Autonomous Net Cage Cleaning Robot with Sonar Positioning
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Solution Overview
Problem
Current methods for cleaning and repairing net cages are time-consuming, labor-intensive, and inefficient, especially when damages occur underwater, and existing technologies fail to provide a safe, high-efficient, economical, and convenient solution for simultaneous cleaning and mending.
Innovation Solution
An intelligent robot system comprising a control system, a streamlined pressure casing with electromagnets, motion mechanisms, cleaning brushes, and mending blocks, equipped with sonar sensors, cameras, and water ballast tanks, allowing synchronized operation of two robots to clean and mend net cages efficiently and safely.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual cleaning and mending methods are used, then operational flexibility is maintained, but labor intensity increases and productivity decreases
Solution Approach 1:
The robot is equipped with both cleaning mechanisms (brushes, water jets) and mending mechanisms (sensors, repair tools) that operate autonomously. The system performs self-positioning using sonar sensors, self-cleaning of brushes, and automatic mending operations without requiring continuous manual intervention, thereby resolving the contradiction between productivity improvement and manual labor reduction
Solution Approach 2:
The invention combines previously separate cleaning and mending operations into a single integrated robotic system. The robot simultaneously performs both cleaning (removing attachments) and mending (repairing damages) functions, eliminating the need for separate manual operations and significantly improving overall productivity while reducing labor intensity
2Stability of the object's composition
If the robot uses parallel cable driving for three-dimensional motion, then underwater stability improves, but positioning accuracy remains insufficient
Solution Approach 1:
The robot employs sonar sensors that continuously detect the net cage structure and the robot's own position in real-time. This feedback information is used to adjust the parallel cable driving system, enabling precise positioning while maintaining underwater stability. The feedback loop allows the system to compensate for positioning errors without compromising stability
Solution Approach 2:
The invention replaces pure mechanical positioning with a hybrid system that uses sonar sensing and electronic control to supplement the mechanical parallel cable driving. This substitution allows for more accurate positioning by using acoustic field information rather than relying solely on mechanical feedback, thereby improving positioning accuracy while maintaining the stability benefits of the mechanical system
3Reliability
If net cage damage is repaired on land, then mending quality improves, but time loss increases and productivity decreases
Solution Approach 1:
The robot performs mending operations in-situ before the net cage is brought to land. By detecting damages with sonar sensors and immediately applying repairs using the onboard mending mechanisms, the system eliminates the need to salvage the entire net cage to land for repair. This preliminary action resolves the contradiction by providing timely repair (reducing time loss) while maintaining adequate mending quality through automated repair processes
4Productivity
If manual cleaning methods are used, then equipment complexity is low, but cleaning thoroughness and efficiency are insufficient
Solution Approach 1:
The robotic system is designed with multi-functional capabilities, combining cleaning mechanisms (brushes, water jets), detection systems (sonar sensors), and mending mechanisms in a single platform. This universality allows the system to perform multiple tasks that would otherwise require separate equipment and operations, improving overall cleaning efficiency while justifying the increased complexity through consolidated functionality
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The intelligent robot system enables safe, efficient, and cost-effective cleaning and mending of net cages by synchronizing the movement of two robots using sonar sensors and ballast water control, improving positioning accuracy and reducing manual labor, thus enhancing operational safety and efficiency.
Implementation Method 1
an attraction module, comprising a plurality of electromagnets which are symmetrically arranged at a bottom of the pressure casing
Implementation Method 2
The ballast water in the water ballast tank is adjusted by air compression to suspend the intelligent robot in water, avoiding the damage for the net cage caused by sinking or floating of the intelligent robot
Implementation Method 3
The two intelligent robots are correlated to each other through sonar sensors
Data Source
AI summary
This application provides an intelligent robot for cleaning and mending a net cage and a method of using the intelligent robot, including: a control system, a main body, an attraction module, a motion module, a cleaning module and a mending module. The main body includes a streamlined pressure casing, and a drive mechanism and a water ballast tank which are located in the pressure casing. The attraction module includes electromagnets which are symmetrically provided at a bottom of the pressure casing. The motion module includes first and second motion mechanisms which are symmetrically provided at opposite sides of the pressure casing. A traveling path of the first motion mechanisms is perpendicular to a traveling path of the second motion mechanisms. The intelligent robot achieves cleaning and mending for both sides of the net cage, and is simple to operate, safe, high-efficient, economical and convenient.