CN109566549B - Autonomous and agile underwater fishing device - Google Patents
Autonomous and agile underwater fishing device Download PDFInfo
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- CN109566549B CN109566549B CN201910078073.5A CN201910078073A CN109566549B CN 109566549 B CN109566549 B CN 109566549B CN 201910078073 A CN201910078073 A CN 201910078073A CN 109566549 B CN109566549 B CN 109566549B
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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
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Abstract
The invention relates to the technical field of underwater autonomous fishing devices, and provides a device capable of autonomously identifying, positioning and agilely fishing specific seafood organisms which are scattered and cultured at the bottom of water in a shallow sea area. Meanwhile, the embodiment of the invention can be installed on an underwater operation robot for underwater robot fishing, thereby reducing the labor cost and labor production accidents and simultaneously improving the accuracy and efficiency of fishing.
Description
Technical Field
The invention belongs to the technical field of underwater autonomous fishing devices, and particularly relates to a device capable of autonomously identifying, positioning and agilely fishing specific seafood organisms which are sowed and cultured at the bottom of water in a shallow sea area.
Background
The development of oceans is a major topic faced by human beings in the twenty-first century, the exploration, investigation and effective utilization of oceans provide challenges for the development of oceans high technology and future oceans industry in China, and human beings face three major problems of population, resources and environment at present. In order to survive and develop, the development of the ocean is imperative.
The near-shallow sea area is an important marine resource. China has abundant fishery resources in the near-shallow sea area, and provides a plurality of necessary products for the life of people. The development of marine resources in the near-shallow sea area is a major topic related to the national livelihood, and needs advanced technical support and rapid development. With the rapid development of marine ranch construction in China, underwater fishing in the shallow sea area, particularly fishing of precious marine products such as sea cucumbers, sea urchins, sea snails, scallops, abalones and the like, has wide application requirements.
The current mature method for fishing the rare seafood in the near-shallow sea area mainly comprises the following two modes:
(1) adopts a manual catching mode of diver diving. The main advantages of this method are high level of intelligence, and the disadvantages are severely limited depth of fishing, high manpower cost and high risk of underwater operation.
(2) Adopts a catching mode of a professional tool. The method has the main advantages of high fishing efficiency and low cost, and has the defects of serious damage to the underwater ecological environment and unsustainable industrial development.
Therefore, in recent years, the nations develop novel underwater fishing devices and biological fishing robots to replace human beings, finish high-risk and high-strength marine organism fishing, reduce labor cost and labor production accidents and play a role in protecting ecological environment.
However, the existing underwater fishing device generally has the problems of weak autonomous ability, low fishing efficiency and poor universality.
From the patent of the invention disclosed, the transmission modes of the current fishing device mainly comprise a suction mode and a space open chain mechanical arm mode. The suction and fishing mode mainly imitates the principle of a dust collector to suck a target object and separate silt and the like through a suction pipe with a filter screen. The mode has the characteristics of simple structure, reliability and wide application. But also has the defects of easy damage to the caught organisms, limited catching depth caused by the need of adding an additional air pump, low automation degree, large power consumption and the like. Particularly, the method is fatal to the suction method for fishing the marine life, and submarine silt, marine life, coral and the like are simultaneously extracted in the fishing process, so that the marine environment is damaged. With the higher and higher environmental protection requirements of the country, the fishing mode is gradually eliminated. The space open chain mechanical arm mode mainly adopts a serial mechanical arm structure form and has the advantages of large working range, good flexibility and the like. However, the structural form also has the obvious defects of poor rigidity, low positioning precision, weak bearing capacity and the like. More importantly, the number of motion joints of the serial mechanical arm is large, the motion modes are mostly swing, and the like, so that the sealing of a driving motor is difficult, the reliability is poor, and the working depth of the robot is influenced. In addition, the defects of large dead weight load ratio and slow dynamic response are difficult to realize underwater agile fishing.
From the patent of the invention disclosed, the current fishing mechanical gripper mainly adopts a clamping and encircling mode. The two modes adopt the actions of rotating and folding two fingers or three fingers to realize the clamping or encircling of the caught objects to realize the catching. At present, due to the fact that a force sensor, particularly a surface-mounted sensor, is immature in technology, clamping force of a catching mechanical paw cannot be precisely controlled in a closed loop mode according to the softness degree and surface roughness of caught objects, the opening distance of a catching hand cannot be automatically adjusted according to the size and shape of the caught objects, damage to the caught objects is easily caused, or the caught objects cannot be successfully caught, and therefore catching efficiency is low.
The invention provides an underwater autonomous agile catching device aiming at the defects of the prior art. The transmission system is designed to adopt a parallel mechanical arm form, has the advantages of high rigidity, high precision, strong bearing capacity, small dead weight-load ratio, quick dynamic response, relatively simple and reliable underwater sealing and the like, and can solve the technical barrier of agile fishing in a large depth range; the fishing mechanical paw adopts a three-piece spherical fishing cage, has the advantages of high opening and closing speed, good consistency and simple and reliable structure, and can solve the technical barrier of nondestructive fishing of marine products with different scales. On the basis, the invention adopts a binocular vision system module and an electronic cabin module, has the functions of target identification and positioning and autonomous control fishing, and can solve the technical barrier of autonomous fishing operation.
Disclosure of Invention
(1) Technical problem
In order to overcome the defects of the prior art of the underwater organism fishing device, the embodiment of the invention provides the device capable of automatically identifying, positioning and quickly fishing the specific seafood organisms which are scattered and cultured at the bottom of the water in the shallow sea area, so as to meet the requirements of intelligentized and agile underwater fishing by adopting an underwater robot in a marine ranch.
(2) Technical scheme
According to an aspect of the present invention, embodiments of the present invention provide a device capable of autonomously identifying, positioning, and agilely catching specific seafood organisms spread and cultured on the water bottom, so as to improve the intelligentization level and catching efficiency of underwater catching. Meanwhile, the embodiment of the invention can be installed on an underwater operation robot for underwater robot fishing, thereby reducing the labor cost and labor production accidents and simultaneously improving the accuracy and efficiency of fishing.
The technical scheme of the embodiment of the invention is that a general assembly support 1 is used as a basic structure body, a vision system module 2, an electronic cabin module 3, a transmission system module 4 and a fishing actuating mechanism module 5 are carried, and the underwater operation functions of autonomous recognition and positioning and agile fishing are realized in the environment of a shallow sea area. The vision system module 2 is used for acquiring vision information of underwater fishing objects and environments; the electronic cabin module 3 provides a power supply required by the device for working, identifies and positions an underwater fishing object, and controls the transmission system module 4 and the fishing actuating mechanism module 5; the transmission system module 4 is used for realizing three-degree-of-freedom translation of the fishing actuating mechanism module 5 under a ground coordinate system; the catching executing mechanism module 5 is used for catching underwater catching objects. Through the form of installing a plurality of module integrations, structural simplification, modularization tend to for the whole installability of fishing device strengthens with detachability.
The further technical scheme of the embodiment of the invention is that the general assembly support 1 completes the carrying and bearing functions of the main structure of the device and comprises an upper support mounting plate 1-1, a lower support mounting plate 1-2, a cross beam support arm 1-3, a general mounting interface 1-4, a side beam support arm 1-5 and a support fixing screw 1-6. The general assembly support 1 is used as a main structure bearing part, a structural frame is formed by connecting support beam supporting arms 1-3 and support side beam supporting arms 1-5 in space, and the upper mounting plate 1-1 and the lower mounting plate 1-2 of the support are connected and mounted on the support side beam supporting arms 1-5 through support fixing screws 1-6, so that the space layout is as simple as possible. The shape of the support arm 1-5 of the side beam of the support is designed to be nearly in a flying shape, so that the overturning moment of the cantilever beam is reduced, the structural strength characteristic is improved, the occupancy rate of the space is reduced, and the interference with the space motion tracks of the driven arm 4-4 and the driving arm 4-3 is avoided. The general assembly support 1 is taken as a main body connecting section, the rear end of a support side beam supporting arm 1-5 of the support is fixedly connected with a general installation interface 1-4, and the general installation interface 1-4 is provided with an external standard mechanical interface and an electrical appliance interface according to actual working requirements and is fixedly connected with an underwater robot, so that the adaptability and the adjustability of the invention to different working environments are greatly improved.
The technical scheme is that the visual system module 2 completes the visual information acquisition function of the invention and comprises L ED light sources and a binocular camera, wherein the L ED light sources provide underwater illumination, and the binocular camera acquires visual information of an underwater environment, the L ED light sources consist of L ED lamps 2-4 and L ED lamp supports 2-5 and are mounted on a general assembly support 1, L ED lamps 2-4 are fixedly connected to L ED lamp supports 2-5, and L ED lamp supports 2-5 are fixed on a mounting plate 1-1 front section on the general assembly support, the binocular camera comprises a binocular camera watertight connector 2-1, a binocular camera main body 2-2 and a binocular camera window 2-3, and the binocular cameras 2-1, 2-2 and 2-3 are mounted on the mounting plate 1-1 on the general assembly support, and the visual information is connected to the visual information connector 3-3 of an electronic cabin through the binocular camera connector 2-1.
The further technical scheme of the embodiment of the invention is that the electronic cabin module 3 completes the control functions of underwater biological identification, positioning and fishing actions, and comprises a cylindrical cabin body 3-1, an end cover 3-2, a visual information watertight connector 3-3, a power supply watertight connector 3-4, an embedded control component 3-5, a power supply conversion component 3-6, a GPU (graphic processing unit) component 3-7 and a control signal watertight connector 3-8. Wherein, the cylindrical cabin body 3-1 and the end cover 3-2 provide watertight installation space for electronic components of the device; the visual information watertight connector 3-3 is used for connecting the visual system module 2; the power supply watertight connector 3-4 is used for connecting a power supply on the robot; the embedded control component 3-5 is used for controlling three steering engines 4-6 in the transmission system module 4 and a three-jaw hand driving steering engine 5-1 in the fishing executing mechanism module 5; the power supply conversion part 3-6 is used for converting the power supply input on the robot into the power supply required by the device; the GPU components 3-7 are used for identifying and positioning underwater fishing objects; the control signal watertight connectors 3-8 are used for connecting the watertight connectors 4-11 on the transmission system module 4 and the watertight connectors 5-6 on the fishing actuating mechanism module 5. The electronic cabin module 3 is fixedly connected with the lower mounting plate 1 of the final assembly support through an end cover 3-2, and is in sealing connection with a fixed disc 4-1 of the transmission system module 4 through a cylindrical cabin body 3-1. The visual information watertight connector 3-3 and the power supply watertight connector 3-4 are installed on the end cover 3-2 through threaded sealing connection, and the control information watertight connector 3-8 is installed on a fixed disc 4-1 of the transmission system module 4 through threaded sealing connection. The GPU components 3-7, the embedded control components 3-5 and the power conversion components 3-6 are arranged in the electronic cabin module 3, the main internal layout is adopted, and the studs and the nut fixing baffle plates are adopted to layer the interior of the electronic cabin 3, so that the uniform heat dissipation of the electronic components is facilitated, and the internal signal interference is synchronously reduced.
The further technical scheme of the embodiment of the invention is that the transmission system module 4 completes the three-degree-of-freedom translation function of the fishing actuating mechanism module 5 and mainly comprises a fixed disc 4-1, a sealing steering engine 4-2, a driving arm 4-3, a driven arm 4-4 and a moving disc 4-5. The transmission system module 4 adopts a Delta parallel mechanical arm structure, three sealing steering engines 4-2 are arranged on a fixed disc in a regular triangle mode, 3 driving arms 4-3 are equal in length, 3 driven arms 4-4 are equal in length, and two driven arms 4-4 on each branched chain are connected to the driving arms 4-3 and the movable disc 4-5 through hinges, so that three-degree-of-freedom agile motion of the movable disc 4-5 is realized, and meanwhile, the accuracy and the stability of the motion are guaranteed. The middle section of the driving arm 4-3 is grooved, and the driven arm 4-4 is made of a light rod material, so that the mass of the driving arm is further reduced on the premise of meeting the structural strength of the mechanism, the requirements on the torque and the power of the steering engine 4-6 are reduced, the underwater steering engine is suitable for the working condition with high underwater fluid resistance, and the maneuverability of the underwater operation process is improved. The sealed steering engine 4-2 of the transmission system module 4 consists of a steering engine 4-6, a steering engine sealed cabin shell 4-12, a base 4-10, a sealing sleeve 4-7 and an output shaft 4-9. A groove is formed in the base 4-10, an O-shaped ring 4-8 is placed to be matched with a steering engine sealed cabin shell 4-12, and then the O-shaped ring is fixed through radial screws to form static seal. The outer cylindrical surface of the sealing sleeve 4-7 and the base 4-10 form static seal through an O-shaped ring 4-8, and the inner cylindrical surface of the sealing sleeve 4-7 adopts two O-shaped sealing rings 4-8 to form dynamic seal with an output shaft 4-9. The output shaft 4-9 is fixedly connected with the steering engine 4-6 through a screw. The sealing structure is convenient to disassemble, assemble and replace parts.
The further technical scheme of the embodiment of the invention is that the catching execution mechanism module 5 finishes the catching function of underwater catching objects and mainly comprises a three-jaw hand driving steering engine 5-1, a three-jaw hand outer shell 5-2, a transmission gear 5-3, an output shaft 5-4, a worm 5-5, a worm wheel 5-6, a rocker arm connecting piece 5-7, a cage-shaped three-jaw hand 5-8 and a three-jaw hand watertight connector 5-9. The fishing actuating mechanism module 5 is connected with a movable disc 4-5 of the transmission system module 4 for installation and fixation, and the watertight connector 5-9 is connected with a control signal watertight connector 3-8 in the electronic cabin module 3. The transmission gears 5-3 are arranged in a layered mode, the structure is compact, transmission is stable, and the internal space of the gearbox shell 5-2 is saved. The cage-shaped three-claw hand 5-8 is designed into a cage-shaped structure as a whole, reduces the fluid resistance in the underwater movement process, and is more suitable for catching soft organisms.
According to the further technical scheme, the steering engine 5-1 inputs torque to an output shaft 5-4 through two-stage speed reduction of a transmission gear 5-3, a worm 5-5 is installed at the tail end of the output shaft 5-4 to drive three turbines 5-6 to be linked, each turbine 5-6 drives a rocker arm connecting piece 5-7 to rotate, single-shaft output of the three-claw hand steering engine 5-1 is speed division output, opening and closing and coordinated work of cage-shaped three-claw hands 5-8 are controlled respectively, and the envelope surface of an underwater working area is increased.
(3) Advantageous effects
Based on the technical characteristics recorded above, the beneficial effects of the invention are mainly reflected in the following aspects:
(1) the binocular camera is combined with the L ED light source module, so that the visual information of the caught organisms and the surrounding environment can be acquired, the acquired visual information can be processed by combining the GPU arranged in the electronic cabin, and therefore the automatic identification and positioning of the caught organisms can be realized, and the catching autonomy is improved.
(2) The device is applied to the transmission system module, and has the advantages of quick motion response, high positioning precision and strong bearing capacity, thereby improving the working efficiency of underwater fishing.
(3) The biological fishing device is designed into a cage-shaped three-claw form, so that the enveloping surface of an underwater fishing area can be increased, and the stability of fishing action and the adaptability of a fishing object are further improved.
Drawings
FIG. 1 is a schematic structural diagram of an underwater autonomous agility fishing device according to an embodiment of the invention;
FIG. 2 is a side view of an assembly support according to an embodiment of the present invention;
FIG. 3 is a front view of an assembly bracket according to an embodiment of the present invention;
FIG. 4 is a block diagram of a vision system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an L ED light source according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of an electronics compartment module according to an embodiment of the present invention;
FIG. 7 is a side view of a drive train module according to an embodiment of the present invention;
FIG. 8 is a top view of a drive train module according to an embodiment of the present invention;
FIG. 9 is a side view of a sealed steering engine according to an embodiment of the present invention;
FIG. 10 is a partial cross-sectional view of a sealed steering engine according to an embodiment of the present invention;
FIG. 11 is a schematic structural view of a fishing actuator module according to an embodiment of the present invention;
fig. 12 is a schematic view of the internal structure of a gear box of a fishing mechanism according to an embodiment of the present invention.
The hand-operated fishing gear comprises a main assembly support 1-1, a support upper mounting plate 1-2, a support lower mounting plate 1-3, a support beam support arm 1-4, an overall mounting interface 1-5, a support oblique beam support arm 1-6, a support mounting plate fixing screw rod 2, a vision system module 2-1, a binocular camera watertight connector 2-2, a binocular camera main body 2-3, a binocular camera window 2-4, an L ED lamp 2-5, a L ED lamp support 3, an electronic cabin module 3-1 cylindrical cabin body 3-2 end cover 3-3, a vision information watertight connector 3-4, a power watertight connector 3-5, an embedded control component 3-6, a power conversion component 3-7, a control signal watertight connector 4, a transmission system module 4-1, a fixed disc 4-2, a sealing ring 4-3, a driving arm 4, a driven arm 4-5, a driving disc 4-6, a sealing sleeve cover 4-8, an O-shaped sealing ring 4-9, a fixed disc 4-3, a driving arm 4-4, a driving disc, a driving arm 4-5, a driving disc, a.
Detailed Description
The invention relates to an underwater autonomous agility fishing device, which is described in detail in the following by combining with the attached drawings, and further describes the specific implementation mode of the invention.
Referring to fig. 1, the underwater autonomous agility fishing device of the embodiment of the invention takes a general assembly support 1 as a basic structural body, and carries a vision system module 2, an electronic cabin module 3, a transmission system module 4 and a fishing actuating mechanism module 5.
Referring to fig. 2 and 3, the general assembly support 1 of the embodiment of the invention is a main structure bearing part, a support cross beam support arm 1-3 and a support side beam support arm 1-5 are connected spatially to form a structural frame, an upper mounting plate 1-1 and a lower mounting plate 1-2 of the support are connected and mounted on the support side beam support arm 1-5 through a support fixing screw 1-6, and the support side beam support arm 1-5 is nearly in a flying shape. The general assembly support 1 is taken as a main body connecting section, the rear end of a support side beam supporting arm 1-5 of the support is fixedly connected with a general installation interface 1-4, and the general installation interface 1-4 is provided with an external standard mechanical interface and an electrical appliance interface and is fixedly connected with an underwater robot.
Referring to fig. 4 and 5, the vision system module 2 of the embodiment of the invention comprises L ED light sources and a binocular camera, wherein the L ED light sources comprise L ED lamp 2-4 and L ED lamp support 2-5, the light sources are carried on a general assembly support 1, L ED lamp 2-4 is fixedly connected to L ED lamp support 2-5, L ED lamp support 2-5 is fixed on the front section of a mounting plate 1-1 on the general assembly support, the binocular camera comprises a binocular camera watertight connector 2-1, a binocular camera main body 2-2 and a binocular camera window 2-3, the binocular cameras 2-1, 2-2 and 2-3 are mounted on the mounting plate 1-1 on the general assembly support, and visual information is connected to a visual information watertight connector 3-3 of an electronic cabin through the binocular camera watertight connector 2-1.
Referring to fig. 6, the electronic cabin module 3 of the embodiment of the invention is fixedly connected with the lower mounting plate 1 of the final assembly support through the end cover 3-2, and is hermetically connected with the fixed plate 4-1 of the transmission system module 4 through the cylindrical cabin 3-1. The visual information watertight connector 3-4 and the power supply watertight connector 3-4 are hermetically connected and installed on the end cover 3-2 through threads, and the visual information watertight connector 3-3 is used for connecting the visual system module 2; the power supply watertight connector 3-4 is used for connecting a power supply on the robot; the control information watertight plug 3-8 is installed on a fixed disc 4-1 of the transmission system module 4 through thread sealing connection, and the control signal watertight connector 3-8 is used for connecting a watertight connector 4-11 on the transmission system module 4 and a watertight connector 5-6 on the fishing actuating mechanism module 5. The GPU components 3-7, the embedded control components 3-5 and the power conversion components 3-6 are arranged in the electronic cabin module 3, the main internal layout is adopted, and the studs and the nut fixing baffle plates are adopted to layer the interior of the electronic cabin 3, so that the uniform heat dissipation of the electronic components is facilitated, and the internal signal interference is synchronously reduced.
Referring to fig. 7 and 8, a transmission system module 4 of the embodiment of the invention adopts a Delta parallel mechanical arm structure, three sealing steering engines 4-2 are arranged on a fixed disc 4-1 in a regular triangle, 3 driving arms 4-3 are equal in length, 3 groups of driven arms 4-4 are equal in length, each group of driven arms 4-4 is composed of two heterogeneous light rods, the upper end of each light rod is connected to two ends of a connecting hinge of the driving arm 4-3 and the driven arm 4-4 through a ball pair, and the lower end of each light rod is connected to two ends of a connecting hinge of the driven arm 4-4 and the movable disc 4-5 through a ball pair, so that three-degree-of-freedom agile motion of the movable disc 4-5 is realized.
As shown in figures 9 and 10, a steering engine 4-6 of a transmission system module 4 is installed in a steering engine sealed cabin shell 4-12, a groove is formed in a base 4-10, an O-shaped ring 4-8 is placed to be matched with the steering engine sealed cabin shell 4-12, and then the O-shaped ring is fixed through radial screws to form static seal. The outer cylindrical surface of the sealing sleeve 4-7 and the base 4-10 form static seal through an O-shaped ring 4-8, and the inner cylindrical surface of the sealing sleeve 4-7 adopts two O-shaped sealing rings 4-8 to form dynamic seal with an output shaft 4-9. The output shaft 4-9 is fixedly connected with the steering engine 4-6 through a screw. The parallel mechanical arm applied to underwater is different from the mechanical arm in air, and has the main characteristics of increasing the watertight requirement and the motion resistance. In the aspect of meeting the watertight requirement, as mentioned above, the independent steering engine sealed cabin shell 4-12 structure is adopted, so that the static and dynamic sealing requirements for protecting the steering engine and motion output are met, the complexity of the sealing mechanism is reduced to the maximum extent, and meanwhile, due to the design of the independent sealing module, the installation relevance between components is reduced, and the maintenance and the overhaul are convenient. In response to the characteristic that the stress of the underwater high-speed motion mechanical arm mainly comes from the resistance of surrounding water media, the mechanical arm is formed by slotting the middle section of the driving arm 4-3, and adopting a non-homogeneous rod for the driven arm 4-4. The weight of the transmission mechanical arm is reduced, the balance weight parameters of the mechanical arm, such as weight, floating center and the like, are adjusted, and the requirements on 4-6 torque and power of the steering engine are reduced.
Referring to fig. 11 and 12, the catching function of the underwater catching object is completed through the catching execution mechanism module 5, and the catching execution mechanism module mainly comprises a three-jaw hand driving steering engine 5-1, a three-jaw hand outer shell 5-2, a transmission gear 5-3, an output shaft 5-4, a worm 5-5, a worm wheel 5-6, a rocker arm connecting piece 5-7, a cage-shaped three-jaw hand 5-8 and a three-jaw hand watertight connector 5-9. The fishing actuating mechanism module 5 is connected with a movable disc 4-5 of the transmission system module 4 for installation and fixation, and the watertight connector 5-9 is connected with a control signal watertight connector 3-8 in the electronic cabin module 3. The transmission gears 5-3 are arranged in a layered mode, the structure is compact, transmission is stable, and the internal space of the gearbox shell 5-2 is saved. The cage-shaped three-claw hand 5-8 is designed into a cage-shaped structure as a whole, reduces the fluid resistance in the underwater movement process, and is more suitable for catching soft organisms. The steering engine 5-1 inputs torque to an output shaft 5-4 through two-stage speed reduction of a transmission gear 5-3, a worm 5-5 is installed at the tail end of the output shaft 5-4 to drive three turbines 5-6 to be linked, each turbine 5-6 drives a rocker arm connecting piece 5-7 to rotate, single-shaft output of the three-jaw hand steering engine 5-1 is speed division output, opening and closing of cage-shaped three-jaw hands 5-8 are controlled respectively, coordinated work is conducted, and the envelope surface of an underwater work area is increased.
The underwater autonomous agility fishing device can be used as an integrated standard accessory of an underwater robot, and is assembled with the underwater robot through the overall installation interface 1-4 of the overall installation support 1, so that autonomous agility fishing of the underwater robot can be realized.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An underwater autonomous agility fishing device is characterized in that a general assembly support is used as a basic structure body, and a vision system module, an electronic cabin module, a transmission system module and a fishing executing mechanism module are carried, wherein the vision system module is used for acquiring vision information of an underwater fishing object and environment; the electronic cabin module provides a power supply required by the underwater autonomous agility fishing device, identifies and positions an underwater fishing object, and realizes control of the transmission system module and the fishing actuating mechanism module; the transmission system module is used for realizing three-degree-of-freedom translation of the fishing actuating mechanism module under a ground coordinate system; the catching executing mechanism module is used for catching underwater caught objects; the general assembly support completes carrying and bearing functions of a main body structure of the underwater autonomous agile fishing device and comprises a support upper mounting plate, a support lower mounting plate, a support cross beam supporting arm, a general mounting interface, a support side beam supporting arm and a support fixing screw rod; the support beam supporting arms and the support side beam supporting arms are connected to form a structural frame, the support upper mounting plate and the support lower mounting plate are connected through support fixing screws and are mounted on the support side beam supporting arms, and the support side beam supporting arms are designed to be nearly in a flying shape; the rear end of the support side beam support arm of the support is fixedly connected with an overall installation interface, and the overall installation interface is provided with an external standard mechanical interface and a standard electrical appliance interface and is fixedly connected with the underwater robot.
2. The underwater autonomous agility fishing apparatus according to claim 1, wherein the vision system module comprises L ED light source, a binocular camera, L ED light source providing underwater lighting, the binocular camera acquiring visual information of the underwater environment.
3. The underwater autonomous agility fishing device according to claim 2, wherein the L ED light source is composed of L ED lights and L ED light holders, and is carried on the general assembly support, wherein the L ED lights are fixedly connected to the L ED light holders, the L ED light holders are fixed to the front section of the mounting plate on the support, the binocular camera comprises a binocular camera watertight connector, a binocular camera body and a binocular camera window, wherein the binocular camera is mounted on the mounting plate on the support, and visual information is connected to the visual information connector of the electronic cabin module through the watertight camera connector.
4. The underwater autonomous agility fishing apparatus of claim 1 wherein the electronic pod module comprises a cylindrical pod body, an end cap, a visual information watertight connector, a power supply watertight connector, an embedded control unit, a power conversion unit, a GPU unit, and a control signal watertight connector; the cylindrical cabin body and the end cover provide a watertight installation space for electronic components of the underwater autonomous agile fishing device; the visual information watertight connector is used for connecting the visual system module; the power supply watertight connector is used for connecting a power supply on the underwater robot; the embedded control component is used for controlling three steering engines in the transmission system module and three-jaw hand driving steering engines in the fishing actuating mechanism module; the power supply conversion component is used for converting a power supply input on the underwater robot into a power supply required by the underwater autonomous agile catching device; the GPU component is used for identifying and positioning the underwater fishing object; the control signal watertight connector is used for connecting the watertight connector on the transmission system module and the watertight connector on the fishing actuating mechanism module; the electronic cabin module is fixedly connected with the lower mounting plate of the bracket through an end cover, and is hermetically connected with the fixed plate of the transmission system module through the cylindrical cabin body; the visual information watertight connector and the power supply watertight connector are installed on the end cover through threaded sealing connection, and the control signal watertight connector is installed on a fixed disc of the transmission system module through threaded sealing connection.
5. The underwater autonomous agility fishing apparatus of claim 4 wherein the GPU component, the embedded control component and the power conversion component within the electronic pod module bay are mounted in layers.
6. The underwater autonomous agility fishing apparatus of claim 1 wherein the drive train module comprises a fixed disc, a sealed steering engine, a driving arm, a driven arm, and a moving disc; the transmission system module adopts a Delta parallel mechanical arm structure, three sealed steering engines are uniformly arranged on a fixed disc, and two driven arms on each branched chain are connected to a driving arm and a movable disc through hinges; the middle section of the driving arm is grooved, and the driven arm is made of a light rod material.
7. The underwater autonomous agility fishing device according to claim 6, wherein the sealed steering engine of the transmission system module is composed of a steering engine, a steering engine sealed cabin shell, a base, a sealing sleeve and an output shaft; the base is provided with a slot, an O-shaped ring is placed to be matched with the steering engine sealed cabin shell, and the O-shaped ring is fixed through a radial screw to form static seal; the outer cylindrical surface of the sealing sleeve and the base form static seal through an O-shaped ring, and the inner cylindrical surface of the sealing sleeve forms dynamic seal with the output shaft through two O-shaped sealing rings; the output shaft is fixedly connected with the steering engine through a screw.
8. The underwater autonomous agility fishing device according to claim 1, wherein the fishing actuator module is composed of a three-jaw hand-driven steering engine, a three-jaw hand outer shell, a transmission gear, an output shaft, a worm wheel, a rocker arm connector, a cage-type three-jaw hand and a three-jaw hand watertight connector; the fishing executing mechanism module is connected with a movable disc of the transmission system module for installation and fixation, and the watertight connector is connected with a control signal watertight connector in the electronic cabin module.
9. The underwater autonomous agility fishing device according to claim 8, wherein the three-jaw hand-driven steering engine, the three-jaw hand gear transmission case and the rocker arm connecting piece are watertight mounted inside the outer housing of the three-jaw hand; the steering engine inputs torque to an output shaft through two-stage speed reduction of a transmission gear, a worm is installed at the tail end of the output shaft to drive three turbines to link, each turbine drives a rocker arm connecting piece to rotate, single-shaft output of the three-claw hand steering engine is divided into speed output, opening and closing and coordinated work of cage-shaped three-claw hands are controlled respectively, and an envelope surface of an underwater work area is increased.
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| KR200449749Y1 (en) * | 2010-06-08 | 2010-08-11 | 김재연 | A submarine robot for collecting seafood |
| CN203897082U (en) * | 2014-06-12 | 2014-10-29 | 岳兴宝 | Underwater fishing device |
| CN206243416U (en) * | 2016-12-09 | 2017-06-13 | 公安海警学院 | A kind of multifunctional police underwater robot |
| CN206561995U (en) * | 2017-02-27 | 2017-10-17 | 太原科技大学 | A kind of crab based on Delta parallel mechanism arranges boxing apparatus |
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