Cable parallel driving based offshore cage cleaning robot and cleaning method

Abstract

The invention relates to a cable parallel driving based offshore cage cleaning robot and a cleaning method. The robot comprises a tail end cleaning mechanism, a motion controller and at least two flexible rope parallel branch chains uniformly distributed on a cage body, wherein the tail end cleaning mechanism is located in the cage, and the flexible rope parallel branch chains are connected between the cage body and the tail end cleaning mechanism; each flexible rope parallel branch chain comprises a winding motor fixed on the cage body as well as a driving cable, and the driving cable is connected to the tail end cleaning mechanism by the winding motor; the motion controller controls coordinating motion of the at least two flexible rope parallel branch chains, so that the tail end cleaning mechanism performs underwater three-dimensional motion in the cage. Underwater three-dimensional motion of the tail end cleaning mechanism is realized by means of a parallel driving manner, multiple driving cables of the tail end cleaning mechanism are mutually restrained, so that underwater stability is improved, positioning precision is improved easily, and the requirement of the offshore cage for automatic cleaning can be met.

Description

technical field [0001] The invention relates to a deep sea net cage cleaning mechanism, in particular to a deep sea net cage cleaning robot and a cleaning method driven in parallel by cables. Background technique [0002] There are two key links in the cleaning of deep-sea net cages. One is the design of the end cleaning mechanism, and the other is how to enable the end cleaning mechanism to move through the inner space of the cage to achieve flexible cleaning without dead ends. The deep-sea net cage cleaning device currently used is often a fishing type cleaning device connected by a single cable. Its movement relies on people or boats on the shore to pull the cable and move around the perimeter of the net cage to achieve the cleaning operation on the perimeter; rely on the up and down expansion of the cable. Realize the cleaning operation on the depth of the cage; this cleaning method is a serial drive method, which has the following disadvantages. First, it needs to move ...

AI Technical Summary

Problems solved by technology

The deep-sea net cage cleaning device currently used is often a fishing type cleaning device connected by a single cable. Its movement relies on people or boats on the shore to pull the cable and move around the perimeter of the net cage to achieve the cleaning operation on the perimeter; rely on the up and down expansion of the cable. Realize the cleaning operation on the depth of the cage; this cleaning method is a serial drive method, which has the following disadvantages. First, it needs to move on the perimeter of the cage, and the energy consumption is high. It is difficult to realize automation on the cage, and often It relies on manual operation; second, a single cable is easily affected by the water flow under water, the positioning is not accurate, and it is easy to miss and wash. If the cable is long, it is difficult for the end cleaning mechanism to follow the movement in real time, and its movement is often a large lag Exercise on shore, its flexibility is limited

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