WO2023206690A1 - 潜水探测机器人、捕捞网单元、导流板单元及捕捞方法 - Google Patents

潜水探测机器人、捕捞网单元、导流板单元及捕捞方法 Download PDF

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Publication number
WO2023206690A1
WO2023206690A1 PCT/CN2022/095507 CN2022095507W WO2023206690A1 WO 2023206690 A1 WO2023206690 A1 WO 2023206690A1 CN 2022095507 W CN2022095507 W CN 2022095507W WO 2023206690 A1 WO2023206690 A1 WO 2023206690A1
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WIPO (PCT)
Prior art keywords
detection robot
fishing
deflector
unit
diving detection
Prior art date
Application number
PCT/CN2022/095507
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English (en)
French (fr)
Inventor
唐军
Original Assignee
胡灵芝
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Publication date
Application filed by 胡灵芝 filed Critical 胡灵芝
Publication of WO2023206690A1 publication Critical patent/WO2023206690A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K74/00—Other catching nets or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

Definitions

  • the invention relates to the field of intelligent submersibles, and in particular to a diving detection robot.
  • An object of the present invention is to provide a diving detection robot that automatically detects the underwater environment and has high intelligence.
  • Another object of the present invention is to provide a fishing net unit that automatically detects the underwater environment and performs intelligent fishing.
  • Another object of the present invention is to provide a deflector unit capable of forming a barrier to guide the target to be caught.
  • Another object of the present invention is to provide a fishing method that can automatically detect the underwater environment and has high fishing efficiency.
  • Another object of the present invention is to provide a garbage fishing method that can automatically detect the underwater environment and has high fishing efficiency.
  • the diving detection robot includes a frame, an LED light, a signal transceiver, a floating body, a lifting component, a pushing component, a mechanical chuck, a bait spraying mechanism, a camera and a controller.
  • the floating body is installed on the On the frame body, the middle part of the floating body is recessed inward to form a through-mounting hole.
  • the lifting component is built into the mounting hole. The floating body can be raised and lowered in the water by the power of the lifting component.
  • the LED lamp is installed On the front side of the floating body, the camera is installed on the LED lamp, the mechanical chuck is installed on the front side of the frame, the mechanical chuck is used to clamp items, and the pushing component is installed on The frame body is moved forward and backward by the driving force of the pushing component.
  • the bait spraying mechanism is installed on the frame body. The bait spraying mechanism is used to spray the bait.
  • the signal transceiver is installed On the floating body, the signal transceiver is used to send and receive signals, and the controller is electrically connected to the LED light, signal transceiver, lifting component, pushing component, mechanical chuck, camera and bait spraying mechanism respectively.
  • the diving detection robot of the present invention combines LED lights, signal transceivers, floating bodies, lifting components, pushing components, mechanical chucks, bait spraying mechanisms, cameras and controllers, etc.
  • the floating body is installed on On the frame, the setting of the floating body enables the frame to have a certain buoyancy as a whole, thereby making the overall movement of the diving detection robot more flexible.
  • the middle part of the floating body is recessed inward to form a penetrating installation hole, and the lifting component is built into the installation hole.
  • the power of the lifting component allows the floating body to rise and fall in the water.
  • the LED light is installed on the front side of the floating body, and the camera is set on the LED light. The setting of the LED light can improve the image acquisition effect of the camera.
  • the two can achieve the effect of mutual cooperation.
  • the mechanical chuck Installed on the front side of the frame, the mechanical chuck is used to clamp items.
  • the push assembly is installed on the frame. The frame is moved forward and backward by the pushing force of the push assembly, thereby moving the overall position of the device.
  • the bait spraying mechanism is installed on the frame. The frame uses a bait spraying mechanism to spray bait, so it can attract fish.
  • the signal transceiver is installed on the floating body. The signal transceiver is used to send and receive signals.
  • the controller is respectively connected with the LED light, signal transceiver, lifting component, push component, and mechanical clamp.
  • the head and the bait spraying mechanism are electrically connected, and the controller can be used to coordinate the work of each component.
  • the pushing component includes a first pushing mechanism, a second pushing mechanism, a third pushing mechanism and a fourth pushing mechanism.
  • the first pushing mechanism, the second pushing mechanism , the third pushing mechanism and the fourth pushing mechanism together form a diamond-shaped structure, the pushing fan blades of the first pushing mechanism and the pushing fan blades of the second pushing mechanism are both facing forward, the pushing fan blades of the third pushing mechanism and the fourth pushing mechanism
  • the propulsion fan blades of the propulsion mechanism are all facing backward.
  • the diving detection robot further includes a landing gear mechanism.
  • the landing gear mechanism includes a rotational driving device, a left landing gear and a right landing gear.
  • the rotational driving device is installed on the frame body, and the left landing gear is installed on the frame body.
  • the output end of the rotation drive device, the left landing gear rotates under the drive of the rotation drive device, the right landing gear is installed on the output end of the rotation drive device, the right landing gear rotates on the rotation drive device
  • the left landing gear and the right landing gear are rotated under the drive of the driving device, and the left landing gear and the right landing gear are relatively pivoted by the rotation of the left landing gear and the right landing gear. Turn to fold or unfold.
  • the diving detection robot further includes a shell, which is covered by the frame and the floating body, and the outer contour of the shell is the outline of a fish or a turtle;
  • the bait spraying mechanism includes A spray device and a plurality of spray points.
  • the spray device is installed at the tail of the floating body.
  • the spray point is connected to the output end of the spray device.
  • the spray points are arranged at intervals at the tail of the floating body.
  • the fishing net unit provided by the present invention includes a net body, a load-bearing sphere, a traction assembly and the above-mentioned diving detection robot.
  • the traction assembly includes a first traction member, a third Two traction members, a third traction member and a fourth traction member, one end of the first traction member is connected to a corner of the upper edge of the mesh body, and one end of the second traction member is connected to the upper edge of the mesh body.
  • the other corner of the third traction member is connected to one corner of the lower edge of the mesh body, one end of the fourth traction member is connected to the other corner of the lower edge of the mesh body, and the first The free ends of the traction part, the second traction part, the third traction part and the fourth traction part are each connected to one of the diving detection robots.
  • the first traction part, the second traction part, the third traction part and the fourth traction part The free ends of each are equipped with a clamping piece.
  • the diving detection robot clamps the clamping piece through the mechanical chuck.
  • the load-bearing sphere is connected to the mesh body through a rope body.
  • the load-bearing sphere surrounds the The left edge, right edge and lower edge of the mesh body are spaced apart.
  • the fishing net unit of the present invention combines a net body, a load-bearing sphere, a traction assembly and a diving detection robot. There are at least four diving detection robots.
  • the traction assembly includes a first traction component, a third traction component, and a first traction component.
  • Two traction members, a third traction member and a fourth traction member one end of the first traction member is connected to one corner of the upper edge of the mesh body, one end of the second traction member is connected to the other corner of the upper edge of the mesh body, the third traction member One end of the member is connected to one corner of the lower edge of the mesh body, one end of the fourth traction member is connected to the other corner of the lower edge of the mesh body, the first traction member, the second traction member, the third traction member and the fourth traction member are The free ends are each connected to a diving detection robot. The free ends of the first traction part, the second traction part, the third traction part and the fourth traction part are each provided with a clamping part.
  • the diving detection robot holds the clamping part through a mechanical chuck.
  • the load-bearing sphere is connected to the net body through the rope body, and the load-bearing sphere is arranged at intervals around the left edge, right edge and lower edge of the net body
  • the load-bearing sphere can make the entire net body form a structure that is light at the top and heavy at the bottom. This can prevent the net body from being in an unstable state due to the impact of the water flow when facing the water flow.
  • the weight of the load-bearing spheres on the left edge gradually increases in the direction approaching the lower edge
  • the weight of the load-bearing spheres on the right edge gradually increases in the direction approaching the lower edge.
  • the weight of the spheres is equal, and all the weight-bearing spheres are arranged at equal intervals.
  • the present invention provides a deflector unit, which includes a deflector and the above-mentioned diving detection robot.
  • the deflector is a rectangular plate, and the four corners of the deflector are each connected to a As for the submersible detection robot, the submersible detection robot clamps the guide plate through the mechanical chuck, and the guide plate has a tooth-like structure for blocking.
  • the deflector unit of the present invention includes a deflector and a diving detection robot.
  • the deflector is a rectangular plate. Each of the four corners of the deflector is connected to a diving detection robot.
  • the diving detection robot passes through a mechanical clamp. The head clamps the deflector, and the deflector has a tooth-like structure for blocking.
  • the diving detection robot can control the position of the deflector, and uses the tooth-like structure on the deflector to block the water flow and direct the water to both sides. Drainage to achieve the purpose of diversion.
  • the present invention provides a fishing method for a diving detection robot, a fishing net unit and a deflector unit, which includes the following steps:
  • the diving detection robot includes a frame, LED lights, signal transceivers, floating bodies, lifting components, pushing components, mechanical chucks, bait spraying mechanisms, and cameras. and a controller;
  • the fishing net unit includes a net body, a load-bearing sphere, a traction component and the diving detection robot, and the traction component includes a first traction component, a second traction component, a third traction component and a fourth traction component , the free ends of the first traction member, the second traction member, the third traction member and the fourth traction member are each connected to one of the diving detection robots, and the load-bearing sphere surrounds the left edge, right edge and The lower edge is arranged at intervals;
  • the fishing net unit includes a deflector and the diving detection robot, and the four corners of the deflector are each connected to one of the diving detection robots;
  • (S2) Throw multiple fishing net units and deflector units into the water, and manually send signals to the signal transceivers of the diving detection robots through shore control equipment.
  • the diving detection robots are arranged in a matrix on In the river, information such as fish and fish quantity in the water is collected, and the diving detection robot always feeds back the corresponding information to the shore control device, and the shore control device analyzes the corresponding information;
  • the fish reaches the target number, an upstream water source and a downstream water source are formed according to the flow direction of the water flow, and a fishing area is set up in the downstream water source.
  • the fishing net units are arranged at intervals along the width direction of the fishing area, so The fishing net unit is perpendicular to the direction of water flow along the width direction of the fishing area, the deflector unit is located upstream of the fishing net unit, and a deflector is provided at the interval between the two fishing net units.
  • the deflector unit blocks fish and water flow in the water.
  • the water flow and fish flow along both sides of the deflector unit under the guidance of the guide.
  • the fishing net unit located downstream and on both sides;
  • the diving detection robot of the fishing net unit drives the net body to close the net based on the detection that the fish in the net body reach the target value.
  • the fishing method of the present invention can utilize the cooperation between the fishing net unit and the deflector unit to guide fish to the fishing net unit, thereby improving fishing efficiency.
  • the fishing method further includes step (S30) between step (S2) and step (S3).
  • a water flow pushing device is provided in the water so that the water flows in the target direction to form an upstream water source and a downstream water source.
  • the water flow pushing devices are arranged at intervals along the width direction of the fishing area.
  • the invention provides a garbage fishing method for a diving detection robot, a fishing net unit and a deflector unit, which is characterized by including the following steps:
  • the diving detection robot includes a frame, LED lights, signal transceivers, floating bodies, lifting components, pushing components, mechanical chucks, bait spraying mechanisms, and cameras. and a controller;
  • the fishing net unit includes a net body, a load-bearing sphere, a traction component and the diving detection robot, and the traction component includes a first traction component, a second traction component, a third traction component and a fourth traction component , the free ends of the first traction member, the second traction member, the third traction member and the fourth traction member are each connected to one of the diving detection robots, and the load-bearing sphere surrounds the left edge, right edge and The lower edge is arranged at intervals;
  • the fishing net unit includes a deflector and the diving detection robot, and the four corners of the deflector are each connected to one of the diving detection robots;
  • T2 Throw a plurality of fishing net units and deflector units into the water, and manually send signals to the signal transceiver of the diving detection robot through shore control equipment.
  • the diving detection robots are arranged in a matrix.
  • the river collects information such as the quantity and type of garbage in the water, and the diving detection robot always feeds back the corresponding information to the shore control device, and the shore control device analyzes the corresponding information;
  • the garbage reaches the target amount, an upstream water source and a downstream water source are formed according to the flow direction of the water flow, and a fishing area is set up in the downstream water source.
  • the fishing net units are arranged at intervals along the width direction of the fishing area.
  • the fishing net unit is perpendicular to the direction of water flow along the width direction of the fishing area.
  • the deflector unit is located upstream of the fishing net unit. One deflector is provided at the interval between the two fishing net units. unit;
  • the guide plate unit blocks garbage and water flow in the water.
  • the garbage and water flow flow along both sides of the guide plate unit under the guidance of the guide.
  • the water flow and garbage flow to the downstream and The fishing net units at both sides;
  • the garbage fishing method of the present invention can use the cooperation between the fishing net unit and the deflector unit to guide the water flow to the fishing net unit, and use the promotion of the water flow to guide the garbage to the fishing net unit to achieve fishing. , thereby improving fishing efficiency.
  • Figure 1 is a schematic three-dimensional structural diagram of the diving detection robot of the present invention.
  • Figure 2 is a schematic diagram of the internal structure of the diving detection robot of the present invention.
  • Figure 3 is an electronic circuit diagram of the control assembly of the diving detection robot of the present invention.
  • Figure 4 is a schematic structural diagram of the fishing net unit of the diving detection robot of the present invention.
  • Figure 5 is a schematic structural diagram of the deflector unit of the diving detection robot of the present invention.
  • Fig. 6 is a schematic structural diagram of the deflector unit of the diving detection robot of the present invention in the side view direction.
  • Figure 7 is a schematic diagram of the fishing method and garbage fishing method of the present invention.
  • FIGs 1 to 3 show the specific structure of the diving detection robot 100 of the present invention, which includes a frame 1, an LED light 2, a signal transceiver 3, a floating body 4, a lifting component 5, a pushing component, and a mechanical chuck 7 , the bait spraying mechanism 8, the camera 14 and the controller 9, and the floating body 4 is installed on the frame 1.
  • the setting of the floating body 4 can make the frame 1 have a certain buoyancy as a whole, thereby making the overall movement of the diving detection robot 100 more flexible.
  • the middle part of the floating body 4 is recessed inward to form a through-mounted mounting hole 41.
  • the outer contour of the mounting hole 41 corresponds to the lifting assembly 5.
  • the cross-section of the mounting hole 41 is circular, and the lifting assembly 5 is built-in.
  • the floating body 4 can be raised and lowered in the water by the power of the lifting assembly 5.
  • the lifting assembly 5 includes a rotating drive mechanism (not shown), an upper fan blade 51 and a lower fan blade (not shown).
  • the upper fan blade 51 and the lower fan blades are arranged symmetrically along the height direction of the floating body 4.
  • the upper fan blades 51 and the lower fan blades are both installed at the output end of the rotary drive mechanism.
  • the upper fan blades 51 and the lower fan blades rotate under the drive of the rotary drive mechanism.
  • the rotation of one of the upper fan blade 51 and the lower fan blade is used to push the frame body 1 up or down, the rotation of the upper fan blade 51 pushes the frame body 1 down, the rotation of the lower fan blade pushes the frame body 1 up, and the LED light 2 is installed On the front side of the floating body 4, the camera 14 is installed on the LED light 2. Both the camera 14 and the LED light 2 are installed on the floating body 4. The LED lights 2 are symmetrically installed on both sides of the camera 14. The camera 14 is used to obtain specific images in the water. And it is fed back to the shore control device 15 through the controller 9. The setting of the LED light 2 can increase the brightness in the water, thereby improving the image acquisition effect of the camera 14. The two can achieve the effect of mutual cooperation.
  • the mechanical chuck 7 is installed on the frame 1 On the front side, the mechanical chuck 7 is used to clamp items.
  • the pushing component is installed on the frame 1. The pushing force of the pushing component causes the frame 1 to move forward and backward, thereby moving the overall position of the device.
  • the bait spraying mechanism 8 is installed on the The frame 1 sprays bait through the bait spraying mechanism 8, so it can attract fish, thereby increasing the concentration of fish, thereby improving fishing efficiency.
  • the signal transceiver 3 is installed on the floating body 4, and the signal transceiver 3 is used for sending and receiving. signal, the signal transceiver 3 can feed the signal back to the shore control device 15.
  • the signal controller 9 is connected to the LED light 2, the signal transceiver 3, the lifting component 5, the pushing component, the mechanical chuck 7, the camera 14 and the bait spraying mechanism 8 respectively. Electrically connected, the controller 9 can be used to coordinate the work between the various components.
  • the shore control equipment 15 and the signal transceiver 3 transmit signals in two directions, thereby controlling the controller 9, and the controller 9 then controls the coordinated movement between the various devices.
  • the LED lights 2 are provided with two groups and are arranged symmetrically. More specifically, they are as follows:
  • the pushing component includes a first pushing mechanism 61, a second pushing mechanism 62, a third pushing mechanism 63 and a fourth pushing mechanism 64.
  • the first pushing mechanism 61, the second pushing mechanism 62 and the third pushing mechanism The mechanism 63 and the fourth pushing mechanism 64 are arranged around the frame body 1.
  • the first pushing mechanism 61, the second pushing mechanism 62, the third pushing mechanism 63 and the fourth pushing mechanism 64 each include a propeller 65 and a propelling fan blade 66.
  • the propulsion fan blade 66 is installed at the output end of the propeller 65. The propulsion fan blade 66 rotates under the drive of the propeller 65 to achieve the push.
  • the first pushing mechanism 61, the second pushing mechanism 62, the third pushing mechanism 63 and the fourth pushing mechanism The pushing mechanisms 64 together form a diamond-shaped structure.
  • the first pushing mechanism 61 , the second pushing mechanism 62 , the third pushing mechanism 63 and the fourth pushing mechanism 64 can form power pushing in multiple directions, thereby realizing the flexibility of the diving detection robot 100 Move, the propelling fan blades 66 of the first pushing mechanism 61 and the pushing fan blades 66 of the second pushing mechanism 62 are both facing forward, and the pushing fan blades 66 of the first pushing mechanism 61 and the pushing fan blades 66 of the second pushing mechanism 62 are inclined.
  • the propelling blades 66 of the third pushing mechanism 63 and the propelling fan blades 66 of the fourth pushing mechanism 64 are both facing backward.
  • the propelling blades 66 of the four pushing mechanisms 64 are arranged diagonally opposite each other, so that the pushing force is more concentrated, which can better adapt to the outer structure of the frame body 1 and make the various components more compact.
  • the diving detection robot 100 of the present invention also includes a landing gear mechanism 10.
  • the landing gear mechanism 10 includes a rotational drive device (not shown), a left landing gear 10a and a right landing gear 10b.
  • the rotational drive device is installed On the frame body 1, the left landing gear 10a is installed on the output end of the rotation drive device.
  • the left landing gear 10a rotates under the drive of the rotation drive device.
  • the right landing gear 10b is installed on the output end of the rotation drive device.
  • the right landing gear 10b rotates.
  • the left landing gear 10a and the right landing gear 10b are rotated under the drive of the driving device, and the left landing gear 10a and the right landing gear 10b are relatively arranged.
  • the rotation of the left landing gear 10a and the right landing gear 10b causes the left landing gear 10a and the right landing gear 10b to pivot and fold or unfold relative to each other.
  • the landing gear mechanism 10 can be deployed so that the submersible detection robot 100 can stand on the bottom of the water. This can reduce the influence of water flow and make the image information acquired more stable.
  • the left landing gear 10a and the right landing gear 10b are both arc-shaped claws, and there are two left landing gear 10a and right landing gear 10b each, forming a rectangular structure, which can better adapt to the complex underwater environment.
  • the diving detection robot 100 of the present invention also includes a shell 11.
  • the shell 11 is covered on the frame 1 and the floating body 4.
  • the shell 11 is covered on the frame 1 through engagement.
  • the shell 11 The outer contour is that of a fish or a turtle.
  • the producer can adjust it to other contours as needed, so that its overall shape can play a bionic role and avoid frightening fish, etc.
  • the bait spraying mechanism 8 includes a spray device 81 and There are multiple spray points 82.
  • the spray device 81 is installed at the tail of the floating body 4.
  • the spray points 82 are connected to the output end of the spray device 81.
  • the spray points 82 are arranged at intervals at the tail of the floating body 4.
  • the spray points 82 are equally spaced. Setting, this can make the sprayed bait more even, thus attracting fish from multiple directions.
  • the fishing net unit 12 of the present invention includes a net body 121, a load-bearing sphere 122, a traction assembly and the above-mentioned diving detection robot 100. There are at least four diving detection robots 100.
  • the traction assembly includes a first traction member 1231, The second traction member 1232, the third traction member 1233 and the fourth traction member 1234. One end of the first traction member 1231 is connected to a corner of the upper edge of the mesh body 121, and one end of the second traction member 1232 is connected to the upper edge of the mesh body 121. The other corner of the third traction member 1233 is connected to one corner of the lower edge of the mesh body 121.
  • One end of the fourth traction member 1234 is connected to the other corner of the lower edge of the mesh body 121.
  • the first traction member 1231 and the second The free ends of the traction member 1232, the third traction member 1233 and the fourth traction member 1234 are each connected to a diving detection robot 100, thereby pulling the mesh body 121 along the four corners to form a stable unfolded state.
  • the free ends of the first traction member 1231, the second traction member 1232, the third traction member 1233 and the fourth traction member 1234 are each provided with a clamping member 124.
  • the diving detection robot 100 clamps the clamping member 124 through the mechanical chuck 7.
  • the clamping member 124 is a sphere structure that cooperates with the mechanical clamping claw.
  • the load-bearing sphere 122 is connected to the mesh body 121 through the rope body 125.
  • the load-bearing sphere 122 is detachably connected to the mesh body 121 through the rope body 125. It can be used directly when not needed.
  • the rope body 125 is disassembled, so it can be flexibly adjusted during use.
  • the load-bearing spheres 122 are arranged at intervals around the left edge, right edge and lower edge of the mesh body 121. Specifically, the weight of the weight-bearing spheres 122 on the left edge gradually increases in the direction approaching the lower edge, and the weight of the weight-bearing spheres 122 on the right edge gradually increases in the direction approaching the lower edge.
  • the weights of the weight-bearing spheres 122 on the lower edge are equal, and all the weight-bearing spheres 122 are arranged at equal intervals, so that the entire mesh body 121 will form a structure with light top and heavy weight at the bottom, which can facilitate the expansion of the mesh body 121.
  • the weight below can prevent the mesh body 121 from being watered. and the heavy objects to ensure the effectiveness of fishing.
  • the buoyancy force on the weight-bearing sphere 122 is greater for the force in the longitudinal direction, so the overall force on the net body 121 is in the longitudinal direction. It is relatively uniform, making it easy to unfold.
  • the weight-bearing sphere 122 can also be replaced by a sandbag.
  • the deflector unit 13 of the present invention includes a deflector 131 and the above-mentioned diving detection robot 100.
  • the deflector 131 is a rectangular plate, and a diving detection robot is connected to each of the four corners of the deflector 131.
  • the robot 100 and the diving detection robot 100 clamp the deflector 131 through the mechanical chuck 7, and use four diving detection robots 100 to fix the deflector 131, so that the deflector 131 is stably placed in the water to avoid the impact of water flow.
  • the guide plate 131 has a tooth-like structure 132 for blocking.
  • traction members are provided at the four corners of the deflector 131, and the diving detection robot 100 pulls the four corners of the deflector 131 through the traction members.
  • the tooth structure 132 includes a plurality of extension planes 1322 and flow blocking slopes 1321.
  • the extension planes 1322 and the flow-blocking slope 1321 are alternately connected in sequence to form a tooth-like structure 132 that blocks the water flow.
  • the flow-blocking slope 1321 faces the flow, thereby blocking the flow and snorkeling objects. It can be understood that the deflector 131 and at least four diving detection robots 100 jointly form the deflector unit 13, thereby guiding the water flow and snorkeling objects in the water to both sides of the deflector 131.
  • the present invention provides a fishing method based on the diving detection robot 100, the fishing net unit 12 and the deflector unit 13, which includes the following steps:
  • the diving detection robot 100 includes a frame 1, an LED light 2, a signal transceiver 3, a floating body 4, a lifting component 5, a pushing component, and a mechanical clamp. Head 7, bait spraying mechanism 8, camera 14 and controller 9; fishing net unit 12 includes a net body 121, a load-bearing sphere 122, a traction assembly and a diving detection robot 100.
  • the traction assembly includes a first traction member 1231, a second traction member 1232. The third traction member 1233 and the fourth traction member 1234.
  • the free ends of the first traction member 1231, the second traction member 1232, the third traction member 1233 and the fourth traction member 1234 are each connected to a diving detection robot 100 and a weight-bearing sphere.
  • 122 are arranged at intervals around the left edge, right edge and lower edge of the net body 121;
  • the fishing net unit 12 includes a deflector 131 and a diving detection robot 100. Each of the four corners of the deflector 131 is connected to a diving detection robot 100. ;
  • the diving detection robot 100 is arranged in a matrix in the river. And collect information such as fish and fish quantity in the water. The diving detection robot 100 obtains fish information in the water through photography. The diving detection robot 100 always feeds back the corresponding information to the shore control device 15, and the shore control device 15 analyzes the corresponding information. and issue instructions; the shore control device 15 can be an electronic device such as a mobile phone APP and a computer.
  • the fish reaches the target number, and an upstream water source and a downstream water source are formed according to the direction of water flow.
  • a fishing area is set up in the downstream water source.
  • the fishing net unit 12 is along the width of the fishing area.
  • the fishing net units 12 are arranged at intervals in the direction.
  • the fishing net unit 12 is perpendicular to the direction of water flow along the width direction of the fishing area.
  • the deflector unit 13 is located upstream of the fishing net unit 12. There is a fishing net unit 12 at the interval between the two fishing net units 12.
  • the deflector unit 13, that is, the deflector unit 13 and the two fishing net units 12 are arranged in a triangular shape;
  • the diving detection robot 100 detects that the fish in the net body 121 reaches the target value, and the diving detection robot 100 of the fishing net unit 12 drives the net body 121 to close the net.
  • step (S30) is also included between step (S2) and step (S3).
  • a water flow pushing device 16 is installed in the water, so that the water flows in the target direction to form an upstream water source and a downstream water source. Water flows from the upstream water source to the downstream water source (the flow direction is indicated by the arrow A in the figure).
  • the water flow pushing device 16 They are arranged at intervals along the width of the fishing area. Among them, the water flow pushing device 16 includes a flap flow pusher, a blower and aeration flow pusher and a water inlet pushing pipe.
  • the water flow pushing device 16 is used to push the direction of the water flow. Since the water flow pushing device 16 is known to those skilled in the art, We are familiar with it, so I won’t repeat it here. It can be understood that when the fishing area is a still water area such as a fish pond or a lake, step (S30) is added, and when the fishing area is a river, step (S30) is omitted.
  • the fishing method of the present invention can utilize the cooperation between the fishing net unit and the deflector unit to guide fish to the fishing net unit, thereby improving fishing efficiency.
  • the present invention provides a garbage fishing method based on the diving detection robot 100, the fishing net unit 12 and the deflector unit 13, which includes the following steps:
  • the diving detection robot 100 includes a frame 1, an LED light 2, a signal transceiver 3, a floating body 4, a lifting component 5, a pushing component, and a mechanical clamp. Head 7, bait spraying mechanism 8, camera 14 and controller 9; fishing net unit 12 includes a net body 121, a load-bearing sphere 122, a traction assembly and a diving detection robot 100.
  • the traction assembly includes a first traction member 1231, a second traction member 1232. The third traction member 1233 and the fourth traction member 1234.
  • the free ends of the first traction member 1231, the second traction member 1232, the third traction member 1233 and the fourth traction member 1234 are each connected to a diving detection robot 100 and a weight-bearing sphere.
  • 122 are arranged at intervals around the left edge, right edge and lower edge of the net body 121;
  • the fishing net unit 12 includes a deflector 131 and a diving detection robot 100. Each of the four corners of the deflector 131 is connected to a diving detection robot 100. ;
  • the diving detection robot 100 is arranged in a matrix in the river. And collect information such as the quantity and type of garbage in the water. The diving detection robot 100 obtains the garbage information in the water through photography. The diving detection robot 100 always feeds back the corresponding information to the shore control device 15.
  • the shore control device 15 analyzes the corresponding information and sends out command; the shore control device 15 can be an electronic device such as a mobile phone APP and a computer.
  • the garbage reaches the target amount, and an upstream water source and a downstream water source are formed according to the flow direction of the water flow.
  • Water flows from the upstream water source to the downstream water source.
  • a fishing area is set up in the downstream water source.
  • the fishing net unit 12 is along the width direction of the fishing area.
  • the fishing net units 12 are arranged at intervals.
  • the fishing net units 12 are perpendicular to the direction of water flow along the width direction of the fishing area.
  • the deflector unit 13 is located upstream of the fishing net unit 12.
  • a guide is provided at the interval between the two fishing net units 12.
  • the flow plate unit 13, that is, the flow guide unit 13 and the two fishing net units 12 are arranged in a triangular shape;
  • T4 The water flow flows into the deflector unit 13 in the direction of arrow A.
  • the deflector unit 13 blocks the garbage and water flow in the water.
  • the garbage and water flow flow along both sides of the deflector unit 13 under the guidance (flow direction As indicated by the arrow B in Figure 7), using the push of the water flow, the water flow and garbage flow to the fishing net units 12 located downstream and on both sides (the flow direction is indicated by the arrow C in Figure 7);
  • the diving detection robot 100 can put the purifying agent in the water, and the diving detection robot 100 returns according to the instructions of the shore control device 15 .
  • the garbage fishing method of the present invention can use the cooperation between the fishing net unit and the deflector unit to guide the water flow to the fishing net unit, and use the promotion of the water flow to guide the garbage to the fishing net unit to achieve fishing. , thereby improving fishing efficiency.

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Abstract

本发明公开一种潜水探测机器人，其包括架体、LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器，浮体安装于架体上，浮体的中部向内凹陷形成贯穿的安装孔，升降组件内置于安装孔，LED灯安装于浮体的前侧，机械夹头安装于架体的前侧，推动组件安装于架体，诱饵喷洒机构安装于架体，信号收发器安装于浮体，信号收发器用于收发信号，控制器分别与LED灯、信号收发器、升降组件、推动组件、机械夹头、摄像头和诱饵喷洒机构电性连接。本发明的潜水探测机器人能够自动检测水下环境和具有智能程度高。本发明还公开捕捞网单元、导流板单元、捕鱼方法和垃圾捕捞方法。

Description

潜水探测机器人、捕捞网单元、导流板单元及捕捞方法 技术领域
本发明涉及智能潜水器领域，尤其涉及一种潜水探测机器人。
背景技术
随着人工智能技术的发展，机器人越来越运用到了我们的日常生活以及生产中，针对渔业生产，存在以下缺陷：
1.传统的捕捞方式没有办法探测到水下附近是否有适合渔民要求的鱼类以及数量数。
2.传统人工的捕捞方式不仅需要耗费大量的人力资源，而且效率低和捕捞成效低，无法满足现有的生产需求。
由鉴于此，发明一种潜水探测机器人是非常必要的。
发明内容
本发明的一目的在于提供自动检测水下环境和智能程度高的潜水探测机器人。
本发明的另一目的在于提供自动检测水下环境和智能捕捞的捕捞网单元。
本发明的另一目的在于提供能够对待捕捞物形成阻挡以导向的导流板单元。
本发明的另一目的在于提供能够自动检测水下环境和捕捞效率高的捕鱼方法。
本发明的另一目的在于提供能够自动检测水下环境和捕捞效率高的垃圾捕捞方法。
为了实现上述目的，本发明提供的潜水探测机器人包括架体、LED灯、信号 收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器，所述浮体安装于所述架体上，所述浮体的中部向内凹陷形成贯穿的安装孔，所述升降组件内置于所述安装孔，借由所述升降组件的动力使得浮体可在水中升降，所述LED灯安装于所述浮体的前侧，所述摄像头设于所述LED灯，所述机械夹头安装于所述架体的前侧，所述机械夹头用于夹持物品，所述推动组件安装于所述架体，借由所述推动组件的推动力使得所述架体前后移动，所述诱饵喷洒机构安装于所述架体，借由所述诱饵喷洒机构喷洒鱼饵，所述信号收发器安装于所述浮体，所述信号收发器用于收发信号，所述控制器分别与所述LED灯、信号收发器、升降组件、推动组件、机械夹头、摄像头和诱饵喷洒机构电性连接。
与现有技术相比，本发明的潜水探测机器人通过将LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器等结合在一起，浮体安装于架体上，浮体的设置能够使得架体能够整体具有一定的浮力，从而使得潜水探测机器人整体的运动更加灵活，浮体的中部向内凹陷形成贯穿的安装孔，升降组件内置于安装孔，借由升降组件的动力使得浮体可在水中升降，LED灯安装于浮体的前侧，摄像头设于LED灯，LED灯的设置能够提高摄像头的图像获取效果，两者能够达到相互配合的效果，机械夹头安装于架体的前侧，机械夹头用于夹持物品，推动组件安装于架体，借由推动组件的推动力使得架体前后移动，从而实现装置整体位置的移动，诱饵喷洒机构安装于架体，借由诱饵喷洒机构喷洒鱼饵，故可吸引鱼类，信号收发器安装于浮体，信号收发器用于收发信号，控制器分别与LED灯、信号收发器、升降组件、推动组件、机械夹头和诱饵喷洒机构电性连接，利用控制器能够协调各部件之间的工作。
较佳地，所述推动组件包括第一推动机构、第二推动机构、第三推动机构和第四推动机构，所述第一推动机构、第二推动机构、第三推动机构和第四推动机构围绕所述架体的四周布置，所述第一推动机构、第二推动机构、第三推动机构和第四推动机构各包括推进器和推进扇叶，所述第一推动机构、第二推动机构、第三推动机构和第四推动机构共同围成菱形结构，所述第一推动机构的推进扇叶和第二推动机构的推进扇叶均朝前，所述第三推动机构的推进扇叶和第四推动机构的推进扇叶均朝后。
较佳地，潜水探测机器人还包括起落架机构，所述起落架机构包括转动驱动装置、左起落架和右起落架，所述转动驱动装置安装于所述架体，所述左起落架安装于所述转动驱动装置的输出端，所述左起落架在所述转动驱动装置的驱动下转动，所述右起落架安装于所述转动驱动装置的输出端，所述右起落架在所述转动驱动装置的驱动下转动，所述左起落架与所述右起落架相对设置，借由所述左起落架与所述右起落架的转动使得所述左起落架与所述右起落架相对枢转收折或展开。
较佳地，所述的潜水探测机器人还包括壳体，所述壳体外罩于所述架体和浮体外，所述壳体的外轮廓为鱼类或海龟的轮廓；所述诱饵喷洒机构包括喷雾装置和多个喷洒点，所述喷雾装置安装于浮体的尾部，所述喷洒点与所述喷雾装置的输出端连接，所述喷洒点呈间隔开地布置于所述浮体的尾部。
为了实现上述目的，本发明提供的捕捞网单元包括网体、负重球体、牵引组件和上述的潜水探测机器人，所述潜水探测机器人设置有至少四个，所述牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，所述第一牵引件的一端与所述网体的上边缘的一角连接，所述第二牵引件的一端与所述网体的上边缘的另一角连接，所述第三牵引件的一端与所述网体的下边缘的一角连接，所述第四牵引件的一端与所述网体的下边缘的另一角连接，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一所述潜水探测机器人，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端均设有一夹持件，所述潜水探测机器人通过所述机械夹头夹持所述夹持件，所述负重球体通过绳体与所述网体连接，所述负重球体围绕所述网体的左边缘、右边缘和下边缘呈间隔开地设置。
与现有技术相比，本发明的捕捞网单元通过将网体、负重球体、牵引组件和潜水探测机器人等结合在一起，潜水探测机器人设置有至少四个，牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，第一牵引件的一端与网体的上边缘的一角连接，第二牵引件的一端与网体的上边缘的另一角连接，第三牵引件的一端与网体的下边缘的一角连接，第四牵引件的一端与网体的下边缘的另一角连接，第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一潜水探测机器人，第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端均设有一夹持件，潜水探测机器人通过机械夹头夹持夹持件， 利用潜水探测机器人的拉动使得网体能够展开或者聚拢，从而达到捕捞的目的，负重球体通过绳体与网体连接，负重球体围绕网体的左边缘、右边缘和下边缘呈间隔开地设置，负重球体能够使得网体整体形成上轻下重的特定，这样能够避免网体在面对水流时，因为水流的冲击而处于形状不稳定的状态。
较佳地，所述左边缘上的负重球体沿靠近所述下边缘的方向重量逐个增加，所述右边缘上的负重球体沿靠近所述下边缘的方向重量逐个增加，所述下边缘的负重球体的重量相等，所有所述负重球体呈等间隔地设置。
为了实现上述目的，本发明提供的一种导流板单元，其包括导流板和上述的潜水探测机器人，所述导流板为矩形板件，所述导流板的四角处各连接一所述潜水探测机器人，所述潜水探测机器人通过所述机械夹头夹持所述导流板，所述导流板上具有用于阻挡的齿状结构。
与现有技术相比，本发明的导流板单元包括导流板和潜水探测机器人，导流板为矩形板件，导流板的四角处各连接一潜水探测机器人，潜水探测机器人通过机械夹头夹持导流板，导流板上具有用于阻挡的齿状结构，潜水探测机器人能够控制导流板的位置，利用导流板上齿状结构实现对水流的阻挡以将水流往两侧引流以实现导流的目的。
为了实现上述目的，本发明提供的潜水探测机器人、捕捞网单元和导流板单元的捕鱼方法，其包括如下步骤：
(S1)建立潜水探测机器人、捕捞网单元和导流板单元，所述潜水探测机器人包括架体、LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器；所述捕捞网单元包括网体、负重球体、牵引组件和所述的潜水探测机器人，所述牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一所述潜水探测机器人，所述负重球体围绕所述网体的左边缘、右边缘和下边缘呈间隔开地设置；所述捕捞网单元包括导流板和所述的潜水探测机器人，所述导流板的四角处各连接一所述潜水探测机器人；
(S2)向水里投放多个所述捕捞网单元和所述导流板单元，人工通过岸上控制设备发送信号给所述潜水探测机器人的信号收发器，所述潜水探测机器人呈矩阵地排列于河流内并收集水内的鱼类和鱼量等信息，所述潜水探测机器人时刻将相应信息反馈到所述岸上控制设备，所述岸上控制设备对相应信息进行 分析；
(S3)根据反馈的信息，鱼类到达目标数量，根据水流流动方向形成上游水源和下游水源，于下游水源设置捕捞区，所述捕捞网单元沿捕捞区的宽度方向呈间隔开地设置，所述捕捞网单元沿捕捞区的宽度方向与水流流动的方向垂直，所述导流板单元位于所述捕捞网单元的上游，两所述捕捞网单元之间的间隔处各设有一所述导流板单元；
(S4)所述捕捞网单元处的潜水探测机器人释放诱饵并诱惑鱼类靠近；
(S5)所述导流板单元对水中的鱼类和水流进行阻挡，水流和鱼类在导向作用下沿所述导流板单元的两侧流动，利用水流的推动，水流和鱼类流动至位于下游且两侧处的所述捕捞网单元；
(S6)所述潜水探测机器人根据检测到所述网体内的鱼类到达目标值，所述捕捞网单元的潜水探测机器人带动所述网体收网。
与现有技术相比，本发明的捕鱼方法能够利用捕捞网单元和导流板单元之间相互配合，将鱼类引向捕捞网单元，从而提高捕鱼的效率。
较佳地，所述的捕鱼方法，步骤(S2)和步骤(S3)之间还包括步骤(S30)
(S30)在水里设置水流推动装置，从而使得水沿目标方向流动从而形成上游水源和下游水源，水流推动装置沿捕捞区的宽度方向呈间隔开地设置。
为了实现上述目的，本发明提供的潜水探测机器人、捕捞网单元和导流板单元的垃圾捕捞方法，其特征在于，包括如下步骤：
(T1)建立潜水探测机器人、捕捞网单元和导流板单元，所述潜水探测机器人包括架体、LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器；所述捕捞网单元包括网体、负重球体、牵引组件和所述的潜水探测机器人，所述牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一所述潜水探测机器人，所述负重球体围绕所述网体的左边缘、右边缘和下边缘呈间隔开地设置；所述捕捞网单元包括导流板和所述的潜水探测机器人，所述导流板的四角处各连接一所述潜水探测机器人；
(T2)向水里投放多个所述捕捞网单元和所述导流板单元，人工通过岸上控制设备发送信号给所述潜水探测机器人的信号收发器，所述潜水探测机器人呈矩阵地排列于河流内并收集水内的垃圾数量和种类等信息，所述潜水探测机 器人时刻将相应信息反馈到所述岸上控制设备，所述岸上控制设备对相应信息进行分析；
(T3)根据反馈的信息，垃圾到达目标数量，根据水流流动方向形成上游水源和下游水源，于下游水源设置捕捞区，所述捕捞网单元沿捕捞区的宽度方向呈间隔开地设置，所述捕捞网单元沿捕捞区的宽度方向与水流流动的方向垂直，所述导流板单元位于所述捕捞网单元的上游，两所述捕捞网单元之间的间隔处各设有一所述导流板单元；
(T4)所述导流板单元对水中的垃圾和水流进行阻挡，垃圾和水流在导向作用下沿所述导流板单元的两侧流动，利用水流的推动，水流和垃圾流动至位于下游且两侧处的所述捕捞网单元；
(T5)静置，所述潜水探测机器人根据检测到网体内的垃圾到达目标值，所述捕捞网单元的潜水探测机器人带动所述网体收网；
(T6)捕捞完毕，所述潜水探测机器人根据所述岸上控制设备的指令返回。
与现有技术相比，本发明的垃圾捕捞方法能够利用捕捞网单元和导流板单元之间相互配合，将水流引向捕捞网单元，利用水流的推动能够将垃圾引向捕捞网单元实现捕捞，从而提高捕捞的效率。
附图说明
图1是本发明的潜水探测机器人的立体结构示意图。
图2是本发明的潜水探测机器人的内部结构示意图。
图3是本发明的潜水探测机器人的控制组件的电子线路图。
图4是本发明的潜水探测机器人的捕捞网单元的结构示意图。
图5是本发明的潜水探测机器人的导流板单元的结构示意图。
图6是本发明的潜水探测机器人的导流板单元在侧视方向上的结构示意图。
图7是本发明的捕鱼方法和垃圾捕捞方法的示意图。
具体实施方式
请参阅图1至图3，展示了本发明的潜水探测机器人100的具体结构，其包括架体1、LED灯2、信号收发器3、浮体4、升降组件5、推动组件、机械夹头 7、诱饵喷洒机构8、摄像头14和控制器9，浮体4安装于架体1上，浮体4的设置能够使得架体1能够整体具有一定的浮力，从而使得潜水探测机器人100整体的运动更加灵活，便于推动组件和升降组件5的推动，浮体4的中部向内凹陷形成贯穿的安装孔41，安装孔41的外轮廓与升降组件5对应，安装孔41的横截面为圆形，升降组件5内置于安装孔41，借由升降组件5的动力使得浮体4可在水中升降，升降组件5包括旋转驱动机构(图未示)、上部扇叶51和下部扇叶(图未示)，上部扇叶51和下部扇叶沿浮体4的高度方向呈对称设置，上部扇叶51和下部扇叶均安装于旋转驱动机构的输出端，上部扇叶51和下部扇叶在旋转驱动机构的驱动下转动，利用上部扇叶51和下部扇叶中的一者的转动推动架体1上升或下降，上部扇叶51的转动推动架体1下降，下部扇叶的转动推动架体1上升，LED灯2安装于浮体4的前侧，摄像头14设于LED灯2，摄像头14和LED灯2均安装于浮体4，LED灯2呈对称地安装于摄像头14的两侧，摄像头14用于获取水中的具体图像并通过控制器9反馈到岸上控制设备15，LED灯2的设置能够提高水中的亮度，从而提高摄像头14的图像获取效果，两者能够达到相互配合的效果，机械夹头7安装于架体1的前侧，机械夹头7用于夹持物品，推动组件安装于架体1，借由推动组件的推动力使得架体1前后移动，从而实现装置整体位置的移动，诱饵喷洒机构8安装于架体1，借由诱饵喷洒机构8喷洒鱼饵，故可吸引鱼类，从而提高鱼群的聚集度，进而提高捕鱼的效率，信号收发器3安装于浮体4，信号收发器3用于收发信号，信号收发器3可将信号反馈到岸上控制设备15信号，控制器9分别与LED灯2、信号收发器3、升降组件5、推动组件、机械夹头7、摄像头14和诱饵喷洒机构8电性连接，利用控制器9能够协调各部件之间的工作，岸上控制设备15与信号收发器3信号双向传递，从而控制控制器9，控制器9再控制各装置之间的协调运动。LED灯2设置有两组且呈对称地设置，更为具体地，如下：
请参阅图1至图3，推动组件包括第一推动机构61、第二推动机构62、第三推动机构63和第四推动机构64，第一推动机构61、第二推动机构62、第三推动机构63和第四推动机构64围绕架体1的四周布置，第一推动机构61、第二推动机构62、第三推动机构63和第四推动机构64各包括推进器65和推进扇叶66，推进扇叶66安装于推进器65的输出端，推进扇叶66在推进器65的驱动下转动，从而实现推动，第一推动机构61、第二推动机构62、第三推动机构 63和第四推动机构64共同围成菱形结构，第一推动机构61、第二推动机构62、第三推动机构63和第四推动机构64能够形成多个方向上的动力推动，从而实现潜水探测机器人100的灵活移动，第一推动机构61的推进扇叶66和第二推动机构62的推进扇叶66均朝前，第一推动机构61的推进扇叶66和第二推动机构62的推进扇叶66呈斜向相对地设置，从而使得推动力更为集中，第三推动机构63的推进扇叶66和第四推动机构64的推进扇叶66均朝后，第三推动机构63的推进扇叶66和第四推动机构64的推进扇叶66呈斜向相对地设置，从而使得推动力更为集中，这样能够更好地适配架体1的外形结构，使得各部件之间更为紧凑。
请参阅图1至图2，本发明的潜水探测机器人100还包括起落架机构10，起落架机构10包括转动驱动装置(图未示)、左起落架10a和右起落架10b，转动驱动装置安装于架体1，左起落架10a安装于转动驱动装置的输出端，左起落架10a在转动驱动装置的驱动下转动，右起落架10b安装于转动驱动装置的输出端，右起落架10b在转动驱动装置的驱动下转动，左起落架10a与右起落架10b相对设置，借由左起落架10a与右起落架10b的转动使得左起落架10a与右起落架10b相对枢转收折或展开，当潜水探测机器人100下降移动至水底以进行水底情况监测时，起落架机构10能够展开使得潜水探测机器人100能够站立在水底，这样能够减少水流的影响，从而使其获取的图像信息更为稳定。左起落架10a和右起落架10b均为弧形卡爪，左起落架10a和右起落架10b各设置有两个，共同形成矩形结构，这样能够更加适应水底复杂的环境。
请参阅图1至图3，本发明的潜水探测机器人100还包括壳体11，壳体11外罩于架体1和浮体4外，壳体11通过卡合外罩于架体1上，壳体11的外轮廓为鱼类或海龟的轮廓，当然，生产者可以根据需要调整为其他轮廓，这样能够使其整体外形起到仿生作用，避免惊吓到鱼类等；诱饵喷洒机构8包括喷雾装置81和多个喷洒点82，喷雾装置81安装于浮体4的尾部，喷洒点82与喷雾装置81的输出端连接，喷洒点82呈间隔开地布置于浮体4的尾部，喷洒点82呈等间隔开地设置，这样能够使得喷洒出来的诱饵更加均匀，从而可以从多个方向吸引鱼类。
请参阅图4，本发明的捕捞网单元12包括网体121、负重球体122、牵引组件和上述的潜水探测机器人100，潜水探测机器人100设置有至少四个，牵引组 件包括第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234，第一牵引件1231的一端与网体121的上边缘的一角连接，第二牵引件1232的一端与网体121的上边缘的另一角连接，第三牵引件1233的一端与网体121的下边缘的一角连接，第四牵引件1234的一端与网体121的下边缘的另一角连接，第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234的自由端各连接一潜水探测机器人100，从而沿四个角落对网体121进行拉扯，从而形成稳定的展开状。第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234的自由端均设有一夹持件124，潜水探测机器人100通过机械夹头7夹持夹持件124，夹持件124为与机械夹爪配合的球体结构，负重球体122通过绳体125与网体121连接，负重球体122通过绳体125与网体121可拆卸连接，在不需要时，可以直接利用绳体125进行拆卸，故使用时可以灵活调整，负重球体122围绕网体121的左边缘、右边缘和下边缘呈间隔开地设置。具体地，左边缘上的负重球体122沿靠近下边缘的方向重量逐个增加，右边缘上的负重球体122沿靠近下边缘的方向重量逐个增加，下边缘的负重球体122的重量相等，所有负重球体122呈等间隔地设置，这样网体121整体就会形成上轻下重的结构，这样就可以便于网体121展开，对于横向方向上的作用力，利用下方的重量能够避免网体121被水流和重物所冲开，确保捕捞的有效性，另外，由于深度越大，针对纵向方向上的作用力，负重球体122所受到的浮力越大，所以网体121整体的受力在纵向方向上是比较均匀的，从而便于展开。于其他实施例中，负重球体122也可以替换为沙袋。
请参阅图5至图6，本发明的导流板单元13包括导流板131和上述的潜水探测机器人100，导流板131为矩形板件，导流板131的四角处各连接一潜水探测机器人100，潜水探测机器人100通过机械夹头7夹持导流板131，利用四个潜水探测机器人100对导流板131形成固定，从而使得导流板131稳定地放置在水中，避免水流冲击的不稳定现象，导流板131上具有用于阻挡的齿状结构132。较佳地，导流板131的四角处设有牵引件，潜水探测机器人100通过该牵引件拉动导流板131的四角，齿状结构132包括多个延伸平面1322和阻流斜面1321，延伸平面1322和阻流斜面1321依次交替连接，从而形成阻挡水流的齿状结构132，阻流斜面1321正对水流，从而能够对水流和浮潜物进行阻挡。可以理解的是，导流板131和至少四个潜水探测机器人100共同形成导流板单元 13，从而将水流和水中浮潜物导向导流板131的两侧。
请参阅图7，本发明提供一种基于潜水探测机器人100、捕捞网单元12和导流板单元13的捕鱼方法，包括如下步骤：
(S1)建立潜水探测机器人100、捕捞网单元12和导流板单元13，潜水探测机器人100包括架体1、LED灯2、信号收发器3、浮体4、升降组件5、推动组件、机械夹头7、诱饵喷洒机构8、摄像头14和控制器9；捕捞网单元12包括网体121、负重球体122、牵引组件和的潜水探测机器人100，牵引组件包括第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234，第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234的自由端各连接一潜水探测机器人100，负重球体122围绕网体121的左边缘、右边缘和下边缘呈间隔开地设置；捕捞网单元12包括导流板131和的潜水探测机器人100，导流板131的四角处各连接一潜水探测机器人100；
(S2)向水里投放多个捕捞网单元12和导流板单元13，人工通过岸上控制设备15发送信号给潜水探测机器人100的信号收发器3，潜水探测机器人100呈矩阵地排列于河流内并收集水内的鱼类和鱼量等信息，潜水探测机器人100通过摄像获取水中的鱼类信息，潜水探测机器人100时刻将相应信息反馈到岸上控制设备15，岸上控制设备15对相应信息进行分析并发出指令；岸上控制设备15可以为手机的APP和电脑等电子设备。
(S3)根据反馈的信息，鱼类到达目标数量，根据水流流动方向形成上游水源和下游水源，水从上游水源流动至下游水源，于下游水源设置捕捞区，捕捞网单元12沿捕捞区的宽度方向呈间隔开地设置，捕捞网单元12沿捕捞区的宽度方向与水流流动的方向垂直，导流板单元13位于捕捞网单元12的上游，两捕捞网单元12之间的间隔处各设有一导流板单元13，即，导流板单元13与两捕捞网单元12之间共同呈三角形地排列；
(S4)捕捞网单元12处的潜水探测机器人100释放诱饵并诱惑鱼类靠近，从而使得鱼类聚集于网体121处；
(S5)水流沿箭头A的方向流向导流板单元13，导流板单元13对水中的鱼类和水流进行阻挡，水流和鱼类在导向作用下沿导流板单元13的两侧流动(流动方向如图7中箭头B所指)，利用水流的推动，水流和鱼类流动至位于下游且两侧处的捕捞网单元12(流动方向如图7中箭头C所指)；
(S6)潜水探测机器人100根据检测到网体121内的鱼类到达目标值，捕捞网单元12的潜水探测机器人100带动网体121收网。
较佳地，步骤(S2)和步骤(S3)之间还包括步骤(S30)
(S30)在水里设置水流推动装置16，从而使得水沿目标方向流动从而形成上游水源和下游水源，水从上游水源流向下流水源(流动方向如图中箭头A所指方向)水流推动装置16沿捕捞区的宽度方向呈间隔开地设置。其中，水流推动装置16包括翻板推流器、鼓风曝气推流器和进水推流管，水流推动装置16用于推动水流流动的方向，由于水流推动装置16为本领域技术人员所熟知，故在此不再累述。可以理解的是，当捕鱼区域为鱼塘和湖泊等静水区时，增加步骤(S30)，当捕鱼区域为河流时，省略步骤(S30)。
与现有技术相比，本发明的捕鱼方法能够利用捕捞网单元和导流板单元之间相互配合，将鱼类引向捕捞网单元，从而提高捕鱼的效率。
本发明提供一种基于潜水探测机器人100、捕捞网单元12和导流板单元13的垃圾捕捞方法，包括如下步骤：
(T1)建立潜水探测机器人100、捕捞网单元12和导流板单元13，潜水探测机器人100包括架体1、LED灯2、信号收发器3、浮体4、升降组件5、推动组件、机械夹头7、诱饵喷洒机构8、摄像头14和控制器9；捕捞网单元12包括网体121、负重球体122、牵引组件和的潜水探测机器人100，牵引组件包括第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234，第一牵引件1231、第二牵引件1232、第三牵引件1233和第四牵引件1234的自由端各连接一潜水探测机器人100，负重球体122围绕网体121的左边缘、右边缘和下边缘呈间隔开地设置；捕捞网单元12包括导流板131和的潜水探测机器人100，导流板131的四角处各连接一潜水探测机器人100；
(T2)向水里投放多个捕捞网单元12和导流板单元13，人工通过岸上控制设备15发送信号给潜水探测机器人100的信号收发器3，潜水探测机器人100呈矩阵地排列于河流内并收集水内的垃圾数量和种类等信息，潜水探测机器人100通过摄像获取水中的垃圾信息，潜水探测机器人100时刻将相应信息反馈到岸上控制设备15，岸上控制设备15对相应信息进行分析并发出指令；岸上控制设备15可以为手机的APP和电脑等电子设备。
(T3)根据反馈的信息，垃圾到达目标数量，根据水流流动方向形成上游 水源和下游水源，水从上游水源流动至下游水源，于下游水源设置捕捞区，捕捞网单元12沿捕捞区的宽度方向呈间隔开地设置，捕捞网单元12沿捕捞区的宽度方向与水流流动的方向垂直，导流板单元13位于捕捞网单元12的上游，两捕捞网单元12之间的间隔处各设有一导流板单元13，即，导流板单元13与两捕捞网单元12之间共同呈三角形地排列；
(T4)水流沿箭头A的方向流向导流板单元13，导流板单元13对水中的垃圾和水流进行阻挡，垃圾和水流在导向作用下沿导流板单元13的两侧流动(流动方向如图7中箭头B所指)，利用水流的推动，水流和垃圾流动至位于下游且两侧处的捕捞网单元12(流动方向如图7中箭头C所指)；
(T5)静置，潜水探测机器人100根据检测到网体121内的垃圾到达目标值，捕捞网单元12的潜水探测机器人100带动网体121收网；
(T6)捕捞完毕，潜水探测机器人100可在水中投放净化剂，潜水探测机器人100根据岸上控制设备15的指令返回。
与现有技术相比，本发明的垃圾捕捞方法能够利用捕捞网单元和导流板单元之间相互配合，将水流引向捕捞网单元，利用水流的推动能够将垃圾引向捕捞网单元实现捕捞，从而提高捕捞的效率。
以上所揭露的仅为本发明的较佳实例而已，当然不能以此来限定本发明之权利范围，因此依本发明申请专利范围所作的等同变化，仍属于本发明所涵盖的范围。

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  1. 一种潜水探测机器人，其特征在于，其包括架体、LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器，所述浮体安装于所述架体上，所述浮体的中部向内凹陷形成贯穿的安装孔，所述升降组件内置于所述安装孔，借由所述升降组件的动力使得浮体可在水中升降，所述LED灯安装于所述浮体的前侧，所述摄像头设于所述LED灯，所述机械夹头安装于所述架体的前侧，所述机械夹头用于夹持物品，所述推动组件安装于所述架体，借由所述推动组件的推动力使得所述架体前后移动，所述诱饵喷洒机构安装于所述架体，借由所述诱饵喷洒机构喷洒鱼饵，所述信号收发器安装于所述浮体，所述信号收发器用于收发信号，所述控制器分别与所述LED灯、信号收发器、升降组件、推动组件、机械夹头、摄像头和诱饵喷洒机构电性连接。
  2. 如权利要求1所述的潜水探测机器人，其特征在于，所述推动组件包括第一推动机构、第二推动机构、第三推动机构和第四推动机构，所述第一推动机构、第二推动机构、第三推动机构和第四推动机构围绕所述架体的四周布置，所述第一推动机构、第二推动机构、第三推动机构和第四推动机构各包括推进器和推进扇叶，所述第一推动机构、第二推动机构、第三推动机构和第四推动机构共同围成菱形结构，所述第一推动机构的推进扇叶和第二推动机构的推进扇叶均朝前，所述第三推动机构的推进扇叶和第四推动机构的推进扇叶均朝后。
  3. 如权利要求1所述的潜水探测机器人，其特征在于，还包括起落架机构，所述起落架机构包括转动驱动装置、左起落架和右起落架，所述转动驱动装置安装于所述架体，所述左起落架安装于所述转动驱动装置的输出端，所述左起落架在所述转动驱动装置的驱动下转动，所述右起落架安装于所述转动驱动装置的输出端，所述右起落架在所述转动驱动装置的驱动下转动，所述左起落架与所述右起落架相对设置，借由所述左起落架与所述右起落架的转动使得所述左起落架与所述右起落架相对枢转收折或展开。
  4. 如权利要求1所述的潜水探测机器人，其特征在于，还包括壳体，所述壳体外罩于所述架体和浮体外，所述壳体的外轮廓为鱼类或海龟的轮廓；所述诱饵喷洒机构包括喷雾装置和多个喷洒点，所述喷雾装置安装于浮体的尾部，所述喷洒点与所述喷雾装置的输出端连接，所述喷洒点呈间隔开地布置于所述浮体的尾部。
  5. 一种捕捞网单元，其特征在于，其包括网体、负重球体、牵引组件和权利要求1至4中任一项所述的潜水探测机器人，所述潜水探测机器人设置有至少四个，所述牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，所述第一牵引件的一端与所述网体的上边缘的一角连接，所述第二牵引件的一端与所述网体的上边缘的另一角连接，所述第三牵引件的一端与所述网体的下边缘的一角连接，所述第四牵引件的一端与所述网体的下边缘的另一角连接，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一所述潜水探测机器人，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端均设有一夹持件，所述潜水探测机器人通过所述机械夹头夹持所述夹持件，所述负重球体通过绳体与所述网体连接，所述负重球体围绕所述网体的左边缘、右边缘和下边缘呈间隔开地设置。
  6. 如权利要求5所述的捕捞网单元，其特征在于，所述左边缘上的负重球体沿靠近所述下边缘的方向重量逐个增加，所述右边缘上的负重球体沿靠近所述下边缘的方向重量逐个增加，所述下边缘的负重球体的重量相等，所有所述负重球体呈等间隔地设置。
  7. 一种导流板单元，其特征在于，其包括导流板和权利要求1至4中任一项所述的潜水探测机器人，所述导流板为矩形板件，所述导流板的四角处各连接一所述潜水探测机器人，所述潜水探测机器人通过所述机械夹头夹持所述导流板，所述导流板上具有用于阻挡的齿状结构。
  8. 一种基于潜水探测机器人、捕捞网单元和导流板单元的捕鱼方法，其特征在于，包括如下步骤：
    (S1)建立潜水探测机器人、捕捞网单元和导流板单元，所述潜水探测机器人包括架体、LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器；所述捕捞网单元包括网体、负重球体、牵引组件和所述的潜水探测机器人，所述牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一所述潜水探测机器人，所述负重球体围绕所述网体的左边缘、右边缘和下边缘呈间隔开地设置；所述捕捞网单元包括导流板和所述的潜水探测机器人，所述导流板的四角处各连接一所述潜水探测机器人；
    (S2)向水里投放多个所述捕捞网单元和所述导流板单元，人工通过岸上控制设备发送信号给所述潜水探测机器人的信号收发器，所述潜水探测机器人呈矩阵地排列于河流内并收集水内的鱼类和鱼量等信息，所述潜水探测机器人时刻将相应信息反馈到所述岸上控制设备，所述岸上控制设备对相应信息进行分析；
    (S3)根据反馈的信息，鱼类到达目标数量，根据水流流动方向形成上游水源和下游水源，于下游水源设置捕捞区，所述捕捞网单元沿捕捞区的宽度方向呈间隔开地设置，所述捕捞网单元沿捕捞区的宽度方向与水流流动的方向垂直，所述导流板单元位于所述捕捞网单元的上游，两所述捕捞网单元之间的间隔处各设有一所述导流板单元；
    (S4)所述捕捞网单元处的潜水探测机器人释放诱饵并诱惑鱼类靠近；
    (S5)所述导流板单元对水中的鱼类和水流进行阻挡，水流和鱼类在导向作用下沿所述导流板单元的两侧流动，利用水流的推动，水流和鱼类流动至位于下游且两侧处的所述捕捞网单元；
    (S6)所述潜水探测机器人根据检测到所述网体内的鱼类到达目标值，所述捕捞网单元的潜水探测机器人带动所述网体收网。
  9. 如权利要求8中所述的捕鱼方法，其特征在于，步骤(S2)和步骤(S3)之间还包括步骤(S30)
    (S30)在水里设置水流推动装置，从而使得水沿目标方向流动从而形成上游水源和下游水源，水流推动装置沿捕捞区的宽度方向呈间隔开地设置。
  10. 一种基于潜水探测机器人、捕捞网单元和导流板单元的垃圾捕捞方法，其特征在于，包括如下步骤：
    (T1)建立潜水探测机器人、捕捞网单元和导流板单元，所述潜水探测机器人包括架体、LED灯、信号收发器、浮体、升降组件、推动组件、机械夹头、诱饵喷洒机构、摄像头和控制器；所述捕捞网单元包括网体、负重球体、牵引组件和所述的潜水探测机器人，所述牵引组件包括第一牵引件、第二牵引件、第三牵引件和第四牵引件，所述第一牵引件、第二牵引件、第三牵引件和第四牵引件的自由端各连接一所述潜水探测机器人，所述负重球体围绕所述网体的左边缘、右边缘和下边缘呈间隔开地设置；所述捕捞网单元包括导流板和所述的潜水探测机器人，所述导流板的四角处各连接一所述潜水探测机器人；
    (T2)向水里投放多个所述捕捞网单元和所述导流板单元，人工通过岸上控制设备发送信号给所述潜水探测机器人的信号收发器，所述潜水探测机器人呈矩阵地排列于河流内并收集水内的垃圾数量和种类等信息，所述潜水探测机器人时刻将相应信息反馈到所述岸上控制设备，所述岸上控制设备对相应信息进行分析；
    (T3)根据反馈的信息，垃圾到达目标数量，根据水流流动方向形成上游水源和下游水源，于下游水源设置捕捞区，所述捕捞网单元沿捕捞区的宽度方向呈间隔开地设置，所述捕捞网单元沿捕捞区的宽度方向与水流流动的方向垂直，所述导流板单元位于所述捕捞网单元的上游，两所述捕捞网单元之间的间隔处各设有一所述导流板单元；
    (T4)所述导流板单元对水中的垃圾和水流进行阻挡，垃圾和水流在导向作用下沿所述导流板单元的两侧流动，利用水流的推动，水流和垃圾流动至位于下游且两侧处的所述捕捞网单元；
    (T5)静置，所述潜水探测机器人根据检测到网体内的垃圾到达目标值，所述捕捞网单元的潜水探测机器人带动所述网体收网；
    (T6)捕捞完毕，所述潜水探测机器人根据所述岸上控制设备的指令返回。
PCT/CN2022/095507 2022-04-25 2022-05-27 潜水探测机器人、捕捞网单元、导流板单元及捕捞方法 WO2023206690A1 (zh)

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