Universal ultrasonic underwater defense and cleaning multifunctional all-in-one machine

Abstract

The invention discloses a universal ultrasonic underwater defense and cleaning multifunctional all-in-one machine which comprises a self-propelled unmanned device, an ultrasonic device and a communication relay device. A main control module, a first lithium battery pack and a first mechanical arm group are mounted on the self-propelled unmanned device, and the first mechanical arm group comprises at least two first mechanical arms; the ultrasonic device is suspended and connected below the self-propelled unmanned device; the ultrasonic device comprises an ultrasonic generator, a long-distance ultrasonic transducer and a short-distance ultrasonic transducer array; the ultrasonic generator is used for forming directional ultrasonic waves on the long-distance ultrasonic transducer and the short-distance ultrasonic transducer array; the communication relay device comprises a communication relay; and the communication repeater is used for realizing remote signal interaction between the main control module and an external control end. According to the method, the aquatic organisms such as barnacles attached to the culture netting can be removed and defended by utilizing the ultrasonic equipment, so that the removal efficiency of the aquatic organisms is improved, and the living environment of aquatic products in the culture netting is improved.

Description

Technical Field

[0001] The invention relates to the technical field of aquaculture equipment, and in particular to a universal ultrasonic underwater defense cleaning multifunctional all-in-one machine. Background Art

[0002] Cage aquaculture refers to a production method in which cages made of mesh are placed in a certain water area for aquatic product aquaculture. By placing cages in lakes, rivers, reservoirs and other waters with a certain water flow, fresh water quality and high dissolved oxygen content, high-density intensive aquaculture is implemented. According to the bottom area of ​​the cage, the output per square meter can reach more than ten to dozens of kilograms. It is commonly used to breed carp, rainbow trout, silver carp, bighead carp, grass carp, and roundhead bream. In practice, after a long period of aquaculture, aquatic organisms such as barnacles will be densely attached to the surface of the net, causing water pollution and reducing aquaculture efficiency. In the prior art, it is usually artificial or set up a robot that circulates along the inner wall of the aquaculture net, and the inner wall of the aquaculture net is rubbed with a high-pressure water gun and a steel brush, and aquatic organisms such as barnacles are removed by cavitation and physical friction. The problem with this method is that the attachment of aquatic organisms to the inner wall facilities of the cage is often very firm, and the physical removal method is not effective, and the effect is not good. Therefore, how to develop a defense and cleaning device for aquaculture nets and to overcome the above-mentioned problems in the prior art is a direction that those skilled in the art need to study. Summary of the invention

[0003] The technical purpose of the present invention is to provide a universal ultrasonic underwater defense cleaning multifunctional all-in-one machine, which can use ultrasonic equipment to remove and defend aquatic organisms such as barnacles attached to the inner wall of aquaculture nets, thereby improving the efficiency of aquatic organism removal and improving the living environment of aquatic products in aquaculture nets.

[0004] The present invention provides a universal ultrasonic underwater defense cleaning multifunctional all-in-one machine, which comprises: a self-propelled unmanned device, an ultrasonic device and a communication relay device;

[0005] The self-propelled unmanned device is equipped with a main control module, a first lithium battery pack and a first mechanical arm group, the first mechanical arm group includes at least two first mechanical arms, one end of the first mechanical arm is fixedly connected to the self-propelled unmanned device as a whole, and the other end of the first mechanical arm is provided with a replaceable first mechanical claw; the first mechanical claw is configured to grasp the top edge of the breeding net; the first mechanical arm and the first mechanical claw are respectively made of aluminum alloy plated with zinc-nickel alloy;

[0006] The ultrasonic device is installed on a mounting frame, and the mounting frame is suspended and connected to the bottom of the self-propelled unmanned device; the ultrasonic device includes an ultrasonic generator, a long-range ultrasonic transducer, and a short-range ultrasonic transducer array; the short-range ultrasonic transducer array is located on one side of the mounting frame, and the long-range ultrasonic transducer is located on the other side of the mounting frame; the ultrasonic generator is electrically connected to the long-range ultrasonic transducer and the short-range ultrasonic transducer array, respectively, and is used to form directional ultrasonic waves on the vibrator surface of the short-range ultrasonic transducer array and the vibrator surface of the long-range ultrasonic transducer respectively;

[0007] The main control module is respectively connected to the first mechanical arm group and the ultrasonic generator signal, and the main control module is used to control the first mechanical arm group and the ultrasonic generator respectively; the first lithium battery pack is used to power the electrical devices on the self-propelled unmanned device and the electrical devices on the ultrasonic device;

[0008] The communication relay device includes a communication repeater and a second lithium battery pack; the second lithium battery pack is used to power the communication repeater, the communication repeater is wirelessly connected to the main control module, and the communication repeater is used to realize remote signal interaction between the main control module and the external control terminal.

[0009] In practice, the ultrasonic device may further include a built-in driving module, in which an independent execution program is pre-written, and the built-in driving module is respectively connected to the main control module and the ultrasonic generator signal, and is used to execute the signal interaction between the main control module and the ultrasonic generator, so as to reduce the burden of the main control module, thereby reducing energy consumption and improving system stability.

[0010] By adopting this scheme: in the process of removing aquatic organisms, the close-range ultrasonic transducer array is moved to the position of the aquatic organisms attached to the inner wall of the breeding net, the ultrasonic generator is started, and a directional ultrasonic wave is formed on the vibrator surface of the close-range ultrasonic transducer array. Under the action of the directional ultrasonic wave, aquatic organisms such as barnacles are shaken into small fragments and fall to the bottom of the net cage, and flow out from the gaps in the net rope at the bottom of the net cage. At the same time, the ultrasonic generator also forms a directional ultrasonic wave on the vibrator surface of the long-range ultrasonic transducer. The directional ultrasonic wave formed on the vibrator surface of the close-range ultrasonic transducer array and the directional ultrasonic wave formed on the vibrator surface of the long-range ultrasonic transducer resonate on the net rope on the inner wall of the net cage, destroying the biofilm, ensuring that subsequent aquatic organisms cannot attach again, and playing a positive defensive effect on aquatic organisms. At the same time, the communication repeater is used to realize the remote signal interaction between the main control module and the external control terminal, realize the shore-based remote control of the equipment, unmanned work, and reduce the manpower cost of equipment management. The first robotic arm and the first robotic claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy, and have the characteristics of high strength, light weight, and corrosion resistance, meeting the needs of long-term underwater operations.

[0011] Preferably, the ultrasonic device further comprises a pneumatic ultrasonic shovel, and the pneumatic ultrasonic shovel is symmetrically mounted on both sides of the mounting frame.

[0012] By adopting this solution: using pneumatic ultrasonic shovel to achieve rough cleaning and removal of large particles and stubborn shell dirt, combined with ultrasonic waves to achieve better cleaning results.

[0013] Preferably, the mounting frame is connected to the bottom of the self-propelled unmanned device through a winch wire suspension, and the self-propelled unmanned device also includes an electric winch, one end of the winch wire is wound and installed on the electric winch, and the other end of the winch wire is fixedly connected to the mounting frame as a whole; the main control module is connected to the electric winch signal, and the main control module is also used to control the electric winch.

[0014] By adopting this solution: by adjusting the rotation of the electric winch, adjusting the straight-line distance between the mounting frame and the self-propelled unmanned device, and then adjusting the close-range ultrasonic transducer array and the operating depth on the inner wall of the cage, the inner wall of the cage can be cleaned in the vertical direction.

[0015] Preferably, the ultrasonic device also includes a second robotic arm group, the second robotic arm group includes at least two second robotic arms, one end of the second robotic arm is fixedly connected to the mounting frame as a whole, and the other end of the second robotic arm is provided with a second robotic claw; the second robotic claw is configured to grasp the inner wall net rope of the breeding net; the second robotic arm and the second robotic claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy; the main control module is signal-connected to the second robotic arm group, and the main control module is also used to control the second robotic arm group.

[0016] By adopting this technical solution: while the first robotic arm fixes the self-propelled unmanned device on the water surface, the second robotic arm is used under the water surface to fix the position of the ultrasonic device and the inner side of the breeding net, thereby preventing the close-range ultrasonic transducer array from moving with the water flow during the cleaning process and weakening the cleaning effect.

[0017] Preferably, the self-propelled unmanned device further includes a first camera; the ultrasonic device further includes an underwater camera and a side-scan sonar; the first camera and the underwater camera are respectively connected to the main control module by signal.

[0018] By adopting this technical solution: using the first camera to capture the water surface environment, and using the underwater camera to capture images of the inner wall of the underwater box, the captured images are transmitted to the shore-based control console through the main control module via the communication repeater, thereby realizing the targeted movement of the ultrasonic cleaning device for aquaculture nets on the aquaculture nets and improving the cleaning efficiency.

[0019] Preferably, the ultrasonic device further comprises an underwater LED lighting lamp. Further, the underwater LED lighting lamp is installed on the mounting frame at a position close to the close-range ultrasonic transducer array.

[0020] By adopting this technical solution: using underwater LED lighting to improve underwater visibility, the efficiency of targeted cleaning of the inner wall of the cage is improved.

[0021] Preferably, the ultrasonic device further comprises a distance sensor. Further, the distance sensor is mounted on the mounting frame at a position close to the short-range ultrasonic transducer array.

[0022] By adopting this technical solution: using a distance sensor to sense the relative distance between the close-range ultrasonic transducer array and the inner wall of the breeding net in real time, it is convenient for the staff to control the second mechanical claw to adjust the distance between the close-range ultrasonic transducer array and the inner wall of the breeding net.

[0023] Preferably, the self-propelled unmanned device further includes a wind power generation device, and the wind power generation device is electrically connected to the first lithium battery pack.

[0024] By adopting this technical solution: wind power generation is used to power the first lithium battery pack.

[0025] Preferably, the communication relay device further comprises: an annular hoop, which is configured to be mounted on a handrail frame of a breeding net; the communication repeater and the second lithium battery pack are mounted on an inner wall of the annular hoop.

[0026] By adopting this technical solution: fixing the communication relay device at a position higher than the self-propelled unmanned device, the communication relay device is less exposed to water waves.

[0027] Preferably, the communication relay device further comprises: a flexible solar panel, wherein the flexible solar panel is configured to be wrapped around the outer wall of the annular hoop, and the flexible solar panel is electrically connected to the second lithium battery pack.

[0028] By adopting this technical solution: the solar panel converts electrical energy into the second lithium battery pack to power the communication repeater.

[0029] Compared with the prior art, the present invention has achieved the following technical advances:

[0030] Firstly, the present invention can utilize ultrasonic equipment to realize efficient cleaning and active defense against aquatic organisms such as barnacles attached to the inner wall of aquaculture nets, thereby improving the efficiency of aquatic organism removal and the living environment of aquatic products in the cages.

[0031] Secondly, the present invention realizes visualization of the inner wall of the aquaculture net during the working process, and achieves targeted cleaning of the inner wall of the cage.

[0032] Thirdly, the present invention can utilize solar energy and wind energy to generate and store electric energy by itself, which greatly improves the endurance of the equipment for long-term operation and reduces the labor cost of equipment maintenance.

[0033] Fourthly, the present invention can realize shore-based remote control, further reducing the manpower cost of equipment management.

[0034] Finally, the system of the present invention has a simple structure and is easy to operate. Compared with traditional equipment, it has the advantages of light weight, low cost, and clean and environmentally friendly energy use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of Example 1 installed on a breeding net.

[0036] Figure 2 for Figure 1 A partial enlarged view of area A.

[0037] Figure 3 This is a connection diagram of the self-propelled unmanned device and the ultrasonic device.

[0038] Figure 4 for Figure 3 Schematic diagram of the structure from another angle.

[0039] Figure 5 This is a schematic diagram of the internal structure of a self-propelled unmanned device.

[0040] Figure 6 Schematic diagram of the ultrasonic generator located in the mounting frame.

[0041] Figure 7 This is an enlarged schematic diagram of a communication relay device.

[0042] Figure 8 It is a schematic diagram of the internal structure of the annular hoop.

[0043] In the figure, the component names corresponding to the reference numerals are as follows:

[0044] 100, self-propelled unmanned device; 200, ultrasonic device; 300, communication relay device; 110, main control module; 120, first lithium battery pack; 130, first mechanical arm; 131, first mechanical claw; 140, electric winch; 141, winch wire; 150, first camera; 160, wind power generation device; 210, ultrasonic generator; 220, second mechanical arm; 221, second mechanical claw; 230, short-range ultrasonic transducer array; 240, long-range ultrasonic transducer; 250, underwater camera; 251, side-scan sonar; 260, underwater LED lighting; 270, distance sensor; 280, mounting frame; 290, pneumatic ultrasonic shovel; 310, communication relay; 320, second lithium battery pack; 330, annular hoop; 340, flexible solar panel. DETAILED DESCRIPTION

[0045] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0046] Example 1, please refer to Figure 1-8 :

[0047] A universal ultrasonic underwater defense cleaning multifunctional all-in-one machine, comprising: a self-propelled unmanned device 100, an ultrasonic device 200 and a communication relay device 300;

[0048] The self-propelled unmanned device 100 is equipped with a main control module 110, a first lithium battery pack 120 and a first robotic arm group, the first robotic arm group includes two first robotic arms 130, and the two first robotic arms 130 are symmetrically distributed on both sides of the self-propelled unmanned device 100, one end of the first robotic arm 130 is fixedly connected to the self-propelled unmanned device 100 as a whole, and the other end of the first robotic arm 130 is provided with a first robotic claw 131; the first robotic claw 131 is configured to grasp the top edge of the breeding net; the universal ultrasonic underwater defense cleaning multifunctional all-in-one machine can be controlled by remote manual, automatic, timing, custom, etc. to circle along the net and move up and down to form full coverage of the area.

[0049] The ultrasonic device 200 is installed on a mounting frame 280, and the mounting frame 280 is suspended and connected below the self-propelled unmanned device 100; the ultrasonic device 200 includes an ultrasonic generator 210, a long-range ultrasonic transducer 240, a short-range ultrasonic transducer array 230 and a pneumatic ultrasonic shovel 290;

[0050] The close-range ultrasonic transducer array 230 is located on one side of the mounting frame 280 facing the inner wall of the aquaculture net, and the long-range ultrasonic transducer 240 is located on the other side of the mounting frame 280; the ultrasonic generator 210 is electrically connected to the long-range ultrasonic transducer 240 and the close-range ultrasonic transducer array 230, respectively, and is used to form directional ultrasonic waves on the vibrator surface of the close-range ultrasonic transducer array 230 and the vibrator surface of the long-range ultrasonic transducer 240, respectively; wherein the directional ultrasonic waves generated by the close-range ultrasonic transducer array 230 have an effective distance of 0-4 cm, and the directional ultrasonic waves generated by the long-range ultrasonic transducer 240 have an effective distance of 0-20 m. The pneumatic ultrasonic shovel 290 is configured to output high-frequency vibrations of 20,000 times per minute, and is used to remove large particles and stubborn shellfish dirt.

[0051] The ultrasonic device 200 also includes a second mechanical arm group, which includes four second mechanical arms 220, which are distributed on both sides of the upper edge and the lower edge of the mounting frame 280, one end of the second mechanical arm 220 is fixedly connected to the mounting frame 280 as a whole, and the other end of the second mechanical arm 220 is provided with a second mechanical claw 221; the second mechanical claw 221 is configured to grasp the inner wall rope of the breeding net; in this example, the first mechanical arm 130 and the second mechanical arm 220 are both four-axis mechanical arms. The first mechanical arm, the first mechanical claw, the second mechanical arm, and the second mechanical claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy.

[0052] The main control module 110 is respectively connected to the first mechanical arm group, the second mechanical arm group and the ultrasonic generator 210 by signals, and the main control module 110 is used to control the first mechanical arm group and the ultrasonic generator 210 respectively; the first lithium battery group 120 is used to power the electrical devices on the self-propelled unmanned device 100 and the electrical devices on the ultrasonic device 200;

[0053] The communication relay device 300 includes a communication repeater 310 and a second lithium battery pack 320; the second lithium battery pack 320 is used to power the communication repeater 310, the communication repeater 310 is wirelessly connected to the main control module 110, and the communication repeater 310 is used to realize remote signal interaction between the main control module 110 and the external control terminal.

[0054] In practice, the working process is as follows: the staff outputs a control command signal at the shore-based operating console, and the control command signal is wirelessly transmitted to the main control module 110 via the communication repeater 310. The main control module 110 controls the relevant equipment to work based on the control command signal: the main control module 110 first controls the first mechanical arm group to work, and each first mechanical arm 130 pulls the self-propelled unmanned device 100 to move along the top edge of the aquaculture net. Then the main control module 110 controls the second mechanical arm group to work, and each second mechanical arm 220 pulls the mounting frame 280, so that the array of the close-range ultrasonic transducer array 230 moves to a position close to the inner wall of the aquaculture net (the spacing is less than 4 cm), and the main control module 110 controls the ultrasonic generator 210 to start, and the ultrasonic generator 210 forms a directional ultrasonic wave on the vibrator surface of the close-range ultrasonic transducer array 230. Under the action of the directional ultrasonic wave, aquatic organisms such as barnacles are shaken into small fragments and fall to the bottom of the cage, and flow out from the gaps in the net rope at the bottom of the cage. At the same time, the ultrasonic generator 210 also forms directional ultrasonic waves on the vibrator surface of the long-range ultrasonic transducer 240. The directional ultrasonic waves formed on the vibrator surface of the close-range ultrasonic transducer array 230 and the directional ultrasonic waves formed on the vibrator surface of the long-range ultrasonic transducer 240 resonate on the net rope on the inner wall of the cage, destroying the biofilm, ensuring that subsequent aquatic organisms cannot attach again, and playing a positive defensive effect on aquatic organisms.

[0055] In this example: the mounting frame 280 is suspended and connected to the bottom of the self-propelled unmanned device 100 through a winch wire 141, and the self-propelled unmanned device 100 also includes an electric winch 140, one end of the winch wire 141 is wound and installed on the electric winch 140, and the other end of the winch wire 141 is fixedly connected to the mounting frame 280 as a whole; the main control module 110 is connected to the electric winch 140 by signal, and the main control module 110 is also used to control the electric winch 140.

[0056] In practice, the staff controls the electric winch 140 to rotate through the main control module 110. The electric winch 140 adjusts the length of the winch wire 141 during the rotation, thereby adjusting the operating depth of the mounting frame 280 on the aquaculture net in the vertical direction. Therefore, there is no need to design a large close-range ultrasonic transducer array 230, reducing equipment costs.

[0057] In this example, the self-propelled unmanned device 100 further includes: a first camera 150 and a wind power generation device 160. The first camera 150 is connected to the main control module 110 by signal, and is used to capture an image of the external environment at the height of the self-propelled unmanned device 100, and the obtained image is remotely fed back to the shore-based control console through the main control module 110 via the communication relay device 300. The wind power generation device 160 is electrically connected to the first lithium battery pack 120. The wind power discharge device is used to power the first lithium battery pack 120 by wind power generation, which greatly improves the working endurance of the first lithium battery pack 120.

[0058] In this example, the ultrasonic device 200 further includes: an underwater camera 250, an underwater LED lighting 260, a distance sensor 270, and a side-scan sonar 251. The side-scan sonar 251 is used to generate a scanning image, and cooperates with the underwater camera 250 to obtain a clearer underwater picture to overcome problems such as lens fog, light scattering, and interference from turbidity.

[0059] Wherein: the underwater camera 250 is connected to the main control module 110 by signal, and is used to obtain the inner wall image of the aquaculture net under water and transmit it to the main control module 110, and the underwater LED lighting lamp 260 is installed on the mounting frame 280 near the close-range ultrasonic transducer array 230. It is used to improve underwater visibility and assist the shooting work of the underwater camera 250. The distance sensor 270 is connected to the main control module 110 by signal, and is used to sense the relative distance between the close-range ultrasonic transducer array 230 and the inner wall of the aquaculture net in real time, so that the staff can control the second mechanical claw 221 to adjust the distance between the close-range ultrasonic transducer array 230 and the inner wall of the aquaculture net.

[0060] In this example, the communication relay device 300 further includes: an annular hoop 330 and a flexible solar panel 340. The annular hoop 330 is configured to be mounted on the handrail frame of the breeding net; the communication repeater 310 and the second lithium battery pack 320 are installed on the inner wall of the annular hoop 330. The flexible solar panel 340 is wrapped on the outer wall of the annular hoop 330, and the flexible solar panel 340 is electrically connected to the second lithium battery pack 320 and is used to supply power to the second lithium battery pack 320. The communication relay device 300 can provide a positioning function, reduce working errors, and solve the problem of communication blocking and working crashes caused by too many error stacking and correction.

[0061] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A universal ultrasonic underwater defense cleaning multifunctional all-in-one machine, characterized in that: include: Self-propelled unmanned devices, ultrasonic devices and communication relay devices; The self-propelled unmanned device is equipped with a main control module, a first lithium battery pack and a first mechanical arm group, the first mechanical arm group includes at least two first mechanical arms, one end of the first mechanical arm is fixedly connected to the self-propelled unmanned device as a whole, and the other end of the first mechanical arm is provided with a replaceable first mechanical claw; the first mechanical claw is configured to grasp the top edge of the breeding net; the first mechanical arm and the first mechanical claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy; the ultrasonic device is installed on a mounting frame, and the mounting frame is suspended and connected to the bottom of the self-propelled unmanned device; the ultrasonic device includes an ultrasonic generator, a long-range ultrasonic transducer and a short-range ultrasonic transducer array; the short-range ultrasonic transducer array is located on one side of the mounting frame, and the long-range ultrasonic transducer is located on the other side of the mounting frame; the ultrasonic generator is electrically connected to the long-range ultrasonic transducer and the short-range ultrasonic transducer array, respectively, and is used to form directional ultrasonic waves on the vibrator surface of the short-range ultrasonic transducer array and on the vibrator surface of the long-range ultrasonic transducer respectively; The main control module is respectively connected to the first mechanical arm group and the ultrasonic generator signal, and the main control module is used to control the first mechanical arm group and the ultrasonic generator respectively; the first lithium battery pack is used to power the electrical devices on the self-propelled unmanned device and the electrical devices on the ultrasonic device; The communication relay device includes a communication repeater and a second lithium battery pack; the second lithium battery pack is used to power the communication repeater, the communication repeater is wirelessly connected to the main control module, and the communication repeater is used to realize remote signal interaction between the main control module and the external control terminal.

2. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 1, characterized in that: The ultrasonic device also includes a pneumatic ultrasonic shovel, which is symmetrically installed on both sides of the mounting frame.

3. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 2 is characterized in that: The mounting frame is connected to the bottom of the self-propelled unmanned device by hanging it with a winch wire. The self-propelled unmanned device further comprises an electric winch, one end of the winch wire is wound and installed on the electric winch, and the other end of the winch wire is fixedly connected to the mounting frame as a whole; The main control module is connected to the electric winch signal, and the main control module is also used to control the electric winch.

4. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 3 is characterized in that: The ultrasonic device also includes a second robotic arm group, which includes at least two second robotic arms, one end of the second robotic arm is fixedly connected to the mounting frame as a whole, and the other end of the second robotic arm is provided with a second robotic claw; the second robotic claw is configured to grasp the inner wall net rope of the breeding net; the second robotic arm and the second robotic claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy; the main control module is connected to the second robotic arm group by signal, and the main control module is also used to control the second robotic arm group.

5. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 4 is characterized in that: The self-propelled unmanned device also includes a first camera; the ultrasonic device also includes an underwater camera and a side-scan sonar; the first camera and the underwater camera are respectively connected to the main control module signal.

6. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 5, characterized in that: The ultrasonic device also includes an underwater LED lighting lamp.

7. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 6, characterized in that: The ultrasonic device also includes a distance sensor.

8. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 7, characterized in that: The self-propelled unmanned device further includes a wind power generation device, and the wind power generation device is electrically connected to the first lithium battery pack.

9. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 8, characterized in that: The communication relay device also includes: an annular hoop sleeve, which is configured to be mounted on the handrail frame of the breeding net; the communication repeater and the second lithium battery pack are installed on the inner wall of the annular hoop sleeve.

10. The universal ultrasonic underwater defense cleaning multifunctional all-in-one machine according to claim 9, characterized in that: The communication relay device also includes: a flexible solar panel, which is configured to be wrapped around the outer wall of the annular hoop, and the flexible solar panel is electrically connected to the second lithium battery pack.

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