Composite multi-phase field netting cleaning robot

Abstract

The invention discloses a composite multi-phase field netting cleaning robot, belongs to the field of deep sea breeding equipment, and solves the problems that a netting cleaning robot in the prior art is relatively single in cleaning mode, relatively low in cleaning quality and possibly causes damage to netting. According to the device, a propelling mechanism is arranged in a supporting framework, a cleaning device is arranged at the lower end of the supporting framework, and the cleaning device comprises a rotary cleaning brush roller, a sand blasting mechanism and a self-focusing enhanced ultrasonic cavitation device; the sand blasting mechanism comprises a sand blasting power part and a sand blasting opening, the sand blasting opening is formed in the sand blasting power outlet end of the sand blasting power part, and the sand blasting opening faces the rotary cleaning brush roller; the self-focusing enhanced ultrasonic cavitation device is provided with a vibration cavity, an ultrasonic cavitation foam area can be formed, and the rotary cleaning brush roller is arranged in the vibration cavity. The composite multi-phase field netting cleaning robot can complete netting cleaning in a breeding state, and has a good cleaning effect.

Description

Technical Field

[0001] The invention relates to a composite multi-phase field net cleaning robot, belonging to the field of marine aquaculture equipment. Background Art

[0002] With the acceleration of my country's modernization, the demand for resources has gradually increased, and China has a long coastline and rich coastal resources. In recent years, with the increasing scale of my country's marine aquaculture, it has gradually developed from the nearshore to the deep sea, and the technologies of various aquaculture cages and aquaculture platforms have also been rapidly developed and applied. Nets are used on a large scale in marine aquaculture. Since the nets are immersed in seawater for a long time, biological pollution problems will inevitably occur whether in the nearshore or offshore, especially the problem of marine biological attachment. Marine organisms such as seaweed and shellfish in the seawater will multiply in large numbers after attachment, so that the mesh of the net is blocked, resulting in a serious decrease in the fluidity of the seawater in the net, resulting in the death of a large number of aquaculture organisms. In addition, after the net is attached, it will increase the water flow resistance in the ocean and the weight in aquaculture, thereby reducing the stability and safety of the aquaculture device.

[0003] Traditional net cleaning methods mainly rely on manual cleaning, which consumes a lot of manpower and material resources. Not only does the cleaning time take a long time, but the cleaning effect is also relatively poor, and the organisms attached to the nets are difficult to remove. With the development of technology, many different net cleaning robots have emerged, which greatly improve the cleaning efficiency of nets. Most net cleaning robots have a relatively simple cleaning method, which cannot improve the quality of net cleaning or cause damage to the nets. Summary of the invention

[0004] The invention provides a composite multi-phase field net cleaning robot, which can complete net cleaning in a breeding state and has a good cleaning effect.

[0005] The technical solution adopted by the present invention is a composite multi-phase field net clothing cleaning robot, comprising a support frame, a propulsion mechanism in the support frame, and a cleaning device at the lower end of the support frame.

[0006] The cleaning device comprises a rotating cleaning brush roller, a sandblasting mechanism and a self-focusing enhanced ultrasonic cavitation device; the sandblasting mechanism comprises a sandblasting power component and a sandblasting port, the sandblasting port is arranged at the sandblasting power outlet end of the sandblasting power component, and the sandblasting port faces the rotating cleaning brush roller;

[0007] The self-focusing enhanced ultrasonic cavitation device has a vibration cavity, ultrasonic vibrator rows are arranged at two ends of the cavity and present ultrasonic cavitation foam areas on the net clothes, and a rotating cleaning brush roller is arranged in the vibration cavity.

[0008] Optimally, the above-mentioned composite multi-phase field net clothing cleaning robot also includes a toothed crawler walking mechanism, the toothed crawler walking mechanism includes two sets of toothed crawlers, and the two toothed crawlers are respectively located on both sides of the supporting frame.

[0009] Optimally, the above-mentioned composite multiphase field net clothing cleaning robot also includes a plurality of propeller thrusters; the propeller thrusters are respectively arranged at the corners of the supporting frame.

[0010] Optimized, in the above-mentioned composite multiphase field net cleaning robot, the self-focusing enhanced ultrasonic cavitation device comprises a plurality of ultrasonic vibrator mounting plates, and the vibration cavity is surrounded by the ultrasonic vibrator mounting plates;

[0011] The lower surface of the support frame has an opening, and the opening of the vibration cavity is arranged in coordination with the opening of the lower surface of the support frame;

[0012] The rotating cleaning brush roller part protrudes from the opening of the vibration cavity.

[0013] Optimized, in the above-mentioned composite multiphase field net cleaning robot, the self-focusing enhanced ultrasonic cavitation device includes a plurality of ultrasonic vibrators, and the ultrasonic vibrators are installed on an ultrasonic vibrator installation plate;

[0014] All ultrasonic vibrators are divided into two ultrasonic vibrator groups, and the ultrasonic vibrators in each ultrasonic vibrator group are evenly spaced and distributed in a straight line;

[0015] The ultrasonic vibrators in the same ultrasonic vibrator group are arranged at the same angle, and the ultrasonic vibrators in the two ultrasonic vibrator groups are arranged at an angle. The ultrasonic vibrators form an ultrasonic cavitation foam area in the net cleaning part, and the ultrasonic cavitation foam area formed by the two rows of ultrasonic vibrators is formed in the contact part between the rotating cleaning brush roller and the net.

[0016] The ultrasonic vibrators of the two groups of ultrasonic vibrators are arranged at an angle. The angle is set so that two rows of ultrasonic vibrators focus on the net to form an ultrasonic cavitation foam area. The ultrasonic vibrators self-focus on the cleaning part of the net. The cavitation phenomenon generated when the ultrasonic wave propagates in the liquid then forms an ultrasonic cavitation foam area. The cavitation phenomenon causes the bubbles in the liquid to expand rapidly in the low-pressure area, and these bubbles will collapse quickly in the high-pressure area. When the bubbles collapse, a large amount of energy is released, forming a strong shock wave. This shock wave can produce a tiny liquid jet and has a strong cleaning ability.

[0017] Optimally, the composite multi-phase field net cleaning robot has two rotating cleaning brush rollers, and the rotating shafts of the two rotating cleaning brush rollers are arranged in parallel and at intervals;

[0018] The sandblasting port faces between two rotating cleaning brush rollers.

[0019] Optimized, the composite multiphase field net cleaning robot has an image monitoring system installed on the support frame, and the image monitoring system includes an underwater camera and an underwater lighting lamp;

[0020] The underwater camera is installed at the front end and the rear end of the supporting frame, and the supporting frame is installed at the front end and the rear end of the supporting frame.

[0021] Optimized, the above-mentioned composite multiphase field net cleaning robot has a sensor detection system installed in the supporting frame; the sensor detection system includes a water depth sensor, a tilt sensor, a posture sensor and a speed sensor.

[0022] Optimally, in the composite multi-phase field net clothing cleaning robot, a hook (2) is fixed to the upper end of the supporting frame.

[0023] The advantages of this application are:

[0024] In the technical solution of the present application, multiple auxiliary cleaning methods are used in parallel. A self-focusing enhanced ultrasonic cavitation device is used for auxiliary cleaning while brush cleaning is performed. The self-focusing enhanced ultrasonic cavitation device forms an ultrasonic cavitation foam zone under the brush, and generates tiny bubbles through high-frequency vibration. These bubbles expand and contract rapidly in the liquid to form a powerful shock wave. This action can penetrate into the fiber gaps of the net, effectively remove dirt, grease and other impurities, and greatly improve the efficiency and cleanliness of the net cleaning. The rotating cleaning brush roller is used for cleaning while discharging mud and sand, which increases the friction between the brush and the net. The propeller and the toothed track cooperate to realize the movement of the robot on the net, and are equipped with a remote control device, so there is no need for personnel to go into the water to work, thereby greatly reducing the cost of marine aquaculture.

[0025] In the technical solution of the present application, for the multi-phase field cleaning method, the self-focusing enhanced ultrasonic cavitation device forms an ultrasonic cavitation foam zone under the brush. Compared with the traditional mechanical cleaning method, ultrasonic cavitation causes less physical damage to the fabric and can be cleaned without damaging the net. It is suitable for delicate and fragile materials. The rotating cleaning brush roller uses a soft brush head to reduce friction and wear on the surface of the net. The sandblasting port sprays mud and sand in combination with brush cleaning, which is a relatively gentle cleaning mode, avoiding strong stirring and high-pressure water flow, and reducing the risk of damage to the net. The multi-phase field assisted cleaning method greatly improves the cleaning efficiency and degree, and avoids damage to the net. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of this application;

[0027] Figure 2 for Figure 1 A top view of

[0028] Figure 3A schematic diagram of the working area of ​​the self-focusing enhanced ultrasonic cavitation device;

[0029] Figure 3 The area shown in A is the ultrasonic cavitation foam area. DETAILED DESCRIPTION

[0030] The technical features of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0031] As shown in the figure, the present invention is a composite multi-phase field net clothing cleaning robot, including a support frame, a toothed crawler walking mechanism, a propulsion mechanism in the support frame, and a cleaning device at the lower end of the support frame.

[0032] In this embodiment, the support frame can be welded into a common hexahedral frame using a steel structure, or can be a frame structure of other crawler robots in the prior art.

[0033] The toothed crawler walking mechanism includes two sets of toothed crawlers 8, which are respectively located on both sides of the supporting frame. The toothed crawlers 8 are driven by the toothed wheels 6, which are driven by their matching underwater motors. The propulsion mechanism includes a plurality of propeller thrusters 9. In this embodiment, the number of propeller thrusters 9 is 4, and the 4 propeller thrusters 9 are respectively arranged at the four corners of the supporting frame. The propeller thrusters 9 can be the propeller propulsion devices commonly used for underwater robots in the prior art.

[0034] After the robot enters the water, the propeller thrusters 9 distributed at the four corners of the robot push the robot to flip toward the net and push the robot to stick to the net, so that there is a greater friction between the toothed track 8 and the net, so that the robot can move on the net. At the same time, the tensioning wheel maintains the tension of the toothed track 8.

[0035] Since the robot in the present application does not need to move over a large range in the sea and only needs to be kept close to the net, the propeller thruster 9 in the present application does not need to provide power for the robot to move. The movement of the robot in the water and on the net mainly relies on the toothed track 8, and the propeller thruster 9 only needs to provide part of the propulsion force for the robot to stick to the net. Therefore, the power of the propeller thruster 9 is smaller than that of an ordinary underwater robot, and the power consumption will also be reduced. This method can increase the robot's self-sustaining ability in the water.

[0036] A hook 2 is fixed to the upper end of the support frame. In this embodiment, the hook 2 is installed above the support frame and fixed to the support frame through supporting components such as metal rods. The hook 2 is used to fix the external hook lock to allow the robot to enter and exit the water, so as to facilitate working in the deep sea.

[0037] An image monitoring system is installed on the support frame, and the image monitoring system includes an underwater camera 10 and an underwater lighting lamp 11. The underwater camera 10 is installed at the front and rear ends of the support frame, and the support frame is installed at the front and rear ends of the support frame. The underwater lighting lamp 11 provides a good underwater lighting environment, and then the underwater lighting lamp 11 shoots the underwater situation. The robot is equipped with front and rear underwater cameras and underwater lighting lamps. The front end is used to observe the front situation of the robot, and the rear end is used to check the cleaning effect of the robot.

[0038] The sandblasting mechanism includes a sandblasting power component and a sandblasting port 1. The sandblasting power component includes a mud and sand pipeline and a mud and sand pump on the water. The sandblasting port 1 is arranged at the sandblasting power outlet end of the sandblasting power component. The sandblasting port 1 faces the rotating cleaning brush roller 7. The mud and sand pump provides power for sandblasting. The mud and sand sprayed by the mud and sand pump are transported to the sandblasting port 1 through the mud and sand pipeline and sprayed out from the sandblasting port 1. A sand guide pipe can be connected to the inlet of the mud and sand pump. One end of the sand guide pipe is connected to the inlet end of the mud and sand pump, and the other end extends to the seabed, and the mud and sand on the seabed are sucked into the pump body from the seabed. The sandblasting mechanism is mainly used to spray mud and sand on the net, increase the friction between the brush and the net, and improve the cleaning efficiency and quality of the brush.

[0039] In the present application, there are two rotating cleaning brush rollers 7, the rotating shafts of the two rotating cleaning brush rollers 7 are arranged in parallel and spaced apart, and the sandblasting port 1 faces between the two rotating cleaning brush rollers 7. The two rotating cleaning brush rollers 7 are driven by an underwater motor to rotate in opposite directions, presenting a stretched state to the net, so that the net can be better cleaned while also having suction force on mud and sand.

[0040] The self-focusing enhanced ultrasonic cavitation device comprises a plurality of ultrasonic vibrator mounting plates 5, and a vibration cavity is surrounded by the ultrasonic vibrator mounting plates 5. The lower surface of the support frame has an opening, the opening of the vibration cavity is matched with the opening of the lower surface of the support frame, and the rotating cleaning brush roller 7 partially protrudes from the opening of the vibration cavity.

[0041] The self-focusing enhanced ultrasonic cavitation device also includes a plurality of ultrasonic vibrators 4, which are mounted on an ultrasonic vibrator mounting plate 5. All ultrasonic vibrators 4 are divided into two groups of ultrasonic vibrator groups, and the ultrasonic vibrators 4 of each ultrasonic vibrator group are evenly spaced and distributed in a straight line. Two rows of bolts are welded on the ultrasonic vibrator mounting plate 5 to connect with the ultrasonic vibrators. The two rows of ultrasonic vibrators are arranged at an angle to self-focus to form an ultrasonic cavitation foam area. The ultrasonic cavitation foam area formed by the two rows of ultrasonic vibrators is in the contact part between the brush and the net. Ultrasonic cleaning is combined with brush cleaning. The three simultaneously assist in cleaning the net, greatly improving the cleaning quality and efficiency.

[0042] In the technical solution of the present application, a sealed cabin can also be installed in the support frame. The sealed cabin part is mainly the control system of the robot. Its main function is to connect with the host computer, control the robot through the host computer program, and support the robot to be controlled through the handle, so as to achieve better control of the robot's posture and ensure the transmission of image pictures and sensor signals. The control system of the net cleaning robot is mainly realized by the STM32F407 main control board and the Pixhawk flight control to control the underwater robot. The STM32F407 main control board is responsible for handling the core control tasks of the underwater robot, including motor control, attitude adjustment, and path planning. The Pixhawk flight control system works with the STM32F407 to provide high-precision attitude perception and stable control, ensuring the efficient operation of the robot in complex underwater environments. In order to realize the scanning and identification of damaged nets, the Jetson Xavier NX module is integrated in the system. Jetson Xavier NX has powerful image processing and artificial intelligence computing capabilities, and can process image data from underwater cameras in real time. Through deep learning algorithms, Jetson Xavier NX can accurately identify damaged parts of the net clothing and transmit the recognition results to the host computer for further analysis and processing.

[0043] In the technical solution of the present application, a sensor detection system can also be installed in the support frame. The sensor detection system monitors the current state through sensors and transmits signals. Sensor types include water depth sensors, tilt sensors, posture sensors and speed sensors, which are used to monitor the current state of the robot.

[0044] The STM32F407 main control board controls the underwater robot's thrusters by generating pulse width modulation (PWM) signals. These PWM signals are used to adjust the speed and direction of the motor to ensure that the robot can maintain a stable posture and move freely in different water flow environments. Motor control not only includes simple start and stop operations, but also involves complex speed control and direction adjustment to cope with complex underwater operating conditions. By precisely controlling the operation of the thrusters, the STM32F407 enables the robot to achieve stable hovering, forward, backward, steering and other operations. The STM32F407 main control board needs to collect and process data from a variety of sensors in real time. The depth sensor is used to detect the underwater depth of the robot to ensure that the robot operates within a predetermined depth range and avoid being affected by excessive water pressure. The attitude sensor includes accelerometers, gyroscopes, etc., which are used to monitor the robot's attitude changes in real time to ensure its stability during underwater operations. The STM32F407 controls the start and stop of the cleaning device to ensure that the cleaning operation is accurate. The STM32F407 main control board maintains data communication with the Jetson Xavier NX, receives its image analysis results, and executes corresponding control strategies based on these data. This multi-module collaboration enables the system to achieve highly automated operations in complex underwater environments. The Pixhawk flight control system has a built-in inertial measurement unit IMU, including an accelerometer, gyroscope, and magnetometer. These sensors can measure the robot's three-axis acceleration, angular velocity, and magnetic field strength in real time, helping the system perceive the robot's current posture, including pitch, roll, and yaw angles. The accelerometer can detect the robot's linear acceleration in three axes, which is used to determine the robot's motion state underwater and the impact of the external environment on it.

[0045] Of course, in the technical solution of the present application, a sensor detection system and a control system are not used, and the operation of the robot can also be completed by an operator on the water surface through wired remote control or wireless remote control.

[0046] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Any changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should fall within the protection scope of the present invention.

Claims

1. A composite multi-phase field net clothing cleaning robot, comprising a support frame, a propulsion mechanism in the support frame, and a cleaning device at the lower end of the support frame, characterized in that: The cleaning device comprises a rotating cleaning brush roller (7), a sandblasting mechanism and a self-focusing enhanced ultrasonic cavitation device; the sandblasting mechanism comprises a sandblasting power component and a sandblasting port (1); the sandblasting port (1) is arranged at the sandblasting power outlet end of the sandblasting power component, and the sandblasting port (1) faces the rotating cleaning brush roller (7); The self-focusing enhanced ultrasonic cavitation device has a vibration cavity, ultrasonic vibrator rows are arranged at both ends of the cavity to present an ultrasonic cavitation foam area on the net, and a rotating cleaning brush roller (7) is arranged in the vibration cavity.

2. The composite multi-phase field net cleaning robot according to claim 1, characterized in that: It also comprises a toothed crawler walking mechanism, which comprises two groups of toothed crawlers (8), and the two toothed crawlers (8) are respectively located on both sides of the supporting frame.

3. The composite multi-phase field net cleaning robot according to claim 1, characterized in that: The propulsion mechanism comprises a plurality of propeller propellers (9); the propeller propellers (9) are respectively arranged at the corners of the supporting frame.

4. The composite multi-phase field net cleaning robot according to claim 1, characterized in that: The self-focusing enhanced ultrasonic cavitation device comprises a plurality of ultrasonic vibrator mounting plates (5), and a vibration cavity is surrounded by the ultrasonic vibrator mounting plates (5); The lower surface of the support frame has an opening, and the opening of the vibration cavity is arranged in coordination with the opening of the lower surface of the support frame; The rotating cleaning brush roller (7) partially protrudes from the opening of the vibration cavity.

5. The composite multi-phase field net cleaning robot according to claim 4, characterized in that: The self-focusing enhanced ultrasonic cavitation device comprises a plurality of ultrasonic vibrators (4), wherein the ultrasonic vibrators (4) are mounted on an ultrasonic vibrator mounting plate (5); All ultrasonic vibrators (4) are divided into two ultrasonic vibrator groups, and the ultrasonic vibrators (4) of each ultrasonic vibrator group are evenly spaced and distributed in a straight line; The ultrasonic vibrators (4) of the two groups of ultrasonic vibrators are arranged at an angle, and the ultrasonic vibrators (4) form an ultrasonic cavitation foam area in the net cleaning portion. The ultrasonic cavitation foam area formed by the two rows of ultrasonic vibrators (4) is formed at the contact portion between the rotating cleaning brush roller (7) and the net.

6. The composite multi-phase field net cleaning robot according to claim 1, characterized in that: There are two rotating cleaning brush rollers (7), and the rotating shafts of the two rotating cleaning brush rollers (7) are arranged in parallel and at intervals; The sandblasting port (1) faces between two rotating cleaning brush rollers (7).

7. The composite multi-phase field net cleaning robot according to claim 1, characterized in that: An image monitoring system is installed on the supporting frame, and the image monitoring system includes an underwater camera (10) and an underwater lighting lamp (11); The underwater camera (10) is mounted on the front end and the rear end of the supporting frame, and the supporting frame is mounted on the front end and the rear end of the supporting frame.

8. The composite multi-phase field net cleaning robot according to claim 1, characterized in that: A hook (2) is fixed to the upper end of the support frame.

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