A magnetically levitated underwater cleaning robot for cleaning marine ranch cages

Abstract

The present invention discloses a magnetic levitation underwater cleaning robot for cleaning marine ranch cages. The robot comprises: a body frame, with a sonar sensor mounted on the bottom of the body frame; a propulsion system disposed at the rear end of the body frame; a posture adjustment system disposed in the middle portion of the body frame; a cleaning system comprising two cleaning systems symmetrically disposed on either side of the posture adjustment system; a magnetic levitation system comprising a first magnetic levitation unit and a second magnetic levitation unit, with the first magnetic levitation unit disposed between the two second magnetic levitation units; and a sensor system disposed on the body frame. The present invention utilizes two cleaning robots working together to clean both sides of marine ranch cages. The magnetic levitation system reduces damage to the cages caused by the cleaning robots' contact with the cage surface, thereby extending the cage's service life.

Description

Technical Field

[0001] The present invention relates to the technical field of marine ranching, and in particular to a magnetic levitation underwater cleaning robot for cleaning marine ranching cages. Background Art

[0002] With increasing public awareness of marine resources, the concept of marine ranching has emerged, making deep-sea aquaculture possible. This has driven the expansion of the fishing industry into the deep sea. However, since cages are submerged in seawater for extended periods, marine organisms such as barnacles and algae, which adhere to their surfaces, can clog the mesh if not promptly cleaned. This reduces the filterability of the seawater and oxygen levels, hindering fish growth. Furthermore, it can increase the weight of the cages, causing structural deformation and negatively impacting their reliability.

[0003] Current methods for removing debris from cages include manual cleaning, regular net changes, sun exposure, mechanical cleaning, caisson cleaning, biological removal, drug removal, and physical removal. However, these methods suffer from long cleaning cycles, low cleanliness, high cleaning costs, low efficiency, and significant damage to the cages. To address these issues, underwater cage cleaning robots have been introduced for maintenance at marine ranching fisheries. However, the development and application of underwater cage cleaning robots in China is still in its infancy, often with limitations such as an inability to clean large and complex nets and inadequate monitoring of cleaning results.

[0004] At the same time, most underwater cage cleaning robots that clean close to the surface of the cage will choose to rely on walking on the surface of the cage to clean the cage, which will increase the burden on the cage structure, easily cause deformation of the cage structure, cause damage to the cage, and reduce the service life of the cage. Summary of the Invention

[0005] The purpose of the present invention is to provide a magnetic levitation underwater cleaning robot for cleaning marine ranch cages, so as to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a magnetic levitation underwater cleaning robot for cleaning marine ranch cages, comprising:

[0007] A body frame, wherein a sonar sensor is installed at the bottom of the body frame;

[0008] A power propulsion system, the power propulsion system being arranged at the rear end of the body frame and being used to provide propulsion power for the body frame;

[0009] A posture adjustment system is provided in the middle portion of the body frame and is used to adjust the horizontal posture of the robot;

[0010] A cleaning system, wherein the cleaning system is provided with two groups, and the two groups of the cleaning systems are symmetrically arranged on both sides of the posture adjustment system, and the cleaning system is used to clean the cage;

[0011] A magnetic levitation system, the magnetic levitation system comprising a first magnetic levitation unit and a second magnetic levitation unit, wherein the first magnetic levitation unit is provided in two groups, the two groups of the first magnetic levitation units are symmetrically arranged on the bottom surface of the body frame, and the first magnetic levitation unit is arranged between the two second magnetic levitation units;

[0012] A sensing system is provided on the body frame and is used to detect the pressure exerted on the robot.

[0013] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, the power propulsion system includes two groups of transverse screw propellers arranged at the tail end of the body frame, and the two groups of transverse screw propellers are symmetrically arranged.

[0014] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, the posture adjustment system includes three groups of longitudinal screw propellers, and the three groups of longitudinal screw propellers are all arranged on the body frame, and the three groups of longitudinal screw propellers are arranged in a triangle.

[0015] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, the cleaning system includes a roller brush rotatably arranged on the body frame, the roller brush is provided with bristles, the body frame is provided with a power system, and the roller brush is coordinated with the power system for transmission.

[0016] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, the first magnetic levitation unit includes two symmetrically arranged first electromagnet groups, and the first electromagnet groups are arranged on the body frame;

[0017] The second magnetic suspension unit includes two groups of second electromagnet groups, the two groups of second electromagnet groups are symmetrically arranged on the body frame, and the first electromagnet group is located between the two groups of second electromagnet groups.

[0018] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, the visual system includes a support rod fixedly connected to the body frame, and a camera is fixedly connected to the support rod.

[0019] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, the sensing system includes a first sensor and a second sensor, the first sensor is arranged at the top end of the body frame, and the second sensor is arranged at the bottom end of the body frame.

[0020] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, a searchlight is installed on the body frame.

[0021] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, a directional tail wing is installed at the tail of the body frame, and the directional tail wing is used to control the steering of the robot.

[0022] According to the magnetic levitation underwater cleaning robot for cleaning marine ranch cages provided by the present invention, a handle is installed on the body frame.

[0023] The present invention discloses the following technical effects:

[0024] When the present invention is in use, a cleaning robot is respectively arranged inside and outside the net cage, and the two cleaning robots are positioned by sonar sensors. The bottoms of the two sonar sensors are opposite to each other, and the first magnetic levitation unit and the second magnetic levitation unit respectively generate attraction and repulsion, so that the two robots inside and outside the net cage reach a magnetic levitation equilibrium state on the surface of the net cage. The power propulsion system propels the robot forward, and the surface of the net cage is cleaned by the cleaning system. The robot adjusts its equilibrium state through the posture adjustment system during operation. The sensor system improves the accuracy of monitoring the external force exerted on the cleaning robot underwater, and the visual unit feeds back the position of the robot, which is convenient for the robot to position and clean the box.

[0025] The present invention uses two cleaning robots to clean both sides of the marine ranch cage. The setting of the magnetic suspension system reduces the damage caused to the cage by the cleaning robots when they are in contact with the cage surface, thereby extending the service life of the cage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 It is a rear view of the present invention;

[0029] Figure 3 A bottom view of the present invention;

[0030] Figure 4 It is a schematic diagram of underwater operation of the present invention.

[0031] Among them, 1. Camera; 2. Body frame; 3. Support rod; 4. Searchlight; 5. Roller brush; 6. Bristles; 7. Longitudinal propeller; 8. Transverse propeller; 9. Handle; 10. Directional tail; 11. First pressure sensor; 12. Second pressure sensor; 13. Sonar sensor; 14. Second electromagnet group; 15. First electromagnet group. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figure 1-4 The present invention provides a magnetic levitation underwater cleaning robot for cleaning marine ranch cages, comprising:

[0035] The body frame 2, the bottom of the body frame 2 is equipped with a sonar sensor 13;

[0036] The power propulsion system is arranged at the rear end of the body frame 2 and is used to provide propulsion power for the body frame 2;

[0037] The posture adjustment system is arranged in the middle part of the body frame 2 and is used to adjust the horizontal posture of the robot;

[0038] Cleaning system: There are two cleaning systems, which are symmetrically arranged on both sides of the posture adjustment system. The cleaning system is used to clean the cage;

[0039] The magnetic suspension system includes a first magnetic suspension unit and a second magnetic suspension unit. The first magnetic suspension unit is provided in two groups. The two groups of first magnetic suspension units are symmetrically arranged on the bottom surface of the body frame 2, and the first magnetic suspension unit is arranged between the two second magnetic suspension units.

[0040] The sensing system is arranged on the body frame 2 and is used to detect the pressure on the robot.

[0041] When the present invention is in use, one cleaning robot is respectively set inside and outside the net cage. The two cleaning robots are positioned by the sonar sensor 13. The bottoms of the two sonar sensors 13 are opposite to each other. The first magnetic levitation unit and the second magnetic levitation unit respectively generate attraction and repulsion, so that the two robots inside and outside the net cage reach a magnetic levitation equilibrium state on the surface of the net cage. The power propulsion system propels the robot forward, and the surface of the net cage is cleaned by the cleaning system. The robot adjusts its equilibrium state through the posture adjustment system during operation. The sensor system improves the accuracy of monitoring the external force exerted on the cleaning robot underwater. The visual unit feeds back the position of the robot, which is convenient for the robot to position and clean the box.

[0042] According to a further optimization scheme, the power propulsion system includes two groups of transverse screw propellers 8 arranged at the rear end of the body frame 2, and the two groups of transverse screw propellers 8 are symmetrically arranged.

[0043] According to a further optimization scheme, the posture adjustment system includes three groups of longitudinal screw propellers 7, and the three groups of longitudinal screw propellers 7 are all arranged on the body frame 2, and the three groups of longitudinal screw propellers 7 are arranged in a triangle.

[0044] In a further optimization scheme, the cleaning system includes a rotating roller brush 5 mounted on a body frame 2, with bristles 6 disposed on the roller brush 5. The body frame 2 is provided with a power system, and the roller brush 5 cooperates with the power system. The two roller brushes 5 relative to the robot rotate in opposite directions, thereby improving the cleaning effect of the device.

[0045] According to a further optimized solution, the first magnetic suspension unit includes two symmetrically arranged first electromagnet groups 15 , and the first electromagnet groups 15 are arranged on the body frame 2 ;

[0046] The second magnetic suspension unit includes two second electromagnet groups 14 , which are symmetrically arranged on the body frame 2 , and the first electromagnet group 15 is located between the two second electromagnet groups 14 .

[0047] The first electromagnet group 15 and the second electromagnet group 14 are both powered by batteries.

[0048] According to a further optimized solution, the visual system includes a support rod 3 fixedly connected to the body frame 2, and a camera 1 is fixedly connected to the support rod 3.

[0049] According to a further optimized solution, the sensing system includes a first sensor and a second sensor, wherein the first sensor is arranged at the top end of the body frame 2 and the second sensor is arranged at the bottom end of the body frame 2 .

[0050] To further optimize the solution, a searchlight 4 is installed on the body frame 2.

[0051] As a further optimization solution, a directional tail 10 is installed at the tail of the body frame 2, and the directional tail 10 is used to control the steering of the robot.

[0052] To further optimize the solution, a handle 9 is installed on the body frame 2.

[0053] Specific working process:

[0054] Two robots are required for operation. During operation, staff from a workboat position the two cleaning robots on the inner and outer sides of the cage, respectively. The two robots are paired using a sonar sensor 13 for identification. The cleaning robots' magnetic levitation mechanism consists of two sets of electromagnets. In the magnetic levitation underwater cleaning robot for marine ranching cage cleaning of the present invention, the first set of electromagnets 15 of the paired cleaning robot generate opposite polarity, while the second set of electromagnets 14 generate the same polarity. The first set of electromagnets 15 provides attraction, while the second set of electromagnets 14 provides repulsion. The paired cleaning robots use first and second pressure sensors 11 and 12 to feed data on the external forces acting on them underwater to a data acquisition chip within the robots. The data is then fed back to a control chip within the robots to control the current in the electromagnets' internal coils, thereby adjusting the magnetic force of the electromagnets to achieve a magnetically balanced state on the cage surface. The three longitudinal propellers 7 of the attitude adjustment device adjust the distance between the cleaning robots and the cage surface, thereby varying the degree of contact between the paired cleaning robots and the cage surface. After the two paired cleaning robots complete the magnetic levitation balance state, the staff observes the underwater surrounding environment and determines the cleaning route of the cleaning robot through the searchlight 4 and camera 1 set on the head of the cleaning robot body frame 2. Through the cooperation of the two transverse screw propellers 8, the directional tail 10 and the brush of the cleaning device of the power propulsion device, the two paired robots clean both sides of the cage surface according to the cleaning route.

[0055] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A magnetic levitation underwater cleaning robot for cleaning marine ranch cages, characterized in that: include: A body frame (2), wherein a sonar sensor (13) is installed at the bottom of the body frame (2); A power propulsion system, the power propulsion system being arranged at the rear end of the body frame (2), and the power propulsion system being used to provide propulsion power for the body frame (2); A posture adjustment system, the posture adjustment system being arranged in the middle portion of the body frame (2), and the posture adjustment system being used to adjust the horizontal posture of the robot; A cleaning system, wherein the cleaning system is provided with two groups, and the two groups of the cleaning systems are symmetrically arranged on both sides of the posture adjustment system, and the cleaning system is used to clean the cage; A magnetic suspension system, the magnetic suspension system comprising a first magnetic suspension unit and a second magnetic suspension unit, wherein the first magnetic suspension unit is provided in two groups, the two groups of the first magnetic suspension units are symmetrically arranged on the bottom surface of the body frame (2), and the first magnetic suspension unit is arranged between the two second magnetic suspension units; A sensing system, the sensing system being arranged on the body frame (2), and the sensing system being used to detect the pressure exerted on the robot; A visual system, the visual system being arranged at the front end of the top of the body frame (2); The power propulsion system comprises two groups of transverse screw propellers (8) arranged at the rear end of the body frame (2), and the two groups of transverse screw propellers (8) are symmetrically arranged; The posture adjustment system comprises three groups of longitudinal screw propellers (7), the three groups of longitudinal screw propellers (7) are all arranged on the body frame (2), and the three groups of longitudinal screw propellers (7) are arranged in a triangle; The cleaning system comprises a roller brush (5) rotatably arranged on the machine frame (2), bristles (6) being arranged on the roller brush (5), a power system being arranged on the machine frame (2), and the roller brush (5) being in transmission cooperation with the power system; The first magnetic suspension unit comprises two symmetrically arranged first electromagnet groups (15), and the first electromagnet groups (15) are arranged on the machine body frame (2); The second magnetic suspension unit comprises two second electromagnet groups (14), the two second electromagnet groups (14) are symmetrically arranged on the body frame (2), and the first electromagnet group (15) is located between the two second electromagnet groups (14); The visual system comprises a support rod (3) fixedly connected to the body frame (2), and a camera (1) is fixedly connected to the support rod (3); The sensing system comprises a first sensor and a second sensor, wherein the first sensor is arranged at the top end of the body frame (2), and the second sensor is arranged at the bottom end of the body frame (2); A searchlight (4) is installed on the body frame (2); A directional tail wing (10) is installed at the tail of the body frame (2), and the directional tail wing (10) is used to control the steering of the robot; Two robots are required to work together. When in use, the staff will place the two cleaning robots on the inner and outer sides of the cage from the workboat respectively. The two cleaning robots are identified and paired through the sonar sensor (13); the magnetic suspension device of the cleaning robot is divided into two groups of electromagnets. The first electromagnet group (15) of the paired cleaning robot generates polarity directions opposite to each other, and the second electromagnet group (14) generates polarity directions identical to each other. Then, the first electromagnet group (15) provides attraction and the second electromagnet group (14) provides repulsion; the paired cleaning robot feeds back the external force data of the cleaning robot underwater to the acquisition chip set inside the cleaning robot through the first pressure sensor (11) and the second pressure sensor (12) for collection. The acquisition chip then feeds back the data to the control unit set inside the cleaning robot. The control chip is used to control the current of the coil inside the electromagnet, thereby adjusting the magnetic force of the electromagnet so that the two paired cleaning robots can reach a magnetic suspension equilibrium state on the surface of the cage; the three longitudinal screw propellers (7) of the attitude adjustment device can adjust the distance between the cleaning robot and the surface of the cage, thereby changing the degree of close contact between the two paired cleaning robots and the surface of the cage; after the two paired cleaning robots complete the magnetic suspension equilibrium state, the staff observes the underwater surrounding environment and determines the cleaning route of the cleaning robots through the searchlight (4) and camera (1) set on the head of the cleaning robot body frame (2), and the two transverse screw propellers (8) of the power propulsion device, the directional tail (10) and the brush of the cleaning device cooperate with each other, and the two paired robots clean both sides of the cage surface according to the cleaning route.

2. The magnetic levitation underwater cleaning robot for cleaning marine ranch cages according to claim 1, characterized in that: A handle (9) is installed on the machine body frame (2).

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