A cleaning system for net cage culture and an automatic control method thereof

Abstract

This invention relates to the field of aquaculture automation technology, and discloses a cleaning system and its automatic control method for cage aquaculture, to achieve remote control of cleaning and ensure the effectiveness of automatic cleaning. The method includes: a controller for remotely controlling the cleaning machine acquires and displays two real-time images captured by two camera modules on a host computer using a split-screen method. During the cleaning operation of the cleaning machine according to a reference light strip without switching light strips, in automatic mode, the posture of the cleaning machine is automatically adjusted according to the alignment of the same reference light strip in the two real-time images to ensure that the same reference light strip is aligned in the two real-time images. The criterion for determining the alignment of the same reference light strip in the two real-time images is that they are both centered on the same straight line to ensure that the optical axes of the front and rear camera modules coincide with the vertical or horizontal light strips during the straight-line movement of the cleaning machine according to the planned path without switching light strips.

Description

Technical Field

[0001] This invention relates to the field of aquaculture automation technology, and in particular to a cleaning system for cage aquaculture and its automatic control method. Background Technology

[0002] High-density cage aquaculture generates a large amount of uneaten feed and fish excrement (collectively known as sludge) during the feeding process. If not cleaned in time, it will accumulate and ferment at the bottom of the cage, leading to water quality deterioration and disease outbreaks. At the same time, harmful substances such as ammonia nitrogen and hydrogen sulfide produced will seriously affect the health and growth of farmed organisms.

[0003] In the process of the evolution of fully automated aquaculture technology, pollution control has become the primary technical challenge to be solved. Summary of the Invention

[0004] The purpose of this invention is to disclose a cleaning system and its automatic control method for cage aquaculture, so as to achieve remote control of cleaning and ensure the effect of automatic cleaning.

[0005] To achieve the above objectives, this invention discloses a cleaning system for cage aquaculture, comprising: A layered cage, with an upper aquaculture layer and a lower sludge collection layer; a layered mesh is provided between the aquaculture layer and the sludge collection layer; The bottom of the dirt collection layer is equipped with a tray, the sides are equipped with a barrier, and the top is equipped with a light strip assembly fixed to the layered grid. The light strip group includes at least two parallel and evenly distributed vertical light strips and a horizontal light strip deployed at the entrance of the cleaning machine and orthogonal to each vertical light strip. The interval between adjacent vertical light strips in the same cage is less than or equal to the distance between the left and right moving tracks of the cleaning machine. The cleaning machine has two camera modules with collinear optical axes fixed on the center line of the left and right moving tracks. The controller for remotely controlling the cleaning machine is used to acquire and display two real-time images captured by the two camera modules on a host computer in a split-screen manner. During the cleaning operation of the cleaning machine with reference light strips without switching light strips, in automatic mode, the machine's posture is automatically adjusted based on the alignment of the same reference light strip in the two real-time images to ensure alignment of the same reference light strip in both images. The reference light strip switches between the horizontal and vertical light strips. The criterion for aligning the same reference light strip in the two real-time images is that it is on the same straight line centered, ensuring that the optical axes of the two camera modules coincide with the vertical or horizontal light strip during the cleaning machine's straight-line movement without switching light strips according to the planned path.

[0006] Preferably, the cleaning machine is a wired cleaning machine equipped with an inertial navigation module, and the cable of the cleaning machine is limited to the cleaning pipe; the cleaning pipe is wound around the movable drum of the floating bridge, and the electronic control unit driving the movable drum establishes a remote connection with the controller. The controller is also used to: calibrate the light strip route diagram in the coordinate system of the net cage, and track the positioning of the cleaning machine in the light strip route diagram based on the table and gyroscope information of the inertial navigation module, and then predict the underwater length of the cleaning pipe periodically according to the current positioning and speed of the cleaning machine, combined with the planned path in automatic mode and the reserved redundant length, and send the command to drive the movable drum to perform the corresponding winding or unwinding operation according to the prediction result.

[0007] Preferably, the controller is further configured to: initially determine whether to enter the light strip switching process based on the positioning, speed direction and planned path of the cleaning machine in the light strip circuit diagram; if so, determine whether the length of the reference light strip remaining in the real-time image of the corresponding split screen is less than the switching threshold; if so, control the cleaning machine to execute the indicator light strip switching process; if either the previous or subsequent judgment result is negative, then execute the waiting to switch to the next judgment cycle.

[0008] Preferably, the controller also has a manual mode for controlling the cleaning machine, so that the user can manually adjust the attitude and / or speed after switching from automatic mode to manual mode.

[0009] Preferably, the horizontal light strip spans at least two parallel cages, and the bottom of two adjacent cages is provided with a connecting corridor for the cleaning machine to travel through.

[0010] Preferably, the bottom of the cleaning machine is equipped with a sensor to collect data on sewage concentration and / or resistance, so as to dynamically adjust the speed and / or the power of the suction pump based on the real-time data from the sensor.

[0011] To achieve the above objectives, the present invention also discloses an automatic control method for a cleaning system used in cage aquaculture, comprising: A cleaning system for cage aquaculture is deployed. The cleaning system uses a layered cage, with an upper aquaculture layer and a lower sludge collection layer. A layered grid is provided between the aquaculture layer and the sludge collection layer. The bottom of the sludge collection layer is equipped with a tray, the sides are enclosed, and the top is equipped with a set of light strips fixed to the layered grid. The light strip set includes at least two parallel and evenly distributed vertical light strips and a horizontal light strip deployed at the entrance of the cleaning machine and orthogonal to each vertical light strip. The interval between adjacent vertical light strips in the same cage is less than or equal to the distance between the left and right moving tracks of the cleaning machine. The cleaning machine has two front and rear camera modules with collinear optical axes fixed on the symmetrical centerline of the left and right moving tracks. The controller of the remote-controlled cleaning machine acquires and displays two real-time images captured by the two camera modules on the host computer in a split-screen manner. During the cleaning operation of the cleaning machine with reference light strips without switching light strips, in automatic mode, the posture of the cleaning machine is automatically adjusted according to the alignment of the same reference light strip in the two real-time images to ensure that the same reference light strip is aligned in the two real-time images. The reference light strip switches between the horizontal light strip and the vertical light strip. The criterion for determining the alignment of the same reference light strip in the two real-time images is that they are on the same straight line in the center to ensure that the optical axis of the two camera modules coincides with the vertical light strip or the horizontal light strip during the straight-line movement of the cleaning machine with the planned path without switching light strips.

[0012] The present invention has the following beneficial effects: 1. A special sludge collection layer is set up in the tiered net cage to collect uneaten feed and fish excrement, which effectively prevents the spread of sludge.

[0013] 2. The light strip group adopts an orthogonal arrangement of horizontal and vertical light strips. This arrangement feature has good recognition in image recognition and can ensure its real-time performance and reliability in assisting the cleaning machine to maintain and adjust its posture.

[0014] 3. The spacing between adjacent vertical light strips is less than or equal to the spacing between the left and right moving tracks of the cleaning machine, which makes it easier for the cleaning machine to set some overlapping areas or boundary edges in the planned path, thereby ensuring that the cleaning range covers the entire pallet.

[0015] 4. The system uses a split-screen display to show two real-time images captured by two camera modules. In automatic mode, the system automatically adjusts the posture of the cleaning machine based on the alignment of the same reference light strip in the two real-time images. The standard for aligning the same reference light strip in the two real-time images is that they are on the same straight line in the center. This standard is compatible with user habits during manual mode for handling operations such as getting out of trouble, thus ensuring the adjustment efficiency and overall reliability of the system in both modes.

[0016] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic flowchart of an automatic control method for a cleaning system used in cage aquaculture, as disclosed in an embodiment of the present invention. Detailed Implementation

[0018] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0019] Example 1 This embodiment discloses a cleaning system for cage aquaculture, comprising: The tiered cage consists of an upper aquaculture layer and a lower sludge collection layer. A layered mesh separates the aquaculture and sludge collection layers. The sludge collection layer has a tray at the bottom, side barriers, and a set of LED strips fixed to the top of the mesh. Like traditional cages, it is fixed to a floating bridge without the need for piling. Furthermore, the layered mesh can utilize a non-welded, adjustable structure to accommodate the working environment requirements of different sludge removal machines.

[0020] In this embodiment, the light strip assembly includes at least two parallel and evenly distributed vertical light strips and a horizontal light strip deployed at the inlet of the cleaning machine and orthogonal to each vertical light strip. The interval between adjacent vertical light strips within the same net cage is less than or equal to the distance between the left and right moving tracks of the cleaning machine. This facilitates the cleaning machine in setting partially overlapping areas or boundary edges in the planned path, thereby ensuring that the cleaning range covers the entire area of ​​the tray. Furthermore, this embodiment can use LED underwater light strips, preferably infrared or specific wavelength light, to reduce the impact on aquaculture organisms; the tray material can be acrylic sheet.

[0021] The cleaning machine has two camera modules, one front and one rear, with collinear optical axes, fixed symmetrically along the centerline of its left and right traveling tracks. Preferably, the cleaning machine also has an agitation mechanism to enhance the cleaning effect. The interface settings of the cleaning pipe must meet two requirements: firstly, to ensure stability during movement; and secondly, since the images captured by the two camera modules are real-time images of the cleaning machine before and after its movement, it is necessary to avoid interference with the image acquisition of the cameras.

[0022] During the cleaning process, the waste in the middle area between the left and right moving tracks is first agitated and then pumped away by a water pump through the cleaning pipe. If necessary, the pumped-out wastewater can be filtered and purified for reuse. Furthermore, the cleaning machine can be equipped with sensors at the bottom to collect waste concentration and / or resistance data, thereby dynamically adjusting the speed and / or the power of the suction pump based on real-time sensor data to ensure that the cleaning effect meets expectations.

[0023] In this embodiment, the cleaning machine is controlled by a remote controller, which acquires and displays two real-time images captured by two camera modules on a host computer in a split-screen manner. During the cleaning operation of the cleaning machine with reference light strips without switching light strips, in automatic mode, the posture of the cleaning machine is automatically adjusted according to the alignment of the same reference light strip in the two real-time images so that the same reference light strip is aligned in the two real-time images. The reference light strip switches between horizontal and vertical light strips. The criterion for determining the alignment of the same reference light strip in the two real-time images is that they are on the same straight line in the center to ensure that the optical axis of the front and rear camera modules coincides with the vertical or horizontal light strip during the straight-line movement of the cleaning machine with the non-switching light strip according to the planned path.

[0024] In this embodiment, in order to reduce interference in determining whether the same reference light strip is aligned in two real-time images and to improve processing efficiency, the two camera modules are from the same manufacturer and of the same model. This reduces the data processing complexity caused by inconsistencies in the field of view and related calibration parameters during image correction, thus affecting the real-time performance of the processing results.

[0025] In this embodiment, the cleaning machine can be a wired cleaning machine equipped with an inertial navigation module. The cleaning machine's cable is confined to the cleaning pipe. The cleaning pipe is wound around the movable drum of the floating bridge. The electronic control unit driving the movable drum establishes a remote connection with the controller. The controller is also used to: calibrate the light strip route diagram in the cage coordinate system, and track the cleaning machine's position on the light strip route diagram based on the table and gyroscope information from the inertial navigation module. Then, based on the cleaning machine's current position and speed, combined with the planned path in automatic mode and the reserved redundant length, it periodically predicts the underwater length of the cleaning pipe, and sends a command to the electronic control unit to drive the movable drum to perform the corresponding retrieval or release operation based on the prediction result. The calculation formula for predicting the underwater length of the cleaning pipe is existing technology and will not be elaborated upon.

[0026] Preferably, in this embodiment, the distance between the horizontal light strip and the enclosure is slightly greater than half the distance between the left and right traveling tracks. The corresponding planned path can be as follows: the horizontal light strip is cleaned in segments from left to right. When a vertical light strip is encountered, the cleaning process is switched to use the vertical light strip as a reference light strip. If the reference light strip in the camera of the subsequent traveling direction disappears during the cleaning process of the vertical light strip, the enclosure is determined by combining the positioning information and the touch sensor information, and then the device is reversed to the intersection with the horizontal light strip, and then switched to the next segment of the horizontal light strip.

[0027] Typically, the electrical control unit driving the movable drum is a servo motor. Furthermore, the cleaning pipe can be marked with a different color every meter. A camera can be installed around the movable drum to capture real-time images of the cleaning pipe's entry point into the water. Based on the continuous data of the cleaning pipe's color switching at the entry point, the current pipeline length in the water body corresponding to each adjustment cycle can be directly determined or assisted in verification. Then, based on the predicted underwater length of the cleaning pipe for the next cycle, corresponding retraction or release operations can be performed in advance to minimize the adverse effects of pipe dragging on the cleaning machine's operation.

[0028] In this embodiment, the controller can also be used to initially determine whether to enter the light strip switching process based on the positioning, speed direction and planned path of the cleaning machine in the light strip circuit diagram. If so, it can further determine whether the length of the reference light strip remaining in the real-time image of the corresponding split screen is less than the switching threshold (the length of the remaining reference light strip can be counted based on the number of pixels, and during the recognition process, based on the above-mentioned orthogonal setting of the light strip group, a cross shape is usually recognized. Therefore, the midpoint of the cross shape is the endpoint of the pixel count, and the starting point of the counted pixels is the pixel with light strip characteristics closest to the cleaning machine). If so, the controller controls the cleaning machine to execute the indicator light strip switching process; if either the previous or subsequent judgment result is negative, the controller executes the waiting process to switch to the next judgment cycle.

[0029] In this embodiment, the controller also includes a manual mode for controlling the cleaning machine, allowing users to manually adjust its attitude and / or speed after switching from automatic to manual mode. This manual mode is primarily used for emergency handling in case of malfunctions. Simultaneously, if this embodiment uses an image neural network for relevant data processing, it can be used to assist in obtaining positive and negative samples. Furthermore, the manual operation interface can also include the corresponding function menus for controlling the servo motor's retraction and extension. Additionally, if the two camera modules are of different models, before starting operation, the optical axes of the front and rear camera modules must be adjusted in manual mode to ensure that the vertical or horizontal light strips coincide with the vertical or horizontal light strips, and that the vertical or horizontal light strips are aligned and centered on the same straight line in both real-time images.

[0030] Typically, cage aquaculture is carried out on a large scale. To improve resource utilization, the horizontal light strip in this embodiment spans at least two parallel cages, and the bottom of two adjacent cages is provided with a connecting corridor for the cleaning machine to move through; wherein, the direction of the connecting corridor is the direction of the horizontal light strip.

[0031] Furthermore, the relevant control interface of the host computer can be shared with the APP client so that authorized users can perform corresponding control operations through the APP client. This is existing technology and will not be elaborated further.

[0032] Example 2 This embodiment discloses an automatic control method for a cleaning system used in cage aquaculture, such as... Figure 1 As shown, it includes: Step S1: Deploy the cleaning and decontamination system for cage aquaculture.

[0033] Similar to Example 1, the cleaning system for cage aquaculture in this example adopts a layered cage, with the upper layer being the aquaculture layer and the lower layer being the sludge collection layer; a layered grid is provided between the aquaculture layer and the sludge collection layer; a tray is provided at the bottom of the sludge collection layer, a barrier is provided on the side, and a set of light strips is provided at the top fixed on the layered grid; the light strip set includes at least two parallel and evenly distributed vertical light strips and a horizontal light strip deployed at the entrance of the cleaning machine and orthogonal to each vertical light strip, the interval between adjacent vertical light strips in the same cage is less than or equal to the distance between the left and right moving tracks of the cleaning machine; two front and rear camera modules with collinear optical axes are fixed on the symmetrical center line of the left and right moving tracks of the cleaning machine.

[0034] Step S2: The controller of the remote-controlled cleaning machine acquires and displays two real-time images captured by the two camera modules on the host computer using a split-screen method. During the cleaning operation of the cleaning machine with reference light strips without switching light strips, in automatic mode, the posture of the cleaning machine is automatically adjusted according to the alignment of the same reference light strip in the two real-time images to ensure that the same reference light strip is aligned in the two real-time images. The reference light strip switches between horizontal and vertical light strips. The criterion for determining the alignment of the same reference light strip in the two real-time images is that they are on the same straight line in the center to ensure that the optical axis of the front and rear camera modules coincides with the vertical or horizontal light strip during the straight-line movement of the cleaning machine with the non-switching light strip according to the planned path.

[0035] Similarly, when the cleaning machine is a wired cleaning machine equipped with an inertial navigation module, the cleaning machine's cable is confined to the cleaning pipe; the cleaning pipe is wound around the movable drum of the floating bridge, and after the electronic control unit driving the movable drum establishes a remote connection with the controller; the method of this embodiment may further include: the controller calibrates the light strip route diagram in the coordinate system of the net cage, and tracks the positioning of the cleaning machine in the light strip route diagram based on the table and gyroscope information of the inertial navigation module, and then predicts the underwater length of the cleaning pipe periodically according to the current positioning and speed of the cleaning machine, combined with the planned path in automatic mode and the reserved redundant length, and sends the command to drive the movable drum to perform the corresponding winding or unwinding operation according to the prediction result.

[0036] Furthermore, the method in this embodiment also includes: the controller initially determines whether to enter the light strip switching process based on the positioning, speed direction and planned path of the cleaning machine in the light strip circuit diagram. If so, it then determines whether the length of the reference light strip remaining in the real-time image of the corresponding split screen is less than the switching threshold. If so, it controls the cleaning machine to execute the indicator light strip switching process. If either the previous or subsequent judgment result is negative, it executes the waiting to switch to the next judgment cycle.

[0037] Similarly, if the bottom of the cleaning machine is equipped with a sensor to collect data on sewage concentration and / or resistance, the method also includes: the cleaning machine dynamically adjusts its speed and / or the power of the suction pump based on the sewage concentration and resistance data collected in real time by the bottom sensor.

[0038] In summary, the systems and methods disclosed in the two embodiments of the present invention have at least the following beneficial effects: 1. A special sludge collection layer is set up in the tiered net cage to collect uneaten feed and fish excrement, which effectively prevents the spread of sludge.

[0039] 2. The light strip group adopts an orthogonal arrangement of horizontal and vertical light strips. This arrangement feature has good recognition in image recognition and can ensure its real-time performance and reliability in assisting the cleaning machine to maintain and adjust its posture.

[0040] 3. The spacing between adjacent vertical light strips is less than or equal to the spacing between the left and right moving tracks of the cleaning machine, which makes it easier for the cleaning machine to set some overlapping areas or boundary edges in the planned path, thereby ensuring that the cleaning range covers the entire pallet.

[0041] 4. The system uses a split-screen display to show two real-time images captured by two camera modules. In automatic mode, the system automatically adjusts the posture of the cleaning machine based on the alignment of the same reference light strip in the two real-time images. The standard for aligning the same reference light strip in the two real-time images is that they are on the same straight line in the center. This standard is compatible with user habits during manual mode for handling operations such as getting out of trouble, thus ensuring the adjustment efficiency and overall reliability of the system in both modes.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cleaning system for cage aquaculture, characterized in that, include: A layered cage, with an upper aquaculture layer and a lower sludge collection layer; a layered mesh is provided between the aquaculture layer and the sludge collection layer; The bottom of the dirt collection layer is equipped with a tray, the sides are equipped with a barrier, and the top is equipped with a light strip assembly fixed to the layered grid. The light strip group includes at least two parallel and evenly distributed vertical light strips and a horizontal light strip deployed at the entrance of the cleaning machine and orthogonal to each vertical light strip. The interval between adjacent vertical light strips in the same cage is less than or equal to the distance between the left and right moving tracks of the cleaning machine. The cleaning machine has two camera modules with collinear optical axes fixed on the center line of the left and right moving tracks. The controller for remotely controlling the cleaning machine is used to acquire and display two real-time images captured by the two camera modules on a host computer in a split-screen manner. During the cleaning operation of the cleaning machine with reference light strips without switching light strips, in automatic mode, the machine's posture is automatically adjusted based on the alignment of the same reference light strip in the two real-time images to ensure alignment of the same reference light strip in both images. The reference light strip switches between the horizontal and vertical light strips. The criterion for aligning the same reference light strip in the two real-time images is that it is on the same straight line centered, ensuring that the optical axes of the two camera modules coincide with the vertical or horizontal light strip during the cleaning machine's straight-line movement without switching light strips according to the planned path.

2. The cleaning system for cage aquaculture according to claim 1, characterized in that, The cleaning machine is a wired cleaning machine equipped with an inertial navigation module. The cable of the cleaning machine is confined to the cleaning pipe. The cleaning pipe is wound around the movable drum of the floating bridge. The electronic control unit that drives the movable drum establishes a remote connection with the controller. The controller is also used to: calibrate the light strip route diagram in the coordinate system of the net cage, and track the positioning of the cleaning machine in the light strip route diagram based on the table and gyroscope information of the inertial navigation module. Then, based on the current positioning and speed of the cleaning machine, combined with the planned path in automatic mode and the reserved redundant length, the underwater length of the cleaning pipe is predicted periodically, and the command to drive the movable drum is sent to the electronic control unit to perform the corresponding winding or unwinding operation based on the prediction result.

3. The cleaning system for cage aquaculture according to claim 2, characterized in that, The controller is also used to: initially determine whether to enter the light strip switching process based on the location, speed direction and planned path of the cleaning machine in the light strip circuit diagram; if so, determine whether the length of the reference light strip remaining in the real-time image of the corresponding split screen is less than the switching threshold; if so, control the cleaning machine to execute the indicator light strip switching process; if either the previous or subsequent judgment result is negative, execute the waiting to switch to the next judgment cycle.

4. The cleaning system for cage aquaculture according to claim 1, 2, or 3, characterized in that, The controller also includes a manual mode for controlling the cleaning machine, allowing users to manually adjust its attitude and / or speed after switching from automatic mode to manual mode.

5. The cleaning system for cage aquaculture according to claim 4, characterized in that, The horizontal light strip spans at least two parallel cages, and the bottom of two adjacent cages is provided with a connecting corridor for the cleaning machine to move through.

6. The cleaning system for cage aquaculture according to claim 5, characterized in that, The bottom of the cleaning machine is equipped with a sensor to collect data on sewage concentration and / or resistance, so as to dynamically adjust the speed and / or the power of the suction pump based on the real-time data from the sensor.

7. An automatic control method for a cleaning system used in cage aquaculture, characterized in that, include: A cleaning system for cage aquaculture is deployed. The cleaning system uses a layered cage, with an upper aquaculture layer and a lower sludge collection layer. A layered grid is provided between the aquaculture layer and the sludge collection layer. The bottom of the sludge collection layer is equipped with a tray, the sides are enclosed, and the top is equipped with a set of light strips fixed to the layered grid. The light strip set includes at least two parallel and evenly distributed vertical light strips and a horizontal light strip deployed at the entrance of the cleaning machine and orthogonal to each vertical light strip. The interval between adjacent vertical light strips in the same cage is less than or equal to the distance between the left and right moving tracks of the cleaning machine. The cleaning machine has two front and rear camera modules with collinear optical axes fixed on the symmetrical centerline of the left and right moving tracks. The controller of the remote-controlled cleaning machine acquires and displays two real-time images captured by the two camera modules on the host computer in a split-screen manner. During the cleaning operation of the cleaning machine with reference light strips without switching light strips, in automatic mode, the posture of the cleaning machine is automatically adjusted according to the alignment of the same reference light strip in the two real-time images to ensure that the same reference light strip is aligned in the two real-time images. The reference light strip switches between the horizontal light strip and the vertical light strip. The criterion for determining the alignment of the same reference light strip in the two real-time images is that they are on the same straight line in the center to ensure that the optical axis of the two camera modules coincides with the vertical light strip or the horizontal light strip during the straight-line movement of the cleaning machine with the planned path without switching light strips.

8. The automatic control method according to claim 7, characterized in that, The cleaning machine is a wired cleaning machine equipped with an inertial navigation module, and the cable of the cleaning machine is confined to the cleaning pipe; the cleaning pipe is wound around the movable drum of the floating bridge, and the electrical control unit driving the movable drum establishes a remote connection with the controller; the method further includes: The controller calibrates the light strip route diagram in the cage coordinate system, and tracks the position of the cleaning machine in the light strip route diagram based on the table and gyroscope information of the inertial navigation module. Then, based on the current position and speed of the cleaning machine, combined with the planned path in automatic mode and the reserved redundant length, it predicts the underwater length of the cleaning pipe periodically, and sends the command to the electronic control unit to drive the movable drum to perform the corresponding winding or unwinding operation according to the prediction result.

9. The automatic control method according to claim 7 or 8, characterized in that, Also includes: The controller initially determines whether to enter the light strip switching process based on the location, speed direction, and planned path of the cleaning machine in the light strip circuit diagram. If yes, it then determines whether the length of the reference light strip remaining in the real-time image of the corresponding split screen is less than the switching threshold. If yes, it controls the cleaning machine to execute the indicator light strip switching process. If either the previous or subsequent judgment result is no, it executes the waiting process to switch to the next judgment cycle.

10. The automatic control method according to claim 9, characterized in that, The cleaning machine is equipped with a sensor at its bottom for collecting sewage concentration and / or resistance data; the method further includes: The cleaning machine dynamically adjusts its speed and / or the power of the suction pump based on real-time data of sewage concentration and resistance collected by the bottom sensor.

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