A sinking and floating control device and multi-working condition sinkable and floating sea cucumber search catcher

Abstract

Disclosed are a sinking-floating control device and a multi-working-condition sea cucumber search fishing device capable of sinking and floating. The multi-working-condition sea cucumber search fishing device capable of sinking and floating comprises open type buoys, a high pressure gas cylinder, control valves, a chassis framework, electric wheels, a driven wheel, a steering vertical shaft, a tail vane, a propeller, motors, a mechanical arm, a suction tube, a camera, warehouse and an umbilical cable. The top of each buoy is provided with the normally closed type control valve, and the bottom of the buoy is provided with a normally open opening; the high pressure gas cylinder is connected with a tee joint, one opening of the tee joint is normally closed, the other opening of the tee joint is firstly connected with the normally closed type control valve and then is connected with a high pressure air duct continuously; the other end of the high pressure air duct is communicated with the corresponding buoy. Every motor and the camera are all connected with the umbilical cable through wires. The suction tube is attached to the mechanical arm, and the front end of the mechanical arm is provided with the camera and a clamp. The multi-working-condition sea cucumber search fishing device capable of sinking and floating is multifunctional and has strong environmental suitability, can achieve the floating movement, searching and fishing by sinking to the bottom, and sea floor travelling of the fishing device; can adapt to multiple seabed environments of mud, sand, reef, rock and the like, and can suck and catching sea floor objects such as sea cucumbers quickly, stably and accurately both in still water and running water.

Description

technical field [0001] The invention relates to the technical field of underwater fishing equipment, in particular to a sinking and floating control device and a multi-working condition sinkable and floating sea cucumber search catcher. Background technique [0002] The development and utilization of marine resources has extremely broad development prospects, among which the fishing and excavation of seabed resources is a focus and hot spot, and various efficient and practical automatic machines are urgently needed. In recent years, with the rapid expansion of the sea cucumber market, the demand for sea cucumber fishing operations has also increased. However, the existing traditional sea cucumber fishing methods completely rely on divers for underwater operations. The water temperature and depth of the water are extremely unfavorable to divers' bodies, so that the work of sea cucumber fishing divers is called a "fighting for life" job in the industry, and many sea cucumber f...

AI Technical Summary

Problems solved by technology

However, according to the repeated inquiries of the existing literature and technical information, it is found that there are few researches on automatic machines for fishing and excavating seabed resources, and those closely related to sea cucumber fishing are extremely rare.

1) In the patent document "sea cucumber catcher (CN202135597U)", the ups and downs are adjusted by means of a piston reciprocating in an airtight cylinder, and a rotatable straight tube type sea cucumber suction nozzle is used to catch sea cucumbers, and the sea cucumbers are moved forward, backward, left, and right by a water pump. Water is sprayed from each outlet pipe and solenoid valves are used for real-time adjustment to realize underwater walking and steering. This technology has the following significant disadvantages: it is difficult to ensure the airtightness of the cylinder and piston for a long time, and as long as there is a slow leak, it will easily lead to loss of buoyancy. It was sunk on the bottom of the sea; secondly, the sea cucumber suction nozzle of the rotating straight tube can only swing up and down and cannot be bent; the biggest defect is that the device adopts a downward water spraying power propulsion method, which is easy to blow up the bottom sediment. As a result, it is easy to cause serious blurred vision, and it is impossible to distinguish sea cucumbers. At the same time, the attitude control of this power propulsion method is very unstable, which is not conducive to accurate suction and capture of sea cucumbers.

2) In the "Iron Claw Haidilao" program video of the 2013-5-16 issue of the "I Love Invention" column of the CCTV10 science and education channel, a suspended underwater robot is reported. The main buoyancy is to use multiple horizontal and vertical propellers to move and turn the robot in all directions. However, as reported in the program: the efficiency of this robot in the sea cucumber fishing competition with divers is not as good as artificial

The root causes of the low sea cucumber fishing efficiency of the robot are as follows: it is difficult for the robot to accurately align sea cucumbers during motion, and the hovering robot propelled by propellers cannot precisely control its own balance posture even in the hovering state , it is difficult to maintain a very stable posture, and the posture shake of the robot body will cause greater shaking of the mechanical arm and straw for sucking sea cucumbers, making it impossible to catch sea cucumbers quickly and accurately

3) In the program video of the 20130726 issue "Zhang Wuyi and his "Submarine Dream"" of the "Narrative" column of CCTV10 Science and Education Channel, a sea cucumber catcher imitating a submarine is reported. The problems in this research and development are even more serious. Many, such as too large and bulky, high manufacturing costs, personal safety of people in the submarine, the propulsion of the current can easily lead to unstable posture of the hull, and it is difficult to see sea cucumbers through the observation window of the submarine under low-visibility sea conditions. Accurately operate robotic arms, etc. in turbid water

For example, the submarine-style air reciprocating compression system has high technical processing requirements, complex and heavy equipment, and consumes a lot of energy; the power consumption of the propeller propulsion device is also large, and this method can control the stability of the body's balance attitude It is difficult to ensure the accuracy and efficiency of sea cucumber fishing operations; the airtightness of the piston-type sinking and floating control device is difficult to guarantee, and the power consumption is also large; the airbag-type sinking and floating control method has high requirements for the material of the airbag, and It is very easy to age and fail after repeated expansion and contraction; although the open buoy technology often used in sunken ship salvage operations has been frequently used as early as decades ago, it is too rough to be precisely controlled, and it cannot be provided in one working stroke. Multiple conversions of sinking and floating states, not suitable for direct use in sinking and floating control of catchers

The patent "a floating and sinking control mechanism for underwater robots (CN101323362B)" is conceptually similar to submarine air compression sinking and floating control technology and sunken ship salvage buoy technology, and by adding water inlet valve, inlet valve and exhaust valve However, this patent has obvious defects in the structural design of the sinking control mechanism. The mechanism separates the sealed cavity and the variable volume cavity in a housing, and arranges compressed gas cylinders in the sealed cavity. Compressed gas cylinders The method of setting the air inlet and the air outlet respectively at the head and the tail to control the ups and downs has the following disadvantages: the manufacture of the shell and the manufacture of the gas cylinder are very difficult, especially the manufacture of compressed gas cylinders in the sealed cavity requires technology It is very difficult, the pressure resistance of this kind of sealed chamber is not high, the diving depth is very limited, and because the volume of the compressed gas cylinder is limited by the size of the sealed chamber, it will greatly limit the number of sinking and floating conversions it can provide

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