Splicing type underwater cleaning robot

Abstract

The invention is suitable for the field of underwater cleaning, and discloses a splicable underwater cleaning robot which comprises two operation modules, a cleaning module detachably connected with the operation modules, and a control module electrically connected with the operation modules. The operation module at least comprises a driving assembly used for moving the cleaning robot and a detection assembly used for detecting the external environment. The cleaning module is provided with a cleaning rotary disc assembly used for cleaning, a power assembly used for supplying rotating power to a cleaning rotary disc and a connecting assembly. A plurality of cleaning modules are detachably installed between the two operation modules, the cleaning robot can adapt to size types of different net bags or plane nets, the detection assembly recognizes the external environment and feeds back the external environment to the control unit, and the control unit can move in water through the driving assemblies on the left side and the right side at the same time; and the cleaning turntable assembly is used for cleaning the net bag or the plane net.

Description

Technical Field

[0001] This invention relates to the field of underwater cleaning, and more particularly to a modular underwater cleaning robot. Background Technology

[0002] Since the interception nets are placed at the intake of the cold source for extended periods, marine organisms inevitably accumulate on the nets, and some floating debris is intercepted. Therefore, daily cleaning and maintenance of the nets are necessary. Currently, this is mainly done by divers conducting underwater inspections and using high-pressure washing guns to clean the nets covered with marine organisms. This manual labor is arduous, has low cleaning efficiency, and is greatly affected by weather conditions.

[0003] Although underwater cleaning robots have been developed and applied, due to the varying sizes and attachment conditions of the nets, existing underwater cleaning robots struggle to balance cleaning intensity and efficiency. This is especially true in scenarios involving underwater interception nets, where larger robots cannot effectively enter the nets for cleaning. This results in large robots with high cleaning efficiency being unable to enter the nets, while smaller robots with low cleaning efficiency are too inefficient for cleaning large areas of nets. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a modular underwater cleaning robot.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: constructing a modular underwater cleaning robot, including: two operating modules, a cleaning module detachably connected to the operating modules, and a control module electrically connected to the operating modules; the operating module includes at least a drive component for moving the cleaning robot and a detection component for detecting the external environment; the cleaning module is provided with a cleaning turntable component for cleaning, a power component for supplying rotational power to the cleaning turntable, and a connecting component.

[0006] In some embodiments, the cleaning module is detachably connected to the operating module via any one or more of the following methods: threaded connection, snap-fit ​​connection, keyed connection, plug-in connection, and hinge connection.

[0007] In some embodiments, the cleaning module is connected to the operating module by a snap-fit, the operating module having a snap-fit ​​groove and the cleaning module having a snap-fit ​​block; or the operating module having a snap-fit ​​block and the cleaning module having a snap-fit ​​groove; the snap-fit ​​block is inserted into the snap-fit ​​groove, and the cleaning module and the operating module are installed.

[0008] In some embodiments, the cleaning module is provided with the snap-fit ​​groove and the snap-fit ​​block on both sides, and adjacent cleaning modules can be detachably connected through the snap-fit ​​groove and the snap-fit ​​block.

[0009] In some embodiments, a fixing bolt is provided at the insertion point of the snap-fit ​​groove and the snap-fit ​​block. The snap-fit ​​groove is provided with a threaded hole, and the snap-fit ​​block is provided with a through hole. The fixing bolt is connected to the threaded hole through the through hole.

[0010] In some embodiments, the operating module includes a frame and a floating plate, the detection component is disposed on one side of the frame in the horizontal forward direction, the driving component is disposed on the frame, and the floating plate is disposed on the upper part of the frame.

[0011] In some embodiments, the drive assembly includes a horizontal drive unit for moving the cleaning robot horizontally and a vertical drive unit for moving the cleaning robot vertically.

[0012] In some embodiments, the detection component includes an illumination unit for illuminating the underwater environment and a vision unit for identifying images of the surrounding environment and electrically connected to the control module, wherein the orientation of the illumination unit and the vision unit matches the direction of movement of the horizontal drive unit.

[0013] In some embodiments, the cleaning turntable assembly includes a base, a rotating seat fixed to the base, and a rotating disk rotatably connected to the rotating seat. The rotating seat has a first channel communicating with a power component, and the rotating disk has a second channel communicating with the first channel, and a nozzle disposed on the periphery of the rotating disk and communicating with the second channel.

[0014] In some embodiments, the power assembly includes a plurality of sub-valves communicating with the first channel, a main valve communicating with the first channel, and a high-pressure pipeline connecting the sub-valves and the main valve. The main valve is connected to a high-pressure water source, and the main valve is connected to the sub-valves through the high-pressure pipeline. The high-pressure water source, the main valve, the sub-valves, the first channel, and the second channel form a high-pressure water path for supplying rotation of the rotating disc.

[0015] Implementing the modular underwater cleaning robot of the present invention has the following advantages: by detachably installing a number of cleaning modules between two operating modules, the cleaning robot can adapt to different sizes and types of nets or flat nets. The detection component identifies the external environment and feeds it back to the control unit. The control unit can move in the water through the drive components on the left and right sides. The cleaning turntable component cleans the nets or flat nets without the need for underwater operations by personnel, greatly improving cleaning efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0017] Figure 1 This is a bottom view of a modular underwater cleaning robot according to one embodiment of the present invention;

[0018] Figure 2 This is an overall structural diagram of a modular underwater cleaning robot according to one embodiment of the present invention;

[0019] Figure 3 This is a structural diagram of the operating module of a modular underwater cleaning robot according to one embodiment of the present invention;

[0020] Figure 4 This is a side view of the operating module of a modular underwater cleaning robot according to one embodiment of the present invention;

[0021] Figure 5 This is a top view of the operating module of a modular underwater cleaning robot according to one embodiment of the present invention;

[0022] Figure 6 This is a top view of the cleaning module of a modular underwater cleaning robot according to one embodiment of the present invention;

[0023] Figure 7 This is a structural diagram of a cleaning module of a modular underwater cleaning robot according to one embodiment of the present invention;

[0024] Figure 8 This is a connection structure diagram of a cleaning module of a modular underwater cleaning robot according to one embodiment of the present invention;

[0025] Figure 9 This is an assembly diagram of two operating modules of a modular underwater cleaning robot according to one embodiment of the present invention;

[0026] Figure 10 This is an assembly diagram of a single cleaning module and two operating modules of a modular underwater cleaning robot according to one embodiment of the present invention.

[0027] Figure 11 This is an assembly diagram of five cleaning modules and two operating modules of a modular underwater cleaning robot according to one embodiment of the present invention.

[0028] Figure 12This is a structural diagram of a cleaning turntable assembly of a modular underwater cleaning robot according to one embodiment of the present invention.

[0029] Figure Labels

[0030] 1. Operating module; 2. Top plate; 3. Cleaning module; 4. Bolt; 5. Main valve; 6. Sub-valve; 7. High-pressure pipeline; 8. Snap-fit ​​block; 11. Vision unit; 12. Vertical drive unit; 13. Lighting unit; 14. Control module; 15. Two-way connector; 16. Horizontal drive unit; 17. Rotating disc; 18. Connector; 19. Float; 31. Base; 32. Rotating base; 33. First channel; 34. Second channel; 35. Nozzle; 41. Through hole; 42. Threaded hole; 81. Snap-fit ​​groove; 111. Base plate; 112. Protective plate. Detailed Implementation

[0031] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "upper," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing the technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on the present invention.

[0032] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "fixing," and "setting" 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 or an electrical connection; 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. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0033] Figures 1 to 12This invention illustrates a modular underwater cleaning robot according to one embodiment. This modular underwater cleaning robot can be used for cleaning underwater planar nets and net bags. It may include two operating modules 1, a cleaning module 3 detachably connected to the operating modules 1, and a control module 14 electrically connected to the operating modules 1. The operating module 1 includes at least a drive component for moving the cleaning robot and a detection component for detecting the external environment. The cleaning module 3 is provided with a cleaning turntable assembly for cleaning, a power component for supplying rotational power to the cleaning turntable, and a connecting component.

[0034] By detachably installing a number of cleaning modules 3 between the two operating modules 1, the cleaning robot can adapt to different sizes and types of nets or flat nets. It identifies the external environment through the detection component and feeds it back to the control unit. The control unit can move in the water through the drive components on the left and right sides. The cleaning turntable component cleans the nets or flat nets without the need for underwater operations, greatly improving cleaning efficiency.

[0035] Understandably, the operating module 1 is connected to the equipment on the water via a wired connection. The equipment on the water supplies power and can be used to control the cleaning robot.

[0036] In one specific embodiment, the power component is connected to an external high-pressure water source, which drives the cleaning turntable assembly to rotate.

[0037] In one specific embodiment, Figure 9 The two operating modules 1 on both sides can be directly assembled together without cleaning module 3, and can run directly.

[0038] Figure 6 , Figure 7 and Figure 8 The cleaning module 33 is shown in one embodiment and may be detachably connected to the operating module 1 by any one or more of the following methods: threaded connection, snap-fit ​​connection, keyed connection, plug-in connection and hinge.

[0039] Figure 6 , Figure 7 and Figure 8 The cleaning module 33 is shown in one embodiment to be connected to the operating module 1 by a snap-fit. The operating module 1 is provided with a snap-fit ​​groove 81, and the cleaning module 3 is provided with a snap-fit ​​block 8; or the operating module 1 is provided with a snap-fit ​​block 8, and the cleaning module 3 is provided with a snap-fit ​​groove 81; the snap-fit ​​block 8 is inserted into the snap-fit ​​groove 81, and the cleaning module 3 and the operating module 1 are installed.

[0040] Figure 6 , Figure 7 and Figure 8The cleaning module 3 is shown in one embodiment. One end of the cleaning module 3 is provided with a snap-fit ​​groove 81, and the other end of the cleaning module 3 is provided with a snap-fit ​​block 8. Several cleaning modules 3 are connected together end to end through the snap-fit ​​groove 81 and the snap-fit ​​block 8. The snap-fit ​​block 8 overlaps in the snap-fit ​​groove 81, and adjacent cleaning modules 3 can be installed. The structure is simple and the installation is convenient.

[0041] Figure 8 In one embodiment, the snap-fit ​​block 8 may include a fixing bolt 4 and a through hole 41. The snap-fit ​​groove 81 is provided with a threaded hole 42 corresponding to the through hole 41. The fixing bolt 4 passes through the through hole 41 and is connected and fixed to the threaded hole 42. Because the snap-fit ​​block 8 and the snap-fit ​​groove 81 are easy to fall off each other, they need to be stabilized by the fixing bolt 4 to ensure that the adjacent cleaning modules 3 will not be disconnected.

[0042] Figure 2 , Figure 3 and Figure 4 The running module 1, as shown in one embodiment, may include a frame and a floating plate 19. A detection component is disposed on one side of the frame in the horizontal forward direction, a drive component is disposed on the frame, and the floating plate 19 is disposed on the upper part of the frame.

[0043] In one specific embodiment, the frame may include a top plate 2, a bottom plate 111, and a connector 18. The top plate 2 and the bottom plate 111 are connected by the connector 18. The bottom plate 111 has a snap-fit ​​groove 81 at one end near the cleaning module 3, or a snap-fit ​​block 8 at one end near the cleaning module 3, which can ensure that the bottom plate 111 is always at the bottom. The cleaning module 3 is detachably connected to the bottom plate 111, and the cleaning turntable assembly of the cleaning module 3 can always be kept in contact with the flat net and the net bag at the bottom.

[0044] In one specific embodiment, the control module 14 is mounted on the top plate 2. Since the cleaning module 3 is mounted on the bottom plate 111, the control module 14 can be less directly impacted by the bottom plate 111, thus improving the service life of the control module 14.

[0045] In one specific embodiment, a shim can be added between the snap-fit ​​block 8 and the snap-fit ​​groove 81 to make the snap-fit ​​block 8 and the snap-fit ​​groove 81 have an interference fit and prevent loosening.

[0046] In one specific embodiment, the cleaning modules 3 can also be connected in other ways, such as magnetic attraction, hinge, etc.

[0047] Figure 2 , Figure 3 and Figure 4The drive assembly shown in one embodiment may include a horizontal drive unit 16 for moving the cleaning robot horizontally and a vertical drive unit 12 for moving the cleaning robot vertically. The horizontal drive unit 16 is used for horizontal movement. When both horizontal drive units 16 are working simultaneously, the cleaning robot moves horizontally in a straight line. When one horizontal drive unit 16 is not working and the other horizontal drive unit 16 is working, the cleaning robot can move horizontally in a curved path. When both vertical drive units 12 are working simultaneously, the cleaning robot can move vertically. When one vertical drive unit 12 is not working and the other vertical drive unit 12 is working, the cleaning robot can flip.

[0048] In one specific embodiment, the vertical drive unit 12 is disposed on the top plate 2. When the vertical drive unit 12 wants to rise, the top plate 2 is directly pushed upward by an upward force, and the bottom plate 111 can remain in a vertically downward state.

[0049] In one specific embodiment, the horizontal drive unit 16 is disposed on the base plate 111.

[0050] In one specific embodiment, both the horizontal drive unit 16 and the vertical drive unit 12 are electric propellers. The vertical drive unit 12 has vertically placed electric propellers at the front and rear ends of the top plate 2, and the horizontal drive unit 16 has a horizontally placed electric propeller on the bottom plate 111. The two propellers can provide enough lift to raise the cleaning robot. The force that needs to be overcome for horizontal movement is much smaller than the force required for upward movement, so only one horizontal electric propeller is needed.

[0051] Figure 2 , Figure 3 and Figure 4 The detection component, in one embodiment, may include an illumination unit 13 for illuminating the underwater environment and a vision unit 11 for recognizing images of the surrounding environment and electrically connected to a control module 14. The orientation of the illumination unit 13 and the vision unit 11 is matched with the direction of movement of the horizontal drive unit 16, because the underwater environment is relatively dark, the illumination unit 13 needs to illuminate the surrounding environment so that the vision unit 11 can receive and capture recognizable images.

[0052] In one specific embodiment, the lighting unit 13 is a high-power LED lamp head, which works with a reflector to focus the light.

[0053] In one specific embodiment, the lighting module is mounted on the base plate 111, and the vision unit 11 is mounted on the top plate 2. The base plate 111 is close to the planar net and the net bag. Meanwhile, the lighting unit 13 has a simple structure, high strength and can withstand impact. The top plate 2 is far away from the base plate 111, so the complex and relatively fragile vision unit 11 can be protected.

[0054] In one specific embodiment, the top plate 2 is provided with a protective plate 112 for protecting the vision unit 11 and preventing external debris from damaging the camera.

[0055] Figure 6 , Figure 7 and Figure 12 The cleaning turntable assembly shown in one embodiment may include a base 31, a rotating seat 32 fixed to the base 31, and a rotating disk 17 rotatably connected to the rotating seat 32. The rotating seat 32 is provided with a first channel 33 communicating with a power component. The rotating disk 17 is provided with a second channel 34 communicating with the first channel 33, and a nozzle 35 disposed on the periphery of the rotating disk 17 and communicating with the second channel 34. High-pressure water is transmitted through the first channel 33 to the second channel 34 and sprayed out from the nozzle 35. Due to the principle of conservation of momentum of the high-pressure water from the nozzle 35, the rotating disk 17 begins to rotate at high speed.

[0056] In one specific embodiment, the seat 31 is made of a material with a density less than that of water, and the weight of the cleaning module 3 is balanced by the seat 31.

[0057] Figure 6 and Figure 12 In one embodiment, the nozzle 35 may include two or more nozzles 35. The nozzles 35 are arranged along the tangential direction of the circumference of the rotating disk 17. The reaction force generated by the water outlet of the nozzle 35 is generated along the tangent, forming the force for the rotation of the rotating disk 17, reducing the axial force on the rotating disk, and facilitating the smooth and high-speed rotation of the rotating disk 17.

[0058] In one specific embodiment, there are three nozzles 35 on the rotating disk 17. The nozzles 35 are evenly distributed on the rotating disk 17, and the direction of the nozzles 35 is set along the tangential direction of the rotation direction. Having three nozzles 35 can reduce the water outlet area and increase the water outlet pressure. The evenly distributed design can make the rotating disk 17 bear the force evenly, so that the rotating disk 17 rotates at high speed.

[0059] Figure 2 The power assembly, in one embodiment, may include several sub-valves 6 connected to the first channel 33, a main valve 5 connected to the first channel 33, and a high-pressure pipe 7 connecting the sub-valves 6 and the main valve 5. The main valve 5 is connected to a high-pressure water source and is connected to the sub-valves 6 through the high-pressure pipe 7. The high-pressure water source, the main valve 5, the sub-valves 6, the first channel 33, and the second channel 34 form a high-pressure water path for supplying rotation to the rotating disk 17.

[0060] Figure 9 , Figure 10 and Figure 11 The diagram shows that in one embodiment, the running module 1 may include a cleaning turntable assembly on the side parallel to the cleaning module 3, which can clean the flat net and net bag over a larger area and ensure that the area below the running components on both sides can also be cleaned.

[0061] In one specific embodiment, the cleaning turntable assembly of the operating module 1 is provided with a two-way connector 15, which is connected to the water channel of the cleaning turntable assembly, and the two-way connector 15 is connected to the three-way connector through the high-pressure pipeline 7.

[0062] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A modular underwater cleaning robot, characterized in that, include: Two operating modules (1), a cleaning module (3) detachably connected to the operating modules (1), and a control module (14) electrically connected to the operating modules (1); The operation module (1) includes at least a drive component for moving the cleaning robot and a detection component for detecting the external environment; the cleaning module (3) is provided with a cleaning turntable assembly for cleaning, a power component for supplying rotational power to the cleaning turntable, and a connection component.

2. The modular underwater cleaning robot according to claim 1, characterized in that, The cleaning module (3) is detachably connected to the operating module (1) by any one or more of the following methods: threaded connection, snap-fit ​​connection, key pin connection, plug-in connection and hinge connection.

3. The modular underwater cleaning robot according to claim 2, characterized in that, The cleaning module (3) is connected to the operating module (1) by a snap fastener. The operating module (1) is provided with a snap-fit ​​groove (81), and the cleaning module (3) is provided with a snap-fit ​​block (8); or the operating module (1) is provided with a snap-fit ​​block (8), and the cleaning module (3) is provided with a snap-fit ​​groove (81). The buckle block (8) is inserted into the card slot (81), and the cleaning module (3) and the running module (1) are installed.

4. The modular underwater cleaning robot according to claim 3, characterized in that, The cleaning module (3) is provided with the snap-fit ​​groove (81) and the snap-fit ​​block (8) on both sides respectively, and the adjacent cleaning modules (3) can be detachably connected through the snap-fit ​​groove (81) and the snap-fit ​​block (8).

5. The modular underwater cleaning robot according to claim 3, characterized in that, A fixing bolt (4) is provided at the insertion point of the snap-fit ​​groove (81) and the snap-fit ​​block (8). A threaded hole (42) is provided in the snap-fit ​​groove (81), and a through hole (41) is provided in the snap-fit ​​block (8). The fixing bolt (4) is connected to the threaded hole (42) through the through hole (41).

6. The modular underwater cleaning robot according to claim 1, characterized in that, The operating module (1) includes a frame and a floating plate (19). The detection component is disposed on one side of the frame in the horizontal forward direction, the driving component is disposed on the frame, and the floating plate (19) is disposed on the upper part of the frame.

7. The modular underwater cleaning robot according to claim 1, characterized in that, The drive assembly includes a horizontal drive unit (16) for moving the cleaning robot horizontally and a vertical drive unit (12) for moving the cleaning robot up and down.

8. A modular underwater cleaning robot according to claim 7, characterized in that, The detection component includes an illumination unit (13) for illuminating the underwater environment and a vision unit (11) for identifying images of the surrounding environment and electrically connected to the control module (14). The orientation of the illumination unit (13) and the vision unit (11) matches the direction of movement of the horizontal drive unit (16).

9. A modular underwater cleaning robot according to claim 1, characterized in that, The cleaning turntable assembly includes a base (31), a rotating seat (32) fixed to the base (31), and a rotating disk (17) rotatably connected to the rotating seat (32). The rotating seat (32) is provided with a first channel (33) communicating with a power component. The rotating disk (17) is provided with a second channel (34) communicating with the first channel (33) and a nozzle (35) disposed on the periphery of the rotating disk (17) and communicating with the second channel (34).

10. A modular underwater cleaning robot according to claim 9, characterized in that, The power assembly includes several sub-valves (6) connected to the first channel (33), a main valve (5) connected to the first channel (33), and a high-pressure pipeline (7) connecting the sub-valves (6) and the main valve (5). The main valve (5) is connected to a high-pressure water source, and the main valve (5) is connected to the sub-valves (6) through the high-pressure pipeline (7). The high-pressure water source, the main valve (5), the sub-valves (6), the first channel (33), and the second channel (34) form a high-pressure water path for supplying rotation of the rotating disc (17).

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