A marine ranch ecological maintenance type ultraviolet flexible net cleaning robot and net cleaning method thereof

Abstract

The present invention discloses a marine ranch ecological maintenance type ultraviolet flexible net cleaning robot and a net cleaning method thereof. The robot comprises a navigation body and an ultraviolet traveling wave bonding flexible irradiation module arranged on the navigation body, a targeted self-frequency modulation vibration decontamination module, a load slide real-time dynamic posture adjustment module, a propulsion module, a main control module and a power supply module; the navigation body comprises a bottom plate, a top plate and two main side plates, the bottom plate and the top plate are arranged between the two main side plates; the ultraviolet traveling wave bonding flexible irradiation module is arranged on one side of the navigation body. The robot disclosed in the present invention uses the ultraviolet traveling wave bonding flexible irradiation module to bond and disinfect the attached organisms on the net with ultraviolet irradiation when the organisms are not yet mature and have weak adhesion. The robot can not only adapt well to the curved surface of the flexible net and fit closely with it, but also prevent the net from being damaged by strong external forces.

Description

Technical Field

[0001] The invention belongs to the field of net cage net cleaning equipment, and in particular relates to a marine ranch ecological maintenance type ultraviolet flexible net cleaning robot and a net cleaning method thereof in this field. Background Art

[0002] Currently, there are three main methods for cleaning debris from cage nets: manual cleaning, chemical removal, and mechanical cleaning. Manual cleaning is inefficient, causes significant damage to the nets, and offers little added value. Chemical removal can pollute the water and impair aquaculture water quality. Compared to the first two methods, mechanical cleaning is more efficient and provides better cleaning results.

[0003] Existing mechanical cleaning equipment at home and abroad is mainly divided into two categories according to the cleaning method: physical friction cleaning and high-pressure water jet cleaning. Physical friction cleaning mainly uses brushes for cleaning. Its principle is that the control system and motion module make the brush and the net stick together and generate relative motion, thereby brushing off the net attachments. Its technical defects are:

[0004] (1) The net is easily damaged. The brushes constantly rub against the net, which can easily damage the surface. The net moves with the water flow and can be easily caught in the rolling brushes and damaged.

[0005] (2) Maintenance is time-consuming and labor-intensive. Brushes easily absorb impurities and require regular cleaning, which is difficult. Improper cleaning can easily lead to the scrapping of the brushes.

[0006] (3) It is difficult to ensure that the brush fits tightly against the net, which affects the cleaning effect. During the process of attaching the device to the net, the net is prone to deformation, and some areas are out of contact with the brush, resulting in poor cleaning effect.

[0007] High-pressure water jet cleaning mainly uses high-speed water jets from high-pressure pumps and nozzles to flush the net, so that the attachments on the net surface fall off under the impact of the water flow. Its technical defects are:

[0008] (1) The cleaning effect is unstable. The recoil force generated by the high-pressure water jet will cause the cleaning device to move away from the net, affecting the cleaning effect.

[0009] (2) It is easy to damage the net. The huge impact force generated by the rupture of a large number of cavitation bubbles near the net surface can easily damage the net and reduce the life of the net.

[0010] (3) Impact on underwater sound environment. High-pressure water jet equipment generates a lot of noise during operation, which interferes with the life of underwater organisms.

[0011] (4) High energy consumption. In order to offset the reaction force of the high-pressure water jet and maintain the stability of the cleaning device underwater, its power device needs to provide the same thrust for the cleaning device, which consumes a lot of energy.

[0012] (5) Damage to the water quality environment and affect cage aquaculture. High-speed water jets cause the cleaned impurities to remain suspended in the water, reducing water visibility and affecting the cleaning effect. At the same time, the high-speed water jets can easily attack beneficial organisms inside and outside the cages, affecting nutritional interactions and cage aquaculture quality. Summary of the Invention

[0013] In order to solve the problems in deep-sea cage aquaculture that the surface of the cage net is easily attached by organisms, resulting in mesh clogging, affecting aquaculture output and quality, and that the existing cleaning method is easy to damage the net and reduce the service life of the cage, the present invention provides a marine ranch ecological maintenance type ultraviolet flexible net cleaning robot and a net cleaning method.

[0014] The present invention adopts the following technical solutions:

[0015] A marine ranch ecological maintenance type ultraviolet flexible net cleaning robot, the improvement of which is that it includes a navigation body and an ultraviolet traveling wave bonding flexible irradiation module arranged on the navigation body, a targeted self-frequency modulation vibration decontamination module, a load slide real-time dynamic posture adjustment module, a propulsion module, a main control module and a power supply module; the navigation body includes a bottom plate, a top plate and two main side plates, the bottom plate and the top plate are arranged between the two main side plates; the ultraviolet traveling wave bonding flexible irradiation module is arranged on one side of the navigation body, including a lower limit groove installed on the top of the bottom plate and an upper limit groove installed on the bottom of the top plate, the upper and lower limit grooves are arranged on the upper and lower limit grooves, and the upper and lower limit grooves are arranged on the upper and lower limit grooves. The limit grooves are arranged opposite to each other, and a servo and a spiral spine are installed between the upper and lower limit grooves. The spiral spine can rotate around the upper and lower limit grooves under the drive of the servo. It also includes a peristaltic chain suspended at the bottom of the top plate. The peristaltic chain includes two or more peristaltic joints with the same structure. The peristaltic joint includes two joint walls opposite to each other on the left and right and an ultraviolet lamp column and a wiring column installed between the two joint walls. The above-mentioned spiral spine is clamped between the ultraviolet lamp column and the wiring column, and the adjacent joint walls between the upper and lower adjacent peristaltic joints are hinged to each other; the main control module controls the operation of the robot, and the power module supplies power to the robot.

[0016] Furthermore, the second and third layers are arranged between the bottom and top plates of the navigation body, and the second and third layers are also arranged between the two main side plates. The plates are connected by angle codes and bolts, and aluminum profile skeletons are added between the layers.

[0017] Furthermore, a connector is installed at the bottom of the top plate, and a peristaltic chain is hingedly installed at the bottom of the connector; a semi-open cabin is provided above the spiral spine, and a servo is provided in the semi-open cabin, and a power output shaft of the servo is connected to the spiral spine through a servo fixing hole; an ultraviolet light strip placement groove and a quartz light-transmitting plate groove are provided on the exposed side of the ultraviolet lamp column, an ultraviolet light strip is inserted into the ultraviolet light strip placement groove, a quartz plate is inserted into the quartz light-transmitting plate groove, and fixing holes are provided at both ends of the ultraviolet lamp column; positive and negative wiring holes are provided in the wiring column, and fixing holes are provided at both ends of the wiring column.

[0018] Furthermore, the targeted self-frequency-modulated vibration decontamination module is installed on the top of the top plate, including two vibration devices, a lighting lamp and a camera recognition cabin, and a camera is arranged in the camera recognition cabin; the two vibration devices have the same structure and are respectively installed at both ends of the top plate, and the vibration device includes an upper shell and a lower shell, and a vertically arranged vibration motor and a horizontally arranged vibration head are installed in the cavity between the upper and lower shells, the tail of the vibration head remains in the cavity, and the head extends out of the cavity and is on the same side as the ultraviolet traveling wave flexible irradiation module, and a connecting boss is installed on the top of the power output shaft of the vibration motor, and the connecting boss is connected to the tail of the vibration head through a connecting rod transmission structure.

[0019] Furthermore, the real-time dynamic posture adjustment module of the object-carrying slide is installed on the second layer board, including a loading box, in which a slide rail, a gyroscope, a stepper motor driver and a stepper motor are arranged, and a slide with a heavy object and a limiter are installed on the slide rail. The stepper motor driver controls the operation of the motor according to the angle signal of the gyroscope, and drives the slide to slide on the slide rail through the operation of the motor.

[0020] Furthermore, the propulsion module consists of eight underwater thrusters, four of which are located at the bottom of the second plate for controlling the lateral movement of the robot, and the other four underwater thrusters are evenly distributed on the outside of the two main side plates for controlling the vertical movement of the robot.

[0021] Furthermore, the main control module includes a main control cabin installed on the third layer board, and the main control cabin has a Raspberry Pi, flight control, single-chip microcomputer and communication unit built in. The Raspberry Pi is responsible for controlling the operation of the ultraviolet traveling wave bonding flexible irradiation module and the targeted self-frequency modulation vibration decontamination module, the flight control is responsible for controlling the operation of the propulsion module, the single-chip microcomputer is responsible for controlling the operation of the real-time dynamic attitude adjustment module of the carrier slide, and the communication unit is responsible for communicating with the outside world.

[0022] Furthermore, the power module includes a main distribution compartment and a battery compartment installed on the top of the base plate. The main distribution compartment is provided with power supply elements, and the battery compartment is provided with power supply batteries. The power supply batteries supply power to the robot through the power supply elements.

[0023] Furthermore, a layer-one control cabin is arranged behind the camera recognition cabin on the top of the top plate, in which electronic components for controlling the ultraviolet traveling wave bonding flexible irradiation module servo and the targeted self-frequency-modulated vibration decontamination module vibration motor are arranged; an underwater propeller cabin is arranged on the layer-three plate, in which electronic components for controlling eight underwater propellers are arranged; an ultraviolet cabin is arranged on the top of the bottom plate, in which electronic components for powering the ultraviolet lamp column are arranged.

[0024] A net cleaning method is applicable to the above-mentioned net cleaning robot, and its improvement lies in: attaching the robot to the net of a net cage, making the peristaltic chain of the ultraviolet traveling wave fitting flexible irradiation module close to the net of the net cage, turning on the ultraviolet light bar in the servo and the ultraviolet lamp column, and the rotation of the servo drives the peristaltic joints of each section of the peristaltic chain to perform cyclical undulating wave motion to perform ultraviolet irradiation and disinfection on the net of the net; after the irradiation and disinfection is completed, the servo and the ultraviolet light bar in the ultraviolet lamp column are turned off; then, according to the residual degree of the attachment of the net of the net cage, a targeted self-frequency modulation vibration decontamination module is started to perform vibration cleaning on the net of the net; after the vibration cleaning is completed, the targeted self-frequency modulation vibration decontamination module is turned off, and then the propulsion module is turned on to make the robot move horizontally to other uncleaned areas of the net of the net for the above-mentioned ultraviolet irradiation disinfection and vibration cleaning; if the robot overturns during operation, the center of gravity of the robot is adjusted by the real-time dynamic posture adjustment module of the load slide to restore its balance.

[0025] The beneficial effects of the present invention are:

[0026] The robot disclosed in this invention uses a flexible ultraviolet traveling wave laminating irradiation module to disinfect and clean attached organisms when they are immature and have weak adhesion. This method not only adapts well to the curved surface of the flexible net, maintaining a tight fit, but also prevents damage to the net from strong external forces. Ultraviolet irradiation can destroy the internal structure of microorganisms and simultaneously kill harmful bacteria in the water during the disinfection process, purifying the water quality and achieving a maintenance-type cleaning method. It operates with low noise and has no impact on underwater life. A targeted self-frequency-modulated vibration decontamination module performs vibration cleaning, automatically identifying the residual amount of attached organisms and intelligently selecting different cleaning modes based on the residual amount, enabling efficient and regular cleaning. A real-time dynamic attitude adjustment module for the load platform is used for real-time dynamic attitude adjustment, which consumes less energy and is more effective than propeller-based attitude adjustment. The propulsion module uses a precisely controlled eight-blade vector propulsion system, allowing the robot to clean with a single handle. This allows for real-time observation and control from shore, ensuring normal operation and ease of use. The UV traveling wave laminating flexible irradiation module and the targeted self-tuned frequency-modulated vibration decontamination module are both independent components of the robot, making them removable and easy to maintain. This provides a highly efficient, intelligent, and water-quality-maintaining flexible cleaning system for marine ranching cages both domestically and internationally, contributing to technological innovation and sustainable development in my country's deep-sea aquaculture industry.

[0027] The net cleaning method disclosed in this invention combines ultraviolet light irradiation with multi-mode vibration cleaning. First, integrated ultraviolet light irradiation weakens the biological adhesion of net deposits, followed by vibration cleaning, achieving a "low-damage, high-efficiency" cleaning effect. It also effectively prevents deposits from remaining on the net after irradiation and affecting water exchange inside and outside the cage. Furthermore, in the deep sea, where waves are strong, a real-time dynamic posture adjustment module for the load platform is used to prevent water movement from interfering with the robot's operation and to accommodate the deformation of nylon nets. This ensures the robot's close contact with the net, stable operation, and efficient cleaning in deep-sea environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a front structural diagram of the robot disclosed in the present invention;

[0029] Figure 2 This is a schematic diagram of the back structure of the robot disclosed in the present invention;

[0030] Figure 3 It is a structural schematic diagram of the ultraviolet traveling wave laminating flexible irradiation module in the robot disclosed in the present invention;

[0031] Figure 4 It is a schematic structural diagram of the ultraviolet lamp column in the ultraviolet traveling wave laminating flexible irradiation module disclosed in the present invention;

[0032] Figure 5 It is a structural schematic diagram of the wiring column in the ultraviolet traveling wave bonding flexible irradiation module disclosed in the present invention;

[0033] Figure 6 It is a schematic diagram of the explosion structure of the vibration device in the targeted self-frequency modulation vibration decontamination module disclosed in the present invention.

[0034] Reference numerals: 1—bottom plate, 2—main side plate, 3—top plate, 4—second layer plate, 5—third layer plate, 6—aluminum profile skeleton, 7—spiral spine, 8—joint wall, 9—ultraviolet lamp column, 10—wiring column, 11—connector, 121—lower limit slot, 122—upper limit slot, 13—vibration device, 14—illumination lamp, 15—camera recognition cabin, 16—carrying box, 17—underwater thruster, 18—first layer control cabin, 19— Underwater thruster compartment, 20—main control compartment, 21—ultraviolet compartment, 22—main distribution compartment, 23—battery compartment, 24—semi-open compartment, 25—servo fixing hole, 26—wiring hole, 27—fixing hole, 28—ultraviolet lamp strip placement slot, 29—quartz translucent plate slot, 30—upper shell, 31—lower shell, 32—vibration motor, 33—connecting rod transmission structure, 34—vibration head, 35—connecting boss, 36—fixing ear-shaped hole. Implementation Method

[0035] In order to make the purpose, 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 intended to limit the present invention.

[0036] Example 1: This example discloses a marine ranch ecological maintenance type ultraviolet flexible net cleaning robot, such as Figure 1 As shown in Figure 2, the robot consists of a navigational body, a UV traveling wave laminating flexible irradiation module mounted on the body, a targeted self-frequency-modulated vibration decontamination module, a load platform real-time dynamic attitude adjustment module, a propulsion module, a main control module, and a power supply module. Each module is constructed based on the principles of "layered placement, symmetrical arrangement, and focused operation," ensuring the stability of the robot's center of gravity and buoyancy. This architecture not only helps the robot maintain balance in various environments but also improves its operational efficiency.

[0037] The navigation body includes a bottom plate 1, a top plate 3 and two main side plates 2, and the bottom plate and the top plate are arranged between the two main side plates; a second layer plate 4 and a third layer plate 5 are also arranged between the bottom plate and the top plate, and the second layer plate and the third layer plate are also arranged between the two main side plates. The plates are preliminarily connected by angle codes and bolts, and aluminum profile skeletons 6 are added between the layers to complete the construction of the four-layer frame.

[0038] The ultraviolet traveling wave flexible irradiation module is arranged in the middle of the front of the navigation body, including a lower limit groove 121 installed on the top of the bottom plate and an upper limit groove 122 installed on the bottom of the top plate. The upper and lower limit grooves are arranged opposite to each other, and a servo and a spiral spine 7 are installed between the upper and lower limit grooves. The spiral spine can rotate around the upper and lower limit grooves under the drive of the servo. It also includes a peristaltic chain suspended at the bottom of the top plate. The peristaltic chain includes five peristaltic joints with the same structure. The peristaltic joint includes two joint walls 8 opposite to each other on the left and right and an ultraviolet lamp column 9 and a wiring column 10 installed between the two joint walls. When installed, the ultraviolet lamp column is on the front and the wiring column is on the back. A UVC ultraviolet light strip with a wavelength of 270-290nm is embedded in the ultraviolet lamp column, and the light line is converged in the wiring column. The above-mentioned spiral spine is clamped between the ultraviolet lamp column and the wiring column, and the adjacent joint walls between the upper and lower adjacent peristaltic joints are hinged to each other through optical axis bolts; the spiral spine is driven by the servo to rotate 360 ​​degrees, and the spiral spine repeatedly and alternately lifts up the ultraviolet lamp column and wiring column on each adjacent peristaltic joint during the rotation process, so that each peristaltic joint of the peristaltic chain performs a cyclical and undulating wave-like motion.

[0039] In this embodiment, a connecting piece 11 is installed at the bottom of the top plate, and a creeping chain is hingedly installed at the bottom of the connecting piece; Figure 3 As shown, a semi-open cabin 24 is provided above the spiral spine, and a steering gear is provided in the semi-open cabin. The power output shaft of the steering gear is connected to the spiral spine through the steering gear fixing hole 25; Figure 4 As shown, an ultraviolet light strip placement groove 28 and a quartz light-transmitting plate groove 29 are set on the exposed side of the front of the ultraviolet lamp column, the ultraviolet light strip is inserted into the ultraviolet light strip placement groove, the quartz plate is inserted into the quartz light-transmitting plate groove, and fixing holes are set at both ends of the ultraviolet lamp column; Figure 5 As shown, the wiring column is hollow inside, and positive and negative wiring holes 26 are set to facilitate wiring. Fixing holes 27 are set at both ends of the wiring column. The ultraviolet lamp column and the wiring column are connected to the joint walls on both sides through the fixing holes, and AB glue and Kraft are applied to the joints and gaps for waterproof sealing.

[0040] The UV traveling wave bonding flexible irradiation module is an important technological innovation. It uses ultraviolet radiation to weaken the adhesion of mesh attachments without polluting the environment, providing a safer and more environmentally friendly solution for the robot's cleaning tasks.

[0041] The targeted self-frequency modulation vibration decontamination module is installed on the top of the top plate, including two vibration devices 13, a lighting lamp 14 and a camera recognition cabin 15, in which a camera is arranged; the two vibration devices have the same structure and are installed at both ends of the front of the top plate, such as Figure 6As shown, the vibration device includes an upper shell 30 and a lower shell 31. A vertically arranged vibration motor 32 and a horizontally arranged vibration head 34 are installed in the cavity between the upper and lower shells. The tail of the vibration head remains in the cavity, and the head extends out of the cavity and is on the same side as the ultraviolet traveling wave flexible irradiation module. A connecting boss 35 is installed on the top of the power output shaft of the vibration motor, and the connecting boss is connected to the tail of the vibration head through a connecting rod transmission structure 33.

[0042] The assembly of a single vibration device is as follows: the lower housing and vibration motor are bolted to the top of the top plate. The connecting rod drive structure is bolted to the connecting boss on the vibration motor's power output shaft. This connecting boss is a self-designed connection boss. The tail of the vibration head is also bolted to the connecting rod drive structure. After completing these connections, molten butter grease is poured into the lower housing until it submerges the vibration motor, completing the waterproof seal. Finally, the upper housing is installed, and the upper and lower housings are fixed together with bolts inserted into the fixing ear-shaped holes 36.

[0043] To improve cleaning efficiency, the two vibration devices are highly coupled to a camera. Connected to the main control module, the camera intelligently identifies the degree of net adhesion, ultimately categorizing it as "highly contaminated," "moderately contaminated," or "lightly contaminated." This corresponds to the vibration head's three cleaning modes: "high," "medium," and "low." In highly contaminated situations, the high-frequency cleaning mode is selected to quickly remove debris. In moderately contaminated situations, the medium-frequency cleaning mode is used to balance cleaning speed and machine stability. In lightly contaminated situations, the low-frequency cleaning mode is used, reducing power consumption while still achieving effective cleaning and extending the machine's service life.

[0044] The targeted, self-tuned frequency-modulated vibration decontamination module uses a connecting rod transmission structure (eccentric wheel) to generate horizontal reciprocating motion of the vibrating head driven by a vibration motor. This module, combined with the biomimetic ultraviolet traveling wave laminating flexible irradiation module, performs a two-step cleaning process on net attachments. First, laminating irradiation weakens biological adhesion. During this process, some attachments lose their bioactivity and fall off, while others retain some activity and cling to the net. The second step, vibration cleaning, primarily targets attachments still clinging to the net, uses image processing technology to classify the degree of attachment, enabling intelligent adjustment of the vibration frequency for targeted vibration decontamination. This minimizes damage to the net while ensuring that the attachments are shaken off.

[0045] This targeted, self-tuned vibration decontamination module not only increases the automation level of cleaning tasks but also flexibly adapts to different cleaning scenarios, providing efficient and sustainable solutions for a variety of applications. This highly intelligent cleaning technology will bring greater convenience and environmental protection to modern life, while also promoting further innovation in robotics.

[0046] The real-time dynamic posture adjustment module of the object-carrying slide is installed on the second layer board, including a loading box 16, in which a slide rail, a gyroscope, a stepper motor driver and a stepper motor are arranged. A slide with a heavy object and a limiter are installed on the slide rail. The stepper motor driver controls the motor operation according to the angle signal of the gyroscope, and drives the slide to slide on the slide rail through the operation of the motor.

[0047] The rails are the primary support components on which the slide slides. The stepper motor, the slide's power source, accurately controls its position on the rails. Limiters restrict the slide's range of motion on the rails to prevent the robot from tilting excessively. The gyroscope (MPU6050) is a key sensor, capable of monitoring the robot's posture and angle in real time. Gyroscope data is used to compare the current posture with the set balance angle, triggering posture adjustment. The robot's center of gravity is adjusted by moving the weighted slide along the rails, maintaining a balanced posture.

[0048] The entire posture adjustment process utilizes angular PID control. If the robot tips over, the difference between the current posture angle reported by the gyroscope and the set equilibrium angle is used as input for the angular PID control. This difference is then fed to the stepper motor driver, which then controls the stepper motor to adjust the position of the weighted platform on the rails, thereby adjusting the robot's center of gravity and restoring it to its equilibrium angle. By implementing a real-time dynamic posture adjustment module for the load platform, the robot's adaptability to unstable terrain or working environments is enhanced, significantly reducing the risk of tipping over and ensuring its stability during mission execution.

[0049] The propulsion module consists of eight underwater thrusters 17, four of which are located at the bottom of the second deck to control the robot's lateral motion. The remaining four, evenly distributed outside the two main side panels, control the robot's vertical motion. These eight thrusters ensure the robot's high degree of agility during underwater maneuvers. A propulsion module control program was developed to achieve fast and precise control through PID control, enabling the robot to move freely in three-dimensional underwater space, navigate stably, and perfectly complete its target movements. It also possesses a certain degree of anti-interference and autonomous attitude adjustment capabilities.

[0050] The main control module includes a cylindrical main control cabin 20 mounted on a three-layer board. This cabin houses a Raspberry Pi, a flight control system (PIXHAWK integrated controller; PIXHAWK, an open-source autopilot, integrates a 32-bit STM32F427 Cortex M4 core with an FPU, a 3-axis 16-bit gyroscope, a 3-axis 14-bit accelerometer, and overcurrent protection), a single-chip microcomputer (STM32), and a communication unit. The Raspberry Pi is responsible for controlling the on / off of the UV light strips in the UV traveling wave lamination flexible irradiation module, the vibration PWM of the vibration device in the targeted self-frequency modulation vibration decontamination module, and the camera image feedback. The flight control system controls the operation of the propulsion module to adjust its rotational speed. The single-chip microcomputer controls the operation of the real-time dynamic attitude adjustment module for the load carrier, and the communication unit is responsible for communicating with the external environment (such as the upper-layer control handle). The communication unit consists of a pair of power carriers, one of which is sealed in an underwater cabin, and the other is placed on shore and connected to the host computer, thereby realizing two-way data transmission on and under the water, allowing the visual host computer on shore to observe the underwater environment in real time, control the movement of the robot, etc.

[0051] The power module includes a square main distribution compartment 22 and a battery compartment 23 installed at the rear of the top of the base plate. The main distribution compartment is equipped with power supply components, and the battery compartment is equipped with a power supply battery. The power supply battery supplies power to the robot through the power supply components.

[0052] In addition, a layer-one control cabin 18 is arranged behind the camera recognition cabin on the top of the top plate, and electronic components for controlling the ultraviolet traveling wave bonding flexible irradiation module servo and the targeted self-frequency-modulated vibration decontamination module vibration motor are arranged in the layer-one control cabin; an underwater propeller cabin 19 is arranged in the middle of the top of the layer-three plate, and electronic components for controlling eight underwater propellers are arranged in the underwater propeller cabin, and a cylindrical main control cabin is arranged behind the underwater propeller cabin; an ultraviolet cabin 21 is arranged on the top of the bottom plate, and electronic components for powering the ultraviolet lamp column are arranged in the ultraviolet cabin.

[0053] This embodiment also discloses a net cleaning method, which is suitable for the above-mentioned net cleaning robot. The robot is attached to the net cage net, so that the peristaltic chain of the ultraviolet traveling wave flexible irradiation module is close to the net cage net, the servo and the ultraviolet light bar in the ultraviolet lamp column are turned on, and the rotation of the servo drives the peristaltic joints of each section of the peristaltic chain to perform cyclical undulating wave motion to perform ultraviolet irradiation and disinfection on the net cage net. After the irradiation and disinfection are completed, the servo and the ultraviolet light bar in the ultraviolet lamp column are turned off, and then according to the residual degree of attachments on the net cage net, the targeted self-frequency modulation vibration decontamination module is started to vibrate and clean the net cage net. After the vibration cleaning is completed, the targeted self-frequency modulation vibration decontamination module is turned off, and then the propulsion module is turned on to move the robot horizontally to other uncleaned areas of the net cage net in turn to perform the above-mentioned ultraviolet irradiation disinfection and vibration cleaning. If the robot overturns during operation, the center of gravity of the robot is adjusted by the real-time dynamic posture adjustment module of the load slide to restore its balance.

[0054] When the robot is in operation, it adopts a "vertical net cleaning, horizontal movement" operating mode. Therefore, the net attachments are first exposed to ultraviolet light from the UV traveling wave laminating flexible irradiation module, significantly reducing their adhesion and facilitating subsequent robot cleaning. After vibration cleaning, the robot will use horizontal movement to clean other contaminated areas on the net. This operating mode not only ensures an efficient cleaning process but also reduces friction between the robot and the attachments, minimizing loss and wear. The "vertical net cleaning, horizontal movement" operating mode also helps reduce robot instability during the cleaning process and improve cleaning efficiency. This operating mode enables the robot to demonstrate greater professionalism and efficiency in cleaning tasks, while also protecting the environment and reducing friction and wear between the robot and attachments, providing a viable solution for cleaning tasks in a variety of application scenarios.

Claims

1. A marine ranch ecological maintenance type ultraviolet flexible net cleaning robot, characterized by: It includes a navigation body and an ultraviolet traveling wave bonding flexible irradiation module arranged on the navigation body, a targeted self-frequency modulation vibration decontamination module, a real-time dynamic attitude adjustment module for the loading slide, a propulsion module, a main control module and a power supply module; the navigation body includes a bottom plate, a top plate and two main side plates, and the bottom plate and the top plate are arranged between the two main side plates; the ultraviolet traveling wave bonding flexible irradiation module is arranged on one side of the navigation body, including a lower limit groove installed on the top of the bottom plate and an upper limit groove installed on the bottom of the top plate, the upper and lower limit grooves are arranged opposite to each other, and the upper and lower limit grooves are arranged opposite to each other. A servo and a spiral spine are installed between them, and the spiral spine can rotate around the upper and lower limit grooves under the drive of the servo. It also includes a peristaltic chain suspended at the bottom of the top plate, and the peristaltic chain includes two or more peristaltic joints with the same structure. The peristaltic joint includes two left and right opposite joint walls and an ultraviolet lamp column and a wiring column installed between the two joint walls. The above-mentioned spiral spine is clamped between the ultraviolet lamp column and the wiring column, and the adjacent joint walls between the upper and lower adjacent peristaltic joints are hinged to each other; the main control module controls the operation of the robot, and the power module supplies power to the robot; The second and third layers are also set between the bottom and top plates of the navigation body. The second and third layers are also set between the two main side plates. The plates are connected by angle brackets and bolts, and aluminum profile skeletons are added between the layers. The targeted self-frequency-modulated vibration decontamination module is installed on the top of the top plate, and includes two vibration devices, a lighting lamp and a camera recognition cabin, and a camera is arranged in the camera recognition cabin; the two vibration devices have the same structure and are respectively installed at both ends of the top plate, and the vibration device includes an upper shell and a lower shell. A vertically arranged vibration motor and a horizontally arranged vibration head are installed in the cavity between the upper and lower shells, and the tail of the vibration head remains in the cavity, and the head extends out of the cavity and is on the same side as the ultraviolet traveling wave flexible irradiation module. A connecting boss is installed on the top of the power output shaft of the vibration motor, and the connecting boss is connected to the tail of the vibration head through a connecting rod transmission structure. The real-time dynamic posture adjustment module of the object-carrying slide is installed on the second layer board, including a loading box, in which a slide rail, a gyroscope, a stepper motor driver and a stepper motor are arranged. A slide with a heavy object and a limiter are installed on the slide rail. The stepper motor driver controls the motor operation according to the angle signal of the gyroscope, and drives the slide to slide on the slide rail through the operation of the motor.

2. The marine ranch ecological conservation ultraviolet flexible net cleaning robot according to claim 1, characterized in that: A connector is installed at the bottom of the top plate, and a peristaltic chain is hingedly installed at the bottom of the connector; a semi-open cabin is provided above the spiral spine, and a servo is provided in the semi-open cabin, and a power output shaft of the servo is connected to the spiral spine through a servo fixing hole; an ultraviolet light strip placement groove and a quartz light-transmitting plate groove are provided on the exposed side of the ultraviolet lamp column, an ultraviolet light strip is inserted into the ultraviolet light strip placement groove, a quartz plate is inserted into the quartz light-transmitting plate groove, and fixing holes are provided at both ends of the ultraviolet lamp column; positive and negative wiring holes are provided in the wiring column, and fixing holes are provided at both ends of the wiring column.

3. The marine ranch ecological conservation ultraviolet flexible net cleaning robot according to claim 1 is characterized by: The propulsion module consists of eight underwater thrusters, four of which are located at the bottom of the second plate to control the lateral movement of the robot, and the other four underwater thrusters are evenly distributed on the outside of the two main side plates to control the vertical movement of the robot.

4. The marine ranch ecological conservation ultraviolet flexible net cleaning robot according to claim 1, characterized in that: The main control module includes a main control cabin installed on a three-layer board. The main control cabin has a Raspberry Pi, flight control, single-chip microcomputer and communication unit built in. The Raspberry Pi is responsible for controlling the ultraviolet traveling wave bonding flexible irradiation module and the targeted self-frequency modulation vibration decontamination module, the flight control is responsible for controlling the propulsion module, the single-chip microcomputer is responsible for controlling the real-time dynamic attitude adjustment module of the carrier slide, and the communication unit is responsible for communicating with the outside world.

5. The marine ranch ecological conservation ultraviolet flexible net cleaning robot according to claim 1 is characterized by: The power module includes a main distribution compartment and a battery compartment installed on the top of the base plate. The main distribution compartment is provided with power supply elements, and the battery compartment is provided with power supply batteries. The power supply batteries supply power to the robot through the power supply elements.

6. The marine ranch ecological conservation ultraviolet flexible net cleaning robot according to claim 1, characterized in that: Behind the camera recognition cabin on the top of the top plate is the layer one control cabin, in which are arranged the electronic components for controlling the servo of the ultraviolet traveling wave bonding flexible irradiation module and the vibration motor of the targeted self-frequency-modulated vibration decontamination module; on the layer three plate is the underwater thruster cabin, in which are arranged the electronic components for controlling eight underwater thrusters; on the top of the bottom plate is the ultraviolet cabin, in which are arranged the electronic components for powering the ultraviolet lamp column.

7. A net cleaning method, applicable to the net cleaning robot according to claim 1, characterized in that: The robot is attached to the cage net so that the peristaltic chain of the ultraviolet traveling wave flexible irradiation module is close to the cage net, and the ultraviolet light bar in the servo and the ultraviolet lamp column is turned on. The rotation of the servo drives the peristaltic joints of the peristaltic chain to perform cyclical undulating wave motion to disinfect the cage net with ultraviolet irradiation. After the irradiation and disinfection are completed, the servo and the ultraviolet light bar in the ultraviolet lamp column are turned off. Then, according to the residual degree of attachments on the cage net, the targeted self-frequency modulation vibration decontamination module is started to vibrate and clean the cage net. After the vibration cleaning is completed, the targeted self-frequency modulation vibration decontamination module is turned off, and then the propulsion module is turned on to make the robot move horizontally to other uncleaned areas of the cage net in turn to perform the above-mentioned ultraviolet irradiation disinfection and vibration cleaning. If the robot overturns during operation, the center of gravity of the robot is adjusted by the real-time dynamic posture adjustment module of the load slide to restore its balance.

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