The invention discloses an underwater harvesting robot. The underwater harvesting robot comprises a rack, a walking mechanism is installed at the bottom of the rack, a five-axis mechanical arm is installed on the side, located in the walking direction, of the rack, a first net cage is arranged below the five-axis mechanical arm, and a lower camera is arranged on the first net cage. A head camera, an underwater lighting device and a clamping jaw mechanism are separately installed on the top of the five-axis mechanical arm. The walking mechanism is suitable for walking on the seabed, the lower camera and the head camera are suitable for recognizing the implantation position, the head camera is suitable for recognizing a to-be-harvested target, the five-axis mechanical arm is suitable for driving the clamping jaw mechanism to move to the position close to the to-be-harvested target, and the clamping jaw mechanism is suitable for grabbing the to-be-harvested target and sending the to-be-harvested target into the first net cage. According to the underwater harvesting robot, submarine organisms can be automatically harvested in an unmanned mode, the species of the organisms can be automatically recognized, different grabbing mechanisms are adopted according to the characteristics of the different species of organisms, and it can be guaranteed that the organisms are not damaged to the maximum extent.

    本发明公开了一种水下采收机器人,包括机架,机架底部安装有行走机构,机架的位于行走方向的一侧安装有五轴机械手,五轴机械手的下方设有第一网箱,第一网箱上设有下方相机,五轴机械手的顶部分别安装有头部相机、水下照明装置和夹爪机构;行走机构适于在海床上行走,下方相机和头部相机适于识别着床位置,头部相机适于识别待采收目标,五轴机械手适于驱动夹爪机构运动到待采收目标附近,夹爪机构适于抓取待采收目标并将其送入第一网箱。本发明可自动采用无人方式自动采收海底生物,并能自动识别生物种类,根据不同种类生物的特点采用不同的抓取机构,可最大化保证不伤害生物体。


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    Title :

    Underwater harvesting robot


    Additional title:

    水下采收机器人


    Contributors:
    YANG SANLONG (author) / RAO DAOGONG (author) / WANG WEIRUI (author) / WANG WEIDI (author)

    Publication date :

    2021-10-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / A01K ANIMAL HUSBANDRY , Tierzucht / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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