An underwater net cleaning robot

Abstract

The utility model discloses an underwater net cleaning robot, including the main body of fuselage, propulsion module, including the multiple propeller of installation on the main body of fuselage, be used for controlling robot to move and rotate underwater, cleaning module, including the brush washing subassembly of installation on the head of main body of fuselage, be used for the brush washing operation to net, the drain hole is penetrated to the main body of fuselage up and down, is used for draining in the operation process to optimize the surrounding flow field of main body of fuselage, the both sides symmetrical installation of main body of fuselage have bumper, form the side protection of main body of fuselage and enclose and form the installation space of propulsion module. The utility model provides independent safe installation space for propeller, avoids propeller to be entangled or collision damage in the operation of net, realizes the side protection of main body of fuselage through structure itself, through the drainage optimization of the water flow direction around main body of fuselage, reduces the water flow resistance when propeller turns, improves the steering accuracy, reduces the equipment operating power consumption, prolongs the underwater operation time.

Description

Technical Field

[0001] This utility model relates to the field of underwater cleaning equipment technology, specifically an underwater net cleaning robot. Background Technology

[0002] Deep-sea aquaculture is a major trend in the development of marine aquaculture. The large-scale and steel-framed construction of aquaculture facilities is an inevitable means to improve the economics and safety of aquaculture. Netting is an indispensable part of marine aquaculture. Over long-term use, netting cages become susceptible to fouling and biofouling by marine organisms. This fouling not only affects water exchange inside and outside the netting cages but also increases water pressure on the cages, further reducing water exchange and impacting the growth rate of farmed species. It can even lead to disease and, in severe cases, death. Therefore, the netting needs to be cleaned at set intervals. Currently, the most common cleaning method is manual labor, requiring the netting to be removed from the water, laid flat on the ground, and then rinsed with a high-pressure water gun. The aquatic organisms adhering to the netting also need to be manually removed. This process is labor-intensive and inefficient, thus necessitating the use of appropriate netting cleaning robots.

[0003] The existing cleaning robot's thrusters are installed on the body and exposed. The thrusters are easily damaged by the netting. Moreover, when the robot moves underwater, the pressure gradient of the flow field along the direction of movement is very large. The front of the body forms a high-pressure zone due to the impact of the water flow, while the rear of the body forms a low-pressure zone due to the separation of the water flow. This increases the resistance to movement, which can easily cause the body to vibrate, deviate, and become less stable. Utility Model Content

[0004] The purpose of this invention is to provide an underwater net cleaning robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an underwater net cleaning robot, comprising:

[0006] Main body of the fuselage;

[0007] The propulsion module includes multiple thrusters mounted on the main body of the robot for controlling the robot's movement and rotation underwater;

[0008] The cleaning module includes a brushing component installed on the head of the main body of the machine for brushing the mesh fabric.

[0009] The fuselage body has drainage holes running through its top and bottom for drainage during operation to optimize the flow field around the fuselage body. Bumpers are symmetrically installed on both sides of the fuselage body to form side protection for the fuselage body and enclose the installation space for the propulsion module.

[0010] Furthermore, the main body includes a detachably connected upper shell and a lower shell, which are connected by a connecting mechanism.

[0011] Furthermore, the robot also includes a sensing module, a control module, and a power module. The sensing module is located at the head of the main body and includes a camera for acquiring underwater and net images and a light for providing underwater illumination. The control module is located inside the main body and is electrically connected to the propulsion module, the cleaning module, and the sensing module. The power module is located inside the main body and supplies power to the control module, the propulsion module, the cleaning module, and the sensing module.

[0012] Furthermore, the fuselage body has two enclosed compartments along its front-to-back direction. The control module and power module are respectively placed in the two enclosed compartments, and the two enclosed compartments are connected by a passageway. The passageway provides wiring space for the wiring harnesses connecting the control module, power module, propulsion module, cleaning module and sensing module and promotes air circulation in the enclosed compartments.

[0013] Furthermore, the propulsion module includes a submersible thruster for driving the robot's underwater movement and a directional thruster for controlling the robot's steering, with the drainage hole arranged between the submersible thruster and the directional thruster.

[0014] Furthermore, the submersible thrusters include a first thruster, a second thruster, a third thruster, and a fourth thruster arranged in a rectangle in the middle of the fuselage body. The first and third thrusters propel upwards towards the fuselage body, while the second and fourth thrusters propel downwards towards the fuselage body. The directional thrusters include a fifth thruster, a sixth thruster, a seventh thruster, and an eighth thruster arranged in a rectangle at the four corners of the fuselage body. The fifth and sixth thrusters propel forward towards the fuselage body, while the seventh and eighth thrusters propel backwards towards the fuselage body.

[0015] Furthermore, four drainage holes are provided, which are arranged in a rectangular pattern, and each drainage hole is located between a submersible thruster and a directional thruster.

[0016] Furthermore, the bumper is fixedly connected to the main body of the vehicle via a connecting rod.

[0017] Furthermore, the brushing assembly includes a brush head and a drive motor for driving the brush head to move. The brush head is mounted on the head of the main body of the machine, and the output shaft of the drive motor is connected to the brush head.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model sets bumpers on both sides of the main body of the fuselage to provide an independent and safe installation space for the thruster, avoiding the thruster from being entangled in the net or damaged by collision during operation. It also achieves side protection of the main body of the fuselage through the structure itself. Drainage holes are set to assist drainage when the thruster is working. By optimizing the water flow direction around the main body of the fuselage through drainage, the water flow resistance when the thruster turns is reduced, which not only improves the turning accuracy, but also reduces the power consumption of the equipment and extends the underwater operation time, meeting the needs of energy saving and endurance in underwater operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the underwater net cleaning robot of this utility model;

[0020] Figure 2 This is a bottom-view structural diagram of the underwater net cleaning robot of this utility model;

[0021] Figure 3 This is a side view of the underwater net cleaning robot of this utility model.

[0022] Figure 4 for Figure 3 Schematic diagram of the structure in cross section along the AA direction;

[0023] In the diagram, 1-body, 11-drainage hole, 12-bumper, 13-connecting rod, 14-stabilizing platform, 15-enclosed cabin, 16-tunnel, 17-drive motor mounting position, 21-first thruster, 22-second thruster, 23-third thruster, 24-fourth thruster, 25-fifth thruster, 26-sixth thruster, 27-seventh thruster, 28-eighth thruster, 31-brush head, 41-camera, 42-lighting lamp. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figures 1-4 As shown, this embodiment provides an underwater net cleaning robot, including a main body 1 and a propulsion module, a cleaning module, a sensing module, a control module and a power module disposed on the main body 1;

[0026] The propulsion module includes multiple thrusters mounted on the main body 1 for controlling the robot's underwater movement and rotation. The propulsion module includes submersible thrusters for driving the robot's underwater movement and directional thrusters for controlling the robot's steering. The submersible thrusters include a first thruster 21, a second thruster 22, a third thruster 23, and a fourth thruster 24 arranged in a rectangle in the middle of the main body 1. The first thruster 21 and the third thruster 23 propel upwards towards the main body 1, while the second thruster 22 and the fourth thruster 24 propel downwards towards the main body 1, working together to provide power for surfacing and diving. The directional thrusters include a fifth thruster 25, a sixth thruster 26, a seventh thruster 27, and an eighth thruster 28 arranged in a rectangle at the four corners of the main body 1. The fifth thruster 25 and the sixth thruster 26 propel forward towards the main body 1, while the seventh thruster 27 and the eighth thruster 28 propel backwards towards the main body 1, working together to provide power for surfacing and diving. Providing power for forward and backward movement and turning, this embodiment achieves full-degree-of-freedom motion capability through an eight-thruster layout, allowing for flexible movement. In this embodiment, the main body 1 has drainage holes 11 running vertically through it. The drainage holes 11 are arranged between the submersible thrusters and the directional thrusters. There are four drainage holes 11 corresponding to the submersible thrusters and the directional thrusters, arranged in a rectangular pattern. Each drainage hole 11 is located between a submersible thruster and a directional thruster. The four drainage holes 11 are respectively arranged between the first thruster 21 and the seventh thruster 27, the second thruster 22 and the fifth thruster 25, the third thruster 23 and the sixth thruster 26, and the fourth thruster 24 and the eighth thruster 28. The drainage holes 11 assist in drainage when the thrusters are working. By draining water, the direction of water flow around the main body 1 is optimized, reducing water flow resistance when the thrusters turn. This improves turning accuracy, reduces equipment operating power consumption, and extends underwater operation time, meeting the requirements for energy-saving and endurance underwater operations.

[0027] The cleaning module includes a brushing assembly installed at the head of the main body 1 for brushing the mesh fabric. The brushing assembly includes a brush head 31 and a drive motor for driving the brush head 31. The drive motor is installed inside the main body 1. The brush head 31 is installed at the head of the main body 1. The output shaft of the drive motor is connected to the brush head 31. There are two brush heads 31, symmetrically distributed on both sides of the head of the main body 1. There are two drive motors accordingly. The drive motor drives the brush head 31 to rotate, and removes dirt, algae and other impurities from the mesh fabric through mechanical friction.

[0028] The sensing module is located at the head of the main body 1 and includes a camera 41 for collecting underwater and net images and a light 42 for providing underwater illumination. The camera 41 observes the underwater environment and identifies the net pollution situation. The light 42 provides supplemental lighting to the underwater environment to solve the problem of insufficient underwater light and assist the camera in its work and cleaning operation. The sensing module and propulsion module can accurately locate the polluted area and control the brush head 31 to clean in a directional manner, thereby improving cleaning efficiency.

[0029] The control module is located inside the main body 1 and is electrically connected to the propulsion module, the cleaning module and the sensing module. The power module is located inside the main body 1 and supplies power to the control module, the propulsion module, the cleaning module and the sensing module.

[0030] The main body 1 of the fuselage is symmetrically equipped with bumpers 12 on both sides. The bumpers 12 are trapezoidal in shape, with a length and width slightly larger than the length and width of the main body 1. They are fixedly connected to the main body 1 by connecting rods 13. In this embodiment, a square stabilizing platform 14 is provided on each of the upper and lower sides of the main body 1. The stabilizing platform 14 is rigidly connected to the main body 1 by bolts. The middle of the upper and lower ends of the bumpers 12 are fixedly connected to the connecting rods 13. The connecting rods 13 are connected to the stabilizing platforms 14 by bolts. In this way, the bumpers 12 are fixedly installed on both sides of the main body 1, forming side protection for the main body and enclosing the installation space of the propulsion module. This provides an independent and safe installation space for the propulsion, preventing the propulsion from being entangled in the netting or damaged by collision during operation. The structure itself also provides side protection for the main body 1.

[0031] The main body 1 has two enclosed compartments 15 along its front-to-back direction. The control module and power module are respectively placed in the two enclosed compartments 15, and the two enclosed compartments 15 are connected by a passageway 16. The passageway 16 is a long and narrow channel that provides wiring space for the wiring harnesses connecting the control module, power module, propulsion module, cleaning module, and sensing module, and promotes air circulation within the enclosed compartments 15. The drive motor mounting position 17 is connected to the enclosed compartment 15. The passageway 16 at the drive motor mounting position has a reserved hole through which the wiring harness can be connected to the control module. This ensures the safety of the control module and power module. While waterproofing and sealing the electrical components, the passageway 16 provides a heat dissipation path for internal components such as the control module and power module, solving the technical problem of balancing sealing and heat dissipation in underwater equipment and effectively extending the service life of control and power modules. The main body 1 includes a detachable upper shell and a lower shell, which are connected by bolts. The upper shell has multiple slots with threaded holes for installing bolts. The upper and lower shells can be disassembled and assembled by bolts, facilitating the inspection, maintenance and replacement of internal components and reducing later maintenance costs.

[0032] The working process of this utility model is as follows: After the robot enters the water, it first turns on the lighting 42 and the camera 41. The lighting 42 illuminates the underwater working area, and the camera 41 captures the status of the net and the surrounding environment in real time and transmits the images to the control module. The control module analyzes the data transmitted by the camera to identify the location and degree of net contamination and whether there are obstacles, such as knotted nets, underwater debris, etc.

[0033] Based on the data, the control module sends control signals to the four submersible thrusters and the four directional thrusters, controlling the submersible thrusters to provide forward and backward power, driving the robot closer to the net; controlling the directional thrusters to adjust the angle of the main body 1 to achieve precise positioning, aligning the brush head 31 with the contaminated area; during this process, the four drainage holes 11 drain water synchronously, optimizing the water flow direction, assisting the thrusters to reduce turning power consumption, and ensuring that the equipment moves smoothly and accurately;

[0034] When the brush head 31 reaches the contaminated area, the control module controls the drive motor to start, and the drive motor drives the brush head 31 to rotate at high speed. Through the slow movement of the device itself, the rotating brush head 31 generates friction with the mesh surface, peeling off dirt, algae and other impurities from the mesh gaps. At the same time, the camera 41 continuously monitors the cleaning effect, and the control module adjusts the robot position and the speed of the brush head 31 according to the real-time image to ensure that there are no blind spots in the cleaning.

[0035] During operation, the enclosed cabin continuously dissipates heat through the passageway, ensuring the stable operation of the control module and power module; the wiring harness maintains stable signal and power transmission through reserved holes, ensuring the coordinated operation of components such as motors, thrusters, and cameras; in case of complex situations, such as slight entanglement of the thrusters, the bumpers on both sides can provide protection to avoid damage to the core components of the equipment and ensure the continuity of operation.

[0036] This utility model features bumpers on both sides of the main body, providing an independent and safe installation space for the thruster and preventing it from being entangled in the netting or damaged by collisions during operation. The structure itself also provides side protection for the main body. Drainage holes are provided to assist in drainage when the thruster is working. By optimizing the water flow direction around the main body through drainage, the water flow resistance when the thruster turns is reduced, which improves the turning accuracy, reduces the power consumption of the equipment, and extends the underwater operation time, meeting the needs of energy-saving and endurance underwater operations.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater net cleaning robot, characterized in that, include: Main body of the fuselage; The propulsion module includes multiple thrusters mounted on the main body of the robot for controlling the robot's movement and rotation underwater; The cleaning module includes a brushing component installed on the head of the main body of the machine for brushing the mesh fabric. The fuselage body has drainage holes running through its top and bottom for drainage during operation to optimize the flow field around the fuselage body. Bumpers are symmetrically installed on both sides of the fuselage body to form side protection for the fuselage body and enclose the installation space for the propulsion module.

2. The underwater net cleaning robot according to claim 1, characterized in that: The main body of the fuselage includes a detachably connected upper shell and a lower shell, which are connected by a connecting mechanism.

3. The underwater net cleaning robot according to claim 1, characterized in that: The robot also includes a sensing module, a control module, and a power module. The sensing module is located at the head of the main body and includes a camera for acquiring underwater and net images and a light for providing underwater illumination. The control module is located inside the main body and is electrically connected to the propulsion module, the cleaning module, and the sensing module. The power module is located inside the main body and supplies power to the control module, the propulsion module, the cleaning module, and the sensing module.

4. The underwater net cleaning robot according to claim 3, characterized in that: The fuselage has two enclosed compartments along its front-to-back direction. The control module and power module are respectively placed in the two enclosed compartments. The two enclosed compartments are connected by a passageway. The passageway provides wiring space for the wiring harnesses connecting the control module, power module, propulsion module, cleaning module and sensing module and promotes air circulation in the enclosed compartments.

5. The underwater net cleaning robot according to claim 1, characterized in that: The propulsion module includes a submersible thruster for driving the robot's underwater movement and a directional thruster for controlling the robot's steering, with the drainage hole arranged between the submersible thruster and the directional thruster.

6. The underwater net cleaning robot according to claim 5, characterized in that: The submersible thrusters include a first thruster, a second thruster, a third thruster, and a fourth thruster arranged in a rectangle in the middle of the fuselage body. The first and third thrusters propel upwards towards the fuselage body, while the second and fourth thrusters propel downwards towards the fuselage body. The directional thrusters include a fifth thruster, a sixth thruster, a seventh thruster, and an eighth thruster arranged in a rectangle at the four corners of the fuselage body. The fifth and sixth thrusters propel forward towards the fuselage body, while the seventh and eighth thrusters propel backwards towards the fuselage body.

7. The underwater net cleaning robot according to claim 6, characterized in that: The system has four drainage holes arranged in a rectangular pattern, with each drainage hole located between a submersible thruster and a directional thruster.

8. The underwater net cleaning robot according to claim 1, characterized in that: The bumper is fixedly connected to the main body of the vehicle via a connecting rod.

9. The underwater net cleaning robot according to claim 1, characterized in that: The scrubbing assembly includes a brush head and a drive motor for driving the brush head to move. The brush head is mounted on the head of the main body of the machine, and the output shaft of the drive motor is connected to the brush head.

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