CN211558521U - Underwater self-adaptive snail picking device - Google Patents
Underwater self-adaptive snail picking device Download PDFInfo
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- CN211558521U CN211558521U CN201922394219.5U CN201922394219U CN211558521U CN 211558521 U CN211558521 U CN 211558521U CN 201922394219 U CN201922394219 U CN 201922394219U CN 211558521 U CN211558521 U CN 211558521U
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Abstract
The utility model discloses an underwater self-adaptive snail picking device, which comprises a power supply module, an image processing module, a main control module, a snail picking device, a sensor module and an airbag module, wherein the power supply module provides electric energy for the image processing module, the main control module, the snail picking device, the sensor module and the airbag module; the image processing module comprises an image acquisition part and an image analysis part, and judges whether an object acquired by the image acquisition part has characteristics of a conch or not by the image analysis part; the main control module is respectively connected with the image processing module, the snail collecting device, the sensor module and the air bag module, and after the result of the image processing module is analyzed, whether the snail collecting device is started or not is judged, the data transmitted by the sensor module is analyzed, if the data is abnormal, the snail collecting device is stopped working, and the air bag module is started, so that the whole device floats to the water surface. The utility model discloses only need to transfer the device to the specified region, can accomplish automatically and adopt spiral shell work.
Description
Technical Field
The utility model belongs to ocean electron field relates to a spiral shell device is adopted to self-adaptation under water.
Background
The traditional snail picking work is generally carried out by submerging professional snail picking personnel to a culture area for manually picking snails, the cost is high, and even the professional snail picking personnel can have life risks. In order to reduce the occurrence of safety accidents, the labor cost of the snail-breeding households is reduced in the snail-picking season, and the breeding income is increased. Therefore, an underwater snail picking device is urgently needed, and workers only need to control the snail picking robot through the terminal platform to complete corresponding snail picking work.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the technical scheme of the utility model is that: an underwater self-adaptive snail picking device,
the intelligent snail picking device comprises a power supply module, an image processing module, a main control module, a snail picking device, a sensor module and an airbag module, wherein the power supply module provides electric energy for the image processing module, the main control module, the snail picking device, the sensor module and the airbag module; the image processing module comprises an image acquisition part and an image analysis part, and judges whether an object acquired by the image acquisition part has characteristics of a conch or not by the image analysis part; the main control module is respectively connected with the image processing module, the snail collecting device, the sensor module and the air bag module, and after the result of the image processing module is analyzed, whether the snail collecting device is started or not is judged, the data transmitted by the sensor module is analyzed, if the data is abnormal, the snail collecting device is stopped working, and the air bag module is started, so that the whole device floats to the water surface.
Preferably, the power supply module converts the 24V direct current voltage into 12V, 5V and 3.3V direct current voltages, the 24V direct current voltage is provided by a storage battery, and the power supply module further comprises a TPS4531 chip, a TPS5430 chip and an AMS1117 chip.
Preferably, the image processing module includes high definition camera under water, touches end camera, light, cloud platform, image recognition spare and ya keli cover, the light includes two, provides the light filling for high definition camera under water and the camera that touches end respectively, image recognition spare includes two, connects down high definition camera and the camera that touches end respectively, and the cloud platform is connected with high definition camera under water, and with the video and the image storage of its shooting, ya keli cover includes two, sets up high definition camera under water, cloud platform and a light in the ya keli cover, sets up in another ya keli cover and touches end camera and another light.
Preferably, the sensor module comprises a voltage detection part, a temperature sensor, a bottom touch sensor and an infrared sensor, wherein the voltage detection part detects the voltage of the power supply module, when the voltage is lower than a working range or when the temperature sensor detects that the temperature is higher than the working range or the infrared sensor is triggered, an alarm signal is sent to the main control module, the main control module starts the airbag module and closes the power supply module; when the data display device collected by the bottom touching sensor contacts the water bottom, a bottom touching signal is sent to the main control module, and the main control module starts the air bag module to enable the whole device to rise to a preset height.
Preferably, the snail collecting device comprises a propeller, a manipulator and a snail warehouse, all of which are connected with the main control module, the manipulator is controlled by the main control module to collect the snails, the collected snails are conveyed to the snail warehouse through a sealing slide, an infrared sensor of the sensor module is arranged in the snail warehouse, when the infrared sensor detects that the capacity of the snail warehouse is insufficient, a recovery signal is sent to the main control module, and the main control module starts the air bag module.
Preferably, the airbag module comprises an airbag sensor, an airbag assembly and an electronic controller, the airbag assembly comprises an airbag, a gas generator and an inflator, the main control module sends a recovery instruction to the airbag module or does not receive a heartbeat packet instruction issued by the main control module for a long time, the electronic controller sends an inflation signal, and the gas generator in the airbag generates a large amount of gas to fill the airbag.
Compared with the prior art, the beneficial effects of the utility model are as follows:
the utility model discloses the image processing module includes image acquisition part and image analysis part, judges whether the object has the conch characteristic through analyzing the image; the main control module judges the result of the image processing module, analyzes whether to start the snail collecting device to start the snail collecting work, analyzes the data of the sensor module in the device, stops the work if an alarm instruction is received, starts the air bag module and recovers the device; the snail picking device comprises a propeller, a mechanical arm and a snail warehouse, wherein the snail warehouse is internally provided with an infrared sensing device and sends an alarm instruction to the main control module when the snail warehouse is about to be full; the gasbag module passes through opening of relay control gasbag, is in the closed condition under the acquiescence, if host system received alarm command, then opened the gasbag module, and whole device receives the effect of buoyancy, floats to the surface of water on, and the staff accomplishes the recovery. The utility model discloses reduce the breed cost, reduce the potential safety hazard, realize breeding the income maximize.
Drawings
Fig. 1 is a block diagram of an underwater adaptive snail-picking device according to an embodiment of the present invention;
fig. 2 is a structural block diagram of a power supply module of the underwater self-adaptive snail-picking device according to the embodiment of the present invention;
fig. 3 is a block diagram of an image processing module of the underwater adaptive snail-picking device according to the embodiment of the present invention;
fig. 4 is a block diagram of a sensor module connection structure of an underwater adaptive snail picking device according to an embodiment of the present invention;
fig. 5 is a block diagram of a connection structure of a snail picking device of the underwater self-adaptive snail picking device according to the embodiment of the present invention;
fig. 6 is a block diagram of an airbag module connection structure of the underwater self-adaptive snail picking device according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in order to provide a better understanding of the present invention to the public, certain specific details are set forth in the following detailed description of the invention. It will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1, the image processing system comprises a power supply module 10, an image processing module 20, a main control module 30, a snail-picking device 40, a sensor module 50 and an airbag module 60, wherein the power supply module 10 supplies electric energy to the image processing module 20, the main control module 30, the snail-picking device 40, the sensor module 50 and the airbag module 60; the image processing module 20 comprises an image acquisition part and an image analysis part, and judges whether the object acquired by the image acquisition part has characteristics of the conch or not by the image analysis part; the main control module 30 is respectively connected with the image processing module 20, the snail picking device 40, the sensor module 50 and the air bag module 60, and after analyzing the result of the image processing module 20, the main control module judges whether to start the snail picking device 40 or not, analyzes the data transmitted by the sensor module 50, stops the work of the snail picking device 40 when the data is abnormal, and starts the air bag module 60 to enable the whole device to float to the water surface.
Referring to fig. 2, the power supply module 10 converts a 24V dc voltage into 12V, 5V and 3.3V dc voltages, and the 24V dc voltage is provided by the battery 11, and further includes a TPS4531 chip, a TPS5430 chip and an AMS1117 chip.
Referring to fig. 3, the image processing module 20 includes an underwater high-definition camera 21, a bottom-contact camera 22, an illuminating lamp 24, a pan/tilt head 23, an image recognition unit 25 and an acrylic cover 26, the illuminating lamp 24 includes two lamps for respectively providing light supplement for the underwater high-definition camera 21 and the bottom-contact camera 22, the underwater high-definition camera 21 and the bottom-contact camera 22 both use a SONY800 ten thousand pixel 1080P low-illumination chip, image recognition spare 25 includes two, connect down high definition camera and touch end camera 22 respectively, cloud platform 23 is connected with underwater high definition camera 21, with the video and the image storage of its shooting, ya keli cover 26 includes two, sets up underwater high definition camera 21 in an inferior gram force cover 26, cloud platform 23 and a light 24, sets up touch end camera 22 and another light 24 in another inferior gram force cover 26, two lights 24 all adopt 1500LM hi-lite LED lamps under water.
Referring to fig. 4, the sensor module 50 includes a voltage detection portion 51, a temperature sensor 52, a bottom touch sensor 53 and an infrared sensor 54, wherein the voltage detection portion 51 detects the voltage of the power supply module 10, and when the voltage is lower than a working range or when the temperature sensor 52 detects that the temperature is higher than the working range or the infrared sensor 54 is triggered, an alarm signal is sent to the main control module 30, and the main control module 30 turns on the airbag module 60 and turns off the power supply module 10; when the data acquired by the bottoming sensor 53 shows that the device is in contact with the water bottom, a bottoming signal is sent to the main control module 30, and the main control module 30 starts the airbag module 60, so that the whole device is lifted to a preset height.
Referring to fig. 5, the snail picking apparatus 40 includes a pusher 41, a manipulator 42 and a snail warehouse 43, all connected to the main control module 30, and under the guidance of the image processing module 20, the pusher 41 reaches the collecting area, and the manipulator 42 is used to collect the conch and put the conch into the snail warehouse 43. The manipulator 42 is controlled by the main control module 30 to pick the snails, the collected snails are conveyed to the snail warehouse 43 through the sealing slide, the infrared sensor 54 of the sensor module 50 is arranged in the snail warehouse 43, when the infrared sensor 54 detects that the capacity of the snail warehouse 43 is insufficient, a recovery signal is sent to the main control module 30, the main control module 30 starts the airbag module 60, the whole device floats to the water surface under the action of buoyancy, and a worker finishes the recovery.
Referring to fig. 6, the airbag module 60 includes an airbag sensor 65, an airbag module and an electronic controller 64, the airbag module includes an airbag 61, a gas generator 63 and an inflator 62, the main control module 30 sends a recovery command to the airbag module 60 or does not receive a heartbeat packet command issued by the main control module 30 for a long time, the electronic controller 64 sends an inflation signal, and the gas generator 63 in the airbag 61 generates a large amount of gas to fill the airbag 61. The inflator 62 may be an igniter, which causes the gas generator 63 to generate a large amount of gas. When the air bag sensor 65 detects that the air pressure in the air bag 61 reaches a preset value, an inflation stop signal is sent to the main control module 30, and the main control module 30 stops the operation of the inflator 62 through the electronic controller 64.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An underwater self-adaptive snail picking device is characterized by comprising a power supply module, an image processing module, a main control module, a snail picking device, a sensor module and an airbag module, wherein the power supply module provides electric energy for the image processing module, the main control module, the snail picking device, the sensor module and the airbag module; the image processing module comprises an image acquisition part and an image analysis part, and judges whether an object acquired by the image acquisition part has characteristics of a conch or not by the image analysis part; the main control module is respectively connected with the image processing module, the snail collecting device, the sensor module and the air bag module, and after the result of the image processing module is analyzed, whether the snail collecting device is started or not is judged, the data transmitted by the sensor module is analyzed, if the data is abnormal, the snail collecting device is stopped working, and the air bag module is started, so that the whole device floats to the water surface.
2. The device of claim 1, wherein the power supply module converts the 24V DC voltage into 12V DC voltage, 5V DC voltage and 3.3V DC voltage, the 24V DC voltage is provided by the storage battery, and the device further comprises a TPS4531 chip, a TPS5430 chip and an AMS1117 chip.
3. The device of claim 1, wherein the image processing module comprises an underwater high-definition camera, a bottom-contact camera, a lighting lamp, a cradle head, an image recognition piece and an acrylic cover, the lighting lamp comprises two lamps for providing light supplement for the underwater high-definition camera and the bottom-contact camera respectively, the image recognition piece comprises two lamps for connecting the lower high-definition camera and the bottom-contact camera respectively, the cradle head is connected with the underwater high-definition camera and stores videos and images shot by the underwater high-definition camera, the cradle head and the lighting lamp are arranged in one acrylic cover, and the bottom-contact camera and the lighting lamp are arranged in the other acrylic cover.
4. The device of claim 1, wherein the sensor module comprises a voltage detection part, a temperature sensor, a bottom touch sensor and an infrared sensor, wherein the voltage detection part detects the voltage of the power supply module, and when the voltage is lower than the working range or when the temperature sensor detects that the temperature is higher than the working range or the infrared sensor triggers, an alarm signal is sent to the main control module, and the main control module starts the air bag module and closes the power supply module; when the data display device collected by the bottom touching sensor contacts the water bottom, a bottom touching signal is sent to the main control module, and the main control module starts the air bag module to enable the whole device to rise to a preset height.
5. The device as claimed in claim 4, wherein the snail picking device comprises a propeller, a manipulator and a snail warehouse, all of which are connected with the main control module, the manipulator is controlled by the main control module to pick the snails, the collected snails are conveyed to the snail warehouse through a sealing slide, an infrared sensor of the sensor module is arranged in the snail warehouse, when the infrared sensor detects that the capacity of the snail warehouse is insufficient, the infrared sensor sends a recovery signal to the main control module, and the main control module starts the air bag module.
6. The device of claim 1, wherein the airbag module comprises an airbag sensor, an airbag assembly and an electronic controller, the airbag assembly comprises an airbag, a gas generator and an inflator, the main control module sends a recovery command to the airbag module or does not receive a heartbeat packet command sent by the main control module for a long time, the electronic controller sends an inflation signal, and the gas generator in the airbag generates a large amount of gas to fill the airbag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922394219.5U CN211558521U (en) | 2019-12-26 | 2019-12-26 | Underwater self-adaptive snail picking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922394219.5U CN211558521U (en) | 2019-12-26 | 2019-12-26 | Underwater self-adaptive snail picking device |
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| CN211558521U true CN211558521U (en) | 2020-09-25 |
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| CN201922394219.5U Expired - Fee Related CN211558521U (en) | 2019-12-26 | 2019-12-26 | Underwater self-adaptive snail picking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111053069A (en) * | 2019-12-26 | 2020-04-24 | 杭州电子科技大学 | Underwater self-adaptive snail picking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111053069A (en) * | 2019-12-26 | 2020-04-24 | 杭州电子科技大学 | Underwater self-adaptive snail picking device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200925 Termination date: 20211226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |