An intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank and its cleaning method

Abstract

The present invention relates to the technical field of cleaning attachments on the cabin wall of a cultivation tank, in particular to an intelligent cleaning device and a cleaning method for attachments on the cabin wall of a shipborne cultivation tank, which includes two rod bodies. One end of the two rod bodies is provided with a connecting plate, and the other end of the two rod bodies is provided with a telescopic tube. A multi-stage cylinder is arranged inside the telescopic tube. A fixed plate is arranged at the bottom of the telescopic tube. Two positioning plates are arranged on the fixed plate. A first slide rail and a first slider are arranged on the two positioning plates. A sliding plate is arranged on the two first sliders. One end of the two sliding plates is provided with a longitudinal plate. The bottom of the two first sliders is provided with a bottom plate. An elastic telescopic tube connected to the longitudinal plate is arranged on the bottom plate. A polishing device is arranged on the elastic telescopic tube. A driving cylinder is arranged on the fixed plate. A driving device is arranged at the top of the cultivation tank. The device also includes a visual detection device, a length setting module, a distance sensor, a central controller, and a PLC. It reduces the probability of fish being scratched when contacting the cabin wall. During cleaning, it does not contact the cabin wall and will not damage the paint on the cabin wall.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning attachments on the cabin wall of a breeding cabin, in particular to an intelligent cleaning device for attachments on the cabin wall of a shipborne breeding cabin and a cleaning method thereof. Background Art

[0002] Deep sea waters have significant advantages such as rich fishery resources, high-quality water sources, suitable water temperatures, and being far from land-based pollution and diseases. They have excellent conditions for carrying out large-scale offshore aquaculture and logistics processing and supply, and are a new space for the development of modern aquaculture and the marine economy.

[0003] The aquaculture workboat is one of the core equipment for the development of deep sea aquaculture projects, with high economic value, ecological value, and social value. As a new type of deep sea aquaculture equipment, it has the advantage of being able to cruise and avoid disasters such as typhoons and red tides compared to traditional aquaculture platforms. Currently, the world's first 100,000-ton aquaculture workboat is under construction. The ship is equipped with 15 large breeding cabins, which are in the shape of a "wide-mouth bottle" with smooth inner walls. The size of a single breeding cabin is approximately 20m in length × 20m in width × 19m in height, the water depth in the breeding cabin is 14m, and the breeding water volume of a single breeding cabin is approximately 5600 cubic meters. The aquaculture workboat, as a highly intensive aquaculture mode, has the characteristics of high aquaculture density, a large quantity of finished fish products, and being suitable for large-scale production of high-quality fish.

[0004] In the shipborne cabin aquaculture mode, after a batch of breeding in the breeding cabin, fouling organisms such as oysters and barnacles will adhere to the cabin wall. At this time, divers need to be dispatched to dive into the water to clean the hull. This cleaning method has a large labor intensity, poor working conditions, a short sustainable operation time, poor safety, and especially low efficiency. Even if it is regularly cleaned by a robot, it is difficult to eradicate. Repeatedly cleaning the robot by physical methods will also damage the paint on the surface of the breeding cabin, affecting the anti-corrosion effect. Summary of the Invention

[0005] In view of the deficiencies of the above-mentioned prior art, an intelligent cleaning device for attachments on the cabin wall of a shipborne breeding cabin and a cleaning method thereof are provided. It gradually grinds the attachments from the outside to the inside at the centimeter level, causing the attachments to die and fall off the cabin wall by themselves, reducing the attachment of fouling organisms. The remaining attachments are smooth after grinding, forming a smooth layer on the cabin wall, reducing the probability of fish being scratched when contacting the cabin wall. Moreover, during cleaning, it does not contact the cabin wall of the breeding cabin, will not damage the paint on the surface of the breeding cabin, affecting the anti-corrosion effect, and reduces the workload of manually cleaning the attached organisms.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is an intelligent cleaning device for attachments on the cabin wall of a shipborne aquaculture tank, which includes two parallel rod bodies. At the bottom of one end of the two rod bodies, there is a connecting plate for connecting the two. At the other end of the two rod bodies, there is a telescopic tube composed of multiple mutually sliding tubes. Inside the telescopic tube, there is a multi-stage cylinder for driving the telescopic tube to expand and contract. At the bottom of the telescopic tube, there is a fixing plate for connecting the two telescopic tubes. On the fixing plate, there are two parallel positioning plates. On the two positioning plates, there are respectively a first slide rail and a first slider. On the two first sliders, there are respectively a sliding plate. At one end of the two sliding plates, there is a longitudinal plate. At the bottom of the two first sliders, there is a bottom plate. On the bottom plate, there is an elastic telescopic tube connected to the longitudinal plate. On the elastic telescopic tube, there is a polishing device. On the fixing plate, there is a driving cylinder connected to the longitudinal plate. At the top of the aquaculture tank, there is a driving device for driving the connecting plate to perform equidistant displacement along the length direction of the top of the aquaculture tank. It also includes a visual detection device provided on the rod body for detecting the outer edge of the outermost attachment on the cabin wall, a length setting module for setting the polishing length, a distance sensor for detecting the distance between the polishing device and the cabin wall, a central controller for receiving the data of the visual detection device and the length setting module, and a PLC. After receiving the data of the visual detection device and the length setting module, the central controller sends a signal to the controller. The controller sends a start signal to the driving cylinder to drive the polishing device to the set position of the length setting module, and sends a start signal to the multi-stage cylinder and the polishing device. The multi-stage cylinder drives the telescopic tube to drive the polishing device to reciprocate along the height direction of the cabin wall for primary polishing. After the primary polishing is completed, the controller sends a reset signal to the multi-stage cylinder and sends a start signal to the visual detection device. After receiving the visual detection device, the central controller sends a signal to the controller. The controller sends a start signal to the driving cylinder to drive the polishing device to the set position of the length setting module, and sends a start signal to the multi-stage cylinder and the polishing device. The multi-stage cylinder drives the telescopic tube to drive the polishing device to reciprocate along the height direction of the cabin wall for secondary polishing. After the secondary polishing is completed, the controller sends a reset signal to the multi-stage cylinder and sends a start signal to the visual detection device, and so on. After multiple polishings, when the distance sensor detects that the distance between the polishing device and the cabin wall reaches a predetermined distance, it sends a signal to the controller. The controller sends a reset signal to the multi-stage cylinder, sends a stop signal to the polishing device, and sends a start signal to the driving device to drive the connecting plate to run to a predetermined position, and polishes according to the above program.

[0007] For the above intelligent cleaning device for attachments on the cabin wall of a shipborne aquaculture tank, the polishing device includes a polishing frame composed of a first plate body and two second plate bodies parallel to the first plate body. On the polishing frame, there is a polishing roller rotatably connected to the polishing frame. On one of the second plate bodies, there is a first driving motor for driving the polishing roller to rotate. The first driving motor is signal-connected to the controller.

[0008] The above-mentioned intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank, wherein the driving device includes a second slide rail and a second slider arranged on the top of the aquaculture tank and along the length direction of the top of the aquaculture tank. A second driving motor and a fixed bearing are respectively arranged at both ends of the second slide rail. A lead screw for connecting the two is arranged between the second driving motor and the fixed bearing. A threaded cavity for cooperating with the lead screw is formed on the connecting plate. The second driving motor is in signal connection with the controller. The telescopic pipe is horizontally displaced on the top of the aquaculture tank until the cleaning of the attachments on the entire bulkhead of the aquaculture tank is completed.

[0009] The above-mentioned intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank, wherein the elastic telescopic pipe includes a fixed cylinder arranged on the longitudinal plate, and a telescopic cylinder arranged in the fixed cylinder and slidably connected to the inner wall of the fixed cylinder. A spring with both ends connected to the fixed cylinder and the telescopic cylinder respectively is arranged in the fixed cylinder.

[0010] The cleaning method of the above-mentioned intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank includes the following steps:

[0011] (1) Detect the outer edge of the outermost attachment on the bulkhead;

[0012] (2) Set the grinding length;

[0013] (3) According to the grinding length set in step (2), reciprocate along the height direction of the bulkhead for primary grinding;

[0014] (4) After the primary grinding is completed, detect the outer edge of the outermost attachment on the bulkhead again;

[0015] (5) According to the grinding length set in step (2), reciprocate along the height direction of the bulkhead for secondary grinding;

[0016] (6) By analogy, when the predetermined distance is reached between the grinding device and the bulkhead after multiple grindings, the grinding device resets;

[0017] (7) Displace the cleaning device equidistantly on the top of the aquaculture tank, and repeat steps (1)-(6).

[0018] In the cleaning method of the above-mentioned intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank, in step (2), the set grinding length is 1-2 cm.

[0019] In the cleaning method of the above-mentioned intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank, when the grinding device runs downward along the height direction of the bulkhead, the grinding roller rotates clockwise, and when the grinding device runs upward along the height direction of the bulkhead, the grinding roller rotates counterclockwise.

[0020] The beneficial effects of an intelligent cleaning device for attachments on the cabin wall of a shipborne aquaculture tank and its cleaning method of the present invention are as follows: By setting a driving cylinder to drive a longitudinal plate, and then driving an elastic telescopic tube and a grinding device on the elastic telescopic tube to grind the attachments on the cabin wall. By setting a visual detection device, a length setting module, a distance sensor, a central controller, and a PLC, the attachments are gradually ground centimeter by centimeter from the outside to the inside, causing the attachments to die and fall off the cabin wall by themselves, reducing the attachment of fouling organisms. The remaining attachments are smooth on the surface after grinding, forming a smooth layer on the cabin wall, reducing the probability of fish being scratched when contacting the cabin wall. Moreover, during cleaning, it does not contact the cabin wall of the aquaculture tank, will not damage the paint on the surface of the aquaculture tank, affect the anti-corrosion effect, and reduce the workload of manually cleaning the attached organisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of the present invention;

[0022] Figure 2 is a schematic structural diagram of the present invention after removing the telescopic tube;

[0023] Figure 3 is a schematic internal structure diagram of the telescopic tube. DETAILED DESCRIPTION OF THE INVENTION

[0024] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] As shown in the figure, an intelligent cleaning device for attachments on the cabin wall of a shipborne aquaculture tank includes two parallel rod bodies 1. At the bottom of one end of the two rod bodies 1, there is a connecting plate 2 for connecting the two. At the other end of the two rod bodies 1, there is a telescopic tube 4 composed of a plurality of mutually sliding tube bodies 3. Inside the telescopic tube 4, there is a multi-stage cylinder 5 for driving the telescopic tube 4 to expand and contract. At the bottom of the telescopic tube 4, there is a fixing plate 6 for connecting the two telescopic tubes 4. On the fixing plate 6, there are two parallel positioning plates 7. On the two positioning plates 7, there are respectively a first slide rail 8 and a first slider. On the two first sliders, there are respectively a sliding plate 9. At one end of the two sliding plates 9, there is a longitudinal plate 10. At the bottom of the two first sliders, there is a bottom plate 11. On the bottom plate 11, there is an elastic telescopic tube 12 connected to the longitudinal plate 10. On the elastic telescopic tube 12, there is a grinding device 13. On the fixing plate 6, there is a driving cylinder 14 connected to the longitudinal plate 10. At the top of the aquaculture tank, there is a driving device for driving the connecting plate 2 to perform equidistant displacement along the length direction of the top of the aquaculture tank. There is also a visual detection device provided on the rod body 1 for detecting the outer edge part of the outermost attachment on the cabin wall, a length setting module for setting the grinding length, a distance sensor for detecting the distance between the grinding device and the cabin wall, a central controller for receiving the data of the visual detection device and the length setting module, and a PLC. After the central controller receives the data of the visual detection device and the length setting module, it sends a signal to the controller. The controller sends a start signal to the driving cylinder to drive the grinding device to the set position of the length setting module, and sends a start signal to the multi-stage cylinder and the grinding device. The multi-stage cylinder drives the telescopic tube to drive the grinding device to reciprocate along the height direction of the cabin wall for primary grinding. After the primary grinding is completed, the controller sends a reset signal to the multi-stage cylinder and sends a start signal to the visual detection device. After the central controller receives the visual detection device, it sends a signal to the controller. The controller sends a start signal to the driving cylinder to drive the grinding device to the set position of the length setting module, and sends a start signal to the multi-stage cylinder and the grinding device. The multi-stage cylinder drives the telescopic tube to drive the grinding device to reciprocate along the height direction of the cabin wall for secondary grinding. After the secondary grinding is completed, the controller sends a reset signal to the multi-stage cylinder and sends a start signal to the visual detection device, and so on. After multiple grindings, when the distance sensor detects that the distance between the grinding device and the cabin wall reaches a predetermined distance, it sends a signal to the controller. The controller sends a reset signal to the multi-stage cylinder, sends a stop signal to the grinding device, and sends a start signal to the driving device to drive the connecting plate to run to a predetermined position, and grinds according to the above procedure.By setting a driving cylinder to drive the longitudinal plate, thereby driving the elastic telescopic tube and the grinding device on the elastic telescopic tube to grind the attachments on the cabin wall, and by setting a visual detection device, a length setting module, a distance sensor, a central controller, and a PLC, the attachments are gradually ground centimeter by centimeter from the outside to the inside, so that the attachments die and fall off the cabin wall by themselves, reducing the attachment of fouling organisms. The remaining attachments are smooth on the surface after grinding, forming a smooth layer on the cabin wall, reducing the probability of fish being scratched when contacting the cabin wall. Moreover, during cleaning, it does not contact the cabin wall of the culture tank, will not damage the paint on the surface of the culture tank, affect the anti-corrosion effect, and reduce the workload of manually cleaning the attached organisms.

[0026] The grinding device includes a grinding frame composed of a first plate body 15 and two second plate bodies 16 arranged in parallel on the first plate body 15. A grinding roller 17 rotatably connected to the grinding frame is provided on the grinding frame. A first driving motor 18 for driving the grinding roller 17 to rotate is provided on one second plate body 16, and the first driving motor 18 is signal-connected to the controller.

[0027] The driving device includes a second slide rail 19 and a second slider arranged along the length direction of the top of the culture tank at the top of the culture tank. A second driving motor and a fixed bearing (not shown in the figure) are respectively provided at both ends of the second slide rail 19. A lead screw 20 for connecting the two is provided between the second driving motor and the fixed bearing. A threaded cavity for cooperating with the lead screw 20 is provided on the connecting plate 2, and the second driving motor 20 is signal-connected to the controller.

[0028] The elastic telescopic tube includes a fixed cylinder 21 provided on the longitudinal plate 10, and a telescopic cylinder 22 provided in the fixed cylinder 21 and slidably connected to the inner wall of the fixed cylinder 21. A spring is provided in the fixed cylinder 21 and connected to the fixed cylinder 21 and the telescopic cylinder 22 at both ends respectively. The spring is always in a fully extended state in real time, forming a quasi-binding force on the grinding roller, which not only ensures that the grinding roller 17 always contacts the outermost edge part of the attachment during grinding, but also realizes the flexible grinding of the outermost edge part of the attachment by the grinding roller 17, reducing the probability of directly grinding the attachment off the cabin wall, making the attachment die and fall off the cabin wall by itself, reducing the attachment of fouling organisms. The remaining attachments are smooth on the surface after grinding, forming a smooth layer on the cabin wall, reducing the probability of fish being scratched when contacting the cabin wall.

[0029] The cleaning method of the above-mentioned intelligent cleaning device for attachments on the cabin wall of a shipborne culture tank includes the following steps:

[0030] (1). Detect the outermost edge part of the outermost attachment on the cabin wall;

[0031] (2). Set the grinding length;

[0032] (3) According to the grinding length set in step (2), reciprocate along the height direction of the bulkhead to perform initial grinding;

[0033] (4) After the initial grinding is completed, inspect the outer edge of the outermost attachment on the bulkhead again;

[0034] (5) According to the grinding length set in step (2), reciprocate along the height direction of the bulkhead to perform grinding again;

[0035] (6) By analogy, after multiple grindings, when the distance between the grinding device and the bulkhead reaches a predetermined distance, the grinding device is reset;

[0036] (7) Move the cleaning device equidistantly on the top of the culture chamber and repeat steps (1) to (6).

[0037] In the cleaning method of the above-mentioned intelligent cleaning device for shipborne aquaculture cabin bulkhead attachments, in the step (2), the set grinding length is 1-2 cm.

[0038] In the cleaning method of the above-mentioned intelligent cleaning device for shipborne aquaculture cabin bulkhead attachments, when the grinding device runs downward along the bulkhead height direction, the grinding roller rotates clockwise, and when the grinding device runs upward along the bulkhead height direction, the grinding roller rotates counterclockwise.

[0039] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank, characterized in that: The invention comprises two rod bodies arranged in parallel, a connecting plate for connecting the two rod bodies is provided at the bottom of one end of the two rod bodies, a telescopic tube composed of a plurality of tube bodies slidably connected to each other is provided at the other end of the two rod bodies, a multi-stage cylinder for driving the telescopic tube to extend and retract is provided in the telescopic tube, a fixing plate for connecting the two telescopic tubes is provided at the bottom of the telescopic tube, two parallel positioning plates are provided on the fixing plate, a first slide rail and a first slider are provided on the two positioning plates respectively, a sliding plate is provided on each of the two first sliders, a longitudinal plate is provided at one end of the two sliding plates, a bottom plate is provided at the bottom of the two first sliders, and a connecting plate connected to the longitudinal plate is provided on the bottom plate An elastic telescopic tube is provided, a grinding device is provided on the elastic telescopic tube, a driving cylinder connected to the longitudinal plate is provided on the fixed plate, and a driving device for driving the connecting plate to perform equidistant displacement along the length direction of the top of the breeding cabin is provided on the top of the breeding cabin. It also includes a visual detection device provided on the rod body for detecting the outer edge of the outermost attachment on the cabin wall, a length setting module for setting the grinding length, a distance sensor for detecting the distance between the grinding device and the cabin wall, a central controller for receiving data of the visual detection device and the length setting module, and a controller, wherein the central controller receives data of the visual detection device and the length setting module. After receiving the module data, a signal is sent to the controller, and the controller sends a start signal to the driving cylinder to drive the grinding device to the setting position of the length setting module, and sends a start signal to the multi-stage cylinder and the grinding device. The multi-stage cylinder drives the telescopic tube to drive the grinding device to reciprocate along the height direction of the bulkhead for the initial grinding. After the initial grinding is completed, the controller sends a reset signal to the multi-stage cylinder and sends a start signal to the visual detection device. After the central controller receives the data of the visual detection device, it sends a signal to the controller, and the controller sends a start signal to the driving cylinder to drive the grinding device to the setting position of the length setting module. , and sends a start signal to the multi-stage cylinder and the grinding device. The multi-stage cylinder drives the telescopic tube to drive the grinding device to reciprocate along the height direction of the bulkhead for re-grinding. When the re-grinding is completed, the controller sends a reset signal to the multi-stage cylinder and sends a start signal to the visual detection device. By analogy, after multiple grindings, when the distance sensor detects that the distance between the grinding device and the bulkhead reaches a predetermined distance, it sends a signal to the controller. The controller sends a reset signal to the multi-stage cylinder, sends a stop signal to the grinding device, and sends a start signal to the driving device to drive the connecting plate to run to a predetermined position, and grinds according to the above procedure; The grinding device comprises a grinding frame composed of a first plate body and two second plates arranged parallel to the first plate body, a grinding roller rotatably connected to the grinding frame is arranged on the grinding frame, a first driving motor for driving the grinding roller to rotate is arranged on the second plate body, and the first driving motor is connected to the controller signal; The elastic telescopic tube comprises a fixed tube arranged on the longitudinal plate, and a telescopic tube arranged in the fixed tube and slidably connected to the inner wall of the fixed tube. A spring is arranged in the fixed tube, and its two ends are respectively connected to the fixed tube and the telescopic tube.

2. The intelligent cleaning device for attachments on the bulkhead of a shipborne aquaculture tank according to claim 1, wherein The driving device includes a second slide rail and a second slider arranged on the top of the breeding cabin and along the length direction of the top of the breeding cabin. A second driving motor and a fixed bearing are respectively provided at both ends of the second slide rail. A screw rod for connecting the second driving motor and the fixed bearing is provided between the second driving motor and the fixed bearing. A threaded cavity for cooperating with the screw rod is opened on the connecting plate. The second driving motor is connected to the controller signal.

3. The cleaning method of the intelligent cleaning device for the attachments on the bulkhead of the on-board aquaculture tank according to any one of claims 1-2, characterized in that: The steps include: (1) Inspect the outer edge of the outermost attachment on the bulkhead; (2) Set the grinding length; (3) According to the grinding length set in step (2), reciprocate along the height direction of the bulkhead to perform initial grinding; (4) After the initial grinding is completed, inspect the outer edge of the outermost attachment on the bulkhead again; (5) According to the grinding length set in step (2), reciprocate along the height direction of the bulkhead to perform further grinding; (6) By analogy, after multiple grindings, when the distance between the grinding device and the bulkhead reaches a predetermined distance, the grinding device is reset; (7) Move the cleaning device equidistantly on the top of the culture chamber and repeat steps (1) to (6).

4. The cleaning method of the intelligent cleaning device for the attachments on the bulkhead of the on-board aquaculture tank according to claim 3, characterized in that In the step (2), the set grinding length is 1-2 cm.

5. The cleaning method of the intelligent cleaning device for attachments on the bulkhead of the shipborne aquaculture tank according to claim 4, characterized in that, When the grinding device moves downward along the height direction of the bulkhead, the grinding roller rotates clockwise, and when the grinding device moves upward along the height direction of the bulkhead, the grinding roller rotates counterclockwise.

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