CN209677104U - A kind of robot system for coral cultivation - Google Patents
A kind of robot system for coral cultivation Download PDFInfo
- Publication number
- CN209677104U CN209677104U CN201920217186.4U CN201920217186U CN209677104U CN 209677104 U CN209677104 U CN 209677104U CN 201920217186 U CN201920217186 U CN 201920217186U CN 209677104 U CN209677104 U CN 209677104U
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- Prior art keywords
- robot
- control module
- electrically connected
- underwater work
- sealed compartment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The utility model relates to underwater operation equipment technical fields, more specifically, it is related to a kind of robot system for coral cultivation, including control system waterborne and underwater work system, the control system waterborne and underwater work system communication connection, the underwater work system includes driving device, photographic device and the first control module, and the driving device, photographic device are electrically connected with first control module；The control system waterborne includes host computer and gesture recognition system, and the host computer and the gesture recognition system communicate to connect；The underwater work system further includes sealed compartment, robot frame and robot device, and the sealed compartment, driving device, photographic device and robot device are loaded in the robot frame, and the robot device is electrically connected with first control module.The utility model, come the movement of real-time control robot device, improves operating efficiency by the movement of gesture recognition system.
Description
Technical field
The utility model relates to underwater operation equipment technical fields, more particularly, to a kind of machine for coral cultivation
Device people's system.
Background technique
Coral plays an extremely important role in marine ecology, and coral reef is the highest life of global primary production
State system, but in recent decades, in the case where human activity, natural phenomena and shortage effectively management, coral reef two packing spaces
Property reduce, and coral reef ecologic system is degenerated.Overfishing, deposition, pollutant emission, climate warming, ocean acid
Change etc. causes the coral reef in the whole world 75% to be on the hazard.Currently, the cultivation of seabed coral or dependence frogman and diver.But due to
The human body limit, diver can not long-time underwater operation, seabed coral cultivation work become very inefficient and have greatly
It is uncertain.Existing underwater robot system causes mechanical arm quasi- due to lacking the accurate long-range control to mechanical arm
It really grabs the potting of coral seedling and transplants and fix under water, be not easy to the running that operator controls submarine mechanical arm on the water, shadow
Ring operating efficiency.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of system, robot for coral cultivation
System replaces manual work using underwater work system, moreover it is possible to by the movement of the gesture recognition system of control system waterborne come real
When manipulation underwater work system robot device movement, improve operating efficiency；In addition to this, underwater work system is also set up
There is sealed compartment, for placing the component that cannot be got wet, prevents underwater work system failure, guarantee the cultivation of coral seedling.
In order to solve the above technical problems, the technical solution adopted in the utility model is:
A kind of robot system for coral cultivation, including control system waterborne and underwater work system are provided, it is described
Control system and underwater work system waterborne communication connection, the underwater work system include driving device, photographic device and the
One control module, the driving device, photographic device are electrically connected with first control module；The control system packet waterborne
It includes the host computer of direction controlling and the data acquisition for underwater work system and the pick-and-place for underwater work system controls
Gesture recognition system, the host computer and the gesture recognition system communicate to connect；The underwater work system further includes using
In sealed compartment, robot frame and the robot device of placing the component that can not get wet, the sealed compartment, driving device, camera shooting dress
It sets and is loaded in the robot frame with robot device, the robot device is electrically connected with first control module.
A kind of robot system for coral cultivation of the utility model is provided with control system waterborne and underwater operation system
System, control system waterborne includes the gesture recognition system and host computer for controlling underwater work system, underwater work system packet
Include driving device, robot frame, the first control module, photographic device, sealed compartment and robot device.Driving device is used for
Drive underwater work system；Robot frame is integrated for underwater work system all parts, is convenient for underwater work system
Movement and maintenance；Photographic device is for shooting water-bed environment；Sealed compartment is for placing in underwater work system and can not get wet
Component；Robot device is for grabbing transplanting coral seedling potting；First control module is for controlling each of underwater work system
The movement of a device.Control system and underwater work system communication connection waterborne, allows the operator to pass through gesture on the water
Identifying system and host computer control the first control module, and submarine mechanical arm device pair is then controlled by the first control module
The crawl and placement of coral seedling potting；And underwater camera is controlled by host computer, the first underwater control module on the water
The movement of device and driving device.
In order to enable gesture recognition system effectively to control robot device, the gesture recognition system includes gloves, appearance
State sensor, bending sensor and the second control module, the gloves include finger body and palm body；The crooked sensory
Device is loaded at the finger body, and the attitude transducer is loaded at the palm body, the attitude transducer, crooked sensory
Device is electrically connected with second control module；Second control module and the host computer communicate to connect.
In order to enable the first control module effectively control underwater work system each device movement and to avoid first
Control module gets wet, and first control module and the host computer communicate to connect, and first control module is set to described close
In batten down；The sealed compartment includes the cylindric cabin for placing component, the transparent hemi cover convenient for shooting and for sealing
Sealing cover, it is described cylindrical shape cabin one end connect with the seal cap sealing, the other end and the transparent hemi cover sealing
It connects, is fitted on the sealing cover several for being electrically connected the watertight plug connectors of component inside and outside sealed compartment.Cylindric cabin, thoroughly
The setting of bright half ball cover, sealing cover and watertight plug connector can reduce the resistance that sealed compartment moves in water and improve sealed compartment
Sealing performance.
In order to enable photographic device to take underwater image or image, the photographic device is set to close in sealed compartment
Transparent hemi cover one end, the photographic device are connect by bracket with the cylindric cabin inner wall.
In order to enable robot device flexibly to transplant coral seedling potting, the robot device is loaded on the robot frame
The position ipsilateral with the transparent hemi cover on frame, the robot device include the mechanical arm of two 4DOFs.
In order to enable underwater work system to measure the parameter information of underwater pH value, turbidity and depth and be sent to water
Upper control system, the underwater work system further include sensing device, and the sensing device is loaded in the robot frame, institute
Sensing device is stated to be electrically connected with first control module；The sensing device includes pH sensor, turbidity transducer and depth
Spend sensor.
Underwater image or image are shot in order to enable photographic device to understand, equipped with several anti-in the robot frame
Water LED light, water-proof LED lamp are electrically connected with first control module.
In order to enable underwater work system to move under water toward different directions, the driving device includes that several transverse directions push away
Into device and longitudinal thruster, athwartships propeller is loaded on the two sides of the robot frame, and longitudinal thruster is loaded on the robot
The two sides of frame；The athwartships propeller, longitudinal thruster are electrically connected with first control module.
In order to enable photographic device flexible rotating, the photographic device includes camera and camera holder, described to take the photograph
As being connect at the top of head and the camera holder.
In order to enable underwater work system to operate, power module, the power module and institute are equipped in the sealed compartment
State the electrical connection of the first control module.
Compared with prior art, the utility model has the beneficial effects that
A kind of robot system for coral cultivation of the utility model, each sensor detects palm in gesture recognition system
The movement of body and finger body, and the second control module is transferred information to, the second control module is led to host computer
Letter, the first control module then acquire information to the mechanical arm crawl of control robot device by communicating with host computer, make coral
Seedling potting graft procedure is more convenient, and implant site is more accurate, improves operating efficiency.
Underwater robot system further includes the sealed compartment for placing the first control module and photographic device, photographic device and
First control module, which is put into sealed compartment, can play waterproof action, prevent the first control module and photographic device from damaging because of leak
It is bad；On sealed compartment be provided with several watertight plug connectors, can effectively prevent out of my cabin each device in cabin the first control module electricity
Lead to the generation of drainage when connection because of the gap between cable and sealing cover.
In addition to this, underwater robot system further includes sensing device, and sensing device includes pH sensor, turbidity sensing
Device and depth transducer can measure the parameter of underwater pH value, turbidity and depth, and be sent out in real time by the first control module
It send to host computer, checked on host computer convenient for operator and records each parameter value.
Detailed description of the invention
Fig. 1 is a kind of structural representation of the underwater work system of the robot system for coral cultivation of the utility model
Figure.
Fig. 2 is a kind of structural representation of the underwater work system of the robot system for coral cultivation of the utility model
Figure.
Fig. 3 is the structural schematic diagram of this gesture recognition system.
Fig. 4 is a kind of system block diagram of the robot system for coral cultivation of the utility model.
It is as follows to illustrate description of symbols:
1- sealed compartment, 11- cylindrical shape cabin, 12- transparent hemi cover, 13- sealing cover, 2- driving device, 21- are laterally promoted
Device, 22- longitudinal thruster, 3- photographic device, 4- water-proof LED lamp, 5- robot frame, 6- robot device, 7- watertight grafting
Part, 8- sensing device, 81-pH sensor, 82- turbidity transducer, 83- depth transducer, 9- gesture recognition system, 91- finger
Body, 92- palm body, 93- attitude transducer, 94- bending sensor, the second control module of 95-, the first control module of 10-.
Specific embodiment
The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing
Illustrate, expression is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described
With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability
For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore retouch in attached drawing
The term for stating positional relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Embodiment
It is as shown in Figures 1 to 4 a kind of embodiment of the robot system for coral cultivation of the utility model, including water
Upper control system and underwater work system, control system and underwater work system communication connection waterborne, underwater work system include
Driving device 2, photographic device 3 and the first control module 10, driving device 2, photographic device 3 are electrically connected with the first control module 10
It connects, control system waterborne includes the host computer of direction controlling and the data acquisition for underwater work system and is used for underwater
The gesture recognition system 9 of the pick-and-place control of operating system, host computer and gesture recognition system 9 communicate to connect；Underwater work system
It further include for placing the sealed compartment 1 for the component that can not get wet, robot frame 5 and robot device 6, sealed compartment 1, driving device
2, loaded in robot frame 5, robot device 6 is electrically connected with the first control module 10 for photographic device 3 and robot device 6
It connects.
As shown in Figure 1 to Figure 2, robot frame 5 includes cube frame and for installing driving device 2 in the present embodiment
Four connecting rods, two connecting rods are connect with the side of cube frame, and in addition the other side of two connecting rods and cube frame connects
It connects.Robot frame 5 selects light aluminum profile, and aluminum profile density is small and quality is hard, can play protection and Zhi Chishui
While lower operating system operates, moreover it is possible to reduce power consumption, keep running more flexible.As shown in figure 4, the first control in the present embodiment
Module 10 includes stm32f103rct6 embeded processor and raspberry pie, stm32f103rct6 embeded processor and raspberry pie
Communication connection, host computer and raspberry pie communicate to connect.Stm32f103rct6 embeded processor is selected, cost is relatively low and property
Can meet the needs of existing capability.
In addition, gesture recognition system 9 includes gloves, attitude transducer 93, bending sensor 94 and the second control module 95,
Gloves include finger body 91 and palm body 92；Loaded at finger body 91, attitude transducer 93 is loaded on bending sensor 94
92 at palm body, attitude transducer 93, bending sensor 94 are electrically connected with the second control module 95；Second control module 95
It is communicated to connect with host computer.The setting of gloves, attitude transducer 93, bending sensor 94 and the second control module 95 knows gesture
Other system 9 can effectively control robot device 6.
As shown in figure 3, the second control module 95 includes stm32f103c8t6 embeded processor, posture in the present embodiment
Sensor 93 selects MPU6050 attitude transducer, and bending sensor 94 selects 2.2 bending sensor of flex.Hand in the present embodiment
Gesture identifying system 9 includes a pair of of gloves, two MPU6050 attitude transducers and two 2.2 bending sensors of flex, and two
MPU6050 attitude transducer is loaded on respectively at the palm body 92 of two gloves, and two 2.2 bending sensors of flex fill respectively
At the index finger finger body of two gloves.
In addition, the first control module 10 is communicated to connect with host computer, the first control module 10 is set in sealed compartment 1；Sealing
Cabin 1 includes the cylindric cabin 11 for placing component, the transparent hemi cover 12 convenient for shooting and the sealing cover 13 for sealing,
One end of cylindric cabin 11 and sealing cover 13 are tightly connected, and the other end and transparent hemi cover 12 are tightly connected, on sealing cover 13
It is fitted with several for being electrically connected the watertight plug connector 7 of component inside and outside sealed compartment 1.First control module 10 and host computer communication link
The setting connect makes control system and underwater work system waterborne can be realized communication connection, and the first control module 10 is set to sealed compartment
Setting in 1 can prevent the first control module to be damaged because getting wet, cylindric cabin 11, transparent hemi cover 12 and sealing cover
13 setting can reduce the resistance that sealed compartment 1 moves in water and improve the sealing performance of sealed compartment 1, make to be placed on sealing
The first control module 10 in cabin 1 can completely cut off with water；Watertight plug connector 7 on sealing cover 13 can be prevented due to sealed compartment 1
The generation of drainage caused by gap between interior outer cable and sealing cover 13.
As shown in Figure 1 to Figure 2, host computer is the computer that can issue manipulation instruction in the present embodiment, and host computer passes through
The data of acquisition gesture recognition system 9 to issue manipulation instruction to the first control module 10, and the first control module 10 is enable to control
If the equipment for drying of underwater work system processed.
As shown in Figure 1 to Figure 2, in the present embodiment between cylindric cabin 11 and sealing cover 13 with O-ring seal, flange,
Gasket and bolt seal, cylindric cabin 11, O-ring seal, flange and sealing cover 13 are sequentially connected with, then pass through bolt lock
Tightly.Transparent hemi cover 12 is fixed by screws with cylindric cabin 11.Watertight plug connector 7 selects Aviation Connector, passes through boat
Component inside and outside sealed compartment 1 is electrically connected by the wiring point of empty connector.Connected between sealed compartment 1 and robot frame 5 by bolt
It connects.
In addition, photographic device 3 is set in sealed compartment 1 close to 12 one end of transparent hemi cover, photographic device 3 passes through bracket and circle
The connection of 11 inner wall of tubular cabin.The position setting of photographic device 3 enables photographic device 3 to pass through transparent hemi in sealed compartment 1
Cover 12 takes underwater out of my cabin image or image.As shown in Figure 1, photographic device 3 is loaded on the middle position of bracket in the present embodiment
It sets, can preferably shoot underwater environment.
In addition, robot device 6 is loaded on position ipsilateral with transparent hemi cover 12 in robot frame 5, robot device 6
Mechanical arm including two 4DOFs.The setting of mechanical arm enables robot device 6 flexibly to transplant coral seedling potting.Such as Fig. 1
It is shown, in the present embodiment the mechanical arm of a 4DOF include the first waterproof steering engine, the second waterproof steering engine, third waterproof steering engine,
4th waterproof steering engine and a gripper, between the first waterproof steering engine and the second waterproof steering engine, the second waterproof steering engine and three waterproofs
It is flexibly connected by connecting plate between steering engine, between third waterproof steering engine and the 4th waterproof steering engine, gripper and the first waterproof
Steering engine connection, the 4th waterproof steering engine are connect with robot frame 5.First control module 10 further includes the rudder in sealed compartment 1
Machine control panel, the first, second, third, fourth waterproof steering engine are electrically connected with steering engine control panel, steering engine control panel with
The electrical connection of stm32f103rct6 embeded processor.By the pitch angle of MPU6050 attitude transducer, yaw angle, roll angle and
The bending angle of 2.2 bending sensor of flex respectively corresponds four freedom degrees of mechanical arm.
In addition, underwater work system further includes sensing device 8, sensing device 8 is loaded in robot frame 5, sensing device 8
It is electrically connected with the first control module 10；Sensing device 8 includes pH sensor 81, turbidity transducer 82 and depth transducer 83.
The setting of sensing device 8 enables underwater work system to measure parameter information and the transmission of underwater pH value, turbidity and depth
To control system waterborne.
As shown in Fig. 2, pH sensor 81 and turbidity transducer 82 are respectively loaded on after robot frame 5 in the present embodiment
Two side position of face, depth transducer 83 is loaded on sealing cover 13.PH sensor 81, turbidity transducer 82 and depth transducer 83
It is connect with stm32f103rct6 embeded processor by Aviation Connector.Depth transducer 83 selects model in the present embodiment
For the depth transducer of MS5837, the depth transducer of this model is while can fathom, additionally it is possible to measure underwater
Temperature checks temperature parameter convenient for operator on host computer.
In addition, being equipped with several water-proof LED lamps 4 in robot frame 5, water-proof LED lamp 4 is electrically connected with the first control module 10
It connects.The setting of water-proof LED lamp 4 enables photographic device 3 clearly to shoot underwater image or image.As shown in Figure 1, the present embodiment
There are two water-proof LED lamp 4, two water-proof LED lamps to be loaded on position ipsilateral with photographic device 3 in robot frame 5 for middle setting,
LED water proof lamp 4 is set preferably to illuminate for photographic device 3.Water-proof LED lamp 4 and stm32f103rct6 embeded processor passes through
Aviation Connector connection.
In addition, driving device 2 includes several athwartships propellers 21 and longitudinal thruster 22, athwartships propeller 21 is loaded on machine
The two sides of people's frame 5, longitudinal thruster 22 are loaded on the two sides of robot frame 5；Athwartships propeller 21, longitudinal thruster 22 with
The electrical connection of first control module 10.The setting of athwartships propeller 21 and longitudinal thruster 22 enables underwater work system under water
It is moved toward different directions.As shown in Figure 1 to Figure 2, there are two athwartships propellers 21 and two longitudinal directions to push away for setting in the present embodiment
Into device 22, two athwartships propellers 21 are separately positioned on the two sides of robot frame 5, and two longitudinal thrusters 22 are also respectively set
In the two sides of robot frame 5.Athwartships propeller 21, longitudinal thruster 22 and robot frame 5 pass through saddle clip and machine
The connecting rod of people's frame 5 connects, and athwartships propeller 21 and longitudinal thruster 22 are logical with stm32f103rct6 embeded processor
Cross Aviation Connector connection.
In addition, photographic device 3 includes camera and camera holder, it is connect at the top of camera and camera holder.Camera shooting
The setting of head and camera holder enables 3 flexible rotating of photographic device.As shown in Figure 1, in the present embodiment in camera holder
Steering engine be electrically connected with raspberry pie, camera and raspberry pie communicate to connect；The image information of camera acquisition is passed by raspberry pie
It send to host computer, allows the operator to check underwater environment by host computer.
In addition, being equipped with power module in sealed compartment 1, power module is electrically connected with the first control module 10.Power module
Setting enables underwater work system to operate.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. a kind of robot system for coral cultivation, including control system waterborne and underwater work system, the control waterborne
System and underwater work system processed communication connection, the underwater work system include driving device (2), photographic device (3) and the
One control module (10), the driving device (2), photographic device (3) are electrically connected with first control module (10), special
Sign is, the control system waterborne include direction controlling and the data acquisition for underwater work system host computer and
The gesture recognition system (9) that pick-and-place for underwater work system controls, the host computer and the gesture recognition system (9) are logical
Letter connection；The underwater work system further include for place the sealed compartment (1) for the component that can not get wet, robot frame (5) and
Robot device (6), the sealed compartment (1), driving device (2), photographic device (3) and robot device (6) are loaded on described
In robot frame (5), the robot device (6) is electrically connected with first control module (10).
2. a kind of robot system for coral cultivation according to claim 1, which is characterized in that the gesture identification
System (9) includes that gloves, attitude transducer (93), bending sensor (94) and the second control module (95), the gloves include
Finger body (91) and palm body (92)；The bending sensor (94) is loaded at the finger body (91), the posture
Sensor (93) is loaded on (92) at the palm body, and the attitude transducer (93), bending sensor (94) are with described the
Two control modules (95) electrical connection；Second control module (95) and the host computer communicate to connect.
3. a kind of robot system for coral cultivation according to claim 1, which is characterized in that first control
Module (10) and the host computer communicate to connect, and first control module (10) is set in the sealed compartment (1)；The sealing
Cabin (1) includes the cylindric cabin (11) for placing component, the transparent hemi cover (12) convenient for shooting and for the close of sealing
It covers (13), one end and the sealing cover (13) of the cylindrical shape cabin (11) are tightly connected, the other end and described transparent half
Ball cover (12) is tightly connected, and is fitted on the sealing cover (13) several for being electrically connected the watertight of component inside and outside sealed compartment (1)
Plug connector (7).
4. a kind of robot system for coral cultivation according to claim 3, which is characterized in that the photographic device
(3) it is set to close to transparent hemi cover (12) one end in sealed compartment (1), the photographic device (3) passes through bracket and the cylindrical shape
The connection of cabin (11) inner wall.
5. a kind of robot system for coral cultivation according to claim 3, which is characterized in that the manipulator dress
(6) are set loaded on position ipsilateral with the transparent hemi cover (12) on the robot frame (5), the robot device (6)
Mechanical arm including two 4DOFs.
6. a kind of robot system for coral cultivation according to claim 1 or 3, which is characterized in that described underwater
Operating system further includes sensing device (8), and the sensing device (8) is loaded on the robot frame (5), the sensing device
(8) it is electrically connected with first control module (10)；The sensing device (8) includes pH sensor (81), turbidity transducer
(82) and depth transducer (83).
7. a kind of robot system for coral cultivation according to claim 1 or 3, which is characterized in that the machine
Several water-proof LED lamps (4) are housed on people's frame (5), water-proof LED lamp (4) is electrically connected with first control module (10).
8. a kind of robot system for coral cultivation according to claim 1 or 3, which is characterized in that the driving
Device (2) includes several athwartships propellers (21) and longitudinal thruster (22), and athwartships propeller (21) is loaded on the robot frame
The two sides of frame (5), longitudinal thruster (22) are loaded on the two sides of the robot frame (5)；The athwartships propeller (21), longitudinal direction
Propeller (22) is electrically connected with first control module (10).
9. a kind of robot system for coral cultivation according to claim 1, which is characterized in that the photographic device
(3) include camera and camera holder, connect at the top of the camera and the camera holder.
10. a kind of robot system for coral cultivation according to claim 1, which is characterized in that the sealed compartment
(1) power module is equipped in, the power module is electrically connected with first control module (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920217186.4U CN209677104U (en) | 2019-02-20 | 2019-02-20 | A kind of robot system for coral cultivation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920217186.4U CN209677104U (en) | 2019-02-20 | 2019-02-20 | A kind of robot system for coral cultivation |
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| Publication Number | Publication Date |
|---|---|
| CN209677104U true CN209677104U (en) | 2019-11-26 |
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ID=68602307
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920217186.4U Expired - Fee Related CN209677104U (en) | 2019-02-20 | 2019-02-20 | A kind of robot system for coral cultivation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070797A (en) * | 2022-07-21 | 2022-09-20 | 广东海洋大学 | Underwater control device based on bionic mechanical arm |
| CN116326517A (en) * | 2023-05-09 | 2023-06-27 | 哈尔滨工业大学（威海） | Underwater robot for coral conservation |
-
2019
- 2019-02-20 CN CN201920217186.4U patent/CN209677104U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070797A (en) * | 2022-07-21 | 2022-09-20 | 广东海洋大学 | Underwater control device based on bionic mechanical arm |
| CN116326517A (en) * | 2023-05-09 | 2023-06-27 | 哈尔滨工业大学（威海） | Underwater robot for coral conservation |
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