An underwater cleaning robot for deep - sea fishery cages

Abstract

The present invention belongs to the field of underwater operation tools, and discloses an underwater cleaning robot for deep-sea fishery cages, which comprises a main body frame and a propulsion device, a control and power distribution device, a cleaning device and a traveling device mounted on the main body frame; the propulsion device realizes the motion control of the robot by arranging propellers at different positions and angles; the control and power distribution device of the robot consists of two watertight and pressure-resistant cabins, which can realize the control and energy supply of the power device and the cleaning device; the cleaning device of the robot is a cleaning disc for cleaning fishing nets; a safety distance is provided between the working surface of the cleaning disc and the lowest plane of the whole robot, and the safety distance is limited to the minimum to avoid the interference of fishing nets; the traveling device includes traveling wheels. The operation area per unit time of the present invention is large, and it can clean fishing nets at different parts of deep-sea fisheries, with high efficiency and stability.

Description

Technical Field

[0001] The present invention belongs to the field of underwater operation tools, and more specifically, relates to an underwater cleaning robot for deep - sea fishery cages. Background Art

[0002] With the deepening of ocean resource development and the progress of technology, it has become possible to build and use large - scale deep - sea aquaculture farms. Its commissioning has promoted the large - scale advancement of fishery breeding areas to the open sea, which is of milestone significance for safeguarding national marine rights and interests and expanding the development space of the deep - sea aquaculture industry. Deep - sea cleaning robots are important guaranteeing equipment for deep - sea aquaculture farms and play an important role in the application and maintenance of deep - sea aquaculture farms. After the netting of deep - sea cages has been soaked in seawater for a long time, a large number of attached organisms such as algae and shellfish adhere to the netting, resulting in blocked mesh holes, reduced seawater filtration, and being unfavorable for the growth of fish. At present, the research and development of supporting equipment for the deep - sea cage aquaculture industry in China lags relatively behind, lacking corresponding automated cleaning equipment. The cleaning methods adopted in China include: manual cleaning method, biological cleaning method, mechanical cleaning method, drug cleaning method, and microbial film method, etc. These methods all have disadvantages such as poor cleaning effect, low efficiency, and great damage to the netting.

[0003] The research and development and application of robots for underwater cleaning of fishing nets in China are still in the initial stage, and there are often deficiencies such as being unable to clean fishing nets with large areas and complex shapes and untimely monitoring of cleaning effects. Summary of the Invention

[0004] In view of the above - mentioned defects or improvement requirements of the prior art, the present invention provides an underwater cleaning robot for deep - sea fishery cages, which is used to stably and efficiently remove attachments (such as seaweed) on fishing nets.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided an underwater cleaning robot for deep - sea fishery cages, including a main body frame and a propulsion device, a control and power distribution device, a cleaning device, and a walking device mounted on the main body frame;

[0006] The propulsion device includes a front - and - rear motion propeller, an up - and - down motion propeller, and a lateral movement propeller with their rotating shafts arranged perpendicular to each other in pairs and independently driven;

[0007] The cleaning device includes a cleaning disk; there is a safety distance between the working surface of the cleaning disk and the lowest plane of the whole robot, and this safety distance is restricted to the minimum to avoid interference from fishing nets;

[0008] The walking device includes walking wheels; the up - and - down motion propeller is used to drive the robot to move up and down and provide the pressure to make the walking wheels closely adhere to the surface to be cleaned when the robot is performing cleaning work;

[0009] The control and power distribution device includes a controller and a power distribution module, which are respectively placed in a watertight control pressure-resistant chamber and a power distribution pressure-resistant chamber; the controller is connected to the drivers of the forward and backward moving propellers, the up and down moving propellers, and the lateral moving propeller, as well as the cleaning device; the power distribution module is used to supply power to each electrical component.

[0010] Further, it includes two forward and backward moving propellers, three up and down moving propellers, and one lateral moving propeller, each of which is connected to an underwater motor for independent drive; the two forward and backward moving propellers are symmetrically distributed left and right and are located at the front of the main frame; the three up and down moving propellers are distributed in an isosceles triangle. The two up and down moving propellers at the base angles of the isosceles triangle are symmetrically distributed left and right at the front of the main frame and are arranged in a staggered manner with the forward and backward moving propellers, and the other up and down moving propeller is located at the rear of the main frame; the lateral moving propeller is located in the middle of the main frame.

[0011] Further, the cleaning disc includes three cavitation jet cleaning discs, which are installed at the bottom of the main frame in a triangular distribution.

[0012] Further, the traveling wheels are unpowered traveling wheels, and four unpowered traveling wheels are symmetrically installed on both sides of the main frame.

[0013] Further, an underwater camera is also carried on the main frame.

[0014] Further, an inertial navigation module is carried in the control pressure-resistant chamber, and the navigation method for underwater movement adopts a combined navigation method of the image of the underwater camera plus inertial navigation.

[0015] Further, the controller is connected to a remote controller on an external mother ship through an underwater cable.

[0016] Further, the main frame is made of sealed hollow tubes, and both the control pressure-resistant chamber and the power distribution pressure-resistant chamber are sealed hollow structures.

[0017] Further, it also includes a center of gravity adjustment device, which includes at least one counterweight block and at least two counterweight installation positions pre-set on the main frame for installing and fixing the counterweight block.

[0018] Further, the layout positions of the counterweight installation positions are configured as follows:

[0019] One of the counterweight installation positions is located at the rear end of the upper part of the main frame. When only the counterweight block is installed at the counterweight installation position at the rear end of the upper part of the main frame, the robot is in a vertical state under the action of its own gravity and buoyancy. At this time, the overall center of gravity of the robot and the center of buoyancy are collinear in the vertical direction and the center of gravity is located below the center of buoyancy;

[0020] The remaining counterweight installation position is located at the lower part of the main frame. When counterweight blocks are installed only at the counterweight installation positions at the lower part of the main frame, the robot is in a horizontal state under its own gravity and the buoyancy force it receives. At this time, the center of gravity of the whole robot and the center of buoyancy are collinear in the vertical direction and the center of gravity is located below the center of buoyancy.

[0021] Generally speaking, compared with the prior art, the above technical solution conceived by the present invention can achieve the following beneficial effects:

[0022] 1) The present invention realizes the movement of the robot in three directions through three groups of propellers arranged perpendicular to each other in different directions, so as to be able to perform scanning cleaning on a large-area fishing net; the up-and-down moving propeller has both the functions of up-and-down movement and providing adhesion for the walking wheels, and it can still stably adhere to and clean even on a 90° vertical wall surface. Moreover, the safety distance reserved by the cleaning disk can avoid the interference to the movement of the robot caused by the fishing net brought up by the water flow scouring during the cleaning process. Therefore, the present invention is also applicable to various net cages and fishing nets with complex shapes.

[0023] 2) The forward and backward movement is realized by the forward and reverse rotation of two front-and-back moving propellers symmetrically distributed on the left and right, and the output of the driving force is more stable; the up-and-down movement is realized by the forward and reverse rotation of three up-and-down moving propellers arranged in an isosceles triangle. On the one hand, the movement is more stable during the movement of the robot, and on the other hand, the force distribution is more uniform during the working process of the robot, so that the robot is more stably adsorbed on the surface to be cleaned under the action of the propeller pressure.

[0024] 3) The three cavitation jet cleaning disks are installed in a triangular distribution. On the one hand, it can improve the cleaning area, and on the other hand, because there must be a front and a back in the triangular distribution, the effect of multiple cleanings can be achieved with one movement, so the cleaning efficiency is higher.

[0025] 4) Since the present invention uses three groups of propellers for driving, using non-powered walking wheels can simplify the structure and save design space; directly using the support of the non-powered walking wheels makes the working surface of the cleaning disk leave the surface to be cleaned by a certain distance, so that only by designing the diameter or installation height of the non-powered walking wheels according to different use scenarios can the purpose of changing the required safety distance be achieved, and the main structure of the robot does not need to be changed, which greatly improves the ability of the robot to adapt to different working environments and reduces the design and manufacturing difficulty.

[0026] 5) Equipped with an underwater camera, it is convenient for the staff to remotely monitor and observe the cleaning effect.

[0027] 6) Adopting a composite navigation method of underwater camera image plus inertial navigation enables the operator to master the position, working status, etc. of the robot in real time.

[0028] 7) The controller is connected to the remote controller on the external mother ship through an underwater cable, with high signal transmission quality and better remote control stability.

[0029] 8) The present invention adopts a frame structure made of hollow pipes, without the need to additionally configure buoyancy materials. Most of the buoyancy is provided by the frame, saving buoyancy materials and providing a large space structure. Moreover, the frame can be made of aluminum alloy, and both the materials and processes belong to mature technologies, making it extremely convenient to obtain materials and manufacture.

[0030] 9) The present invention reserves a center of gravity adjustment mechanism within the frame. By installing counterweight blocks and adjusting the quantity and position of the counterweight blocks, the robot can maintain stable movement at the corresponding pitch angles according to the changes in the center of gravity position caused by different counterweights.

[0031] 10) Set the position conditions of the center of gravity and the center of buoyancy in the horizontal state and the position conditions of the center of gravity and the center of buoyancy in the vertical state, and accordingly set the counterweight installation positions and counterweight blocks, which can ensure that the robot can maintain corresponding stable movements in both the horizontal state and the vertical state, further improving the stability of the cleaning work and being able to stably handle the cleaning of the 90° side net of the fishing net. Brief Description of the Drawings

[0032] Figure 1 is a schematic top - view structural layout diagram of a preferred embodiment of the present invention;

[0033] Figure 2 is a schematic bottom - view structural layout diagram of a preferred embodiment of the present invention;

[0034] Figure 3 、 Figure 4 is a schematic diagram of the installation position of the counterweight block of a preferred embodiment of the present invention;

[0035] Figure 5 、 Figure 6 is a schematic diagram of the installation position of the camera of a preferred embodiment of the present invention.

[0036] In all the drawings, the same reference numerals are used to represent the same elements or structures, where:

[0037] 1 - front - and - rear movement propeller, 2 - up - and - down movement propeller, 3 - lateral movement propeller, 4 - walking wheel, 5 - control pressure - resistant chamber, 6 - power distribution pressure - resistant chamber, 7 - cleaning disk, 8 - counterweight installation position, 9 - counterweight installation pipe, 10 - underwater camera. Detailed Description of the Invention

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] Referring to Figures 1 to 2 , an underwater cleaning robot provided by a preferred embodiment of the present invention includes a main body frame, and a propulsion device, a control and power distribution device, a cleaning device and a walking device mounted on the main body frame.

[0040] The power supply of the propulsion device is externally connected to the watertight power distribution pressure-resistant cabin 6, and then obtained through distribution by the power supply circuit control module in the cabin. The driving force and forward and reverse rotation modes of the propulsion device are adjusted through the control and power distribution device, so as to control and adjust the working attitude and movement route of the robot.

[0041] The layout of the propulsion device is as shown in the attached Figure 1 . Their respective functions are: two front and rear movement propellers 1 are used to provide the power for the robot to move forward and backward; three up and down movement propellers 2 are used to provide the power for the robot in the vertical direction, and to provide the pressure for the robot to adsorb on the surface to be cleaned during work; the transverse movement propeller 3 is used to provide the power for the robot to move laterally. The propellers 1, 2 and the propellers 3, 4 are symmetrically placed at the tail of the robot; the propeller 5 is placed at the central position of the robot; the propeller 6 is placed at the front end of the robot.

[0042] In this embodiment, two front and rear movement propellers 1, three up and down movement propellers 2 and one transverse movement propeller 3 are each connected to an underwater motor for independent drive; the underwater motor is connected to the controller in the watertight control pressure-resistant cabin 5 through an underwater cable. The two front and rear movement propellers 1 are symmetrically distributed left and right and are located at the front of the main body frame; the three up and down movement propellers 2 are distributed in an isosceles triangle. The two up and down movement propellers 2 at the base angles of the isosceles triangle are symmetrically distributed left and right at the front of the main body frame and are arranged in a staggered manner with the front and rear movement propellers 1, and the other up and down movement propeller 2 is located at the rear of the main body frame; the transverse movement propeller 3 is located in the middle of the main body frame.

[0043] The layout of the walking device is as shown in Figure 1 . Four non-powered walking wheels are symmetrically arranged on both sides of the frame, so that the robot can better adsorb on the fishing net and move in a straight line.

[0044] The control and power distribution device is as shown in the attached Figure 1, which consists of two watertight pressure-resistant cabins (i.e., the control pressure-resistant cabin 5 and the power distribution pressure-resistant cabin 6) and their internal controllers and power distribution circuits. The watertight pressure-resistant cabins are placed on the crossbeams of the main frame. The pressure-resistant cabin on the left is the control pressure-resistant cabin 5, and the pressure-resistant cabin on the right is the power distribution pressure-resistant cabin 6.

[0045] Preferably, this embodiment also provides a center of gravity adjustment device, such as Figure 3 shown, which consists of the counterweight installation positions 8 on the main frame and 4 counterweights (not shown). The installation position of the counterweights is related to the required working state. When cleaning the bottom fishing net, the counterweights are installed in the counterweight installation positions 8 on both sides of the bottom of the robot, with one counterweight installed in each slot. After weighting, the center of gravity and the center of buoyancy of the whole robot are just collinear in the vertical direction and the center of gravity is below the center of buoyancy, so as to maintain a stable horizontal posture for work. Preferably, the counterweights have slots adapted to the slots of the counterweight installation positions, which facilitates the installation and disassembly of the counterweights. Taking the 90° side net cleaning as an example, when cleaning the side net, all 4 counterweights are installed in the preset counterweight installation positions 8 in the counterweight installation pipes 9 at the top of the main frame. After weighting, the pitching angle of the robot is 90°, and the center of gravity and the center of buoyancy of the whole are just collinear in the vertical direction and the center of gravity is below the center of buoyancy, so as to maintain a stable pitching angle for work, which is applicable to the fishing net cleaning in large deep-sea fishing grounds. Its working area per unit time is large. It can clean the side net by quickly adjusting the center of gravity, clean the fishing nets in different parts of the deep-sea fishing ground, adopt the composite navigation method of image plus inertia, and can accurately grasp the situation of itself and the surrounding, with high working efficiency and stability.

[0046] The working process of this embodiment is as follows:

[0047] When cleaning the bottom net, install the counterweights, put the robot into the water, and start the three groups of propellers to move the robot to the designated starting position. Then, turn off the transverse movement propeller, and use the up and down movement propeller to provide downward pressure to make the robot adsorb on the bottom surface of the net cage. Start the cleaning disk, and drive the robot forward by the front and back movement propellers to complete the cleaning of a straight path, and then turn off the front and back movement propellers. Next, reverse the up and down movement propeller to make the robot rise a short distance, start the transverse movement propeller to make the robot translate to the next cleaning path, and then rotate the up and down movement propeller forward to provide downward pressure to make the robot adsorb on the bottom surface of the net cage, and drive the robot by the front and back movement propellers to complete the cleaning of the next straight path. Repeat this process to complete the cleaning of the entire bottom net.

[0048] When cleaning the side net, take out the robot, reconfigure the counterweights to the rear of the top of the main frame and then put the robot into the water again to make the robot stand upright in the water, with the working surface of the cleaning disk facing the side net. The side net cleaning process is similar to that of cleaning the bottom net.

[0049] Based on the above counterweight concept of the present invention, the specific counterweight position and the weight of the counterweight block can be directly obtained through simulation experiments after the rest of the robot's structure design is finalized. Since simulation experiments are basic skills for those skilled in the art, they will not be elaborated here. In addition, for underwater operation robots, watertight measures are also basic requirements and common knowledge. Various underwater operation components such as underwater cables, underwater motors, underwater cameras, etc. can also be directly purchased as commercially available mature products according to the specifications required by the actual design. The inertial navigation module can also be directly purchased as a commercially available mature product, and will not be elaborated either.

[0050] It is easy for those skilled in the art to understand that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An underwater cleaning robot for deep - sea fishing ground cages, characterized in that, It includes a main frame and a propulsion device, a control and power distribution device, a cleaning device, and a traveling device installed on the main frame, and also includes a center of gravity adjustment device; an underwater camera is also mounted on the main frame; The propulsion device includes a front and rear movement propeller (1), an up and down movement propeller (2), and a lateral movement propeller (3) that are independently driven; The cleaning device includes a cleaning disc (7); there is a safety distance between the working surface of the cleaning disc (7) and the lowest plane of the whole robot, and this safety distance is limited by the minimum requirement of avoiding interference from fishing nets; The traveling device includes traveling wheels (4); the up and down movement propeller (2) is used to drive the robot to move up and down and provide the pressure to make the traveling wheels (4) close to the surface to be cleaned when the robot is performing cleaning work; the traveling wheels (4) are unpowered traveling wheels, and four unpowered traveling wheels are symmetrically installed on both sides of the main frame, and the lowest points of the four unpowered traveling wheels are all lower than the working surface of the cleaning disc (7); The control and power distribution device includes a controller and a power distribution module, which are respectively placed in a watertight control pressure-resistant chamber (5) and a power distribution pressure-resistant chamber (6); the controller is connected to the drivers of the front and rear movement propeller (1), the up and down movement propeller (2), and the lateral movement propeller (3), and the cleaning device; the power distribution module is used to supply power to each electrical component; The center of gravity adjustment device includes at least one counterweight block and at least two counterweight installation positions (8) preset on the main frame for installing and fixing the counterweight block; The layout positions of the counterweight installation positions (8) are configured as follows: One of the counterweight installation positions (8) is arranged at the rear end of the upper part of the main frame. When only the counterweight block is installed at the counterweight installation position (8) at the rear end of the upper part of the main frame, the robot is in a vertical state under the action of its own gravity and buoyancy. At this time, the pitch angle of the robot is 90 degrees, and the center of gravity of the whole robot and the center of buoyancy are collinear in the vertical direction and the center of gravity is below the center of buoyancy; The remaining counterweight installation positions (8) are arranged at the lower part of the main frame. When only the counterweight block is installed at the counterweight installation positions (8) at the lower part of the main frame, the robot is in a horizontal state under the action of its own gravity and buoyancy. At this time, the pitch angle of the robot is 0 degrees, and the center of gravity of the whole robot and the center of buoyancy are collinear in the vertical direction and the center of gravity is below the center of buoyancy.

2. The underwater cleaning robot for deep - sea fishing ground cages according to claim 1, characterized in that, It includes two front and rear movement propellers (1), three up and down movement propellers (2), and one lateral movement propeller (3), and each is connected to an underwater motor for independent drive; the two front and rear movement propellers (1) are symmetrically distributed left and right and are located at the front of the main frame; the three up and down movement propellers (2) are distributed in an isosceles triangle. The two up and down movement propellers (2) at the base angles of the isosceles triangle are symmetrically distributed left and right at the front of the main frame and are arranged in a staggered manner with the front and rear movement propellers (1), and the other up and down movement propeller (2) is located at the rear of the main frame; the lateral movement propeller (3) is located in the middle of the main frame.

3. The underwater cleaning robot for deep - sea fishing ground cages according to claim 1, characterized in that, The cleaning disc (7) includes three cavitation jet cleaning discs, which are installed at the bottom of the main frame in a triangular distribution.

4. The underwater cleaning robot for deep - sea fishing ground cages according to claim 1, characterized in that, An inertial navigation module is carried in the control pressure-resistant chamber, and the navigation method for underwater movement adopts a combined navigation method of the image of the underwater camera plus inertial navigation.

5. The underwater cleaning robot for deep - sea fishing ground cages according to claim 1, characterized in that, The controller is connected to the remote controller on the external mother ship through an underwater cable.

6. The underwater cleaning robot for deep - sea fishing ground cages according to any one of claims 1 to 5, characterized in that, The main body frame is made of sealed hollow tubes, and both the control pressure-resistant chamber (5) and the power distribution pressure-resistant chamber (6) are of sealed hollow structures.

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