CN115413631A

CN115413631A - Selective fishing robot for marine fishery

Info

Publication number: CN115413631A
Application number: CN202211044541.5A
Authority: CN
Inventors: 季福路; 刘全良; 戎瑞亚; 贺波
Original assignee: Zhejiang Ocean University ZJOU
Current assignee: Zhejiang Ocean University ZJOU
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2022-12-02

Abstract

The invention relates to the technical field of marine fishery fishing, in particular to a selective fishing robot for marine fishery, which comprises a rack, wherein outer sealing plates are arranged on the upper surface, the lower surface, the left surface and the right surface of the rack, and a propulsion control device and a heave device are arranged on a frame on the outer side of the rack; the inner side frame of the rack is divided into an upper main chamber and a lower main chamber through an upper outer sealing plate, a lower outer sealing plate and an inner sealing plate which is matched and sealed with the upper outer sealing plate and the lower outer sealing plate, a hollow area is formed between the two main chambers, and a sorting device is embedded in the hollow area; and a controller module, a power management module, a sensor module and a pump set which are electrically connected are arranged in the two main cavities. The invention firstly proposes that the screen and the mechanical mechanism are combined to carry out fishing operation, and the fish is selectively fished, so that juvenile fish and rare fish seeds are well protected; manual operation is reduced, and the cost is reduced while the operation safety of fishermen is protected.

Description

Selective fishing robot for marine fishery

Technical Field

The invention relates to the technical field of marine fishery fishing, in particular to a selective fishing robot for marine fishery.

Background

At the present stage, the vigorous development of sustainable fishery for marine fishery resource remediation and exploitation has become an urgent need. Sustainable fishery firstly needs professional fishery detection and biological sampling equipment, and the underwater robot has the advantages of safety, flexibility, long operation time, wide market prospect and the like, so that the underwater robot is favored by various oceanic major countries. Therefore, the design of the underwater robot for selective fishing in the marine fishery has very important significance, and the deep blue breeding and fishing industry is assisted to be greatly developed.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides a selective fishing robot for marine fishery, which is a selective fishing robot capable of better protecting juvenile fish and treasure fish species, and the specific technical scheme is as follows:

a selective fishing robot for marine fishery comprises a frame, wherein outer sealing plates are arranged on the upper surface, the lower surface, the left surface and the right surface of the frame, and a propulsion control device and a heave device are arranged on a frame on the outer side of the frame; the inner side frame of the rack is divided into an upper main chamber and a lower main chamber through an upper outer sealing plate, a lower outer sealing plate and an inner sealing plate which is matched and sealed with the upper outer sealing plate and the lower outer sealing plate, a hollow area is formed between the two main chambers, and a sorting device is embedded in the hollow area; and a controller module, a power management module, a sensor module and a pump set which are electrically connected are arranged in the two main cavities.

Further, the sensor module includes: the system comprises a temperature and humidity sensor, an attitude sensor, a vision sensor and a depth sensor; two upper and lower main cavities all divide into two sub-cavities of size through the baffle, wherein, two big sub-cavities all are equipped with vision sensor and temperature and humidity sensor, all are equipped with motor element in two little sub-cavities.

Further, a fixedly installed attitude sensor and a controller module electrically connected with the attitude sensor are further arranged in the large sub-chamber of the upper main chamber, wherein the depth sensor is specifically arranged on the upper outer sealing plate, and the sensing outer end of the depth sensor is directly contacted with water.

Further, still fixedly in the big sub-chamber of lower main cavity be equipped with power management module and pump package, power management module and temperature and humidity sensor through walking the line with the controller module electricity is connected, the pump package through walk the line with the power management module electricity is connected.

Further, the motor assembly comprises a motor body, a motor fixing plate, a motor base and a flange, the motor body is installed and fixed in the sub-chamber through the matching of the motor base and the motor fixing plate, and the motor body is connected with the controller module through an optical signal through the flange.

Further, sorting unit is assembled by the gate, advance fish passageway, screen cloth and defeated fish pipe group that connect gradually and forms, the gate is located the inboard hollow region of frame, the gate passes through the motor carries out the switch.

Further, when the robot catches the fish, the gate is opened and limited at the inner sides of the outer sealing plates on the left and right sides, and the fish enters the fish inlet channel; when the robot does not catch fish, the gate is closed, and the two sides of the gate, namely the middle area of the rack, are empty.

Furthermore, the propulsion control device adopts propeller thrusters which are arranged on the outer sealing plates on the left and right sides of the frame 1, and the propeller thrusters comprise a bow-turning motion thruster and a pitching and heaving motion thruster.

Further, the pump set comprises a water pump and an air pump, the heave device comprises a high-pressure air storage tank and a water-gas separation tank, and the water-gas separation tank is positioned on the left side and the right side of the upper main chamber and is fixed on the rack; the high-pressure gas storage tanks are positioned at the left side and the right side of the lower main chamber and are fixed on the rack; the high-pressure gas storage tank and the water-gas separation tank are both provided with check valves and are fixed on the frame through clamps.

Furthermore, a searchlight is further installed at the position above the front face of the rack.

Compared with the prior art, the invention has the following advantages:

the trawl fishing device is improved on the basis of trawl fishing in the prior art, the screen and a mechanical mechanism are combined for fishing for the first time, fish are selectively fished, and juvenile fish and rare fish species are well protected; manual operation is reduced, and the cost is reduced while the operation safety of fishermen is protected; water is filled into the tank body through the water pump and the air pump and then is discharged for heave movement, so that the supersaturation phenomenon caused by the traditional propeller as a driving device is changed.

Drawings

FIG. 1 is a schematic view of the overall structure of a selective fishing robot for marine fishery according to the present invention;

FIG. 2 is a schematic top view of the robot of the present invention;

FIG. 3 is a schematic structural view of the fish separating device of the present invention;

FIG. 4 is a schematic front view of the inventive robot gate closed;

FIG. 5 is a schematic front view of the inventive robot gate open;

in the figure, 1, a frame; 2. a vision sensor; 3. a high pressure gas accumulator tank; 4. a propeller thruster; 5. a motor assembly; 6. an attitude sensor; 7. a temperature and humidity sensor; 8. a depth sensor; 9. a controller module; 10. a searchlight; 11. a water-gas separation tank; 12. a one-way valve; 13. clamping a hoop; 14. a water pump; 15. a power management module; 16. an air pump; 17. a fish inlet channel; 18. screening a screen; 19. a fish transporting pipeline; 20. and (4) a gate.

Detailed Description

In order to make the objects, technical solutions and technical effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.

As shown in fig. 1, the selective fishing robot for marine fishery of the invention comprises a frame 1, wherein outer sealing plates are arranged on the upper, lower, left and right sides of the frame 1, and a propulsion control device and a heave device are arranged on the outer frame of the frame 1; the inner side frame of the machine frame 1 is divided into an upper main chamber and a lower main chamber through an upper outer sealing plate, a lower outer sealing plate and an inner sealing plate which is matched and sealed with the upper outer sealing plate and the lower outer sealing plate, a hollow area is formed between the two main chambers, and a sorting device is embedded in the hollow area; and a controller module 9, a power management module 15, a sensor module and a pump set which are electrically connected are arranged in the two main cavities and used for controlling the specific operation of the robot.

The sensor module includes: temperature and humidity sensor 7, attitude sensor 6, vision sensor 2 and depth sensor 8.

Two upper and lower main cavities all divide into two sub-cavities of size through the baffle, wherein, two big sub-cavities all are equipped with vision sensor 2 and temperature and humidity sensor 7, all are equipped with motor element 5 in two little sub-cavities.

The motor assembly 5 comprises a motor body, a motor fixing plate, a motor base and a flange, the motor body is fixedly installed through the matching of the motor base and the motor fixing plate, and the motor body is connected with the controller module 9 through an optical signal through the flange. The motor body is in control connection with the sorting device.

And a fixedly installed attitude sensor 6 and a controller module 9 electrically connected with the attitude sensor are also arranged in the big sub chamber of the upper main chamber, wherein the depth sensor 8 is specifically arranged on the upper outer sealing plate, and the sensing outer end of the depth sensor is directly contacted with water.

Still fixedly in the big sub-chamber of lower main cavity be equipped with power management module 15 and pump package, power management module 15 and temperature and humidity sensor 7 through walk the line with controller module 9 electricity is connected, the pump package through walk the line with power management module 15 electricity is connected.

The through holes between the wiring for electric connection and each sealing plate are sealed in a sealing rubber ring mode, so that the robot can reach the required wading depth index.

The propulsion control device adopts a propeller thruster 4, the propeller thruster 4 is arranged on the outer sealing plates on the left and right sides of the frame 1 and used for controlling the robot to move front, back, left and right, specifically, the propeller thruster 4 comprises a bow turning motion thruster and a pitching and heaving motion thruster, the bow turning motion thruster is responsible for controlling the robot to move or rotate left and right, the pitching and heaving motion thruster is responsible for the robot to ascend and descend, and the motion angle of the robot in the up and down direction is adjusted.

The pump set comprises a water pump 14 and an air pump 16, the heave device comprises a high-pressure air storage tank 3 and a water-gas separation tank 11, the water-gas separation tank 11 is positioned at the left side and the right side of the upper main chamber and is fixed on the rack 1, water is filled in and discharged through the water pump 14 and the air pump 16, and as shown in figure 2, the robot is subjected to heave movement; the high-pressure gas storage tanks 3 are positioned at the left side and the right side of the lower main chamber and are fixed on the rack 1. All be equipped with check valve 12 on high pressure gas storage tank 3 and the aqueous vapor knockout drum 11, and all be fixed in frame 1 through clamp 13.

As shown in fig. 3, the sorting device is assembled by a gate 20, a fish inlet channel 17, a screen 18 and a fish conveying pipeline 19 which are connected in sequence, wherein the gate 20 is positioned in the hollow area of the inner side of the frame, and the gate 20 is opened and closed by the motor. When the robot catches fish, the gate 20 is opened, as shown in fig. 5, and is limited at the inner sides of the outer sealing plates at the left and right sides, so that fish can not pass through the hollow area of the frame 1 and enter the fish inlet channel 17; when the robot is not fishing, the gate 20 is closed, as shown in fig. 4, and both sides of the gate 20, i.e. the middle area of the frame 1, are empty, and fish can swim through.

And a searchlight 10 is further installed above the front surface of the rack 1 and used for underwater illumination, so that a camera can conveniently acquire an underwater environment image.

According to the actual requirements of selective fishing operation in marine fishery, the invention needs to use fishing sonar to detect fish shoal in the fishing water area before the fishing operation is started, and the information of the direction, distance, depth, swimming speed and the like of the fish shoal can be obtained through detection. After the fish shoal is detected and determined, the ROV robot is placed into the water along with the trawl, and the size and the type of the fish are observed through the visual sensor after the fish shoal is close to the ROV robot. When the fish school is small yellow croaker and the mature fish accounts for more than 60 percent, the gate can be opened, and the fish school can pass through the sorting device; when the fish shoal is small yellow croaker but the juvenile fish accounts for more than 60% or the fish shoal is not small yellow croaker, the gate is closed to allow the fish shoal to pass through the ROV robot. The screen at the tail part of the gate and the sorting device is designed in a customized way, and the size of a screen opening of the screen is controllable through a corresponding sensing device.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Although the foregoing has described in detail the practice of the invention, it will be appreciated by those skilled in the art that variations may be applied to the embodiments described in the foregoing examples, or equivalents may be substituted for elements thereof. All changes, equivalents and modifications which come within the spirit and scope of the invention are desired to be protected.

Claims

1. The selective fishing robot for the marine fishery is characterized by comprising a rack (1), wherein outer sealing plates are arranged on the upper surface, the lower surface, the left surface and the right surface of the rack (1), and a propulsion control device and a heave device are arranged on a frame on the outer side of the rack (1); the inner side frame of the frame (1) is divided into an upper main chamber and a lower main chamber through an upper outer sealing plate, a lower outer sealing plate and an inner sealing plate which is matched and sealed with the upper outer sealing plate and the lower outer sealing plate, a hollow area is formed between the two main chambers, and a sorting device is embedded in the hollow area; and a controller module (9), a power management module 15, a sensor module and a pump set which are electrically connected are arranged in the two main cavities.

2. The marine fishery selective fishing robot of claim 1, wherein the sensor module comprises: a temperature and humidity sensor (7), an attitude sensor (6), a vision sensor (2) and a depth sensor (8); two upper and lower main cavities all divide into two sub-cavities of size through the baffle, wherein, two big sub-cavities all are equipped with vision sensor (2) and temperature and humidity sensor (7), all are equipped with motor element (5) in two little sub-cavities.

3. The marine fishery selective fishing robot as claimed in claim 2, wherein a fixedly mounted attitude sensor (6) and a controller module (9) electrically connected with the attitude sensor are further arranged in the large cavity of the upper main cavity; the depth sensor (8) is arranged on the upper outer sealing plate, and the sensing outer end of the depth sensor is directly contacted with water.

4. The selective fishing robot for marine fishery according to claim 2, wherein a power management module (15) and a pump set are further fixedly arranged in the large sub-chamber of the lower main chamber, the power management module (15) and the temperature and humidity sensor (7) are electrically connected with the controller module (9) through wiring, and the pump set is electrically connected with the power management module (15) through wiring.

5. The marine fishery selective fishing robot as claimed in claim 2, wherein the motor assembly (5) comprises a motor body, a motor fixing plate, a motor base and a flange, the motor body is fixed in the sub-chamber through the matching installation of the motor base and the motor fixing plate, and the motor body is connected with the controller module (9) through an optical signal between the flange.

6. The selective fishing robot for marine fishery according to claim 5, wherein the sorting device is assembled by sequentially connecting a gate (20), a fish inlet channel (17), a screen (18) and a fish conveying pipeline (19), the gate (20) is located in an inner hollow area of the frame (1), and the gate (20) is switched by the motor.

7. The selective fishing robot for marine fishery according to claim 6, wherein when the robot catches fish, the gate (20) is opened and limited at the inner sides of the outer sealing plates at the left and right sides, and fish enters the fish inlet channel (17); when the robot does not catch fish, the gate (20) is closed, and two sides of the gate (20), namely the middle area of the rack (1), are empty.

8. The marine fishery selective fishing robot of claim 1, wherein the propulsion control means employs propeller thrusters (4), the propeller thrusters (4) being provided on outer closure plates on the left and right sides of the frame (1), the propeller thrusters (4) comprising a yaw movement thruster and a pitch and heave movement thruster.

9. The selective fishing robot for marine fishery according to claim 1, wherein the pump set comprises a water pump (14) and an air pump (16), the heave device comprises a high-pressure air storage tank (3) and a water-air separation tank (11), and the water-air separation tank (11) is positioned at the left and right sides of the upper main chamber and fixed on the frame (1); the high-pressure gas storage tanks (3) are positioned at the left side and the right side of the lower main chamber and are fixed on the rack (1); all be equipped with check valve (12) on high-pressure gas accumulator tank (3) and vapor knockout drum (11), and all be fixed in frame (1) through clamp (13).

10. The marine fishery selective catching robot as claimed in claim 1 wherein a searchlight (10) is further mounted on the upper front portion of the housing (1).