Key information

Title
FISH FARM NET CLEANING DEVICE AND METHOD
Application number
20240496
Case type
National
Status
21.07.2025 Patent meddelt (B1)
Filed
16.05.2024
Effective date
16.05.2024
Publicly available
21.07.2025
Next annual fee due
31.05.2027
Applicant
ULTRA AQ AS (NO)
Owner
ULTRA AQ AS (NO)
Inventor
Kai-Rune Frøset (NO) et al.
Agent
ACAPO ONSAGERS AS (NO)
Granted
21.07.2025
Patent number
348933
Expiry date
16.05.2044

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.
Fish farm net cleaning device (100) and method for cleaning a fish farm net (400) comprising the use of first and second controllable rotating net engaging assemblies (200a-b), wherein at least one thereof comprises brushes (220a-d), for cleaning and propulsion along the fish farm net (400) assisted by at least one thruster assembly (150a-d).

Publications

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Documents

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Date
 Date Doc. No. Process Case number In/Out Journal description To/from
 25.07.2025 09-01 Saksbehandling 20240496(348933) UT PT Registreringsbrev nasjonal patent (15) (PT20240496)
23.05.2025 08-01 Saksbehandling 20240496 UT Intention to grant ACAPO ONSAGERS AS
 06.05.2025 07-02 Saksbehandling 20240496 INN Korrespondanse (Hovedbrev inn) ACAPO ONSAGERS AS
 06.05.2025 07-01 Saksbehandling 20240496 INN PDF_679546610 ACAPO ONSAGERS AS
 14.03.2025 02-01 Endring av fullmektig 2025/03754 UT GH Forespørsel ACAPO ONSAGERS AS
 12.03.2025 06-07 Saksbehandling 20240496 INN P31527NO00-trykningsklar-tekst_clean ACAPO ONSAGERS AS
 12.03.2025 06-06 Saksbehandling 20240496 INN P31527NO00-trykningsklar-tekst_annotated ACAPO ONSAGERS AS
 12.03.2025 06-05 Saksbehandling 20240496 INN P31527NO00-trykningsklare-figurer ACAPO ONSAGERS AS
 12.03.2025 06-04 Saksbehandling 20240496 INN P31527NO00-reply_office_action ACAPO ONSAGERS AS
 12.03.2025 06-03 Saksbehandling 20240496 INN P31527NO00-norske_krav ACAPO ONSAGERS AS
 12.03.2025 06-02 Saksbehandling 20240496 INN NO General PoA, Ultra AQ AS ACAPO ONSAGERS AS
 12.03.2025 06-01 Saksbehandling 20240496 INN Korrespondanse (Hovedbrev inn) ACAPO ONSAGERS AS
 12.03.2025 01-04 Endring av fullmektig 2025/03754 INN 20240496_4 Korrespondanse (Hovedbrev inn) ACAPO ONSAGERS AS
 12.03.2025 01-03 Endring av fullmektig 2025/03754 INN _P31527NO00-reply_office_action ACAPO ONSAGERS AS
 12.03.2025 01-02 Endring av fullmektig 2025/03754 INN _NO General PoA- Ultra AQ AS ACAPO ONSAGERS AS
 12.03.2025 01-01 Endring av fullmektig 2025/03754 INN Generell henvendelse ACAPO ONSAGERS AS
 12.09.2024 05-02 Saksbehandling 20240496 UT PT report 10:06:36
12.09.2024 05-01 Saksbehandling 20240496 UT Substantive Examination CURO AS
 22.05.2024 04-03 Saksbehandling 20240496 INN NO20240496_POA CURO AS
 22.05.2024 04-02 Saksbehandling 20240496 INN NO20240496_Assignment CURO AS
 22.05.2024 04-01 Saksbehandling 20240496 INN Korrespondanse (Hovedbrev inn) CURO AS
 16.05.2024 03-01 Saksbehandling 20240496 UT Formal Examination 1 CURO AS
 16.05.2024 02-01 Saksbehandling 20240496 UT Infobrev til oppfinner CURO AS
 16.05.2024 01-03 Saksbehandling 20240496 INN U4532-text CURO AS
 16.05.2024 01-02 Saksbehandling 20240496 INN U4532-figures CURO AS
 16.05.2024 01-01 Saksbehandling 20240496 INN Søknadsskjema Patent CURO AS

Description, claims and drawings

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content. Description
The disclosed embodiments relate to a fish farm net cleaning device and a method for fish farm net cleaning.The disclosed embodiments especially relate to a fish farm net cleaning device and method for fish farm net cleaning utilizing at least one rotating net engaging assembly comprising brushes for cleaning and rotating net engaging assembly comprising brushes or rollers for movement along the fish farm net.BackgroundThe fish farm industry is a large industry involving numerous fish farms arranged in the sea. The most used fish farm solution comprises nets suspended from floating structures. The nets themselves are of a mesh size allowing a water flow therethrough for supplying fresh water and oxygen to the fish and to provide natural resistance for the fish swimming around in the fish farm net. Such fish farm nets are subject to fouling resulting in that the water flow therethrough decreases and thus also the oxygen content. This will affect the environment of the fish health negatively, resulting in that the fish will eat less and thus also result in lower slaughtering weight as well as an increase in diseases and increase in louse and other organisms.In addition to this, the fouling on the fish farm net will result in increased resistance for the water flow which will result in higher load in the construction of the fish farm, increasing the risk of damage, material fatigue and in worst case resulting in that fish escapes from the fish farm.Fouling is also desirable to prevent due to that cleaner fish will instead of having their focus on lice on the fish will start to graze on the net.Methods used for preventing the fouling of fish farm nets are, among others, impregnating the net in an anti-fouling agent, integration of materials as cobber, etc. However, this does not prevent that the fish farm nets will have to be cleaned periodically.There have over the years been proposed a number of different methods for cleaning of such nets. One method is to retrieve the entire net from the sea, after it has been emptied for fish, cleaning and impregnating it, before deploying it again. This method is both time-consuming and expensive, and the industry has therefore been searching for other solution. One of the most common methods that has been used in the later years is the use of cleaning devices that in a manual, semi-automated or fully automated manner performs cleaning of the fish farm net. Such cleaning devices is also commonly referred to as cleaning robots. Such cleaning devices are provided with cleaning nozzles for high-pressure cleaning, rotating brushes or a combination thereof. The use of high-pressure nozzles is suffering from being rough on the fish farm net as well as bringing along noise and high particle contamination in the fish farm. The use of brushes is considered to be gentler and resulting in less noise experienced by the fish and lower particle contamination, resulting in that the fish will be less affected, compared to the use of the highpressure nozzles, thus resulting in lower stress levels for the fish during cleaning of the fish farm net. The closest prior art to the present invention is known from WO15005801 A1, WO2022002746A1, CN112591056 A and CN114275113 A.In WO15005801 A1 is disclosed a cleaning device comprising a housing, brushes, buoyancy members, propellers, as well as driving wheels configured to be in engagement with the net for propulsion of the cleaning device along a fish farm net.From WO2022002746 A1 is known a cleaning device comprising a housing, brushes, thruster, wherein the brushes can be active or passive, as well as arranged in axial or transversal direction of the housing.In CN112591056 A is disclosed a cleaning device in the form of a multi-functional underwater robot comprising a housing and thrusters, which can be provided with brushes for the cleaning of a surface.CN114275113 A discloses a cleaning device comprising a housing, thruster and brushes individually controllable, as well as belts for propulsion of the cleaning device along the surface to be cleaned. Some of the prior art solutions suffer from that they require additional means for propulsion, such as belts or driving wheels, in engagement with the fish farm net, bringing along wear and tear on the fish farm net.Other prior art solutions depend entirely on thrusters or propellers to propel the cleaning device along the fish farm net, which is power consuming as well as makes it difficult to use together with brushes for cleaning due to the engagement force of the brushes will be difficult to control, so that they are best suitable with high-pressure nozzles. In addition, the extensive use of thrusters will bring along noise, as well as particle contamination. Other disadvantages with the prior art solutions are that the requirement of additional means for propulsion increases the weight of the cleaning device as well as added complexity to the cleaning device and components that require maintenance. Another drawback with the mentioned means engaging the fish farm net, is that they may cause damage to the fish farm net or become stuck or entangled in the fish farm net.A further disadvantage with many of the prior art solutions is that they require extensive infrastructure installed in or in the vicinity of the fish farm, something that brings along additional costs and time-demanding installation affecting/preventing normal operation.Due to the entire or parts of the prior art solutions are installed under water this could require the use of divers, ROV or similar for monitoring and securing the installation. For systems based on being under water at all times, that also brings along requirements for retrieving the system or components thereof from the water for cleaning.The installation of infrastructure or other parts in the fish farm is further not desired due to they becoming a problem during crowding and/or retrieving/suspending of the fish farm net.Some of the prior art solution use wires or cables for communication and power, which is known to have a problem with getting tangled or stuck on parts of the fish farm.Many of the prior art solutions further, due to their size and weight, require the use of service vessels and extensive use of personnel, something that results in unnecessary use of fuel and human resources, as well as increases the costs.There is accordingly a need for fish farm net cleaning device and method for fish farm net cleaning partly or entirely solving the drawbacks of prior art.SummaryThe disclosed embodiments provide a fish farm net cleaning device (FFNCD) and method for fish farm net cleaning.Provided herein is a FFNCD and method for fish farm net cleaning partly or entirely solving the drawbacks and shortcomings of prior art solutions. Provided herein is a FFNCD and method for fish farm net cleaning resulting in lower noise than prior art solutions.Also provided herein is a FFNCD and method for fish farm net cleaning being less power consuming than prior art solutions.Provided herein is a FFNCD and method for fish farm net cleaning that are gentler to the fish farm net being cleaned.Also provided herein is a FFNCD and method for fish farm net cleaning being more robust.Provided herein is a FFNCD and method for fish farm net cleaning having few movable parts and low level of maintenance.Also provided herein is a FFNCD and method for fish farm net cleaning using brushes for both cleaning and movement along the fish farm net.Provided herein is a FFNCD and method for fish farm net cleaning reducing the particle contamination in connection with a cleaning operation.Also provided herein is a FFNCD and method for fish farm net cleaning resulting in lower stress for fish during a cleaning operation.Provided herein is a FFNCD and method for fish farm net cleaning requiring minimum of infrastructure in connection with the fish farm.Also provided herein is a FFNCD and method for fish farm net cleaning enabling easier controlling than prior art solutions, hereunder tailored controlling based on local states.Provided herein is a FFNCD having lower weight than prior art solutions removing the need for the use of service vessels and extensive use of personnel.Also provided herein is a FFNCD having low power consumption.Provided herein is a FFNCD free of parts or components that can damage or get entangled in the fish farm net.Also provided herein is a FFNCD and method for fish farm net cleaning having higher cleaning efficiency than prior art solutions. Provided herein is a FFNCD having high ability to navigate in the fish farm, easy to maneuver and rapid movement capability.Also provided herein is a FFNCD and method for fish farm net cleaning enabling the possibility to carry and move instruments, equipment and/or sensors for inspecting and documenting the state of the fish farm net, water quality, fish activity, etc.Further preferable features and advantageous details of the present invention will appear from the following description, claims and attached drawings.The inventionA fish farm net cleaning device according to the present invention is defined by the technical features of claim 1. Preferable features of the fish farm net cleaning device are described in the dependent device claims.A method for fish farm net cleaning according to the present invention is defined by the technical features of claim 9. Preferable features of the method are described in the dependent method claims.The present invention is related to a fish farm net cleaning device (FFNCD) and method for fish farm net cleaning involving the use of at least one controllable rotating net engaging assembly comprising controllable brushes both cleaning and at least one controllable rotating net engaging assembly comprising controllable brushes or rollers for propulsion along the fish farm net.The FFNCD according to the present invention comprises a support assembly, as well as at least one controllable thruster assembly and first and second controllable rotating net engaging assemblies arranged to the support assembly.In accordance with the FFNCD according to the present invention, the first controllable rotating net engaging assembly is arranged at a first axial end of the support assembly and the second controllable rotating net engaging assembly is arranged at a second (opposite) axial end of the support assembly. According to the present invention, the first and second controllable net engaging assemblies are formed by two independently controllable brushes or rollers, respectively, configured to rotate about a common respective rotation axis. In accordance with the FFNCD according to the present invention, at least one of the first and second rotating net engaging assemblies comprises two independent controllable brushes, or both the first and second rotating net engaging assemblies comprises two independent controllable brushes. In accordance with the FFNCD according to the present invention, the first and second controllable rotating net engaging assemblies, during a fish farm net cleaning operation, are preferably configured to be controlled to rotate with different rotation speed, wherein the first or second controllable rotating net engaging assembly being rotated with the highest rotation speed or comprising brushes is configured to be controlled to perform cleaning of the fish farm net, and the first or second controllable rotating net engaging assembly rotated with the lowest rotation speed or comprising rollers is configured to be controlled to move the fish farm cleaning device along the fish farm net.In accordance with the present invention, the independent controllable brushes or rollers of the first and second controllable rotating net engaging assemblies can be independently or in combination controlled in rotation speed according to the requirements of a desired task to be performed, such as propulsion, steering, orientation, rotation, cleaning, etc.According to one embodiment of the FFNCD according to the present invention, the first and second controllable rotating net engaging assemblies are configured to be controlled to rotate with different rotation speed depending on moving direction of the fish farm net cleaning device. The first or second controllable rotating net engaging assembly being positioned in front of the fish farm net cleaning device, seen in the moving direction of the fish farm net cleaning device, is configured to be controlled to rotate with a higher rotation speed than the first or second controllable rotating net engaging assembly positioned at the rear of the fish farm net cleaning device, seen in moving direction of the fish farm net cleaning device.In accordance with one embodiment of the FFNCD according to the present invention, the at least one controllable thruster assembly is configured to be controlled to hold the fish farm net cleaning device against a fish farm net with a net contact force between the fish farm net and the first and second controllable rotating net engaging assemblies.According to one embodiment of the FFNCD according to the present invention, it comprises multiple controllable thruster assemblies, wherein a controllable thruster assembly is associated with each of the independently controllable brushes. The associated controllable thruster assembly is arranged in the vicinity of the respective independently controllable brush and positioned in a plane above the respective independent controllable brush, providing a suction over the respective independently controllable brush.In accordance with one embodiment of the FFNCD according to the present invention, each independently controllable brush is independently controllable in rotation speed and/or direction by an associated electric motor.According to a further embodiment of the present invention, each controllable thruster assembly is independently controllable in rotation speed and/or direction by an associated electric motor. In accordance with one embodiment of the FFNCD according to the present invention, the controllable thruster assemblies comprise rim-driven propellers. In alternative embodiments, the controllable thruster assemblies are waterjet-based or traditional thrusters with motors in the hub. Other alternatives will be within the knowledge of a skilled person.According to one embodiment of the FFNCD according to the present invention, the FFNCD comprises an exterior protective housing configured with water flow paths extending from a lower side of the FFNCD to an upper side of the FFNCD, in which water flow paths the at least one controllable thruster assembly is arranged.The FFNCD according to the present invention provides a carrier for instruments, equipment and/or sensors that can be moved in the fish farm net for inspecting and documenting the state of the fish farm net, water quality, fish activity, etc.A method for fish farm net cleaning according to the present invention is based on using a FFNCD comprising a first controllable rotating net engaging assembly arranged at a first axial end of a support assembly and a second controllable rotating net engaging assembly arranged at a second (opposite) axial end of the support assembly, wherein the first and second controllable rotating net engaging assemblies are formed by two independently controllable brushes or rollers, respectively, configured to be controlled to rotate about a common respective rotation axis, wherein at least one of the first and second controllable rotating net engaging assemblies comprises two independent controllable brushes.In accordance with the present invention, the method comprises, during a fish farm net cleaning operation, rotating the first and second controllable rotating net engaging assemblies with different rotation speed, and wherein cleaning the fish farm net by using the first or second controllable rotating net engaging assembly rotated with the highest rotation speed or comprising brushes, and moving the FFFNCD along the fish farm net with the first or second controllable rotating net engaging assembly rotated with the lowest rotation speed or comprising rollers.According to one embodiment of the method according to the present invention, the method comprises rotating the first and second controllable rotating net engaging assemblies with different rotation speed depending on moving direction of the FFNCD, wherein rotating the first or second controllable rotating net engaging assembly being positioned in front of the FFNCD, seen in the moving direction of the FFNCD or comprising brushes, with higher rotation speed than the first or second controllable rotating net engaging assembly positioned at the rear of the FFNCD, seen in moving direction of the FFNCD or comprising rollers .In accordance with one embodiment of the method according to the present invention, the method further comprises holding the FFNCD against a fish farm net with a (pre-set/desired) net contact force between the fish farm net and the first and second controllable rotating net engaging assemblies by using at least one controllable thruster assembly.According to a further embodiment of the method according to the present invention, the method comprises providing a suction over the respective independently controllable brush by using controllable thruster assemblies associated with each of the independently controllable brushes. In accordance with one embodiment of the method according to the present invention, the method further comprises changing moving direction or course of the FFNCD along the fish farm net by controlling the respective individually controllable brushes or rollers with individual rotation speed and/or direction.In accordance with a further embodiment of the method according to the present invention, the method further comprises controlling the respective individually controllable brushes with individual rotation speed according to state of the fish farm net, hereunder amount of fouling. According to a further embodiment of the method according to the present invention, the method comprises acquiring information and/or sensor data from instruments, equipment and/or sensors carried by the FFNCD for inspecting and documenting the state of the fish farm net, water quality, fish activity, etc.By the present invention is provided a FFNCD and method for fish farm net cleaning that are gentle on the fish farm net. The FFNCD and method for fish farm net cleaning according to the present invention result in more effective cleaning and lower noise compared to prior art solutions.Moreover, the FFNCD and method for fish farm net cleaning according to the present invention are less power consuming than prior art solutions.The FFNCD according to the present invention is robust, has few movable parts and requires a low level of maintenance.As the FFNCD and method for fish farm net cleaning according to the present invention use brushes for cleaning and brushes or rollers for movement along the fish farm net, this does not bring along wear and tear on the fish farm net.The FFNCD and method for fish farm net cleaning according to the present invention reduce the particle contamination in connection with a cleaning operation.In overall, the FFNCD and method for fish farm net cleaning according to the present invention result in lower stress for fish during a cleaning operation.In this manner the FFNCD and method for fish farm net cleaning can be used to perform a cleaning operation without fish being affected in a negative manner.By the present invention is provided a FFNCD and method for fish farm net cleaning enabling easy controlling by having high ability to navigate in the fish farm net, being easy to maneuver and rapid movement capability. By this is also achieved a FFNCD and method enabling tailored controlling based on local states to achieve the best possible cleaning result.The FFNCD and method for fish farm cleaning according to the present invention enabling automated control that minimizes the need for manual handling.Further preferable features and advantageous details of the present invention will appear from the following example description, claim and attached drawings.ExampleThe present invention will below be described in further detail with reference to the attached drawings, where Fig.1a is principle drawing of a fish farm net cleaning device according to one embodiment of the present invention,Fig.1b-c are principle drawings of the fish farm net cleaning device of Fig.1a, seen from the side and inclined from above, respectively, with an exterior protective housing thereof removed for revealing further details,Fig.1d is a principle drawing of the fish farm net cleaning device of Fig.1a-c, seen inclined from a lower side, with the exterior protective housing and brushes thereof removed for revealing further details,Fig.2a-c are principle drawings of further embodiments of the fish farm net cleaning device, seen inclined from above, with the exterior protective housing removed for revealing further details, Fig.3 is block diagram of a fish farm net cleaning device according to one embodiment of the present invention,Fig.4a-b are principle drawings of the fish farm net cleaning device in Fig.1a, seen inclined from above and below, showing further details of the exterior protective housing, andFig.5 is a principle drawing of the fish farm net cleaning device of Fig.1a in engagement with a fish farm net.References are now made to Fig.1a-d showing principle drawings of a fish farm net cleaning device (FFNCD) 100 according to one embodiment of the present invention.The FFNCD 100 according to the present invention comprises a support assembly 110, at least one controllable thruster assembly 150a-d and first 200a and second 200b controllable rotating net engaging assemblies arranged thereto.In accordance with the FFNCD 100 according to the present invention, the first controllable rotating net engaging assembly 200a is arranged at a first axial end 110a of the support assembly 110 and the second controllable rotating net engaging assembly 200b is arranged at second (opposite) axial longitudinal end 110b of the support assembly 110.In accordance with one embodiment of the FFNCD 100 according to the present invention, the support assembly 110 comprises a main body 111 forming a waterproof interior housing or container for the FFNCD 100. In accordance with a further embodiment of support assembly 110, the main body 111 is provided with an opening 112 (see Fig.4a) at a vertical side forming the upper side thereof, as well as a lid 113 detachably arranged to the opening 112 enabling access to the interior of the main body 111. The interior of the main body 111 will be used for accommodating electronics and control unit 300 for the FFNCD 100, as well as at least one energy storage 310 (battery or battery pack), and sensors 320a-u. The support assembly 110 further comprises an exterior protective housing 120, further described below.The mentioned first 200a and second 200b controllable rotating net engaging assemblies are according to the present invention extending in a transversal direction of the support assembly 110/main body 111 and are configured to rotate about respective rotation axes R1-R1 and R2-R2, extending in the transversal direction of the support assembly 110.The controllable rotating net engaging assemblies 200a-b are according to the present invention arranged to the support assembly 110/main body 111 by means of a support structure 210 arranged at the first 110a and second 110b distal longitudinal ends of the support assembly 110, arranged to the exterior of the main body 111 or integrated as a part of the main body 111. In the shown embodiments, the main body 111 is provided with attachment flanges 114a-b at lower part of main body 111, i.e. at first and second axial ends/sides thereof, which attachment flanges 114a-b are configured for engagement with the support structures 210 of the first and second controllable rotating net engaging assemblies 200a-b for fixation thereof. The attachment flanges 114a-b are arranged laterally reversed about a vertical center axis A-A through the support assembly 110/main body 111.In accordance with one embodiment of the present invention, the support structure 210 for the first and second controllable rotating net engaging assemblies 200a-b is formed by an attachment member 211 configured for engagement with the mentioned respective attachment flange 114a-b of the main body 111. The support structure 210 further comprises an elongated structure member 212 protruding perpendicularly from the attachment member 211 with a proximal first end. The free distal second end of the elongated structure member 212 is configured for arrangement of a transversally extending structure member 213, extending in perpendicular direction of the elongated structure member 212 and forming the common rotation axis R1-R1, R2-R2, respectively, for the first and second controllable rotating net engaging assemblies 200a-b.In accordance with one embodiment of the FFNCD 100 according to the present invention, the transversally extending structure member 213 can be divided in first 213a and second 213b structure members arranged to the elongated structure member 212 to form the complete transversally extending structure member 213.According to one embodiment of the FFNCD 100 according to the present invention, as in the shown embodiments, the attachment flanges 114a-b are configured with an inclined profile so that the engagement surface for the support structure 210 is inclined with an angle from the vertical plane for positioning the first and second controllable rotating net engaging assemblies 200a-b at least partly below the lower end of the main body 111.In an alternative embodiment of the FFNCD 100 according to the present invention, the attachment flanges 114a-b are vertical and the elongated structure member 212 is arranged at an angle to the attachment member 211 for achieving the same.In the shown embodiment, the first and second controllable rotating net engaging assemblies 200ab are by means of the support structures 210 and attachment flanges 114a-b positioned with their respective rotation axes R1-R1, R2-R2 laterally reversed about the vertical center axis A-A through of the support assembly 110/main body 111 and so that a considerable part of the controllable rotating net engaging assemblies 200a-b are positioned below the lower vertical end/bottom of the main body 111, as shown, e.g. in Fig.1b.In accordance with the present invention, the first and second controllable rotating net engaging assemblies 200a-b are formed by two independently controllable brushes or rollers 220a-b, 220c-d, respectively arranged to the mentioned transversally extending support member 213. In the shown embodiments the first and second rotating net engaging assemblies 200a-b comprises independently controllable brushes 220a-b, 220c-d. In alternative embodiments, one of the first 200a and second 200b rotating net engaging assembly comprises rollers instead of brushes, as discussed above. The further description will be based on the embodiment where both the first 200a and second 200b rotating net engaging assemblies comprises independently controllable brushes 200a-d.In accordance with one embodiment of present invention, the independently controllable brushes 220a-d are formed by an elongated tubular body 221 provided with brushes 222 protruding from the exterior circumference thereof. The elongated tubular bodies 221 are configured to receive and accommodate the transversally extending structure member 213, 213a-b, thus arranging the independently controllable brushes 220a-d rotatably on the transversally extending structure member 213, 213a-b while retaining them from axial movement on the transversally extending structure member 213, 213a-b. In accordance with one embodiment of the controllable first and second rotating net engaging assemblies 200a-b according to the present invention, the independently controllable brushes 220ad are rim-driven brushes, wherein at least one electric motor 223 for rotation of the individually controllable brush 220a-d is accommodated in the transversally extending structure member 213, 213a-b. Other alternatives for enabling the rotation of the brushes 200a-d are within the knowledge of a skilled person.According to a further embodiment of the present invention, the mentioned transversally extending structure member 213, 213a-b is arranged to the elongated structure member 212 via a connection interface, such as an articulated joint or similar, enabling tiltable movement of the individual brush 220a-d or entire first 200a or second 200b controllable rotating net engaging assembly in the vertical and/or horizontal plane.Accordingly, the first 200a and second 200b controllable rotating net engaging assemblies are formed by two brushes 220a-b and 220c-d, respectively, arranged to the respective transversally extending structure members 213, 213a-b, wherein each of the brushes 220a-d are independently controllable by an associated electric motor 223.As mentioned, the FFNCD 100 comprises at least one controllable thruster assembly 150a-d arranged to the main body 111 by means of thruster attachment structure(s) 160, as shown in Fig. 1a-d and Fig.4a-b, or integrated in the main body 111, as shown in Fig.2a-c. In the embodiment of the FFNCD 100 shown in Fig. 2a it comprises one integrated thruster assembly 150a, arranged centered in the main body 111. In Fig.2b is shown an embodiment with two controllable thruster assemblies 150a-b integrated diametrically in the main body 111. In the embodiment of the FFNCD 100 shown in Fig.2c it comprises one integrated thruster assembly 150a, arranged centered in the main body 111 with tubes 153 extending vertically and horizontally in the main body 111 to openings 154 in vicinity of the separate brushes 200a-d. In the embodiments of Fig. 2a-b, the at last one thruster assembly 150a-b is/are arranged in a vertically extending tube 153 extending from a lower side/bottom opening 154, through the main body 111 and to the upper side/top side, in this manner forming a tunnel thruster. In Fig.2c a number of tubes 153 extend from the openings 154 and to the at least one thruster assembly 150a. Accordingly, in the embodiments of Fig. 2a-b, the vertically extending tube 153 forms a water flow path extending from the lower side of the fish farm net cleaning device 100 to the upper side of the fish farm net cleaning device 100, and in which water flow path a controllable thruster assembly 150a-d is arranged. In the embodiment of Fig. 2c, the tubes 153 form water flow paths extending from the openings 154 in the vicinity of each brush 200ad are joined centrally and extend centrally to the upper side of the fish farm net cleaning device 100, and in which central water flow path a controllable thruster assembly 150a-d is arranged. The embodiment of Fig.2c may also be designed with the use of two thruster assemblies 150a-b as in Fig.2b where each thruster is associated with two tubes 153 leading to two openings 154.In Fig. 1a-d and 4a-b is shown an embodiment of the FFNCD 100 with four controllable thruster assemblies 150a-d arranged to an exterior surface of the main body 111, distributed in circumferential direction thereof and arranged to the main body 111 by means of thruster attachment structures 160. In the embodiment of Fig. 1a-d and 4a-b, the controllable thruster assemblies 150a-d are arranged in corners of the support assembly 110.According to alternative embodiments, the FFNCD 100 can comprise one, two or three controllable thruster assemblies 150a-d arranged at desired positions on the main body 111 by means of the thruster attachment structures 160.The thruster attachment structure 160 and main body 111 are provided with corresponding attachment interfaces (not shown) enabling fixation of the controllable thruster assemblies 150a-d at desired locations/position exteriorly on the main body 111.In accordance with a further embodiment of the FFNCD 100 according to the present invention, the thruster attachment structure 160 is integrated in the main body 111.Each thruster assembly 150a-d comprises a propeller 151 that is independently controlled by an associated electric motor 152 (Fig. 3). In accordance with one embodiment of the FFNCD 100 according to the present invention, the propeller 151 is a rim-driven propeller. Even though a rimdriven propeller is shown in the embodiments, alternatives, such as waterjet-based or traditional thrusters with motors in the hub can equally be used. Other alternatives will be within the knowledge of a skilled person.An advantage of using thruster attachment structures 160 arranging the thruster assemblies 150ad exterior of the main body 111 is that all the interior space of the main body 111 is available for control unit 300, energy storage 310, electronics and sensors 320a-u, as well as communication means 330.In accordance with one embodiment of the thruster attachment structure 160 according to the present invention it comprises a housing 161 configured to enclose the propeller 151 and allowing the propeller 151 to rotate under influence of the associated electric motor 152 that is also enclosed in the mentioned housing 161. The housing 161 is provided with an attachment interface (not shown) attaching the respective thruster assembly 150a-d to the main body 111 via a corresponding attachment interface of the main body 111.In an alternative embodiment of the FFNCD 100 according to the present invention, the attachment interface of the housing 160 and/or main body 111 is/are provided with one or more controllable attachment interfaces, enabling the housing 161 and thus propeller 151 to be tilted about a vertical and/or horizontal axis thereof.In accordance with one embodiment of the FFNCD 100 according to the present invention the propeller 151 comprises at least one controllable propeller blade enabling controlling of the pitch of the propeller blades.Accordingly, the shown embodiments show the integration of one, two and four independently controllable thruster assemblies 150a-d, that will provide maneuverability in the water for the FFNCD 100 in relation to a fish farm net 400 to be cleaned. By using multiple thruster assemblies 150a-d improved controlling is achieved, as well as smaller propellers 151 can be used to achieve the required propulsion force for the FFNCD 100.E.g. in the embodiment of Fig. 2c combined with a thruster assembly 150a being tiltable in two planes, will enable controlling so that net thruster force from each of the opening 154 is controlled. In accordance with the shown embodiment of the FFNCD 100 according to the present invention in Fig. 1a-d, 4a-b, there is arranged one thruster assembly 150a-d in close vicinity of the respective controllable brush 220a-d, at a distance above the respective brush 220a-d, i.e. in a parallel horizontal plane to the respective rotation axis R1-R1, R2-R2. Accordingly, in this embodiment there is one controllable thruster assembly 150a-d associated with each of the independent controllable brushes 220a-d. In the shown embodiment, the respective thruster assembly 150a-d arranged above the respective brush 220a-d is not positioned directly above the vertical center axis of the respective rotation axis R1-R1, R2-R2, but is positioned a distance from this, inwards to the vertical center axis A-A of the main body 111. To ensure that it will be the brushes 220a-d that is the foremost component of the FFNCD 100 that is in contact with the fish farm net 400 also in corner or other difficult accessible locations in a fish farm, the thruster assemblies 150a-d are retracted a distance, seen in the axial direction of the FFNCD 100, in relation to the brushes 220a-d. By having the thruster assemblies 150a-d not aligned with the vertical center axis of the rotating net engaging assemblies 200a-b it is achieved that the water flow will not be restricted by the brushes 200a-d being directly in the water flow through the thruster assemblies 150a-d. In this manner a water flow is created in vicinity of the individual brushes 220a-d which improves the effect of the cleaning process by that the water flow acts with the brushes 220a-d and moves particles away from the fish farm net 400 as they are removed therefrom by creating a suction above the respective brush 220ad. The same effect can also be achieved by the embodiment of Fig. 2c or a combination of the embodiments of Fig.2b and 2c.Accordingly, the FFNCD 100 comprises at least one controllable thruster assembly 150a-d and the first 200a and second 200b controllable rotating net engaging assemblies 200a-b comprising independently controllable brushes 220a-b, 220c-d, respectively, enabling both propulsion in the water and movement along the fish farm net 400 to be cleaned.Reference is now made to Fig.3 showing a block diagram showing the components of the FFNCD 100, as well as signal and power flow in the FFNCD 100. Even though the block diagram shows four controllable thruster assemblies 150a-d, the FFNCD 100 according to the present invention comprises from one controllable thruster assembly 150a-d and upwards. The energy storage 310, such as one or more rechargeable batteries, is configured to power the components of the FFNCD 100, hereunder, control unit 300, sensors 320a-u, the at least one controllable thruster assembly 150a-d, the first and second rotating net engaging assemblies 200a-b, as well as communication means 330. The FFNCD 100 will comprise sensors 320a-u for gathering information about the controllable components 150a-d, 200a-b, as well as will comprise proximity and environmental sensors to gather information of the surroundings and the fish farm net 400 to be cleaned, to enable the controlling of the FFNCD 100 in relation to the fish farm net 400, as well as controlling the cleaning process thereof.In accordance with one embodiment of the present invention, each of the electric motors 223 of the respective controllable brush 220a-d is associated with an encoder 320a providing information of each of the motors 223 and thus the individually controllable brush 220a-d, information that is required for controlling the individually controllable brush 220a-d or rollers.According to one embodiment of the present invention, each of the electric motors 152 of the respective thruster assembly 150a-d is associated with an encoder 320b providing information of each of the associated motors 152 and thus the individually controllable thruster assembly 150a-d, information that is required for controlling the individually controllable thruster assembly 150a-d. In accordance with one embodiment of the FFNCD 100 according to the present invention, it further comprises at least one pressure sensor 320c arranged in the main body 111, which is used for, among others, depth measurement and detection of leakage. In one embodiment of the FFNCD 100 according to the present invention, the FFNCD 100 comprises one or more sensor for detection of position and/or orientation, such as, but not limited to, magnetometer 320c and/or compass, Global positioning system (GPS) 320d, at last one accelerometer 320e, inertial measurement unit (IMU) 320f, vertical reference unit (VRU) 320g, gyroscope 320h, providing information of position, movement and/or heading, as well as enable tracking of the FFNCD 100 in the water.The FFNCD 100 may further comprise one or more magnetic or Hall effect sensors 320i associated with the electric motors 152, 223 of the controllable thruster assembly 150a-d and independently controllable brushes 220a-d, respectively, that may have various use, such as for position, rotation etc.In accordance with a further embodiment of the present invention, FFNCD 100 comprises voltage sensor 320j and/or current sensor 320k for monitoring the voltage and/or current to have information about status of the energy storage 310, as well as power consumption for the other components. In accordance with one embodiment of the FFNCD 100, the control unit 300 is provided with a battery management system configured to monitor and control the charging of the energy storage 310, as well as maximizing the operation time of the FFNCD 100 by optimally using the amount of energy stored in the energy storage 310. According to a further embodiment of the FFNCD 100 according to the present invention, the FFNCD 100 further comprises energy harvesting means (not shown) for charging of the energy storage 310 also during operation. Examples of such energy harvesting means are, but not limited to, solar cells, resonant mechanical devices, piezoelectric devices, devices capable of transforming mechanical energy or kinetic energy, etc. A skilled person will be familiar with these alternatives and no further description is required herein. According to a further embodiment of the FFNCD 100 according to the present invention, it comprises at least one force sensor and/or strain sensor 320l associated with the individual brush 220a-d providing information about net force from the respective brushes 220a-d against the fish farm net 400, which is valuable information for controlling and the cleaning process.In accordance with a further embodiment of the FFNCD 100 according to the present invention, it comprises at least one moisture sensor 320m enabling detection of water in the main body 111 and or other components of the FFNCD 100.According to a further embodiment of the FFNCD 100 according to the present invention, it comprises one or more inductive sensors 320n that can be used for detecting magnetic fields, providing position information, as well as providing velocity information. In accordance with one embodiment of the FFNCD 100 according to the present invention, it comprises one or more capacitive sensors 320o that can be used for positioning, orientation and signaling/communication.According to a further embodiment of the FFNCD 100 according to the present invention, it comprises one or more optical sensors 320p providing information about light conditions, orientation, position, as well as can be used for signaling/communication.According to a further embodiment of the FFNCD 100 according to the present invention, it comprises one or more temperature sensors 320q providing information of the temperature in the respective components of the FFNCD 100.The FFNCD 100 according to one embodiment of the present invention further comprises at least one camera 320r providing information of the surroundings, as well as information about cleaning effect, orientation, velocity. In addition, the at least one camera 320r can be used for inspection and informing about the state of the fish farm net 400.According to a further embodiment of the FFNCD 100 according to the present invention, the FFNCD 100 comprises at least one radar or laser radar 320s providing information of the surroundings of the FFNCD 100, as well as possible objects in the vicinity thereof and information about the fish farm net 400.In accordance with one embodiment of the FFNCD 100 according to the present invention, it comprises one or more ultrasound sensors 320t that can be used for providing information about the surroundings of the FFNCD 100 as well as information about the fish farm net 400.In accordance with one embodiment of the FFNCD 100 according to the present invention, it comprises a doppler-sensor 320u for measuring water current/velocity. By information about water current/velocity and power consumption, the FFNCD 100 can decide if it has the power to continue cleaning, i.e. if it has enough power to remain in engagement with the fish farm net 400 or if it should be charged.The FFNCD 100 according to the present invention is provided with communication means 330 providing a wired and/or wireless communication interface for remote controlling and communication. In accordance with the present invention, the FFNCD 100 is provided with at least one wireless communication interface, such as radio communication (Bluetooth, WiFi, etc.), optical communication, inductive communication, capacitive communication or acoustic communication, all enabling wireless communication. The FFNCD 100 is further preferably also provided with at least one wired communication interface, such as Ethernet, CAN, RS485, etc. or umbilical enabling wired communication and controlling of the FFNCD 100.Reference is now made to Fig. 1a and 4a-b. The mentioned exterior protective housing 120 is according to one embodiment of the FFNCD 100 configured for detachable attachment to the main body 111 by appropriate attachment means (not shown). The protective housing 120 is configured/designed to protect the main body 111, the at least one controllable thruster assembly 150a-d and the first and second controllable rotating assemblies 200a-b, as well providing an integration interface for sensors 320a-u if required. In the shown embodiment, the protective housing 120 has a mainly rectangular exterior shape and on the interior side is configured/adapted to enclose the main body 111, the at least one controllable thruster assembly 150a-d and the support structures 210 of the first and second controllable rotating net engaging assemblies 200ab.The protective housing 120 is provided with centered opening 121 configured to receive and enclose the main body 111. In accordance with a further embodiment of the FFNCD 100 according to the present invention, the mentioned lid 113 has some larger circumference than the mentioned centered opening 121 so that the lid 113 may also be used as an attachment structure for attaching the protective housing 120 to the main body 111.In accordance with the shown embodiment of the protective housing 120, distal longitudinal ends 122a-b of the protective housing 120 are profiled and configured to partly accommodate the respective first 200a and second 200b controllable rotating net engaging assemblies. The length of the protective housing 120 is some shorter than the length of the support assembly 110 with the first and second controllable rotating net engaging assemblies 200a-b, so that the first and second controllable rotating net engaging assemblies 200a-b protrude in the distal longitudinal ends 100ab of the support assembly 110/FFNCD 100 facilitating the cleaning process.The protective housing 120 is further provided with through holes 123 extending from an upper side thereof, aligned with the at last one controllable thruster assembly 150a-d, which through holes 123 ends in a profiled recess 124 in the distal longitudinal profiled ends 122a-b. The through holes 123 and profiled recess 124 enable a water flow through the protective housing 120 and controllable thruster assemblies 150a-d when the propeller 152 rotates. Accordingly, the through holes 123 and profiled recesses 124 form water flow paths extending from the lower side of the fish farm net cleaning device 100 to the upper side of the fish farm net cleaning device 100, and in which water flow paths a controllable thruster assembly 150a-d is arranged.The through holes 123 are according to the shown embodiment of the FFNCD 100 provided with an inclined profile expanding in inner circumference from the interior to the exterior of the housing 120 providing an increased velocity of the water flow created by the respective controllable thruster assemblies 150a-d. The mentioned profiled recesses 124 also contribute to that the necessary amount of water flow is able to flow through the controllable thruster assembly 150a-d to achieve the required propulsion force and provide the required suction above the respective brushes 220ad.The distal longitudinal profiled ends 122a-b of the housing 120 are in the shown embodiment further provided with centered recesses 125, extending from lower side thereof, configured for receiving and accommodating the support structures 210 of the respective first and second controllable rotating net engaging assemblies 200a-b.In accordance with a further embodiment of the FFNCD 100 according to the present invention, the protective housing 120 is provided with a connection interface 130 for a docking station (not shown) enabling connection therewith and/or integration or engagement with a manipulator arm (not shown) of a docking station for handling of the FFNDC 100 and/or connection for charging and/or communication.The FFNDC 100 is according to the present invention in total configured to have neutral buoyancy in the water.The mentioned control unit 300 is provided with means and/or software for controlling the thruster assemblies 150a-d and rotating net engaging assemblies 200a-b, based on the sensors 320a-u onboard and control instructions. The FFNDC 100 according to the present invention is configured to be controlled either manually, semi-automated or fully automated, and wherein the control unit 300 is provided with means and/or software for controlling the FFNDC 100 according to the set control mode.By the present invention is provided a FFNDC 100 that is propulsioned/moved by at least one controllable thruster assembly 150a-d in combination with the first 200a and second 200b controllable rotating net engaging assemblies, wherein each thruster assembly 150a-d and each brush 220a-d of the first and second controllable rotating net engaging assemblies are independently controllable. By individually controlling the at least one thruster assembly 150a-d and each brush 220a-d, an overall propulsion force for movement of the FFNDC 100 in the water and along the fish farm net 400 is enabled.In connection with a cleaning process, when the FFNCD 100 is in engagement with the fish farm net 400 with both the first and second net engaging assemblies 200a-b, the at least one controllable thruster assembly 150a-d is providing a push force that retain the FFNCD 100 with a desired push force against the fish farm net 400, as shown in Fig.5.In a cleaning process, the first 200a and second 200b controllable rotating net engaging assemblies, in an embodiment where both comprise independently controllable brushes 200a-d, are configured to be controlled to rotate with different rotation speed depending on the moving direction of the FFNCD 100, wherein the first 200a or second 200b controllable rotating net engaging assembly positioned in front, seen in the moving direction of the FFNCD 100, is rotating with a higher rotation speed than the first 200a or second 200b controllable rotating net engaging assembly positioned at the rear, seen in moving direction of the FFNCD 100. In Fig.5, if the moving direction is according to the arrow and towards the left, the first controllable rotating net engaging assembly 200a is rotating with a higher rotation speed that the second controllable rotating net engaging assembly 200b. By this is achieved that the first controllable rotating net engaging assembly 200a is performing cleaning of the fish farm net 400, while the second controllable rotating net engaging assembly 200b is providing propulsion/movement in the forward direction indicated by the arrow, i.e. to the left in Fig.5. As the controllable thruster assemblies 150a-d are independently controllable, these can be individually controlled so that a higher suction/water flow is created over the brushes 220a-b of the first controllable rotating net engaging assembly 200a than the second controllable rotating net engaging assembly 200b. In addition, the controllable thruster assemblies 150a-d can also be controlled to assist in the propulsion/movement by the second controllable rotating net engaging assembly 200b. If the movement direction is in the opposite direction of the arrow in Fig.5, i.e. to the right hand side, the first 200a and second 200b controllable rotating net engaging assemblies change function, wherein the second controllable rotating net engaging assembly 200b is rotated with a higher rotation speed than the first controllable rotating net engaging assembly 200a, wherein the second controllable rotating net engaging assembly 200b perform cleaning and the first controllable rotating net engaging assembly 200a perform the forward propulsion/movement. The controllable thruster assemblies 150a-d are adjusted accordingly. There may further be some cleaning situations where the FFNCD 100 will for shorter distances move in a backward direction while performing cleaning with the respective controllable rotating net engaging assembly 200a-b being positioned at the rear end, seen in moving direction. However, for the most effective cleaning, the cleaning is performed by the foremost controllable rotating net engaging assembly 200a-b. In accordance with one embodiment of the present invention, the respective controllable rotating net engaging assembly 200a-b performing the cleaning of the fish farm net 400 is rotated with at least twice the rotation speed of the respective controllable rotating net engaging assembly 200a-b performing the propulsion/movement. Rotation speeds both above and below this will also be used depending on the requirements.It should be mentioned that the first or second controllable rotating net engaging assembly 200a-b being used for cleaning will also give a contribution to the propulsion/movement of the FFNCD 100 due to all the brushes 220a-d mainly will rotate in the same rotational direction, except for special cases, such as turning or maneuvering in tight spots, such as corners of the fish farm net 400. As long as the FFNCD 100 is performing a cleaning process on the fish farm net 400 or propulsion/movement forward or backwards, the first and second controllable rotating net engaging assemblies 200a-b are rotated in the same rotational direction.When a turn is required for changing moving direction or course, the rotation speed of the independently controllable brushes 220a-b are controlled to have different rotation speed. E.g., if the change in moving direction/course is downwards, i.e. towards the left and downwards in Fig.5, the independently controllable brushes 220a and 220c are controlled to rotate with a slower rotation speed than the independently controllable brushes 220b and 220d, resulting in that the FFNCD 100 will change direction downwards. If the change of moving direction/course is upwards, the independently controllable brushes 220b and 220d are controlled to rotate with a slower rotation speed than the independently controllable brushes 220a and 220c, resulting in that the FFNCD 100 will change direction upwards. The change in direction may addition be assisted by individual control of the controllable thruster assemblies 150a-d. In this manner the moving direction of the FFNDC 100 is easily achieved by controlling the individual brushes 220a-d, while still performing cleaning and propulsion/movement.If here is required a sharp turn in the moving direction/course, the individual brushes 220a-d facing towards the change of direction can also be stopped or even rotated in the opposite rotation direction resulting in the FFNDC 100 making the change of moving direction/course in steeper angle. Accordingly, based on control instructions, either they are given manually, semi-automated or fully automated, the control unit 300 is configured, by comprising means and/or software, to control the rotation speed and/or rotational direction of the respective brushes 220a-d to achieve the cleaning and propulsion/movement along the fish farm net 400, as well as controlling the rotation speed of the thruster assemblies 150a-d to achieve the required push force against the fish farm net 400 and required suction above the respective brushes 220a-d used for cleaning.Due to the respective brushes 220a-d being independent controllable, the FFNCD 100 according to the present invention provides a solution where the respective brush 220a-d performing cleaning can be controlled depending on the degree of fouling on the fish farm net 400. In addition to controlling the rotation speed, this is in the FFNCD 100 according to the present invention assisted by that one can control the thruster assemblies 150a-d independently and in this manner control the push force that the brushes 220a-d acts on the fish farm net 400.By collecting information about the state of the fish farm net 400, the FFNCD 100 can be controlled to use reduced cleaning force on areas or sections of the fish farm net 400 that are considered to be weakened for some reason.By collecting information about the state of the fish farm net 400 and the amount of fouling, the FFNCD 100 can be controlled to use tailored cleaning force on the respective areas or sections thereof and also perform spot cleaning in areas or sections with higher amount of fouling.The technical features of the above described embodiments may be combined to form modified embodiments within the scope of the attached claims.
Claims
Claims1. Fish farm net (400) cleaning device (100), wherein the fish farm net cleaning device (100) comprises a support assembly (110), at least one controllable thruster assembly (150a-d) and first and second controllable rotating net engaging assemblies (200a-b),wherein the first controllable rotating net engaging assembly (200a) is arranged at a first axial end (110a) of the support assembly (110) and the second controllable rotating net engaging assembly (200b) is arranged at a second axial end (110b) of the support assembly (110), wherein the first and second controllable rotating net engaging assemblies (200a-b) are formed by two independently controllable brushes or rollers (220a-b, 220c-d), respectively, configured to rotate about a common respective rotation axis (R1-R1, R2-R2),wherein at least one of the first and second controllable rotating net engaging assemblies (200a-b) comprises two independent controllable brushes (220a-b, 220c-d), respectively,characterized in that the first (200a) and second (200b) controllable rotating net engaging assemblies, during a fish farm net (400) cleaning operation, are configured to be controlled to rotate with different rotation speed, wherein the first (200a) or second (200b) controllable rotating net engaging assembly being rotated with the highest rotation speed or comprising brushes (220a-d) is configured to be controlled to perform cleaning of the fish farm net (400) and the first (220a) or second (220b) controllable rotating net engaging assembly rotated with the lowest rotation speed or comprising rollers (220a-d) is configured to be controlled to move the fish farm cleaning device (100) along the fish farm net (400).2. Fish farm net cleaning device (100) according to claim 1, wherein the first (200a) or second (200b) controllable rotating net engaging assemblies are configured to be controlled to rotate with different rotation speed depending on moving direction of the fish farm net cleaning device (100), wherein the first (200a) and second (200b) controllable net engaging assembly being positioned in front of the fish farm net cleaning device (100), seen in the moving direction of the fish farm net cleaning device (100) or comprising brushes (220a-d), is configured to be controlled to rotate with a higher rotation speed than the first (200a) or second (200b) controllable rotating net engaging assembly positioned at the rear of the fish farm net cleaning device (100), seen in moving direction of the fish farm net cleaning device (100) or comprising rollers (220a-d).3. Fish farm net cleaning device (100) according to claim 1, wherein the at least one controllable thruster assembly (150a-b) is configured to be controlled to hold the fish farm net cleaning device (100) against a fish farm net (400) with a net contact force between the fish farm net and the first (200a) and second (200b) controllable rotating net engaging assemblies.4. Fish farm net cleaning device (100) according to claim 3, wherein comprising multiple controllable thruster assemblies (150a-d), wherein a controllable thruster assembly (150a-d) is associated with each of the independently controllable brushes (220a-d), the associated controllable thruster assembly (150a-d) being arranged in the vicinity of the respective independently controllable brush (220a-d) and positioned in a plane above the respective independent controllable brush (220a-d), providing a suction over the respective independently controllable brush (220a-d).5. Fish farm net cleaning device (100) according to claim 1, wherein each independently controllable brush or roller (220a-d) is independently controllable in rotation speed and/or direction by an associated electric motor (223).6. Fish farm net cleaning device (100) according to claim 3 or 4, wherein each controllable thruster assembly (150a-d) is independently controllable in rotation speed and/or direction by an associated electric motor (152).7. Fish farm net cleaning device (100) according to claim 3 or 4, wherein the controllable thruster assemblies (150a-b) comprises rim-driven propellers (151).8. Fish farm net cleaning device (100) according to any preceding claim 2-7, wherein comprising an exterior protective housing (120) configured with water flow paths (123, 124, 153) extending from lower side of the fish farm net cleaning device (100) to upper side of the fish farm net cleaning device (100), in which water flow paths the at least one controllable thruster assembly (150a-d) is arranged.9. Method for fish farm net (400) cleaning by means of a fish farm net cleaning device (100) comprising a first (200a) controllable rotating net engaging assembly arranged at a first axial end (110a) of a support assembly (110) and a second (200b) controllable rotating net engaging assembly arranged at a second axial end (110b) of the support assembly (110), wherein the first and second controllable rotating net engaging assemblies (200a-b) are formed by two independently controllable brushes or rollers (220a-b, 220c-d), respectively, configured to rotate about the common rotation axis (R1-R1, R2-R2), respectively,wherein at least one of the first and second controllable rotating net engaging assemblies (200a-b) comprises two independent controllable brushes (220a-b, 220c-d), respectively,characterized by, during a fish farm net (400) cleaning operation, rotating the first (200a) and second (200b) controllable rotating net engaging assemblies with different rotation speed, andperforming cleaning of the fish farm net (400) by using the first (200a) or second (200b) controllable rotating net engaging assembly rotated with the highest rotation speed or comprising brushes (220a-d), andmoving the fish farm net cleaning device (100) along the fish farm net (400) with the first (200a) or second (200b) controllable rotating net engaging assembly rotated with the lowest rotation speed or comprising rollers (220a-d).10. Method for fish farm net (400) cleaning according to claim 9, wherein rotating the first (200a) and second (200b) controllable rotating net engaging assemblies with different rotation speed depending on moving direction of the fish farm net cleaning device (100), wherein rotating the first (200a) or second (200b) controllable rotating net engaging assembly being positioned in front of the fish farm net cleaning device (100), seen in the moving direction of the fish farm net cleaning device (100) or comprising brushes (220a-b, 220c-d), with higher rotation speed than the first (200a) or second (200b) controllable rotating net engaging assembly positioned at the rear of the fish farm net cleaning device (100), seen in moving direction of the fish farm net cleaning device (100) or comprising rollers (220a-b, 220c-d).11. Method for fish farm net (400) cleaning according to any preceding claim 9-10, wherein holding the fish farm net cleaning device (100) against a fish farm net (400) with a net contact force between the fish farm net and the first (200a) and second (200b) controllable rotating net engaging assemblies by using at least one controllable thruster assembly (150a-b).12. Method for fish farm net (400) cleaning according to any preceding claim 9-11, wherein providing a suction over the respective independently controllable brush (220a-d) by using controllable thruster assemblies (150a-d) associated with each of the independently controllable brushes (220a-d).13. Method for fish farm net (400) cleaning according to any preceding claim 9-12, wherein changing moving direction or course of the fish farm net cleaning device (100) along the fish farm net (400) by controlling the respective individually controllable brushes or rollers (220a-d) with individual rotation speed and/or direction.14. Method for fish farm net (400) cleaning according to any preceding claim 9-12, wherein controlling the respective individually controllable brushes (220a-d) with individual rotation speed according to state of the fish farm net (400).PATENTKRAV1. Oppdrettsanleggsnett (400) -rengjøringsinnretningen (100), hvori oppdrettsanleggsnettrengjøringsinnretningen (100) omfatter en støttesammenstilling (110), minst en styrbar thrustersammenstilling (150a-d) og første og andre styrbare, roterende nettengasjerende sammenstillinger (200a-b),hvori den første styrbare, roterende nettengasjerende sammenstillingen (200a) er innrettet ved en første aksiell ende (110a) av støttesammenstillingen (110) og den andre styrbare, roterende nettengasjerende sammenstillingen (200b) er innrettet ved en andre aksiell ende (110b) av støttesammenstillingen (110), hvori de første og andre styrbare, roterende nettengasjerende sammenstillingene (200a-b) er dannet av to uavhengig, styrbare børster (220a-b) eller henholdsvis ruller (220c-d), konfigurert til å rotere om en felles respektiv rotasjonsakse (R1-R1, R2-R2),hvori minst en av de første og andre styrbare, roterende nettengasjerende sammenstillingene (200a-b) omfatter to respektive uavhengige, styrbare børster (220a-b, 220c-d),karakterisert ved at de første (200a) og andre (200b) styrbare, roterende nettengasjerende sammenstillinger, under en fiskeoppdrettsanleggsnett (400) -rengjøringsoperasjon, er konfigurert for å bli styrt til å rotere med ulik rotasjonshastighet, hvori den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstillingen hvilken roteres med den høyeste rotasjonshastigheten eller omfatter børster (220a-d) konfigurert for å bli styrt til å utføre rengjøring av oppdrettsanleggsnettet (400) og den første (220a) eller andre (220b) styrbare, roterende nettengasjerende sammenstillingen rotert med lavest hastighet eller omfatter ruller (220a-d) er konfigurert for å bli styrt til å bevege oppdrettsanleggsnettrengjøringsenheten (100) langs oppdrettsanleggsnettet (400).2. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med krav 1, hvori den første (200a) og andre (200b) styrbare, roterende nettengasjerende sammenstillingene er konfigurert for å bli styrt til å rotere med ulik rotasjonshastighet avhengig av bevegelsesretningen til fiskeoppdrettsanleggsnett-rengjøringsinnretningen (100), hvori den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstillingen hvilken er posisjonert i front av oppdrettsanleggsnett-rengjøringsinnretningen (100), sett i bevegelsesretningen til oppdrettsanleggsnett-rengjøringsinnretningen (100) eller omfatter børster (220a-d), er konfigurert til å bli styrt til å rotere med høyere rotasjonshastighet enn den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstillingen posisjonert ved den bakre delen av oppdrettsanleggsnett-rengjøringsinnretningen (100), sett i bevegelsesretningen av oppdrettsanleggsnett-rengjøringsinnretningen (100) eller omfatter ruller (220a-d).3. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med krav 1, hvori den minst ene styrbare thrustersammenstillingen (150a-b) er konfigurert til å bli styrt til å holde oppdrettsanleggsnett-rengjøringsinnretningen (100) mot oppdrettsanleggsnettet (400) med en nettkontaktkraft mellom oppdrettsanleggsnettet (400) og de første (200a) og andre (200b) styrbare, roterende nettengasjerende sammenstillingene.4. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med krav 3, hvori den omfatter et flertall styrbare thrustersammenstillinger (150a-d), hvori en styrbar thrustersammenstilling (150a-d) er assosiert med hver av de uavhengige, styrbare børstene (220a-d), hvor den assosierte styrbare thrustersammenstillingen (150a-d) er innrettet i nærheten av den respektive uavhengige, styrbare børsten (220a-d) og posisjonert i et plan over den respektive uavhengige, styrbare børsten (220a-d), hvilket tilveiebringer et sug over den respektive uavhengige, styrbare børsten (220a-d).5. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med krav 1, hvori hver uavhengige, styrbare børste eller ruller (220a-d) er uavhengig styrbar i rotasjonshastighet og/eller retning ved en assosiert elektrisk motor (223).6. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med krav 3 eller 4, hvori hver styrbare thrustersammenstilling (150a-d) er uavhengig styrbar i rotasjon og/eller retning ved en assosiert elektrisk motor (152).7. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med krav 3 eller 4, hvori de styrbare thrustersammenstillingene (150a-d) omfatter periferidrevne propeller (151).8. Oppdrettsanleggsnett-rengjøringsinnretning (100) i samsvar med ett av kravene 2-7, hvori den omfatter et ytre beskyttende hus (120) konfigurert med vannstrømningsbaner (123, 124, 153) hvilke strekker seg fra nedre side av oppdrettsanleggsnettrengjøringsinnretningen (100) til øvre side av oppdrettsanleggsnett-rengjøringsinnretningen (100), i hvilke vannstrømningsbaner den minst ene thrustersammenstillingen (150a-d) er innrettet.9. Fremgangsmåte for oppdrettsanleggsnett (400) -rengjøring ved hjelp av en oppdrettsanleggsnett-rengjøringsinnretning (100) hvilken omfatter en første (200a) styrbar, roterende nettengasjerende sammenstilling innrettet ved en første aksial ende (110a) av en støttesammenstilling (110) og en andre (200b) styrbar, roterende nettengasjerende sammenstilling ved en andre aksial ende (110b) av støttesammenstillingen (110), hvori de første og andre styrbare, roterende nettengasjerende sammenstillingene (200a-b) er dannet av to uavhengig, styrbare børster eller henholdsvis ruller (220a-b, 220c-d), konfigurert til å styre til å rotere om en respektiv felles rotasjonsakse (R1-R1, R2-R2),hvori minst en av de første og andre styrbare, roterende nettengasjerende sammenstillingene (200a-b) omfatter to respektive uavhengige, styrbare børster (220a-b, 220c-d),karakterisert ved at, under en oppdrettsanleggsnett (400) -rengjøringsoperasjon, rotere de første (200a) og andre (200b) styrbare, roterbare nettengasjerende sammenstillingene med ulik rotasjonshastighet, ogutføre rengjøring av oppdrettsanleggsnettet (400) ved å bruke den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstillingen rotert med den høyeste rotasjonshastigheten eller omfattende børster (220a-d), ogbevege oppdrettsanleggsnett-rengjøringsinnretningen (100) langs oppdrettsanleggsnettet (400) med den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstillingen rotert med den laveste rotasjonshastigheten eller omfattende ruller (220ad).10. Fremgangsmåte for oppdrettsanleggsnett (400) -rengjøring i samsvar med krav 9, hvori rotere den første (200a) og andre (200b) styrbare, roterende nettengasjerende sammenstillingen med ulik rotasjonshastighet avhengig av bevegelsesretning til oppdrettsanleggsnett-rengjøringsinnretningen (100), hvori den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstillingen posisjonert i front av oppdrettsanleggsnett-rengjøringsinnretningen (100), sett i bevegelsesretningen til oppdrettsanleggsnett-rengjøringsinnretningen (100) eller omfatter børster (220a-b, 220c-d), roteres med høyere rotasjonshastighet enn den første (200a) eller andre (200b) styrbare, roterende nettengasjerende sammenstilling posisjonert ved den bakre delen av oppdrettsanleggsnett-rengjøringsinnretningen (100), sett i bevegelsesretningen til oppdrettsanleggsnett-rengjøringsinnretningen (100) eller omfatter ruller (220a-b, 220c-d).11. Fremgangsmåte for oppdrettsanleggsnett (400) -rengjøring i samsvar med krav 9-10, hvori holde oppdrettsanleggsnett-rengjøringsinnretningen (100) mot oppdrettsanleggsnettet (400) med en nettkontaktkraft mellom oppdrettsanleggsnettet (400) og de første (200a) og andre (200b) styrbare, roterende nettengasjerende sammenstillingene ved å bruke minst en styrbar thrustersammenstilling (150a-b).12. Fremgangsmåte for oppdrettsanleggsnett (400) -rengjøring i samsvar med ett av kravene krav 9-11, hvori skape et sug over de respektive uavhengige, styrbare børstene (220a-d) ved å bruke styrbare thrustersammenstillinger (150a-d) assosiert med hver av de uavhengige, styrbare børstene (220a-d).13. Fremgangsmåte for oppdrettsanleggsnett (400) -rengjøring i samsvar med ett av kravene 9-12, hvori endre bevegelsesretning eller kurs for oppdrettsanleggsnettrengjøringsinnretningen (100) langs oppdrettsanleggsnettet (400) ved å styre de respektive individuelle styrbare børstene eller rullene (220a-d) med individuell rotasjonshastighet og/eller retning.14. Fremgangsmåte for oppdrettsanleggsnett (400) -rengjøring i samsvar med ett av kravene 9-12, hvori styre de respektive individuelle styrbare børstene (220a-d) med individuell rotasjonshastighet i samsvar med tilstanden til oppdrettsanleggsnettet (400).
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Patent classes

IPC classesA01K 63/10B08B 1/00B08B 1/12B08B 1/30B08B 1/32B63C 11/52CPC classesA01K 63/10B08B 1/00B08B 1/12B08B 1/30B08B 1/32B63C 11/52

Citations

CN 114275113 A (A)WO 2015005801 A1 (A1)NO 342552 B1 (B1)WO 2023018336 A1 (A1)

Applicants, owners and inventors

Owners
ULTRA AQ AS
Rabbaveien 13 7260 SISTRANDA NO (FRØYA Municipality, Trøndelag county)Org. number: 924916672Inventors
Kai-Rune Frøset
c/o Inventas AS, Innherredsveien 7 7014 TRONDHEIM NO (TRONDHEIM Municipality, Trøndelag county)
Eivind Sæter
c/o Inventas AS, Innherredsveien 7 7042 TRONDHEIM NO (TRONDHEIM Municipality, Trøndelag county)
Tore Eide
Vardeveien 11 A 7088 HEIMDAL NO (TRONDHEIM Municipality, Trøndelag county)
Mats-Ove Vaagø
Sørveien 7 9750 HONNINGSVÅG NO (NORDKAPP Municipality, Finnmark county)

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ACAPO ONSAGERS AS
ACAPO ONSAGERS AS

Org. number: 932214636

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Edvard Griegs vei 1 5059 BERGEN NO (BERGEN Municipality, Vestland county)
Org. number: 932214636
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