel set, so that the recovery of the dead fish is realized. In addition, the side plates of the sweeping wheel sets can be controlled by the steering engine, so that the distance between the sweeping wheel sets and the temporary storage platform is controlled, and the fishes died of illness with different sizes can be recovered;
the sweeping wheel 15 is further provided with a water flow control plate 23, the water flow control plate 23 is arranged along the length direction of the sweeping wheel set main shaft 24 and perpendicular to the sweeping wheel set main shaft 24, and the water flow control plate 23 is attached to the sweeping wheel 15 and rotates along with the main shaft. When the sweeping wheel set works, the water flow control plate 23 can drive peripheral water flow to move, so that the water flow flows into the net cage to assist the dead fish to enter the transition net cage 8.
The transition net cage transmission system comprises a transition net cage 8, a transition net cage transmission rod 10, a second transmission motor and the like, and as shown in fig. 1 and 4, the sweeping wheel set system sweeps dead fishes into the storage net cage. Due to gravity, the diseased and dead fish can be accumulated at the edge of the net opening, and the diseased and dead fish are conveyed to the deep part of the net cage by a transmission system, so that the storage space resource is utilized to the maximum extent; the transition net cage driving rod 10 and the slope plate driving rod driving system have the same principle as the related structures in the slope plate driving rod system, and no surplus exists here.
The storage net cage system comprises a storage net cage 7 and a one-way door 21, and as shown in fig. 4 and 5, the storage net cage 7 is used for storing all fish dead of a net bottom. The fish dying of illness passes through the crossing net cage, passes through the one-way door 21, and finally enters the storage net cage, and the storage net cage can be independently disassembled, so that the recovered fish dying of illness can be conveniently treated; as shown in fig. 7, the one-way door 21 is another innovative point of the present invention. In order to prevent the dead fish entering the storage net cage from rushing into the transition net cage due to the action of water flow, a one-way door is required to be arranged and can only be opened from the direction of the transition net cage.
The one-way door 21 comprises one-way door pieces 28, one-way door shafts 29, spring buckles 27 and stoppers 26, the one-way door pieces 28 are arranged side by side along the entrance of the storage net cage 7, the top ends of the one-way door pieces 28 are installed on one side of the stoppers 26 through the one-way door shafts 29, the stoppers 26 limit the one-way door pieces 28, the spring buckles 27 are installed between the upper ends of the one-way door pieces 28 and the stoppers 26, the spring buckles 27 are in a stretching state in the closing state of the one-way door 21, and the one-way door pieces 28 can only be opened towards the direction of installing the spring buckles 27. When a dead fish enters the storage net cage from the transition net cage, the corresponding one-way door sheet is forced to be opened, and other one-way door sheets are not influenced, as shown in fig. 5. After the fish dying of illness gets into storage net cage, the partial one-way door piece of opening can receive the spring force to resume closed position, stops after bumping the dog, keeps the enclosed state of net cage, prevents that the fish dying of illness in the storage net cage from drifting out when the machine.
Because the operational environment of this scheme is under water of tens meters, the robot lies prone and works in the box with a net bottom, contacts with the net bottom. The use of the track 9 for movement is therefore envisaged, with the propeller as an aid.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (5)
1. A deep open sea cage fish recovery underwater robot that dies of illness, including main body control module and fish recovery module that dies of illness, control the fish recovery module action that dies of illness by the main body control module, realize the cage fish recovery that dies of illness; the main part control module includes main control unit and visual system, motion system and the battery compartment that links to each other with main control unit, its characterized in that:
the recovery module for the fish died of illness comprises a slope plate driving rod system, a sweeping wheel group and water flow control system, a transition net cage driving system and a storage net cage system, wherein the transition net cage driving system is arranged between the sweeping wheel group and the water flow control system and between the storage net cage system and the transition net cage driving system, the slope plate driving rod system is used for collecting and transmitting the fish died of illness attached to the bottom of the net cage, and the fish died of illness is transported to the storage net cage system for recovery through the sweeping wheel group and the water flow control system;
the transition net cage transmission system comprises transition net cages (8) and transition net cage transmission rods (10), wherein the transition net cage transmission rods (10) are arranged at the bottoms of the transition net cages (8) side by side, one ends of the transition net cage transmission rods (10) are provided with second transmission gears (20), the second transmission gears (20) are meshed with each other, and the second transmission gears (20) rotate under the driving of a driving motor;
the slope plate driving rod system comprises a slope plate shovel (19), slope plate driving rods (12), slope plate side plates (13), a temporary storage platform (17), first driving gears (18) and a driving motor, wherein the slope plate driving rods (12) are arranged between the slope plate side plates (13) on two sides side by side, the first driving gears (18) are arranged at one ends of the slope plate driving rods (12), the first driving gears (18) are mutually meshed, the first driving gears (18) are driven by the driving motor to rotate, and the temporary storage platform (17) is arranged behind the slope plate driving rods (12);
the storage net cage system comprises a storage net cage (7), a one-way door (21) is arranged on the storage net cage (7), the one-way door (21) comprises one-way door sheets (28), one-way door shafts (29), spring fasteners (27) and stop blocks (26), the one-way door sheets (28) are arranged side by side along an entrance of the storage net cage (7), the top ends of the one-way door sheets (28) are installed on one side of the stop blocks (26) through the one-way door shafts (29), the stop blocks (26) realize the limiting of the one-way door sheets (28), the spring fasteners (27) are installed between the upper ends of the one-way door sheets (28) and the stop blocks (26), and the spring fasteners (27) are in a stretching state under the closing state of the one-way door (21);
the sweeping wheel set and water flow control system comprises a sweeping wheel set, a sweeping wheel set side plate (16), a sweeping wheel set motor (22) and a bevel gear reduction box (14); the sweeping wheel set is arranged between side plates (16) of the sweeping wheel set and comprises a main shaft (24) of the sweeping wheel set and a plurality of sweeping wheels (15) arranged on the main shaft, and two ends of the main shaft (24) of the sweeping wheel set are connected with an output shaft of a motor (22) of the sweeping wheel set through a bevel gear reduction box (14); a side plate (16) of the sweeping wheel group is controlled by a steering engine, so that the distance between the sweeping wheel group and the temporary storage platform (17) is controlled;
sweep wheel (15) including to the sweeping wheel leaf that three not equidirectional extension, and sweep the wheel leaf and be the arc, all to same direction bending, it still is provided with rivers control panel (23) on wheel (15) to sweep, and length direction and perpendicular to that wheel set main shaft (24) were swept along sweeping wheel set main shaft (24) in rivers control panel (23) set up.
2. The deep open sea cage fish recovery underwater robot dead of illness of claim 1, characterized in that: the ramp plate driving rod (12) and the transition net cage driving rod (10) are both processed by nylon bars, and a plurality of blunt spines made of rubber materials are arranged on the ramp plate driving rod (12) and the transition net cage driving rod (10).
3. The deep open sea cage fish recovery underwater robot dead of illness of claim 1, characterized in that: the slope board shovel (19) is an arc slope shovel matched with the shape of the bottom of the net cage.
4. The underwater robot for recovering fish dead of illness of deep sea cage according to claim 1, characterized in that: the moving system comprises crawler belts (9) arranged on two sides of the bottom of the underwater robot, the crawler belts (9) are connected with a main controller, and the controller controls the crawler belts (9) to realize the walking of the underwater robot in the net cage.
5. The underwater robot for recovering fish dead of disease in deep open sea cages as claimed in claim 4, wherein: the motion system further comprises a transverse propeller and a vertical propeller which are arranged on the side face of the underwater robot, the transverse propeller and the vertical propeller are connected with the main controller, rotation and translation in the horizontal plane of the underwater robot are achieved by controlling the transverse propeller in an auxiliary mode, and rotation and translation of the underwater robot on the vertical plane are achieved by controlling the vertical propeller.
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| CN202011621228.4A CN112660343B (en) | 2020-12-30 | 2020-12-30 | Underwater robot for recovering dead fish in deep open sea net cage |
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| CN202011621228.4A CN112660343B (en) | 2020-12-30 | 2020-12-30 | Underwater robot for recovering dead fish in deep open sea net cage |
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| CN112660343B true CN112660343B (en) | 2022-12-20 |
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| ES2167134B1 (en) * | 1999-01-07 | 2003-10-01 | Ferran M Teresa Borri | SUBMARINE BOAT FOR THE COLLECTION OF GARBAGE FROM THE MARINE FUND. |
| CN205224142U (en) * | 2015-12-28 | 2016-05-11 | 武汉大学 | Remote control channel removes mud device |
| US10323376B1 (en) * | 2016-06-24 | 2019-06-18 | David Nickelson | Floating debris remover |
| CN107410232A (en) * | 2017-04-25 | 2017-12-01 | 青岛森科特智能仪器有限公司 | A kind of comprehensive sea cucumber catching device |
| KR102078452B1 (en) * | 2018-03-16 | 2020-02-20 | 에스오씨기술지주 주식회사 | Underwater decontamination plant |
| CN211922556U (en) * | 2019-06-12 | 2020-11-13 | 喻聪健 | Full-automatic water surface cleaning ship |
| CN111452924A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Water surface garbage cleaning robot |
| CN111676936B (en) * | 2020-07-01 | 2021-09-24 | 苏州帅泽信息科技有限公司 | Movable cleaning and collecting device for sundries on water surface of fish pond for aquaculture |
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