Intelligent net cage cleaning robot based on bionic octopus

Abstract

The utility model discloses an intelligent net cage cleaning robot based on bionic octopuses, which comprises a bionic machine body, searchlighting cameras, a global positioning system (GPS) and a sonar expelling instrument, and is characterized in that infrared searchlighting cameras are mounted on two sides of the upper part of the front end of the bionic machine body; a high-pressure water-jet propeller and a spiral fan blade propeller are installed at the bottom of the bionic machine body, a sonar expelling instrument is additionally installed on the inner side of the bionic machine body, four sets of cleaning mechanical arms, two sets of polishing mechanical arms and two sets of adsorption mechanical arms are welded to the outer side of the bionic machine body, the number of the mechanical arms is eight, and the mechanical arms are in key connection. According to the intelligent octopus-imitating net cage cleaning robot for cleaning the net cage, the intelligent octopus-imitating net cage cleaning robot independently goes to the target net cage through the GPS positioning system and the water spraying propelling device, and the net cage is cleaned in all directions through the cooperation of the eight mechanical arms by using the high-pressure water gun, the rotary polishing block and the mechanical claw; and meanwhile, cleaned garbage is collected through the storage device.

Description

Technical Field

[0001] The utility model relates to the technical field of cage cleaning, in particular to an intelligent cage cleaning robot based on a bionic octopus. Background Technique

[0002] The marine cage consists of a frame system, a net bag, a fixing system and supporting facilities, and is mainly used for deep-sea aquaculture. With the continuous expansion of the scale of deep-sea aquaculture, aquaculture based on cages has gradually expanded to deep-sea areas. However, since the cage is immersed in seawater for a long time, marine organisms such as barnacles and shellfish will inevitably attach to the net bag. These attachments will not only block the net bag, but also increase the burden on the cage, and may have an adverse impact on the fish in the cage in the long run. Therefore, it is necessary to regularly clean various sundries attached to the cage.

[0003] In the prior art, when cleaning the attachments on the cage, manual cleaning is generally used. The structures of the net cleaning devices are diverse. Currently, there are high-pressure water guns and brush cleaning. When cleaning manually, a boat is needed to carry people to the cage, and then they need to wear oxygen tanks and dive underwater. The procedures are numerous and require multiple people to cooperate, with high costs and great risks.

[0004] Therefore, we propose an intelligent cage cleaning robot based on a bionic octopus to solve the problems mentioned above. Content of the Utility Model

[0005] The technical problem to be solved by the utility model is to provide a marine cage cleaning device and its cleaning method, which can clean the cage, improve the single cleaning area, improve the cleaning efficiency, and have a simple overall structure and convenient use.

[0006] To achieve the above purpose, the utility model provides the following technical solution: an intelligent cage cleaning robot based on a bionic octopus, including a bionic body, a searchlight camera, a GPS positioning system and a sonar expeller. It is characterized in that: infrared searchlight cameras are installed on both sides of the upper part of the front end of the bionic body, a high-pressure water jet propeller and a spiral fan blade propeller are installed at the bottom of the bionic body, a sonar expeller is installed inside the bionic body, and four groups of cleaning robotic arms, two groups of grinding robotic arms and two groups of adsorption robotic arms are welded on the outside of the bionic body, a total of eight robotic arms, and each section of the robotic arm is connected by a key connection;

[0007] Retractable mechanical rods are installed on the four groups of cleaning robotic arms, a high-pressure cleaning water gun is installed in the middle of the retractable mechanical rods, the upper end of this high-pressure cleaning water gun is a retractable water pipe, the lower end of the cleaning robotic arm is connected to a mechanical claw through a sliding connection, the control system of the mechanical claw is controlled by a hydraulic rod, and suction cups are arranged on both the inner and outer sides of the mechanical claw;

[0008] Two groups of grinding robotic arms are equipped with rotating grinding blocks at the bottom. An adsorber is in the middle of the rotating grinding block, and its upper end is connected to a garbage storage area.

[0009] Two groups of adsorbing robotic arms are equipped with bionic octopus-like suction cups at the lower part.

[0010] Preferably, infrared search cameras, a GPS positioning system and a sonar detector are installed on both sides of the upper part of the front end of the bionic fuselage. They are all installed outside the fuselage and fit seamlessly with the bionic fuselage.

[0011] Preferably, the width of the cleaning robotic arm gradually becomes narrower from top to bottom.

[0012] Preferably, a micro camera is installed at the bottom of the robotic claw, and the micro camera cooperates with the robotic claw.

[0013] Preferably, the front end of the grinding robotic arm has an independent motor and is equipped with a rotating grinding block at the bottom. An adsorber is in the middle of the rotating grinding block, and the rotating grinding block and the adsorber work together.

[0014] Preferably, the lower part of the adsorbing robotic arm is equipped with a bionic octopus-like suction cup, and the inside of the bionic octopus-like suction cup contains a retractable barb part.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows: The intelligent net cage cleaning robot in the form of a bionic octopus for net cage cleaning of the present utility model can independently travel to the target net cage through the GPS positioning system and the water jet propulsion device. Through the division of labor and cooperation of eight robotic arms, the net cage is cleaned comprehensively by using a high-pressure water gun, a rotating grinding block and a robotic claw. At the same time, the cleaning garbage is collected through a storage device. Description of the Drawings

[0016] The drawings further illustrate the present utility model, but the content in the drawings does not constitute any limitation to the present utility model.

[0017] Figure 1 It is a schematic diagram of the overall structure of an intelligent net cage cleaning robot in the form of a bionic octopus;

[0018] Figure 2 It is a schematic diagram of the side view structure of an intelligent net cage cleaning robot in the form of a bionic octopus;

[0019] Figure 3 It is a schematic diagram of the bottom view structure of an intelligent net cage cleaning robot in the form of a bionic octopus;

[0020] Figure 4 It is a schematic diagram of the top view structure of an intelligent net cage cleaning robot in the form of a bionic octopus;

[0021] Figure 5Schematic diagram of the cleaning robotic arm of an intelligent cage cleaning robot imitating an octopus;

[0022] Figure 6 Schematic diagram of the grinding robotic arm of an intelligent cage cleaning robot imitating an octopus;

[0023] Figure 7 Schematic diagram of the adsorption robotic arm of an intelligent cage cleaning robot imitating an octopus;

[0024] Reference numerals in the figure: 1, high-pressure water jet thruster; 2, biomimetic body; 3, infrared searchlight camera; 4, sonar expeller; 5, key connection; 6, telescopic robotic rod; 7, hydraulic rod; 8, suction cup; 9, robotic claw; 10, octopus-like suction cup; 11, telescopic water pipe; 12, sliding type; 13, high-pressure cleaning water gun; 14, adsorber; 15, rotating grinding block; 16, GPS positioning system; 17, sonar detector; 18, cleaning robotic arm; 19, grinding robotic arm; 20, adsorption robotic arm. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figure 1-7, the present utility model provides a technical solution: an intelligent cage cleaning robot based on a bionic octopus, including a bionic body 2, a searchlight camera 3, a GPS positioning system 16 and a sonar expeller 4, characterized in that: infrared searchlight cameras 3 are installed on both sides of the upper part of the front end of the bionic body 2, a high-pressure water jet propeller 1 and a spiral fan blade propeller are installed at the bottom of the bionic body 2, a sonar expeller 4 is installed inside the bionic body 2, infrared searchlight cameras 3, a GPS positioning system 16 and a sonar detector 17 are installed on both sides of the upper part of the front end of the bionic body 2, all of which are installed outside the body and fit seamlessly with the bionic body 2. Four groups of cleaning robotic arms 18, two groups of grinding robotic arms 19 and two groups of adsorption robotic arms 20 are welded on the outside of the bionic body 2, a total of eight robotic arms. Each section of the robotic arm is connected by a key connection 5. A sonar detector 17 and a sonar expeller 4 are installed inside the bionic body 2 to detect the underwater environment and expel fish schools. At the same time, each robotic arm has a separate motor to avoid the situation where other robotic arms cannot work when a motor fails. An infrared searchlight camera 3 is installed on the top of the robot to adapt to the low visibility at the bottom of the sea. This camera cooperates with the sonar detector to determine foreign objects on the cage and transmit data to the terminal at the same time. The terminal controls the cleaning robotic arm 18, the grinding robotic arm 19, and the adsorption robotic arm 20 to use a rotary grinding block 15, a mechanical claw 9, and a high-pressure water gun 13 to clean and grind the netting;

[0027] Positioning is carried out through the GPS positioning system 16. At the same time, under the push of the high-pressure water jet propeller 1 and the spiral propeller, by adjusting the swinging mode of the eight robotic arms, it can quickly and accurately reach the destination cage area. The water pipe of the high-pressure water jet propeller 1 is connected to the outside, and the water outlet and the water inlet are independent of each other. The high-pressure water jet propeller 1 is movable, which is convenient for adjusting the direction and can control the robot to move left, right, up, and down;

[0028] Before cleaning, the sonar expeller 4 is used to expel the fish school in the cage to be cleaned;

[0029] Four sets of cleaning robotic arms 18 are equipped with retractable robotic rods 6. A high-pressure cleaning water gun 13 is installed in the middle of the retractable robotic rod 6. The upper end of this high-pressure cleaning water gun 13 is a retractable water pipe 11. The lower end of the cleaning robotic arm 18 is connected to the robotic claw 9 through a sliding connection 12. The control system of the robotic claw 9 is controlled by a hydraulic rod 7. And suction cups 8 are arranged on both the inner and outer sides of the robotic claw 9. The width of the cleaning robotic arm 18 gradually narrows from top to bottom. A micro camera is installed at the bottom of the robotic claw 9. The micro camera cooperates with the robotic claw 9. The cleaning robotic arm 18 is composed of nine sections. During cleaning, information is transmitted to the terminal through a sonar detector 17 and an infrared search camera 3, so as to closely adhere to the netting, reduce the distance between the water gun, the robotic claw and foreign objects. At the same time, the horizontal direction of cleaning is controlled by the retractable robotic rod 6, thereby making the cleaning efficiency stronger. The hydraulic rod 7 provides power for the robotic claw, enabling the robot to walk on the seabed and perform a full-range flushing of the fish cage;

[0030] Two sets of adsorption robotic arms 20 are equipped with bionic octopus suction cups 10 at the lower part. The lower part of the so-called adsorption robotic arm 20 is equipped with bionic octopus suction cups 10. The bionic octopus suction cup 10 contains a retractable barb part inside. The adsorption robotic arm 20 is composed of nine sections and is used to adsorb the netting. Then, the foreign objects on the netting are rotated and hooked through the silicone barbs. The rotating grinding block 15 is close to the netting to grind the foreign objects on the netting. Then, it is cleaned by the high-pressure water gun 13. Finally, the garbage is recycled by the adsorber 14 in the middle of the rotating grinding block;

[0031] Two sets of grinding robotic arms 19 are equipped with rotating grinding blocks 15 at the bottom. The middle of the rotating grinding block is an adsorber 14. Its upper end is connected to a garbage storage area. The front end of the grinding robotic arm 19 has an independent motor and is equipped with a rotating grinding block 15 at the bottom. The middle of the rotating grinding block 15 is an adsorber 14. The rotating grinding block 15 and the adsorber 14 work together. The grinding robotic arm 19 is composed of nine sections and is equipped with a rotating grinding block 15 at the bottom. Information is transmitted through the sonar detector 17 and the infrared search camera 3, and the foreign objects on the netting around the robotic arm can be ground in all directions. Then, the foreign objects ground are recycled by the adsorber in the groove in the middle of the grinding block.

[0032] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent cage cleaning robot based on a bionic octopus, comprising a bionic body (2), a searchlight camera (3), a GPS positioning system (16) and a sonar expelling device (4), characterized in that: Infrared searchlight cameras (3) are installed on both sides of the upper front end of the bionic fuselage (2); a high-pressure water jet propeller (1) and a propeller blade propeller are installed at the bottom of the bionic fuselage (2); a sonar expelling device (4) is installed inside the bionic fuselage (2); four sets of cleaning mechanical arms (18), two sets of grinding mechanical arms (19) and two sets of adsorption mechanical arms (20) are welded on the outside of the bionic fuselage (2), a total of eight mechanical arms, and each section of the mechanical arms is connected by a key connection (5); The four groups of cleaning mechanical arms (18) are additionally provided with a retractable mechanical rod (6), a high-pressure cleaning water gun (13) is additionally provided in the middle of the retractable mechanical rod (6), the upper end of the high-pressure cleaning water gun (13) is a retractable water pipe (11), the lower end of the cleaning mechanical arm (18) is connected to the mechanical claw (9) via a sliding connection (12), the control system of the mechanical claw (9) is controlled by a hydraulic rod (7), and suction cups (8) are provided on both the inner and outer sides of the mechanical claw (9); A rotating grinding block (15) is installed at the bottom of the two sets of grinding mechanical arms (19), and an absorber (14) is located in the middle of the rotating grinding block, and the upper end of the absorber is connected to the garbage storage area; Bionic octopus-like suction cups (10) are installed at the bottom of the two groups of suction mechanical arms (20).

2. The bionic octopus-like intelligent cage cleaning robot according to claim 1, characterized in that: An infrared searchlight camera (3), a GPS positioning system (16) and a sonar detector (17) are installed on both sides of the upper front end of the bionic fuselage (2), and are all installed outside the fuselage and fit seamlessly with the bionic fuselage (2).

3. The bionic octopus-like intelligent cage cleaning robot according to claim 1, characterized in that: The width of the cleaning robot arm (18) gradually narrows from top to bottom.

4. The bionic octopus-like intelligent cage cleaning robot according to claim 1, characterized in that: A micro camera is installed at the bottom of the mechanical claw (9), and the micro camera cooperates with the mechanical claw (9).

5. The bionic octopus-like intelligent cage cleaning robot according to claim 1, characterized in that: The front end of the grinding robot arm (19) is provided with an independent motor, and a rotating grinding block (15) is installed at the bottom. The middle of the rotating grinding block (15) is an absorber (14), and the rotating grinding block (15) and the absorber (14) work together.

6. The bionic octopus-like intelligent cage cleaning robot according to claim 1, characterized in that: A bionic octopus-like suction cup (10) is installed at the bottom of the suction mechanical arm (20), and the bionic octopus-like suction cup (10) contains a retractable hook portion inside.

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