Universal underwater ultrasonic antifouling cleaning device

Abstract

The utility model discloses a universal underwater ultrasonic antifouling cleaning device. The universal underwater ultrasonic antifouling cleaning device comprises a self-propelled unmanned device, an ultrasonic device and a communication relay device, a first lithium battery pack and a first mechanical arm group are mounted on the self-propelled unmanned device, and the first mechanical arm group is used for grabbing the top edge of the breeding netting; the ultrasonic device is suspended and connected below the self-propelled unmanned device; the ultrasonic device comprises an ultrasonic generator, a long-distance ultrasonic transducer and a short-distance ultrasonic transducer array; the ultrasonic generator is used for forming directional ultrasonic waves on the long-distance ultrasonic transducer and the short-distance ultrasonic transducer array; according to the utility model, aquatic organisms such as barnacles attached to the culture netting can be removed and defended by utilizing ultrasonic equipment, so that the removal efficiency of the aquatic organisms is improved, and the living environment of aquatic products in the culture netting is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aquaculture equipment, in particular to a universal underwater ultrasonic anti-fouling cleaning device. Background Art

[0002] Cage aquaculture refers to a method of aquaculture in which cages made of mesh are placed in a designated area of ​​water for the cultivation of aquatic products. By placing the cages in lakes, rivers, reservoirs, and other areas with a stable flow, clean water, and high dissolved oxygen levels, high-density aquaculture is practiced. Yields can reach tens to hundreds of kilograms per square meter of cage floor area. Commonly used for the cultivation of common carp, rainbow trout, silver carp, bighead carp, grass carp, and bream, barnacles are commonly found. In practice, after prolonged aquaculture, barnacles and other aquatic organisms can become densely attached to the surface of the nets, causing water pollution and reducing aquaculture efficiency. Existing methods typically involve manual removal or robots that circulate along the inner wall of the aquaculture nets, using high-pressure water guns and steel brushes to rub the inner wall, removing barnacles and other aquatic organisms through cavitation and physical friction. A problem with this method is that aquatic organisms often cling very firmly to the inner wall of the cages, making physical removal ineffective and often ineffective. Therefore, how to develop a defense and cleaning device for aquaculture nets and to overcome the above-mentioned problems in the prior art is a direction that those skilled in the art need to study. Utility Model Content

[0003] The utility model provides a universal underwater ultrasonic antifouling cleaning device, which comprises:

[0004] Self-propelled unmanned devices and ultrasonic devices;

[0005] The self-propelled unmanned device is equipped with a first lithium battery pack and a first mechanical arm group, the first mechanical arm group includes at least two first mechanical arms, one end of the first mechanical arm is fixedly connected to the self-propelled unmanned device as a whole, and the other end of the first mechanical arm is provided with a replaceable first mechanical claw; the first mechanical claw is configured to grasp the top edge of the farming net; the first mechanical arm and the first mechanical claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy; the ultrasonic device is installed on a mounting frame, and the mounting frame is suspended and connected to the bottom of the self-propelled unmanned device; the ultrasonic device includes an ultrasonic generator, a long-range ultrasonic transducer and a short-range ultrasonic transducer array The array of short-range ultrasonic transducers is located on one side of the mounting frame, and the long-range ultrasonic transducer is located on the other side of the mounting frame; the ultrasonic generator is electrically connected to the long-range ultrasonic transducer and the array of short-range ultrasonic transducers, respectively, and is used to form directional ultrasonic waves on the vibrator surface of the short-range ultrasonic transducer array and the vibrator surface of the long-range ultrasonic transducer, respectively; the first lithium battery pack is used to supply power to the electrical devices on the self-propelled unmanned device and to supply power to the electrical devices on the ultrasonic device, that is, the first lithium battery pack is configured to be electrically connected to the electrical devices on the self-propelled unmanned device and to the electrical devices on the ultrasonic device, respectively.

[0006] This solution employs the following: During the aquatic organism removal process, the close-range ultrasonic transducer array is moved close to aquatic organisms attached to the inner wall of the aquaculture net. The ultrasonic generator is activated, generating directional ultrasonic waves on the vibrator surfaces of the close-range ultrasonic transducer array. These directional ultrasonic waves shatter aquatic organisms such as barnacles into small fragments, which fall to the bottom of the net cage and escape through gaps in the net ropes at the bottom. Simultaneously, the ultrasonic generator generates directional ultrasonic waves on the vibrator surfaces of the long-range ultrasonic transducer. The directional ultrasonic waves generated on the vibrator surfaces of the close-range ultrasonic transducer array and the long-range ultrasonic transducer resonate on the inner wall of the net cage, disrupting the biofilm and preventing subsequent aquatic organisms from reattaching, thus providing a proactive defense against aquatic organisms. The first robotic arm and the first robotic claw are each made of aluminum alloy electroplated with zinc-nickel alloy, offering high strength, light weight, and corrosion resistance, meeting the requirements of prolonged underwater operations.

[0007] Preferably, the ultrasonic device further comprises a pneumatic ultrasonic shovel, and the pneumatic ultrasonic shovel is symmetrically mounted on both sides of the mounting frame.

[0008] By adopting this solution: using pneumatic ultrasonic shovel to achieve rough cleaning and removal of large particles and stubborn shell dirt, combined with ultrasonic waves to achieve better cleaning results.

[0009] Preferably, the mounting frame is connected to the bottom of the self-propelled unmanned device through a winch wire suspension, and the self-propelled unmanned device also includes an electric winch, one end of the winch wire is wound and installed on the electric winch, and the other end of the winch wire is fixedly connected to the mounting frame as a whole.

[0010] By adopting this solution: by adjusting the rotation of the electric winch, adjusting the straight-line distance between the mounting frame and the self-propelled unmanned device, and then adjusting the close-range ultrasonic transducer array and the operating depth on the inner wall of the cage, the inner wall of the cage can be cleaned in the vertical direction.

[0011] Preferably, the ultrasonic device also includes a second robotic arm group, the second robotic arm group includes at least two second robotic arms, one end of the second robotic arm is fixedly connected to the mounting frame as a whole, and the other end of the second robotic arm is provided with a replaceable second robotic claw; the second robotic claw is configured to grasp the inner wall net rope of the breeding net; the second robotic arm and the second robotic claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy.

[0012] By adopting this technical solution: while the first robotic arm fixes the self-propelled unmanned device on the water surface, the second robotic arm is used under the water surface to fix the position of the ultrasonic device and the inner side of the aquaculture net, thereby preventing the close-range ultrasonic transducer array from moving with the water flow during the cleaning process and weakening the cleaning effect.

[0013] Preferably, the self-propelled unmanned device further includes a first camera; and the ultrasonic device further includes an underwater camera and a side-scan sonar.

[0014] By adopting this technical solution: the first camera is used to shoot the water surface environment, and the underwater camera is used to shoot the image of the inner wall of the underwater box, thereby realizing the monitoring function of the device on and under the water surface.

[0015] Preferably, the ultrasonic device further comprises an underwater LED lighting lamp. Further, the underwater LED lighting lamp is installed on the mounting frame at a position close to the close-range ultrasonic transducer array.

[0016] By adopting this technical solution: using underwater LED lights to improve underwater visibility.

[0017] Preferably, the ultrasonic device further comprises a distance sensor. Further, the distance sensor is mounted on the mounting frame at a position close to the close-range ultrasonic transducer array.

[0018] By adopting this technical solution: using a distance sensor to sense the relative distance between the close-range ultrasonic transducer array and the inner wall of the breeding net in real time, it is convenient for the staff to control the second mechanical claw to adjust the distance between the close-range ultrasonic transducer array and the inner wall of the breeding net.

[0019] Preferably, the self-propelled unmanned device further includes a wind power generation device, and the wind power generation device is electrically connected to the first lithium battery pack.

[0020] By adopting this technical solution, wind power generation is utilized to power the first lithium battery pack.

[0021] Preferably, the self-propelled unmanned device is further equipped with a local machine; the local machine is used to respectively connect to the first robotic arm group, the ultrasonic generator, the electric winch, the second robotic arm group, the first camera, the underwater camera, the underwater LED lighting, and the distance sensor signal;

[0022] It also includes: a communication relay device, which includes an annular hoop, a communication repeater and a second lithium battery pack; the second lithium battery pack is used to power the communication repeater, the communication repeater is wirelessly connected to the local machine, and the communication repeater is used to realize remote signal interaction between the local machine and the external control terminal; the annular hoop is configured to be mounted on the handrail frame of the breeding net; the communication repeater and the second lithium battery pack are installed on the inner wall of the annular hoop.

[0023] This technical solution utilizes a communication relay device in conjunction with the local machine to achieve shore-based remote control of the device, enabling unmanned operation and reducing the labor cost of equipment management. Furthermore, the communication relay device is fixed at a higher position than the self-propelled unmanned device, minimizing its exposure to waves.

[0024] Preferably, the communication relay device further comprises: a flexible solar panel, wherein the flexible solar panel is configured to be wrapped around the outer wall of the annular hoop, and the flexible solar panel is electrically connected to the second lithium battery pack.

[0025] By adopting this technical solution: the solar panel converts electrical energy into the second lithium battery pack to power the communication repeater.

[0026] Compared with the prior art, the present invention has achieved the following technical advancements:

[0027] Firstly, the utility model can use ultrasonic equipment to achieve efficient cleaning and active defense of aquatic organisms such as barnacles attached to the inner wall of the aquaculture net, thereby improving the efficiency of aquatic organism removal and the living environment of aquatic products in the cage.

[0028] Secondly, the utility model can realize the visualization of the inner wall of the aquaculture net during the working process, and realize the targeted cleaning of the inner wall of the cage.

[0029] Third, the utility model can use solar energy and wind energy to generate and store electricity by itself, which greatly improves the endurance of the equipment for long-term operation and reduces the labor cost of equipment maintenance.

[0030] Fourthly, the utility model can realize shore-based remote control, further reducing the manpower cost of equipment management.

[0031] Finally, the system of the utility model has a simple structure and is easy to operate. Compared with traditional equipment, it has the advantages of light weight, low cost, clean and environmentally friendly energy use. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of Example 1 when installed on a breeding net.

[0033] Figure 2 for Figure 1 A partial enlarged view of area A in the middle.

[0034] Figure 3 This is a connection diagram of the self-propelled unmanned device and the ultrasonic device.

[0035] Figure 4 for Figure 3 Schematic diagram of the structure from another angle.

[0036] Figure 5 Schematic diagram of the internal structure of the self-propelled unmanned device.

[0037] Figure 6 Schematic diagram of the ultrasonic generator in the mounting frame.

[0038] Figure 7 This is an enlarged schematic diagram of the communication relay device.

[0039] Figure 8 Schematic diagram of the internal structure of the annular hoop.

[0040] In the figures, the names of the components corresponding to the reference numerals are as follows:

[0041] 100. Self-propelled unmanned device; 200. Ultrasonic device; 300. Communication relay device; 110. Local machine; 120. First lithium battery pack; 130. First robotic arm; 131. First robotic claw; 140. Electric winch; 141. Winch wire; 150. First camera; 160. Wind turbine; 210. Ultrasonic generator; 220. Second robotic arm; 221. Second robotic claw; 230. Short-range ultrasonic transducer array; 240. Long-range ultrasonic transducer; 250. Underwater camera; 251. Side-scan sonar; 260. Underwater LED lighting; 270. Distance sensor; 280. Mounting bracket; 290. Pneumatic ultrasonic shovel; 310. Communication relay; 320. Second lithium battery pack; 330. Ring hoop; 340. Flexible solar panel. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0043] Example 1, please refer to Figure 1-8 :

[0044] A universal underwater ultrasonic antifouling cleaning device, comprising: a self-propelled unmanned device 100, an ultrasonic device 200 and a communication relay device 300;

[0045] The self-propelled unmanned device 100 is equipped with a local machine 110, a first lithium battery pack 120 and a first robotic arm group. The first robotic arm group includes two first robotic arms 130, and the two first robotic arms 130 are symmetrically distributed on both sides of the self-propelled unmanned device 100. One end of the first robotic arm 130 is fixedly connected to the self-propelled unmanned device 100 as a whole, and the other end of the first robotic arm 130 is provided with a first robotic claw 131; the first robotic claw 131 is configured to grasp the top edge of the aquaculture net; the ultrasonic underwater defense cleaning machine can be controlled to circle along the net and move up and down through remote manual, automatic, timing, custom, etc. to form full coverage of the area.

[0046] The ultrasonic device 200 is mounted on a mounting frame 280, which is suspended and connected to the bottom of the self-propelled unmanned device 100. The ultrasonic device 200 includes an ultrasonic generator 210, a long-range ultrasonic transducer 240, a short-range ultrasonic transducer array 230, and a pneumatic ultrasonic shovel 290.

[0047] The short-range ultrasonic transducer array 230 is located on one side of the mounting frame 280 facing the inner wall of the aquaculture net, while the long-range ultrasonic transducer 240 is located on the other side of the mounting frame 280. The ultrasonic generator 210 is electrically connected to the long-range ultrasonic transducer 240 and the short-range ultrasonic transducer array 230, respectively, and is used to generate directional ultrasonic waves on the vibrator surfaces of the short-range ultrasonic transducer array 230 and the long-range ultrasonic transducer 240, respectively. The directional ultrasonic waves generated by the short-range ultrasonic transducer array 230 have an effective range of 0-4 cm, while the directional ultrasonic waves generated by the long-range ultrasonic transducer 240 have an effective range of 0-20 m. The pneumatic ultrasonic shovel 290 is configured to output high-frequency vibrations of 20,000 times per minute to remove large particles and stubborn shellfish dirt.

[0048] The ultrasonic device 200 also includes a second robotic arm assembly, comprising four second robotic arms 220, located on both sides of the upper and lower edges of the mounting frame 280. One end of each second robotic arm 220 is fixedly connected to the mounting frame 280, and the other end of each second robotic arm 220 is provided with a second robotic claw 221. The second robotic claw 221 is configured to grasp the inner wall rope of the aquaculture net. In this example, the first robotic arm 130 and the second robotic arm 220 are both four-axis robotic arms. The first robotic arm, the first robotic claw, the second robotic arm, and the second robotic claw are each made of an aluminum alloy electroplated with a zinc-nickel alloy.

[0049] The local machine 110 is respectively connected to the first robotic arm group, the second robotic arm group, and the ultrasonic generator 210 for controlling the first robotic arm group and the ultrasonic generator 210. The first lithium battery pack 120 is used to power the electrical devices on the autonomous unmanned device 100 and the electrical devices on the ultrasonic device 200.

[0050] The communication relay device 300 includes a communication repeater 310 and a second lithium battery pack 320; the second lithium battery pack 320 is used to power the communication repeater 310, the communication repeater 310 is wirelessly connected to the local machine 110, and the communication repeater 310 is used to realize remote signal interaction between the local machine 110 and the external control terminal.

[0051] In practice, the process is as follows: A staff member at the shore-based control console inputs a control signal, which is wirelessly transmitted to the local machine 110 via the communication relay 310. Based on the control signal, the local machine 110 controls the relevant equipment. First, the local machine 110 controls the first robotic arm group, with each first robotic arm 130 pulling the self-propelled unmanned device 100 along the top edge of the aquaculture net. Then, the local machine 110 controls the second robotic arm group, with each second robotic arm 220 pulling the mounting frame 280, moving the array of close-range ultrasonic transducers 230 close to the inner wall of the aquaculture net (with a spacing of less than 4 cm). The local machine 110 activates the ultrasonic generator 210, which generates directional ultrasonic waves on the transducer surfaces of the close-range ultrasonic transducer array 230. This directional ultrasonic wave shatters aquatic organisms such as barnacles into small fragments, which fall to the bottom of the cage and escape through gaps in the netting ropes. At the same time, the ultrasonic generator 210 also forms directional ultrasonic waves on the vibrator surface of the long-range ultrasonic transducer 240. The directional ultrasonic waves formed on the vibrator surface of the close-range ultrasonic transducer array 230 and the directional ultrasonic waves formed on the vibrator surface of the long-range ultrasonic transducer 240 resonate on the net rope on the inner wall of the cage, destroying the biofilm and ensuring that subsequent aquatic organisms cannot attach again, thereby playing a positive defensive effect on aquatic organisms.

[0052] In this example: the mounting frame 280 is suspended and connected to the bottom of the self-propelled unmanned device 100 through a winch wire 141. The self-propelled unmanned device 100 also includes an electric winch 140. One end of the winch wire 141 is wound and installed on the electric winch 140, and the other end of the winch wire 141 is fixedly connected to the mounting frame 280 as a whole; the local machine 110 is signal-connected to the electric winch 140, and the local machine 110 is also used to control the electric winch 140.

[0053] In practice, workers control the rotation of the electric winch 140 via the local machine 110. During rotation, the electric winch 140 adjusts the payout length of the winch wire 141, thereby vertically adjusting the operating depth of the mounting frame 280 on the aquaculture net. This eliminates the need for a large, close-range ultrasonic transducer array 230, reducing equipment costs.

[0054] In this example, the self-propelled unmanned vehicle 100 further includes a first camera 150 and a wind turbine generator 160. The first camera 150 is signal-connected to the local computer 110 and is configured to capture images of the external environment at the height of the self-propelled unmanned vehicle 100. The captured images are then remotely fed back to the shore-based control console via the local computer 110 and the communication relay device 300. The wind turbine generator 160 is electrically connected to the first lithium battery pack 120. The wind power discharge device is configured to power the first lithium battery pack 120 via wind power generation, significantly increasing the battery life of the first lithium battery pack 120.

[0055] In this example, the ultrasonic device 200 further includes: an underwater camera 250 , an underwater LED lighting 260 , a distance sensor 270 and a side-scan sonar 251 .

[0056] The underwater camera 250 is signal-connected to the local computer 110 and is used to capture underwater images of the inner wall of the aquaculture net and transmit them to the local computer 110. The underwater LED lighting 260 is mounted on the mounting bracket 280 near the close-range ultrasonic transducer array 230 to enhance underwater visibility and assist the underwater camera 250 in capturing images. The distance sensor 270 is signal-connected to the local computer 110 and is used to sense the relative distance between the close-range ultrasonic transducer array 230 and the inner wall of the aquaculture net in real time, facilitating operator control of the second mechanical gripper 221 to adjust the distance between the close-range ultrasonic transducer array 230 and the inner wall of the aquaculture net.

[0057] In this example, the communication relay device 300 further includes an annular hoop 330 and a flexible solar panel 340. The annular hoop 330 is configured to be placed on the handrail frame of the aquaculture net; the communication relay 310 and the second lithium battery pack 320 are mounted on the inner wall of the annular hoop 330. The flexible solar panel 340 is wrapped around the outer wall of the annular hoop 330 and is electrically connected to the second lithium battery pack 320 to provide power to the second lithium battery pack 320.

[0058] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they will still fall within the scope of protection of the present invention.

Claims

1. A universal underwater ultrasonic antifouling cleaning device, characterized in that: include: Self-propelled unmanned devices and ultrasonic devices; The self-propelled unmanned device is equipped with a first lithium battery pack and a first mechanical arm group, the first mechanical arm group includes at least two first mechanical arms, one end of the first mechanical arm is fixedly connected to the self-propelled unmanned device as a whole, and the other end of the first mechanical arm is provided with a replaceable first mechanical claw; the first mechanical claw is configured to grasp the top edge of the farming net; the first mechanical arm and the first mechanical claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy; the ultrasonic device is installed on a mounting frame, and the mounting frame is suspended and connected to the bottom of the self-propelled unmanned device; the ultrasonic device includes The ultrasonic generator comprises an ultrasonic generator, a long-range ultrasonic transducer and a short-range ultrasonic transducer array; the short-range ultrasonic transducer array is located on one side of the mounting frame, and the long-range ultrasonic transducer is located on the other side of the mounting frame; the ultrasonic generator is electrically connected to the long-range ultrasonic transducer and the short-range ultrasonic transducer array, respectively, and is used to form directional ultrasonic waves on the vibrator surface of the short-range ultrasonic transducer array and the vibrator surface of the long-range ultrasonic transducer, respectively; the first lithium battery pack is used to power the electrical devices on the self-propelled unmanned device and the electrical devices on the ultrasonic device.

2. The universal underwater ultrasonic antifouling cleaning device according to claim 1, characterized in that: The ultrasonic device further comprises a pneumatic ultrasonic shovel, which is symmetrically mounted on both sides of the mounting frame.

3. The universal underwater ultrasonic antifouling cleaning device according to claim 2, characterized in that: The mounting frame is connected to the bottom of the self-propelled unmanned device through a winch wire suspension. The self-propelled unmanned device further comprises an electric winch, one end of the winch wire is wound and mounted on the electric winch, and the other end of the winch wire is fixedly connected to the mounting frame as a whole.

4. The universal underwater ultrasonic antifouling cleaning device according to claim 3, characterized in that: The ultrasonic device also includes a second robotic arm group, which includes at least two second robotic arms. One end of the second robotic arm is fixedly connected to the mounting frame as a whole, and the other end of the second robotic arm is provided with a replaceable second robotic claw; the second robotic claw is configured to grasp the inner wall net rope of the breeding net; the second robotic arm and the second robotic claw are respectively made of aluminum alloy electroplated with zinc-nickel alloy.

5. The universal underwater ultrasonic antifouling cleaning device according to claim 4, characterized in that: The self-propelled unmanned device also includes a first camera; the ultrasonic device also includes an underwater camera and a side-scan sonar.

6. The universal underwater ultrasonic antifouling cleaning device according to claim 5, characterized in that: The ultrasonic device also includes an underwater LED lighting lamp.

7. The universal underwater ultrasonic antifouling cleaning device according to claim 6, characterized in that: The ultrasonic device further includes a distance sensor.

8. The universal underwater ultrasonic antifouling cleaning device according to claim 7, characterized in that: The self-propelled unmanned device further includes a wind power generation device, which is electrically connected to the first lithium battery pack.

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