The invention discloses an intelligent underwater fishing mechanical arm and a working method thereof. The mechanical arm comprises a hanging rack, a camera bin, a camera motion mechanism, a pan-tilt,a drive assembly and a grabbing claw. The camera bin is mounted below the hanging rack and comprises an upper cover and a lower cover. A controller is mounted on the inner side of the upper cover. Agyroscope judgment system, a neural network computing system, a feature point matching computing system, a binocular locating computing system, a mechanical arm inverse kinematics solution system anda steering engine control system are mounted in the controller. Expensive manual underwater fishing is replaced, mechanization of marine product fishing is achieved, the labor cost is reduced, and safety is improved. The intelligent underwater fishing mechanical arm can be carried on an underwater fishing robot or other moving carriers. The mechanical arm is provided with the controller responsible for moving carrier stop detection, object detection and classification, object locating and object grabbing work, a traditional manual remote control type operation mechanical arm is replaced by theautomatic manner, and the operation process is simplified.

    本发明公开了一种智能水下捕捞机械手及其工作方法,所述的机械手包括挂架、摄像头仓、摄像头运动机构、云台、驱动组件和抓取爪;所述挂架下方安装有摄像头仓,所述摄像头仓包括上盖和下盖,所述上盖内侧安装有控制器,所述控制器中安装陀螺仪昂贵的人工下水捕捞,实现了海产品捕捞的机械化,降低了劳动力成本并提高判断系统、神经网络计算系统、特征点匹配计算系统、双目定位计算系统、机械手逆运动学求解系统和舵机控制系统。本发明可搭载于水下捕捞机器人等移动载体上,代替了了安全性。本发明设有控制器负责移动载体停靠检测、目标物检测分类、目标物定位、目标物抓取工作,以自动化方式代替了传统的人工遥控方式操控机械手,简化了操作流程。


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    Title :

    Intelligent underwater fishing mechanical arm and working method thereof


    Additional title:

    一种智能水下捕捞机械手及其工作方法


    Contributors:
    XU MINYI (author) / SHENG MINGYU (author) / WU GUANGHONG (author) / LI WENXIANG (author) / WANG ZICHENG (author) / MI SHENGYANG (author) / ZHANG TIANYI (author)

    Publication date :

    2020-05-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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