Marine ranch net cage cleaning robot and net cage cleaning method

Abstract

The marine ranch net cage cleaning robot comprises a main body structure, a shovel type collecting assembly, a power assembly and an adsorption roller assembly. A main body structure comprises a rack, an electric control cabin and a front-end vision module, wherein the electric control cabin is fixedly connected with the rack; the shovel type collecting assembly is installed below the rack, and a working part faces forwards. The power assembly comprises vertical propellers and transverse propellers, the four vertical propellers are arranged on the front side and the rear side of the rack respectively, and the two transverse propellers are arranged on the two sides of the shovel type collecting assembly. The adsorption roller assembly comprises adsorption type net surface rollers and a roller driving mechanism, the two groups of rollers are arranged outside the vertical propeller at the rear part of the rack in a covering manner, and wheel surfaces are positioned in the wave making direction of the propeller. The adsorption type net surface roller is made of polyurethane and is driven by a driving mechanism to rotate. The adsorption type net surface roller of the device not only adsorbs small attachments through high polymer materials, but also is matched with the reverse thrust of the underwater propeller motor to jointly achieve stable attachment of the robot and the net cage, and an independent adsorption device is not needed.

Description

Technical Field

[0001] This invention relates to the field of marine ranching, and in particular to a marine ranching cage cleaning robot. Background Technology

[0002] The cleaning and maintenance of marine ranching cages are crucial for ensuring their safe production and high efficiency. However, as the cages are submerged in the complex marine environment for extended periods, various marine organisms (such as algae and shellfish) easily adhere to their netting, accumulating uneaten feed, feces, and other waste generated during aquaculture. These deposits clog the mesh, hinder water exchange, lead to water quality deterioration within the cages, and increase the structural load and safety risks associated with the cages.

[0003] To address the aforementioned issues, existing marine ranch tank cleaning robots typically employ a modular design, integrating a walking mechanism, cleaning units (such as brushes and high-pressure water guns), and independent suction mechanisms (such as negative pressure suction cups or mechanical gripping arms). This type of design achieves a degree of mechanized cleaning, replacing dangerous and inefficient manual diving operations. However, this solution still has some problems: 1. Incomplete cleaning: Existing robots have limited cleaning functions and cannot efficiently handle various types of waste with significant differences in size. They are ineffective at cleaning fine, sticky residues such as uneaten food and feces, easily missing them and resulting in incomplete cleaning.

[0004] 2. High risk of damage to the net cage: Its independent adsorption device (such as suction cup) and rigid cleaning components come into direct contact with the flexible net during operation, posing a high risk of pulling or tearing the net.

[0005] 3. Complex system and high cost: The three systems of "walking", "cleaning" and "adsorption" are independent of each other, resulting in a complex structure, large size, high manufacturing cost and failure rate.

[0006] These problems not only reduce the efficiency and reliability of cleaning operations, but also greatly limit their widespread application in large-scale marine ranching. Summary of the Invention

[0007] To address the aforementioned shortcomings, the present invention aims to propose an integrated marine ranch cage cleaning robot. The device's adsorption-type mesh rollers not only adsorb small deposits through polymer materials but also work in conjunction with the reverse thrust of the underwater propeller motor to achieve stable adhesion between the robot and the cage, eliminating the need for a separate adsorption device.

[0008] To achieve this objective, the present invention adopts the following technical solution: A marine ranch cage cleaning robot includes a main structure, a shovel-type collection component, a power component, and an adsorption roller component; The main structure includes a frame, an electronic control compartment, and a vision module. The electronic control compartment is fixed to the frame, and the vision module is fixed to the front end of the electronic control compartment. The shovel-type collection assembly is fixed to the bottom of the frame, and the working part of the shovel-type collection assembly faces forward; The power assembly includes vertical thrusters and horizontal thrusters. Two sets of vertical thrusters are respectively installed on both sides of the front part of the frame, two sets of vertical thrusters are respectively installed on both sides of the rear part of the frame, and two sets of horizontal thrusters are respectively installed on both sides of the shovel-type collection assembly. The adsorption roller assembly includes an adsorption-type mesh roller and a roller drive mechanism. Two sets of adsorption-type mesh rollers are respectively installed at the rear of the frame. The roller drive mechanism is installed on the frame and drives the adsorption-type mesh roller to rotate. The adsorption-type mesh roller includes a rim and a surface. The rim is a circular plate, and the surface is a rigid mesh cylindrical structure. One end of the surface is fixedly fitted onto the rim. The two adsorption-type mesh rollers are respectively installed on the outside of the two sets of vertical thrusters at the rear of the frame in a covered manner, and the wheel surfaces of the two adsorption-type mesh rollers are respectively located in the wave-generating direction of the vertical thrusters at the rear of the frame; The position of the adsorption-type mesh roller is that of the adsorption material polyurethane.

[0009] Preferably, the shovel-type collection assembly includes a blade section, a conveying channel, and a collection box; The conveying channel is inclined from front to back, with the upper part of the conveying channel connected to the upper middle part of the collection box, and a drainage hole is provided at the bottom of the collection box. The shovel section is located on the bottom surface of the low-level entrance of the conveying channel, and the bottom surface of the conveying channel is the roller conveying surface.

[0010] Preferably, the electrical control compartment is a sealed compartment, and the electrical control compartment is equipped with a battery, a controller, a temperature and humidity sensor, a communication module, a vision module and a wired image transmission module; The power output terminal of the battery is electrically connected to the power input terminal of the controller; the power input terminals of the temperature and humidity sensor, the communication module, the vision module, and the wired image transmission module are respectively electrically connected to the power output terminal of the controller. The signal interaction terminals of the temperature and humidity sensor, the communication module, the vision module, and the wired image transmission module are respectively connected to the signal interaction terminal of the controller. The image signal output terminal of the vision module is connected to the image signal input terminal of the wired image transmission module. The bottom of the collection box is equipped with multiple pressure sensors, and the signal interaction terminals of the pressure sensors are connected to the signal interaction terminals of the controller.

[0011] Furthermore, this invention proposes a method for cleaning marine ranch cages, which utilizes a marine ranch cage cleaning robot; the method includes the following steps: S100, the cage cleaning robot moves to the cage and fits against the surface of the cage to ensure the foundation for operation; S200, a cage cleaning robot, identifies attachments to determine the objects to be cleaned; S300, the cage cleaning robot adjusts its position to align with the cleaning point; The S400 cage cleaning robot performs the final cleaning operation.

[0012] Furthermore, in step S100, the specific steps are as follows: S110, when the cleaning robot approaches the net cage, the system presets the initial rotation speed of the vertical thruster 310 according to the net cage type and seawater density, so that the reverse thrust is slightly higher than the cleaning robot's own weight, ensuring that the cleaning robot initially fits into the net cage. S120, the pressure sensor detects the contact pressure between the cleaning robot and the net cage in real time; the sensor data is transmitted synchronously to the controller, and the current adsorption state is determined according to the contact pressure. If the contact pressure is 0, it means that no adsorption has occurred. There are also states such as adsorption that is too loose or too tight. S130, readjust the motor speed of the vertical thruster according to the adsorption status. If there is no adsorption, the motor speed should be increased. S140, at this point, the marine ranch cage cleaning robot has just adhered to the marine ranch cage.

[0013] Furthermore, the specific steps are as follows: The robot is equipped with a vision module. It performs threshold detection using a deep learning-based vision algorithm deployed on the controller in the electronic control cabin, and finally transmits the data back to the host computer from the wired image transmission module in the electronic control cabin to achieve active control of the robot. S210 connects the controller and vision module via signal interaction, and the controller and wired image transmission module via signal interaction. Finally, the wired image transmission module is connected to the host computer via a transmission cable to transmit images and recognition results. S220 enables video streaming between the controller and vision module. The frame rate can be dynamically adjusted based on the specific underwater environment to reduce data redundancy. The controller preprocesses the image, first by filtering to remove invalid frames caused by water turbidity or motion blur. Then, it uses a color correction algorithm to compensate for color deviations caused by the underwater environment and a contrast enhancement algorithm to divide the image into high and low frequency components, enhance the outline features of the attachments, unify the image resolution, and convert it to the HSV color space to reduce its computational complexity. Finally, it caches the image locally in preparation for subsequent processing. S230, input the preprocessed image into the pre-trained attachment detection model deployed in the controller; The controller processes the image and exports the type, location coordinates, and coverage area of ​​the attachments to the cage, while filtering out targets with a threshold below a specified threshold. After obtaining the processing results exported by the controller, the data is packaged into structured data and a new threshold is defined. When any data exceeds this threshold, a high-risk flag is triggered for subsequent decision-making. S240: The controller uploads structured data to the host computer via a wired image transmission module, allowing operators to read this data for further decision-making and control. S250, at this point, the identification of attachments to marine ranch cages is complete.

[0014] Furthermore, step S300 specifically includes: Once the marine ranch cage cleaning robot identifies the attachments that need cleaning, it adjusts its position using the horizontal and vertical thrusters. S310, adjusts the robot's orientation by changing the rotation speed of the lateral thrusters, and achieves turning by using the differential speed of the two lateral thrusters 320; S320, changing the propulsion direction of the lateral thruster enables the underwater robot to move forward or backward; After adjusting the orientation of the S330 marine ranch cage robot, the robot moves forward to the vicinity of the attachment site. After reaching the vicinity of the attached object, the marine ranch cage cleaning robot S340 continues to use the lateral thruster to fine-tune its position so that the shovel-type collection component can accurately scoop up the attached object. S350, the marine ranch cage cleaning robot has now accurately reached the target location.

[0015] Furthermore, step S400 specifically includes: S410 uses vertical thrusters 310 to control the depth of the marine ranch cage cleaning robot in the water, and lateral thrusters 320 to make the robot move in the water in the target direction at the required speed. The S420 net cage cleaning robot travels through the water to the net cage. With the help of the vertical thruster's counter-thrust, the robot moves close to the marine ranch net cage. The lateral thruster still controls the robot's direction and speed. At the same time, the bottom of the shovel-type collection box has a sliding structure to reduce the robot's driving resistance on the net cage and protect the net cage from being damaged by the collection box. S430: When the vision module detects an object attached to the marine ranch cage, the lateral thruster 320 adjusts the robot's forward direction, and the robot moves toward the object. S440: When the cage cleaning robot travels to the location of the attached object, the corrosion-resistant shovel at the front of the cage cleaning robot will shovel out the larger attached objects and transfer them to the collection box through the conveying channel. Water will be discharged through the gaps in the conveying channel and the drain hole in the collection box. S450, after the larger deposits are collected, there may be small deposits remaining; when the slowly rolling adsorption-type mesh roller in the adsorption roller assembly passes by the small deposits, it will adsorb the small deposits onto the mesh roller. The S460's vertical thrusters allow the cage cleaning robot to adhere to the marine ranch cages. At the same time, the water flow generated by the vertical thrusters expands through the funnel-shaped outer shell and blows outward to clean small attachments on the adsorption-type mesh rollers over a large area. The reverse thrust generated by the vertical thrusters also allows the cage cleaning robot to adhere downward to the marine ranch cages. When the adsorption-type mesh rollers come into contact with the marine ranch cages, they can also help to adsorb attachments onto the mesh rollers. S470, thus completing the removal of all attachments of the size of the marine ranch cages.

[0016] One of the above technical solutions includes the following beneficial effects: The multifunctional integrated marine ranching cage cleaning robot proposed in this patent has a shovel-type collection component and an adsorption roller component. This allows the cleaning robot to precisely handle the attachments to marine ranching cages and actively adjust its underwater position. Specifically, for this multifunctional integrated marine ranching cage cleaning robot, a shovel-type collection device is proposed. This device uses a shovel, a conveying channel, and a collection box to peel and collect debris from the cages. A roller power assembly is also proposed, which, through the adsorption-type mesh roller and the roller drive mechanism, simultaneously achieves the functions of adsorbing debris onto the mesh surface and cleaning small debris from the mesh surface, further improving the cleaning effect. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the main structure and shovel-type collection component of the present invention; Figure 3 This is a cross-sectional view of the main structure and shovel-type collection component of the present invention. Figure 4 This is a schematic diagram of the structure of the adsorption roller assembly of the present invention; Figure 5 This is a schematic diagram of the steps of the cage cleaning method of the present invention.

[0018] The components include: main structure 100, frame 110, electrical control compartment 120, vision module 130, shovel-type collection assembly 200, shovel blade 210, conveying channel 220, collection box 230, power assembly 300, vertical thruster 310, horizontal thruster 320, adsorption roller assembly 400, adsorption type mesh roller 410, wheel rim 411, wheel surface 412, and roller drive mechanism 420. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] like Figure 1 , Figure 2 and Figure 3 As shown, a marine ranch cage cleaning robot includes a main structure 100, a shovel-type collection component 200, a power component 300, and an adsorption roller component 400. The main structure 100 includes a frame 110, an electronic control compartment 120, and a vision module 130. The electronic control compartment 120 is fixed to the frame 110, and the vision module 130 is fixed to the front end of the electronic control compartment 120. The shovel-type collection assembly 200 is fixed below the frame 110, and the working part of the shovel-type collection assembly 200 faces forward; The power assembly 300 includes vertical thrusters 310 and horizontal thrusters 320. The two sets of vertical thrusters 310 are respectively installed on both sides of the front part of the frame 110, and the two sets of vertical thrusters 310 are respectively installed on both sides of the rear part of the frame 110. The two sets of horizontal thrusters 320 are respectively installed on both sides of the shovel-type collection assembly 200. The adsorption roller assembly 400 includes an adsorption type mesh roller 410 and a roller drive mechanism 420. Two sets of adsorption type mesh rollers are respectively installed at the rear of the frame 110. The roller drive mechanism 420 is installed on the frame 110 and drives the adsorption type mesh roller 410 to rotate. like Figure 4As shown, the adsorption type mesh roller 410 includes a wheel rim 411 and a wheel surface 412. The wheel rim 411 is a circular plate, and the wheel surface 412 is a rigid mesh cylindrical structure. The opening at one end of the wheel surface 412 is fixedly fitted onto the wheel rim 411. The two adsorption-type mesh rollers 410 are respectively installed on the outside of the two sets of vertical thrusters 310 at the rear of the frame 110 in a covered manner, and the wheel surfaces 412 of the two adsorption-type mesh are respectively located in the wave-making direction of the vertical thrusters 310 at the rear of the frame 110. The position of the adsorption-type mesh roller 410 is that of the adsorption material polyurethane.

[0021] This patent proposes a multi-functional integrated marine ranching cage cleaning robot. It includes a shovel-type collection component 200 and an adsorption roller component 400. This allows the cleaning robot to precisely handle debris attached to marine ranching cages and actively adjust its underwater position. Specifically, the shovel-type collection device, through a shovel blade 210, a conveying channel 220, and a collection box 230, completes the stripping and collection of debris from the cages. Furthermore, a roller power assembly is proposed, which, through the adsorption-type mesh roller 410 and the roller drive mechanism 420, simultaneously achieves the functions of adsorbing debris onto the mesh surface and cleaning small debris from the mesh surface, further improving the cleaning effect.

[0022] The shovel-type collection assembly 200 includes a shovel blade 210, a conveying channel 220, and a collection box 230. The conveying channel 220 is inclined from front to back, and the upper part of the conveying channel 220 is connected to the middle and upper part of the collection box 230. The bottom of the collection box 230 is provided with a drainage hole. The blade section 210 is located on the bottom surface of the low-level entrance of the conveying channel 220, and the bottom surface of the conveying channel 220 is the roller conveying surface.

[0023] The inclined conveying channel 220, with its bottom surface being a roller conveyor, significantly reduces conveying resistance through rolling friction. This, combined with the shovel section 210 at the low inlet, facilitates the shoveling and conveying of materials, improving collection continuity and efficiency. The high-level connection between the conveying channel 220 and the upper part of the collection box 230 utilizes the material inside the box to form a material seal, preventing backflow, and also provides space at the bottom of the collection box. The drainage hole at the bottom of the collection box 230 allows for the initial separation of solid and liquid mixtures; the liquid is discharged through the drainage hole under gravity, while the solid material remains inside the box.

[0024] The electrical control compartment 120 is a sealed compartment, and the electrical control compartment 120 is equipped with a battery, a controller, a temperature and humidity sensor, a communication module, a vision module 130 and a wired image transmission module. The power output terminal of the battery is electrically connected to the power input terminal of the controller; the power input terminals of the temperature and humidity sensor, the communication module, the vision module 130, and the wired image transmission module are respectively electrically connected to the power output terminal of the controller. The signal interaction terminals of the temperature and humidity sensor, the communication module, the vision module 130, and the wired image transmission module are respectively connected to the signal interaction terminal of the controller. The image signal output terminal of the vision module 130 is connected to the image signal input terminal of the wired image transmission module. The bottom of the collection box 230 is equipped with multiple pressure sensors, and the signal interaction terminals of the pressure sensors are connected to the signal interaction terminals of the controller.

[0025] The sealed electrical control cabin isolates the robot from seawater, protecting core components such as the internal battery, controller, temperature and humidity sensors, communication module, vision module, and wired image transmission module from damage. The temperature and humidity sensors can monitor the cabin environment in real time to detect faults in advance, ensuring the stable operation of the electrical control system in complex underwater environments. The electrical connections between the battery and controller, between each module, and between each module and controller establish a stable power supply and data interaction system. The signal connection between the vision module and the wired image transmission module can also transmit images of the attached objects and processing results to the host computer in real time, supporting remote visual management. The pressure sensor at the bottom of the collection tank can detect the contact pressure between the robot and the net cage in real time and transmit the data to the controller, providing a basis for judging the adsorption status and adjusting the speed of the vertical thruster, preventing the robot from detaching from the net cage or causing crush damage to the net cage.

[0026] like Figure 5 As shown, a method for cleaning marine ranching cages, using the aforementioned marine ranching cage cleaning robot, includes the following steps: S100, the cage cleaning robot moves to the cage and fits against the surface of the cage to ensure the foundation for operation; S200, a cage cleaning robot, identifies attachments to determine the objects to be cleaned; S300, the cage cleaning robot adjusts its position to align with the cleaning point; The S400 cage cleaning robot performs the final cleaning operation.

[0027] By adhering to the net cage as the basis for operation, the stability of subsequent cleaning operations is ensured, and the cleaning accuracy is not affected by the robot's position shift underwater. By first identifying the attached objects and then determining the cleaning targets, the area to be cleaned can be targeted. The position is specially adjusted before cleaning to align with the cleaning point, so that the shovel-type collection component and the adsorption roller component can accurately act on the attached objects, improving the cleaning targeting and effect. The standardized process of cleaning operation from preparation to execution is formed, which effectively improves the efficiency and reliability of net cage cleaning.

[0028] In step S100, the specific steps are as follows: S110, when the cleaning robot approaches the net cage, the system presets the initial rotation speed of the vertical thruster 310 according to the net cage type and seawater density, so that the reverse thrust is slightly higher than the cleaning robot's own weight, ensuring that the cleaning robot initially fits into the net cage. S120, the pressure sensor detects the contact pressure between the cleaning robot and the net cage in real time; the sensor data is transmitted synchronously to the controller, and the current adsorption state is determined according to the contact pressure. If the contact pressure is 0, it means that no adsorption has occurred. There are also states such as adsorption that is too loose or too tight. S130, readjust the motor speed of the vertical thruster 310 according to the adsorption state. If there is no adsorption, the motor speed should be increased. S140, at this point, the marine ranch cage cleaning robot has just adhered to the marine ranch cage.

[0029] The initial rotation speed of the vertical thruster is preset based on the type of net cage and the density of seawater, allowing the robot to quickly achieve initial adhesion without repeated adjustments. Real-time monitoring of contact pressure by pressure sensors accurately identifies states such as "not adsorbed," "adsorbed too loosely," and "adsorbed too tightly," avoiding adsorption deviations caused by traditional reliance on manual judgment and ensuring controllability of the robot's adhesion to the net cage. Dynamically adjusting the rotation speed of the vertical thruster according to the adsorption state ensures that the robot ultimately adheres precisely to the net cage, preventing the robot from detaching from the net cage and interrupting cleaning operations due to loose adhesion, and preventing squeezing and pulling damage to the net cage mesh due to excessively tight adhesion, thus balancing operational stability and net cage protection.

[0030] Specifically, step S200 involves the following steps: The robot is equipped with a vision module 130. It performs threshold detection through a deep learning-based vision algorithm deployed in the controller in the electronic control cabin 120, and finally transmits the data back to the host computer from the wired image transmission module in the electronic control cabin 120 to achieve active control of the robot. S210 connects the controller and vision module 130 via signal interaction, and connects the controller and wired image transmission module via signal interaction. Finally, the wired image transmission module is connected to the host computer via a transmission cable to transmit the image and recognition results. S220, enable the video stream of the controller and vision module 130, the frame rate can be dynamically adjusted after considering the specific underwater environment to reduce data redundancy; The controller preprocesses the image, first by filtering to remove invalid frames caused by water turbidity or motion blur. Then, it uses a color correction algorithm to compensate for color deviations caused by the underwater environment and a contrast enhancement algorithm to divide the image into high and low frequency components, enhance the outline features of the attachments, unify the image resolution, and convert it to the HSV color space to reduce its computational complexity. Finally, it caches the image locally in preparation for subsequent processing. S230, input the preprocessed image into the pre-trained attachment detection model deployed in the controller; The controller processes the image and exports the type, location coordinates, and coverage area of ​​the attachments to the cage, while filtering out targets with a threshold below a specified threshold. After obtaining the processing results exported by the controller, the data is packaged into structured data and a new threshold is defined. When any data exceeds this threshold, a high-risk flag is triggered for subsequent decision-making. S240: The controller uploads structured data to the host computer via a wired image transmission module, allowing operators to read this data for further decision-making and control. S250, at this point, the identification of attachments to marine ranch cages is complete.

[0031] By establishing a signal and image transmission link between the controller, vision module, wired image transmission module, and host computer, and combining it with a design that dynamically adjusts the video frame rate, underwater images and recognition results can be transmitted back in real time, supporting remote visual management and control. The controller performs preprocessing on the images, such as filtering to remove invalid frames, color correction to compensate for deviations, and contrast enhancement to strengthen contours. It also converts the images to the HSV color space to reduce computational complexity, effectively solving the problem of poor underwater image quality and improving the accuracy of subsequent attachment detection. Based on a pre-trained attachment detection model, the system can accurately derive the type, location coordinates, and coverage area of ​​attachments. It also uses dual threshold screening, such as filtering out low-threshold targets and triggering high-risk markers, to achieve effective target extraction and risk warning, avoiding misidentification of irrelevant areas and providing a reliable basis for subsequent precise cleaning and decision-making. The overall process automates and intelligently identifies attachments, reducing errors from subjective human judgment. At the same time, the structured data is uploaded to the host computer to facilitate secondary decision-making by operators, balancing automation efficiency with the flexibility of manual control, laying a key foundation for subsequent precise adjustment of robot position and execution of cleaning operations.

[0032] Specifically, step S300 is as follows: Once the marine ranch cage cleaning robot identifies the attachments that need cleaning, it adjusts its position using the horizontal and vertical thrusters. S310, adjusts the robot's orientation by changing the rotation speed of the lateral thrusters, and achieves turning by using the differential speed of the two lateral thrusters 320; S320, changing the propulsion direction of the lateral thruster enables the underwater robot to move forward or backward; After adjusting the orientation of the S330 marine ranch cage robot, the robot moves forward to the vicinity of the attachment site. After reaching the vicinity of the attached object, the marine ranch cage cleaning robot S340 continues to use the lateral thruster to fine-tune its position so that the shovel-type collection component can accurately scoop up the attached object. S350, the marine ranch cage cleaning robot has now accurately reached the target location.

[0033] By clearly defining how to change the speed of the lateral thrusters, utilize differential speed to achieve turning, and change the direction of propulsion to control forward and backward movement, the robot's movement and steering underwater become more flexible and controllable, adapting to the complex working space of the net cage and avoiding positional deviations caused by inconvenient operation. First, adjust the orientation before moving to the vicinity of the attachment, and finally fine-tune the position using the lateral thrusters, forming a dual positioning logic from coarse to fine adjustment. This accurately guides the shovel-type collection component to align with the cleaning point, avoiding cleaning omissions or ineffective work due to inaccurate positioning and improving cleaning targeting. Third, the entire position adjustment process relies solely on the robot's own power components, requiring no external auxiliary equipment. The operation process is simple and highly automated, reducing manual intervention costs and laying a precise positional foundation for subsequent efficient cleaning operations, ensuring the continuity and efficiency of cleaning work.

[0034] Furthermore, step S400 specifically includes: S410 uses vertical thrusters 310 to control the depth of the marine ranch cage cleaning robot in the water, and lateral thrusters 320 to make the robot move in the water in the target direction at the required speed. S420, the net cage cleaning robot travels in the water to the net cage. With the help of the vertical thruster 310, the robot moves close to the marine ranch net cage. The horizontal thruster 320 still controls the robot's direction and speed. At the same time, the bottom of the collection box 230 of the shovel-type collection component 200 is equipped with a sliding structure to reduce the robot's driving resistance on the net cage and protect the net cage from being damaged by the collection box 230. S430, when the vision module 130 detects an attachment on the marine ranch cage, the lateral thruster 320 adjusts the robot's forward direction and the robot moves toward the attachment; S440, when the cage cleaning robot travels to the location of the attached object, the corrosion-resistant shovel of the shovel part 210 at the front of the cage cleaning robot shovels out the larger attached object and conveys it to the collection box 230 through the conveying channel 220. Water is discharged through the gaps in the conveying channel 220 and the drain hole in the collection box 230. S450, after the larger deposits are collected, there may be small deposits remaining; when the slowly rolling adsorption-type mesh roller 410 in the adsorption roller assembly 400 passes by the small deposits, it will adsorb the small deposits onto the mesh roller. S460, the vertical thruster 310 allows the cage cleaning robot to adhere to the marine ranch cage. At the same time, the water flow generated by it is expanded through the funnel-shaped shell and blown outward to clean the small attached objects on the adsorption type mesh roller 410 over a large area. In addition, the reverse thrust generated by the vertical thruster 310 makes the cage cleaning robot adhere downward to the marine ranch cage. When the adsorption type mesh roller 410 comes into contact with the marine ranch cage, it can also help to adsorb the attached objects onto the mesh roller. S470, thus completing the removal of all attachments of the size of the marine ranch cages.

[0035] By using vertical thrusters to control underwater depth and fit the net cage, and horizontal thrusters to control travel direction and speed, combined with a sliding structure at the bottom of the collection box to reduce travel resistance and protect the net cage, the robot avoids damage to the net cage and ensures stable operation. During cleaning, larger attachments are first scooped out by the blade and sent into the collection box through the inclined roller conveyor channel. Solid-liquid separation is achieved by using the channel gaps and the drainage holes of the collection box. Then, fine residues are adsorbed by the adsorption-type mesh roller. At the same time, the expanded water flow generated by the vertical thrusters cleans the fine attachments on the rollers, and the counter-thrust enhances the adsorption effect of the rollers. This forms a complete cleaning chain of scooping up large attachments, adsorbing small residues, and self-cleaning the rollers, solving the problem of incomplete cleaning in traditional methods.

[0036] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A marine ranch cage cleaning robot, characterized in that, Includes the main structure, shovel-type collection assembly, power assembly, and adsorption roller assembly; The main structure includes a frame, an electronic control compartment, and a vision module. The electronic control compartment is fixed to the frame, and the vision module is fixed to the front end of the electronic control compartment. The shovel-type collection assembly is fixed to the bottom of the frame, and the working part of the shovel-type collection assembly faces forward; The power assembly includes vertical thrusters and horizontal thrusters. Two sets of vertical thrusters are respectively installed on both sides of the front part of the frame, two sets of vertical thrusters are respectively installed on both sides of the rear part of the frame, and two sets of horizontal thrusters are respectively installed on both sides of the shovel-type collection assembly. The adsorption roller assembly includes an adsorption-type mesh roller and a roller drive mechanism. Two sets of adsorption-type mesh rollers are respectively installed at the rear of the frame. The roller drive mechanism is installed on the frame and drives the adsorption-type mesh roller to rotate. The adsorption-type mesh roller includes a rim and a surface. The rim is a circular plate, and the surface is a rigid mesh cylindrical structure. One end of the surface is fixedly fitted onto the rim. The two adsorption-type mesh rollers are respectively installed on the outside of the two sets of vertical thrusters at the rear of the frame in a covered manner, and the wheel surfaces of the two adsorption-type mesh rollers are respectively located in the wave-generating direction of the vertical thrusters at the rear of the frame; The position of the adsorption-type mesh roller is that of the adsorption material polyurethane.

2. The marine ranch cage cleaning robot according to claim 1, characterized in that, The shovel-type collection assembly includes a blade, a conveying channel, and a collection box; The conveying channel is inclined from front to back, with the upper part of the conveying channel connected to the upper middle part of the collection box, and a drainage hole is provided at the bottom of the collection box. The shovel section is located on the bottom surface of the low-level entrance of the conveying channel, and the bottom surface of the conveying channel is the roller conveying surface.

3. The marine ranch cage cleaning robot according to claim 2, characterized in that, The electrical control compartment is a sealed compartment, and it contains a battery, a controller, a temperature and humidity sensor, a communication module, a vision module, and a wired image transmission module. The power output terminal of the battery is electrically connected to the power input terminal of the controller; the power input terminals of the temperature and humidity sensor, the communication module, the vision module, and the wired image transmission module are respectively electrically connected to the power output terminal of the controller. The signal interaction terminals of the temperature and humidity sensor, the communication module, the vision module, and the wired image transmission module are respectively connected to the signal interaction terminal of the controller. The image signal output terminal of the vision module is connected to the image signal input terminal of the wired image transmission module. The bottom of the collection box is equipped with multiple pressure sensors, and the signal interaction terminals of the pressure sensors are connected to the signal interaction terminals of the controller.

4. A method for cleaning marine ranching cages, characterized in that, This method uses the marine ranch cage cleaning robot of claim 3; it includes the following steps: S100, the cage cleaning robot moves to the cage and fits against the surface of the cage to ensure the foundation for operation; S200, a cage cleaning robot, identifies attachments to determine the objects to be cleaned; S300, the cage cleaning robot adjusts its position to align with the cleaning point; The S400 cage cleaning robot performs the final cleaning operation.

5. The method for cleaning marine ranching cages according to claim 4, characterized in that, In step S100, the specific steps are as follows: S110, when the cleaning robot approaches the net cage, the system presets the initial rotation speed of the vertical thruster 310 according to the net cage type and seawater density, so that the reverse thrust is slightly higher than the cleaning robot's own weight, ensuring that the cleaning robot initially fits into the net cage. S120, the pressure sensor detects the contact pressure between the cleaning robot and the net cage in real time; the sensor data is transmitted synchronously to the controller, and the current adsorption state is determined according to the contact pressure. If the contact pressure is 0, it means that no adsorption has occurred. There are also states such as adsorption that is too loose or adsorption that is too tight. S130, readjust the motor speed of the vertical thruster according to the adsorption status. If there is no adsorption, the motor speed should be increased. S140, at this point, the marine ranch cage cleaning robot has just adhered to the marine ranch cage.

6. The method for cleaning marine ranching cages according to claim 5, characterized in that, In step S200, the specific steps are as follows: The robot is equipped with a vision module. It performs threshold detection using a deep learning-based vision algorithm deployed on the controller in the electronic control cabin, and finally transmits the data back to the host computer from the wired image transmission module in the electronic control cabin to achieve active control of the robot. S210 connects the controller and vision module via signal interaction, and the controller and wired image transmission module via signal interaction. Finally, the wired image transmission module is connected to the host computer via a transmission cable to transmit images and recognition results. S220 enables video streaming between the controller and vision module. The frame rate can be dynamically adjusted based on the specific underwater environment to reduce data redundancy. The controller preprocesses the image, first by filtering to remove invalid frames caused by water turbidity or motion blur. Then, it uses a color correction algorithm to compensate for color deviations caused by the underwater environment and a contrast enhancement algorithm to divide the image into high and low frequency components, enhance the outline features of the attachments, unify the image resolution, and convert it to the HSV color space to reduce its computational complexity. Finally, it caches the image locally in preparation for subsequent processing. S230, input the preprocessed image into the pre-trained attachment detection model deployed in the controller; The controller processes the image and exports the type, location coordinates, and coverage area of ​​the attachments to the cage, while filtering out targets with a threshold below a specified threshold. After obtaining the processing results exported by the controller, the data is packaged into structured data and a new threshold is defined. When any data exceeds this threshold, a high-risk flag is triggered for subsequent decision-making. S240: The controller uploads structured data to the host computer via a wired image transmission module, allowing operators to read this data for further decision-making and control. S250, at this point, the identification of attachments to marine ranch cages is complete.

7. The method for cleaning marine ranching cages according to claim 6, characterized in that, Step S300 specifically includes: Once the marine ranch cage cleaning robot identifies the attachments that need cleaning, it adjusts its position using the horizontal and vertical thrusters. S310, adjusts the robot's orientation by changing the rotation speed of the lateral thrusters, and achieves turning by using the differential speed of the two lateral thrusters; S320, changing the propulsion direction of the lateral thruster enables the underwater robot to move forward or backward; After adjusting the orientation of the S330 marine ranch cage robot, the robot moves forward to the vicinity of the attachment site. After reaching the vicinity of the attached object, the marine ranch cage cleaning robot S340 continues to use the lateral thruster to fine-tune its position so that the shovel-type collection component can accurately scoop up the attached object. S350, the marine ranch cage cleaning robot has now accurately reached the target location.

8. The method for cleaning marine ranching cages according to claim 7, characterized in that, Step S400 is as follows: S410 uses vertical thrusters to control the depth of the marine ranch cage cleaning robot in the water, and lateral thrusters 320 to make the robot move in the water in the target direction at the required speed. The S420 net cage cleaning robot travels through the water to the net cage. With the help of the vertical thruster's counter-thrust, the robot moves close to the marine ranch net cage. The lateral thruster still controls the robot's direction and speed. At the same time, the bottom of the shovel-type collection box has a sliding structure to reduce the robot's driving resistance on the net cage and protect the net cage from being damaged by the collection box. S430: When the vision module detects an object attached to the marine ranch cage, the lateral thruster 320 adjusts the robot's forward direction, and the robot moves toward the object. S440: When the cage cleaning robot travels to the location of the attached object, the corrosion-resistant shovel at the front of the cage cleaning robot will shovel out the larger attached objects and transfer them to the collection box through the conveying channel. Water will be discharged through the gaps in the conveying channel and the drain hole in the collection box. S450, after the larger deposits are collected, there may be small deposits remaining; when the slowly rolling adsorption-type mesh roller in the adsorption roller assembly passes by the small deposits, it will adsorb the small deposits onto the mesh roller. The S460's vertical thrusters allow the cage cleaning robot to adhere to the marine ranch cages. At the same time, the water flow generated by the vertical thrusters expands through the funnel-shaped outer shell and blows outward to clean small attachments on the adsorption-type mesh rollers over a large area. The reverse thrust generated by the vertical thrusters also allows the cage cleaning robot to adhere downward to the marine ranch cages. When the adsorption-type mesh rollers come into contact with the marine ranch cages, they can also help to adsorb attachments onto the mesh rollers. S470, thus completing the removal of all attachments of the size of the marine ranch cages.

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