A preventative flexible wire mesh cage cleaning robot based on ultraviolet lamps and its operation method

Abstract

This invention discloses a preventative flexible net cage cleaning robot based on ultraviolet (UV) lamps and its operation method. The robot includes a main frame, on which a water pump, underwater thruster, and main control compartment are installed. The main control compartment houses a main control module and a communication module. The main control module controls the operation of the water pump and underwater thruster, controls the switching of the UV dual-wavelength LEDs, and communicates with a host computer via the communication module. An ellipsoidal water bladder is installed on the top of the main frame, with several UV dual-wavelength LEDs arranged on it. Water inlet and outlet valves are installed on the ellipsoidal water bladder. The cleaning robot disclosed in this invention employs a preventative cleaning mode based on UV lamps, irradiating and disinfecting organisms on the net surface before they are mature and their adhesion is weak. This allows for efficient periodic cleaning and improves cleaning efficiency.

Description

Technical Field

[0001] This invention belongs to the field of cage cleaning robots, and specifically relates to a preventive flexible cage cleaning robot based on ultraviolet lamps and its operation method. Background Technology

[0002] Currently, the main methods for cleaning cage mesh are divided into three types: manual cleaning, biological removal, and mechanical cleaning. Among them, mechanical cleaning is more efficient and has a better cleaning effect. Existing mechanical cleaning equipment for cages, both domestically and internationally, is mainly divided into two categories based on the cleaning method: physical friction brushing devices and high-pressure water jet cleaning devices.

[0003] The physical friction brushing device is mainly for brush cleaning. Its principle is that the control system and motion module make the brush and the mesh adhere to each other and generate relative motion to brush off the attached objects. The defects of this technology are: (1) It is easy to damage the mesh. The brush constantly rubs the mesh, which can easily cause damage to its surface; (2) Maintenance is time-consuming and laborious. The brush easily adsorbs impurities and needs to be cleaned regularly. The cleaning is difficult and improper cleaning can easily lead to the scrapping of the brush; (3) It is difficult to ensure that the brush and the mesh are closely attached, which affects the cleaning effect. During the process of attaching the device to the mesh, the mesh is prone to deformation and some areas are separated from the brush, resulting in poor cleaning effect.

[0004] High-pressure water jet cleaning devices mainly use high-pressure pumps and nozzles to spray high-speed water jets to wash the net cages, causing the attached materials on the surface of the net cages to fall off under the impact of the water jets. Its defects are: (1) The cleaning efficiency is unstable. The backlash force generated by the high-pressure water jets causes the cleaning device to move away from the net, reducing the cleaning efficiency; (2) It is easy to damage the net. The net is easily deformed or even corroded under the impact of strong fluid, resulting in unnecessary cost consumption; (3) It affects the underwater sound environment. The high-pressure water jet equipment generates a lot of noise during operation, which impacts underwater organisms. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide an intelligent net cage cleaning robot that can flexibly fit into deep-sea aquaculture net cages for preventive ultraviolet disinfection and its operation method.

[0006] The present invention adopts the following technical solution:

[0007] An improved preventative flexible cage cleaning robot based on ultraviolet lamps includes a main frame, on which a water pump, underwater thruster, and main control compartment are installed. The main control compartment houses a main control module and a communication module. The main control module controls the operation of the water pump and underwater thruster, controls the switching of the ultraviolet dual-wave lamp beads, and communicates with a host computer via the communication module. An ellipsoidal water bladder is installed on the top of the main frame, with several ultraviolet dual-wave lamp beads arranged on it. Water inlet and outlet valves are installed on the ellipsoidal water bladder, and these valves are connected to the water pump via water pipes. A power supply module supplies power to the cleaning robot via cables.

[0008] Furthermore, a servo motor is installed on the main frame, and an underwater camera is installed on the servo motor. Both the servo motor and the underwater camera are electrically connected to the main control module. The main control module controls the operation of the water pump and the switching of the ultraviolet dual-wave lamp beads through relays.

[0009] Furthermore, the main frame includes a bottom plate and a top plate, which are connected by two opposing main side plates. In addition, two opposing top side plates are vertically arranged on the top plate. The bottom plate, top plate, and main side plates are connected by riveting. The two top side plates rest on the two main side plates respectively. One side of several corner brackets is fixed to the top plate with bolts, and the other side is fixed to the top side plates and the main side plates with bolts.

[0010] Furthermore, there are eight underwater thrusters, four of which are horizontal thrusters placed between the bottom plate and the top plate, and four are vertical thrusters, placed in pairs on the outside of the two main side plates.

[0011] Furthermore, the main control compartment is cylindrical and connected to the top plate by two fixed semicircular rings, and is sealed and waterproofed at the end caps; it also includes two branch compartments, one fixed to the bottom of the top plate and the other fixed to the top of the bottom plate, with cables branched in the branch compartments.

[0012] Furthermore, the main control module consists of a PIXHAWK autopilot and a Raspberry Pi; the communication module consists of a pair of power line carriers, one of which is electrically connected to the main control module inside the main control compartment, and the other is electrically connected to the host computer; the power supply module consists of a 220V to 24V regulated power supply and a step-down module, which draws power from an external power source and supplies power to the cleaning robot through cables.

[0013] Furthermore, there are 20 ultraviolet dual-wave lamps, including 12 UVA lamps and 8 UVC lamps, forming 4 hexagonal lamp groups with one side. The 12 UVA lamps are located on the outer perimeter of the lamp group, and the 8 UVC lamps are located inside the lamp group. Each of the 4 hexagonal lamp groups has a wiring device at its center. The wiring device has 7 wiring holes, 5 of which are for branch wires, corresponding to the positions of the ultraviolet dual-wave lamps within the hexagonal lamp group, and 2 are for main wires, corresponding to the direction of current inflow and outflow and the main power supply position of the lamp group. After the wiring is completed, AB glue is poured into the wiring device for waterproofing and fixing. After the AB glue solidifies, Kafte sealant is applied to the top surface for secondary waterproofing and sealing.

[0014] Furthermore, it also includes several silicone lampshades, with suction cup bases at the bottom of the silicone lampshades. The bottom of the suction cup bases is fixed to the surface of the ellipsoidal water bladder. A groove is cut into the top of the silicone lampshade and a hole is made in the groove wall. Ultraviolet dual-wave lamp beads are installed in the groove and run through the groove wall opening. A slot and a semi-circular opening are set at the groove opening. One end of the ETFE membrane is embedded in the slot and the other end is inserted into the semi-circular opening. AB glue is injected into the groove wall opening and the slot inlet and Kaft sealant is applied for waterproof sealing.

[0015] Furthermore, there are two water valves, which are symmetrically arranged on both sides of the major axis of the horizontal elliptical surface in the center of the ellipsoidal water bladder and fixed in the limiting holes of the adjacent top side plate; there are two water pumps, which are connected to the two water valves through water pipes.

[0016] An operating method applicable to the aforementioned cleaning robot, with the following improvements: the host computer sends instructions to the main control module via a communication module, and the main control module transmits data to the host computer via the communication module; the main control module controls the underwater thruster to move the cleaning robot to the target area; the main control module adjusts the water volume in the ellipsoidal water bladder and changes the bulging shape of the ellipsoidal water bladder by controlling the operation of the water pump, so that the ellipsoidal water bladder fits onto the netting of the cage; the main control module controls the switching of the ultraviolet dual-wave lamp beads.

[0017] The beneficial effects of this invention are:

[0018] The cleaning robot disclosed in this invention adopts a preventative cleaning mode based on ultraviolet lamps. It irradiates and kills organisms attached to the net surface when they are not yet mature and their adhesion is weak, which can efficiently complete regular cleaning and improve cleaning efficiency. It uses a flexible ellipsoidal water bladder with ultraviolet dual-wavelength lamp beads for close-fitting irradiation cleaning, avoiding damage to the net surface due to external impact. By studying the ultraviolet irradiance and the absorption rate of ultraviolet light by organisms attached to the net surface, it designed four radiation lamp groups with common sides arranged in a hexagonal shape and a secondary sink suction cup type ultraviolet silicone lamp cover to ensure the stability of the irradiation and disinfecting effect. It can realize real-time observation and control on shore and on the boat through a host computer, ensuring intelligent visualization of normal operation.

[0019] The cleaning robot disclosed in this invention destroys the internal structure of microorganisms through ultraviolet irradiation. The disinfection process does not produce substances harmful to the aquatic environment, operates with low noise, has no impact on underwater organisms, and is environmentally friendly and pollution-free. It features a simple and stable structure, uses economical and environmentally friendly materials, and has low cost.

[0020] The operating method disclosed in this invention, when used in conjunction with the cleaning robot of this invention, can improve its operating efficiency and ensure its operating safety. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the cleaning robot disclosed in this invention;

[0022] Figure 2 This is a schematic diagram showing the distribution of the four hexagonal light groups sharing the same side in the cleaning robot disclosed in this invention;

[0023] Figure 3 This is a cross-sectional structural diagram I of the silicone lampshade in the cleaning robot disclosed in this invention;

[0024] Figure 4 This is a schematic cross-sectional view (II) of the silicone lampshade in the cleaning robot disclosed in this invention;

[0025] Figure 5 This is a top view structural diagram of the silicone lampshade in the cleaning robot disclosed in this invention.

[0026] Reference numerals: 1—Base plate, 2—Main side plate, 3—Top plate, 4—Corner code, 5—Water pipe, 6—Top side plate, 7—Water valve, 8—Water pump, 9—Common-sided hexagonal lamp assembly, 10—Main control compartment, 11—Fixed semi-circular ring, 12—Branching compartment, 13—Ellipsoidal water bladder, 14—Underwater thruster, 15—UVA lamp bead, 16—UVC lamp bead, 17—Branching device, 18—Branching device, 19—Branching device, 20—Branching device, 21—Branching wire hole, 22—Main wire hole, 23—Suction cup base, 24—Groove, 25—Groove wall opening, 26—Card slot, 27—Semi-circular opening. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0028] Example 1: This example discloses a preventative flexible cage cleaning robot based on ultraviolet lamps, such as... Figure 1As shown, the robot includes a main frame, on which a water pump 8, an underwater thruster 14, and a main control cabin 10 are installed. The main control cabin contains a main control module and a communication module. The main control module controls the operation of the water pump and underwater thruster, controls the switching of the ultraviolet dual-wave lamps, and communicates with a host computer via the communication module. An ellipsoidal water bladder 13 is installed on the top of the main frame, with several ultraviolet dual-wave lamps arranged on it. Water inlet and outlet valves 7 are installed on the ellipsoidal water bladder, which are connected to the water pump via water pipes 5, making the ellipsoidal water bladder a flexible working surface with adjustable inflation levels. A power supply module supplies power to the cleaning robot via cables.

[0029] A servo motor is also installed on the main frame, and an underwater camera is installed on the servo motor. Both the servo motor and the underwater camera are electrically connected to the main control module. Underwater images can be transmitted back to the host computer via the communication module. The main control module controls the operation of the water pump and the switching of the ultraviolet dual-wave lamp beads via relays.

[0030] The main frame includes a base plate 1 and a top plate 3, which are connected by two opposing main side plates 2. Additionally, two opposing top side plates 6 are vertically mounted on the top plate. The base plate, top plate, and main side plates are connected by riveting. The two top side plates rest against the two main side plates, and several corner brackets 4 are bolted to the top plate on one side and to the main side plates on the other side. This structure is simple, stable, and rationally arranged.

[0031] The underwater propulsion system comprises eight components: four horizontal propulsion units positioned between the bottom and top plates, and four vertical propulsion units arranged in pairs on the outer sides of the two main side plates. This design ensures high maneuverability for the cleaning robot during underwater operation.

[0032] The main control compartment is cylindrical and connected to the top plate by two fixed semicircular rings 11, and is sealed and waterproofed at the end caps; it also includes two branch compartments 12, one fixed to the bottom of the top plate and the other fixed to the top of the bottom plate, and the cables are split in the branch compartments.

[0033] The main control module consists of a PIXHAWK autopilot and a Raspberry Pi. PIXHAWK is an open-source autopilot that integrates a 32-bit STM32F427 with an FPU. The system features an M4 core, a 3-axis 16-bit gyroscope, and a 3-axis 14-bit accelerometer, along with overcurrent protection. The communication module consists of a pair of power line carriers. One carrier is electrically connected to the main control module within the main control cabin, while the other is electrically connected to the host computer, enabling bidirectional data transmission between the main control module and the host computer. This allows the host computer to monitor the underwater environment in real-time from shore or aboard, control the cleaning robot's movement, manage the water pump, and control the switching of the dual-wave ultraviolet lamps. The power supply module comprises a 220V to 24V regulated power supply and a step-down module. Power is drawn from an external power source and supplied to the cleaning robot via cables, ensuring power supply both on shore and aboard, and guaranteeing the cleaning robot's operating time.

[0034] like Figure 2 As shown, there are 20 dual-wavelength ultraviolet lamps, including 12 UVA lamps (wavelength 395-405mm, operating voltage 5-7V, radiation power 60-150mW) and 8 UVC lamps (wavelength 260-280mm, operating voltage 5-7V, radiation power 8-20mW), forming four hexagonal lamp groups. The 12 UVA lamps are located on the outer periphery of the lamp groups, and the 8 UVC lamps are located inside the lamp groups. Each of the four hexagonal lamp groups has a splitter device at its center. The wiring device (numbers 7, 18, 19, and 20) has seven wiring holes. Five of these are branch wiring holes (21), corresponding to the positions of the UV dual-wave lamp beads within their respective hexagonal borders. The other two are main wiring holes (22), corresponding to the current inflow and outflow directions and the main power supply position of the lamp group, achieving precise wiring. After wiring is completed, AB glue is poured into the wiring device for waterproofing and fixation. After the AB glue solidifies, Kafte sealant is applied to the top surface for a secondary waterproof seal. Actual use testing showed good current stability and waterproof performance. Actual mesh cleaning tests showed that the lamp group irradiance and UV absorption rate of the mesh surface deposits under this UV dual-wave lamp bead arrangement were both high, enabling efficient preventative disinfection and cleaning.

[0035] like Figure 3 As shown in Figure 5, it also includes several silicone lamp covers (secondary sink suction cup type ultraviolet lamp covers). A suction cup base 23 is set at the bottom of the silicone lamp cover. The suction cup base has a double-headed hollow structure. AB glue is injected into the hollow parts at both ends. The bottom of the suction cup base is fixed to the surface of the ellipsoidal water bladder. A groove 24 is cut into the top of the silicone lamp cover and a hole 25 is cut into the groove wall. The ultraviolet dual-wave lamp beads are installed in the groove and run through the groove wall opening. A slot 26 and a semi-circular opening 27 are set at the groove opening. One end of the ETFE membrane is embedded in the slot and the other end is inserted into the semi-circular opening to protect the ultraviolet dual-wave lamp beads and prevent them from falling off. AB glue is injected into the groove wall opening and the slot inlet and Kafte sealant is applied for waterproof sealing.

[0036] There are two water valves, which are symmetrically arranged on both sides of the major axis of the horizontal elliptical surface in the center of the ellipsoidal water bladder. They are fixed in the limiting holes of the adjacent top side plate with AB glue. The stability has been good after actual use test. There are two water pumps, which are fixed on the two main side plates respectively. The two water pumps are connected to the two water valves through water pipes.

[0037] This embodiment also discloses an operating method applicable to the aforementioned cleaning robot. The host computer sends instructions to the main control module via the communication module, and the main control module transmits data to the host computer via the communication module. The main control module controls the underwater thruster to move the cleaning robot to the target area. The main control module adjusts the water volume (filling and emptying) and changes the bulging shape of the ellipsoidal water bladder by controlling the operation (on / off and speed) of the water pump, so that the ellipsoidal water bladder fits the netting of the cage with the best effect. The main control module controls the switching of the ultraviolet dual-wave lamp beads to perform ultraviolet irradiation disinfection.

Claims

1. A preventative flexible wire mesh cage cleaning robot based on ultraviolet lamps, characterized in that: The system includes a main frame, on which a water pump, underwater thruster, and main control cabin are installed. The main control cabin contains a main control module and a communication module. The main control module controls the operation of the water pump and underwater thruster, controls the switching of the ultraviolet dual-wave lamp beads, and communicates with a host computer through the communication module. An ellipsoidal water bladder is installed on the top of the main frame, and several ultraviolet dual-wave lamp beads are arranged on the ellipsoidal water bladder. Water inlet and outlet valves are installed on the ellipsoidal water bladder, and the water valves are connected to the water pump through water pipes. The power supply module supplies power to the cleaning robot through cables. A servo motor is also installed on the main frame, and an underwater camera is installed on the servo motor. Both the servo motor and the underwater camera are electrically connected to the main control module. The main control module controls the operation of the water pump and the switching of the ultraviolet dual-wave lamp beads through relays. The main frame includes a bottom plate and a top plate, which are connected by two opposing main side plates. In addition, two opposing top side plates are vertically installed on the top plate. The bottom plate, top plate, and main side plates are connected by riveting. The two top side plates rest on the two main side plates respectively. One side of several corner brackets is fixed to the top plate with bolts, and the other side is fixed to the top side plates and the main side plates with bolts.

2. The preventative flexible cage cleaning robot based on ultraviolet lamps according to claim 1, characterized in that: The underwater thrusters consist of eight components: four horizontal thrusters positioned between the bottom and top plates, and four vertical thrusters positioned in pairs on the outer sides of the two main side plates.

3. The preventative flexible cage cleaning robot based on ultraviolet lamps according to claim 1, characterized in that: The main control compartment is cylindrical and connected to the top plate by two fixed semicircular rings, with a sealed waterproof treatment at the end caps; it also includes two branch compartments, one fixed to the bottom of the top plate and the other fixed to the top of the bottom plate, with cables branched in the branch compartments.

4. The preventative flexible cage cleaning robot based on ultraviolet lamps according to claim 1, characterized in that: The main control module consists of a PIXHAWK autopilot and a Raspberry Pi; the communication module consists of a pair of power line carriers, one of which is electrically connected to the main control module inside the main control compartment, and the other is electrically connected to the host computer; the power supply module consists of a 220V to 24V regulated power supply and a step-down module. The power supply module draws power from an external power source and supplies power to the cleaning robot through cables.

5. The preventative flexible cage cleaning robot based on ultraviolet lamps according to claim 1, characterized in that: There are 20 ultraviolet dual-wave lamps, including 12 UVA lamps and 8 UVC lamps, forming 4 hexagonal lamp groups with one side. The 12 UVA lamps are located on the outer perimeter of the lamp group, and the 8 UVC lamps are located inside the lamp group. Each of the 4 hexagonal lamp groups has a wiring device at its center. The wiring device has 7 wiring holes, 5 of which are for branch wires, corresponding to the positions of the ultraviolet dual-wave lamps within the hexagon, and 2 are for main wires, corresponding to the direction of current inflow and outflow and the main power supply position of the lamp group. After the wiring is completed, AB glue is poured into the wiring device for waterproofing and fixing. After the AB glue has solidified, Kafte sealant is applied to the top surface for secondary waterproofing and sealing.

6. The preventative flexible cage cleaning robot based on ultraviolet lamps according to claim 1, characterized in that: It also includes several silicone lampshades, with suction cup bases at the bottom of the silicone lampshades. The bottom of the suction cup bases is fixed to the surface of the ellipsoidal water bladder. A groove is cut into the top of the silicone lampshade and a hole is made in the groove wall. The ultraviolet dual-wave lamp beads are installed in the groove and run through the hole in the groove wall. A slot and a semi-circular opening are set at the groove opening. One end of the ETFE membrane is embedded in the slot and the other end is inserted into the semi-circular opening. AB glue is injected into the above-mentioned groove wall opening and slot inlet and Kaft sealant is applied for waterproof sealing.

7. The preventative flexible cage cleaning robot based on ultraviolet lamps according to claim 1, characterized in that: There are two water valves, which are symmetrically arranged on both sides of the major axis of the horizontal elliptical surface in the center of the ellipsoidal water bladder and fixed in the limiting holes of the adjacent top side plate; there are two water pumps, which are connected to the two water valves through water pipes.

8. An operating method applicable to the cleaning robot of claim 1, characterized in that: The host computer sends instructions to the main control module through the communication module, and the main control module transmits data to the host computer through the communication module; the main control module controls the operation of the underwater thruster to move the cleaning robot to the target area; the main control module adjusts the water volume in the ellipsoidal water bladder and changes the bulging shape of the ellipsoidal water bladder by controlling the operation of the water pump, so that the ellipsoidal water bladder fits onto the netting of the cage; the main control module controls the switching of the ultraviolet dual-wave lamp beads.

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