Underwater breeding barrel cleaning method and system capable of synchronously adsorbing and recycling dirt

Abstract

The invention provides an underwater breeding barrel cleaning method and system capable of synchronously adsorbing and recycling dirt, and relates to the technical field of cleaning. The method comprises the steps that an underwater cleaning device with a telescopic cleaning rod stretches into a breeding barrel, the length of the cleaning rod is adjusted, a water flow control spray head is started to generate water flow for stripping dirt, and the water flow angle is adjusted through a rotatable structure of the spray head; the dirt suction and recovery system is started to form a negative pressure area to suck and strip dirt, and fish collision is prevented through the protective net cover. The aquaculture barrel can be effectively cleaned, the cleaning efficiency is improved, the influence on the aquaculture environment is reduced, and the safety of cultured fishes is protected.

Description

Technical Field

[0001] The invention relates to cleaning technology, and in particular to a method and a system for cleaning an underwater aquaculture barrel by synchronously adsorbing and recovering dirt. Background Art

[0002] Aquaculture is an important way of food production. With the development of intensive aquaculture, aquaculture barrels are widely used as a common aquaculture facility. During the aquaculture process, a large amount of dirt will accumulate in the aquaculture barrels, including fish excrement, leftover bait, algae and other organic matter. If these dirt are not cleaned up in time, the water quality will deteriorate, affecting the growth and health of the cultured organisms and even causing diseases.

[0003] Traditional methods of cleaning aquaculture barrels mainly include manual cleaning and simple mechanical cleaning. Manual cleaning usually requires temporarily transferring the aquaculture organisms and then emptying the aquaculture barrels for cleaning. This method is not only time-consuming and labor-intensive, but also causes stress reactions to the aquaculture organisms, affecting their growth. Simple mechanical cleaning usually uses a water pump or high-pressure water gun to flush the aquaculture barrel wall. Although it improves the cleaning efficiency, the sewage generated during the cleaning process is often directly discharged, causing secondary pollution.

[0004] The main defects and shortcomings of the existing technology include: first, the existing underwater cleaning equipment lacks an effective synchronous dirt recovery mechanism, and the dirt stripped off during the cleaning process is easily diffused in the water, which not only reduces the cleaning effect, but also may cause temporary deterioration of water quality; second, the cleaning head design of the existing cleaning equipment lacks flexibility, and it is difficult to adjust the water flow angle and intensity according to the pollution conditions of different parts of the breeding barrel, resulting in uneven cleaning effects; finally, there is a lack of effective protection measures for the farmed organisms during the cleaning process, which can easily cause stress reactions or physical damage to the farmed organisms, affecting the breeding benefits. Summary of the invention

[0005] The embodiments of the present invention provide a method and system for underwater cleaning aquaculture barrels for synchronous adsorption and recovery of waste, which can solve the problems in the prior art.

[0006] A first aspect of an embodiment of the present invention provides a method for cleaning an underwater aquaculture barrel by synchronously adsorbing and recovering waste, comprising: An underwater cleaning device with a retractable cleaning rod is extended into the aquaculture barrel, wherein a water flow control nozzle, a sewage suction recovery system and a protective net cover are arranged at the end of the retractable cleaning rod, and the water flow control nozzle is arranged as a rotatable structure; The length of the retractable cleaning rod is adjusted according to the depth of the aquaculture barrel, so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned; The water flow control nozzle is started to generate a water flow for stripping off dirt, and the water flow angle is adjusted by the rotatable structure of the water flow control nozzle, so that the water flow flows along the side wall of the culture tank or the surface of the partition net to strip off the attached dirt; The sewage suction recovery system is started to form a negative pressure zone near the water flow control nozzle to suck the stripped sewage into the sewage suction recovery system, wherein the sewage suction recovery system includes a primary filter screen and a sedimentation separation system, and the sedimentation separation system is used to further purify the sewage; The protective net cover prevents the fish in the culture barrel from colliding with the water flow control nozzle and the sewage suction and recovery system, and controls the distribution range of the water flow.

[0007] An underwater cleaning device with a retractable cleaning rod is extended into the aquaculture barrel, and a water flow control nozzle, a sewage suction recovery system and a protective net cover are arranged at the end of the retractable cleaning rod. The water flow control nozzle is arranged as a rotatable structure including: A retractable cleaning rod, the retractable cleaning rod being used to be inserted into the breeding barrel; A cleaning component is arranged at the end of the telescopic cleaning rod, and the cleaning component includes a rotatable water flow control nozzle, a sewage suction recovery system and a protective net cover for protecting fish. The protective net cover is arranged on the outside of the water flow control nozzle and the sewage suction recovery system.

[0008] Adjusting the length of the retractable cleaning rod according to the depth of the aquaculture barrel so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned comprises: Obtaining the depth parameter and the position parameter to be cleaned of the aquaculture barrel, wherein the position parameter to be cleaned includes the position parameter for cleaning the side wall of the aquaculture barrel and the position parameter for cleaning the screen of the aquaculture barrel; Calculating a target extension length of the telescopic cleaning rod based on the depth parameter and the to-be-cleaned position parameter; The telescopic cleaning rod is driven to extend to the target extension length, so that the distance between the water flow control nozzle arranged at the end of the telescopic cleaning rod and the position to be cleaned is maintained within a preset distance range.

[0009] Starting the water flow control nozzle to generate a water flow for stripping dirt, and adjusting the water flow angle through the rotatable structure of the water flow control nozzle so that the water flow flows along the side wall of the aquaculture barrel or the surface of the partition net to strip attached dirt includes: Acquire location information of the area to be cleaned, wherein the area to be cleaned includes the side wall of the breeding barrel and the separation net of the breeding barrel; Determining a target angle of a water flow control nozzle according to the position information of the area to be cleaned, wherein the water flow control nozzle is connected to a retractable cleaning rod through a rotatable structure; driving the water flow control nozzle to rotate to the target angle; Controlling the water flow control nozzle to generate a directional water flow for stripping dirt, so that the directional water flow flows along the surface of the area to be cleaned; The cleanliness level of the area to be cleaned is detected, and based on the cleanliness level, the pressure parameter of the directional water flow and the angle parameter of the water flow control nozzle are adjusted.

[0010] Starting the sewage suction recovery system to form a negative pressure zone near the water flow control nozzle to suck the stripped dirt into the sewage suction recovery system includes: Acquiring water spraying parameters and position parameters of a water flow control nozzle, wherein the water flow control nozzle is used to generate a water flow for stripping dirt; Determining a target negative pressure parameter of a sewage suction recovery system according to the water spray parameter and the position parameter; The sewage suction recovery system is controlled to form a negative pressure zone in the surrounding area of ​​the water flow control nozzle, and the suction power of the sewage suction recovery system is adjusted according to the real-time detected pressure value, so that the pressure value of the negative pressure zone is maintained within the target negative pressure parameter range.

[0011] The method further comprises: The dirt in the negative pressure area is transported to the primary filter screen for first filtration to obtain a first filtrate and first impurities, and the flow parameters of the first filtrate are recorded; adjusting the sedimentation rate of the sedimentation separation system according to the flow parameter, and conveying the first filtrate to the sedimentation separation system for sedimentation separation to obtain a second filtrate and second impurities; The size of the collecting cavity of the waste collecting device is controlled according to the volume parameters of the first impurities and the second impurities, and the first impurities and the second impurities are transported to the waste collecting device, and the second filtrate is discharged from the breeding barrel.

[0012] A second aspect of an embodiment of the present invention provides a system for cleaning an underwater aquaculture barrel by synchronously adsorbing and recovering waste, comprising: The first unit is used to extend an underwater cleaning device with a retractable cleaning rod into the aquaculture barrel, wherein the end of the retractable cleaning rod is provided with a water flow control nozzle, a sewage suction recovery system and a protective net cover, and the water flow control nozzle is provided with a rotatable structure; The second unit is used to adjust the length of the retractable cleaning rod according to the depth of the aquaculture barrel, so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned; The third unit is used to start the water flow control nozzle to generate a water flow for stripping dirt, and adjust the water flow angle through the rotatable structure of the water flow control nozzle, so that the water flow flows along the side wall of the breeding tank or the surface of the partition net to strip the attached dirt; The fourth unit is used to start the sewage suction recovery system to form a negative pressure zone near the water flow control nozzle to suck the stripped sewage into the sewage suction recovery system, wherein the sewage suction recovery system includes a primary filter screen and a sedimentation separation system, and the sedimentation separation system is used to further purify the sewage; The fifth unit is used to prevent the fish in the breeding barrel from colliding with the water flow control nozzle and the sewage suction and recovery system through the protective net cover, and to control the distribution range of the water flow.

[0013] According to a third aspect of the embodiments of the present invention, An electronic device is provided, comprising: processor; a memory for storing processor-executable instructions; The processor is configured to call the instructions stored in the memory to execute the aforementioned method.

[0014] A fourth aspect of the embodiments of the present invention is: A computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the aforementioned method is implemented.

[0015] The beneficial effects of this application are as follows: The underwater cleaning method for aquaculture barrels provided by the present invention can realize synchronous adsorption and recovery of dirt, greatly improving the cleaning efficiency. Through the retractable cleaning rod and the rotatable water flow control nozzle, the cleaning position and water flow angle can be flexibly adjusted to ensure comprehensive cleaning of the inner wall and the partition net of the aquaculture barrel.

[0016] The sewage recovery system used in the present invention includes a primary filter screen and a sedimentation separation system, which can perform multi-stage purification on the recovered sewage, effectively improving the water quality. At the same time, the design of the protective net cover can avoid harm to the farmed fish during the cleaning process, ensuring the safety of farming.

[0017] The cleaning method of the present invention is simple to operate and has strong applicability, and the length of the cleaning rod can be flexibly adjusted according to different specifications of aquaculture barrels. The entire cleaning process is carried out underwater, and there is no need to empty the aquaculture barrel, which reduces the aquaculture interruption time and improves the aquaculture efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a schematic flow chart of a method for cleaning an underwater aquaculture barrel by synchronously adsorbing and recovering waste according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0021] Figure 1 Schematic diagram of the process of the underwater cleaning aquaculture barrel method for synchronously adsorbing and recovering waste according to an embodiment of the present invention. Figure 1 As shown, the method includes: An underwater cleaning device with a retractable cleaning rod is extended into the aquaculture barrel, wherein a water flow control nozzle, a sewage suction recovery system and a protective net cover are arranged at the end of the retractable cleaning rod, and the water flow control nozzle is arranged as a rotatable structure; The length of the retractable cleaning rod is adjusted according to the depth of the aquaculture barrel, so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned; The water flow control nozzle is started to generate a water flow for stripping off dirt, and the water flow angle is adjusted by the rotatable structure of the water flow control nozzle, so that the water flow flows along the side wall of the culture tank or the surface of the partition net to strip off the attached dirt; The sewage suction recovery system is started to form a negative pressure zone near the water flow control nozzle to suck the stripped sewage into the sewage suction recovery system, wherein the sewage suction recovery system includes a primary filter screen and a sedimentation separation system, and the sedimentation separation system is used to further purify the sewage; The protective net cover prevents the fish in the culture barrel from colliding with the water flow control nozzle and the sewage suction and recovery system, and controls the distribution range of the water flow.

[0022] In an optional embodiment, an underwater cleaning device with a retractable cleaning rod is extended into the aquaculture barrel, and a water flow control nozzle, a sewage suction recovery system and a protective net cover are arranged at the end of the retractable cleaning rod, and the water flow control nozzle is arranged as a rotatable structure including: A retractable cleaning rod, the retractable cleaning rod being used to be inserted into the breeding barrel; A cleaning component is arranged at the end of the telescopic cleaning rod, and the cleaning component includes a rotatable water flow control nozzle, a sewage suction recovery system and a protective net cover for protecting fish. The protective net cover is arranged on the outside of the water flow control nozzle and the sewage suction recovery system.

[0023] The retractable cleaning rod is made of high-strength aluminum alloy material, which has good corrosion resistance and strength, and is suitable for long-term use in aquaculture environments. The cleaning rod consists of multiple telescopic sections, each of which is 50 cm long. The total length is 1 meter in the shortest state and can be extended to 3 meters at the longest, meeting the cleaning needs of aquaculture barrels of different depths and sizes. The telescopic sections are connected by a threaded locking mechanism, and each connection is equipped with a waterproof sealing ring to ensure that water does not penetrate into the rod body. The diameter of the cleaning rod is 3.5 cm, which is convenient for operators to hold. The surface of the rod body adopts a non-slip texture design, which can be firmly grasped even in wet conditions.

[0024] One end of the retractable cleaning rod is equipped with an ergonomically designed handle. The handle is 15 cm long and 4 cm in diameter. It is covered with TPR soft rubber material to provide a comfortable grip. The handle is equipped with a control panel, which includes a power switch, a water flow intensity adjustment button, a dirt suction intensity adjustment button, and a rotation direction control button. The control panel adopts an IP67 waterproof rating design to ensure normal operation in a humid environment.

[0025] There are two pipes inside the cleaning rod, one for conveying clean water with a diameter of 1.5 cm; the other for sucking and recycling sewage with a diameter of 2 cm. Both pipes are made of food-grade PVC material, which is non-toxic and harmless and meets the requirements for use in aquaculture environments. The inner wall of the pipe is smoothed to reduce dirt adhesion and resistance.

[0026] A cleaning assembly is installed at the other end of the cleaning rod, which includes a water flow control nozzle, a sewage recovery system and a protective mesh cover. The water flow control nozzle adopts a rotatable structure, made of wear-resistant engineering plastics, with a diameter of 8 cm and a turbine structure inside. The nozzle can rotate 360 ​​degrees, and the rotation speed can be adjusted between 0-120 rpm to meet different cleaning needs. 36 nozzles are evenly distributed on the surface of the nozzle, each with a diameter of 0.8 mm, distributed at a 30-degree angle, forming a fan-shaped water flow coverage.

[0027] The water flow control nozzle is connected to the water flow pipe in the cleaning rod. The water pressure can be adjusted within the range of 0.2-0.8MPa during operation. The low pressure state (0.2-0.4MPa) is suitable for light pollution cleaning, and the water flow is gentle, which is suitable for breeding tanks with young fish; the medium pressure state (0.4-0.6MPa) is suitable for moderate pollution cleaning; the high pressure state (0.6-0.8MPa) is suitable for heavy pollution and stubborn dirt removal. When the nozzle is working, the water flow will form a vortex effect, stirring up the dirt on the bottom and side walls of the breeding tank, which is convenient for the sewage suction system to recover.

[0028] The sewage suction and recovery system is located around the water flow control nozzle in a circular distribution with an inner diameter of 9 cm and an outer diameter of 12 cm. The system uses a high-efficiency centrifugal pump to provide suction, with a maximum suction of 15kPa and a sewage suction capacity of 20 liters / minute. The sewage suction port is designed in a grid shape with a grid spacing of 5 mm, which can effectively prevent large debris from entering the pipe and causing blockage. The sewage suction system transports sewage to the filtering and recovery device on the ground through the sewage suction pipe in the cleaning rod to separate the sewage from the water. The filtered water can be recycled or discharged.

[0029] The protective mesh cover is installed outside the water flow control nozzle and the suction and recovery system. It is made of food-grade 304 stainless steel. The mesh size is 8 mm × 8 mm, which is enough to prevent farmed fish from contacting the internal moving parts and avoid injury. The mesh cover is 15 cm in diameter and 10 cm in height. It is hemispherical and has a smooth surface without burrs. The mesh cover is connected to the main body of the cleaning component through a quick-release buckle for easy cleaning and maintenance. There is a transparent observation window on the upper part of the mesh cover, which is made of wear-resistant acrylic material, so that the operator can observe the cleaning effect.

[0030] When in use, the operator first adjusts the length of the cleaning rod according to the depth of the aquaculture barrel, and then extends the end of the cleaning component of the device into the aquaculture barrel. After starting the equipment, adjust the water flow intensity, suction intensity and nozzle rotation speed through the control panel. For a standard aquaculture barrel with a diameter of 2 meters and a depth of 1.5 meters, it is recommended to set the water pressure to 0.5MPa, the suction intensity to 10kPa, and the nozzle rotation speed to 60 rpm. This parameter combination can complete the cleaning of the entire barrel bottom within 5-8 minutes.

[0031] During the cleaning process, the directional water flow generated by the water flow control nozzle will stir up the dirt, bait residue and fish excrement on the bottom and side walls of the barrel and form a suspended state. At the same time, the sewage recovery system will suck these suspended substances into the pipeline and transport them to the filtering device on the ground. During the whole process, the protective net effectively protects the farmed fish from harm and will not cause significant fluctuations in water quality.

[0032] Through actual tests, the cleaning efficiency of this device is 300% higher than that of traditional manual cleaning. The single cleaning time is shortened from 25-30 minutes to 5-8 minutes. The cleaning quality is higher and the residual dirt is reduced by more than 85%. At the same time, due to the use of protective net cover design, the degree of fright of fish during cleaning is significantly reduced, and the stress response is reduced by 70%, which effectively ensures the health and growth of farmed fish.

[0033] In an optional embodiment, adjusting the length of the retractable cleaning rod according to the depth of the aquaculture barrel so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned includes: Obtaining the depth parameter and the position parameter to be cleaned of the aquaculture barrel, wherein the position parameter to be cleaned includes the position parameter for cleaning the side wall of the aquaculture barrel and the position parameter for cleaning the screen of the aquaculture barrel; Calculating a target extension length of the telescopic cleaning rod based on the depth parameter and the to-be-cleaned position parameter; The telescopic cleaning rod is driven to extend to the target extension length, so that the distance between the water flow control nozzle arranged at the end of the telescopic cleaning rod and the position to be cleaned is maintained within a preset distance range.

[0034] First, the depth parameter and the position parameter to be cleaned of the aquaculture barrel are obtained. The depth parameter can be obtained by pre-measurement or real-time sensor measurement, such as using an ultrasonic ranging sensor to measure the distance from the top of the aquaculture barrel to the water surface. The position parameter to be cleaned includes the side wall cleaning position parameter of the aquaculture barrel and the screen cleaning position parameter of the aquaculture barrel. The side wall cleaning position parameter can be a plurality of preset height values, such as 20cm, 40cm, 60cm from the bottom of the barrel, etc. The screen cleaning position parameter can be the installation height of the screen, such as 50cm from the bottom of the barrel.

[0035] Next, the target extension length of the retractable cleaning rod is calculated based on the depth parameter and the position to be cleaned parameter. The calculation process takes into account the following factors: the depth of the breeding tank, the height of the position to be cleaned, the preset distance between the water flow control nozzle and the surface to be cleaned, the height of the cleaning rod fixing frame, etc. For example, if the depth of the breeding tank is 100cm, the position to be cleaned is 60cm from the bottom of the tank, the preset distance between the nozzle and the surface is 5cm, and the height of the fixing frame is 20cm, then the target extension length is: 100cm - 60cm + 5cm -20cm = 25cm.

[0036] In order to accurately control the extension length, the retractable cleaning rod adopts a gear rack mechanism driven by a stepper motor. Every time the stepper motor rotates a certain angle, the gear drives the rack to move a fixed distance, thereby achieving precise length control. The controller controls the stepper motor to rotate the corresponding number of steps according to the calculated target extension length. For example, if the stepper motor can extend the cleaning rod by 0.1mm per step and the target extension length is 250mm, it is necessary to control the stepper motor to rotate 2500 steps.

[0037] During the driving process, the encoder provides real-time feedback on the actual extension length of the cleaning rod. The controller compares the actual length with the target length and continuously adjusts the motor speed through the PID algorithm until the target length is reached. This closed-loop control can compensate for mechanical errors and improve positioning accuracy.

[0038] To ensure that the distance between the water flow control nozzle and the location to be cleaned is maintained within a preset distance range, the system is also equipped with a distance sensor. The sensor can be a laser distance sensor installed near the water flow control nozzle. After the cleaning rod is extended to the right position, the distance sensor measures the actual distance between the nozzle and the surface to be cleaned in real time. If the measured distance deviates from the preset range, the controller will fine-tune the length of the cleaning rod to compensate.

[0039] For example, the preset distance range is 4.5cm-5.5cm. If the measured distance is 5.8cm, which exceeds the upper limit, the cleaning rod is controlled to continue to extend 0.3cm. If the measured distance is 4.2cm, which is lower than the lower limit, the cleaning rod is controlled to retract 0.3cm. Through this real-time feedback adjustment, it can be ensured that the nozzle is always kept at the appropriate working distance.

[0040] In actual application, multiple cleaning positions can be pre-set to form a cleaning path. The control system adjusts the length of the cleaning rod in sequence according to the preset path to achieve automatic cleaning of different positions of the breeding barrel. For example, it can be set to clean every 20 cm from the bottom of the barrel to the top of the barrel. For the partition net, it can be set to focus on cleaning within 10 cm above and below the installation height of the partition net.

[0041] To improve cleaning efficiency, the system can also dynamically adjust the cleaning intensity according to the degree of pollution at different locations. During the cleaning process, the image sensor collects images of the surface to be cleaned, and the image processing algorithm is used to analyze the degree of pollution. For areas with severe pollution, the water flow pressure can be increased or the cleaning time can be extended; for cleaner areas, the water flow pressure can be reduced or the cleaning time can be shortened.

[0042] In addition, considering that there may be living organisms in the aquaculture tank, safety needs to be paid attention to during the cleaning process. A flexible protective cover can be installed around the water flow control nozzle to prevent the nozzle from directly contacting the organisms. At the same time, the water flow pressure also needs to be limited according to the tolerance of the aquaculture object to avoid harming the organisms.

[0043] After cleaning is completed, the system will control the cleaning rod to retract to the initial position. The retraction process also adopts closed-loop control to ensure that it accurately returns to the preset safe position. At the same time, the water pump will automatically shut down and stop supplying water, and the entire cleaning process ends.

[0044] Through the comprehensive application of the above technical means, it is possible to achieve accurate perception of the depth of the aquaculture barrel, precise control of the length of the cleaning rod, flexible adjustment of the cleaning position, and intelligent management of the cleaning process. This automated cleaning solution not only improves cleaning efficiency and quality, but also reduces the labor intensity of manual operation, providing advanced technical support for the aquaculture industry.

[0045] In an optional embodiment, starting the water flow control nozzle to generate a water flow for stripping dirt, and adjusting the water flow angle through the rotatable structure of the water flow control nozzle so that the water flow flows along the side wall of the aquaculture barrel or the surface of the partition net to strip attached dirt includes: Acquire location information of the area to be cleaned, wherein the area to be cleaned includes the side wall of the breeding barrel and the separation net of the breeding barrel; Determining a target angle of a water flow control nozzle according to the position information of the area to be cleaned, wherein the water flow control nozzle is connected to a retractable cleaning rod through a rotatable structure; driving the water flow control nozzle to rotate to the target angle; Controlling the water flow control nozzle to generate a directional water flow for stripping dirt, so that the directional water flow flows along the surface of the area to be cleaned; The cleanliness level of the area to be cleaned is detected, and based on the cleanliness level, the pressure parameter of the directional water flow and the angle parameter of the water flow control nozzle are adjusted.

[0046] This embodiment provides a water flow control method for cleaning aquaculture barrels. The method achieves precise cleaning of the inner wall and the screen of the aquaculture barrel by intelligently controlling the angle and water flow parameters of the water flow control nozzle. The specific implementation process is as follows: First, the system obtains the location information of the area to be cleaned. The area to be cleaned includes the side walls of the breeding tank and the separation net of the breeding tank. The system can obtain the three-dimensional coordinate information of the area to be cleaned through a pre-set coordinate system or real-time scanning. For example, the center of the bottom of the breeding tank can be set as the origin (0,0,0), a rectangular coordinate system can be established, and then the coordinate values ​​of each point in the area to be cleaned can be obtained through laser scanning or image recognition.

[0047] Next, the system calculates the target angle of the water flow control nozzle based on the acquired location information of the area to be cleaned. The water flow control nozzle is connected to the retractable cleaning rod through a rotatable structure and can rotate horizontally and vertically. The system will calculate the target angle to which the water flow control nozzle needs to be rotated based on the spatial position of the area to be cleaned and the current position of the cleaning rod to ensure that the water flow can accurately cover the area to be cleaned. For example, if the area to be cleaned is located on the upper part of the breeding barrel, the system may calculate that the water flow control nozzle needs to be rotated 45 degrees upward.

[0048] The system then drives the water flow control nozzle to rotate to the calculated target angle. This process is achieved through a precise motor control system. The motor control system can accurately control the rotation angle with an error within ±0.1 degrees to ensure the accuracy of the water flow direction.

[0049] After the water flow control nozzle is adjusted in place, the system controls it to generate a directional water flow for stripping dirt. The pressure and flow of the water flow can be adjusted according to the degree of pollution in the area to be cleaned. For example, for lightly polluted areas, a water pressure of 2-3 MPa can be used; for heavily polluted areas, it can be increased to 4-5 MPa. The direction of the water flow maintains an angle of 15-30 degrees with the surface to be cleaned, which can effectively strip dirt without causing too much impact on the breeding environment.

[0050] During the cleaning process, the system detects the cleanliness of the area to be cleaned in real time, and dynamically adjusts the pressure parameters of the directional water flow and the angle parameters of the water flow control nozzle based on the detection results. The detection of the cleanliness level can be achieved through optical sensors, which can capture the changes in the reflected light on the surface to determine the removal of dirt. For example, when the reflected light intensity of a certain area is detected to increase by 20%, it can be considered that the area has been basically cleaned.

[0051] If it detects that a certain area is not cleaned well, the system will automatically increase the water pressure in that area or fine-tune the angle of the water flow control nozzle. The pressure can be increased in steps of 0.5 MPa, up to a maximum of 6 MPa. The angle adjustment accuracy can reach 0.5 degrees, ensuring precise cleaning of stains of different shapes and locations.

[0052] In order to improve cleaning efficiency, the system can also plan the optimal cleaning path according to the shape and size of the area to be cleaned. For example, for the side wall of a cylindrical aquaculture tank, a spiral cleaning path can be used to clean from top to bottom or from bottom to top. The moving speed of the cleaning rod can be dynamically adjusted according to the degree of contamination, and is generally controlled between 0.1-0.5 m / s.

[0053] For the aquaculture tank screen, due to its complex structure, the system will adopt a more sophisticated cleaning strategy. First, the screen is divided into grids, each grid size is about 10cm x 10cm. Then, each grid is cleaned in a targeted manner, and the water flow control nozzle will scan the grid multiple times at different angles to ensure thorough cleaning.

[0054] During the entire cleaning process, the system will monitor water temperature, pH value and other parameters in real time to ensure that the cleaning process will not have adverse effects on the breeding environment. If an abnormality is detected, the system will immediately adjust the cleaning strategy or suspend the cleaning process.

[0055] After cleaning is completed, the system will perform a final comprehensive scan to ensure that all areas meet the preset cleaning standards. If there are still areas that are not thoroughly cleaned, the system will automatically perform a second cleaning until the requirements are met.

[0056] Through the above steps, the method can realize intelligent and efficient cleaning of the breeding barrel, greatly improving the cleaning effect and work efficiency. The method is applicable to breeding barrels of various specifications and can adapt to different application scenarios through simple parameter adjustment.

[0057] In an optional embodiment, starting the sewage suction recovery system to form a negative pressure zone near the water flow control nozzle to suck the stripped dirt into the sewage suction recovery system includes: Acquiring water spraying parameters and position parameters of a water flow control nozzle, wherein the water flow control nozzle is used to generate a water flow for stripping dirt; Determining a target negative pressure parameter of a sewage suction recovery system according to the water spray parameter and the position parameter; The sewage suction recovery system is controlled to form a negative pressure zone in the surrounding area of ​​the water flow control nozzle, and the suction power of the sewage suction recovery system is adjusted according to the real-time detected pressure value, so that the pressure value of the negative pressure zone is maintained within the target negative pressure parameter range.

[0058] First, obtain the water spray parameters and position parameters of the water flow control nozzle. The water spray parameters include water flow pressure, flow rate, and spray angle. For example, the water flow pressure can be set to 2-5 MPa, the flow rate to 10-30 L / min, and the spray angle to 15-45 degrees. The position parameters include the height and angle of the nozzle relative to the surface to be cleaned. The height is usually set within the range of 10-30 cm, and the angle is maintained between 60-80 degrees. These parameters can be collected in real time by sensors installed on the nozzle, or read from the preset values ​​of the control system.

[0059] Next, the target negative pressure parameters of the suction and recovery system are determined based on the obtained water spray parameters and position parameters. The target negative pressure parameters mainly include the negative pressure value and the size of the negative pressure area. The determination of the negative pressure value takes into account factors such as water flow pressure and flow rate, and is generally set between -5 kPa and -20 kPa. The size of the negative pressure area is calculated based on the spray angle and nozzle position, and usually covers an area of ​​50-150 cm² around the water spray point.

[0060] In order to accurately control the formation of the negative pressure zone, the system uses a multi-point pressure sensor array, with 8-16 pressure sensors evenly arranged in the predetermined negative pressure area. These sensors can monitor the pressure distribution in the negative pressure area in real time, with a sampling frequency of up to 100 Hz, ensuring that the system can respond quickly to pressure changes.

[0061] After determining the target negative pressure parameters, the suction and recovery system is controlled to form a negative pressure zone around the water flow control nozzle. This process is achieved by adjusting the suction power of the suction and recovery system. The system uses a variable frequency speed-controlled vacuum pump with a rated power range of 1-5 kW and a maximum vacuum degree of -90 kPa. Through the PID control algorithm, the speed of the vacuum pump is dynamically adjusted according to the real-time detected pressure value, thereby accurately controlling the suction power.

[0062] Specifically, when it is detected that the pressure in the negative pressure area is higher than the target value, the system will increase the speed of the vacuum pump and improve the suction power. For example, if the target negative pressure value is -10 kPa, and the actual pressure detected is -8 kPa, the system may increase the speed of the vacuum pump from the initial 2000 rpm to 2500 rpm. On the contrary, if the pressure is lower than the target value, the system will reduce the speed of the vacuum pump. This dynamic adjustment ensures that the pressure in the negative pressure area is always maintained within the target range, and generally allows fluctuations of ±1 kPa.

[0063] To further optimize the formation and maintenance of the negative pressure zone, the system also takes into account the influence of environmental factors. For example, in an outdoor environment, wind speed may affect the stability of the negative pressure zone. Therefore, the system integrates a wind speed sensor, and when it detects that the wind speed exceeds 5 m / s, it will automatically increase the suction power by 10-20% to offset the wind effect.

[0064] In addition, in order to adapt to different types of dirt and surfaces, the system also includes an adaptive adjustment mechanism. By analyzing the weight and volume of the inhaled material, the system can dynamically adjust the negative pressure parameters. For example, for lighter dust, only a negative pressure of -5kPa may be required.

[0065] In an optional implementation, the method further includes: The dirt in the negative pressure area is transported to the primary filter screen for first filtration to obtain a first filtrate and first impurities, and the flow parameters of the first filtrate are recorded; adjusting the sedimentation rate of the sedimentation separation system according to the flow parameter, and conveying the first filtrate to the sedimentation separation system for sedimentation separation to obtain a second filtrate and second impurities; The size of the collecting cavity of the waste collecting device is controlled according to the volume parameters of the first impurities and the second impurities, and the first impurities and the second impurities are transported to the waste collecting device, and the second filtrate is discharged from the breeding barrel.

[0066] Specifically, a negative pressure zone is set at the bottom of the breeding barrel, and the negative pressure is generated by a water pump to suck the dirt at the bottom of the breeding barrel into the negative pressure zone. The pressure of the negative pressure zone is usually controlled between -0.02MPa and -0.05MPa to ensure effective adsorption of dirt without affecting the normal activities of the cultured organisms.

[0067] The dirt in the negative pressure area is transported to the primary filter through the dirt transport pipe. The primary filter is made of stainless steel with a mesh diameter of 0.5mm to 2mm, preferably 1mm, to intercept larger particles of dirt. The primary filter is set in an inclined state with an inclination angle of 15° to 30°, so that the first impurities can slide along the inclined surface to the collection area.

[0068] At the primary filter, a flow sensor is installed to monitor the flow parameters of the first filtrate in real time. The data collected by the flow sensor include flow velocity and flow rate. The flow velocity is usually between 0.2m / s and 0.8m / s, and the flow rate range is 5L / min to 20L / min. These data are recorded and analyzed by the control system for subsequent adjustment of the parameters of the sedimentation separation system.

[0069] For example, when the flow rate of the first filtrate is detected to be 15L / min, the control system will calculate the optimal sedimentation rate to be 0.05m / s according to the preset algorithm; when the flow rate drops to 8L / min, the sedimentation rate will be adjusted to 0.03m / s accordingly to ensure the optimal sedimentation effect.

[0070] The first filtrate enters the sedimentation separation system through the delivery pipeline. The sedimentation separation system consists of a sedimentation tank and a speed regulating device. The sedimentation tank is cylindrical, with a diameter of 0.8m to 1.2m and a height of 1.5m to 2m. There are multiple layers of inclined plates inside, with a spacing of 10cm to 15cm and an inclination angle of 55° to 60°. The speed regulating device includes a variable frequency water pump and a flow rate control valve, which automatically adjusts the water flow rate in the sedimentation tank according to the flow parameters.

[0071] During the sedimentation separation process, when the first filtrate flow parameter shows a large flow rate (such as more than 12L / min), the control system will reduce the sedimentation rate to 0.02m / s to 0.04m / s to extend the residence time of the dirt in the sedimentation tank; when the flow rate is small (such as less than 8L / min), the sedimentation rate will be increased to 0.06m / s to 0.08m / s to speed up the processing speed. This dynamic adjustment ensures the stability of the sedimentation separation effect.

[0072] The sedimentation separation system separates the first filtrate into the second filtrate and the second impurities. The second impurities are mainly suspended solids with higher density, such as feed residues, feces, etc., which are deposited at the bottom of the sedimentation tank; the second filtrate is the relatively clear water in the upper layer, which is discharged from the overflow port at the top of the sedimentation tank.

[0073] The system monitors the volume parameters of the first impurity and the second impurity in real time through photoelectric sensors. The volume of the first impurity is usually between 0.5L and 2L per day, and the volume of the second impurity is between 1L and 3L per day. Based on these volume parameters, the system automatically controls the size of the collection chamber of the waste collection device.

[0074] The dirt collection device adopts a modular design, including a retractable collection chamber and a compression mechanism. When the total volume of impurities is detected to be small (such as daily production is less than 2L), the collection chamber automatically adjusts to a small capacity mode with a chamber size of 20cm×20cm×15cm; when the total volume of impurities is large (such as daily production exceeds 4L), the collection chamber expands to a large capacity mode with a chamber size of 30cm×30cm×20cm.

[0075] For example, in a certain operation, the system detected that the volume of the first impurity was 1.5L, the volume of the second impurity was 2.2L, and the total volume was 3.7L. The control system automatically adjusted the collection chamber to the medium capacity mode with a chamber size of 25cm×25cm×18cm to accommodate the current amount of dirt.

[0076] The first impurity and the second impurity are transported to the waste collection device through a dedicated conveying pipeline. The diameter of the conveying pipeline is 25mm to 40mm, and a screw propeller is used to assist the conveying process to prevent the pipeline from being blocked. A dehydration unit is provided in the waste collection device to reduce the moisture content of the collected impurities from the initial 90% to less than 40%, thereby reducing the volume and facilitating subsequent processing.

[0077] After the second filter is treated by the ultraviolet disinfection device, it can be selectively discharged from the breeding tank or returned to the breeding system. The wavelength of the ultraviolet disinfection device is 254nm, and the radiation intensity is 30mW / cm², ensuring the safety of the discharged water. When the system detects that the water level in the breeding tank is lower than the set value, the second filter will flow back to the breeding tank; when the water level is normal, it will be discharged from the system.

[0078] Through the above method, the waste in the aquaculture barrel can be efficiently treated, water pollution can be reduced, and aquaculture efficiency can be improved. In practical applications, this method can reduce the suspended solids content in the aquaculture water by more than 85%, and the ammonia nitrogen content by more than 70%, significantly improving the aquaculture environment.

[0079] The system for underwater cleaning aquaculture barrels for synchronously adsorbing and recovering waste according to the embodiment of the present invention comprises: The first unit is used to extend an underwater cleaning device with a retractable cleaning rod into the aquaculture barrel, wherein the end of the retractable cleaning rod is provided with a water flow control nozzle, a sewage suction recovery system and a protective net cover, and the water flow control nozzle is provided with a rotatable structure; The second unit is used to adjust the length of the retractable cleaning rod according to the depth of the aquaculture barrel, so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned; The third unit is used to start the water flow control nozzle to generate a water flow for stripping dirt, and adjust the water flow angle through the rotatable structure of the water flow control nozzle, so that the water flow flows along the side wall of the breeding tank or the surface of the partition net to strip the attached dirt; The fourth unit is used to start the sewage suction recovery system to form a negative pressure zone near the water flow control nozzle to suck the stripped sewage into the sewage suction recovery system, wherein the sewage suction recovery system includes a primary filter screen and a sedimentation separation system, and the sedimentation separation system is used to further purify the sewage; The fifth unit is used to prevent the fish in the breeding barrel from colliding with the water flow control nozzle and the sewage suction and recovery system through the protective net cover, and to control the distribution range of the water flow.

[0080] According to a third aspect of the embodiments of the present invention, An electronic device is provided, comprising: processor; a memory for storing processor-executable instructions; The processor is configured to call the instructions stored in the memory to execute the aforementioned method.

[0081] A fourth aspect of the embodiments of the present invention is: A computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the aforementioned method is implemented.

[0082] The present invention may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present invention.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for cleaning aquaculture barrels underwater with simultaneous adsorption and recovery of dirt, characterized in that: include: An underwater cleaning device with a retractable cleaning rod is extended into the aquaculture barrel, wherein a water flow control nozzle, a sewage suction recovery system and a protective net cover are arranged at the end of the retractable cleaning rod, and the water flow control nozzle is arranged as a rotatable structure; The length of the retractable cleaning rod is adjusted according to the depth of the aquaculture barrel, so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned; The water flow control nozzle is started to generate a water flow for stripping off dirt, and the water flow angle is adjusted by the rotatable structure of the water flow control nozzle, so that the water flow flows along the side wall of the culture tank or the surface of the partition net to strip off the attached dirt; The sewage suction recovery system is started to form a negative pressure zone near the water flow control nozzle to suck the stripped sewage into the sewage suction recovery system, wherein the sewage suction recovery system includes a primary filter screen and a sedimentation separation system, and the sedimentation separation system is used to further purify the sewage; The protective net cover prevents the fish in the culture barrel from colliding with the water flow control nozzle and the sewage suction and recovery system, and controls the distribution range of the water flow.

2. The method according to claim 1, characterized in that: An underwater cleaning device with a retractable cleaning rod is extended into the aquaculture barrel, and a water flow control nozzle, a sewage suction recovery system and a protective net cover are arranged at the end of the retractable cleaning rod. The water flow control nozzle is arranged as a rotatable structure including: A retractable cleaning rod, the retractable cleaning rod being used to be inserted into the breeding barrel; A cleaning component is arranged at the end of the retractable cleaning rod, and the cleaning component includes a rotatable water flow control nozzle, a sewage suction recovery system and a protective net cover for protecting fish. The protective net cover is arranged on the outside of the water flow control nozzle and the sewage suction recovery system.

3. The method according to claim 1, characterized in that: Adjusting the length of the retractable cleaning rod according to the depth of the aquaculture barrel so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned comprises: Acquire the depth parameter and the position parameter to be cleaned of the aquaculture barrel, wherein the position parameter to be cleaned includes the position parameter to clean the side wall of the aquaculture barrel and the position parameter to clean the screen of the aquaculture barrel; Calculating a target extension length of the telescopic cleaning rod based on the depth parameter and the to-be-cleaned position parameter; The telescopic cleaning rod is driven to extend to the target extension length, so that the distance between the water flow control nozzle arranged at the end of the telescopic cleaning rod and the position to be cleaned is maintained within a preset distance range.

4. The method according to claim 1, characterized in that Starting the water flow control nozzle to generate a water flow for stripping dirt, and adjusting the water flow angle by a rotatable structure of the water flow control nozzle so that the water flow flows along the side wall of the aquaculture barrel or the surface of the partition net to strip attached dirt includes: Acquire location information of the area to be cleaned, wherein the area to be cleaned includes the side wall of the breeding barrel and the separation net of the breeding barrel; Determining a target angle of a water flow control nozzle according to the position information of the area to be cleaned, wherein the water flow control nozzle is connected to a retractable cleaning rod through a rotatable structure; driving the water flow control nozzle to rotate to the target angle; Controlling the water flow control nozzle to generate a directional water flow for stripping dirt, so that the directional water flow flows along the surface of the area to be cleaned; The cleanliness level of the area to be cleaned is detected, and based on the cleanliness level, the pressure parameter of the directional water flow and the angle parameter of the water flow control nozzle are adjusted.

5. The method according to claim 1, characterized in that: Starting the sewage suction recovery system to form a negative pressure zone near the water flow control nozzle to suck the stripped dirt into the sewage suction recovery system includes: Acquiring water spraying parameters and position parameters of a water flow control nozzle, wherein the water flow control nozzle is used to generate a water flow for stripping dirt; Determining a target negative pressure parameter of a sewage suction recovery system according to the water spray parameter and the position parameter; The sewage suction recovery system is controlled to form a negative pressure zone in the surrounding area of ​​the water flow control nozzle, and the suction power of the sewage suction recovery system is adjusted according to the real-time detected pressure value, so that the pressure value of the negative pressure zone is maintained within the target negative pressure parameter range.

6. The method according to claim 5, characterized in that The method further comprises: The dirt in the negative pressure area is transported to the primary filter screen for first filtration to obtain a first filtrate and first impurities, and the flow parameters of the first filtrate are recorded; adjusting the sedimentation rate of the sedimentation separation system according to the flow parameter, and conveying the first filtrate to the sedimentation separation system for sedimentation separation to obtain a second filtrate and second impurities; The size of the collecting cavity of the waste collecting device is controlled according to the volume parameters of the first impurities and the second impurities, and the first impurities and the second impurities are transported to the waste collecting device, and the second filtrate is discharged from the breeding barrel.

7. A system for underwater cleaning aquaculture barrels with synchronous adsorption and recovery of waste, used to implement the method according to any one of claims 1 to 6, characterized in that: include: The first unit is used to extend an underwater cleaning device with a retractable cleaning rod into the aquaculture barrel, wherein the end of the retractable cleaning rod is provided with a water flow control nozzle, a sewage suction recovery system and a protective net cover, and the water flow control nozzle is provided with a rotatable structure; The second unit is used to adjust the length of the retractable cleaning rod according to the depth of the aquaculture barrel, so that the water flow control nozzle is close to the side wall or the partition net of the aquaculture barrel to be cleaned; The third unit is used to start the water flow control nozzle to generate a water flow for stripping dirt, and adjust the water flow angle through the rotatable structure of the water flow control nozzle, so that the water flow flows along the side wall of the breeding tank or the surface of the partition net to strip the attached dirt; The fourth unit is used to start the sewage suction recovery system to form a negative pressure zone near the water flow control nozzle to suck the stripped sewage into the sewage suction recovery system, wherein the sewage suction recovery system includes a primary filter screen and a sedimentation separation system, and the sedimentation separation system is used to further purify the sewage; The fifth unit is used to prevent the fish in the breeding barrel from colliding with the water flow control nozzle and the sewage suction and recovery system through the protective net cover, and to control the distribution range of the water flow.

8. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to call the instructions stored in the memory to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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