CN108450357A - A kind of multiparty control formula flexibility underwater monitoring system - Google Patents
A kind of multiparty control formula flexibility underwater monitoring system Download PDFInfo
- Publication number
- CN108450357A CN108450357A CN201810528104.8A CN201810528104A CN108450357A CN 108450357 A CN108450357 A CN 108450357A CN 201810528104 A CN201810528104 A CN 201810528104A CN 108450357 A CN108450357 A CN 108450357A
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- Prior art keywords
- pulling
- pulls
- wheel group
- control formula
- motor
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
A kind of multiparty control formula flexibility underwater monitoring system, is provided with video acquisition system and multiparty control formula flexibility positioning system, and video acquisition system is connect with multiparty control formula flexibility positioning system flexible driving.The multiparty control formula flexibility underwater monitoring system has simple in structure, mobile the advantages of flexibly capable of resisting high sea simultaneously by multiparty control flexible driving.The video acquisition system of the multiparty control formula flexibility underwater monitoring system of the present invention can pull the spatial movement or stop that the negative direction of mechanism, the 4th pulling mechanism and Z axis is surrounded along the first pulling mechanism, the second pulling mechanism, third, it may be implemented closely to take pictures, to obtain best video effect.The present invention realizes to be monitored in real time under the muddy water of aquatic products cage culture, be can be widely applied to cage culture under muddy water and is monitored in real time.The multiparty control formula flexibility positioning system of the present invention, without the motion structure using rigidity, has the advantages that resisting big stormy waves attacks using flexible movement.
Description
Technical field
The present invention is underwater monitoring field, is related to a kind of multiparty control formula flexibility underwater monitoring system.
Background technology
In cage culture production, cultivation dealer is concerned with shoal of fish situation in etting damaged condition and net cage the most.It passes
The small-sized aquaculture net cage of system, since carrying capacity is small, light-weight, by trapping the shoal of fish and men hoisting etting, it is easy to observe
The shoal of fish in net cage and etting situation.And Largesize deepwater net cage, it is then very tired that the observation of net cage operating mode is carried out by manual operation
It is difficult.Now in the art, the monitoring system of Largesize deepwater net cage exists causes video movement dumb while more complicated
Number uses the monitoring system of single-point positive drive, it is difficult to the shortcomings that resisting high sea.
Therefore in view of the shortcomings of the prior art, providing a kind of multiparty control formula flexibility underwater monitoring system to solve the prior art
It is insufficient very necessary.
Invention content
A kind of flexible underwater prison of multiparty control formula is provided it is an object of the invention to avoid the deficiencies in the prior art place
Control system.The multiparty control formula flexibility underwater monitoring system by multiparty control flexible driving, have it is simple in structure, it is mobile flexible
The advantages of high sea can be resisted simultaneously.
The above-mentioned purpose of the present invention is realized by following technical measures：
A kind of multiparty control formula flexibility underwater monitoring system is provided, video acquisition system is provided with and multiparty control formula is flexible
Positioning system, video acquisition system are connect with multiparty control formula flexibility positioning system flexible driving.
Preferably, above-mentioned multiparty control formula flexibility positioning system is provided with the first pulling mechanism, the second pulling mechanism, third
Pull mechanism, the 4th pull mechanism and the 5th and pull mechanism, first pull mechanism, second pull mechanism, third pulls mechanism, the
Four pulling mechanisms and the 5th pulling mechanism are securely installed in the water surface, and first, which pulls mechanism, the second pulling mechanism, third, pulls
Mechanism, the 4th pull mechanism and the 5th and pull mechanism respectively by pulling line and video acquisition system drive connection.
As origin, sea level it is XY axis using the 5th pulling mechanism position, vertical direction is Z axis and direction waterborne for Z
The positive direction of axis makees three-dimensional system of coordinate, the 5th pull mechanism coordinate is (0,0,0), first pull mechanism coordinate be (0, a,
0) coordinate that, third pulls mechanism is (0 ,-b, 0), and the second coordinate for pulling mechanism is (0, c, 0), and the 4th pulls the seat of mechanism
It is designated as (0 ,-d, 0), and a, b, c and d are the positive number more than 0.
Preferably, above-mentioned video acquisition system pulls mechanism, the second pulling mechanism, third along first and pulls mechanism, the 4th
The spatial movement or stop that pulling mechanism and the negative direction of Z axis are surrounded.
Preferably, above-mentioned video acquisition system is provided with floating ball and frequency collecting mechanism, floating ball respectively with video acquisition mechanism,
First pulling mechanism, the second pulling mechanism, third pull mechanism, the 4th pulling mechanism is connected with the 5th pulling mechanism driving.
Preferably, above-mentioned first pulling mechanism is provided with the first pulling motor and the first guide wheel group, and first pulls motor
It is individually fixed in the water surface with the first guide wheel group, first pulls motor is sequentially connected with the one end for pulling line, pulls the another of line
End is sequentially connected across the first guide wheel group and floating ball.
Preferably, above-mentioned second pulling mechanism is provided with the second pulling motor and the second guide wheel group, and second pulls motor
It is individually fixed in the water surface with the second guide wheel group, second pulls motor is sequentially connected with the one end for pulling line, pulls the another of line
End is sequentially connected across the second guide wheel group and floating ball.
Preferably, above-mentioned third pulls mechanism and is provided with third pulling motor and third guide wheel group, and third pulls motor
It is individually fixed in the water surface with third guide wheel group, third pulls motor and is sequentially connected with the one end for pulling line, pulls the another of line
End is sequentially connected across third guide wheel group and floating ball.
Preferably, above-mentioned 4th pulling mechanism is provided with the 4th pulling motor and the 4th guide wheel group, and the 4th pulls motor
It is individually fixed in the water surface with the 4th guide wheel group, the 4th pulls motor is sequentially connected with the one end for pulling line, pulls the another of line
End is sequentially connected across the 4th guide wheel group and floating ball.
Preferably, above-mentioned 5th pulling mechanism is provided with the 5th pulling motor, and the 5th pulling motor is fixed on the water surface,
5th pulls motor is sequentially connected with the one end for pulling line, and the other end floating ball for pulling line is sequentially connected.
Preferably, above-mentioned first guide wheel group, the second guide wheel group, third guide wheel group, the 4th guide wheel group and the 5th
Guide wheel group is respectively set to two directive wheels.
Preferably, above-mentioned directive wheel is fixed on the water surface
Preferably, above-mentioned video acquisition mechanism is provided with camera and light compensating apparatus, camera and light compensating apparatus electrical connection.
A kind of multiparty control formula flexibility underwater monitoring system of the present invention, is provided with video acquisition system and multiparty control formula
Flexible positioning system, video acquisition system are connect with multiparty control formula flexibility positioning system flexible driving.The multiparty control formula is scratched
Property underwater monitoring system by multiparty control flexible driving, have it is simple in structure, it is mobile flexibly to resist the excellent of high sea simultaneously
Point.The video acquisition system of the multiparty control formula flexibility underwater monitoring system of the present invention can pull mechanism, the second drawing along first
Drag spatial movement or stop that the negative direction of mechanism, third pulling mechanism, the 4th pulling mechanism and Z axis is surrounded, Ke Yishi
It now closely takes pictures, to obtain best video effect.The present invention realizes to be supervised in real time under the muddy water of aquatic products cage culture
Control can be widely applied to cage culture under muddy water and monitor in real time.The multiparty control formula flexibility positioning system of the present invention is used and is scratched
Property movement without the motion structure using rigidity, have the advantages that resist big stormy waves attack.
Description of the drawings
Using attached drawing, the present invention is further illustrated, but the content in attached drawing does not constitute any limit to the present invention
System.
Fig. 1 is the multiparty control formula flexibility positioning system off working state schematic diagram of the present invention.
Fig. 2 is that video acquisition system pulls mechanism, the second pulling mechanism, third pulling mechanism, the 4th pulling machine first
The space that the negative direction of structure and Z axis is surrounded stops schematic diagram.
Video acquisition system 1,
First pull mechanism 21, first pull motor 211, the first guide wheel group 212,
Second pull mechanism 22, second pull motor 221, the second guide wheel group 222,
Third pull mechanism 23, third pull motor 231, third guide wheel group 232,
4th pull mechanism the 24, the 4th pull motor 241, the 4th guide wheel group 242,
5th pulls mechanism 25.
Pull line 26.
Specific implementation mode
Technical scheme of the present invention is described further with the following Examples.
Embodiment 1.
A kind of multiparty control formula flexibility underwater monitoring system is provided with video acquisition system 1 and more as shown in Figure 1 to Figure 2
Point control formula flexibility positioning system, video acquisition system 1 are connect with multiparty control formula flexibility positioning system flexible driving.
Multiparty control formula flexibility positioning system is provided with the first pulling mechanism 21, second and pulls mechanism 22, third pulling machine
Structure the 23, the 4th pulls mechanism 24 and the 5th and pulls mechanism 25, and first, which pulls mechanism 21, second, pulls mechanism 22, third pulling machine
Structure the 23, the 4th pulls the pulling of mechanism 24 and the 5th mechanism 25 and is securely installed in the water surface, and first, which pulls mechanism 21, second, pulls
Mechanism 22, third pull pulling mechanism 25 of pulling mechanism 24 and the 5th of mechanism the 23, the 4th and are adopted respectively with video by pulling line 26
Collecting system 1 is sequentially connected.
Using the 5th pulling 25 position of mechanism as origin, sea level be XY axis, vertical direction is Z axis and direction waterborne is
The positive direction of Z axis makees three-dimensional system of coordinate, and the 5th pulls the coordinate of mechanism 25 as (0,0,0), and the coordinate of the first pulling mechanism 21 is
(0, a, 0), the coordinate that third pulls mechanism 23 are (0 ,-b, 0), and the second coordinate for pulling mechanism 22 is (0, c, 0), and the 4th pulls
The coordinate of mechanism 24 is (0 ,-d, 0), and a, b, c and d are the positive number more than 0.
It should be noted that the value of a of the present invention, the value of b, the value of the value of c and d can be depending on the sizes of net cage, it can be with
Value for the value of a, the value of b, the value of c and d is all equal, can also the value of a, the value of b, the value of the value of c and d it is equal two-by-two,
Can be unequal with the value of the value of a, the value of b, the value of c and d, the value of a, the value of b, the value of the value of c and d with specific reference to actual conditions and
It is fixed.
Video acquisition system 1 pulls mechanism 21, second along first and pulls mechanism 22, the pulling of third pulling mechanism the 23, the 4th
The spatial movement or stop that mechanism 24 and the negative direction of Z axis are surrounded.
Video acquisition system 1 is provided with floating ball and video acquisition mechanism, and floating ball is pulled with video acquisition mechanism, first respectively
Mechanism 21, second pulls mechanism 22, third pulls mechanism the 23, the 4th and pulls the drive connection of pulling mechanism 25 of mechanism 24 and the 5th.
First pulling mechanism 21 is provided with the first pulling motor 211 and the first guide wheel group 212, and first pulls motor 211
It is individually fixed in the water surface with the first guide wheel group 212, first pulls motor 211 is sequentially connected with the one end for pulling line 26, pulls
The other end of line 26 passes through the first guide wheel group 212 to be sequentially connected with floating ball.
Second pulling mechanism 22 is provided with the second pulling motor 221 and the second guide wheel group 222, and second pulls motor 221
It is individually fixed in the water surface with the second guide wheel group 222, second pulls motor 221 is sequentially connected with the one end for pulling line 26, pulls
The other end of line 26 passes through the second guide wheel group 222 to be sequentially connected with floating ball.
Third pulls mechanism 23 and is provided with third pulling motor 231 and third guide wheel group 232, and third pulls motor 231
It is individually fixed in the water surface with third guide wheel group 232, third pulls motor 231 and is sequentially connected with the one end for pulling line 26, pulls
The other end of line 26 passes through third guide wheel group 232 to be sequentially connected with floating ball.
4th pulling mechanism 24 is provided with the 4th pulling motor 241 and the 4th guide wheel group 242, and the 4th pulls motor 241
It is individually fixed in the water surface with the 4th guide wheel group 242, the 4th pulls motor 241 is sequentially connected with the one end for pulling line 26, pulls
The other end of line 26 passes through the 4th guide wheel group 242 to be sequentially connected with floating ball.
5th pulling mechanism 25 is provided with the 5th pulling motor, and the 5th pulling motor is fixed on the water surface, and the 5th pulls
Motor is sequentially connected with the one end for pulling line 26, and the other end floating ball for pulling line 26 is sequentially connected.
First guide wheel group 212, the second guide wheel group 222, third guide wheel group 232, the 4th guide wheel group 242 and the 5th
Guide wheel group is respectively set to two directive wheels.Directive wheel is fixed on the water surface.
The operation principle of the present invention is, when needing to monitor a certain position in net cage, with monitoring point in three-dimensional system of coordinate
In coordinate (- 3,4, -5) for, first pulling motor 211 and the 4th pull motor 241 pull respectively video acquisition system 1 to
(- 3,4,0), then the 5th pulling motor loosen or pulls pull line 26 make video acquisition system 1 reach monitoring point place Z axis
Position, to make video acquisition system 1 in three-dimensional system of coordinate (- 3,4, -5), such as Fig. 2.
The multiparty control formula flexibility underwater monitoring system is provided with video acquisition system 1 and the positioning of multiparty control formula flexibility
System, video acquisition system 1 are connect with multiparty control formula flexibility positioning system flexible driving.The flexible underwater prison of the multiparty control formula
Control system has simple in structure, mobile the advantages of flexibly capable of resisting high sea simultaneously by multiparty control flexible driving.The present invention
Multiparty control formula flexibility underwater monitoring system video acquisition system 1 can along first pull mechanism 21, second pull mechanism
22, the spatial movement or stop that pulling mechanism 24 of third pulling mechanism the 23, the 4th and the negative direction of Z axis are surrounded, Ke Yishi
It now closely takes pictures, to obtain best video effect.The present invention realizes to be supervised in real time under the muddy water of aquatic products cage culture
Control can be widely applied to cage culture under muddy water and monitor in real time.The multiparty control formula flexibility positioning system of the present invention is used and is scratched
Property movement without the motion structure using rigidity, have the advantages that resist big stormy waves attack.
Embodiment 2.
A kind of multiparty control formula flexibility underwater monitoring system, other features are same as Example 1, the difference is that, depending on
Frequency collecting mechanism is provided with camera and light compensating apparatus, camera and light compensating apparatus electrical connection.
The present embodiment is for embodiment 1, even if the configuration of light compensating apparatus can make camera if under muddy water
Clearly image is collected, realizes the monitoring to underwater environment.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than is protected to the present invention
The limitation of range, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art should manage
Solution, can be modified or replaced equivalently technical solution of the present invention, without departing from the essence and model of technical solution of the present invention
It encloses.
Claims (8)
1. a kind of multiparty control formula flexibility underwater monitoring system, it is characterised in that：It is provided with video acquisition system and multiparty control
Formula flexibility positioning system, video acquisition system are connect with multiparty control formula flexibility positioning system flexible driving.
2. a kind of multiparty control formula flexibility underwater monitoring system according to claim 1, it is characterised in that：The multiple spot control
Standard flexibility positioning system be provided with the first pulling mechanism, second pull mechanism, third pulls mechanism, the 4th pulls mechanism and the
Five pull mechanism, and first, which pulls mechanism, the second pulling mechanism, third pulling mechanism, the 4th pulling mechanism and the 5th, pulls mechanism
It is securely installed in the water surface, first, which pulls mechanism, the second pulling mechanism, third, pulls mechanism, the 4th pulling mechanism and the 5th
Mechanism is pulled to be sequentially connected with video acquisition system by pulling line respectively.
3. a kind of multiparty control formula flexibility underwater monitoring system according to claim 2, it is characterised in that：It is pulled with the 5th
Mechanism position is origin, sea level is XY axis, vertical direction is Z axis and the three-dimensional seat of positive direction work that direction waterborne is Z axis
Mark system, the 5th pulls the coordinate of mechanism as (0,0,0), and the first coordinate for pulling mechanism is (0, a, 0), and third pulls mechanism
Coordinate is (0 ,-b, 0), and the second coordinate for pulling mechanism is (0, c, 0), and the 4th pulls the coordinate of mechanism as (0 ,-d, 0), and a,
B, c and d is the positive number more than 0；
The video acquisition system pulls mechanism, the second pulling mechanism, third along first and pulls mechanism, the 4th pulling mechanism and Z
The spatial movement or stop that the negative direction of axis is surrounded.
4. a kind of multiparty control formula flexibility underwater monitoring system according to claim 3, it is characterised in that：The video is adopted
Collecting system is provided with floating ball and video acquisition mechanism, and floating ball pulls mechanism, the second pulling machine with video acquisition mechanism, first respectively
Structure, third pull mechanism, the 4th pulling mechanism is connected with the 5th pulling mechanism driving.
5. a kind of multiparty control formula flexibility underwater monitoring system according to claim 4, it is characterised in that：Described first draws
It drags mechanism and is provided with the first pulling motor and the first guide wheel group, the first pulling motor and the first guide wheel group are individually fixed in water
Face, first pulls motor is sequentially connected with the one end for pulling line, and the other end for pulling line passes through the first guide wheel group to be passed with floating ball
Dynamic connection；
Second pulling mechanism is provided with the second pulling motor and the second guide wheel group, and second pulls motor and the second directive wheel
Group is individually fixed in the water surface, and second pulls motor is sequentially connected with the one end for pulling line, and the other end for pulling line is led across second
It is sequentially connected to wheel group and floating ball；
The third pulls mechanism and is provided with third pulling motor and third guide wheel group, and third pulls motor and third directive wheel
Group is individually fixed in the water surface, and third pulls motor and is sequentially connected with the one end for pulling line, and the other end for pulling line is led across third
It is sequentially connected to wheel group and floating ball；
4th pulling mechanism is provided with the 4th pulling motor and the 4th guide wheel group, and the 4th pulls motor and the 4th directive wheel
Group is individually fixed in the water surface, and the 4th pulls motor is sequentially connected with the one end for pulling line, and the other end for pulling line is led across the 4th
It is sequentially connected to wheel group and floating ball.
6. a kind of multiparty control formula flexibility underwater monitoring system according to claim 5, it is characterised in that：Described 5th draws
It drags mechanism and is provided with the 5th pulling motor, the 5th pulling motor is fixed on the water surface, and the 5th pulls motor and pull the one of line
End is sequentially connected, and the other end floating ball for pulling line is sequentially connected.
7. a kind of multiparty control formula flexibility underwater monitoring system according to claim 6, it is characterised in that：Described first leads
It is respectively set to two guiding to wheel group, the second guide wheel group, third guide wheel group, the 4th guide wheel group and the 5th guide wheel group
Wheel,
The directive wheel is fixed on the water surface.
8. a kind of multiparty control formula flexibility underwater monitoring system according to claim 7, it is characterised in that：The video is adopted
Collecting mechanism is provided with camera and light compensating apparatus, camera and light compensating apparatus electrical connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810528104.8A CN108450357A (en) | 2018-05-24 | 2018-05-24 | A kind of multiparty control formula flexibility underwater monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810528104.8A CN108450357A (en) | 2018-05-24 | 2018-05-24 | A kind of multiparty control formula flexibility underwater monitoring system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113260253A (en) * | 2018-10-05 | 2021-08-13 | X开发有限责任公司 | Sensor positioning system |
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