Maintenance method of underwater cleaning robot and parking station

Abstract

This invention provides a maintenance method and a mooring station for an underwater cleaning robot. The maintenance method is applied to a mooring station fixedly installed at the edge of an aquaculture tank. The mooring station includes a station frame and a lifting platform mounted on the station frame. The maintenance method includes: when the underwater cleaning robot needs to be retrieved, controlling the carrying platform to descend to a pre-set receiving position below the water surface; guiding the underwater cleaning robot to move to and moor on the carrying platform; and before controlling the lifting of the carrying platform, triggering a locking device installed on the carrying platform to lock the underwater cleaning robot to the carrying platform. This maintenance method and mooring station for the underwater cleaning robot, by fixing the mooring station at the edge of the aquaculture tank and integrating a lifting mechanism, a positioning and guiding mechanism, and an automatic locking and maintenance interface, achieves full automation of the underwater cleaning robot's entire process from autonomous return, automatic docking, lifting and lowering out of the water, safe storage, to maintenance and charging after operation.

Description

Technical Field

[0001] This invention relates to the field of underwater cleaning robot maintenance technology, and in particular to a maintenance method and berthing station for an underwater cleaning robot. Background Technology

[0002] Underwater cleaning robot mooring stations are an important research direction in the field of wind energy technology. They possess high power density and can counteract reverse torsion. With the rapid development of marine ranching and intensive aquaculture vessels, the walls of their aquaculture hulls (or netting, hull walls) accumulate large amounts of marine organisms (such as algae, shellfish, barnacles, etc.), a phenomenon known as "bioaccumulation." Bioaccumulation clogs the mesh, hinders water exchange, consumes dissolved oxygen in the water, and may breed bacteria, seriously affecting the health and growth of farmed organisms. Therefore, regular cleaning of the aquaculture hull walls is crucial. Currently, the use of underwater cleaning robots in aquaculture vessel scenarios is still in its early stages. A typical working mode can be summarized as follows: When cleaning is required, operators transport the robot from the warehouse or storage point to the work area next to the aquaculture hull, lowering it via cable or directly into the water. Throughout the cleaning process, operators need to remotely control the robot in real time, monitoring its status and manually controlling its cleaning path. After the operation is completed, the operator lifts the robot out of the water, rinses it clean, and transports it back to the warehouse for storage and charging for future use.

[0003] The current traditional operation mode based on manual remote control and warehouse storage has become a key bottleneck restricting the further promotion of underwater cleaning robot technology on aquaculture vessels and the realization of unmanned operation. Specifically, it has the following shortcomings:

[0004] 1. Low level of automation and high labor costs:

[0005] The entire operation process, including robot deployment, retrieval, transportation, and operation, relies heavily on human intervention. This not only requires specialized operators, leading to high labor costs, but also makes it difficult to achieve large-scale and routine application of the technology.

[0006] 2. The robot deployment and retrieval process is cumbersome and inefficient:

[0007] Before and after each operation, arduous tasks such as robot handling, hoisting, and retrieval are required. This process is time-consuming and labor-intensive, severely impacting overall operational efficiency and preventing the robot from responding quickly and deploying frequently.

[0008] 3. Improper storage and maintenance of the robot led to severe equipment damage:

[0009] After the operation is completed, the robots are usually simply left in the warehouse. The lack of dedicated and fully functional storage facilities means that the robot body (especially the precision sensors and mechanical parts) may suffer corrosion from the residue of the aquaculture water due to failure to be cleaned in a timely and thorough manner, or it may age and be damaged more quickly due to improper storage environment (such as dampness or impact), which significantly shortens the service life of the equipment.

[0010] 4. Lack of on-site monitoring capability, unable to achieve immediate response:

[0011] Because the robots are housed in warehouses far from the work site, they cannot be deployed and responded to in real time when there are sudden or temporary cleaning needs (such as the need for emergency cleaning of a local area), which reduces the flexibility and intelligence of operation and management.

[0012] Therefore, there is an urgent need for a maintenance method and berthing station for underwater cleaning robots that are highly automated and easy to maintain. Summary of the Invention

[0013] To address the technical problems of low automation and improper maintenance in the use of existing underwater cleaning robots, this invention provides an underwater cleaning robot mooring station.

[0014] According to one objective of the present invention, a maintenance method for an underwater cleaning robot is provided, applied to a mooring station fixedly installed at the edge of an aquaculture tank. The mooring station includes a station frame and a support platform that is liftably mounted on the station frame. The maintenance method includes:

[0015] When it is necessary to retrieve the underwater cleaning robot, the carrying platform is controlled to descend to a receiving position preset below the water surface;

[0016] Guide the underwater cleaning robot to move to and park it on the support platform;

[0017] Before controlling the lifting and lowering of the carrier platform, the locking device installed on the carrier platform is triggered to lock the underwater cleaning robot to the carrier platform;

[0018] The carrier platform is controlled to lift the locked underwater cleaning robot to a storage position preset above the water surface.

[0019] Preferably, after controlling the carrier platform to raise the locked underwater cleaning robot to a preset storage position above the water surface, the method further includes:

[0020] The underwater cleaning robot is surface-washed and / or charged by maintenance components mounted on the carrier platform.

[0021] An underwater cleaning robot berthing station is also provided, including:

[0022] The station frame is fixedly installed at the edge of the aquaculture compartment;

[0023] A lifting drive mechanism is installed on the station frame;

[0024] The carrying platform is connected to the output end of the lifting drive mechanism and is driven by the lifting drive mechanism to move up and down in the vertical direction, so that the carrying platform has a storage position above the water surface and a receiving position below the water surface;

[0025] A locking device, disposed on the support platform, is used to lock the underwater cleaning robot to the support platform;

[0026] The control system is communicatively connected to the lifting drive mechanism and the locking device. When recovering the underwater cleaning robot, the control system is configured to first control the locking device to lock the underwater cleaning robot located on the carrying platform, and then control the lifting drive mechanism to drive the carrying platform from the receiving station to the storage station.

[0027] Preferably, the underwater cleaning robot berthing station further includes:

[0028] A maintenance component is disposed on the support platform and / or station frame, and the maintenance component includes at least one of a flushing interface and a charging interface;

[0029] The rinsing port is used to connect to an external fresh water source and rinse the underwater cleaning robot, while the charging port is used to connect to the charging unit on the underwater cleaning robot for charging.

[0030] Preferably, the control system is further configured to control the maintenance components to perform surface rinsing and / or charging of the underwater cleaning robot when the carrier platform is in the storage position.

[0031] Preferably, the charging interface adopts a contact charging structure.

[0032] Preferably, the station frame is further provided with a positioning and communication module, which is configured to communicate with the underwater cleaning robot and the remote control system to transmit positioning signals to the underwater cleaning robot.

[0033] Preferably, the station frame is provided with a guide structure for limiting the lifting direction of the carrying platform;

[0034] The lifting drive mechanism includes a drive motor and a transmission assembly, wherein the transmission assembly is a ball screw pair, and the screw is connected to the bearing platform.

[0035] Preferably, the station frame is made of metal material resistant to marine corrosion; the drive motor is a servo motor with waterproof and corrosion-resistant capabilities.

[0036] Preferably, the surface of the support platform is provided with a robot positioning groove that is adapted to the shape of the bottom of the underwater cleaning robot.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] 1. Achieve fully automated, unattended operation, greatly improving work efficiency.

[0039] This invention completely eliminates the manual handling of robots from the warehouse to the work site by directly fixing the docking station to the edge of the aquaculture tank and integrating an automatic lifting and intelligent scheduling system. After completing its task, the robot can automatically return to its docking station and be retrieved. The entire deployment and retrieval process requires no human intervention. This allows the robot to be on standby at any time and respond quickly to cleaning tasks, raising operational efficiency from "preparation on a per-use basis" to a new level of "routine operation."

[0040] 2. Simplify operating procedures and reduce reliance on personnel and skill requirements.

[0041] The entire system supports remote command control, allowing operators to complete all operations without being physically present on-site. Complex robot homing guidance, precise docking, and lifting and locking processes are all automated, freeing operators from heavy physical labor and precise real-time control, transforming their role into simple system monitoring and command issuance. This significantly reduces the professional skills required and workload of staff.

[0042] 3. Provides off-water storage and automatic maintenance, significantly extending equipment lifespan.

[0043] One of the core functions of this berthing station is its ability to elevate the robot to a safe position completely out of the water for storage. This removes the robot from the corrosive environment of high humidity and high salinity, fundamentally avoiding electrochemical corrosion and marine organism adhesion caused by prolonged immersion. Simultaneously, the integrated high-pressure rinsing and automatic charging functions allow for immediate maintenance of the robot after recovery, effectively removing residual corrosion and maintaining battery health, thereby significantly reducing equipment wear and maintenance costs.

[0044] 4. Integrates precise guidance and status monitoring to ensure safe and reliable system operation.

[0045] The positioning and guidance system at the berthing station ensures that the robot moves accurately and smoothly onto the support platform, avoiding the collision risks that may arise from manual placement. Once in place, a mechanical locking device securely holds the robot in place, preventing it from slipping or falling due to the ship's movement. Combined with real-time status monitoring and fault diagnosis capabilities, the system can anticipate risks and ensure the entire operation is safe and controllable, providing stability and safety far exceeding that of manual operation.

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0047] Figure 1 This is a side view of the station frame of an underwater cleaning robot berthing station according to the present invention;

[0048] Figure 2 This is a schematic diagram of the lifting drive mechanism of the underwater cleaning robot berthing station according to the present invention;

[0049] Figure 3 This is a schematic diagram of the support platform of the underwater cleaning robot docking station described in this invention. Detailed Implementation

[0050] The following description is intended to provide a detailed account of the invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0051] Please see Figure 1-3 This invention provides a technical solution: a maintenance method for an underwater cleaning robot based on an underwater cleaning robot mooring station, wherein the underwater cleaning robot mooring station has lifting and positioning functions. The general working principle of the maintenance method is as follows: by fixing the mooring station at the edge of the aquaculture tank and integrating the lifting mechanism, positioning and guiding mechanism and automatic locking and maintenance interface, the underwater cleaning robot 200 can achieve full automation of the entire process from autonomous return, automatic docking, lifting and leaving the water, safe storage to maintenance and charging after the completion of the operation.

[0052] Specifically, a maintenance method for an underwater cleaning robot is applied to a mooring station fixedly installed at the edge of an aquaculture tank. The mooring station includes a station frame 1 and a lifting platform 3 mounted on the station frame 1. The method includes:

[0053] When it is necessary to retrieve the underwater cleaning robot 200, the carrying platform 3 is controlled to descend to the receiving position preset below the water surface;

[0054] Guide the underwater cleaning robot 200 to move to and park on the support platform 3;

[0055] Before controlling the lifting and lowering of the support platform 3, the locking device 302 installed on the support platform 3 is triggered to lock the underwater cleaning robot 200 to the support platform 3;

[0056] The carrier platform 3 is controlled to lift the locked underwater cleaning robot 200 to a storage position preset above the water surface.

[0057] After controlling the support platform 3 to raise the locked underwater cleaning robot 200 to a preset storage position above the water surface, the process further includes:

[0058] The underwater cleaning robot 200 is surface-washed and / or charged using maintenance components mounted on the carrier platform 3.

[0059] This method transforms the underwater cleaning robot 200 from the traditional "manual deployment - manual retrieval - warehouse storage" mode to the "on-site duty - automatic retrieval - off-water maintenance" working mode, thereby achieving unattended operation.

[0060] To implement the above-mentioned maintenance method for underwater cleaning robots, the present invention also provides an underwater cleaning robot berthing station, comprising:

[0061] The station frame 1 is fixedly installed at the edge of the aquaculture compartment;

[0062] The lifting drive mechanism 2 is installed on the station frame 1;

[0063] The carrying platform 3 is connected to the output end of the lifting drive mechanism 2 and is driven by the lifting drive mechanism 2 to move vertically, so that the carrying platform 3 has a storage position above the water surface and a receiving position below the water surface.

[0064] A locking device 302 is disposed on the support platform 3 and is used to lock the underwater cleaning robot 200 to the support platform 3. Optionally, the locking device 302 is an electromagnetic lock or a mechanical latch lock.

[0065] The control system is communicatively connected to the lifting drive mechanism 2 and the locking device 302. The control system is configured to, when performing a recovery operation, first control the locking device 302 to lock the underwater cleaning robot 200 located on the carrying platform 3, and then control the lifting drive mechanism 2 to drive the carrying platform 3 to rise from the receiving station to the storage station.

[0066] The core of the underwater cleaning robot docking station is to provide a "dedicated harbor for robots". This docking station is directly fixed to the edge of the aquaculture tank, aiming to completely solve the pain points of the underwater cleaning robot 200: "nowhere to place it, difficult maintenance, and cumbersome deployment and retrieval". All components in the underwater cleaning robot docking station are designed around the needs of the robot's entire life cycle.

[0067] The station frame 1 provides a permanent and stable mounting point. It is directly anchored to the bulkhead of the breeding tank, allowing the robot to break free from the constraints of the warehouse and move its "residence" from the remote warehouse to the work site, laying the physical foundation for responding to cleaning tasks at any time.

[0068] The lifting drive mechanism 2 replaces manual hoisting, achieving automation and precision in robot entry and exit from the water. This mechanism, using a motor-driven screw or winch, can smoothly raise or lower the support platform 3, safely retrieving or deploying the robot from or onto the water. This eliminates the most labor-intensive handling and hoisting steps, simplifying operation to a single command.

[0069] Platform 3 is the direct interface for interaction between the robot and the docking station, integrating all key functions for storage and maintenance.

[0070] The underwater cleaning robot docking station also includes:

[0071] A maintenance component is disposed on the support platform 3 and / or the station frame 1, and the maintenance component includes at least one of a flushing interface 304 and a charging interface 303;

[0072] The rinsing interface 304 is used to connect to an external fresh water source and rinse the underwater cleaning robot 200, and the charging interface 303 is used to connect to the charging unit on the underwater cleaning robot 200 for charging.

[0073] Furthermore, the control system is also configured to control the maintenance components to perform surface rinsing and / or charging of the underwater cleaning robot 200 when the carrying platform 3 is in the storage position.

[0074] In this embodiment, see Figure 1 The station frame 1 is the basic load-bearing structure of this berthing station. It is fixedly installed at the aquaculture tank wall 101 and is fixedly connected to the aquaculture tank wall 101 by welding or high-strength bolts.

[0075] The station frame 1 is made of metal materials resistant to marine environment corrosion, such as 316L stainless steel or marine-grade aluminum alloy.

[0076] The station frame 1 is provided with a guide structure 102 for limiting the lifting direction of the bearing platform 3. Optionally, the guide structure 102 may be a guide rail or guide groove provided between the station frame 1 and the bearing platform 3.

[0077] See Figure 2 The lifting drive mechanism 2 is installed on the station frame 1 and is used to drive the bearing platform 3 to perform lifting movements.

[0078] The lifting drive mechanism 2 includes a drive motor 201 and a transmission assembly 202. The transmission assembly 202 is a ball screw pair, and the screw is fixedly connected to the support platform 3. The drive motor 201 is preferably a servo motor with waterproof and corrosion-resistant capabilities. This structure enables precise switching between the underwater receiving position and the above-water storage position of the support platform 3.

[0079] See Figure 3 The support platform 3 is used to support, position and fix the underwater cleaning robot 200, and integrates a variety of functional interfaces.

[0080] The surface of the support platform 3 is provided with a robot positioning groove 301 that is adapted to the shape of the bottom of the underwater cleaning robot 200. This groove is used to enable automatic alignment and initial positioning of the robot, ensuring that the robot can be accurately positioned each time it is retrieved, and providing a reference for subsequent operations.

[0081] The carrying platform 3 is equipped with a locking device 302, which is used to fix the robot on the platform before the carrying platform 3 is raised or lowered, and when it is raised to the storage position, to prevent it from falling off due to the swaying of the ship. That is, the robot is automatically locked before the lifting action to prevent it from slipping off during the swaying of the ship and to ensure safe storage.

[0082] In this embodiment, the locking device 302 is specifically constructed as a mechanical pin-type locking mechanism to achieve reliable physical locking. Specifically, it includes at least one locking hole located on the side wall or edge of the robot positioning slot 301, and a drive unit located inside or below the support platform 3, and a pin driven by the drive unit. The drive unit can be, for example, a small linear motor, an electromagnetic push rod, or a cylinder. In use, when the control system determines that the underwater cleaning robot 200 has correctly docked in the robot positioning slot 301, for example, through confirmation via a position sensor signal described later, it controls the drive unit to extend the pin and insert it into the corresponding locking hole or slot on the robot body, thereby firmly locking the robot to the support platform 3 and preventing it from shifting or falling off during lifting or ship movement. The unlocking process is the reverse; the drive unit retracts the pin. This structure is simple, reliable, and suitable for underwater environments.

[0083] The carrying platform 3 is provided with a charging interface 303 for charging the battery of the robot during storage, preferably a contact charging structure.

[0084] The carrying platform 3 is provided with a rinsing interface 304, which is connected to a fresh water system. The rinsing interface 304 is configured to be opened when the carrying platform 3 is in the storage position to rinse the underwater cleaning robot 200 above the carrying platform 3. This is used to rinse the salt and dirt off the robot's outer surface after it comes out of the water, reducing salt and residue residue, enabling immediate basic maintenance after leaving the factory, and effectively slowing down corrosion.

[0085] As can be seen, the carrier platform 3, which integrates the rinsing interface 304, the charging interface 303, the locking device 302 and the robot positioning slot 301, not only provides a simple carrier surface, but is also an intelligent interface that integrates precise positioning, safe fixation, energy supply and basic cleaning, so that the robot can be properly "taken care of" during the work interval.

[0086] The above structures together constitute the support platform 3 for supporting, locking and maintaining the underwater cleaning robot 200.

[0087] The station frame 1 is also equipped with a positioning and communication module, which communicates with the underwater cleaning robot 200 and the remote control system to transmit positioning signals to the underwater cleaning robot 200. The positioning and communication module and the control system are not shown in the figure. The positioning module can use acoustic positioning, UWB positioning or other positioning methods suitable for the underwater environment to enable the robot to return to its home position autonomously.

[0088] The station frame 1 integrates a positioning and communication module for autonomous homing guidance of the underwater cleaning robot 200 and data interaction with the remote control system. The positioning and communication module consists of two parts: a positioning beacon and a communication unit. The positioning beacon can be one or a combination of underwater acoustic positioning systems (such as ultra-short baseline (USBL) or short baseline (SBL), underwater wireless optical communication (blue-green light) beacons, or radio frequency (such as low-frequency electromagnetic wave) positioning beacons.

[0089] A typical implementation involves installing one or more underwater acoustic transducers as beacons on the underwater portion of the station frame 1, continuously or as instructed, transmitting coded acoustic positioning signals. The underwater cleaning robot 200 is equipped with a corresponding hydrophone array, which receives and decodes these signals to determine its position and distance relative to the mooring station, thereby achieving precise autonomous navigation to the station. The communication unit may include an underwater acoustic communicator, a radio communication module (for communication above the surface), or a combination of both. The underwater acoustic communicator is used for low-speed command and status data exchange with the robot underwater; the radio communication module (such as 4G / 5G, Wi-Fi, or satellite communication) is used for high-speed, long-distance data transmission between the mooring station and a remote control center, reporting status and receiving commands. The positioning and communication module is connected to the control system, and its operation is coordinated by the control system.

[0090] The positioning and communication module addresses the robot's "how to find home" problem. By deploying positioning beacons, such as UWB base stations, it provides precise navigation guidance for the underwater robot, enabling it to automatically navigate to the area below the platform. Simultaneously, the communication unit ensures remote status monitoring and command issuance. This gives the robot the ability to autonomously return to its "harbor," a crucial step in achieving fully unmanned operation.

[0091] The control system is used to coordinate the collaborative work of the lifting drive mechanism 2, locking device 302, positioning module and maintenance interface. The control system can be an industrial controller or an embedded control system. Based on sensor signals and preset programs, it automatically completes the recovery, lifting, locking and maintenance processes to realize the automatic operation of the berthing station.

[0092] The system includes multiple sensors, categorized as position sensors, robot positioning sensors, and locking status sensors. Their signal outputs are connected to the control system to sense the system status and provide feedback signals required for automatic control. Specifically:

[0093] 1. Position sensor

[0094] The underwater cleaning robot docking station includes limit switches or absolute encoders for detecting whether the carrying platform 3 has reached the receiving and storage positions. Position sensors are installed at corresponding height positions on the station frame 1 or integrated with the lifting drive mechanism 2 to provide the control system with the endpoint position signal of the platform's lifting stroke.

[0095] 2. Robot positioning sensor

[0096] The robot positioning sensor is located within or around the robot positioning slot 301. For example, it may be a pressure sensor, an infrared beam sensor, or an ultrasonic proximity sensor. It is used to detect whether the underwater cleaning robot 200 has accurately entered and docked at the predetermined position. When the robot positioning sensor is triggered, the signal it generates serves as one of the trigger conditions for the control system to control the locking device 302 to perform a locking action.

[0097] 3. Locking status sensor

[0098] Integrated within the locking device 302, such as a microswitch or Hall sensor, it is used to detect whether the pin has been fully extended into the locked state or fully retracted into the unlocked state, and feeds this status signal back to the control system as a safety interlock condition for performing lifting actions or releasing the robot.

[0099] Based on the aforementioned sensor network, the control system operates automatically as follows: Upon receiving a recovery command, the control system first lowers the carrying platform 3 to the underwater receiving position using the lifting drive mechanism 2, based on feedback from the position sensors. Then, it waits for the robot to autonomously return. When the robot's positioning sensor detects that the robot has correctly docked, it sends a positioning signal to the control system. The control system then controls the drive unit of the locking device 302 to perform the locking action. The locking status sensor, after confirming that the pin is fully extended and locked, sends a "locked" signal to the control system. Only after receiving this "locked" safety signal will the control system activate the lifting drive mechanism 2 to raise the carrying platform 3, along with the robot, to the storage position above the water surface (confirmed by the position sensor at the storage position). Upon reaching the storage position, the control system can automatically or, based on instructions, activate the maintenance components for rinsing and charging. The entire process requires no manual intervention; sensor feedback and program logic ensure safety and order.

[0100] In this embodiment, based on the aforementioned underwater cleaning robot berthing station, the maintenance method for the underwater cleaning robot includes the following steps:

[0101] S1: Station standby and positioning signal transmission

[0102] The berthing station is fixedly installed at position 101 on the bulkhead of the aquaculture tank. Its positioning and communication module continuously transmits positioning signals underwater, serving as a homing beacon for the underwater cleaning robot 200.

[0103] S2: Recycling Command Triggering and Platform Deployment

[0104] After the underwater cleaning robot 200 completes the cleaning operation, the central control system receives the recovery command and controls the lifting drive mechanism 2 to lower the carrying platform 3 to the predetermined underwater receiving height.

[0105] S3: Robot Autonomous Return and Docking

[0106] The underwater cleaning robot 200 navigates autonomously based on the positioning signal and enters the robot positioning slot 301 of the carrier platform 3 to achieve preliminary mechanical alignment.

[0107] S4: Lifting and automatic locking when leaving the water.

[0108] The support platform 3 is raised to a predetermined height above the water surface by the lifting drive mechanism 2, and then the robot is fixed on the platform by the locking device 302 to prevent shaking or falling off;

[0109] S5: Maintenance and Storage

[0110] The robot automatically charges and rinses the surface while out of water, then enters standby storage mode, ready to perform the next cleaning task.

[0111] In summary, this underwater cleaning robot docking station can reshape the robot's operational lifecycle;

[0112] Through the coordinated operation of the above structures, a completely new and efficient work cycle is created for the robot:

[0113] Standby phase: The robot is lifted and locked in a completely dry environment, out of the water. This fundamentally avoids biofouling and electrochemical corrosion caused by prolonged immersion, greatly extending the equipment's lifespan.

[0114] Task triggered: A remote command is issued, and the lifting mechanism smoothly lowers the platform and robot into the water;

[0115] Autonomous operation: Locking device 302 is released, the robot detaches from the platform, and performs the cleaning task;

[0116] Return and recovery: After completing the mission, the robot autonomously navigates back based on the positioning signal sent by the docking station, accurately drives onto the carrying platform 3, and automatically locks itself through the locking device 302;

[0117] Maintenance and Readiness: The platform lifts the robot out of the water, where it can optionally be automatically recharged or rinsed. This allows the robot to quickly return to optimal condition and be ready for the next task.

[0118] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of patent application of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A maintenance method for an underwater cleaning robot, applied to a mooring station fixedly installed at the edge of an aquaculture tank, the mooring station comprising a station frame (1) and a lifting platform (3) mounted on the station frame (1), characterized in that, The maintenance method includes: When it is necessary to retrieve the underwater cleaning robot (200), control the carrying platform (3) to descend to the receiving station preset below the water surface; Guide the underwater cleaning robot (200) to move and park on the support platform (3); Before controlling the lifting and lowering of the carrier platform (3), the locking device (302) installed on the carrier platform (3) is triggered to lock the underwater cleaning robot (200) to the carrier platform (3). Control the carrying platform (3) to lift the locked underwater cleaning robot (200) to a storage position preset above the water surface.

2. A maintenance method for an underwater cleaning robot according to claim 1, characterized in that, After controlling the carrier platform (3) to raise the locked underwater cleaning robot (200) to a preset storage position above the water surface, the method further includes: The underwater cleaning robot (200) is surface-washed and / or charged by maintenance components mounted on the carrier platform (3).

3. A berthing station for an underwater cleaning robot, characterized in that, include: The station frame (1) is fixedly installed at the edge of the aquaculture compartment; The lifting drive mechanism (2) is installed on the station frame (1); The carrying platform (3) is connected to the output end of the lifting drive mechanism (2) and is driven by the lifting drive mechanism (2) to move vertically, so that the carrying platform (3) has a storage position above the water surface and a receiving position below the water surface; A locking device (302) is provided on the support platform (3) for locking the underwater cleaning robot (200) to the support platform (3). The control system is communicatively connected to the lifting drive mechanism (2) and the locking device (302). When recovering the underwater cleaning robot (200), the control system is configured to first control the locking device (302) to lock the underwater cleaning robot (200) located on the carrying platform (3), and then control the lifting drive mechanism (2) to drive the carrying platform (3) to rise from the receiving station to the storage station.

4. The underwater cleaning robot berthing station according to claim 3, characterized in that, The underwater cleaning robot docking station also includes: A maintenance component is disposed on the support platform (3) and / or the station frame (1), the maintenance component including at least one of a flushing interface (304) and a charging interface (303); The rinsing port (304) is used to connect to an external fresh water source and rinse the underwater cleaning robot (200), and the charging port (303) is used to connect to the charging unit on the underwater cleaning robot (200) for charging.

5. The underwater cleaning robot berthing station according to claim 4, characterized in that, The control system is also configured to control the maintenance components to perform surface rinsing and / or charging of the underwater cleaning robot (200) when the carrier platform (3) is in the storage position.

6. The underwater cleaning robot berthing station according to claim 4, characterized in that, The charging interface (303) adopts a contact charging structure.

7. A berthing station for an underwater cleaning robot according to claim 3, characterized in that, The station frame (1) is also equipped with a positioning and communication module, which is configured to communicate with the underwater cleaning robot (200) and the remote control system to transmit positioning signals to the underwater cleaning robot (200).

8. A berthing station for an underwater cleaning robot according to claim 3, characterized in that, The station frame (1) is provided with a guide structure (102) for limiting the lifting direction of the bearing platform (3). The lifting drive mechanism (2) includes a drive motor (201) and a transmission assembly (202). The transmission assembly (202) is a ball screw pair, wherein the screw is connected to the bearing platform (3).

9. A berthing station for an underwater cleaning robot according to claim 8, characterized in that, The station frame (1) is made of metal material that is resistant to marine corrosion; the drive motor (201) is a servo motor with waterproof and corrosion-resistant capabilities.

10. A berthing station for an underwater cleaning robot according to claim 3, characterized in that, The surface of the support platform (3) is provided with a robot positioning groove (301) that is adapted to the bottom shape of the underwater cleaning robot (200).

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