CN112977770B - Inspection device and inspection method for deep sea aquaculture net cage - Google Patents
Inspection device and inspection method for deep sea aquaculture net cage Download PDFInfo
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- CN112977770B CN112977770B CN202110196467.8A CN202110196467A CN112977770B CN 112977770 B CN112977770 B CN 112977770B CN 202110196467 A CN202110196467 A CN 202110196467A CN 112977770 B CN112977770 B CN 112977770B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention relates to a deep sea aquaculture net cage inspection device which comprises a machine house, an inspection robot and a deep sea aquaculture net cage, wherein a mounting base is fixed on the deep sea aquaculture net cage, a deep sea aquaculture net cage control center is fixed on the top surface of the deep sea aquaculture net cage, a machine house is fixedly and rigidly connected to the mounting base, the inspection robot is placed on the top surface of the machine house, the machine house is connected with the deep sea aquaculture net cage control center through an umbilical cable to form a power supply and communication channel, and electric energy and information transmission is realized between the inspection robot and the machine house through an underwater wireless transmission technology. The inspection device is resident in the deep sea aquaculture net cage, can automatically inspect the net cage clothing periodically or according to shore-based remote instructions, and transmits inspection data to a shore-based center through a net cage control center for analyzing inspection results.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a deep sea aquaculture net cage inspection device and an inspection method.
Background
China is a super large country for marine fishery culture, and with the increasing severity of pollution problems of coastal culture, intelligent, automatic and scientific deep sea culture becomes the development direction of marine fishery culture, wherein the development of large deep sea culture net cages and supporting facilities thereof is particularly important. The damage condition of the fishing net, the climbing and breeding of fishing net organisms and the like are common problems in the deep sea net cage culture process, and the damage of the fishing net easily causes the escape of fishes or the mixing of organisms at the top layer of a food chain, so that the yield of the fishes is reduced; the aquatic organism attached to the deep sea aquaculture net cage has the advantages that the aquatic organism attached to the deep sea aquaculture net cage affects the metabolic rate of a water body in the net cage, affects water quality and causes fish quality to be reduced, and therefore the aquatic organism attached to the deep sea aquaculture net cage has great significance in the aquaculture process of health state routing inspection.
At present, the method for inspecting the netting of the deep sea aquaculture net cage mainly adopts manual inspection and ROV inspection. In the manual inspection process, a traditional diver can only detect a net cage netting which is shallow by 60 meters due to the body bearing capacity, the working time is limited, the diver can only work for half an hour usually once by a single person, and the deeper net cage netting is mostly an underwater unmanned underwater vehicle (ROV) at present. However, the ROV can only be operated by personnel, the operator needs to handle a large amount of information and frequently operate the ROV, the working strength is large, the working efficiency is low, and meanwhile, because the ROV is mostly of an open frame type structure, the netting is made of flexible materials, if the operation is improper, the ROV is easily wound with the netting, and the inspection operation is influenced. Meanwhile, because the deep sea aquaculture net cages are mostly in the open sea and far away from the land, the two methods both need to transport personnel and equipment to the sea area where the deep sea aquaculture net cages are located through water surface ships and then carry out operation, are greatly influenced by sea conditions and weather conditions, and are high in cost and poor in economy.
Disclosure of Invention
The applicant provides a deep sea aquaculture net cage inspection device and an inspection method aiming at the defects in the prior art, so that the inspection device is resident in the deep sea aquaculture net cage, can automatically inspect the net cage clothing periodically or according to shore-based remote instructions, and transmits inspection data to a shore-based center through a net cage control center for analysis of inspection results.
The technical scheme adopted by the invention is as follows:
a deep sea aquaculture net cage inspection device comprises a machine storehouse and an inspection robot,
the deep sea aquaculture net cage is characterized by further comprising a deep sea aquaculture net cage, a mounting base is fixed on the deep sea aquaculture net cage, a deep sea aquaculture net cage control center is fixed on the top surface of the deep sea aquaculture net cage, a hangar is fixedly and rigidly connected to the mounting base, an inspection robot is placed on the top surface of the hangar, the hangar is connected with the deep sea aquaculture net cage control center through an umbilical cable to form a power supply and communication channel, and electric energy and information are transmitted between the inspection robot and the hangar through an underwater wireless transmission technology.
The further technical scheme is as follows:
patrol and examine robot's structure does: the system comprises a rolling mechanism, a propulsion system, an observation and communication system, a navigation and positioning system, a control system, a power supply system and a docking system;
the carrier structure comprises a carrier frame, a buoyancy block and a light shell, wherein the carrier frame is formed by welding pipes, the inner side and the outer circle are divided into an upper layer and a lower layer, the buoyancy block is arranged above the carrier frame, and the light shell is arranged on the bottom surface and the side surface of the carrier frame;
the rolling mechanisms are arranged in an upper set and a lower set, each set comprises a rolling ring, a motor assembly and a rolling bearing, and the carrier frame outer ring, the rolling rings and bearing balls form the rolling bearing;
the propulsion system comprises a horizontal propeller and a vertical propeller which are arranged on a carrier frame;
the inspection system comprises a high-definition camera and an underwater lamp which are arranged on the bow of the inspection robot;
the navigation positioning system comprises a GPS, a DVL, an inertial navigation module, a communication positioning sonar and a depth and height integrated meter;
the docking system comprises a charging communication docking boss, a docking sonar and a low-light-level camera.
The buoyancy block and the light shell jointly form the disc-shaped appearance of the inspection robot.
The motor assembly is provided with three sets of motors which are respectively arranged on the broadside stern part of the inspection robot.
A control cabin and a battery cabin are arranged in a square area inside the carrier frame, the motor assembly adopts an electric motor and is respectively connected with the control cabin and the battery cabin through cables, and the motor assembly drives the rolling ring to rotate clockwise or anticlockwise; the horizontal thruster and the vertical thruster are both connected with the control cabin and the battery cabin through cables; an inertial navigation module is installed in the control cabin; the control system is arranged in the control cabin, and the power supply system is arranged in the battery cabin.
The charging communication butt joint boss is arranged in the center of the bottom of the inspection robot and matched with the hangar.
The device comprises a charging communication butt-joint groove and a guide beacon, wherein a hangar body is fixedly installed on an installation base to provide a foundation for installation of equipment and parking of an inspection robot, and the upper surface of the hangar body is an arc surface and is attached to the lower surface of the inspection robot;
the charging communication docking slot is arranged at the central position of the hangar body;
the number of the guide beacons is four, and the guide beacons are respectively arranged in front, back, left and right.
The high-definition cameras are provided with two cameras and are symmetrically arranged along the middle longitudinal section of the inspection robot.
Four underwater lampholders are arranged symmetrically along the longitudinal section and the upper section of the inspection robot.
The inspection method of the deep sea aquaculture net cage inspection device comprises the following operation steps:
the first step is as follows: the inspection robot starts inspection operation according to a preset period, automatically starts, all equipment are powered on, and the vertical propeller is controlled to enable the inspection robot to upwards exit the hangar;
the second step is that: the position of the inspection robot is adjusted by automatically controlling the horizontal propeller and the vertical propeller according to the planned path, so that the inspection robot sails to the inspection initial position of the deep sea aquaculture net cage, the high-definition camera is over against the netting of the deep sea aquaculture net cage, and meanwhile, the rolling ring is abutted against the surface of the netting;
the third step: the operation of the motor assembly is autonomously controlled by a control system, a rolling ring is driven to rotate, meanwhile, the thrust of a horizontal propeller and the thrust of a vertical propeller are automatically adjusted by a thrust distribution algorithm of the control system, the inspection robot rapidly moves along a net in a horizontal plane under the synergistic action of a rolling mechanism and a propulsion system, a high-definition camera acquires and records optical images of the net under the cooperation of an underwater lamp, the judgment on the health condition of the net is completed in real time through an image recognition algorithm, at the moment, the operation parameter information of the inspection robot is fed back to a hangar in real time through a communication positioning sonar, the operation parameter information is transmitted to a shoal-based center through a deep sea culture net cage control center, and the operation condition of the inspection robot is monitored in real time;
the fourth step: after the inspection robot moves for a circle along the netting in the horizontal plane and returns to the initial circumferential position, the inspection robot controls the horizontal thruster to separate the rolling rings of the inspection robot from the netting, then controls the vertical thruster to move the inspection robot downwards under the synergistic action of the navigation positioning system, and the moving distance is the vertical distance between the upper rolling ring and the lower rolling ring;
the fifth step: repeating the third step and the fourth step until the inspection robot finishes the inspection of all the netting;
and a sixth step: after the inspection is finished, controlling a horizontal propeller to enable a rolling ring of an inspection robot to be separated from a netting and sailing to the central position of a deep sea aquaculture net cage, controlling a vertical propeller to enable the inspection robot to float to the water surface, receiving acoustic signals of a guide beacon by a docking sonar, acquiring relative spatial position information between the inspection robot and a hangar, and controlling a propulsion system to enable the inspection robot to sail to the hangar on the basis of the relative spatial position information by a control system until the inspection robot sails right above the hangar;
the seventh step: controlling a propulsion system to complete adjustment and maintenance of the heading of the inspection robot by utilizing the one-to-one corresponding relation between the docking sonar and the guide beacon, meanwhile, under the synergistic action of the propulsion system, combining the control of an image matching algorithm and a motion control algorithm through a low-light-level camera 113, and combining the coincidence of a central calibration point of a charging communication docking slot and the central position of an optical image by the control system to guide the inspection robot to move to a hangar in a target manner, and when a charging communication docking boss of the inspection robot enters the charging communication docking slot and is locked, completing docking;
eighth step: the inspection robot transmits the netting inspection image data and the inspection result to a shore-based center through a deep sea aquaculture net cage control center, and the inspection robot checks and analyzes the netting inspection image data and the inspection result by the same staff;
the ninth step: and the inspection robot is turned off, and the charging mode is started.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, and the inspection device is resident in the deep sea culture net cage, can automatically inspect the net cage netting periodically or according to shore-based remote instructions, and transmits inspection data to the shore-based center through the net cage control center for analyzing inspection results. The invention does not need the support of a ship on the water surface, is not limited by the water depth and the weather condition, can realize all-weather operation, and has the obvious advantages of strong real-time operation, stable and reliable operation, high operation efficiency, low labor intensity and the like.
Meanwhile, the invention also has the following advantages:
(1) the invention is not limited by the depth of the operation water, and realizes the full coverage of the inspection operation of the netting of the deep sea aquaculture net cage;
(2) the invention does not need the support of a ship on the water surface, is not limited by weather conditions and can realize all-weather operation;
(3) according to the invention, personnel do not need to visit the site, a dynamic networking is formed by the deep sea aquaculture net cage control center and the shore-based center, so that remote monitoring and omnibearing information interaction are realized, and meanwhile, the net cage net can be automatically and immediately patrolled and examined periodically or according to shore-based remote instructions through two operation modes, so that the system has the obvious advantages of strong operation real-time property, stable and reliable operation, high operation efficiency, low labor intensity and the like;
(4) the invention is provided with the rolling mechanism, and the rolling mechanism is cooperated with the propulsion system while ensuring the relative position between the inspection robot and the netting, so that the inspection robot can move along the netting rapidly and stably, and the inspection operation efficiency is greatly improved;
(5) the invention adopts a dish-shaped appearance, thereby avoiding the possibility of winding with the netting.
(6) The invention has two operation modes, namely, the regular and autonomous inspection of the net cage according to the preset period, and the real-time and autonomous inspection of the net cage by receiving the command of the shore-based center.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the inspection robot of the invention.
Fig. 3 is a schematic diagram of the internal structure of the inspection robot.
Fig. 4 is a schematic structural view of another view angle of the inspection robot.
Fig. 5 is a plan view of the inspection robot of the present invention.
Fig. 6 is a bottom view of the inspection robot of the present invention.
Fig. 7 is a front view of the inspection robot of the present invention.
Fig. 8 is a full sectional view taken along section a-a of fig. 7.
FIG. 9 is a schematic structural diagram of the hangar of the present invention.
Wherein: 1. a patrol robot; 2. a hangar; 3. a deep sea aquaculture net cage control center; 4. an umbilical cable; 5. mounting a base; 6. deep sea aquaculture net cages;
101. a buoyancy block; 102. a GPS; 103. communication positioning sonar; 104. a carrier frame; 105. a motor assembly; 106. a rolling ring; 107. a vertical thruster; 108. a control cabin; 109. a horizontal thruster; 110. a battery compartment; 111. DVL; 112. a charging communication docking boss; 113. a low-light camera; 114. docking a sonar; 115. a depth and height integrated meter; 116. a light housing; 117. an underwater light; 118. a high-definition camera; 119. a bearing ball;
201. a bootstrap beacon; 202. a charging communication docking bay; 203. the hangar body.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-9, the inspection device for the deep sea aquaculture net cage of the embodiment comprises a machine storehouse 2 and an inspection robot 1,
the deep sea aquaculture net cage is characterized by further comprising a deep sea aquaculture net cage 6, a mounting base 5 is fixed on the deep sea aquaculture net cage 6, a deep sea aquaculture net cage control center 3 is fixed on the top surface of the deep sea aquaculture net cage 6, a machine library 2 is fixedly and rigidly connected to the mounting base 5, an inspection robot 1 is placed on the top surface of the machine library 2, the machine library 2 is connected with the deep sea aquaculture net cage control center 3 through an umbilical cable 4 to form a power supply and communication channel, and electric energy and information are transmitted between the inspection robot 1 and the machine library 2 through an underwater wireless transmission technology.
The inspection robot 1 has the structure that: the system comprises a rolling mechanism, a propulsion system, an observation and communication system, a navigation and positioning system, a control system, a power supply system and a docking system;
the carrier structure comprises a carrier frame 104, a buoyancy block 101 and a light shell 116, wherein the carrier frame 104 is formed by welding pipes, the inner side and the outer circle are divided into an upper layer and a lower layer, the buoyancy block 101 is arranged above the carrier frame 104, and the light shell 116 is arranged on the bottom surface and the side surface of the carrier frame 104;
the rolling mechanisms are arranged in an upper set and a lower set, each set comprises a rolling ring 106, a motor assembly 105 and a rolling bearing, and the outer ring of the carrier frame 104, the rolling ring 106 and bearing balls 119 form the rolling bearing;
the propulsion system comprises a horizontal thruster 109 and a vertical thruster 107 mounted on the carrier frame 104;
the observation and communication system comprises a high-definition camera 118 and an underwater lamp 117 which are arranged at the bow of the inspection robot 1;
the navigation positioning system comprises a GPS102, a DVL111, an inertial navigation module, a communication positioning sonar 103 and a depth and height integrated meter 115;
the docking system includes a charging communication docking station 112, a docking sonar 114, and a low-light camera 113.
The buoyancy block 101 and the light shell 116 together form a dish-shaped appearance of the inspection robot 1.
The motor assembly 105 is provided with three sets, which are respectively arranged on the broadside stern part of the inspection robot 1.
A control cabin 108 and a battery cabin 110 are arranged in a square area inside the carrier frame 104, the motor assembly 105 adopts an electric motor and is respectively connected with the control cabin 108 and the battery cabin 110 through cables, and the motor assembly 105 drives the rolling ring 106 to rotate clockwise or anticlockwise; the horizontal thruster 109 and the vertical thruster 107 are connected with the control cabin 108 and the battery cabin 110 through cables; an inertial navigation module is installed in the control cabin 108; the control system is in the control compartment 108 and the power supply system is mounted in the battery compartment 110.
The charging communication docking boss 112 is arranged at the center of the bottom of the inspection robot 1 and matched with the hangar 2.
The device comprises a charging communication butt joint groove 202 and a guide beacon 201, a hangar body 203 is fixedly installed on an installation base 5 to provide a foundation for installation of equipment and parking of an inspection robot 1, and the upper surface of the hangar body 203 is an arc surface and is attached to the lower surface of the inspection robot 1;
the charging communication docking slot 202 is arranged at the central position of the garage body 203;
the guidance beacons 201 are four in number, one being disposed front, rear, left, and right.
The high-definition cameras 118 are provided with two cameras in total and are symmetrically arranged along the middle longitudinal section of the inspection robot 1.
The underwater lamps 117 are provided with four sets of lamps which are symmetrically arranged along the longitudinal section and the upper section of the inspection robot 1.
The inspection method of the deep sea aquaculture net cage inspection device comprises the following operation steps:
the first step is as follows: the inspection robot 1 starts inspection operation according to a preset period, starts the inspection operation autonomously, all equipment are powered on, and controls the vertical propeller 107 to enable the inspection robot 1 to move upwards out of the hangar 2;
the second step is that: the position of the inspection robot 1 is adjusted by automatically controlling the horizontal propeller 109 and the vertical propeller 107 according to the planned path, so that the inspection robot 1 sails to the inspection initial position of the deep sea aquaculture net cage 6, the high-definition camera 118 is over against the netting of the deep sea aquaculture net cage 6, and meanwhile, the rolling ring 106 is abutted against the surface of the netting;
the third step: the operation of the motor assembly 105 is automatically controlled by a control system, the rolling ring 106 is driven to rotate, meanwhile, the thrust of the horizontal propeller 109 and the thrust of the vertical propeller 107 are automatically adjusted by a thrust distribution algorithm of the control system, under the synergistic action of the rolling mechanism and the propulsion system, the inspection robot 1 rapidly moves along a net in a horizontal plane, a high-definition camera 118 acquires and records an optical image of the net under the cooperation of an underwater lamp 117, the judgment on the health condition of the net is completed in real time through an image recognition algorithm, at the moment, the operation parameter information of the inspection robot 1 is fed back to the hangar 2 in real time through a communication positioning sonar 103, the operation parameter information is transmitted to a shoal-based center through a deep sea culture net cage control center 3, and the operation condition of the inspection robot 1 is monitored in real time;
the fourth step: after the inspection robot 1 moves for a circle along the netting in the horizontal plane and returns to the initial circumferential position, the inspection robot 1 controls the horizontal thruster 109 to separate the rolling rings 106 of the inspection robot 1 from the netting, then controls the vertical thruster 107 to move the inspection robot 1 downwards under the synergistic action of the navigation positioning system, and the moving distance is the vertical distance between the upper rolling ring 106 and the lower rolling ring 106;
the fifth step: repeating the third step and the fourth step until the inspection robot 1 finishes the inspection of all the netting;
and a sixth step: after the inspection is finished, controlling a horizontal propeller 109 to enable a rolling ring 106 of an inspection robot 1 to be separated from a netting and sailing to the center position of the deep sea aquaculture net cage 6, controlling a vertical propeller 107 to enable the inspection robot 1 to float to the water surface, receiving acoustic signals of a guide beacon 201 by a docking sonar 114, obtaining relative spatial position information between the inspection robot 1 and a hangar 2, and controlling a propulsion system to enable the inspection robot 1 to sail to the hangar 2 until sailing to the position right above the hangar 2 on the basis of the relative spatial position information by a control system;
the seventh step: controlling a propulsion system to complete adjustment and maintenance of the heading of the inspection robot 1 by utilizing the one-to-one correspondence relationship between the docking sonar 114 and the guide beacon 201, meanwhile, combining image matching algorithm and motion control algorithm control through the low-light-level camera 113, and under the synergistic action of the propulsion system, the control system guides the inspection robot 1 to move to the hangar 2 by combining the center calibration point of the charging communication docking slot 202 and the center position of the optical image to be coincident with a target, and when the charging communication docking boss 112 of the inspection robot 1 enters the charging communication docking slot 202 and is locked, the docking is completed;
eighth step: the inspection robot 1 transmits the netting inspection image data and the inspection result to a shore-based center through the deep sea aquaculture net cage control center 3, and the inspection result is checked and analyzed by a worker;
the ninth step: the inspection robot 1 is powered off, and the charging mode is started.
The invention relates to a deep sea aquaculture net cage netting inspection device which has the following specific structure and functions:
the inspection robot comprises an inspection robot 1 and a machine base 2.
The hangar 2 is rigidly connected with a deep sea aquaculture net cage 6 through a mounting base 5, the hangar 2 is connected with a deep sea aquaculture net cage control center 3 through an umbilical cable 4 to form a power supply and communication channel, and the routing inspection robot 1 and the hangar 2 realize the transmission of electric energy and information through an underwater wireless transmission technology.
The inspection robot 1 mainly comprises a carrier structure, a rolling mechanism, a propulsion system, an observation and communication system, a navigation and positioning system, a control system, a power supply system and a docking system.
The carrier structure comprises a carrier frame 104, a buoyancy block 101 and a light shell 116, wherein the carrier frame 104 is formed by welding pipes, and comprises an inner square and an outer circle, an upper layer and a lower layer; the buoyancy block 101 is installed above the carrier frame 104 and is directly formed according to the hydrodynamic appearance, so that fixed buoyancy is provided for the inspection robot 1, and the inspection robot 1 is ensured to be balanced in water; the light shell 116 is installed at the side and bottom of the carrier frame 104, so as to ensure the hydrodynamic appearance of the inspection robot 1 and protect the equipment to a certain extent. The carrier frame 104, the buoyancy block 101 and the light housing 116 together form a dish-shaped appearance of the inspection robot 1.
The number of the rolling mechanisms is two, and each rolling mechanism comprises a rolling ring 106, a motor assembly 105 (three rolling rings arranged on the stern part of the side of the inspection robot 1) and a rolling bearing, wherein the rolling bearing is formed by a circular ring on the outer ring of the carrier frame 104, the rolling ring 106 and bearing balls 119. The motor assembly 105 is an electric motor, and is connected to the control cabin 108 and the battery cabin 110 through cables, and the motor assembly 105 is controlled by a control algorithm of the control system to drive the rolling ring 106 to rotate clockwise or counterclockwise. Through the cooperative operation with the propulsion system, the inspection robot 1 can move quickly along the net cage and the net, the distance between the observation system and the net is kept, and the stability of the observation system for acquiring the optical image of the net is ensured.
The propulsion system is installed on the carrier frame 104 and comprises four horizontal propellers 109 (arranged in a vector manner) and three vertical propellers 107 (arranged at the stern of the side of the inspection robot 1), each propeller is respectively connected with the control cabin 108 and the battery cabin 110 through cables, and the autonomous control realizes the forward, backward, left-moving, right-moving, left-turning, right-turning, upward floating, downward submerging, pitching and transversely-inclining movements of the inspection robot 1. Meanwhile, the thrust distribution algorithm of the control system can realize the motion control functions of orientation, depth setting, height setting, hovering in water and the like.
The inspection system comprises high-definition cameras 118 (two cameras are arranged symmetrically along the middle longitudinal section), underwater lamps 117 (four cameras are arranged symmetrically along the middle longitudinal section and the upper section) and a communication positioning sonar 103, wherein the high-definition cameras 118 are arranged at the bow of the inspection robot 1, and the devices are respectively connected with the control cabin 108 and the battery cabin 110 through cables. The high-definition camera 118 adopts a binocular vision technology, so that the vision field width of the inspection robot 1 is improved, and the inspection capability is enhanced; the underwater light 117 provides a light source for the netting inspection work. The communication positioning sonar 103 is arranged at the top end of the inspection robot 1, and the underwater acoustic communication function between the inspection robot 1 and the hangar 2 is realized. Based on the optical image of the netting collected by the observation and communication system, the health condition of the netting is judged in real time through an image recognition algorithm, and the operation parameter information of the inspection robot 1 is fed back to the hangar 2 in real time through the communication positioning sonar 103.
The navigation positioning system comprises a GPS102, a DVL111, an inertial navigation module (arranged in a control cabin 108), a communication positioning sonar 103 and a depth and height integrated meter 115, and the navigation positioning precision of the inspection robot 1 is ensured by adopting a multi-sensor data fusion technology. Meanwhile, the position information of the netting optical image collected by the observing and communicating system is matched in real time, so that the netting defects are positioned, and a foundation is laid for subsequent netting maintenance.
The control system is within a control pod 108, the control pod 108 being mounted inside the carrier frame 104. The control cabin 108 is connected with a charging communication docking boss 112 in the docking system through a cable, so that transmission of polling data is realized.
The power supply system is within a battery compartment 110, including a lithium battery pack, a battery management module, and a power distribution device, and the battery compartment 110 is mounted inside the carrier frame 104. The battery compartment 110 is connected with a charging communication docking boss 112 in the docking system through a cable, so as to charge the lithium battery pack.
The docking system includes a charging communication docking boss 112, docking sonars 114 (four in total, one in each of front, rear, left, and right), and low-light cameras 113. The charging communication butt joint boss 112 is arranged in the center of the bottom of the inspection robot 1, is matched with the charging communication butt joint groove 202 in the hangar 2, adopts an underwater wireless transmission technology, and can complete transmission of electric energy and data after the two are in butt joint. The docking sonars 114 are arranged at the bottom of the inspection robot 1, and each sonar corresponds to the guiding beacon 201 in the hangar 2 one by one, so that the remote acoustic position guidance and the close-range direction guidance of the inspection robot 1 are realized. The low-light-level camera 113 is arranged in the center of the charging communication docking boss 112, and is controlled by an image matching algorithm and a motion control algorithm, and under the synergistic effect of a propulsion system, the close-range position guidance of the inspection robot 1 is realized.
As shown in fig. 9, the hangar 2 of the present invention mainly includes a hangar body 203, a charging communication docking slot 202, and a guidance beacon 201.
The hangar body 203 is fixedly installed on the installation base 5, and provides a foundation for installation of equipment and parking of the inspection robot 1. The upper surface of the inspection robot is a circular arc surface and is attached to the lower surface of the inspection robot 1.
The charging communication docking slot 202 is arranged at the central position of the garage body 203 and is matched with the charging communication docking boss 112 in the inspection robot 1, so that the transmission of electric energy, data and control instructions with the inspection robot 1 can be completed.
The number of the guide beacons 201 is four, and the guide beacons are respectively arranged at the front, back, left and right and correspond to the docking sonar 114 in the inspection robot 1 one by one, so that the remote acoustic position guide and the close-range direction guide of the inspection robot 1 are realized.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (9)
1. The utility model provides a deep sea aquaculture net case inspection device which characterized in that: comprises a machine base (2) and an inspection robot (1),
the system is characterized by further comprising a deep sea aquaculture net cage (6), wherein a mounting base (5) is fixed on the deep sea aquaculture net cage (6), a deep sea aquaculture net cage control center (3) is fixed on the top surface of the deep sea aquaculture net cage (6), a hangar (2) is fixedly and rigidly connected to the mounting base (5), an inspection robot (1) is placed on the top surface of the hangar (2), the hangar (2) is connected with the deep sea aquaculture net cage control center (3) through an umbilical cable (4) to form a power supply and communication channel, and transmission of electric energy and information is achieved between the inspection robot (1) and the hangar (2) through an underwater wireless transmission technology; the inspection robot (1) is characterized in that: the system comprises a carrier structure, a rolling mechanism, a propulsion system, an observation and communication system, a navigation and positioning system, a control system, a power supply system and a docking system;
the carrier structure comprises a carrier frame (104), a buoyancy block (101) and a light shell (116), wherein the carrier frame (104) is formed by welding pipes, the inner side and the outer circle are divided into an upper layer and a lower layer, the buoyancy block (101) is arranged above the carrier frame (104), and the light shell (116) is arranged on the bottom surface and the side surface of the carrier frame (104);
the rolling mechanisms are arranged in an upper set and a lower set, each set comprises a rolling ring (106), a motor assembly (105) and a rolling bearing, and the outer ring of the carrier frame (104), the rolling ring (106) and bearing balls (119) form the rolling bearing;
the propulsion system comprises a horizontal thruster (109) and a vertical thruster (107) mounted on a carrier frame (104);
the inspection system comprises a high-definition camera (118) and an underwater lamp (117), wherein the high-definition camera is installed at the bow of the inspection robot (1);
the navigation positioning system comprises a GPS (102), a DVL (111), an inertial navigation module, a communication positioning sonar (103) and a depth and height integrated meter (115);
the docking system comprises a charging communication docking boss (112), a docking sonar (114) and a low-light camera (113).
2. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: the carrier frame (104), the buoyancy block (101) and the light shell (116) jointly form a disc-shaped appearance of the inspection robot (1).
3. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: the motor assembly (105) is provided with three motors which are respectively arranged on the side stern part of the inspection robot (1).
4. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: a control cabin (108) and a battery cabin (110) are arranged in a square area inside the carrier frame (104), the motor assembly (105) adopts an electric motor and is respectively connected with the control cabin (108) and the battery cabin (110) through cables, and the motor assembly (105) drives the rolling ring (106) to rotate clockwise or anticlockwise; the horizontal propeller (109) and the vertical propeller (107) are connected with the control cabin (108) and the battery cabin (110) through cables; an inertial navigation module is installed in the control cabin (108); the control system is in the control cabin (108), and the power supply system is arranged in the battery cabin (110).
5. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: the charging communication butt joint boss (112) is arranged in the center of the bottom of the inspection robot (1) and matched with the hangar (2).
6. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: the hangar (2) comprises a hangar body (203), a charging communication butt joint groove (202) and a guide beacon (201), wherein the hangar body (203) is fixedly installed on an installation base (5) and provides a foundation for installation of equipment and parking of the inspection robot (1), and the upper surface of the hangar body (203) is an arc surface and is attached to the lower surface of the inspection robot (1);
the charging communication docking slot (202) is arranged at the central position of the machine base body (203);
the number of the guide beacons (201) is four, and the guide beacons are respectively arranged at the front, the back, the left and the right.
7. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: the high-definition cameras (118) are provided with two cameras and are symmetrically arranged along the middle longitudinal section of the inspection robot (1).
8. The deep sea aquaculture net cage inspection device according to claim 1, characterized in that: four underwater lamps (117) are arranged symmetrically along the longitudinal section and the upper section of the inspection robot (1).
9. A method for inspecting the deep sea aquaculture net cage inspection device according to claim 1, which is characterized in that: the method comprises the following operation steps:
the first step is as follows: the inspection robot (1) starts inspection operation according to a preset period, automatically starts, all equipment is powered on, and controls the vertical propeller (107) to enable the inspection robot (1) to move upwards out of the hangar (2);
the second step is that: the position of the inspection robot (1) is adjusted by automatically controlling a horizontal propeller (109) and a vertical propeller (107) according to a planned path, so that the inspection robot (1) sails to an inspection initial position of the deep sea aquaculture net cage (6), a high-definition camera (118) is over against a net of the deep sea aquaculture net cage (6), and meanwhile, a rolling ring (106) is abutted against the surface of the net;
the third step: the operation of a motor assembly (105) is automatically controlled through a control system, a rolling ring (106) is driven to rotate, meanwhile, the thrust of a horizontal propeller (109) and a vertical propeller (107) is automatically adjusted through a thrust distribution algorithm of the control system, under the synergistic effect of a rolling mechanism and a propulsion system, an inspection robot (1) rapidly moves along a net in a horizontal plane, a high-definition camera (118) acquires and records optical images of the net under the cooperation of an underwater lamp (117), judgment on the health condition of the net is completed in real time through an image recognition algorithm, at the moment, the operation parameter information of the inspection robot (1) is fed back to a hangar (2) in real time through a communication positioning sonar (103), the operation parameter information is transmitted to a shore base center through a deep sea culture net cage control center (3), and the operation condition of the inspection robot (1) is monitored in real time;
the fourth step: after the inspection robot (1) moves a circle along the netting in a horizontal plane and returns to the initial circumferential position, the inspection robot (1) controls a horizontal propeller (109) to separate a rolling ring (106) of the inspection robot (1) from the netting, then controls a vertical propeller (107), and enables the inspection robot (1) to move downwards under the synergistic action of a navigation positioning system, wherein the moving distance is the vertical distance between an upper rolling ring (106) and a lower rolling ring (106);
the fifth step: repeating the third step and the fourth step until the inspection robot (1) finishes the inspection of all the netting;
and a sixth step: after the inspection is finished, controlling a horizontal propeller (109) to enable a rolling ring (106) of an inspection robot (1) to be separated from a netting and sailing to the center position of a deep sea aquaculture net cage (6), controlling a vertical propeller (107) to enable the inspection robot (1) to float to the water surface, receiving an acoustic signal of a guide beacon (201) by a docking sonar (114), obtaining relative space position information between the inspection robot (1) and a hangar (2), and controlling a propulsion system to enable the inspection robot (1) to sail to the hangar (2) until sailing to the position right above the hangar (2) on the basis of the relative space position information by a control system;
the seventh step: the method comprises the steps that a propulsion system is controlled to complete adjustment and maintenance of the heading of an inspection robot (1) by utilizing the one-to-one correspondence relationship between docking sonar (114) and a guide beacon (201), meanwhile, a low-light-level camera (113) is combined with image matching algorithm and motion control algorithm control, under the synergistic effect of the propulsion system, the control system guides the inspection robot (1) to move to a garage (2) by combining the center calibration point of a charging communication docking slot (202) and the center position of an optical image to be coincident with each other, and when a charging communication docking boss (112) of the inspection robot (1) enters the charging communication docking slot (202) and is locked, docking is completed;
eighth step: the inspection robot (1) transmits the netting inspection image data and the inspection result to a shore-based center through a deep sea aquaculture net cage control center (3) for a worker to check and analyze;
the ninth step: the inspection robot (1) is shut down, and the charging mode is started.
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| CN114940245A (en) * | 2022-06-07 | 2022-08-26 | 河海大学 | Unmanned aerial vehicle surface of water platform is patrolled and examined to reservoir |
| CN114771784B (en) * | 2022-06-20 | 2022-09-02 | 中国海洋大学 | Underwater operation equipment with ocean monitor |
| CN116449376B (en) * | 2023-04-26 | 2023-09-15 | 青岛森科特智能仪器有限公司 | Cross-section moving cultivation net cage biological statistics device and working method thereof |
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