CN209806891U - Precious marine product fishing and visual monitoring device - Google Patents
Precious marine product fishing and visual monitoring device Download PDFInfo
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- CN209806891U CN209806891U CN201920470068.4U CN201920470068U CN209806891U CN 209806891 U CN209806891 U CN 209806891U CN 201920470068 U CN201920470068 U CN 201920470068U CN 209806891 U CN209806891 U CN 209806891U
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Abstract
The utility model discloses a precious marine product fishing and visual monitoring device, a light source irradiates on a target, an image acquisition module of an acquisition unit acquires image signals of the target, and the acquired image signals are transmitted to an upper computer through the acquisition module; the upper computer is in communication connection with the control module, and the control module sends a control command to the power unit; the extraction module extracts the target and transfers the extracted target to the storage module for storage; a sensor module in the acquisition unit tests the water quality, and the tested water quality parameters are acquired by the acquisition module and then transmitted to an upper computer; the upper computer sends a control instruction to the positioning unit through the control module, and a position signal obtained by the positioning unit is transmitted to the upper computer through the acquisition module. The utility model discloses precious marine product fishing system based on underwater robot platform adopts the extraction formula when fishing precious marine products, has avoided the danger of artifical fishing, solves pure mechanical arm grabbing formula simultaneously and catches the shortcoming that speed is slow, vulnerable to precious marine products.
Description
Technical Field
The utility model relates to an ocean fishing equipment and sea water quality monitoring technique specifically are precious marine product fishing and visual monitoring devices.
Background
With the rapid development of national economy, the living standard of people is continuously improved, and the demand of people for marine products is more and more, wherein sea food such as sea cucumber, sea urchin and the like with higher nutritional value and economic value is popular with consumers. However, this kind of demersal seafood generally lives on the seabed of 10 meters deep, and the growing environment has more reefs, can't adopt the net to drag for. At present, the precious marine products are caught mainly by divers diving to the sea bottom and manually catching. Due to the characteristics of life habits, the fishing is basically performed in spring and autumn, the water temperature is low in the season, the long-time underwater fishing is not beneficial to the physical and mental health of divers, and the influence of weather and sea conditions on the fishing process is large, so that the fishing by the traditional method has the characteristics of high cost, large workload, low efficiency, high risk coefficient and the like. Meanwhile, the growth of the precious marine products is directly influenced by the condition of the quality of the seawater, and the change condition of the quality of the seawater cannot be mastered in real time and the quality of the seawater cannot be monitored in real time by the traditional catching method.
SUMMERY OF THE UTILITY MODEL
To prior art middle and old precious article catch in-process with high costs, inefficiency, danger coefficient height and can't carry out not enough such as real-time supervision to sea water quality of water, the to-be-solved problem of the utility model is to provide a precious article catch and visual monitoring devices of sea that can avoid artifical catch danger, carry out real-time supervision to sea water quality of water simultaneously.
In order to solve the technical problem, the utility model discloses a technical scheme is:
the utility model relates to a precious marine product fishing and visual monitoring device, which comprises an upper computer, a control unit, an acquisition unit, a light source, a power unit and a positioning unit, wherein the acquisition unit comprises an acquisition module, an image acquisition module, a sensor module, an extraction module and a storage module; the light source irradiates on a target, an image acquisition module in the acquisition unit acquires image signals of the target, and the acquired image signals are transmitted to an upper computer through the acquisition module; the upper computer is in communication connection with the control module, and the control module sends a control command to the power unit; the extraction module extracts the target and transfers the extracted target to the storage module for storage; a sensor module in the acquisition unit tests the water quality, and the tested water quality parameters are acquired by the acquisition module and then transmitted to an upper computer; the upper computer sends a control instruction to the positioning unit through the control module, and a position signal obtained by the positioning unit is transmitted to the upper computer through the acquisition module.
The power unit comprises eight propellers and mechanical arms, the eight propellers are arranged in a main body frame, one propeller is arranged on each of four side surfaces of the main body frame, and the other four propellers are arranged at the bottom of the shell; the mechanical arms are arranged on four vertex positions on the top surface of the main body frame, and each mechanical arm is provided with an extraction module.
The mechanical arms are hydraulically controlled, and each mechanical arm is independently controlled and works independently.
The number of the extraction modules is four, and the extraction modules are all connected with the storage module; each extraction module comprises a guide pipe, a photoelectric switch, an extraction propeller and a baffle, wherein the storage module is a box body, the guide pipe is communicated with the box body, and the baffle is arranged at an inlet of the guide pipe, which is connected with the box body; the front end of the inlet in the guide pipe is provided with a photoelectric switch, and the extraction propeller is arranged between the photoelectric switch and the baffle.
The top of the storage module is provided with a water outlet.
The light sources are four groups, the 532nm laser diode arrays are adopted, the four groups of light sources are correspondingly arranged at the positions of the four mechanical arms respectively, and each group is correspondingly provided with an image acquisition module.
The pressure modules are all installed at the bottom of the system, and the sonar modules and the signal ends of the pressure modules are electrically connected with the control module.
The sensor module comprises a dissolved oxygen sensor, a COD sensor and an in-water petroleum hydrocarbon sensor.
The utility model has the following beneficial effects and advantages:
1. the precious marine product catching system based on the underwater robot platform adopts the extraction type when catching precious marine products, avoids the danger of manual catching, and simultaneously solves the defects that the catching type catching speed of a pure mechanical arm is slow and the precious marine products are easily damaged;
2. the precious marine product fishing system of the utility model is provided with eight propellers, which can accurately control the movement of the system; the four mechanical arms are arranged, so that the system has a system fixing function besides controlling the extraction module to accurately catch the precious marine products, and the impact of underwater undercurrent on the system is prevented; the four mechanical arms are respectively provided with an extraction module and a storage module, so that the fishing speed can be effectively improved;
3. the precious marine product fishing and visual parameter monitoring system of the underwater robot platform can monitor underwater visual parameters besides the precious marine product fishing function, and the visual parameters comprise the visual underwater condition of an underwater imaging system and the visual seawater body measurement parameters monitored by a sensor; the sensors are optical sensors, so that the measurement speed is high, and no additional chemical reagent is required to be carried, thereby simplifying the system structure and avoiding secondary pollution to the environment;
4. the utility model discloses simultaneous design sonar module and pressure module can carry out accurate location to the system.
Drawings
FIG. 1 is a schematic view of the operation control of the system of the present invention;
FIG. 2 is a schematic diagram of the system extraction module and the storage module of the present invention;
fig. 3 is a top view of the system main structure of the present invention.
The system comprises a main body frame, an image acquisition module, a light source, an image acquisition module, a propeller, a side propeller, 701 a-701 d, first-four side propellers, 702 a-702 d, first-four bottom propellers, 8 a-8 a mechanical arm, an extraction module, 901 an extraction propeller, 902 a photoelectric switch, 903 a guide pipe, 904 a baffle, 10 a storage module, 1001a drain outlet, 1001 a-1001 d, first-four side propeller drain outlets, 1002 a-1002 d, first-four side propeller water inlets, 11 a target, 12 a sonar module, 13 a pressure module and 14 a main body frame, wherein 1 is an upper computer, 2 is a control module, 3 is the acquisition module, 4 is the sensor module, 5 the light source, 6 the image acquisition module, 7 the propeller is the side propeller, 701 a-701 d is the first-four side propellers, 904 a baffle, 10.
Detailed Description
The invention will be further explained with reference to the drawings attached to the specification.
As shown in fig. 1, the utility model relates to a precious marine product fishing and visual monitoring device, which comprises an upper computer 1, a control unit 2, an acquisition unit, a light source 5, a power unit and a positioning unit, wherein the acquisition unit comprises an acquisition module 3, an image acquisition module 6, a sensor module 4, an extraction module 9 and a storage module 10; the light source 5 irradiates on a target 11, an image acquisition module 6 in an acquisition unit acquires image signals of the target 11, and the acquired image signals are transmitted to the upper computer 1 through an acquisition module 3; the upper computer 1 is in communication connection with the control module 2, and the control module 2 sends a control instruction to the power unit; the extraction module 9 extracts the target 11 and transfers the extracted target 11 to the storage module 10 for storage; a sensor module 4 in the acquisition unit tests the water quality, and the tested water quality parameters are acquired by an acquisition module 3 and then transmitted to an upper computer 1; the upper computer 1 sends a control instruction to the positioning unit through the control module 2, and a position signal obtained by the positioning unit is transmitted to the upper computer 1 through the acquisition module 3.
In this embodiment, the acquisition module 3 is a USB5632 data acquisition card, and the board card provides 64 analog single-ended inputs or 32 differential inputs, 4 analog outputs, 8 digital inputs and outputs, 16 PFIs, and 2 32-bit multifunctional counters, and functions to acquire different types of digital data and analog data for unified processing, and then upload the digital data and analog data to the upper computer 1.
The power unit comprises eight thrusters 901 and a mechanical arm 8, wherein the eight thrusters 901 are arranged in a main body frame 14, one thruster is arranged on each of four side surfaces of the main body frame 14, and the other four thrusters are arranged at the bottom of the main body frame 14; the robot arms 8 are mounted at four vertices of the top surface of the main frame, and each robot arm 8 is provided with an extraction module 9. The mechanical arms are hydraulically controlled, and each mechanical arm can be independently controlled and independently work. In the embodiment, a URAM-5H underwater multi-shaft hydraulic mechanical arm is selected.
As shown in fig. 2, four extraction modules 9 are connected to the storage module 10; each extraction module 9 comprises a guide pipe 903, a photoelectric switch 902, a propeller 901 and a baffle 904, wherein the storage module 10 is a box body, the guide pipe 903 is communicated with the box body, and the baffle 904 is arranged at the inlet of the guide pipe 903 connected with the box body; the photoelectric switch 902 is arranged at the front end of the inlet in the guide pipe 903, and the propeller 901 is installed between the photoelectric switch 902 and the baffle 904. The upward opening water outlet is designed at the position of the propeller 901, when the propeller 901 works, the baffle plate 904 is opened, a part of water extracted by the propeller 901 directly enters the box body, the other part of water is discharged through the water outlet at the position of the propeller 901, when the collected seafood reaches the position of the photoelectric switch 902, the propeller 901 stops working, the extracted seafood enters the box body by means of inertia, the baffle plate is closed, and the seafood is extracted and caught by repeating the above actions.
Each mechanical arm 8 controls one extraction module 9, the precious marine products extracted by the extraction module 9 are stored in the storage module 10, and the storage module 10 is provided with four storage modules 10 which are respectively connected with the corresponding four extraction modules 9. The control module 2 controls the extraction propeller 901 to work, the target 11 enters the guide pipe 903, the baffle 904 is in a closed state at the moment, when the target 11 reaches the position of the photoelectric switch 902, the extraction propeller 901 stops working, the baffle 904 is opened, and the target 11 enters the storage module 10 by inertia; a water outlet 1001 is formed at the top of the storage module 10, and the excess water stored in the storage module 10 is discharged out of the storage module 10 through the water outlet 1001.
As shown in fig. 3, in the present embodiment, the main body frame 14 is a cubic structure, four sides are respectively provided with first to fourth side propellers 701a to 701d, the control module 2 is installed in the middle of the bottom of the main body frame 14, the first to fourth bottom propellers 702a to 702d are arranged at the bottom of the main body frame 14 and around the control module 2, the outer sides of the first to fourth bottom propellers 702a to 702d are respectively provided with water inlets (i.e., the first to fourth side propeller water inlets 1002a to 1002d), and the inner sides thereof are respectively provided with water outlets (i.e., the first to fourth side propeller water outlets 1001a to 1001 d).
The number of the propellers 7 is eight, four propellers at the side, namely first to fourth side propellers 701a to 701d, are used for controlling the system to move left and right in the front and back under water, and four propellers at the bottom, namely first to fourth bottom propellers 702a to 702d, are used for controlling the system to float up and descend under water.
The light sources 5 are four groups, the 532nm laser diode arrays are adopted, the four groups of light sources 5 are correspondingly arranged at the positions of the four mechanical arms respectively, and each group is correspondingly provided with the image acquisition module 6.
The positioning unit comprises a sonar module for positioning in a water body and a pressure module for testing underwater pressure, and the sonar module and the pressure module are both arranged at the bottom of the system, and signal ends of the sonar module and the pressure module are electrically connected with the control module; the water depth of the position of the system can be tested according to the water pressure.
The sensor module includes a dissolved oxygen sensor, a COD sensor, an in-water petroleum hydrocarbon sensor, a chlorophyll sensor, or other types of optical sensors. The sensors used in this example were an FDO-99 dissolved oxygen sensor, a YOPT-2000COD sensor, a CH01 aquatic petroleum hydrocarbon sensor, and a CHL01 chlorophyll sensor, respectively. The YOPT-2000COD sensor adopts an absorption spectrum method, and the FDO-99 dissolved oxygen sensor, the CH01 water petroleum hydrocarbon sensor and the CHL01 chlorophyll sensor adopt a fluorescence method for measurement.
The utility model discloses a working process and principle as follows:
the upper computer 1 controls the light source 5 to work through the control module 2, the control module 2 controls the image acquisition module 6 to acquire image signals of the target 11 after the light irradiates the target 11, and the acquired image signals are processed by the acquisition module 3 and then transmitted to the upper computer 1; the upper computer 1 judges the target position according to the image signal, the control module 2 moves the whole system by controlling the propeller 7 and the mechanical arm 8, and controls the extraction module 9 to extract the target 11, and the extracted target 11 is immediately transferred to the storage module 10 for storage; the control module 2 controls the sensor module 4 to test the water quality, and the tested water quality parameters are collected by the collection module 3 and then transmitted to the upper computer 1; the system is controlled by the control module 2 to position the system through the sonar module 12 and the pressure module 13, and the obtained position signals are collected by the collection module 3 and then transmitted to the upper computer 1.
The utility model discloses based on underwater robot platform, adopt the suction formula to catch precious marine product, adopt the optics method sea water monitoring sensor that has autonomic intellectual property right simultaneously, can realize the on-line monitoring of sea water. Provides a new fishing method for solving the fishing problem of the seafood and simultaneously provides a new technical means for the online monitoring technology of the seawater quality.
Claims (8)
1. The utility model provides a precious marine product is caught and visual monitoring devices which characterized in that: the device comprises an upper computer, a control unit, an acquisition unit, a light source, a power unit and a positioning unit, wherein the acquisition unit comprises an acquisition module, an image acquisition module, a sensor module, an extraction module and a storage module; the light source irradiates on a target, an image acquisition module in the acquisition unit acquires image signals of the target, and the acquired image signals are transmitted to an upper computer through the acquisition module; the upper computer is in communication connection with the control module, and the control module sends a control command to the power unit; the extraction module extracts the target and transfers the extracted target to the storage module for storage; a sensor module in the acquisition unit tests the water quality, and the tested water quality parameters are acquired by the acquisition module and then transmitted to an upper computer; the upper computer sends a control instruction to the positioning unit through the control module, and a position signal obtained by the positioning unit is transmitted to the upper computer through the acquisition module.
2. The precious marine product fishing and visual monitoring device of claim 1, wherein: the power unit comprises eight propellers and mechanical arms, the eight propellers are arranged in a main body frame, one propeller is arranged on each of four side surfaces of the main body frame, and the other four propellers are arranged at the bottom of the shell; the mechanical arms are arranged on four vertex positions on the top surface of the main body frame, and each mechanical arm is provided with an extraction module.
3. The precious marine product fishing and visual monitoring device of claim 2, wherein: the mechanical arms are hydraulically controlled, and each mechanical arm is independently controlled and works independently.
4. The precious marine product fishing and visual monitoring device of claim 1, wherein: the number of the extraction modules is four, and the extraction modules are all connected with the storage module; each extraction module comprises a guide pipe, a photoelectric switch, an extraction propeller and a baffle, wherein the storage module is a box body, the guide pipe is communicated with the box body, and the baffle is arranged at an inlet of the guide pipe, which is connected with the box body; the front end of the inlet in the guide pipe is provided with a photoelectric switch, and the extraction propeller is arranged between the photoelectric switch and the baffle.
5. The precious marine product fishing and visual monitoring device of claim 4, wherein: the top of the storage module is provided with a water outlet.
6. The precious marine product fishing and visual monitoring device of claim 4, wherein: the light sources are four groups, the 532nm laser diode arrays are adopted, the four groups of light sources are correspondingly arranged at the positions of the four mechanical arms respectively, and each group is correspondingly provided with an image acquisition module.
7. The precious marine product fishing and visual monitoring device of claim 1, wherein: the positioning unit is all installed in the system bottom including the pressure module that is arranged in the sonar module of location in the water and is used for testing underwater pressure, and the signal end and the control module electricity of sonar module and pressure module are connected.
8. The precious marine product fishing and visual monitoring device of claim 1, wherein: the sensor module comprises a dissolved oxygen sensor, a COD sensor and an in-water petroleum hydrocarbon sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920470068.4U CN209806891U (en) | 2019-04-09 | 2019-04-09 | Precious marine product fishing and visual monitoring device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920470068.4U CN209806891U (en) | 2019-04-09 | 2019-04-09 | Precious marine product fishing and visual monitoring device |
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| CN209806891U true CN209806891U (en) | 2019-12-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964888A (en) * | 2019-04-09 | 2019-07-05 | 中国科学院烟台海岸带研究所 | Precious marine product fishing and visual parameters based on underwater robot platform monitor system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964888A (en) * | 2019-04-09 | 2019-07-05 | 中国科学院烟台海岸带研究所 | Precious marine product fishing and visual parameters based on underwater robot platform monitor system |
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