An underwater operating robot

Abstract

The application discloses an underwater operation robot, which comprises a multi-directional posture self-stabilizing structural frame and a rotary cleaning system; the structural frame comprises a buoyancy tube, and a flowing medium is arranged in the buoyancy tube; the rotary cleaning system comprises a plurality of rotary cleaning discs and a water inlet, the water inlet is communicated with an external water supply device to supply water flow to the rotary cleaning discs; the rotary cleaning disc comprises a cavitation nozzle which is arranged obliquely relative to the rotary cleaning disc, and when the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotary cleaning disc to rotate. The underwater operation robot of the application adopts the structural frame with the multi-directional posture self-stabilizing function, and through injection of the flowing medium, the posture of the robot underwater is autonomously maintained, and the control difficulty is reduced. In addition, the rotary cleaning system adopts the cavitation jet technology, the cleaning effect is good, and when the cavitation nozzle sprays water, the rotary cleaning disc can also rotate, and no additional energy is consumed or a driving mechanism is additionally arranged to drive the rotary cleaning disc to rotate, so that the structure is simple and the reliability is high.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an underwater operation robot. Background Technology

[0002] my country has become the world's largest producer of marine aquaculture, with nearshore and deep-sea cage culture becoming the main form of aquaculture. Existing aquaculture cage structures primarily consist of flexible / rigid netting, structural frames, and support cables. Due to the porous and permeable structure of the netting and the combined effects of feeding within the cages, various aquatic organisms, such as shellfish and algae, often adhere to the netting during the aquaculture process. The large accumulation of these organisms severely impacts the water exchange efficiency of the netting, affecting the survival environment of the farmed fish. Furthermore, secretions from some shellfish and algae, or decaying matter from dead organisms, can corrode the netting, eventually causing it to break, leading to fish escape and significant economic losses. Traditional methods of net cleaning involve manual removal of the netting for washing or divers directly cleaning it underwater. This is not only inefficient but also poses significant safety risks. Therefore, in recent years, net cleaning has become a research hotspot in the underwater robotics industry, using robots to replace manual labor, avoiding risks and accidents while increasing operational efficiency. According to publicly available information, most of the mature products on the market come from abroad, while there are relatively few mature products in China. This has led to my country's heavy reliance on imports for mesh cleaning robots, which not only results in high costs but also complicated maintenance and difficult after-sales service.

[0003] At the technical level, existing robots both domestically and internationally employ a variety of methods for cleaning netting, with friction cleaning and high-pressure water jet cleaning being among the most common. When using friction cleaning, the robot carries a high-speed rotating cleaning brush to directly abrade the netting, removing surface deposits. However, due to the characteristics of the flexible netting material, this method easily causes wear and thinning of the netting, and the high-speed rotating brush head can easily cause the flexible netting to become entangled and pulled, thus reducing its lifespan. Furthermore, due to the complex underwater environment, it is difficult for the robot to ensure a tight fit between the rotating brush head and the netting, resulting in missed areas and reduced work efficiency. Simultaneously, the brush head easily becomes entangled with algae and other ribbon-like aquatic organisms, requiring manual removal, further reducing the robot's efficiency. When using high-pressure water jet cleaning, it is difficult to control the distance between the water outlet and the netting. When the distance is too close, the high-pressure water jet can easily produce a "water knife" effect, resulting in unstable cleaning effects and potentially exacerbating damage to the netting.

[0004] In addition to the above, existing technical challenges include the difficulty in maintaining the underwater robot's posture stability. For example, when cleaning the vertical surface of a net, the robot should first be adjusted to a sideways posture underwater, so that its working plane is parallel to the vertical surface of the net. Then, under the thrust of the thrusters, the robot's working plane approaches or adheres to the net, achieving cleaning of its vertical surface. Current methods for underwater posture adjustment use a combination of thrusters; thrusters symmetrical about the rotation axis apply opposing thrusts, generating rotational torque on the robot body to adjust its underwater posture. However, this method is difficult to apply in practical work. Firstly, to ensure the robot's flexibility in underwater attitude adjustment, designers often set a very low epicenter height, bringing the robot's center of gravity and center of buoyancy close to or even coinciding with each other. The drawback is that while the robot can complete attitude changes under the rotational torque provided by the thrusters, when adjusting to the predetermined attitude, the low epicenter height makes it susceptible to multiple influences such as inaccurate thrust from the thrusters and complex underwater currents. Maintaining the predetermined attitude becomes difficult (under conditions of low or zero epicenter height, the predetermined attitude is close to or at a critical state, making it difficult to maintain), and may even lead to over-adjustment, causing the robot to capsize beyond the predetermined attitude. Secondly, both underwater attitude adjustment and approaching the net after attitude adjustment rely solely on the thrusters. This places extremely high demands on thruster control, especially under the influence of variable underwater resistance and complex environments. This can result in consequences such as the robot being unable to stably maintain the predetermined attitude, being unable to approach the net after maintaining the attitude, or being unable to maintain the attitude during approach. In other words, attitude maintenance and movement under attitude maintenance cannot be precisely controlled simultaneously, thus preventing the completion of the task as planned.

[0005] In summary, the existing problems with underwater robots can be broadly categorized into the following four points:

[0006] Insufficient stability: Under complex underwater environments such as water flow and pressure, some robots may experience instability issues, such as swaying or deviating from the intended cleaning position, which can affect the cleaning effect and work efficiency.

[0007] Poor practicality: The design of some robots is not well-suited to the needs of actual aquaculture scenarios, and they are not adaptable to net cages of different sizes and shapes, which limits their application scope in practice.

[0008] Complex operation: Some robots are difficult to operate and require professional personnel to undergo long-term training to master their operation. This not only increases labor costs but also hinders their promotion and popularization among ordinary farmers.

[0009] High price: The high research and development and production costs result in a high market price, making it unaffordable for some small farmers or breeding enterprises, thus limiting its market share and industrial development.

[0010] Stable control is difficult to achieve: The requirements for the control system, control accuracy, and component accuracy are very high, which further increases the difficulty and cost of research and development. Summary of the Invention

[0011] According to one aspect of the present invention, an underwater operation robot is provided, comprising:

[0012] A multi-directional attitude self-stabilizing structural frame and a rotary cleaning system installed within the structural frame;

[0013] The structural frame includes a buoyancy tube, and a flowing medium is disposed inside the buoyancy tube;

[0014] The rotary cleaning system includes several rotary cleaning discs and a water inlet. The water inlet is connected to an external water supply device to supply water to the rotary cleaning discs. The rotary cleaning discs include cavitation nozzles that are inclined relative to the rotary cleaning discs. When the cavitation nozzles spray liquid, the reaction force of the cavitation nozzles drives the rotary cleaning discs to rotate.

[0015] In some embodiments, the structural frame includes an outer frame and an inner frame, the outer frame including the buoyancy tube; the inner frame is assembled and connected within the outer frame, and the rotary cleaning system is mounted on the inner frame.

[0016] In some embodiments, the buoyancy tube is provided with a horizontal docking plate, and during assembly, the internal frame abuts against the top of the horizontal docking plate.

[0017] In some embodiments, a protective plate structure is also included, which includes a top protective plate and a protective mesh plate. The top protective plate is disposed above the outer frame, and the protective mesh plate is disposed below the outer frame. The top protective plate and the protective mesh plate are assembled and connected to the horizontal mating plate.

[0018] In some embodiments, the protective plate structure further includes a circumferential protective plate disposed around the outer frame, and the buoyancy tube is provided with a vertical connecting plate that is assembled and connected to the circumferential protective plate.

[0019] In some embodiments, the rotating cleaning disc includes a bottom shell and a nozzle connector. The nozzle connector is located inside the bottom shell and has two symmetrically arranged connection ports. The connection ports are inclined relative to the bottom surface of the bottom shell. The cavitation nozzle is connected to the connection port near the bottom surface, and the other connection port away from the bottom surface is closed by a screw plug.

[0020] In some embodiments, the nozzle connector is rotated 180° about the radial direction of the rotating cleaning disc, and the positions of the cavitation nozzle and the screw plug are reversed. When the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotating cleaning disc to rotate in the opposite direction.

[0021] In some embodiments, the rotary cleaning system includes several sets of rotary cleaning discs, which are symmetrically arranged about the mid-vertical plane of the robot and rotate in opposite directions.

[0022] In some embodiments, a power system mounted on the internal frame is also included, the power system comprising a plurality of vertical thrusters and horizontal thrusters;

[0023] Several vertical thrusters are arranged alternately with several sets of rotating cleaning discs.

[0024] The beneficial effects of this invention are as follows: The underwater robot of this invention adopts a structural frame with multi-directional attitude self-stabilization function. By injecting a flowing medium, the robot can autonomously maintain its underwater attitude. In horizontal, laterally upright, and vertically upright postures, the robot's center of gravity is located below its center of buoyancy. The robot has good self-stability performance and can maintain attitude stability without additional operation, reducing the difficulty of robot attitude maintenance and motion control. In addition, the rotating cleaning system uses cavitation jet technology, which has a good cleaning effect. Moreover, when the cavitation nozzle sprays water, it can also make the rotating cleaning disc spin, without consuming additional energy or a separate drive mechanism to drive its rotation. The structure is simple and highly reliable. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the underwater robot of the present invention from one angle;

[0026] Figure 2 This is a schematic diagram of the overall structure of the underwater operation robot of the present invention from another angle;

[0027] Figure 3 This is a schematic diagram of the multi-directional attitude self-stabilizing structural frame of the present invention at one angle;

[0028] Figure 4 This is a schematic diagram of the multi-directional attitude self-stabilizing structural frame of the present invention from another angle.

[0029] Figure 5 This is a schematic diagram of the external frame of the present invention;

[0030] Figure 6 This is a schematic diagram of the multi-directional attitude self-stabilizing structural framework of the present invention from another angle.

[0031] Figure 7This is a schematic diagram of the internal frame of the present invention;

[0032] Figure 8 This is a schematic diagram showing the interaction between the rotary cleaning system and the internal frame of the present invention;

[0033] Figure 9 This is a schematic diagram of the rotary cleaning system of the present invention;

[0034] Figure 10 This is a schematic diagram of the internal structure of the rotating cleaning disc of the present invention;

[0035] Figure 11 This is a schematic diagram illustrating the fit between the nozzle connector, cavitation nozzle, and housing connector of the present invention.

[0036] Figure 12 This is a schematic diagram of the nozzle connector of the present invention;

[0037] Figure 13 This is a schematic diagram illustrating the fit between the nozzle connector, cavitation nozzle, and housing connector of the present invention to achieve the rotation / reverse rotation of the rotating cleaning disc;

[0038] Figure 14 This is a schematic diagram illustrating the interaction between the power system and the structural frame of the present invention;

[0039] Figure 15 This is a schematic diagram showing the cooperation between the power system, the rotary cleaning system, and the internal frame of the present invention;

[0040] Figure 16 This is a schematic diagram showing the relative positions of the power system and the rotary cleaning system of the present invention;

[0041] Figure 17 This is a schematic diagram showing the interaction between the environmental sensing system and the structural frame of the present invention at one angle.

[0042] Figure 18 This is a schematic diagram showing the interaction between the environmental sensing system and the structural frame of the present invention from another angle;

[0043] Figure 19 This is a schematic diagram of the protective plate structure of the present invention;

[0044] Figure 20 This is a schematic diagram of the structure of the top guard plate and the guard mesh plate of the present invention;

[0045] Figure 21 This is a schematic diagram showing the connection between the structural frame and the internally threaded pipe at an angle according to the present invention.

[0046] Figure 22 This is a schematic diagram showing the connection between the structural frame and the internally threaded tube of the present invention from another angle. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0048] It should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] In the above description, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] like Figure 1 and Figure 2 As shown, this embodiment provides an underwater operation robot 100, which can be used to clean aquaculture cages. The underwater operation robot 100 (hereinafter referred to as robot 100) includes a multi-directional attitude self-stabilizing structural frame, a power system, a rotation cleaning system, an environmental perception system, a control system, and a protective plate structure.

[0053] like Figure 1 As shown, the robot 100 is roughly rectangular in shape. This rectangular design is more stable and easier to control than a cube or cylinder. Different shapes can also be designed to suit specific application scenarios. The overall shape of the robot 100 is largely determined by its structural frame. To better illustrate the various components of the robot 100, as shown... Figure 1 A three-dimensional Cartesian coordinate system with XYZ axes is established. When robot 100 is in a horizontal posture, the X-axis represents the longitudinal direction, which is also the width direction of robot 100; the Y-axis represents the transverse direction, which is also the length direction of robot 100; and the Z-axis represents the vertical direction, which is also the height direction of robot 100. The XZ plane passing through the center of gravity of robot 100 is called the mid-longitudinal plane D; the YZ plane passing through the center of gravity of robot 100 is called the mid-lateral plane E; and the XY plane passing through the center of gravity of robot 100 is called the mid-vertical plane F. The direction of oscillation about the X-axis passing through the center of gravity of robot 100 is the roll direction A; the direction of oscillation about the Y-axis passing through the center of gravity of robot 100 is the pitch direction B; and the direction of oscillation about the Z-axis passing through the center of gravity of robot 100 is the yaw direction C.

[0054] like Figures 3 to 5As shown, in this embodiment, the multi-directional attitude self-stabilizing structural frame includes two parts: an outer frame 1 and an inner frame 2. The outer frame 1 is used to maintain the overall shape of the robot 100, provide buoyancy for the robot 100, and protect the internal components. The outer frame 1 includes a top buoyancy tube 11, a bottom buoyancy tube 12, a vertical buoyancy tube 13, and a lateral support plate 14. The top buoyancy tube 11 and the bottom buoyancy tube 12 are both enclosed hollow tubes forming a roughly rectangular tubular frame, and their corners can be rounded to avoid scratching the net during use. Since the robot 100 needs to have the characteristic of flexibly adjusting its attitude underwater to adapt to the different inclinations of the net surface and achieve the fit between the lower surface of the robot 100 and the surface of the net, the structural frame adopts a lightweight design concept, with most of the frame materials being angle aluminum, channel aluminum, or aluminum tubes, ensuring strength while reducing the overall structural weight. Preferably, the top buoyancy tube 11 and the bottom buoyancy tube 12 are made of closed aluminum tubes, which ensure structural strength while providing underwater buoyancy. The top buoyancy tube 11 and the bottom buoyancy tube 12 are arranged opposite each other in the vertical direction (Z-axis direction) with a gap between them. The top buoyancy tube 11 and the bottom buoyancy tube 12 are connected by a vertical buoyancy tube 13. The vertical buoyancy tube 13 is also a hollow aluminum tube, connected to two long tubes in the longitudinal direction (Y-axis direction) of the top buoyancy tube 11 and the bottom buoyancy tube 12. Two vertical buoyancy tubes 13 are connected to one of the long tubes, both inclined relative to the central vertical plane F (XY plane), and the inclination directions of the two vertical buoyancy tubes 13 are opposite, that is, the two vertical buoyancy tubes 13 are symmetrical about the central longitudinal plane D (XZ plane), and the two vertical buoyancy tubes 13 are arranged in a figure-eight shape. The vertical buoyancy tube 13 can be welded to the top buoyancy tube 11 and the bottom buoyancy tube 12. The top buoyancy tube 11 and its two short tubes in the width direction (X direction) are connected by lateral support plates 14. Two parallel lateral support plates 14 are connected to one short tube. The lateral support plates 14 are plates with a certain curvature. The top of the arc of the lateral support plate 14 is arranged outward (i.e., away from the center of gravity of the robot 100). The two ends of the lateral support plate 14 are provided with arc-shaped slots. The curvature of the arc-shaped slots is adapted to the outer circumferential curvature of the top buoyancy tube 11 and the bottom buoyancy tube 12. The lateral support plates 14 are engaged with the top buoyancy tube 11 and the bottom buoyancy tube 12 respectively through the arc-shaped slots at both ends. For better fixation, the position where the arc-shaped slots contact the buoyancy tubes can be welded and fixed.

[0055] Furthermore, such as Figures 3 to 6As shown, injection holes 15 are provided on the top buoyancy tube 11 and the bottom buoyancy tube 12 for filling the interior of the top buoyancy tube 11 and the bottom buoyancy tube 12 with a flowing medium. A sealing plug 16 is also provided at the injection hole 15 to seal it and prevent the flowing medium from flowing out. The flowing medium can be water, oil, steel balls, or other easily flowing media. Injecting the flowing medium into the buoyancy tubes helps maintain a stable attitude autonomously. When the robot 100 adjusts its attitude under the action of the power system (including the thrusters), the free flow of the flowing medium causes the robot 100's center of gravity to shift downwards and away from the center of buoyancy, increasing the height of the center of gravity. When the robot 100 adjusts to the designated attitude, it can autonomously achieve a stable state without the assistance of the thrusters. Using a multi-directional attitude self-stabilizing structural framework, the robot 100 can autonomously maintain its attitude stability, reducing the requirements for high-precision control of the control system and lowering the control difficulty.

[0056] like Figures 3 to 5 As shown, the outer frame 1 also includes docking plates for docking with other components. Specifically, a first horizontal docking plate 111 is provided on the inner side of the top buoyancy tube 11, and the first horizontal docking plate 111 is arranged on the inner side of the two long tubes and two short tubes of the top buoyancy tube 11; a first vertical docking plate 112 is provided on the lower side of the top buoyancy tube 11, and the first vertical docking plate 112 is arranged on the lower side of the two short tubes and the corner position of the top buoyancy tube 11.

[0057] like Figures 3 to 5 As shown, a second horizontal connecting plate 121 is provided on the inner side of the bottom buoyancy tube 12. The second horizontal connecting plate 121 is arranged on the inner side of the two long tubes and two short tubes of the bottom buoyancy tube 12. A second vertical connecting plate 122 is provided on the upper side of the bottom buoyancy tube 12. The second vertical connecting plate 122 is arranged on the upper side of the two short tubes and the corner position of the bottom buoyancy tube 12.

[0058] like Figure 3 As shown, the vertical buoyancy tube 13 is provided with a third vertical docking plate 131 on both sides in the X-axis direction, and the third vertical docking plate 131 extends obliquely along the vertical buoyancy tube 13.

[0059] In this embodiment, the various mating plates and pipe fittings described above can be connected by welding. Furthermore, as... Figure 3 and Figure 5 As shown, an arc-shaped positioning plate 113 may be provided on the first horizontal docking plate 111 and the second horizontal docking plate 121. The arc-shaped positioning plate 113 is set perpendicular to the horizontal docking plate. The outer side of the arc-shaped positioning plate 113 has an arc-shaped edge, and its curvature is adapted to the curvature of the inner side of the buoyancy tube. By matching the curvature of the arc-shaped positioning plate 113 with that of the buoyancy tube, it is easier to position the horizontal docking plate and the buoyancy tube. The arc-shaped positioning plate 113 and the buoyancy tube can also be welded and fixed together.

[0060] like Figure 3 , Figure 4 and Figure 7 As shown, the internal frame 2 is connected within the external frame 1. The internal frame 2 enhances the overall strength of the robot 100 and provides mounting positions for various loads. The internal frame 2 includes a top crossbeam 21, a bottom crossbeam 22, a bottom longitudinal beam 23, and support columns 24. The lengths of the top crossbeam 21 and the bottom crossbeam 22 are adapted to the inner length of the external frame 1. The top crossbeam 21 and the bottom crossbeam 22 are arranged opposite each other in the Z-axis direction and connected by the support columns 24. Three support columns 24 are provided, spaced apart along the Y-direction, and their ends are connected to the top crossbeam 21 and the bottom crossbeam 22, respectively. The support columns 24 are fixed to the top crossbeam 21 and the bottom crossbeam 22 by welding. Several bottom longitudinal beams 23 can be provided, depending on the number and position of the loads. The bottom longitudinal beams 23 are connected to and intersect with the bottom crossbeams 22 (they can be perpendicular or inclined to each other). In this embodiment, four bottom longitudinal beams 23 are provided. Two bottom longitudinal beams 23 are located on one side of the bottom crossbeam 22 in the X-axis direction, and the other two bottom longitudinal beams 23 are located on the other side of the bottom crossbeam 22 in the X-axis direction. One end of each bottom longitudinal beam 23 is fixedly connected to the bottom crossbeam 22, and the bottom longitudinal beams 23 extend along the X-axis direction. The top crossbeam 21, bottom crossbeam 22, bottom longitudinal beams 23, and support columns 24 can be made of channel aluminum, and some of the bottom longitudinal beams 23 can be made of angle aluminum as required.

[0061] like Figure 3 , Figure 4 and Figure 7 As shown, the inner frame 2 and the outer frame 1 are connected by assembly, that is, the inner frame 2 can be disassembled as a whole relative to the outer frame 1. The inner frame 2 can be assembled into the outer frame 1 from top to bottom. When assembled, the two ends of the bottom crossbeam 22 abut against the top of the second horizontal docking plate 121, the other end of the bottom longitudinal beam 23 also abuts against the top of the second horizontal docking plate 121, and the two ends of the top crossbeam 21 abut against the top of the first horizontal docking plate 111. The purpose of this design is that when the robot 100 is disassembled as a whole, the inner frame 2 can be completely removed from the outer frame 1 upwards (including the parts connected to the inner frame 2 are also taken out), which improves the convenience of maintaining the robot 100.

[0062] Furthermore, such as Figure 4 and Figure 5As shown, several positioning seats 123 can be set above the second horizontal docking plate 121 on the two long tubes of the bottom buoyancy tube 12. The number and position of the positioning seats 123 are adapted to the number and position of the bottom longitudinal beams 23. When assembled, the other end of the bottom longitudinal beam 23 is engaged with the positioning seat 123. A positioning seat 123 is set on each of the two short tubes of the bottom buoyancy tube 12 to position the two ends of the bottom crossbeam 22. The positioning seat 123 can play a positioning role for the internal frame 2, making it easier to assemble and fix the internal frame 2.

[0063] like Figure 8 and Figure 9 As shown, the rotary cleaning system includes a main rigid pipe 31, various pipe fittings 32, a rotary joint 33, and a rotary cleaning disc 34. The main rigid pipe 31 has a water inlet 311 located at the top, used to connect to an external water supply device. This external water supply device can be a high-pressure water pump on the mother ship, connected to the inlet 311 via a water supply hose (not shown as part of the robot 100 structure). The main rigid pipe 31 connects to the rotary cleaning disc 34 via the various pipe fittings 32, supplying high-pressure water from the mother ship to the rotary cleaning disc 34. The main rigid pipe 31 has several rigid pipe clamps 312, which are also connected to the internal frame 2 (either by snap-fit ​​connection), thus assembling the main rigid pipe 31 onto the internal frame 2. The rigid pipe clamps 312 can be snap-fitted or screwed to the supporting column 24 and / or the top beam 21. A rotary joint 33 is provided between the main rigid tube 31 and the rotating cleaning disc 34, allowing the rotating cleaning disc 34 to rotate relative to the main rigid tube 31. The rotary joint 33 is assembled and connected to the internal frame 2 via a rotary joint base 331, specifically by snap-fitting or screwing onto the support column 24.

[0064] In this embodiment, the rotating cleaning discs 34 are configured in three groups, which are arranged in a triangular shape. This reduces the total weight of the robot by 100 and ensures the quality of operation, while solving the common problem of gaps between two groups of cleaning discs arranged in a straight line or four groups of cleaning discs arranged in a rectangular shape, resulting in missed cleaning during operation.

[0065] like Figure 9 and Figure 10 As shown, the rotating cleaning disc 34 includes a water distribution connector 341, a connector positioning block 342, an internal pipe connector 343, a nozzle connector 344, a cavitation nozzle 345, a housing connector 346, a cover plate 347, and a bottom shell 348. The bottom shell 348 is a cylindrical box with an opening at the top, and its outer surface can be flattened to reduce friction damage to the mesh during rotation. The cover plate 347 is adapted to the bottom shell 348 to close the upper opening of the bottom shell 348.

[0066] like Figures 10 to 12As shown, a connector positioning block 342 is provided at the center of the bottom shell 348. The connector positioning block 342 is used to assemble the water distribution connector 341, ensuring the concentric assembly of the water distribution connector 341 and the bottom shell 348. This method is simple and reliable, convenient to process and assemble, and improves the maintainability of the rotary cleaning system. The water distribution connector 341 is connected to the rotary connector 33 through the pipe connector 32. The water distribution connector 341 branches into three branches. Each branch extends radially to a position close to the circumferential wall of the bottom shell 348 through the internal pipe connector 343. A nozzle connector 344 is connected to the internal pipe connector 343 of each branch away from the water distribution connector 341. An cavitation nozzle 345 is connected to the nozzle connector 344. A water spray nozzle 3481 is opened on the bottom surface of the bottom shell 348. The cavitation nozzle 345 is aligned with the water spray nozzle 3481. The high-pressure liquid sprayed by the cavitation nozzle 345 is ejected from the water spray nozzle 3481 to clean the mesh. The cavitation nozzle 345 and the bottom surface of the base shell 348 have a certain tilt angle, which can be greater than 0° and less than 90°, such as 30°, 45°, 60°, etc. This allows the rotating cleaning disc 34 to rotate automatically using the horizontal component of the reaction force of the cavitation nozzle 345 when high-pressure liquid is sprayed out, without consuming additional energy to drive the rotating cleaning disc 34 to rotate, thus reducing the power consumption of the robot 100 and improving reliability.

[0067] like Figure 12 As shown, the tilt angle of the cavitation nozzle 345 can be determined by the connection port 3441 on the nozzle connector 344 that mates with the cavitation nozzle 345. The cavitation nozzle 345 has a roughly trapezoidal shape, and there are two connection ports 3441, which are respectively located on the two inclined sides 3443 of the trapezoid. The extension direction of the connection ports 3441 is perpendicular to the inclined sides 3443, and the two connection ports 3441 are symmetrically designed. When the cavitation nozzle 345 is assembled in the bottom shell 348, the connection port 3441 is inclined relative to the bottom surface of the bottom shell 348, and the cavitation nozzle 345 connected to the connection port 3441 is also inclined relative to the bottom shell 348. The cavitation nozzle 345 is connected to the downward inclined connection port 3441 of the nozzle connector 344, and the other upward inclined connection port 3441 is closed by a screw plug 3442.

[0068] like Figures 10 to 13As shown, since the two connection ports 3441 on the nozzle connector 344 are symmetrical, simply swapping the positions of the screw plug 3442 and the cavitation nozzle 345, and rotating the nozzle connector 344 180° with its branch as the axis (i.e., the radial direction of the rotating cleaning disc 34), will reverse the rotation of the rotating cleaning disc 34. Specifically, when the nozzle connector 344 is rotated 180°, the originally downward-sloping connection port 3441 (connecting to the cavitation nozzle 345) becomes upward-sloping, and the originally upward-sloping connection port 3441 (connecting to the screw plug 3442) becomes downward-sloping. Therefore, after swapping the connection ports 3441 of the cavitation nozzle 345 and the screw plug 3442, the cavitation nozzle 345 also becomes downward-sloping, but the tilt direction is opposite to that before the swap (the tilt angle remains unchanged). Therefore, when it sprays high-pressure liquid, the horizontal component of the reaction force is opposite to that before the swap, and the rotating cleaning disc 34 will reverse. Since the cavitation nozzle 345 is not aligned with the original water outlet 3481 after the nozzle connector 344 is rotated 180°, another water outlet 3481 needs to be opened on the bottom surface of the bottom shell 348 for high-pressure liquid to be sprayed out. This symmetrical connection port 3441 design allows for forward and reverse rotation using the same nozzle connector 344, and there is no need to replace the connector when reversing, saving materials and reducing processing costs.

[0069] The nozzle connectors 344 of the three branches on the water distribution connector 341 are set in the same tilt direction, that is, the horizontal component of the reaction force of the three nozzle connectors 344 is to make the rotating cleaning disc 34 rotate in the same direction.

[0070] The rotary cleaning system includes three sets of rotary cleaning discs 34. Two of these discs are symmetrical about the longitudinal plane D of the robot 100, and their rotation directions are opposite. This balances the torques exerted on the robot 100 during operation, improving the robot's posture stability. The main rigid pipes 31 and pipe fittings 32 connected to these two symmetrically arranged rotary cleaning discs 34 are also symmetrically arranged. The third set of rotary cleaning discs 34, which is not symmetrical, and its connected main rigid pipes 31 and pipe fittings 32 are positioned as close as possible to the robot 100's center of gravity to reduce the interference of pipe reaction forces on the robot's stability during water inflow.

[0071] Furthermore, such as Figure 10 and Figure 11As shown, the nozzle connector 344 is assembled and connected to the bottom shell 348 and the cover plate 347 via the outer shell connector 346. The outer shell connector 346 includes a first horizontal plate 3461, a vertical plate 3463, and a second horizontal plate 3462 connected in sequence, making the outer shell connector 346 have a roughly "Z"-shaped centrally symmetrical structure. The vertical plate 3463 is used to fix (by bolts) to one side of the nozzle connector 344 (the side away from the connection port 3441). The first horizontal plate 3461 and the second horizontal plate 3462 are used to connect to the bottom shell 348 and the cover plate 347, respectively. For example, the first horizontal plate 3461 is attached to the bottom surface of the bottom shell 348 and then fixed by bolts; the second horizontal plate 3462 is attached to the cover plate 347 and also fixed by bolts. When the rotating cleaning disc 34 needs to be reversed, the nozzle connector 344 rotates 180°, and the outer shell connector 346 also rotates 180° with the nozzle connector 344. The first horizontal plate 3461 becomes attached to the cover plate 347, and the second horizontal plate 3462 becomes attached to the bottom surface of the bottom shell 348. That is, two sets of holes need to be opened on the bottom surface of the bottom shell 348 and the cover plate 347 to connect with the outer shell connector 346 in different positions. When it is necessary to maintain the internal components of the rotating cleaning disc 34, it is not necessary to disassemble the robot 100 as a whole. Only the bottom shell 348 of the rotating cleaning disc 34 needs to be removed from the bottom of the robot 100 (the bolts between the bottom shell 348 and the outer shell connector 346 are removed) to maintain the internal components of the rotating cleaning disc 34.

[0072] All types of pipe fittings 32, rotary joints 33, rotary cleaning discs 34, as well as water distribution joints 341, internal pipe fittings 343, nozzle fittings 344, cavitation nozzles 345, etc. in the rotary cleaning system are connected by pipe threads or tapered threads.

[0073] like Figures 14 to 16As shown, the power system includes five thrusters, three of which are vertical thrusters 41 and two are horizontal thrusters 42. The vertical thrusters 41 are used to achieve vertical movement, pitch (B) movement, and roll (A) movement of the robot 100. When the robot 100 performs net cleaning operations, its lower surface needs to be in contact with the netting. At this time, the three vertical thrusters 41 need to be activated to provide downward thrust to the robot 100. The layout of the vertical thrusters 41 considers thrust balance and thrust torque balance. That is, when the three vertical thrusters 41 are activated at rated power, the robot 100 will not produce unplanned pitch movements, ensuring the robot 100's controllability. Simultaneously, through a reasonable layout, the three vertical thrusters 41 are positioned away from the mid-horizontal plane E where the robot 100's center of gravity is located. This allows for the generation of a larger thrust torque when adjusting the robot 100's pitch attitude, enabling rapid pitch adjustment and improving the robot 100's attitude change flexibility. The two vertical thrusters 41, symmetrically distributed about the central longitudinal plane D, rotate in opposite directions, thus canceling out their reaction force from interfering with the robot 100's pitching attitude.

[0074] Two horizontal thrusters 42 are symmetrically arranged about the central longitudinal plane D to enable the robot 100 to move longitudinally and yaw in the direction C. Positioning the two horizontal thrusters 42 away from the central longitudinal plane D, where the center of gravity is located, maximizes the horizontal thrust torque, improving the flexibility of the robot 100's attitude changes. The two thrusters rotate in opposite directions to counteract their reaction forces from interfering with the robot 100's yaw attitude maintenance.

[0075] The vertical thruster 41 and the horizontal thruster 42 are connected to the thruster base 43 via cable ties / straps, or by snap-fit ​​connection; the thruster base 43 is assembled and connected to the internal frame 2 of the robot 100, which can be achieved by welding, screwing, or snap-fit ​​connection. Meanwhile, if... Figure 16 As shown, the three vertical thrusters 41 are arranged alternately with the three rotating cleaning discs 34 below. When viewed from the vertical direction, the area around any vertical thruster 41 is the rotating cleaning disc 34, and the area around any rotating cleaning disc 34 is also the vertical thruster 41.

[0076] The power system in this embodiment does not have the function of enabling the robot 100 to move laterally, because lateral movement is not frequently utilized in the mesh washing process. Eliminating the lateral movement function reduces the use of at least one thruster, thereby achieving the goal of reducing overall weight and rotational inertia. A rational spatial layout is one of the keys to ensuring the robot 100's flexibility. Arranging the five thrusters symmetrically and away from the robot 100's center of gravity increases thrust torque, improves the robot 100's flexibility, facilitates user operation, provides stability, and reduces the number of thrusters, thus saving costs.

[0077] In this embodiment, the various subsystems of the robot 100 are reasonably arranged and calculated to make the center of gravity, center of buoyancy, and thrust center in all directions of the robot 100 coincide, achieving the characteristics of flexibility, compactness, stability and easy control, directly ensuring practicality and convenience during underwater operations.

[0078] like Figure 17 and Figure 18 As shown, the environmental perception system includes an underwater camera 51, an underwater light 52, an inertial navigation module 53, a depth gauge 54, a water quality analysis system 55, and several connecting seats 56. The underwater camera 51 and underwater light 52 enable the operator to observe the underwater environment and the quality of the operation. Both the underwater camera 51 and underwater light 52 are connected to the first horizontal docking plate 111 on the top buoyancy tube 11 via connecting seats 56; the connection can be welded or bolted. The depth gauge 54 measures the real-time depth of the robot 100 during operation and is connected to the support column 24 via connecting seats 56. The inertial navigation module 53 provides underwater attitude information for the robot 100 and is directly connected to the support column 24, for example, via bolts. The water quality analysis system 55 provides information on the water temperature environment at the work location, such as salinity, pH, and microbial content. The water quality analysis system 55 is connected to the support column 24 via connecting seats 56. The connections between each of the above-mentioned connecting seats 56 and the internal frame 2 can be achieved by welding, screwing, or snap-fitting. The various devices can be connected to the connecting seats 56 using cable ties / straps or snap-fitting.

[0079] like Figure 17 and Figure 18 As shown, the control system mainly consists of the electronic compartment 6, which is used for communication and control of various underwater equipment. The electronic compartment 6 is connected to the electronic compartment base 61 via straps. The electronic compartment base 61 is assembled and connected to the bottom longitudinal beam 23. The electronic compartment 6 is connected to various devices via watertight cables (not shown).

[0080] like Figure 1 , Figure 2 , Figures 19 to 22As shown, the protective plate structure includes a fish-protecting plate and a net-protecting plate 73. The fish-protecting plate includes a top protective plate 71 and a circumferential protective plate 72, used to prevent farmed fish from entering the robot 100 during operation, causing damage to the fish and the robot 100's sensors. The top protective plate 71 is located on the top of the robot 100. Several first internally threaded pipes 114 are arranged at intervals above the first horizontal docking plate 111 of the top buoyancy tube 11. The first internally threaded pipes 114 can be welded and fixed to the first horizontal docking plate 111, or they can be set on the top crossbeam 21. The top protective plate 71 has a first connecting hole 711 adapted to be provided. During assembly, the top protective plate 71 is placed on the top of the robot 100 and the first connecting hole 711 is aligned with the first internally threaded pipe 114, and then the top protective plate 71 is fixed with bolts. The circumferential protective plate 72 is located around the circumference of the robot 100, enclosing the portion between the top buoyancy tube 11 and the bottom buoyancy tube 12. Second internal threaded pipes 124 are spaced apart on the first vertical connecting plate 112 on the top buoyancy tube 11, the second vertical connecting plate 122 on the bottom buoyancy tube 12, and the third vertical connecting plate 131 on the vertical buoyancy tube 13. Correspondingly, second connecting holes 721 are provided on the circumferential guard plate 72. During assembly, the circumferential guard plate 72 is placed around the robot 100 and then fixed with bolts. The circumferential guard plate 72 can be divided into multiple pieces according to the positions of the vertical buoyancy tube 13 and the side support plate 14. Each circumferential guard plate 72 is individually disassembled and assembled. This split-type guard plate design makes replacement simple, facilitates processing, reduces net entanglement, and prevents fish injury.

[0081] like Figure 2 , Figures 19 to 22 As shown, the protective mesh plate 73 is located at the bottom of the robot 100 to prevent the rotating cleaning disc 34 from tangling or pulling on the mesh during rotation, thus protecting the mesh while cleaning it. Several third internally threaded pipes 125 are spaced apart below the second horizontal connecting plate 121 of the bottom buoyancy tube 12. These third internally threaded pipes 125 can also be mounted on the bottom longitudinal beam 23. The protective mesh plate 73 has corresponding third connecting holes 731 and a first through hole 732 to avoid the rotating cleaning disc 34. During assembly, the protective mesh plate 73 is placed at the bottom of the robot 100, and the third connecting holes 731 are aligned with the third internally threaded pipes 125. The protective mesh plate 73 is then secured with bolts.

[0082] like Figure 20 As shown, both the fish guard plate and the net guard plate 73 are provided with water inlets and outlets 74. The positions of the water inlets and outlets 74 are aligned with both ends of the thruster, reducing the interference of the guard plate structure on the water intake and drainage process of the thruster and improving the working efficiency of the thruster. Furthermore, as... Figure 19As shown, a water inlet / outlet 74 is provided with a water-passing protective net 75. The water-passing protective net 75 of the propeller is assembled and connected with the fish protection plate and the net plate 73. The water-passing protective net 75 provides protection without affecting water intake and drainage.

[0083] like Figure 20 As shown, both the fish guard plate and the net guard plate 73 are provided with water inlets and outlets 74. The positions of the water inlets and outlets 74 are aligned with both ends of the thruster, reducing the interference of the guard plate structure on the water intake and drainage process of the thruster and improving the working efficiency of the thruster. Furthermore, as... Figure 19 As shown, a water inlet / outlet 74 is provided with a water-passing protective net 75. The water-passing protective net 75 of the propeller is assembled and connected with the fish protection plate and the net plate 73. The water-passing protective net 75 provides protection without affecting water intake and drainage.

[0084] Lightening holes are made on the fish protection plate and the net protection plate 73. The position and size of the lightening holes are set reasonably so that the structural weight can be reduced while achieving the protection function, thereby achieving lightweighting, reducing the motion resistance of the robot 100, and reducing the power consumption of the robot 100.

[0085] When the robot 100 performs cleaning operations, the vertical distance between the cavitation nozzle 345 and the net needs to be adjusted according to the material and characteristics of the net. This can be achieved by replacing the third internally threaded pipe 125 connected to the protective net plate 73 on the second horizontal docking plate 121 of the bottom buoyancy tube 12, increasing or decreasing the height of the third internally threaded pipe 125, and simultaneously adjusting the assembly positions of the rotary joint base 331, the rigid pipe clamp 312, and the support column 24. This adjusts the vertical position of the protective net plate 73 and the cavitation nozzle 345 relative to the bottom buoyancy tube 12 of the robot 100, thereby adjusting the vertical distance between the cavitation nozzle 345 and the net. The protective net plate 73 can be tangent to the lower cut surface of the bottom buoyancy tube 12, or its position can be higher or lower than the lower cut surface of the bottom buoyancy tube 12. This allows for surface cleaning of flexible nets or rigid net boxes, and the vertical distance to the net is adjustable, enabling adaptive cleaning of nets of different strengths and adjusting the cavitation generation position.

[0086] The process of the underwater robot 100 performing cleaning operations in this embodiment includes: adding a flowing medium into the top buoyancy tube 11 and the bottom buoyancy tube 12; the robot 100 entering the water; attitude adjustment; diving; approaching the net; adjusting the robot 100's attitude according to the net's attitude; activating the vertical thruster 41 to make the bottom buoyancy tube 12 of the robot 100 adhere to the net; keeping the vertical thruster 41 working to make the bottom buoyancy tube 12 press down on the net, so that the net inside the bottom buoyancy tube 12 generates tension and keeps the flexible net taut and flat; activating the rotating cleaning system to perform the cleaning process; activating the horizontal thruster 42 to move the robot 100 on the net; cleaning completed; stopping the rotating cleaning system; operating the robot 100 to return to the mother ship; and maintaining the robot 100.

[0087] The underwater robot 100 in this embodiment adopts a structural frame with multi-directional attitude self-stabilization function. By injecting a flowing medium into the buoyancy tube, the robot 100 can autonomously maintain its underwater attitude, reducing control difficulty. The use of a structural frame instead of traditional buoyancy materials provides high strength and achieves an integrated structural and buoyancy solution, resulting in lightweight and miniaturized design. The structural frame is highly scalable; the internal frame 2 can support more functional subsystems, such as the later installation of an ultrasonic fish-repelling device to avoid interference from fish during operation.

[0088] The underwater robot 100 in this embodiment has a reasonable assembly sequence and is easy to maintain. When maintaining the rotating cleaning system, the bottom shell 348 of the rotating cleaning disc 34 can be directly disassembled from the bottom of the robot 100 without disassembling the robot's structural frame to maintain or replace the connectors. When maintaining the internal environmental sensing system, only the fish guard plate needs to be disassembled to directly maintain the internal environmental sensing system. When maintaining the internal frame 2, only the top protective plate 71 needs to be disassembled to remove the internal frame 2 from the external frame 1 as a whole. The assembly sequence of the robot 100's overall structure is reasonable, enabling rapid and simplified maintenance in environments unfavorable to assembly operations, such as high sea states.

[0089] The rotary cleaning system in this embodiment employs three sets of large-sized rotary cleaning discs 34, improving work efficiency and rationally arranging the discs to avoid missed areas. The rotary cleaning discs 34 utilize cavitation jet technology, with optimized pressure and nozzle size 345, resulting in superior cleaning performance compared to physical friction and high-pressure water jet techniques. Furthermore, by deflecting the cavitation nozzles 345, the rotary cleaning discs 34 can rotate independently, reducing the need for complex mechanisms (such as drive motors) during rotation, lowering the failure rate, and offering a simple and reliable structure.

[0090] The underwater robot 100 in this embodiment retains the necessary functions and achieves a lightweight design. By reducing unnecessary functions, such as the lateral translational degree of freedom of the robot 100, the number of thrusters is reduced, and the overall weight is reduced. The structural frame is made of aluminum profiles, which ensures strength while achieving a lightweight structure. Lightweight holes are opened on the fish protection plate and the net protection plate 73. The lightweight design of the robot 100 is achieved by a variety of methods.

[0091] The above descriptions are merely some embodiments of the present invention. Those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. An underwater operation robot, characterized in that, include: A multi-directional attitude self-stabilizing structural frame and a rotary cleaning system installed within the structural frame; The structural frame includes a buoyancy tube, and a flowing medium is disposed inside the buoyancy tube; The rotary cleaning system includes several rotary cleaning discs and a water inlet. The water inlet is connected to an external water supply device to supply water to the rotary cleaning discs. The rotary cleaning disc includes a bubble nozzle that is inclined relative to the rotary cleaning disc. When the bubble nozzle sprays liquid, the reaction force of the bubble nozzle drives the rotary cleaning disc to rotate. The rotating cleaning disc includes a bottom shell and a nozzle connector. The nozzle connector is located inside the bottom shell and has two symmetrically arranged connection ports. The connection ports are inclined relative to the bottom surface of the bottom shell. The cavitation nozzle is connected to the connection port near the bottom surface, and the other connection port away from the bottom surface is closed by a screw plug. The nozzle connector rotates 180° about the radial direction of the rotating cleaning disc, and the positions of the cavitation nozzle and the screw plug are reversed. When the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotating cleaning disc to rotate in the opposite direction.

2. The underwater operation robot according to claim 1, characterized in that, The buoyancy tube is provided with an injection hole, through which a flowing medium is filled into the tube.

3. The underwater operation robot according to claim 1, characterized in that, The structural frame includes an outer frame and an inner frame. The outer frame includes the buoyancy tube. The inner frame is assembled and connected inside the outer frame, and the rotary cleaning system is installed on the inner frame.

4. The underwater operation robot according to claim 3, characterized in that, The buoyancy tube is provided with a horizontal docking plate, and during assembly, the internal frame abuts against the top of the horizontal docking plate.

5. The underwater operation robot according to claim 4, characterized in that, It also includes a protective plate structure, which includes a top protective plate and a protective mesh plate. The top protective plate is disposed above the outer frame, and the protective mesh plate is disposed below the outer frame. The top protective plate and the protective mesh plate are assembled and connected to the horizontal mating plate.

6. The underwater operation robot according to claim 5, characterized in that, The protective plate structure also includes a circumferential protective plate, which is disposed around the outer frame, and the buoyancy tube is provided with a vertical connecting plate that is assembled and connected to the circumferential protective plate.

7. The underwater operation robot according to claim 1, characterized in that, The rotary cleaning system includes several sets of rotary cleaning discs, which are symmetrically arranged about the central longitudinal plane of the robot and rotate in opposite directions.

8. The underwater operation robot according to claim 3, characterized in that, It also includes a power system mounted on the internal frame, the power system comprising a plurality of vertical thrusters and horizontal thrusters; Several vertical thrusters are arranged alternately with several rotating cleaning discs.

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