CN-122009351-A - Net clothes cleaning robot

CN122009351ACN 122009351 ACN122009351 ACN 122009351ACN-122009351-A

Abstract

The invention discloses a netting cleaning robot which comprises a robot body, a crawler assembly and a lifting assembly, wherein the robot body comprises a vision assembly, a frame cavity and a jet chassis movably connected to the bottom of the frame cavity, the lifting assembly comprises a main shaft connected to the jet chassis and a lifting part arranged on the frame cavity, the main shaft penetrates through the lifting part, the lifting part is used for lifting the main shaft so as to drive the jet chassis to synchronously lift and lower, the vision assembly is used for acquiring environment information of a working area of the robot body, the crawler assembly is used for driving the robot body to advance and surmount obstacles according to the environment information, the lifting assembly is used for lifting the jet chassis according to the environment information so as to control cleaning distance between the jet chassis and the working area, and the netting cleaning robot is provided to solve the problems that in the prior art, the distance between a cleaning part and a netting cannot be flexibly adjusted, and the obstacle surmount capability of a travelling mechanism is insufficient.

Inventors

GOU LIJUN
PENG BIN
ZHAN PENGMING
WU ZHONGYI
HUANG JIAYI
ZHANG HANG
LIU QINGHUA
ZHAO XIHE

Assignees

广东省现代农业装备研究院

Dates

Publication Date: 20260512
Application Date: 20260228

Claims (10)

1. A web cleaning robot, comprising: A robot body; The crawler belt assembly is arranged on the robot body; the lifting assembly is arranged on the robot body; the robot body comprises a vision component, a frame cavity and a jet flow chassis movably connected to the bottom of the frame cavity; The lifting assembly comprises a main shaft connected to the jet flow chassis and a lifting part arranged on the frame cavity, the main shaft penetrates through the lifting part, and the lifting part is used for lifting the main shaft so as to drive the jet flow chassis to synchronously lift; The visual assembly is used for acquiring environment information of a working area of the robot body, the crawler assembly is used for driving the robot body to advance and surmount obstacles according to the environment information, and the lifting assembly is used for lifting the jet flow chassis according to the environment information so as to control cleaning intervals between the jet flow chassis and the working area.
2. The web cleaning robot of claim 1, wherein the lifting portion includes a lifting seat and a lifting element disposed on the lifting seat, the lifting seat is connected to the frame cavity, an output end of the lifting element is connected to the fixing seat, and the fixing seat is fixedly connected to the spindle.
3. The web cleaning robot of claim 2 wherein a propeller is further provided on the spindle, the propeller being located above the fixed base.
4. A netting washing robot as claimed in claim 3, characterized in that the robot body further comprises a buoyancy chamber provided on the frame chamber, the propeller being located in the buoyancy chamber.
5. The netting cleaning robot of claim 4, wherein the buoyancy cavity is mounted on the frame cavity through a support frame, the bottom of the support frame is fixedly connected to the upper surface of the frame cavity, the top of the support frame is provided with a support plate, and the support plate is detachably connected with the bottom of the buoyancy cavity; the lower end face of the supporting plate is also connected with a protection frame, the height of the protection frame is lower than that of the supporting frame, and the height difference of the protection frame and the supporting frame is matched with the working stroke of the lifting piece.
6. The robot for cleaning netting of claim 1, wherein the crawler assembly comprises a large crawler and a small crawler, and the large crawler and the small crawler are respectively movably sleeved on a corresponding large transmission part and a corresponding small transmission part, the large transmission part is arranged on the left side and the right side of the frame cavity, and the small transmission part is correspondingly arranged on the outer side of the large transmission part and is distributed in a staggered manner with the large transmission part along the radial direction of the frame cavity.
7. The robot for washing netting of claim 6, wherein the small transmission part comprises a small transmission shell and small transmission gears rotatably connected to two ends of the small transmission shell, the small crawler belt is movably sleeved on the two small transmission gears, and one end of the small transmission shell is movably connected to one end of the large transmission part.
8. The web cleaning robot of claim 1, wherein the housing cavity is further provided with a roller assembly comprising cleaning rollers movably disposed at a front end and a rear end of the housing cavity, respectively.
9. The web cleaning robot of claim 4, wherein the vision assembly includes a light supplementing lamp and a camera, the light supplementing lamp is disposed at an end of the housing cavity, the camera is disposed at an end of the buoyancy cavity corresponding to the light supplementing lamp, and when the camera is active, an orientation of the camera changes along an irradiation direction of the light supplementing lamp.
10. The robot for washing netting of claim 1, further comprising a control assembly and a driving assembly, wherein the driving assembly comprises a plurality of driving motors arranged in the robot body, the control assembly comprises a main control unit for controlling the working states of the driving motors according to the environmental information, and a motor driver for driving the driving motors according to the control signals of the main control unit.

Description

Net clothes cleaning robot Technical Field The invention relates to the technical field of aquaculture equipment, in particular to a netting cleaning robot. Background In the deep sea aquaculture industry, the netting is used as a core protection and isolation structure of an aquaculture area, a large number of attachments such as algae and shellfish are easy to grow after being soaked in seawater for a long time, and the attachments can block meshes and influence water circulation, so that the living environment of aquaculture organisms is threatened, and therefore, netting cleaning is a key link for guaranteeing aquaculture benefits. In order to solve the problems of high labor intensity, high safety risk and limited operation depth of the traditional manual diving cleaning, various automatic netting cleaning devices are generated, the devices generally have underwater operation capability, can move on the surface of the netting by means of a self advancing structure, wash or scrape attachments by built-in cleaning parts, greatly reduce the manual participation degree, avoid the potential hazard of the deep sea environment to operators, and can realize covering and cleaning of the netting in a large range, compared with manual cleaning, the device has obvious improvement on the operation efficiency, and provides basic guarantee for large-scale deep sea cultivation. However, the existing automatic netting cleaning equipment still has partial defects in a complex netting operation environment that on one hand, the thickness of attachments on the surface of netting is uneven, a plurality of stand columns used for fixing netting are distributed in a culture area, when a cleaning part is too close to the netting, the attachment is easy to collide with the stand columns or protrusions to cause equipment damage or netting breakage, when the distance is too far, the cleaning strength is insufficient to thoroughly clean the intractable attachments, on the other hand, the design of a travelling mechanism of the existing equipment is relatively single, when the obstacles such as the netting fixing stand columns with different heights are faced, the conditions of unstable grabbing, travelling blocking or even failing to span often occur, the cleaning operation is forced to be interrupted, continuous and efficient netting cleaning is difficult to realize, and the cleaning requirement of the deep sea aquaculture netting in the complex environment cannot be met. Disclosure of Invention The application aims to provide a netting cleaning robot which solves the problems that in the prior art, the distance between a cleaning part and a netting cannot be flexibly adjusted and the obstacle crossing capability of a travelling mechanism is insufficient in an automatic netting cleaning device. One aspect of the present invention provides a robot for washing a netting, comprising: A robot body; The crawler belt assembly is arranged on the robot body; the lifting assembly is arranged on the robot body; the robot body comprises a vision component, a frame cavity and a jet flow chassis movably connected to the bottom of the frame cavity; The lifting assembly comprises a main shaft connected to the jet flow chassis and a lifting part arranged on the frame cavity, the main shaft penetrates through the lifting part, and the lifting part is used for lifting the main shaft so as to drive the jet flow chassis to synchronously lift; The visual assembly is used for acquiring environment information of a working area of the robot body, the crawler assembly is used for driving the robot body to advance and surmount obstacles according to the environment information, and the lifting assembly is used for lifting the jet flow chassis according to the environment information so as to control cleaning intervals between the jet flow chassis and the working area. In the actual use process, the inside of the robot body is also provided with the components such as a control component, a driving component and the like which are described below, and the robot body can specifically comprise a main control unit, a motor driver, a sensing module, an underwater communication module, a power management module and an emergency protection module, so as to realize real-time sensing of the netting operation environment, autonomous running and accurate obstacle surmounting of the robot body, dynamic adjustment of the cleaning distance between a jet chassis and a netting, stable execution of jet cleaning action, command interaction with an onshore control center, operation state data feedback, emergency shutdown and safe recovery under an emergency condition by matching with a vision component, a track component and a lifting component; On the basis, the control system is usually and remotely connected with an on-shore control center, the on-shore control center comprises a main control operation module, an on-shore communication module, a data processing module a