KR20240001363A - Artificial Intelligence Underwater Cleaning Robot System And Cleaning Method by the Same - Google Patents

Abstract

The present invention relates to an AI-based underwater cleaning robot system and an underwater cleaning method using the same. More specifically, it analyzes the water quality of the shellfish farm and the condition of the shellfish to determine the cleaning time of the fish farm, and is equipped with a spray nozzle and a brush. This is about an AI-based underwater cleaning robot system that can clean underwater shellfish farming cages while the robot sprays high-pressure seawater and moves while brushing, and an underwater cleaning method using the same.
The AI-based underwater cleaning robot system of the present invention includes an underwater cleaning robot module that is introduced into a shellfish farm, monitors shellfish and shellfish farming cages, and performs cleaning of the shellfish farming cages; a control server that stores and analyzes water quality data and image data transmitted from the underwater cleaning robot module, and causes the underwater cleaning robot module to clean the fish farm; and a mobile device that allows the administrator to externally view the data analyzed from the control server.

Description

AI-based underwater cleaning robot system and underwater cleaning method using the same {Artificial Intelligence Underwater Cleaning Robot System And Cleaning Method by the Same}

The present invention relates to an AI-based underwater cleaning robot system and an underwater cleaning method using the same. More specifically, it analyzes the water quality of the shellfish farm and the condition of the shellfish to determine the cleaning time of the fish farm, and is equipped with a spray nozzle and a brush. This is about an AI-based underwater cleaning robot system that can clean underwater shellfish farming cages while the robot sprays high-pressure seawater and moves while brushing, and an underwater cleaning method using the same.

Scallops are invertebrates belonging to the bivalve class of molluscs and basically have a shell divided into two pieces. The shell of a scallop is shaped like a fan, and the surface has grooves like cardboard. Scallops are distributed relatively evenly throughout the world's oceans and live widely from coastal areas to deep seas. A total of 12 species are found in the coastal waters of Korea, including sea scallops, dipper scallops, silky scallops, sun and moon scallops, sea scallops, furrow scallops, and common scallops, and sea scallops and bay scallops are farmed.

Scallop farming is carried out at sea using a rope-carriage method, and is carried out using labor-intensive and traditional farming and management methods. Breeding management is mainly carried out on management ships, including unloading, shell replacement, sorting, and harvesting. To assist with this, auxiliary vessels are used to transfer them to ships or land, and separation and sorting work is performed on land.

The processes that consume the most cost and manpower in scallop breeding and management are cage washing, netting, and sorting, which are generally performed by hand and simple mechanical equipment on management vessels or auxiliary vessels, so work efficiency is very low. In addition, the equipment used in fish farms includes washing machines for cleaning scallops, sorters for sorting scallops, and equipment for separating scallops on land and washing scallops using high-pressure washers. However, all of them are operated by exposing the scallops to ships or land. Because it can cause a lot of stress to the scallops, it has the disadvantage of requiring a lot of manpower and money.

Therefore, there is a need for more research on how to effectively solve the problems of scallop cleaning and management, which account for the highest proportion of breeding management and production costs in scallop farms and fish waste farms.

Republic of Korea Patent Publication No. 10-1539364 Republic of Korea Patent Publication No. 10-2008-0010814 Republic of Korea Patent Publication No. 10-2011-0028860 Republic of Korea Patent Publication No. 10-2021-0106636

The present invention is intended to solve the above problems, by analyzing the water quality of the shellfish farm and the condition of the shellfish, determining the cleaning time of the shellfish culture cage, and spraying high-pressure seawater into the shellfish culture cage underwater to surface the scallop culture cage. The purpose is to provide an AI-based underwater cleaning robot system that can remove foreign substances in the water through brushing.

In order to achieve the above object, the AI-based underwater cleaning robot system of the present invention includes an underwater cleaning robot module that is introduced into a shellfish farm, monitors shellfish and shellfish farming cages, and performs cleaning of the shellfish farming cages; a control server that stores and analyzes water quality data and image data transmitted from the underwater cleaning robot module, and causes the underwater cleaning robot module to clean the fish farm; and a mobile device that allows the administrator to externally view the data analyzed from the control server.

Here, the underwater cleaning robot module includes a compression pump unit disposed on a ship located at sea to compress and supply clean seawater; A crane unit disposed on a ship located at sea, dropping the robot main body into the water and controlling the position of the robot main body; A robot body unit connected to the crane unit, receiving compressed seawater from the compression pump unit and performing cleaning of the shellfish farming cage, wherein the robot main unit is disposed on the outside of the robot housing and the robot housing. , a water quality sensor unit that measures the water quality of the seawater around the underwater shellfish culture farm in real time, disposed on the upper part of the robot housing, the condition of the seawater around the shellfish culture farm, the state of foreign substances on the surface of the shellfish culture farm, and the shellfish inside the shellfish culture farm. An underwater camera unit that captures the size and density of the water in real time, a hose unit connected to the upper part of the robot housing and supplied with compressed seawater from the compression pump unit, and a hose unit disposed inside the robot housing to compress the hose unit. A spray nozzle unit that sprays seawater onto the surface of the shellfish farming cage, and a brush unit disposed adjacent to the spray nozzle unit to remove foreign substances from the surface of the shellfish farming cage by performing brushing with compressed seawater sprayed from the spray nozzle unit. , an automatic opening and closing unit disposed on the outside of the robot housing to automatically open and close the robot housing so that the robot housing can be in contact with or spaced apart from the shellfish farming cage, and a communication unit that connects the robot main body and the control server through wireless communication. It is desirable to include.

Here, the injection nozzle unit includes a first injection nozzle unit disposed on the upper inner side of the robot housing, a second spray nozzle portion disposed on the inner lower portion of the robot housing, and a nozzle to provide compression supplied from the hose portion. It is preferable to include a nozzle body that sprays the seawater onto the surface of the shellfish farming cage, and a nozzle rotating part that is connected at one end to the nozzle body and allows the nozzle body to reciprocate in the up and down direction.

Here, the control server includes a server communication unit that receives water quality data and image data transmitted from the robot main body; a data storage unit that stores water quality data and image data transmitted from the server communication unit; a database unit that converts the water quality data and image data of the data storage unit into a database; a data learning unit that learns the database created in the database unit by artificial intelligence; A data analysis unit that analyzes the cleaning time and water quality risk of shellfish farming cages based on the content learned by artificial intelligence in the data learning unit; A control unit that controls the underwater cleaning robot module to clean the shellfish farming tank based on the information analyzed by the data analysis unit; and a manager terminal unit through which the manager can view the data analyzed by the data analysis unit and the control status of the underwater cleaning robot module by the control unit.

In addition, in order to achieve the above object, the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention opens and closes the automatic opening and closing part of the robot main body connected to the crane, and places the robot main body on the upper part of the underwater shellfish farming cage. The first step of seating; A second step of measuring the water quality around the shellfish farming cage by the water quality sensor unit, photographing foreign substances on the surface of the shellfish farming cage by the underwater camera unit, and transmitting the images to the control server; A third step of determining whether to clean the shellfish farming shed based on the water quality data and image data transmitted from the control server; A fourth step of transmitting a control signal from the control server to the underwater cleaning robot module to clean the shellfish farming cage; A fifth step of receiving compressed seawater from the compression pump unit through the hose unit while moving the robot main body to the lower part of the shellfish culture cage and spraying it on the underwater shellfish culture cage to perform brushing; And when the robot main body reaches the lower part of the shellfish farming cage, a sixth step of opening the automatic opening and closing unit to remove the robot main body from the shellfish farming cage and hoisting it to a ship located at sea.

As described above, the present invention has the effect of dramatically reducing labor and operating costs required for shellfish farming by automating the cleaning of shellfish farming cages.

In addition, the present invention has the effect of preventing mass mortality of shellfish by monitoring the situation of shellfish farms in real time.

In addition, the present invention has the effect of reducing the stress of shellfish that avoid exposure to seawater because the shellfish farming cages are washed underwater.

1 is a schematic diagram of an underwater cleaning robot system according to an embodiment of the present invention.
Figure 2 is a schematic diagram of an underwater cleaning robot module according to an embodiment of the present invention.
Figure 3 shows the robot body moving up and down according to an embodiment of the present invention.
Figure 4 is a schematic diagram of a crane unit according to an embodiment of the present invention.
Figure 5 is a schematic diagram of the robot main body according to an embodiment of the present invention.
Figure 6(a) shows that the robot body part is seated in a shellfish farming cage according to an embodiment of the present invention, and Figure 6(b) shows the robot body portion being separated from the shellfish farming cage according to an embodiment of the present invention. indicates.
Figure 7(a) is a three-dimensional view of the robot body according to an embodiment of the present invention, Figure 7(b) is a cross-sectional view of the robot body according to an embodiment of the present invention, and Figure 7(c) is a three-dimensional view of the robot body according to an embodiment of the present invention. This is an unfolded cross-section of the robot main body according to one embodiment.
Figure 8(a) shows a spray nozzle unit according to an embodiment of the present invention, Figure 8(b) shows a spray nozzle unit rotated upward according to an embodiment of the present invention, and Figure 8(c) shows a spray nozzle unit according to an embodiment of the present invention. The injection nozzle unit according to an embodiment of the present invention is shown rotated downward.
Figure 9(a) shows a brush unit according to an embodiment of the present invention, Figure 9(b) shows an extended brush unit according to an embodiment of the present invention, and Figure 9(c) shows an extended brush unit according to an embodiment of the present invention. The brush unit according to an embodiment is shown rotated upward, and Figure 9(d) shows the brush unit according to an embodiment of the present invention rotated downward.
Figure 10 is a configuration diagram of a control server according to an embodiment of the present invention.
Figure 11 is a conceptual diagram of big data in one embodiment of the present invention.
Figure 12 is a conceptual diagram of a control server and mobile device according to an embodiment of the present invention.
Figure 13 is a flowchart of an underwater cleaning method using an AI-based underwater cleaning robot system according to an embodiment of the present invention.

In the drawings shown below, the same reference numerals refer to the same components, and the size of each component in the drawings may be exaggerated for clarity and convenience of explanation. Meanwhile, the embodiments described below are merely illustrative, and various modifications are possible from these embodiments. Hereinafter, terms are used solely for the purpose of distinguishing one component from another. Singular expressions include plural expressions unless the context clearly dictates otherwise. Additionally, when a part is said to "include" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary. Additionally, terms such as “…module” and “…unit” used in the specification refer to a unit that processes at least one function or operation.

Hereinafter, the configuration of the AI-based underwater cleaning robot system of the present invention will be described with reference to the drawings. 1 is a schematic diagram of an underwater cleaning robot system according to an embodiment of the present invention. Referring to Figure 1, the AI-based underwater cleaning robot system of the present invention may be configured to include an underwater cleaning robot module 10, a control server 20, and a mobile device 30. The present invention relates to an AI-based underwater cleaning robot system that cleans shellfish farming cages, where shellfish includes all types of shellfish that can be farmed, such as scallops, oysters, abalone, pearl clams, and cockles.

The underwater cleaning robot module 10 of the present invention is introduced into a shellfish farm, monitors shellfish and shellfish farming cages, and cleans the shellfish farming cages. Figure 2 is a schematic diagram of an underwater cleaning robot module 10 according to an embodiment of the present invention. Referring to Figure 2, the underwater cleaning robot module 10 of the present invention may be configured to include a compression pump unit (not shown), a crane unit 100, and a robot body unit 200.

The compression pump unit of the present invention is placed on a ship located at sea and supplies clean seawater to the robot body 200 by compressing it at high pressure. The compression pump unit is equipped with a motor and a pump, pumps up clean seawater, compresses it at high pressure, and delivers it to the hose unit 240 of the robot main unit 200. The compression pump unit has a separate compression pump communication unit and operates by receiving control signals from the control unit 800 of the control server 20.

The crane unit 100 of the present invention is placed on a ship located at sea, drops the robot main body 200 into the water, and controls the position of the robot main body 200. Figure 3 shows the robot body 200 moving up and down according to an embodiment of the present invention. As shown in Figure 3, the robot main body 200 moves up and down along the underwater shellfish farming cage, and the crane unit 100 of the present invention lowers or pulls the cable connected to the robot main part 200. The robot body 200 is dropped into the water and the vertical movement of the robot body 200 is controlled. A crane is a device whose purpose is to suspend and transport heavy objects using power. Cranes are classified into various types to suit the purpose. Articulated cranes are mainly used for moving objects such as scrap metal and scraping work, and are highly practical cranes because they minimize the crane boom when moving a vehicle, allowing efficient use of vehicle loading space. It is preferable that the crane unit 100 according to an embodiment of the present invention uses an articulated crane that can be mounted on a ship by minimizing the boom. Figure 4 is a schematic diagram of the crane unit 100 according to an embodiment of the present invention. Referring to FIG. 4, the crane unit 100 of the present invention includes a turntable 110 that bends the crane unit 100 with a hydraulic piston, a first boom 120 connected to the turntable 110, and the first boom. A second boom 130 housed or extended inside of (120), a third boom 140 housed or extended inside the second boom 130, and a crane unit connected to the third boom 140. The first articulated boom 150 that bends (100), the second articulated boom 160 connected to the first articulated boom 150, and are located at the end of the crane part 100 to perform the work of the crane part 100. It may include a distal end 180 to which a cable is connected, and an insulating boom 170 that insulates and connects the second articulated boom 160 and the distal end 180. The first boom 120, second boom 130, and third boom 140 are adjustable in length, and the hydraulic piston of the turntable 110 and the first articulated boom 150 and the second articulated boom 160 The cable connected to the robot body 200 can be lowered or raised by the refractive device and hydraulic piston. The crane unit 100 is provided with a separate crane communication unit and operates by receiving control signals from the control unit 800 of the control server 20.

The robot body unit 200 of the present invention is connected to the crane unit 100 and receives compressed seawater from the compression pump unit to clean the shellfish farming cage. Figure 5 is a schematic diagram of the robot main body 200 according to an embodiment of the present invention. Referring to Figure 5, the robot body unit 200 of the present invention includes a robot housing 210, a water quality sensor unit 220, an underwater camera unit 230, a hose unit 240, a spray nozzle unit 250, and a brush. It may be configured to include a unit 260, an automatic opening/closing unit 270, and a robot communication unit (not shown).

The robot housing 210 of the present invention is a case of the robot body 200 that surrounds an underwater shellfish culture cage. Figure 6(a) shows the robot body 200 according to an embodiment of the present invention as a shellfish culture cage. 6(b) shows that the robot main body 200 according to an embodiment of the present invention is separated from the shellfish farming shed. As shown in FIGS. 6(a) to 6(b), the robot housing 210 has a circular shape to surround the shellfish farming shed, and is comprised of two semicircles, the first robot housing 210a and the second robot housing 210a. It includes a robot housing (210b), and one end of the first robot housing (210a) and one end of the second robot housing (210b) are connected to an automatic opening and closing unit 270, and the automatic opening and closing unit 270 is connected to the first robot housing (210a). 1 The robot housing 210a and the second robot housing 210b are coupled and separated.

The water quality sensor unit 220 of the present invention is disposed on the outside of the robot housing 210 and measures the water quality of the seawater around the underwater shellfish farming shed in real time. In the present invention, a multi-item water quality sensor can be used to measure water quality. The multi-item water quality sensor includes seawater temperature, conductivity, pH, dissolved oxygen (DO), salinity, suspended solids (SS), and water depth. , chlorophyll, oxidation-reduction potential (ORP), turbidity, ammonia, chloride, nitrate, etc. are measured. The water quality sensor unit 220 transmits the measurement data of the multi-item water quality sensor to the control server 20 through the robot communication unit.

The underwater camera unit 230 of the present invention is placed on the upper part of the robot housing 210, and monitors the condition of the seawater around the shellfish culture cage, the state of foreign matter on the surface of the shellfish culture cage, and the size and density of shellfish inside the shellfish culture cage in real time. Take pictures. In addition to the water quality data of the water quality sensor unit 220, the underwater camera unit 230 of the present invention photographs the state of the seawater around the shellfish aquaculture farm and the state of foreign substances on the surface of the shellfish aquaculture farm, and sends it to the control server (20) through the robot communication unit. ) and send it to In the present invention, the water quality data of the water quality measurement unit 220 and the image data of the underwater camera unit 230 are analyzed using artificial intelligence to determine whether and when to clean the shellfish farming shed. In addition, the underwater camera unit 230 is equipped with an image sensing function that can measure the density and size of shellfish objects, and transmits data on the density and size of shellfish objects to the control server 20 through the robot communication unit. Then, cleaning of the shellfish farming shed begins by the robot main body 200. High-pressure seawater is sprayed from the spray nozzle unit 250, and the brush unit 260 rotates the brush 143 at high speed to remove foreign substances from the surface of the underwater shellfish culture tank. This process is carried out by the underwater camera unit 150. It is filmed in real time and transmitted to the control server 20 through the robot communication unit.

The hose unit 240 of the present invention is connected to the upper part of the robot housing 210 and receives high-pressure clean seawater from the compression pump unit. The hose unit 240 may include a first hose unit 240a connected to the first robot housing 210a and a second hose unit 240b connected to the second robot housing 210b. The hose unit 240 may be bundled with the cable of the crane unit 100 or may be separated from the cable of the crane and connected to the compression pump unit.

The spray nozzle unit 250 of the present invention is disposed inside the robot housing 210 and sprays high-pressure clean seawater from the hose unit 120 into the underwater shellfish culture tank. The spray nozzle unit 250 includes a plurality of spray nozzles, and the plurality of spray nozzles are arranged at regular intervals inside the robot housing 210. Figure 7(a) is a three-dimensional view of the robot main body 200 according to an embodiment of the present invention, and Figure 7(b) is a cross-sectional view of the robot main body 200 according to an embodiment of the present invention. 7(c) is an unfolded cross-section of the robot main body 200 according to an embodiment of the present invention. Referring to FIGS. 7(a) to 7(c), the spray nozzle unit 250 of the present invention includes a first spray nozzle unit 250a disposed on the upper inner side of the robot housing 210 and the robot housing. It may include a second injection nozzle portion 250b disposed at the inner lower portion of 210 . The present invention has a first injection nozzle unit 250a and a second injection nozzle unit 250b to spray high-pressure seawater from the upper and lower parts of the brush unit 260 at the same time, thereby spraying a sufficient amount of seawater into the underwater shellfish culture tank. Spraying can increase the efficiency of removing foreign substances. In addition, the water pressure of the first spray nozzle unit 250a can be changed from the water pressure of the second spray nozzle unit 250b to asymmetrically clean the contaminated condition of the salon. For example, the water pressure of the first spray nozzle unit 250a is made greater than the water pressure of the second spray nozzle unit 250b, so that the upper part of the saloon receives a large water pressure and the lower part of the saloon receives a small water pressure, so that contaminants are carried out. It is also possible to effectively separate it from . Figure 8(a) shows the injection nozzle unit 250 according to an embodiment of the present invention, and Figure 8(b) shows the injection nozzle unit 250 according to an embodiment of the present invention rotated upward. 8(c) shows the injection nozzle unit 250 rotated downward according to an embodiment of the present invention. Referring to FIGS. 8(a) to 8(c), the spray nozzle unit 250 of the present invention is provided with a nozzle and sprays high-pressure clean seawater delivered from the hose unit 240 into the underwater shellfish culture tank. It may include a nozzle body 251, and a nozzle rotating part 252, one end of which is connected to the nozzle body 251 so that the nozzle body 251 can reciprocate in the vertical direction. By moving the nozzle body 251 up and down based on the nozzle rotating part 252, high-pressure seawater can be sprayed in various directions to remove foreign substances on the surface of the shellfish culture cage. The injection nozzle unit 250 is provided with a drive motor, and the drive motor allows the nozzle body 251 to perform a reciprocating motion in which the nozzle body 251 rotates up and down with respect to the nozzle rotation unit 252.

The brush unit 260 of the present invention is disposed adjacent to the spray nozzle unit 250, and removes foreign substances on the surface of the shellfish farming cage with high-pressure seawater sprayed from the spray nozzle unit 250. The brush unit 260 includes a plurality of brushes 263 and is disposed at regular intervals inside the robot housing 210. The brush unit 260 may be located between the first injection nozzle unit 250a and the second injection nozzle unit 250b. The brush unit 260 of the present invention has a brush 263 located on the front, and the brush 263 is driven by a rotating motor built into the brush unit 260, and the rotation of the brush 263 produces shellfish farming. Foreign substances on the surface of the chalong can be removed. Figure 9(a) shows the brush unit 260 according to an embodiment of the present invention, and Figure 9(b) shows the brush unit 260 extended according to an embodiment of the present invention, and Figure 9 (c) shows the brush unit 260 according to an embodiment of the present invention rotated upward, and Figure 9(d) shows the brush unit 260 according to an embodiment of the present invention rotated downward. It shows appearance. 9(a) to 9(d), the brush unit 260 of the present invention includes a brush body 261 in which the brush 263 located on the front rotates to remove foreign substances from the surface of the shellfish farming cage, The brush body 261 has a brush extension portion 262 that extends close to the surface of the shellfish farming cage, and one end is connected to the brush body 261, so that the brush body 261 reciprocates in the up and down directions. It may include a rotating part 264. In order to efficiently clean the shellfish farming cage located underwater, the brush unit 260 allows the rotating brush 263 to move forward and backward or up and down. The brush 263 moves back and forth to bring the brush 263 closer to the surface of the shellfish culture cage. The brush 263 can be brought closer to the surface of the shellfish culture cage through the brush extension 262. In addition, the efficiency of cleaning shellfish farming can be increased by causing the rotating brush 263 to reciprocate in the up and down direction. The brush unit 260 of the present invention has two drive motors inside, the first drive motor rotates the brush 263, and the brush body 261 rotates the brush rotation unit 144 through the second drive motor. It can reciprocate up and down around the center.

The automatic opening and closing unit 270 of the present invention is disposed on the outside of the robot housing 210 and automatically opens and closes the robot housing 210 so that the robot housing 210 can be contacted with or separated from the underwater shellfish culturing shed. The robot housing 210 is separated into a first robot housing 210a and a second robot housing 210b, and one end of the first robot housing 210a and one end of the second robot housing 210b are provided with an automatic opening and closing unit 270. ) is connected to. The automatic opening and closing unit 270 is equipped with a hydraulic device to open and close the robot housing 210. A hydraulic system is a device that converts the pressure energy of a fluid into mechanical work such as force or power. The hydraulic device of the present invention includes a motor that generates power, a pump that compresses oil as a fluid by generating pressure with the power of the motor, a valve that controls the pressure, flow rate, and direction of flow of the oil compressed in the pump, and the pump. It consists of an actuator that converts the fluid energy transmitted from the to mechanical energy and operates a piston to open and close the first robot housing (210a) and the second robot housing (110b). The automatic opening/closing unit 270 maintains the locking function when the spray nozzle unit 250 and the brush unit 260 are in an operating state, and has an unlocking function when the spray nozzle unit 250 and the brush unit 260 are in an operational state. can be maintained. The opening and closing control of the automatic opening and closing unit 270 is automatically performed by the artificial intelligence of the control unit 800, and the manager can manually control the opening and closing of the automatic opening and closing unit 270, if necessary.

The robot communication unit of the present invention connects the robot main body 200 and the control server 20 through wireless communication. The water quality measurement data from the water quality sensor unit 220 and the image data from the underwater camera unit 220 are transmitted to the control server 20 through the robot communication unit, and the control signal from the control server 20 is received through the robot communication unit to control the robot. It is transmitted to the main body 200. The robot communication unit of the present invention communicates with the control server 20 through wireless communication, where wireless communication includes 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), 5G, World Interoperability for Microwave Access (WIMAX), It may include the Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), wifi, Bluetooth, etc.

The control server 20 of the present invention stores and analyzes water quality data and image data transmitted from the underwater cleaning robot module 10, and allows the underwater cleaning robot module 10 to clean the fish farm. Figure 10 is a configuration diagram of the control server 20 according to an embodiment of the present invention. Referring to Figure 10, the control server 20 of the present invention includes a server communication unit 300, a data storage unit 400, a database unit 500, a data learning unit 600, a data analysis unit 700, and a control unit ( It may be configured to include 800) and a manager terminal unit 900. The control server 20 of the present invention may be located inside a ship located on board, or may be located on land safe from waves or vibration. The control server 20 according to an embodiment of the present invention may be a computer device equipped with a communication device and an artificial intelligence program that controls the underwater cleaning robot module 10.

The server communication unit 300 of the present invention receives water quality data and image data transmitted from the robot main unit 200. In addition, the server communication unit 300 transmits a control signal for controlling the underwater cleaning robot module 10 to the underwater cleaning robot module 10, and the server communication unit 300 transmits the data analyzed by the data analysis unit 700 to the underwater cleaning robot module 10. The control status of the cleaning robot module 10 is transmitted to the mobile device 30. The server communication unit 300 transmits or receives data through wireless communication. The type of wireless communication may be the same as that of the robot communication unit described above.

The data storage unit 400 of the present invention stores water quality data and image data transmitted from the server communication unit 300. In addition, the data storage unit 400 stores not only raw data of water quality data and image data, but also a database created in the database unit 500 below, and can form a data hub related to shellfish farming of the present invention.

The database unit 500 of the present invention creates a database by processing the water quality data and image data of the data storage unit 400 into a form that can be learned by artificial intelligence. The database unit 500 stores multi-item water quality data stored in the data storage unit 400, water quality and image data of the aquaculture shed, and data on the density and size of shellfish inside the aquaculture shed by time and form so that artificial intelligence can recognize them. It is classified into various items, such as by chaelong, and processed into a database. Figure 11 is a conceptual diagram of big data in one embodiment of the present invention. The database of the present invention contains a large amount of data related to farmed shellfish and shellfish farms, and this massive database is big data that is learned and analyzed by artificial intelligence.

The data learning unit 600 of the present invention learns the database created in the database unit 500 using artificial intelligence. The artificial intelligence learns from the database processed by the database unit 500, and through this learning, the artificial intelligence accumulates massive data on the water quality of the shellfish farm and the growth of shellfish.

The data analysis unit 700 of the present invention analyzes the cleaning time and water quality risk of the shellfish farming shed based on the content learned by artificial intelligence in the data learning unit 600. Based on the content learned in the data learning unit 600, the data analysis unit 700 determines the degree of water quality in the shellfish farm, and if it determines that the water quality has a negative effect on the health of the shellfish, it can decide to clean the shellfish farm. . In addition, the data analysis unit can determine the cleaning cycle of the shellfish farming cage and determine the cleaning time of the shellfish farming cage in the future. In addition, the status of the shellfish farm and the degree of growth of the shellfish can be determined by analyzing the density and size of shellfish collected by the underwater camera unit 230.

The control unit 800 of the present invention controls the underwater cleaning robot module 10 to clean the shellfish farming tank based on the content analyzed by the data analysis unit 700. The control unit 800 can control the operation of the compression pump unit, the crane unit 100, and the robot main unit 200 using artificial intelligence, and since all operations are controlled by artificial intelligence, manual work is almost unnecessary. However, when manual work is required, the manager can directly set or adjust the control unit 800 through the manager terminal unit 900. The control unit 800 controls the operation of the compression pump unit by sending a control signal to the compression pump unit. The artificial intelligence of the control unit 800 adjusts the turntable 110, the first articulated boom 150, and the second articulated boom 160 of the crane unit 100 so that the robot body 200 moves up and down in the water. Be sure to clean the shellfish farming cages thoroughly. The control unit 800 controls the automatic opening and closing unit 270 so that the robot housing 210 can be opened and closed appropriately. A sensor that detects an object or movement is attached to the inside of the robot housing 210, and when the sensor recognizes a shellfish farming container, a signal can be transmitted to the control unit 800 to operate the automatic opening and closing unit 270. In addition, the control unit 800 controls the operation and rotation angle of the spray nozzle unit 250 and the brush unit 260, so that the shellfish culture cage located in the water can be cleaned. The control unit 800 determines the intensity of cleaning by measuring the density of foreign substances attached to the shellfish farming cage using artificial intelligence, and determines the water pressure of the spray nozzle unit 250, the rotation angle of the spray nozzle unit 250, and the brush unit 260. The rotation speed, the length of the brush extension part 262, the rotation angle of the brush part 260, the operating time of the spray nozzle part 250 and the brush part 260, etc. can be controlled.

The manager terminal unit 900 of the present invention allows the manager to view the data analyzed by the data analysis unit 700 and the control status of the underwater cleaning robot module 10 by the control unit 800. The manager can check water quality data and video data coming in real time through the manager terminal unit 900, and can also check and control the data analyzed by the data analysis unit 700 and the control status of the control unit 800. The manager can check all data related to the shellfish farm and check the status of shellfish farming through the manager terminal unit 900. The administrator can give necessary instructions to the system and change settings through the administrator terminal unit 900.

The mobile device 30 of the present invention allows an administrator to view data analyzed from the control server 20 from the outside. Figure 12 is a conceptual diagram of a control server and mobile device according to an embodiment of the present invention. Referring to FIG. 12, even if the manager is not near the shellfish farm, the data transmitted through wireless communication from the control server 20 is sent to the same environment as the manager terminal unit 900 through the manager's mobile device 30. You can check the same information. The mobile device 30 according to an embodiment of the present invention may be a smartphone, tablet PC, laptop PC, etc., on which a dedicated app or program is installed.

Hereinafter, an underwater cleaning method using the AI-based underwater cleaning robot system of the present invention will be described with reference to the drawings. Figure 13 is a flowchart of an underwater cleaning method using an AI-based underwater cleaning robot system according to an embodiment of the present invention. Referring to FIG. 13, the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention may include the following six steps.

First step (S10): Opening and closing the automatic opening and closing unit 270 of the robot main unit 200 connected to the crane 100 and seating the robot main unit 200 on the upper part of the underwater shellfish farming cage.

Second step (S20): The water quality sensor unit 220 measures the water quality around the shellfish farming cage, and the underwater camera unit 230 captures foreign substances on the surface of the shellfish farming cage and transmits them to the control server 20. step

Third step (S30): A step of determining whether to clean the shellfish farming cage based on the water quality data and image data transmitted from the control server 20.

Fourth step (S40): A step of transmitting a control command to clean the shellfish farming cage from the control server 20 to the underwater cleaning robot module 10.

Fifth step (S50): As the robot body unit 200 moves to the lower part of the shellfish culture cage, compressed seawater is supplied from the compression pump unit through the hose unit 240, and sprayed onto the underwater shellfish culture cage to perform brushing. step

Step 6 (S60): When the robot main body 200 reaches the lower part of the shellfish farming cage, open the automatic opening and closing unit 270 to remove the robot body 200 from the shellfish farming cage and lift it to a ship located at sea.

The first step (S10) of the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention is to open and close the automatic opening and closing section 270 of the robot body 200 connected to the crane 100 to open and close the robot body 200. This is the step of placing it on the upper part of the underwater shellfish farming cage. In order to operate the water quality sensor unit 220 and the underwater camera 230, the robot main unit 200 must be seated on the top of the shellfish farming cage. The control unit 800 operates the crane unit 100 to seat the robot main unit 200 connected to the cable of the crane unit 100 in the underwater shellfish farming shed.

In the second step (S20) of the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention, the water quality around the shellfish farming shed is measured by the water quality sensor unit 220, and the shellfish cultivation is performed by the underwater camera unit 230. This is the step of photographing foreign substances on the surface of the chapel and transmitting them to the control server (20). The water quality sensor unit 200 measures the water quality around the shellfish culture pond using a multi-item water quality sensor, and the underwater camera measures the state of the seawater around the shellfish culture pond, the state of foreign matter on the surface of the shellfish culture pond, and the size and density of shellfish inside the shellfish culture pond. The water quality data and image data are photographed and transmitted to the control server 20 through the robot communication unit.

The third step (S30) of the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention is a step of determining whether to clean the shellfish farming cage based on water quality data and image data transmitted from the control server 20. . The water quality data and image data received through the server communication unit 300 of the control server 20 are stored in the data storage unit 400, converted into a database, and learned by the data learning unit 600, and finally the data analysis unit. By (700), the cleaning time of the shellfish farming cage and the risk of water quality can be analyzed to determine whether to proceed with cleaning the shellfish farming cage.

The fourth step (S40) of the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention involves transmitting a control signal for cleaning the shellfish farming cage from the control server 20 to the underwater cleaning robot module 10. It's a step. When it is determined whether or not to proceed with cleaning the shellfish farming shed, the control unit 800 transmits a control signal to the compression pump unit, the crane unit 100, and the robot main unit 200.

In the fifth step (S50) of the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention, the robot body unit 200 moves to the lower part of the shellfish farming tank and pumps seawater compressed from the compression pump unit into the hose unit 240. This is the step of spraying and brushing the shellfish in the underwater shellfish culture tank. The compression pump unit compresses clean seawater at high pressure and supplies it through the hose unit 240. The spray nozzle unit 250 sprays high-pressure seawater, and at the same time, the brush unit 260 performs brushing to cleanly remove foreign substances from the surface of the underwater shellfish culture cage. Once cleaning is completed, the robot main body 200 is moved to the lower part of the food storage and cleaning continues.

In the sixth step (S60) of the underwater cleaning method using the AI-based underwater cleaning robot system of the present invention, when the robot main body 200 reaches the lower part of the shellfish farming cage, the automatic opening and closing part 270 is opened and the robot main body 200 is opened. ) is removed from the shellfish farming shed and hoisted onto a ship located at sea. When the robot main body 200 reaches the lower part of the shellfish farming cage, the cleaning work is completed. If more cleaning work is needed, the cleaning work can be repeated while raising the robot main body 200 toward the top of the shellfish farming cage. When the robot main unit 200 reaches the lower part of the shellfish farming cage and the cleaning work is completed, the automatic opening and closing unit 270 is opened to separate the robot main unit 200 from the shellfish farming cage, and the crane unit 100 is operated to lift the robot. The main body 200 is pulled up onto the ship. All of the above processes can be controlled by artificial intelligence, and the administrator can control the above processes by switching to manual if necessary.

The present invention is not limited to the above-mentioned embodiments, but can be manufactured in various different forms, and those skilled in the art will be able to form other specific forms without changing the technical idea or essential features of the present invention. You will be able to understand that this can be implemented. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

10: Underwater cleaning robot module
20: Control server
30: mobile device
100: Crane section
110: turntable
120: 1st boom
130: 2nd boom
140: 3rd boom
150: 1st articulated boom
160: 2nd articulated boom
170: Insulated boom
180: distal end
200: Robot main body
210: robot housing
210a: first robot housing
210b: second robot housing
220: Water quality sensor unit
230: Underwater camera unit
240: hose part
240a: first hose part
240b: second hose part
250: Spray nozzle part
250a: First injection nozzle part
250b: Second injection nozzle part
251: nozzle body
252: nozzle rotating part
260: Brush part
261: Brush body
262: Brush extension
263: brush
264: Brush rotating part
270: automatic opening and closing unit
300: Server communication department
400: data storage unit
500: Database section
600: Data learning unit
700: Data analysis department
800: Control unit
900: Administrator terminal
N: Shellfish farming shed
S: ship

Claims (5)

An underwater cleaning robot module that is installed in a shellfish farm, monitors shellfish and shellfish farming cages, and performs cleaning of shellfish farming cages;
a control server that stores and analyzes water quality data and image data transmitted from the underwater cleaning robot module, and causes the underwater cleaning robot module to clean the fish farm; and
An AI-based underwater cleaning robot system comprising a mobile device that allows an administrator to externally view the data analyzed from the control server. In claim 1,
The underwater cleaning robot module,
A compression pump unit placed on a ship located at sea to compress and supply clean seawater;
A crane unit disposed on a ship located at sea, dropping the robot main body into the water and controlling the position of the robot main body; and
An AI-based underwater cleaning robot system comprising a robot body unit connected to the crane unit, receiving compressed seawater from the compression pump unit and performing cleaning of the shellfish farming cage. In claim 2,
The robot main unit includes a robot housing, a water quality sensor unit disposed on the outside of the robot housing, and measuring the water quality of seawater around the underwater shellfish farming shed in real time;
An underwater camera unit disposed on the upper part of the robot housing to capture, in real time, the state of seawater around the shellfish farm, the state of foreign matter on the surface of the shellfish farm, and the size and density of shellfish inside the shellfish farm;
A hose part connected to the upper part of the robot housing and receiving compressed seawater from the compression pump part;
A spray nozzle unit disposed inside the robot housing and spraying the compressed seawater of the hose unit onto the surface of the shellfish farming cage;
A brush unit disposed adjacent to the spray nozzle unit and performing brushing with compressed seawater sprayed from the spray nozzle unit to remove foreign substances from the surface of the shellfish farming shell;
An automatic opening and closing unit disposed on the outside of the robot housing to automatically open and close the robot housing so that the robot housing can be in contact with or spaced apart from the shellfish farming shed;
An AI-based underwater cleaning robot system comprising a communication unit that connects the robot main body and the control server via wireless communication. In claim 3,
The control server is,
a server communication unit that receives water quality data and image data transmitted from the robot main unit;
a data storage unit that stores water quality data and image data transmitted from the server communication unit;
a database unit that converts the water quality data and image data of the data storage unit into a database;
a data learning unit that learns the database created in the database unit by artificial intelligence;
A data analysis unit that analyzes the cleaning time and water quality risk of shellfish farming cages based on the content learned by artificial intelligence in the data learning unit;
A control unit that controls the underwater cleaning robot module to clean the shellfish farming tank based on the information analyzed by the data analysis unit; and
An AI-based underwater cleaning robot system comprising a manager terminal unit that allows the manager to view the data analyzed by the data analysis unit and the control status of the underwater cleaning robot module by the control unit. In the underwater cleaning method using the AI-based underwater cleaning robot system of any one of claims 1 to 4,
A first step of opening and closing the automatic opening and closing part of the robot main body connected to the crane and seating the robot main part on the upper part of the underwater shellfish farming cage;
A second step of measuring the water quality around the shellfish farming cage by the water quality sensor unit, photographing foreign substances on the surface of the shellfish farming cage by the underwater camera unit, and transmitting the images to the control server;
A third step of determining whether to clean the shellfish farming shed based on the water quality data and image data transmitted from the control server;
A fourth step of transmitting a control signal from the control server to the underwater cleaning robot module to clean the shellfish farming cage;
A fifth step of receiving compressed seawater from the compression pump unit through the hose unit while moving the robot main body to the lower part of the shellfish culture cage and spraying it on the underwater shellfish culture cage to perform brushing; and
When the robot main body reaches the lower part of the shellfish farming cage, a sixth step of opening the automatic opening and closing unit to remove the robot main body from the shellfish farming cage and hoisting it to a ship located at sea; AI-based underwater cleaning comprising a. Underwater cleaning method using a robotic system.