Abrégé

The present disclosure describes a method and subsea assembly (100) for adhering to and navigating across a submerged net (130), the subsea assembly (100) comprising a first subsea unit (110) for being positioned on a first side of the net ( 130), the first subsea unit (110) Comprising at least two parallelly oriented belt assemblies, and a camera (229), a second subsea unit (120) for being positioned on a second side of the net (130) opposite to the first subsea unit (110), the second subsea unit (120) comprising at least two parallelly oriented belt assemblies (150), where each belt assembly (150) comprises a track ( 160) provided with magnets for generating an attractive force between the belt assemblies (150) of the first subsea unit (110) and the belt assemblies (150) of the second subsea unit (120) such that the subsea assembly (100) adhere to the net (130), and where at least one of the first subsea unit (110) and the second subsea unit (120) further comprises an on-board computer (382) configured to receive image data from the camera (229) as the subsea assembly (100) moves across the net and to determine the position of the subsea assembly (100) on the net (130) based on the image data. The present disclosure also describes an alternative method and subsea assembly (100) for adhering to and navigating across a submerged net (130)

Classes IPC  ?

• A01K 63/04 - Agencements pour traiter l'eau spécialement conçus pour les récipients pour poissons vivants
• A01K 61/60 - Dispositifs d’élevage flottants, p. ex. radeaux ou fermes piscicoles flottantes
• B08B 1/00 - Nettoyage par des procédés impliquant l'utilisation d'outils
• B62D 55/00 - Véhicules à chenilles
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions

Abrégé

The present disclosure describes subsea assembly (100) for adhering to, driving across and cleaning a submerged net (130). The subsea assembly (100) comprising a first subsea unit (110) for being positioned on a first side of the net (130), the first subsea unit (110) comprising a first subsea unit housing, at least two parallelly oriented first subsea unit belt assemblies, and a first subsea unit moving means configured to move the at least two parallelly oriented first subsea unit belt assemblies relative to the first subsea unit housing, and a second subsea unit (120) for being positioned on a second side of the net (130) opposite to the first subsea unit (110), the second subsea unit (120) comprising a second subsea unit housing, and at least two parallelly oriented second subsea unit belt assemblies. Each belt assembly (150) comprises a track (160) provided with magnets for generating an attractive force between the at least two parallelly oriented first subsea unit belt assemblies and the at least two parallelly oriented second subsea unit belt assemblies such that the subsea assembly (100) adheres to the net (130) when the first subsea unit (110) is positioned on the first side of the net and the second subsea unit (110) is positioned on the second side of the net (130) opposite to the first subsea unit (110). At least one of the first subsea unit (110) and the second subsea unit (120) further comprises a cleaning means (140) for cleaning the net (130).

Classes IPC  ?

• A01K 61/60 - Dispositifs d’élevage flottants, p. ex. radeaux ou fermes piscicoles flottantes
• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients
• B62D 55/265 - Éléments ou maillons en contact avec le sol à adhérence magnétique ou pneumatique
• B08B 1/00 - Nettoyage par des procédés impliquant l'utilisation d'outils

Abrégé

The present disclosure describes a subsea assembly (100) for imaging and cleaning a submerged net (130), the subsea assembly (100) comprising a first subsea unit (110) for being positioned on a first side of the net (130), the first subsea unit (110) comprising at least two parallelly oriented belt assemblies, and a camera (200), a second subsea unit (120) for being positioned on a second side of the net (130) opposite to the first subsea unit (110), the second subsea unit (120) comprising at least two parallelly oriented belt assemblies (150), and a background element (240), where the first subsea unit (110) and/or the second subsea unit (120) further comprises a cleaning means (140) for cleaning the net (130), where each belt assembly (150) comprises a track (160) provided with magnets for generating an attractive force between the belt assemblies (150) of the first subsea unit (110) and the belt assemblies (150) of the second subsea unit (120) such that the subsea assembly (100) adhere to the net (130), and where the camera (200) and the background element (240) are arranged such that they face each other when the subsea assembly (100) adhere to the net (130). The present disclosure also describes use of a subsea assembly (100) and a method for imaging and cleaning a submerged net (130) of a fish pen.

Classes IPC  ?

• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients
• B08B 1/00 - Nettoyage par des procédés impliquant l'utilisation d'outils
• B08B 9/08 - Nettoyage de récipients, p. ex. de réservoirs
• A01K 61/00 - Élevage des animaux aquatiques

Abrégé

The present disclosure describes a subsea assembly (100) for imaging and cleaning a submerged net (130), the subsea assembly (100) comprising a first subsea unit (110) for being positioned on a first side of the net (130), the first subsea unit (110) comprising at least two parallelly oriented belt assemblies, and a camera (200), a second subsea unit (120) for being positioned on a second side of the net (130) opposite to the first subsea unit (110), the second subsea unit (120) comprising at least two parallelly oriented belt assemblies (150), and a background element (240), where the first subsea unit (110) and/or the second subsea unit (120) further comprises a cleaning means (140) for cleaning the net (130), where each belt assembly (150) comprises a track (160) provided with magnets for generating an attractive force between the belt assemblies (150) of the first subsea unit (110) and the belt assemblies (150) of the second subsea unit (120) such that the subsea assembly (100) adhere to the net (130), and where the camera (200) and the background element (240) are arranged such that they face each other when the subsea assembly (100) adhere to the net (130). The present disclosure also describes use of a subsea assembly (100) and a method for imaging and cleaning a submerged net (130) of a fish pen.

Classes IPC  ?

• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients

Abrégé

The present disclosure describes provides a method for determining the strand thickness of at least one strand of a submerged net, the method comprising the steps of moving a subsea assembly across the submerged net while the subsea assembly adheres to the net, collecting image data from a line camera of the subsea assembly as the subsea assembly adheres to and moves across the submerged net, generating, by an on-board computer of the subsea assembly, a two-dimensional image of a portion of the submerged net based on the received image data, and determining, by the on-board computer of the subsea assembly, the strand thickness of the at least one strand of the submerged net based on the two-dimensional image.

Classes IPC  ?

• A01K 61/60 - Dispositifs d’élevage flottants, p. ex. radeaux ou fermes piscicoles flottantes
• B62D 55/265 - Éléments ou maillons en contact avec le sol à adhérence magnétique ou pneumatique
• G06T 7/13 - Détection de bords
• G06T 7/136 - DécoupageDétection de bords impliquant un seuillage
• G06T 7/194 - DécoupageDétection de bords impliquant une segmentation premier plan-arrière-plan

Abrégé

The present disclosure describes provides a method for determining the strand thickness of at least one strand of a submerged net, the method comprising the steps of moving a subsea assembly across the submerged net while the subsea assembly adheres to the net, collecting image data from a line camera of the subsea assembly as the subsea assembly adheres to and moves across the submerged net, generating, by an on-board computer of the subsea assembly, a two-dimensional image of a portion of the submerged net based on the received image data, and determining, by the on-board computer of the subsea assembly, the strand thickness of the at least one strand of the submerged net based on the two-dimensional image.

Classes IPC  ?

• A01K 61/60 - Dispositifs d’élevage flottants, p. ex. radeaux ou fermes piscicoles flottantes
• B62D 55/08 - Systèmes des chenillesÉléments de ces systèmes
• B62D 55/265 - Éléments ou maillons en contact avec le sol à adhérence magnétique ou pneumatique
• G01N 21/84 - Systèmes spécialement adaptés à des applications particulières
• G06T 7/13 - Détection de bords
• G06T 7/136 - DécoupageDétection de bords impliquant un seuillage
• G06T 7/194 - DécoupageDétection de bords impliquant une segmentation premier plan-arrière-plan

Abrégé

A cleaning device (100) for cleaning a submerged net (120), the cleaning device (100) comprising - a first cleaning (110) unit (110) for being positioned on a first side of the net (120), the first cleaning (110) unit (110) comprising cleaning means (140) for cleaning the net (120) and two parallelly oriented belt assemblies (150), and - a second cleaning (120) unit (120) for being positioned on a second side of the net (120) opposite to the first cleaning (110) unit (110), the second cleaning (120) unit (120) comprising two parallelly oriented belt assemblies (150), where each belt assembly (150) comprises a track (160), a rear road wheel (170), a middle road wheel (180) and a front road wheel (190), where each road wheel (170) is provided with a suspension (200), where each track (160) is provided with magnets (210) for generating an attractive force between the belt assemblies (150) of the first cleaning (110) unit (110) and the belt assemblies (150) of the second cleaning (120) unit (120) such that the cleaning device (100) adhere to the net (120), and where the middle road wheel (180) of each belt assembly (150) is provided with wheel magnets (215) or a magnetic component for causing an attractive force between the middle road wheel (180) and the track (160) of each belt assembly (150).

Classes IPC  ?

• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients
• B62D 55/265 - Éléments ou maillons en contact avec le sol à adhérence magnétique ou pneumatique
• B62D 57/024 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques spécialement adaptés pour se déplacer sur des surfaces inclinées ou verticales

Abrégé

A cleaning device (100) for cleaning a submerged net (120), the cleaning device (100) comprising - a first cleaning (110) unit (110) for being positioned on a first side of the net (120), the first cleaning (110) unit (110) comprising cleaning means (140) for cleaning the net (120) and two parallelly oriented belt assemblies (150), and - a second cleaning (120) unit (120) for being positioned on a second side of the net (120) opposite to the first cleaning (110) unit (110), the second cleaning (120) unit (120) comprising two parallelly oriented belt assemblies (150), where each belt assembly (150) comprises a track (160), a rear road wheel (170), a middle road wheel (180) and a front road wheel (190), where each road wheel (170) is provided with a suspension (200), where each track (160) is provided with magnets (210) for generating an attractive force between the belt assemblies (150) of the first cleaning (110) unit (110) and the belt assemblies (150) of the second cleaning (120) unit (120) such that the cleaning device (100) adhere to the net (120), and where the middle road wheel (180) of each belt assembly (150) is provided with wheel magnets (215) or a magnetic component for causing an attractive force between the middle road wheel (180) and the track (160) of each belt assembly (150).

Classes IPC  ?

• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients
• B62D 55/265 - Éléments ou maillons en contact avec le sol à adhérence magnétique ou pneumatique
• B62D 57/024 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques spécialement adaptés pour se déplacer sur des surfaces inclinées ou verticales

Abrégé

The disclosure describes a cleaning device for cleaning a submerged net. The cleaning device comprises a first cleaning unit for being positioned on a first side of the net, and a second cleaning unit for being positioned on a second side of the net opposite to the first cleaning unit. The first cleaning unit comprises cleaning means for cleaning the net and two parallelly oriented belt assemblies, while the second cleaning unit comprises two parallelly oriented belt assemblies. The belt assemblies facilitate for the cleaning device to adhere to and to move cross a net to be cleaned. Each belt assembly of the cleaning device comprises a track, a rear road wheel, a middle road wheel and a front road wheel, where each road wheel is provided with a suspension, and where each track is provided with magnets for generating an attractive force between the belt assemblies of the first cleaning unit and the belt assemblies of the second cleaning unit such that the cleaning device adhere to the net.

Classes IPC  ?

• B08B 1/00 - Nettoyage par des procédés impliquant l'utilisation d'outils
• B08B 1/04 - Nettoyage par des procédés impliquant l'utilisation d'outils, de brosses ou d'éléments analogues utilisant des éléments actifs rotatifs
• A01K 61/60 - Dispositifs d’élevage flottants, p. ex. radeaux ou fermes piscicoles flottantes
• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients
• B62D 55/26 - Éléments ou maillons en contact avec le sol

Abrégé

The disclosure describes a cleaning device for cleaning a submerged net. The cleaning device comprises a first cleaning unit for being positioned on a first side of the net, and a second cleaning unit for being positioned on a second side of the net opposite to the first cleaning unit. The first cleaning unit comprises cleaning means for cleaning the net and two parallelly oriented belt assemblies, while the second cleaning unit comprises two parallelly oriented belt assemblies. The belt assemblies facilitate for the cleaning device to adhere to and to move cross a net to be cleaned. Each belt assembly of the cleaning device comprises a track, a rear road wheel, a middle road wheel and a front road wheel, where each road wheel is provided with a suspension, and where each track is provided with magnets for generating an attractive force between the belt assemblies of the first cleaning unit and the belt assemblies of the second cleaning unit such that the cleaning device adhere to the net.

Classes IPC  ?

• A01K 61/60 - Dispositifs d’élevage flottants, p. ex. radeaux ou fermes piscicoles flottantes
• A01K 63/10 - Nettoyage des fonds ou des parois de bassins ou de récipients
• B08B 1/10 - Nettoyage par des procédés impliquant l'utilisation d'outils caractérisé par le type d'outil de nettoyage
• B08B 1/30 - Nettoyage par des procédés impliquant l'utilisation d'outils par le mouvement d’éléments de nettoyage sur une surface
• B62D 55/26 - Éléments ou maillons en contact avec le sol