CN104813975B - Unmanned operation aquaculture robot under water - Google Patents
Unmanned operation aquaculture robot under water Download PDFInfo
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- CN104813975B CN104813975B CN201510244554.0A CN201510244554A CN104813975B CN 104813975 B CN104813975 B CN 104813975B CN 201510244554 A CN201510244554 A CN 201510244554A CN 104813975 B CN104813975 B CN 104813975B
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- Prior art keywords
- frame
- under water
- buoyancy unit
- unmanned operation
- robot under
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Classifications
-
- 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
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Engineering & Computer Science (AREA)
- Zoology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of unmanned operation aquaculture robot under water, it is connected by communication cable between submariner device and remote control station；Organic frame, hydraulic system are installed on base plate, communication interface, several propellers, control system are installed in frame, communication interface is connected with communication cable, connected by framework lateral plate between rearmounted buoyancy unit and frame, rearmounted buoyancy unit is connected with preposition buoyancy unit, and several cameras are provided with preposition buoyancy unit, and two mechanical arms are provided with frame, bait storage bin is installed, feed intake capture performs device on base plate, bait storage bin is connected with the capture performs device that feeds intake.Ability to work of the present invention is strong, and resistance to corrosion seawater is high, and carrying operation instrument is more, and manipulation is simple, accurate grasping body technology, combines rapid and convenient, and functional configuration is versatile and flexible, efficiency high low cost.
Description
Technical field
The present invention relates to robotics, more particularly to one kind unmanned operation aquaculture robot under water.
Background technology
At present, domestic many enterprise, scientific research institutions develop many underwater robots in succession, and such as Chinese Academy of Sciences Shenyang automation is ground
Study carefully institute " goldfish series " underwater robot, the ROV_JTR-21 that Shanghai Communications University develops light work robots under water, Beijing is safe
Rich female V8Sii underwater robots etc., these machines per capita with deeper water data acquisition, based on the operation such as exploration, in professional sea
Water cultivates field, such as pinpoints that bait throwing in, classification are fished for, special project data sampling, bad weather circumstances operation still need further to be ground
Study carefully.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of unmanned operation aquaculture robot under water, solves aquatic products and supports
Grow robot cannot Rapid Combination, functional configuration is dumb various, efficiency low cost problem high.
In order to solve the above technical problems, the technical scheme is that：Unmanned operation aquaculture robot under water, including
Submariner device and remote control station, are connected between submariner device and remote control station by communication cable；Submariner device include camera, mechanical arm,
Bait storage bin, feed intake capture performs device, communication interface, framework lateral plate, preposition buoyancy unit, propeller, rearmounted buoyancy list
Unit, frame, base plate, hydraulic system and control system, install organic frame, hydraulic system on base plate, communication is provided with frame and is connect
Mouth, several propellers, control system, communication interface are connected with communication cable, and machine is passed through between rearmounted buoyancy unit and frame
Frame side plate is connected, and rearmounted buoyancy unit is connected with preposition buoyancy unit, and several cameras, machine are provided with preposition buoyancy unit
Two mechanical arms are installed on frame, bait storage bin are installed, feed intake capture performs device on base plate, bait storage bin with throw
Material capture performs device is connected.
Further, the quantity of propeller is six.
Further, the quantity of camera is three.
Further, mechanical arm includes base, large arm, forearm and paw, floor installation in frame, base and large arm
Between by joint motion connect, between large arm and forearm by joint motion connect, between forearm and paw by joint live
Dynamic connection.
Further, paw includes finger block, connecting rod and finger, is connected by connecting rod between finger block and finger.
Further, mechanical arm is six-freedom degree.
Further, the capture performs device that feeds intake includes connecting seat, pipeline, linking arm and feed intake capture sucker, connecting seat
On base plate, connecting seat is connected with linking arm, and one end of pipeline is connected with the capture sucker that feeds intake, and the other end passes through linking arm
It is connected with bait storage bin.
Further, the outer surface of frame is provided with resistant material jacket.
Further, camera uses two-dimensional imaging vision technique.
Beneficial effects of the present invention：
1st, ability to work is strong；Bait throwing under water, fertilising can be carried out instead of people, plant grass, mowing, monitoring etc., particularly carry out
Pinpoint bait throwing under water, key area seawater, environments such as subsea real-time monitoring and because marine product Density Distribution or environment it is undesirable and
Need to carry out fanout free region transfer etc.；
2nd, resistance to corrosion seawater is high；From resistant material, in design using optimization design, finite Element Stress point is carried out
Analysis, increases resistant material jacket etc., solves spot corrosion, crevice corrosion, low frequency corrosion fatigue, stress corrosion and microorganism rotten
Erosion etc.；
3rd, carrying operation instrument is more；Two can Fast Installation formula six degree of freedom mechanical arm, carry sea cucumber is fished for, shell is picked up
Take, weed cutting, fixed point professional monitoring instrument such as bait throwing in instrument and seawater, ocean bottom soil temperature, water quality, flow rate detection etc.；
4th, manipulate simple；Controlled using iPad or reinforced notebook computer computer, touch or remote-control handle mode is operated, can be real-time
Image and sensor signal are uploaded into internet, for fishery Internet of Things, industrialization cultivation provide accurate data；
5th, accurate grasping body technology；It is real using advanced two-dimensional imaging vision technique and accurate intelligent control technology
Existing robot automatic job；
6th, rapid and convenient is combined, functional configuration is versatile and flexible, efficiency high low cost.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is submariner device internal structure exploded view；
Fig. 3 is mechanical arm structural representation；
Fig. 4 is the partial structural diagram of paw；
Fig. 5 is the capture performs device structural representation that feeds intake.
Wherein：1. camera, 2. remote control station, 3. mechanical arm, 4. bait storage bin, 5. feed intake capture performs device, 6.
Communication cable, 7. communication interface, 8. framework lateral plate, 9. preposition buoyancy unit, 10. propeller, 11. rearmounted buoyancy units, 12. machines
Frame, 13. base plates, 14. hydraulic systems, 15. control systems, 16. bases, 17. large arm, 18. forearms, 19. paws, 20. finger blocks,
21. connecting rods, 22. fingers, 23. connecting seats, 24. pipelines, 25. linking arms, 26. feed intake capture sucker.
Specific embodiment
As Figure 1-Figure 5, unmanned operation aquaculture robot under water, including submariner device and remote control station 2, submariner device with
It is connected by communication cable 6 between remote control station 2；Remote control station (2) works on the water, is responsible for that submariner device is controlled and monitored；
Submariner device include camera 1, mechanical arm 3, bait storage bin 4, feed intake capture performs device 5, communication interface 7, framework lateral plate
8th, preposition buoyancy unit 9, propeller 10, rearmounted buoyancy unit 11, frame 12, base plate 13, hydraulic system 14 and control system 15,
Organic frame 12, hydraulic system 14 are installed, the outer surface of frame 12 is provided with resistant material jacket on base plate 13, are installed in frame 12
Have communication interface 7, six propellers 10, control systems 15, communication interface 7 is connected with communication cable 6, rearmounted buoyancy unit 11 with
Connected by framework lateral plate 8 between frame 12, rearmounted buoyancy unit 11 is connected with preposition buoyancy unit 9, on preposition buoyancy unit 9
Three cameras 1 are installed, camera 1 can realize the monitoring of underwater environment, while realizing the acquisition of binocular range images；Machine
Two mechanical arms 3 are installed, mechanical arm 3 is six-freedom degree on frame 12, mechanical arm 3 includes base 16, large arm 17, small
Arm 18 and paw 19, base 16 are arranged in frame 12, and paw 19 includes finger block 20, connecting rod 21 and finger 22, finger block
Connected by connecting rod 21 between 20 and finger 22, between base 16 and large arm 17 by joint motion connect, large arm 17 with it is small
Connected by joint motion between arm 18, connected by joint motion between forearm 18 and paw 19, left and right two mechanical arms
3 can cooperate, and efficiently accomplish and perform operation；Bait storage bin 4 is installed, feed intake capture performs device 5, bait on base plate 13
Material storage bin 4 is connected with the capture performs device 5 that feeds intake, and the capture performs device 5 that feeds intake includes connecting seat 23, pipeline 24, linking arm
25 install on base 13 with the capture sucker 26 that feeds intake, connecting seat 23, and connecting seat 23 is connected with linking arm 25, one end of pipeline 24
Capture sucker 26 is connected with feeding intake, and the other end is connected through linking arm 25 with bait storage bin 4, and feeding intake capture performs device 5 can
To complete the accurate dispensing of bait, while the capture to marine product can be realized；Submariner device operation point both of which, i.e. remote control mould
Formula and automatic mode, remote control mode are to send robot motion order by control in control end by control staff, and automatic mode is pressed
According to default course line, GPS navigation, controlled by real-time dynamic course, the speed of a ship or plane, nobody independently hits the target task navigation, it is ensured that
Course line is fixed；According to the real-time dynamic control feed rate of the parameters such as real-time voyage, the speed of a ship or plane, doses, it is ensured that uniform bait throwing in；Data
The data operational factor related with system that part of data acquisition is gathered is transferred to earth station in real time to image stage；Submariner
Under the manipulation and monitoring of remote control station 2, carry two mechanical arms 3, the capture performs device 5 that feeds intake carries out operation to device at the bottom,
Large arm 17 is rotated, while forearm 18, paw 19 also follow movement, operationally, typically uses two coordinateds of mechanical arm 3
Mode is operated, and greatly improves the success rate that operating efficiency and increase task are completed；The capture performs device 5 that feeds intake has two kinds of works
Operation mode, that is, the pattern that feeds intake and acquisition mode, in the pattern of feeding intake, the storage bait of bait storage bin 4, by pipeline 24 and the capture that feeds intake
Sucker 26 is connected, and the capture sucker 26 that feeds intake performs accurate dispensing action, completes bait and delivers；In acquisition mode, bait storage bin 4
Used as aquatic products memory, the product to capturing is stored；Binocular stereo vision measurement is that human use's eyes obtain environment
The main path of three-dimensional information, the technology uses advanced two-dimensional imaging vision technique and accurate intelligent control technology, realizes
Robot automatic job, two-dimensional imaging vision technique is to shoot same width scene by two video cameras (CCD) of diverse location, is led to
Cross and calculate spatial point parallax in two images, calculate the depth of scenery, obtain the D coordinates value of the point.
My company is engaged in seawater aquaculture history for many years, and substantial amounts of professional technique and life are have accumulated in the field
Industry is tested, and the present invention have passed through substantial amounts of verification experimental verification, performance safety reliability.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technology according to the present invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (8)
1. unmanned operation aquaculture robot under water, it is characterised in that：Including submariner device and remote control station (2), submariner device with it is distant
It is connected by communication cable (6) between control station (2)；
Submariner device includes that camera (1), mechanical arm (3), bait storage bin (4), capture performs device (5) that feeds intake, communication connect
Mouth (7), framework lateral plate (8), preposition buoyancy unit (9), propeller (10), rearmounted buoyancy unit (11), frame (12), base plate
(13), hydraulic system (14) and control system (15), install organic frame (12), hydraulic system (14), frame on base plate (13)
(12) communication interface (7), several propellers (10), control system (15), communication interface (7) and communication cable are installed on
(6) be connected, be connected by framework lateral plate (8) between rearmounted buoyancy unit (11) and frame (12), rearmounted buoyancy unit (11) and
Preposition buoyancy unit (9) connection, is provided with several cameras (1) on preposition buoyancy unit (9), frame is provided with two on (12)
Individual mechanical arm (3), be provided with base plate (13) bait storage bin (4), feed intake capture performs device (5), bait storage bin (4)
Capture performs device (5) is connected with feeding intake；
Described capture performs device (5) that feeds intake includes connecting seat (23), pipeline (24), linking arm (25) and the capture sucker that feeds intake
(26), on base plate (13), connecting seat (23) is connected connecting seat (23) with linking arm (25), one end and the throwing of pipeline (24)
Material capture sucker (26) connection, the other end is connected through linking arm (25) with bait storage bin (4)；The operation of submariner device includes two kinds
Pattern, is respectively remote control mode and automatic mode.
2. unmanned operation aquaculture robot under water according to claim 1, it is characterised in that：The propeller (10)
Quantity be six.
3. unmanned operation aquaculture robot under water according to claim 1, it is characterised in that：The camera (1)
Quantity be three.
4. unmanned operation aquaculture robot under water according to claim 1, it is characterised in that：Described mechanical arm
(3) including base (16), large arm (17), forearm (18) and paw (19), base (16) in frame (12), base (16)
It is connected by joint motion between large arm (17), is connected by joint motion between large arm (17) and forearm (18), forearm
(18) it is connected by joint motion between paw (19).
5. unmanned operation aquaculture robot under water according to claim 4, it is characterised in that：Described paw (19)
Including finger block (20), connecting rod (21) and finger (22), between finger block (20) and finger (22) by connecting rod (21) even
Connect.
6. the unmanned operation aquaculture robot under water according to claim 4 or 5, it is characterised in that：Described machinery
Arm (3) is six-freedom degree.
7. unmanned operation aquaculture robot under water according to claim 1, it is characterised in that：The frame (12)
Outer surface is provided with resistant material jacket.
8. unmanned operation aquaculture robot under water according to claim 1, it is characterised in that：Described camera
(1) two-dimensional imaging vision technique is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244554.0A CN104813975B (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244554.0A CN104813975B (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104813975A CN104813975A (en) | 2015-08-05 |
| CN104813975B true CN104813975B (en) | 2017-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510244554.0A Expired - Fee Related CN104813975B (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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Cited By (1)
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| CN106043631A (en) * | 2016-06-15 | 2016-10-26 | 青岛赶海机器人有限公司 | Manipulator backpack type underwater robot |
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| CN105075953B (en) * | 2015-09-15 | 2018-04-10 | 于锡汉 | Precious marine product breeding robot |
| CN105598973B (en) * | 2016-02-04 | 2016-09-21 | 山东建筑大学 | A kind of many lower limbs fixing based on foothold drive Stichopus japonicus to fish for robot |
| GB2551495B (en) * | 2016-06-16 | 2021-10-13 | Atlantic Lionshare Ltd | Method and apparatus for controlling fish |
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| CN108012970A (en) * | 2017-12-14 | 2018-05-11 | 郑州搜趣信息技术有限公司 | A kind of underwater fish-feeding device |
| CN108012971A (en) * | 2017-12-14 | 2018-05-11 | 郑州搜趣信息技术有限公司 | A kind of fish feeding device for being used to feed fish under water |
| CN108032314A (en) * | 2018-01-19 | 2018-05-15 | 美钻能源科技(上海)有限公司 | A kind of underwater culture robot and its method |
| CN107992089A (en) * | 2018-01-19 | 2018-05-04 | 美钻能源科技(上海)有限公司 | A kind of intelligent automation ocean culture system (OCS) and its method |
| CN108750045B (en) * | 2018-08-14 | 2020-10-23 | 深圳潜水侠创新动力科技有限公司 | Modular underwater robot |
| CN110402901B (en) * | 2019-01-16 | 2023-06-27 | 上海海洋大学 | A bionic squid live capture device and control method |
| CN111587831B (en) * | 2020-06-23 | 2022-02-22 | 上海天行控制科技有限公司 | ROV bait casting robot |
| CN112335588B (en) * | 2020-10-14 | 2022-04-12 | 江苏叁拾叁信息技术有限公司 | Aquaculture robot for user unmanned underwater operation |
| CN112677132B (en) * | 2020-12-22 | 2022-05-10 | 山东韵丰环保科技有限公司 | Automatic detection robot for farm crop medicines |
| WO2023206690A1 (en) * | 2022-04-25 | 2023-11-02 | 胡灵芝 | Submersible probe robot, fishing net unit, flow guide plate unit and fishing method |
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| CN104813975A (en) | 2015-08-05 |
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