CN114711202B - Sea cucumber catching system capable of continuously operating - Google Patents
Sea cucumber catching system capable of continuously operating Download PDFInfo
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- CN114711202B CN114711202B CN202210348956.5A CN202210348956A CN114711202B CN 114711202 B CN114711202 B CN 114711202B CN 202210348956 A CN202210348956 A CN 202210348956A CN 114711202 B CN114711202 B CN 114711202B
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- 241000251511 Holothuroidea Species 0.000 title claims abstract description 80
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 89
- 230000001502 supplementing effect Effects 0.000 claims description 34
- 239000011521 glass Substances 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 13
- 239000013049 sediment Substances 0.000 abstract description 5
- 241000251468 Actinopterygii Species 0.000 abstract description 3
- 241000257465 Echinoidea Species 0.000 abstract description 3
- 239000013535 sea water Substances 0.000 description 15
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 241000238557 Decapoda Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 244000236458 Panicum colonum Species 0.000 description 1
- 235000015225 Panicum colonum Nutrition 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000050 nutritive effect Effects 0.000 description 1
- 235000014102 seafood Nutrition 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 210000003954 umbilical cord Anatomy 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
- A01K80/00—Harvesting oysters, mussels, sponges or the like
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The invention relates to a sea cucumber capturing system capable of continuously working, which solves the technical problems that the existing sea cucumber capturing process is low in efficiency, high in cost and capable of damaging the sea cucumber growth environment, and is not applicable to the sea floor with reefs and sediment. The invention can be widely applied to the fishing of benthos such as sea cucumbers, seashells, sea urchins, fishes and the like.
Description
Technical Field
The invention relates to the technical field of sea cucumber fishing, in particular to a sea cucumber fishing system capable of continuously operating.
Background
Sea cucumber is a sea food with high nutritive value, sea cucumber is eaten by submarine algae and plankton, and wild cultivation of sea cucumber in offshore sea water is an important cultivation mode for guaranteeing the quality of sea cucumber.
At present, sea cucumber fishing is mainly completed through manual diving, and the sea cucumber fishing device is low in efficiency, high in cost and high in risk. There is also a fishing mode of grabbing sea cucumber by using a manipulator, but the sea cucumber is easy to be destroyed by grabbing the sea cucumber by the manipulator, the operation efficiency is low, the sea cucumber with large size is grabbed, and the sea cucumber with small size is not released. There are also underwater fishing robots with travelling mechanisms, but in the process of travelling in sea cucumber growing areas on the sea floor, the robots roll up some sea cucumbers to destroy sea vegetables and also destroy the growing environment of the sea cucumbers; in addition, for the scene that there is reef, silt on the seabed, running gear is difficult to operate and leads to the robot unable to remove.
Disclosure of Invention
The invention aims to solve the technical problems that the existing sea cucumber catching process is low in efficiency, high in cost and capable of damaging the sea cucumber growth environment and is not applicable to the sea floor with reefs and sediment, and provides a sea cucumber catching system which is high in operation efficiency, low in cost, free from damaging the sea cucumber growth environment and suitable for continuous operation in all-form sea floor scenes.
The invention provides a sea cucumber capturing system capable of continuously working, which comprises a ship, a negative pressure tank, a water pump, a lower inlet valve, an upper outlet valve, a bottom outlet valve, a water supplementing pump, a water supplementing pipe, a water draining pipe, a screen, a water absorbing pipe, a hose, an electric three-way valve, an underwater robot, an umbilical cable, a controller and a signal cable, wherein the negative pressure tank is fixedly connected with the ship and is provided with a lower inlet, an upper outlet, a bottom outlet and a top water supplementing port; the water pump is connected with the ship through the first bracket, the water supplementing pump is connected with the ship through the second bracket, the inlet of the water pump is connected with the upper outlet valve, the drain pipe is connected with the outlet of the water pump, the outlet of the water supplementing pump is connected with the water supplementing valve, and the water supplementing pipe is connected with the inlet of the water supplementing pump; the screen is arranged in the cavity of the negative pressure tank, connected with the inner wall of the cavity of the negative pressure tank, arranged at the upper part of the cavity of the negative pressure tank and positioned below the outlet at the upper part;
the electric three-way valve is provided with a valve port a, a valve port b and a valve port c, the upper port of the water suction pipe is connected with the lower inlet valve, the lower port of the water suction pipe is connected with the valve port b of the electric three-way valve, the upper port of the hose is connected with the valve port a of the electric three-way valve, and the lower end of the hose is fixed on the shell of the underwater robot;
the controller is connected to the ship, and the underwater robot is connected and communicated with the controller through an umbilical cable; the electric three-way valve is connected and communicated with the controller through a signal cable; the underwater robot is provided with a camera.
Preferably, the lower port of the hose is arranged downwards.
Preferably, the inner wall of the hose is connected with a plurality of groups of elastic barbs.
Preferably, a glass window is arranged on the tank body of the negative pressure tank.
Preferably, a liquid level pipe is connected to the tank body of the negative pressure tank.
Preferably, the hose is a steel wire hose or a plastic hose.
Preferably, the underwater robot is provided with a positioning module.
Preferably, the suction tube is a steel or plastic hose.
Preferably, the suction tube is a stainless steel tube.
Preferably, the lower port of the hose is arranged in a horizontal direction.
The sea cucumber catching device has the beneficial effects that the catching efficiency is high, and the whole sea cucumber catching process is continuous operation; the operation range is wide, and the whole sea cucumber cultivation area is covered; accurately positioning a sea cucumber growth area on the sea floor, and fully fishing without blank spots; the method can carry out targeted important fishing aiming at the important areas. The underwater robot can not stir the seabed in the process of finding the target by taking the hose, can not cause the turbidity of the seawater on the seabed to influence the sight, is beneficial to finding the target, and can not suck sundries such as aquatic weed, small stones, sediment and the like on the seabed. The underwater robot can find the target and suck the target sea cucumber with the hose, the growth environment of the sea cucumber on the sea floor can not be damaged, and the ecology on the sea floor can not be damaged.
In the operation process of the invention, the distance between the hose water absorption position and the drain pipe water drainage position is far, water is not absorbed and drained in the same area of the seabed, the water absorption and the water drainage are not mutually interfered, the water in the seabed water absorption area is not stirred, the continuous fishing operation is facilitated, and the sight is not influenced.
The underwater robot does not contact the seabed, and the invention is suitable for submarine scenes of reefs and sediment, and is suitable for submarine scenes in all forms.
The invention has high practicability and can be widely popularized and applied.
The sea cucumber fishing device can catch sea cucumbers, seashells, sea urchins, fishes, crabs and other benthic organisms.
Further features of the invention will be apparent from the description of the embodiments that follows.
Drawings
FIG. 1 is a schematic diagram of a continuously operable sea cucumber fishing system;
FIG. 2 is a schematic view of the structure of the flexible hose with the resilient barb installed therein;
FIG. 3 is a schematic view of a structure in which a glass window is provided on a can body of a negative pressure can;
fig. 4 is a schematic diagram of a structure in which a liquid level pipe is installed on a tank body of a negative pressure tank.
Description of the drawings:
1. boat, 2, negative pressure tank, 2-1, lower inlet, 2-2, upper outlet, 2-3, bottom outlet, 2-4, top water replenishment port, 2-5, glass window, 3, water pump, 4, lower inlet valve, 5, upper outlet valve, 6, bottom outlet valve, 7, water replenishment valve, 8, drain pipe, 9, suction pipe, 10, hose, 11, electric three-way valve, 12, underwater robot, 12-1, camera, 13, umbilical, 14, controller, 15, screen, 16, operator, 17, water surface, 18, seafloor, 19, sea cucumber, 20, signal cable, 21, water replenishment pump, 22, water replenishment pipe, 23, sea cucumber, 24, elastic barb, 25, sea cucumber, 26.
Detailed Description
As shown in fig. 1, the sea cucumber capturing system capable of continuous operation comprises a ship 1, a negative pressure tank 2, a water pump 3, a lower inlet valve 4, an upper outlet valve 5, a bottom outlet valve 6, a water supplementing valve 7, a drain pipe 8, a screen 15, a water absorbing pipe 9, a hose 10, an electric three-way valve 11, an underwater robot 12, an umbilical cord 13, a controller 14, a signal cable 20, a water supplementing pump 21 and a water supplementing pipe 22, wherein the negative pressure tank 2 is fixedly arranged on the ship 1, the negative pressure tank 2 is provided with a lower inlet 2-1, an upper outlet 2-2, a bottom outlet 2-3 and a top water supplementing port 2-4, the lower inlet valve 4 is connected with the lower inlet 2-1, the upper outlet valve 5 is connected with the upper outlet 2-2, the bottom outlet valve 6 is connected with the bottom outlet 2-3, the water supplementing valve 7 is connected with the top water supplementing port 2-4, the water pump 3 is fixedly arranged on the ship 1 through a first bracket, the water supplementing pump 21 is fixedly arranged on the ship 1 through a second bracket, the inlet of the water supplementing pump 3 is connected with the upper outlet valve 5, the drain pipe 8 is connected with the water supplementing valve 21, and the outlet 21 is connected with the water supplementing valve 21. The screen 15 is fixedly installed at an upper position of the inner wall of the chamber of the negative pressure tank 2, and the screen 15 is positioned below the upper outlet 2-2.
The electric three-way valve 11 is provided with a valve port a, a valve port b and a valve port c, the upper port of the water suction pipe 9 is connected with the lower inlet valve 4, the lower port of the water suction pipe 9 is connected with the valve port b of the electric three-way valve 11, the upper port of the hose 10 is connected with the valve port a of the electric three-way valve 11, the lower end of the hose 10 is fixed on the shell of the underwater robot 12 (specifically, the lower end of the hose 10 can be bound on the shell of the underwater robot by using a rope, or the lower end of the hose 10 is bound on the shell of the underwater robot by using a binding belt, or the lower end of the hose 10 is fixed by using a clamp carried by the underwater robot 12), and the lower port of the hose 10 is downwards arranged.
The controller 14 is mounted on the vessel 1. The underwater robot 12 communicates with a controller 14 via an umbilical 13. The electric three-way valve 11 is connected in communication with the controller 14 via a signal cable 20.
The underwater robot 12 adopts the prior art product, the front part of the underwater robot 12 is provided with a camera holder and a camera 12-1, the camera 12-1 is arranged on the camera holder, and the visual angle of the camera 12-1 can be changed by adjusting the camera holder. The underwater robot 12 itself has a positioning module such as GPS, beidou, etc. The underwater robot 12 can freely navigate in the sea by means of its own propeller.
The working process of the sea cucumber capturing system capable of continuously working is described as follows:
the ship 1 is driven into the sea and stays in the sea cucumber culture area;
in the initial state, the lower inlet valve 4, the upper outlet valve 5, the bottom outlet valve 6 and the water supplementing valve 7 of the negative pressure tank 2 are in a closed state, the water supplementing pipe 22 is put into seawater before operation, the water supplementing valve 7 is opened, the water supplementing pump 21 is started to pump water from sea so that the negative pressure tank 2 is filled with seawater, then the water supplementing valve 7 is closed, and the water supplementing pump 21 stops working;
the underwater robot 12 is put into seawater, and the electric three-way valve 11 is arranged below the water surface 17 (the electric three-way valve 11 is at a larger distance from the seabed 18);
an operator 16 controls the electric three-way valve 11 to be in an initial state (the valve port b is communicated with the valve port c when the electric three-way valve is in the initial state, the valve port a is closed), the lower inlet valve 4 and the upper outlet valve 5 are opened, the water pump 3 is started, clear seawater below the water surface 17 enters the suction pipe 9 from the valve port c of the electric three-way valve 11 and passes through the valve port b, then enters the negative pressure tank 2 from the lower inlet 2-1 of the negative pressure tank 2, the seawater of the negative pressure tank 2 flows out from the upper outlet 2-2 and is discharged into the sea through the water drain pipe 8, the suction pipe 9 continuously absorbs water under the action of the water pump 3, and the water drain pipe 8 continuously drains water (the water drain pipe 8 drains to the sea surface);
next, the operator 16 controls the underwater robot 12 to navigate under the water surface 17 through the controller 14, the camera 12-1 of the underwater robot 12 transmits the collected image information to the controller 14 (the operator 16 observes through the display screen on the controller 14), the underwater robot 12 accurately submerges to the sea cucumber growing area of the sea floor 18 through the GPS positioning system or according to the preset depth, and the operator 16 can also control the underwater robot to submerge to the sea cucumber growing area of the sea floor 18 according to the image displayed by the display screen of the controller 14;
when the operator 16 finds the sea cucumber 23 from the display screen on the controller 14 (or the controller finds the sea cucumber 23 through the machine vision recognition function), the operator 16 closes the valve port c of the electric three-way valve 11 through the controller 14, the valve port a and the valve port b are communicated, at this time, suction force is generated by the lower port of the hose 10, the sea cucumber 23 at the lower port of the hose 10 is sucked into the hose 10, the sea cucumber in the hose 10 enters the suction pipe 9 through the electric three-way valve 11 and then enters the cavity of the negative pressure tank 2 from the lower inlet 2-1 of the negative pressure tank 2, the sea cucumber 19 in the cavity of the negative pressure tank 2 is blocked by the screen 15 and cannot flow out from the upper outlet 2-2 (which is equivalent to filtering the sea cucumber 19), the water is discharged from the water discharge pipe 8 (water discharge pipe 8 is discharged to the sea surface) while the hose 10 absorbs water, the sea cucumber 23 in the sea cucumber 18 is continuously sucked into the cavity of the negative pressure tank 2, and the sea cucumber 19 in the cavity of the negative pressure tank 2 is accumulated under the screen 15;
after sucking sea cucumbers at the current position, the electric three-way valve 11 is switched to an initial state, seawater below the water surface 17 enters the water suction pipe 9 from the valve port c of the electric three-way valve 11, suction at the lower port of the hose 10 disappears, then the underwater robot 12 is controlled to move to search for the next batch of target sea cucumbers, and as the lower port of the hose 10 has no suction, the seabed 18 is not stirred in the moving process of all the underwater robots 12, so that the influence on the sight caused by the turbidity of the seawater at the seabed 18 is avoided, the targets are found easily, and sundries such as water grass, small stones, sediment and the like at the seabed 18 are not sucked;
when a new target is found, the valve port c of the electric three-way valve 11 is closed, and the valve port a is communicated with the valve port b, so that suction is generated at the lower port of the hose 10, and sea cucumbers are sucked;
after the whole system works for a period of time, the lower inlet valve 4 and the upper outlet valve 5 are closed, the water pump 3 stops working, then the bottom outlet valve 6 is opened, sea cucumbers 19 in the cavity of the negative pressure tank 2 and seawater are freely discharged to a ship from the bottom outlet valve 6 through the bottom outlet 2-3, and workers can collect the sea cucumbers (small sea cucumbers can be released), and at the moment, the cavity of the negative pressure tank 2 is empty and no seawater exists;
for the next fishing operation, the water replenishing valve 7 is opened, the water replenishing pump 21 is started, and the water replenishing pipe 22 pumps seawater from the sea to fill the cavity of the negative pressure tank 2.
The whole sea cucumber catching process is continuous operation, and the efficiency is high; the operation range is wide, and the whole sea cucumber cultivation area is covered; accurately positioning a sea cucumber growth area on the sea floor, and fully fishing without blank spots; the method can carry out targeted key fishing aiming at key areas; the path planning can be performed in advance, and the underwater robot automatically sails according to the planned path so as to catch. The underwater robot can search the target with the hose and the process of sucking the target sea cucumber can not destroy the ecology of the sea cucumber at the sea bottom.
As shown in fig. 2, the sea cucumber 25 flows upward in the hose 10 along with seawater, in this process, in order to prevent the sea cucumber that may occur by accident from falling downward, a plurality of groups of elastic barbs (a group of elastic barbs is composed of two elastic barbs 24) are installed on the inner wall of the hose 10, the elastic barbs are deformed upward when the sea cucumber 25 passes upward through the two elastic barbs 24, and then the sea cucumber passes smoothly, and when the sea cucumber 25 presses down the elastic barbs 24, the elastic barbs 24 block the sea cucumber, so that the sea cucumber is prevented from falling downward.
As shown in fig. 3, in order to facilitate observation of sea cucumber acquisition conditions in the negative pressure tank 2, a glass window 2-5 is provided on the tank body of the negative pressure tank 2, and a worker observes whether sea cucumber exists inside the negative pressure tank 2 from the glass window 2-5.
As shown in fig. 4, in order to facilitate the confirmation of the amount of seawater in the negative pressure tank 2, a liquid level pipe 26 is installed on the tank body of the negative pressure tank 2, and a worker can know the amount of seawater in the negative pressure tank 2 by observing the liquid level pipe 26.
It should be noted that the lower port of the hose 10 is not limited to being disposed downward, but may be disposed in a horizontal direction (not facing the sea floor).
The hose 10 may be a metal hose such as a steel wire hose, or a plastic hose.
The suction pipe 9 may be a rigid pipe such as a stainless steel pipe, a metal hose such as a steel wire hose, or a plastic hose.
It should be noted that the invention is not limited to capturing sea cucumbers, but can also capture seashells, sea urchins, fish, and the like.
The above description is only for the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Therefore, if those skilled in the art are informed by this disclosure, other configurations of parts, driving devices and connection modes are adopted without creatively designing the same structure and embodiments as those of the technical scheme, and the invention is within the scope of protection of the present invention.
Claims (6)
1. The sea cucumber capturing system capable of continuously working is characterized by comprising a ship, a negative pressure tank, a water pump, a lower inlet valve, an upper outlet valve, a bottom outlet valve, a water supplementing pump, a water supplementing pipe, a water draining pipe, a screen, a water absorbing pipe, a hose, an electric three-way valve, an underwater robot, an umbilical cable, a controller and a signal cable, wherein the negative pressure tank is fixedly connected with the ship and is provided with a lower inlet, an upper outlet, a bottom outlet and a top water supplementing port, the lower inlet valve is connected with the lower inlet, the upper outlet valve is connected with the upper outlet, the bottom outlet valve is connected with the bottom outlet, and the water supplementing valve is connected with the top water supplementing port; the water pump is connected with the ship through a first bracket, the water supplementing pump is connected with the ship through a second bracket, the inlet of the water pump is connected with an upper outlet valve, the drain pipe is connected with the outlet of the water pump, the outlet of the water supplementing pump is connected with a water supplementing valve, and the water supplementing pipe is connected with the inlet of the water supplementing pump; the screen is arranged in the cavity of the negative pressure tank, the screen is connected with the inner wall of the cavity of the negative pressure tank, the screen is arranged at the upper part of the cavity of the negative pressure tank, and the screen is positioned below the outlet at the upper part;
the electric three-way valve is provided with a valve port a, a valve port b and a valve port c, the upper port of the water suction pipe is connected with the lower inlet valve, the lower port of the water suction pipe is connected with the valve port b of the electric three-way valve, the upper port of the hose is connected with the valve port a of the electric three-way valve, and the lower end of the hose is fixed on the shell of the underwater robot;
the controller is connected to the ship, and the underwater robot is connected and communicated with the controller through an umbilical cable; the electric three-way valve is connected and communicated with the controller through a signal cable; the underwater robot is provided with a camera;
the lower port of the hose is arranged downwards;
a glass window is arranged on the tank body of the negative pressure tank;
the tank body of the negative pressure tank is connected with a liquid level pipe.
2. The continuous operation sea cucumber fishing system as claimed in claim 1, wherein the inner wall of the hose is connected with a plurality of sets of elastic barbs.
3. Continuous operational sea cucumber fishing system as claimed in claim 1, characterised in that said hose is a wire hose or a plastic hose.
4. Continuous operational sea cucumber fishing system as claimed in claim 1, characterised in that the underwater robot is provided with a positioning module.
5. The continuous operational sea cucumber fishing system of claim 1, wherein the suction pipe is a steel hose or a plastic hose.
6. The continuous operational sea cucumber fishing system of claim 1, wherein the suction pipe is a stainless steel pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210348956.5A CN114711202B (en) | 2022-04-01 | 2022-04-01 | Sea cucumber catching system capable of continuously operating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210348956.5A CN114711202B (en) | 2022-04-01 | 2022-04-01 | Sea cucumber catching system capable of continuously operating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114711202A CN114711202A (en) | 2022-07-08 |
| CN114711202B true CN114711202B (en) | 2023-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210348956.5A Active CN114711202B (en) | 2022-04-01 | 2022-04-01 | Sea cucumber catching system capable of continuously operating |
Country Status (1)
| Country | Link |
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| CN (1) | CN114711202B (en) |
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|---|---|---|---|---|
| CN205071931U (en) * | 2015-08-11 | 2016-03-09 | 韩佃波 | Clam harvester |
| CN205284685U (en) * | 2016-01-25 | 2016-06-08 | 大力金刚机器人（威海）有限公司 | Continuous suction device of sea cucumber |
| CN107873658A (en) * | 2017-12-14 | 2018-04-06 | 大连工业大学 | Remote control sea cucumber fishes robot |
| CN109699538A (en) * | 2019-03-11 | 2019-05-03 | 南宁市武鸣金三川农业科技有限公司 | Hirudiniculture dredging and leech acquisition equipment |
| CN110881445A (en) * | 2019-05-30 | 2020-03-17 | 哈尔滨工程大学 | Lossless sea cucumber sucking and collecting device |
| CN210329019U (en) * | 2019-07-18 | 2020-04-17 | 河北蓝翼海洋生物科技有限公司 | Automatic equipment of catching of holothurian cultivation |
| CN210538309U (en) * | 2019-09-30 | 2020-05-19 | 山东建筑大学 | Sea cucumber suction device |
| CN113966726A (en) * | 2021-11-25 | 2022-01-25 | 河北农业大学 | Absorption type sea cucumber catching device and using method thereof |
| CN217136523U (en) * | 2022-04-01 | 2022-08-09 | 山东金瓢食品机械股份有限公司 | Sea cucumber catching system capable of continuously operating |
-
2022
- 2022-04-01 CN CN202210348956.5A patent/CN114711202B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205071931U (en) * | 2015-08-11 | 2016-03-09 | 韩佃波 | Clam harvester |
| CN205284685U (en) * | 2016-01-25 | 2016-06-08 | 大力金刚机器人（威海）有限公司 | Continuous suction device of sea cucumber |
| CN107873658A (en) * | 2017-12-14 | 2018-04-06 | 大连工业大学 | Remote control sea cucumber fishes robot |
| CN109699538A (en) * | 2019-03-11 | 2019-05-03 | 南宁市武鸣金三川农业科技有限公司 | Hirudiniculture dredging and leech acquisition equipment |
| CN110881445A (en) * | 2019-05-30 | 2020-03-17 | 哈尔滨工程大学 | Lossless sea cucumber sucking and collecting device |
| CN210329019U (en) * | 2019-07-18 | 2020-04-17 | 河北蓝翼海洋生物科技有限公司 | Automatic equipment of catching of holothurian cultivation |
| CN210538309U (en) * | 2019-09-30 | 2020-05-19 | 山东建筑大学 | Sea cucumber suction device |
| CN113966726A (en) * | 2021-11-25 | 2022-01-25 | 河北农业大学 | Absorption type sea cucumber catching device and using method thereof |
| CN217136523U (en) * | 2022-04-01 | 2022-08-09 | 山东金瓢食品机械股份有限公司 | Sea cucumber catching system capable of continuously operating |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114711202A (en) | 2022-07-08 |
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