Modularized remote control underwater robot for aquaculture and intelligent monitoring method thereof

Abstract

The invention relates to the field of aquaculture, and discloses an aquaculture-oriented modular remote control underwater robot and an intelligent monitoring method thereof.The aquaculture-oriented modular remote control underwater robot comprises a protection mechanism, a transmission mechanism, a cleaning mechanism and a high-pressure water spraying mechanism, the protection mechanism comprises a first shell and the transmission mechanism located outside the protection mechanism, and the transmission mechanism comprises a second shell; the second shell is arranged on the inner wall of the first shell in a penetrating mode, a transmission assembly is arranged in the second shell, and a lifting assembly, a cleaning mechanism located outside a transmission mechanism and a high-pressure water spraying mechanism located at the bottom of the protection mechanism and the bottom of the cleaning mechanism are arranged outside the transmission assembly. According to the netting cleaning device, the effect that the unmanned aerial vehicle conducts cleaning operation on netting underwater is achieved through the structure, and the problems that in the prior art, netting is usually taken out and then manually cleaned one by one, manpower waste and inconvenience are caused, and the cleaning cost is increased are solved.

Description

Technical Field

[0001] This invention relates to the field of aquaculture, and more particularly to a modular remotely operated underwater robot for aquaculture and its intelligent monitoring method. Background Technology

[0002] The netting used for underwater aquaculture is a mesh structure material with corrosion resistance, algae resistance, and high strength. It is made of polyethylene, nylon, or polyester fiber, and its mesh size can be customized as needed. It can both enclose the aquaculture objects to prevent them from escaping and enable water exchange to ensure a stable aquaculture environment. It is widely used in large-scale underwater aquaculture of fish, shellfish, and other aquatic products.

[0003] In underwater aquaculture, the management of farmed organisms such as shellfish and small fish often relies heavily on netting, a core component of aquaculture. Netting, with its flexible barrier properties and permeability, serves as a crucial barrier to prevent escape and ensure stable stocking densities. However, the underwater environment contains numerous complex pollution sources, including organic pollutants such as excrement and uneaten feed from the farmed organisms themselves, as well as free-floating corrosive impurities and microorganisms. If these pollutants adhere to the netting surface for a long time without timely cleaning, they will not only clog the mesh, affecting water exchange efficiency, but also continuously erode and degrade the netting material. Over time, this will cause the netting to weaken, break, and ultimately lose its protective function, resulting in economic losses for aquaculture production. However, current technology typically involves removing the netting and manually cleaning each piece individually, which is not only labor-intensive but also increases cleaning costs. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: A modular remotely operated underwater robot for aquaculture and its intelligent monitoring method include: a protective mechanism, a transmission mechanism, a cleaning mechanism, and a high-pressure water spraying mechanism. The protective mechanism includes a first outer shell, a transmission mechanism located outside the protective mechanism, a second outer shell that passes through the inner wall of the first outer shell, a transmission component inside the second outer shell, a lifting component outside the transmission component, a cleaning mechanism located outside the transmission mechanism, and a high-pressure water spraying mechanism located at the bottom of the protective mechanism and the bottom of the cleaning mechanism. The high-pressure water spraying mechanism includes several high-pressure nozzles.

[0005] As a further description of the above technical solution: The protective mechanism also includes a drive assembly, which includes two brushless motor drive fans 1 symmetrically arranged on both sides of the housing 1. Two sets of mounting rods are provided on the outside of the housing 1, and brushless motor drive fans 2 are provided on the outside of the mounting rods.

[0006] As a further description of the above technical solution: A fixing block is provided on the outside of the outer shell, and a bolt passes through the inner wall of the outer shell and the fixing block.

[0007] As a further description of the above technical solution: The transmission assembly includes two rotating wheels, with belts attached to the outside of the rotating wheels, and a housing three attached to the outside of the bolt one.

[0008] As a further description of the above technical solution: The lifting assembly includes a mounting groove, which is formed on the inner wall of the outer casing. A bidirectional threaded rod is connected to the outside of the rotating wheel. The bidirectional threaded rod is disposed inside the mounting groove, and a transmission block is engaged with the outside of the bidirectional threaded rod.

[0009] As a further description of the above technical solution: The cleaning mechanism includes two bolts, and soft brushes are provided on both sides of the outer casing. The soft brushes and the inner wall of the transmission block are provided with two bolts.

[0010] As a further description of the above technical solution: The high-pressure water spraying mechanism also includes a water tank, which is located outside the outer casing, and the water inlet of the water tank is provided with a closed cover.

[0011] As a further description of the above technical solution: The water tank is equipped with a pump on its exterior, and two water transmission pipes are installed on the exterior of the pump. A guide pipe is installed at the outlet of the water transmission pipe, and several high-pressure nozzles are installed at the transmission hole of the guide pipe.

[0012] The present invention has the following beneficial effects: 1. In this invention, power is provided by the transmission components of the transmission mechanism, the lifting component completes the position adjustment, the cleaning mechanism relies on the transmission mechanism to realize the cleaning action, and several high-pressure nozzles of the high-pressure water spraying mechanism complete the auxiliary cleaning and operation by spraying water. The installation and cooperation of each mechanism realizes the modularization of the underwater robot and the cleaning operation. This structure realizes the effect of underwater cleaning of netting by drones, solving the problem of the existing technology that usually requires removing the netting and then manually washing it one by one, which not only wastes manpower and is inconvenient, but also increases the cleaning cost.

[0013] 2. In this invention, the protective mechanism, transmission mechanism, cleaning mechanism, and high-pressure water spray mechanism are designed independently to form a modular system. This structure enables modular installation and disassembly of the device, solving the problem of increased maintenance costs caused by the inability to disassemble individual components when the device is damaged, as is common in existing technologies. Attached Figure Description

[0014] Figure 1 This is a perspective view of the present invention; Figure 2 This is a bottom view of the present invention; Figure 3 This is a perspective view of the transmission mechanism in this invention; Figure 4 This is a perspective view of the outer casing in the transmission mechanism of the present invention. Figure 5 This is a perspective view of the transmission mechanism and water spraying mechanism of the present invention; Figure 6 for Figure 4 Enlarged view of point A in the middle.

[0015] Figure label: 10. Protective mechanism; 11. Outer shell; 12. Brushless motor driven fan one; 13. Mounting rod; 14. Brushless motor driven fan two; 15. Fixing block; 16. Bolt one; 20. Transmission mechanism; 21. Outer casing 1; 22. Rotating wheel; 23. Belt; 24. Outer casing 2; 25. Mounting groove; 26. Double-threaded rod; 27. Transmission block; 30. Cleaning mechanism; 31. Two bolts; 32. Soft brush; 40. High-pressure water spray mechanism; 41. Water tank; 42. Sealing cover; 43. Pump; 44. Water transmission pipe; 45. Water guide pipe; 46. High-pressure nozzle. Detailed Implementation

[0016] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0017] Reference Figures 1 to 6 An embodiment of the present invention provides a modular remotely controlled underwater robot for aquaculture and its intelligent monitoring method, comprising: a protective mechanism 10, a transmission mechanism 20, a cleaning mechanism 30, and a high-pressure water spraying mechanism 40. The protective mechanism 10 includes a first outer shell 11, a transmission mechanism 20 disposed outside the protective mechanism 10, a second outer shell 21 passing through the inner wall of the first outer shell 11, a transmission component disposed inside the second outer shell 21, a lifting component disposed outside the transmission component, a cleaning mechanism 30 disposed outside the transmission mechanism 20, and a high-pressure water spraying mechanism 40 disposed at the bottom of the protective mechanism 10 and the bottom of the cleaning mechanism 30, the high-pressure water spraying mechanism 40 including a plurality of high-pressure nozzles 46.

[0018] In the above embodiment, the protective mechanism 10 serves as the main frame of the robot, with an underwater sensing device installed on top for easy remote control. The outer shell 21 of the transmission mechanism 20 is inserted into the inner wall of the outer shell 11 for assembly. The transmission component of the transmission mechanism 20 provides power, the lifting component completes position adjustment, the cleaning mechanism 30 relies on the transmission mechanism 20 to perform cleaning actions, and several high-pressure nozzles 46 of the high-pressure water spraying mechanism 40 complete auxiliary cleaning and operations by spraying water. The installation and cooperation of each mechanism realizes the modularization of the underwater robot and cleaning operations.

[0019] Reference Figure 2 The protective mechanism 10 also includes a drive assembly, which includes two brushless motor drive fans 12 symmetrically arranged on both sides of the housing 11. Two sets of mounting rods 13 are provided on the outside of the housing 11, and brushless motor drive fans 14 are provided on the outside of the mounting rods 13.

[0020] In the above embodiment, in the drive assembly of the protective mechanism 10, two brushless motor drive fans 12 are symmetrically arranged on both sides of the outer shell 11. The motors generate thrust to provide power for the robot to move underwater. Two sets of mounting rods 13 on the outside of the outer shell 11 are equipped with brushless motor drive fans 14 to assist in adjusting the robot's underwater attitude and direction, and to achieve flexible movement in conjunction with the drive of the brushless motor drive fans 12.

[0021] Reference Figure 3 A fixing block 15 is provided on the outside of the outer shell 11, and bolts 16 are passed through the inner walls of the outer shell 11 and the fixing block 15.

[0022] In the above embodiment, the fixing block 15 outside the outer shell 11 is inserted into the inner wall of the outer shell 11 and the fixing block 15 by bolts 16, so as to realize the detachable connection between the fixing block 15 and the outer shell 11, and provide a stable connection basis for the subsequent assembly of the transmission mechanism 20.

[0023] Reference Figure 5 The transmission assembly includes two rotating wheels 22, with a belt 23 on the outside of the rotating wheels 22, and a housing 24 on the outside of the bolt 16.

[0024] In the above embodiment, when the two rotating wheels 22 of the transmission assembly are in operation, they drive the external belt 23 to transmit power synchronously to the subsequent structure. The outer shell 24 of the bolt 16 serves as the mounting carrier for the transmission assembly, providing protection and installation space for the rotating wheels 22 and the belt 23.

[0025] Reference Figure 6The lifting assembly includes a mounting groove 25, which is formed on the inner wall of the outer casing 24. A bidirectional threaded rod 26 is externally connected to the rotating wheel 22. The bidirectional threaded rod 26 is disposed inside the mounting groove 25, and a transmission block 27 is engaged externally with the bidirectional threaded rod 26.

[0026] In the above embodiment, the mounting groove 25 of the lifting component serves as the core load-bearing structure, providing a stable and suitable built-in mounting space for the bidirectional threaded rod 26. This effectively limits and protects the bidirectional threaded rod 26, preventing it from shifting or shaking during operation. When power is transmitted to the rotating wheel 22, the rotating wheel 22 drives the bidirectional threaded rod 26 to rotate smoothly within the limited range of the mounting groove 25. At this time, the transmission block 27, which is precisely engaged with the outside of the bidirectional threaded rod 26, will undergo threaded transmission. Driven by the threaded rotation force, the transmission block 27 can perform a stable lifting and lowering motion along the axial direction of the bidirectional threaded rod 26. This, in turn, drives the soft brush 32 assembled with it to synchronously complete the up-and-down reciprocating brushing motion through the transmission connection structure, ultimately achieving a highly efficient cleaning effect on the target contact surface.

[0027] Reference Figure 6 The cleaning mechanism 30 includes bolt 2 31, and soft brushes 32 are provided on both sides of the outer shell 11. Bolt 2 31 passes through the soft brushes 32 and the inner wall of the transmission block 27.

[0028] In the above embodiment, in the cleaning mechanism 30, bolt 2 31 is inserted into the inner wall of the soft brush 32 and the transmission block 27 to fix the soft brush 32 on the transmission block 27. When the lifting component of the transmission mechanism 20 drives the transmission block 27 to move, the soft brush 32 moves synchronously with the transmission block 27 to complete the cleaning operation on the target area.

[0029] Reference Figure 5 The high-pressure water spraying mechanism 40 also includes a water tank 41, which is located outside the outer casing 11, and a sealing cover 42 is provided at the water inlet of the water tank 41.

[0030] In the above embodiment, the water tank 41 of the high-pressure water spraying mechanism 40 is installed outside the outer casing 11 to store the water required for cleaning operations. The sealing cover 42 at the water inlet of the water tank 41 can be opened to add water, and when closed, the water tank 41 is sealed to prevent water leakage.

[0031] Reference Figures 3 to 5 A pump 43 is installed outside the water tank 41. Two water transmission pipes 44 are installed outside the pump 43. A water guide pipe 45 is installed at the outlet of the water transmission pipe 44. Several high-pressure nozzles 46 are installed at the transmission hole of the water guide pipe 45.

[0032] In the above embodiment, after the pump 43 outside the water tank 41 is started, it draws water from the water tank 41 and transports the water to the water guide pipe 45 through two water transmission pipes 44. The water guide pipe 45 distributes the water to several high-pressure nozzles 46, and finally the high-pressure nozzles 46 spray the water out in a high-pressure form to assist in cleaning or complete the operation.

[0033] Working principle: All components in the device are made of waterproof materials and it has an underwater detection camera.

[0034] The protective mechanism 10 serves as the main frame of the robot. The inner wall of its outer shell 11 allows the outer shell 21 of the transmission mechanism 20 to be inserted for assembly. The fixing block 15 on the outside of the outer shell 11 is detachably connected to the inner wall of the two by bolts 16, providing a stable foundation for the assembly of the transmission mechanism 20. At the same time, the brushless motor drive fan 12 driven by two brushless motors in the drive assembly of the protective mechanism 10 is symmetrically arranged on both sides of the outer shell 11. The motors generate thrust to provide underwater movement power for the robot. The brushless motor drive fan 14 mounted on the two sets of mounting rods 13 on the outside of the outer shell 11 assists in adjusting the robot's underwater attitude and direction, and works with the brushless motor drive fan 12 to achieve flexible movement. The transmission mechanism 20 performs power transmission and position adjustment functions. When its two rotating wheels 22 rotate, they drive the external belt 23 synchronously, transmitting power to subsequent structures. The outer casing 24 of bolt 16 provides protection and installation space for the rotating wheels 22 and belt 23. The mounting groove 25 of the lifting component provides internal space for the bidirectional threaded rod 26. When the rotating wheels 22 drive the bidirectional threaded rod 26 to rotate within the mounting groove 25, the transmission block 27, which meshes with the outside of the bidirectional threaded rod 26, undergoes threaded transmission, completing the lifting action along the axial direction of the bidirectional threaded rod 26 to achieve position adjustment. The cleaning mechanism 30 relies on the transmission mechanism 20 to perform the cleaning action. Bolt 2 31 passes through the soft brush 32 and the inner wall of the transmission block 27, fixing the soft brush 32 to the transmission block 27. When the lifting component moves the transmission block 27, the soft brush 32 performs up-and-down brushing motions on the mesh. The high-pressure water spray mechanism 40 assists in cleaning the mesh, facilitating the soft brush 32 to complete the cleaning operation on the target mesh. Its water tank 41 is installed outside the outer shell 11 to store water. The sealing cover 42 at the water inlet can be opened to add water and closed to achieve a leak-proof seal. After the pump 43 outside the water tank 41 is started, it draws water from inside and delivers it to the water guide pipe 45 through two water transmission pipes 44. The water guide pipe 45 distributes the water to several high-pressure nozzles 46, and finally the high-pressure nozzles 46 spray the water out in a high-pressure form to assist in cleaning or complete the operation. Through the above installation and cooperation, the various mechanisms realize the modular design and stable cleaning operation of the underwater robot.

[0035] The method of using this device is divided into the following steps: S1: The protective mechanism 10 is connected to the transmission mechanism 20 by bolt 16, providing a stable foundation for the overall assembly. The device has a probe head and has the function of underwater photography.

[0036] S2: The brushless motor drive fan 12 of the protective mechanism 10 provides underwater movement power, and the brushless motor drive fan 2 14 assists in adjusting the attitude and direction.

[0037] S3: The rotating wheel 22 of the transmission mechanism 20 drives the belt 23 to transmit power to the cleaning mechanism 30.

[0038] S4: The bidirectional threaded rod 26 of the transmission mechanism 20 rotates, driving the transmission block 27 to move up and down axially to complete the up and down brushing of the mesh.

[0039] S5: The soft brush 32 of the cleaning mechanism 30 moves with the transmission block 27 to perform cleaning operations on the target area.

[0040] S6: The pump 43 of the high-pressure water spray mechanism 40 draws water from the water tank 41 and transports it through the pipeline to the high-pressure nozzle 46 for spraying out to assist in cleaning.

[0041] The above embodiments are merely illustrative of the technical solutions of the present invention and are not intended to limit it. Anyone skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A modular remotely operated underwater robot for aquaculture and its intelligent monitoring method, characterized in that, include: Protective mechanism (10), transmission mechanism (20), cleaning mechanism (30), high-pressure water spraying mechanism (40). The protective mechanism (10) includes an outer shell (11); A transmission mechanism (20) is provided outside the protective mechanism (10). The transmission mechanism (20) includes a second outer shell (21). The second outer shell (21) passes through the inner wall of the first outer shell (11). A transmission component is provided inside the second outer shell (21). A lifting component is provided outside the transmission component. A cleaning mechanism (30) is located outside the transmission mechanism (20); A high-pressure water spraying mechanism (40) is provided at the bottom of the protective mechanism (10) and the bottom of the cleaning mechanism (30), and the high-pressure water spraying mechanism (40) includes a plurality of high-pressure nozzles (46).

2. The modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 1, characterized in that: The protective mechanism (10) also includes a drive assembly, which includes two brushless motor drive fans (12) symmetrically arranged on both sides of the outer shell (11). Two sets of mounting rods (13) are provided on the outside of the outer shell (11), and brushless motor drive fans (14) are provided on the outside of the mounting rods (13).

3. The modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 1, characterized in that: A fixing block (15) is provided on the outside of the outer shell (11), and a bolt (16) passes through the inner wall of the outer shell (11) and the fixing block (15).

4. The modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 3, characterized in that: The transmission assembly includes two rotating wheels (22), with a belt (23) on the outside of the rotating wheels (22), and a housing (24) on the outside of the bolt (16).

5. The modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 4, characterized in that: The lifting assembly includes a mounting groove (25), which is formed on the inner wall of the outer casing (24). The rotating wheel (22) is externally connected to a bidirectional threaded rod (26), which is disposed inside the mounting groove (25). A transmission block (27) engages with the outside of the bidirectional threaded rod (26).

6. The modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 5, characterized in that: The cleaning mechanism (30) includes bolt two (31), and soft brushes (32) are provided on both sides of the outer shell (11). Bolt two (31) passes through the soft brushes (32) and the inner wall of the transmission block (27).

7. The modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 1, characterized in that: The high-pressure water spraying mechanism (40) also includes a water tank (41), which is located outside the outer shell (11), and a closed cover (42) is provided at the water inlet of the water tank (41).

8. A modular remotely operated underwater robot for aquaculture and its intelligent monitoring method according to claim 7, characterized in that: The water tank (41) is equipped with a pump (43) on its exterior. The pump (43) is equipped with two water transmission pipes (44). A water guide pipe (45) is provided at the outlet of the water transmission pipe (44). Several high-pressure nozzles (46) are provided at the transmission hole of the water guide pipe (45).

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