CN-121990141-A - Underwater robot for repairing marine aquaculture net cage and netting

CN121990141ACN 121990141 ACN121990141 ACN 121990141ACN-121990141-A

Abstract

The embodiment discloses an underwater robot for repairing the net clothing of a marine aquaculture net cage, which realizes the underwater full-automatic identification and repair of the net cage hole by combining a net cage hole repairing device with a visual component, does not need manual diving operation, remarkably reduces labor cost and safety risk, adopts an elastic repairing net to be matched with upper and lower grapple structures, can adapt to net clothing holes of different sizes and shapes, automatically tightens the grapple through tension springs, ensures firm and reliable repair, and combines the visual component to realize high-precision and high-success-rate automatic repair by accurately controlling tensioning and releasing processes through an underwater steering engine.

Inventors

Yuan Kuilin
Fan Ruichen
ZHOU TIANLE
WANG TIANSONG

Assignees

大连海事大学

Dates

Publication Date: 20260508
Application Date: 20260410

Claims (5)

1. The underwater robot for repairing the marine aquaculture net cage is characterized by comprising a net cage hole repairing device (8), a robot main body frame, a cabin body (1), a propeller (2), a vision component and a main controller; The net cage hole repairing device (8) comprises a repairing net (85), an L-shaped connecting plate (81), a limiting piece connecting plate (82), a rear limiting plate (83), a front limiting plate (84), a steering engine connecting arm (86), an underwater steering engine (88) and a steering engine connecting plate (89); The repairing net (85) comprises an upper grapple connecting plate (851), a plurality of upper grapples (852), 2 tension springs (853), an elastic repairing net (854), a plurality of lower grapples (855) and a lower grapple connecting plate (856); The upper grapple connecting plate (851) is fixedly arranged at the top of the elastic repairing net (854), the lower grapple connecting plate (856) is fixedly arranged at the bottom of the elastic repairing net (854), two tension springs (853) are respectively fixedly arranged at two sides of the elastic repairing net (854), two ends of each tension spring (853) are respectively fixedly connected with the upper grapple connecting plate (851) and the lower grapple connecting plate (856), a plurality of upper grapples (852) are fixedly connected with the upper grapple connecting plate (851), and a plurality of lower grapples (855) are fixedly connected with the lower grapple connecting plate (856); the limiting piece connecting plate (82) is connected with the top of the advancing side of the main body frame of the robot through an L-shaped connecting plate (81), and the limiting piece connecting plate (82) is parallel to the advancing direction of the underwater robot; the rear limiting plate (83) and the front limiting plate (84) are vertically fixed at the top of one side, far away from the robot main body frame, of the limiting piece connecting plate (82), and an upper grapple connecting plate embedding groove (8511) is formed between the rear limiting plate (83) and the front limiting plate (84), and the upper grapple connecting plate (851) can be embedded into the upper grapple connecting plate embedding groove (8511); the steering engine connecting plate (89) is fixedly arranged at the bottom of the advancing side of the robot main body frame through a second L-shaped connecting plate (80); The underwater steering engine (88) is fixedly connected with the steering engine connecting plate (89) through a steering engine fixing bracket (87), the steering engine connecting arm (86) is rotationally connected with the underwater steering engine (88) so as to control the steering engine connecting arm (86) to perform pitching motion through the underwater steering engine (88), when the steering engine connecting arm (86) is abutted with the lower grapple connecting plate (856), the lower grapple connecting plate (856) can approach or be far away from the upper grapple connecting plate (851) along with the pitching motion of the steering engine connecting arm (86), the cabin body (1) is fixedly arranged on a robot main body frame, a glass hemisphere window (9) is arranged on the cabin body (1), and a visual component is arranged in the cabin body (1) and is used for acquiring an underwater real-time image so as to determine the damage position of a net; the vision assembly and the steering engine connecting arm (86) are both in communication connection with the main controller, and the main controller is in communication connection with the propeller (2) and is used for driving the underwater robot to move through the propeller and enabling the repairing net (85) to cover the damaged position of the netting after determining the damaged position of the netting so as to repair the netting.
2. An underwater robot for repair of marine aquaculture net-work according to claim 1, characterized in that the robot main body frame comprises a frame back plate (4), a frame front plate (7), several carbon fiber connection pipes (6); Two ends of the carbon fiber connecting pipe (6) are fixedly connected with the frame back plate (4) and the frame front plate (7) respectively; the L-shaped connecting plate (81) and the second L-shaped connecting plate (80) are fixedly connected with the frame front plate (7).
3. An underwater robot for mariculture cage netting repair according to claim 2, characterized in that the L-shaped connection plate (81) comprises a first connection plate (811) and a second connection plate (812); The side surface of the first connecting plate (811) is fixedly arranged at the top of the advancing side of the robot main body frame, and the second connecting plate (812) is vertically fixed at the top of the first connecting plate (811) and is far away from one side of the robot main body frame; The limiting piece connecting plate (82) is fixedly connected with the top of the second connecting plate (812), and the limiting piece connecting plate (82) is parallel to the second connecting plate (812).
4. An underwater robot for mariculture cage netting repair according to claim 2, characterized in that the second L-shaped connection plate (80) comprises a third connection plate (801) and a fourth connection plate (802); The side surface of the third connecting plate (801) is fixedly arranged at the bottom of the advancing side of the robot main body frame, and the fourth connecting plate (802) is vertically fixed at the bottom of one side, far away from the robot main body frame, of the third connecting plate (801); The steering engine connecting plate (89) is fixedly arranged at the top of the fourth connecting plate (802) and is parallel to the fourth connecting plate.
5. An underwater robot for repair of marine aquaculture net-work according to claim 1, further comprising an expanding connection rail (5); The expansion connecting guide rail (5) is fixed on the robot main body frame and used for installing an illuminating lamp and a mechanical arm.

Description

Underwater robot for repairing marine aquaculture net cage and netting Technical Field The invention relates to the technical field of cage culture, in particular to an underwater robot for repairing a marine culture cage coat. Background China is a large ocean cultivation country, and the ocean pasture is an important direction of modern fishery development, and the scale of the ocean pasture is continuously enlarged. The culture net cage is a core facility for enclosing a culture water area and preventing culture organisms from escaping in the marine pasture. However, the marine pasture is complex in sea area environment, the net cage is impacted by stormy waves and ocean currents for a long time, and is easily influenced by factors such as marine organism corrosion, false touch of fishing boat operation and the like, so that net wear occurs when the net wear is damaged. Once the gap appears, a large amount of cultured fishes can escape, and huge economic loss is brought to breeding enterprises, meanwhile, the original ecological isolation effect of the damaged net cage is also destroyed, and the cross influence of the internal environment and the external environment of a breeding area can be possibly caused. At present, repair work for damage to the net of the net cage mainly depends on manual diving operation. The manual diving operation has the remarkable limitations that firstly, the underwater operation depth and time of a diver are limited, particularly in deep water or water flow turbulent regions, the operation risk is high, the difficulty is high, secondly, the manual repairing efficiency is low, the time from the discovery of damage to the launching of a tissue diver is long, the sudden large-area damage is difficult to cope, furthermore, the underwater operation cannot be carried out under severe conditions under the influence of weather and sea conditions, the optimal repairing time can be delayed, and the loss is enlarged. To improve the level of automation of underwater operations, some underwater robots (ROV/AUV) for observation or simple cleaning have emerged in the prior art. However, these general-purpose underwater robots have a main function focused on observation, photographing or sampling, and generally do not have a dedicated end effector for cage repair, and cannot perform fine operations such as grabbing, positioning, sewing or clamping the flexible netting. Few devices with mechanical arms have difficulty in stably and accurately completing repair tasks in complex water flow due to lack of special tools and intelligent control systems highly adapted to the repair tasks. Disclosure of Invention The invention discloses an underwater robot for repairing a marine aquaculture net cage, which aims to overcome the technical problems. In order to achieve the above object, the technical scheme of the present invention is as follows: An underwater robot for repairing marine aquaculture net cage, comprising a net cage hole repairing device, a robot main body frame, a cabin body, a propeller, a visual component and a main controller; The net cage hole repairing device comprises a repairing net, an L-shaped connecting plate, a limiting piece connecting plate, a rear limiting plate, a front limiting plate, a steering engine connecting arm, an underwater steering engine and a steering engine connecting plate; The repairing net comprises an upper grapple connecting plate, a plurality of upper grapples, 2 tension springs, an elastic repairing net, a plurality of lower grapples and a lower grapple connecting plate; The upper grapple connecting plate is fixedly arranged at the top of the elastic repairing net; the elastic repairing net comprises an elastic repairing net, a lower grapple connecting plate, two tension springs, a plurality of upper grapples, a plurality of lower grapples and a plurality of upper grapples, wherein the lower grapple connecting plate is fixedly arranged at the bottom of the elastic repairing net; the limiting piece connecting plate is arranged at the top of the advancing side of the main body frame of the robot through the L-shaped connecting plate, and is parallel to the advancing direction of the underwater robot; The rear limiting plate and the front limiting plate are vertically fixed at the top of one side, far away from the robot main body frame, of the limiting piece connecting plate, and an upper grapple connecting plate embedding groove is formed between the rear limiting plate and the front limiting plate; the steering engine connecting plate is fixedly arranged at the bottom of the advancing side of the robot main body frame through a second L-shaped connecting plate; The underwater steering engine is fixedly connected with the steering engine connecting plate through a steering engine fixing bracket, the steering engine connecting arm is rotationally connected with the underwater steering engine so as to control the steering engine connecting arm to perform