CN110262295B - Intelligent lifting control system and control method for deepwater net cage - Google Patents
Intelligent lifting control system and control method for deepwater net cage Download PDFInfo
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- CN110262295B CN110262295B CN201910542829.7A CN201910542829A CN110262295B CN 110262295 B CN110262295 B CN 110262295B CN 201910542829 A CN201910542829 A CN 201910542829A CN 110262295 B CN110262295 B CN 110262295B
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- 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
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention relates to an intelligent lifting control system and a control method of a deepwater net cage, wherein the system comprises a deepwater net cage lifting platform, a controller and a controller, wherein the deepwater net cage lifting platform is positioned below the deepwater net cage and used for lifting the deepwater net cage, and the deepwater net cage lifting platform can drive the deepwater net cage to move up and down; at least two lifting columns; the top of a piston rod of the air cylinder is fixedly connected with the deepwater net cage lifting platform, and the deepwater net cage lifting platform is driven by the air cylinder to move up and down along the guide rail; the primary controllers are in one-to-one correspondence with the lifting columns, are arranged at the top ends of the lifting columns and are connected with the electromagnetic valve controllers; and a secondary controller. According to the invention, the balance of the deepwater net cage in the lifting process is ensured by the guiding action of the lifting column and the lifting action of the deepwater net cage lifting platform, the cylinder and the controller are arranged on the water surface, and the requirement on the waterproof grade of the cylinder, the controller and other parts can be reduced.
Description
Technical Field
The invention relates to the technical field of deepwater net cages, in particular to an intelligent lifting control system and a control method of a deepwater net cage.
Background
In recent years, fishery resources have seriously declined due to the problems of over-fishing, environmental pollution and the like worldwide. Therefore, the fishery industry is shifted from the traditional hunting type fishing industry to the grazing type aquaculture industry, especially to the deepwater net cage aquaculture industry for developing high economic value fishes by being shifted to the open sea from the easily polluted environment of the inshore gulf, and has become a common consensus of all countries in the world. The deep water net cage is used as an industry and is used for relieving the decline of current marine fishery resources; and can drive related industries such as net cage manufacturing, fry breeding, bait production, processing and fresh-keeping, sale and transportation and the like.
The large net cage which is arranged in open water area with the water depth of more than 15 meters and coastal is called as a deepwater net cage. The deep water net cage has larger culture capacity, and is a marine culture facility with stronger wind wave resistance and ocean current resistance. The deep water net cage has obvious advantages in the aspects of expanding the culture sea area, reducing the pressure of the coastal environment, improving the quality of cultured fish, increasing the culture benefit and the like.
Some existing deepwater net cages have a lifting function, and can fall downwards into water when sea stormy waves are large, so that the influence of the stormy waves on the deepwater net cages is reduced. When the wind waves are small, the deepwater net cage can be lifted upwards again. Therefore, the lifting function of the deepwater net cage has great benefits for the storm prevention function of the deepwater net cage.
However, in the existing lifting control device for the deepwater net cage, the deepwater net cage cannot be kept balanced in the lifting process, and the problem of unbalanced lifting of the deepwater net cage is easy to occur.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an intelligent lifting control system and a control method for a deepwater net cage.
In order to achieve the above object, the present invention has the following configurations:
the invention provides an intelligent lifting control system of a deepwater net cage, which comprises:
the deep water net cage lifting platform is positioned below the deep water net cage and used for lifting the deep water net cage, and the deep water net cage lifting platform can drive the deep water net cage to move up and down;
the deep water net cage lifting platform is provided with a guide rail, a guide strip is arranged at a position corresponding to the guide rail, the guide strip is installed in the guide rail, and a rubber pad is arranged on the contact surface of the guide strip and the guide rail;
the cylinders correspond to the lifting columns one by one and are arranged at the tops of the lifting columns, the tops of piston rods of the cylinders are fixedly connected with the deepwater net cage lifting platform, the deepwater net cage lifting platform is driven to move up and down along the guide rails by the cylinders, and the cylinders are controlled to be started and closed by an electromagnetic valve controller respectively;
the primary controllers are in one-to-one correspondence with the lifting columns, are arranged at the top ends of the lifting columns and are connected with the electromagnetic valve controllers;
the second-level controller is in wireless communication with each first-level controller, sends lifting or descending signals of the deep water net cage lifting platform to all the first-level controllers simultaneously, and controls the starting and closing of the air cylinder according to control signals of the second-level controllers.
Optionally, the secondary controller includes a wave prediction module, and the wave prediction module is configured to obtain a wave forecast from the cloud server, determine a wave level in each time period preset in the future according to a preset wave level evaluation condition, send a landing signal to the primary controller before a time period if the wave level in the time period is greater than a preset level threshold, and send an ascending signal to the primary controller after the time period if the wave level is less than the preset level threshold.
Optionally, the system further comprises:
the device comprises at least two cameras, wherein the cameras correspond to the lifting columns one to one, the cameras are installed at the tops of the lifting columns, the cameras are used for collecting surface images of the deepwater net cage and sending the surface images to the primary controller, the primary controller sends the surface images of the deepwater net cage and the serial numbers of the cameras to the secondary controller, and the secondary controller stores mapping relations between the serial numbers of the cameras and the positions of the cameras.
Optionally, the secondary controller further stores a standard image acquired by each camera when the deepwater net cage is at the highest position;
when the lifting platform ascends to the highest position from the underwater, the secondary controller acquires the acquired images of the cameras, compares the acquired images of the cameras with the standard images of the cameras stored by the secondary controller, calculates the size deviation and the angle deviation of the acquired images of the cameras and the standard images, determines that the deep water net cage does not reach the standard position if the size deviation and the angle deviation are larger than preset threshold values, and sends an adjusting signal to the primary controller according to the comparison result of the acquired images of the cameras and the standard images;
and when the size deviation and the angle deviation of the collected image of each camera and the standard image are smaller than a preset threshold value, the secondary controller judges that the deepwater net cage reaches the standard position.
Optionally, the system further comprises:
the surface cleaning mechanisms correspond to the lifting columns one to one, and are mounted at the top ends of the lifting columns;
after the deepwater net cage reaches a standard position, the secondary controller sends a collected image of the camera to a terminal of a worker, the position of an object to be cleaned in the collected image is obtained from the terminal of the worker, and the coordinate of the object to be cleaned in a geodetic coordinate system is determined according to the position of the object to be cleaned in the collected image;
and the secondary controller controls the surface cleaning mechanism according to the coordinates of the object to be cleaned in a geodetic coordinate system, so that the surface cleaning mechanism cleans the object to be cleaned.
Optionally, the surface cleaning mechanism includes an adsorption structure and a mechanical arm, the adsorption structure is mounted at the front end of the mechanical arm, the tail end of the mechanical arm is mounted at the top end of the lifting column, the adsorption structure includes an adsorption disc, a centrifugal fan and a driving motor, the driving motor drives the centrifugal fan, and the driving motor and the mechanical arm are respectively connected with the primary controller.
Optionally, the secondary controller determines a surface cleaning mechanism closest to the object to be cleaned according to the coordinate of the object to be cleaned in the geodetic coordinate system, sends the coordinate of the object to be cleaned in the geodetic coordinate system and a cleaning instruction to the primary controller corresponding to the surface cleaning mechanism, and the primary controller plans a movement route of the front end of the mechanical arm according to the coordinate of the object to be cleaned in the geodetic coordinate system and the coordinate of the surface cleaning mechanism in the geodetic coordinate system, controls the mechanical arm to move, enables the adsorption disc to move to the object to be cleaned, and controls the driving motor to move so as to adsorb and clean the object to be cleaned.
Optionally, the primary controller is further configured to determine a size of the object to be cleaned according to the coordinate of the object to be cleaned in the geodetic coordinate system, and control an opening size of a damper of the centrifugal fan according to the size of the object to be cleaned so as to control the adsorption force of the adsorption disc.
The embodiment of the invention also provides an intelligent lifting control method of the deepwater net cage, which adopts the intelligent lifting control system of the deepwater net cage, and the method comprises the following steps:
when the deep water net cage needs to be lowered, the secondary controllers send lowering instructions to the primary controllers, wherein the lowering instructions comprise lowering target heights and lowering target speeds;
the first-level controller receives the descending instruction and then controls an electromagnetic valve controller of the air cylinder according to the descending target height and the descending target speed, controls the descending speed of the deepwater net cage lifting platform through a piston rod of the air cylinder, and controls the electromagnetic valve controller when the deepwater net cage lifting platform descends to the descending target height so that the piston rod of the air cylinder stops working;
when the secondary controller determines that the deepwater net cage needs to be lifted, a lifting instruction is sent to each primary controller, wherein the lifting instruction comprises a lifting target height and a lifting target speed;
and the primary controller controls the electromagnetic valve controller of the air cylinder according to the ascending target height and the ascending target speed after receiving the ascending instruction, controls the ascending speed of the deepwater net cage lifting platform through the piston rod of the air cylinder, and controls the electromagnetic valve controller when the deepwater net cage lifting platform rises to the ascending target height, so that the piston rod of the air cylinder stops working.
Optionally, the system further includes at least two cameras, the cameras correspond to the lifting columns one to one, the cameras are installed at the tops of the lifting columns, the cameras are used for collecting surface images of the deepwater net cage and sending the surface images to the primary controller, the primary controller sends the surface images of the deepwater net cage and serial numbers of the cameras to the secondary controller, the secondary controller stores mapping relationships between the serial numbers of the cameras and positions of the cameras, and the secondary controller also stores standard images collected by the cameras when the deepwater net cage is at the highest position;
the method further comprises the steps of:
when the deepwater net cage lifting platform rises to the highest position from the underwater, the secondary controller acquires the acquired images of the cameras, compares the acquired images of the cameras with the standard images of the cameras stored by the secondary controller, calculates the size deviation and the angle deviation of the acquired images of the cameras and the standard images, determines that the deepwater net cage does not reach the standard position if the size deviation and the angle deviation are both greater than a preset threshold value, and sends an adjusting signal to the primary controller according to the comparison result of the acquired images of the cameras and the standard images;
and when the size deviation and the angle deviation of the collected image of each camera and the standard image are smaller than a preset threshold value, the secondary controller judges that the deepwater net cage reaches the standard position.
Therefore, the balance of the deepwater net cage in the lifting process is guaranteed through the guiding function of the lifting column and the lifting function of the deepwater net cage lifting platform, the air cylinder and the controller are arranged on the water surface, and the requirement on the waterproof grade of the parts such as the air cylinder, the controller and the like can be reduced; furthermore, the image comparison after the deep water net cage is lifted to the highest position is carried out, so that the position balance of the deep water net cage is ensured, and the unbalanced lifting heights at different positions caused by the driving of a plurality of cylinders are avoided.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent lifting control system of a deepwater net cage according to an embodiment of the present invention;
fig. 2 is a block diagram of an intelligent lifting control system of a deepwater net cage according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an image comparison performed by the secondary controller according to an embodiment of the present invention;
fig. 4 is a schematic diagram of marking an object to be cleaned in an acquired image of the camera according to an embodiment of the present invention.
Reference numerals:
1 lifting column 11 guided way 2 deep water net cage lifting platform
3 cylinder 4 camera 5 one-level controller
6 surface cleaning mechanism 61 arm 62 suction disc
71 standard image 72 acquisition image 73 to-be-cleaned object mark
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring the invention.
As shown in fig. 1 and 2, the present invention provides an intelligent lifting control system for a deep water net cage, the system comprising:
the deepwater net cage lifting platform 2 is positioned below the deepwater net cage and used for lifting the deepwater net cage, and the deepwater net cage lifting platform 2 can drive the deepwater net cage to move up and down;
the deep water net cage lifting platform comprises at least two lifting columns 1, wherein the lifting columns 1 are respectively arranged on the side surfaces of the deep water net cage lifting platform 2, a guide rail 11 is arranged on one side, facing the deep water net cage lifting platform 2, of the lifting columns 1, a guide strip is arranged at a position, corresponding to the guide rail 11, of the deep water net cage lifting platform 2, the guide strip extends along the height direction of the deep water net cage lifting platform 2, the guide strip is installed in the guide rail 11, and a rubber pad is arranged on the contact surface of the guide strip and the guide rail 11;
the cylinders 3 correspond to the lifting columns 1 one by one, the cylinders 3 are mounted at the tops of the lifting columns 1, the tops of piston rods of the cylinders 3 are fixedly connected with the deepwater net cage lifting platform 2, the cylinders 3 drive the deepwater net cage lifting platform 2 to move up and down along the guide rails 11, and the cylinders 3 are controlled to be started and closed by a solenoid valve controller respectively;
the primary controllers 5 correspond to the lifting columns 1 one by one, the primary controllers 5 are installed at the top ends of the lifting columns 1, and the primary controllers 5 are connected with the electromagnetic valve controllers;
and the second-level controller is in wireless communication with the first-level controllers 5, the second-level controllers simultaneously send ascending or descending signals of the deepwater net cage lifting platform 2 to all the first-level controllers 5, and the first-level controllers 5 control the starting and closing of the air cylinders 3 according to the control signals of the second-level controllers. The secondary controller may be mounted on one of the lifting columns 1 or may be mounted elsewhere. The second-level controller can control all the first-level controllers 5 in the lifting control system of one deepwater net cage, and can also control all the first-level controllers 5 in the lifting control systems of a plurality of deepwater net cages.
The intelligent lifting control system of the deepwater net cage ensures the balance of the deepwater net cage in the lifting process through the guiding function of the lifting column and the lifting function of the deepwater net cage lifting platform, and the cylinder and the controller are arranged on the water surface, so that the requirement on the waterproof grade of the parts such as the cylinder, the controller and the like can be reduced.
In this embodiment, the secondary controller includes a wave prediction module, and the wave prediction module is configured to obtain a wave forecast from the cloud server, determine a wave level in each time period preset in the future according to a preset wave level evaluation condition, send a drop signal to the primary controller 5 before a time period if the wave level in the time period is greater than a preset level threshold, and send an up signal to the primary controller 5 after the time period if the wave level is less than the preset level threshold. The wind wave rating condition may be set as required, for example, the wind wave rating condition may be a wind speed range, a wave height range, and the like corresponding to each level, and the wind wave rating condition of which level is determined according to the wind wave forecast data of the cloud server.
As shown in fig. 1 and 2, in this embodiment, the intelligent lifting control system of the deep water net cage further includes:
the device comprises at least two cameras 4, the cameras 4 correspond to the lifting columns 1 one by one, the cameras 4 are installed at the tops of the lifting columns 1, the cameras 4 are used for collecting surface images of the deepwater net cage and sending the surface images to the primary controller 5, the primary controller 5 sends the surface images of the deepwater net cage and the serial numbers of the cameras 4 to the secondary controller, and the mapping relation between the serial numbers of the cameras 4 and the positions of the cameras 4 is stored in the secondary controller. Further, the second-level controller stores standard images acquired by the cameras 4 when the deepwater net cage is at the highest position.
When the lifting platform 2 ascends to the highest position from the water, the secondary controller acquires the acquired images of the cameras 4, compares the acquired images of the cameras 4 with the standard images of the cameras 4 stored in the secondary controller, calculates the size deviation and the angle deviation of the acquired images of the cameras 4 and the standard images, determines that the deep water net cage does not reach the standard position if the size deviation and the angle deviation are larger than preset threshold values, and sends an adjusting signal to the primary controller 5 according to the comparison result of the acquired images of the cameras 4 and the standard images;
and when the size deviation and the angle deviation of the collected image of each camera 4 and the standard image are smaller than a preset threshold value, the secondary controller judges that the deepwater net cage reaches the standard position.
Therefore, the image comparison after the deep water net cage is lifted to the highest position ensures the position balance of the deep water net cage, and avoids the unbalanced lifting heights at different positions caused by the driving of a plurality of cylinders.
As shown in fig. 3, the image collected by the camera 4 is often the surface of an elliptical deep water net cage, and the longest radius of the ellipse is selected as the judgment reference. When the difference between the reference radius r1 of the collected image 72 and the reference radius r2 of the standard image 71 is greater than a first threshold value, and the angle a between the reference radius r1 and the reference radius r2 is greater than a second threshold value, it is indicated that the control of the cylinder 3 corresponding to the camera 4 on the deep water net cage lifting platform is inaccurate, if the reference radius r1 is less than the reference radius r2, the cylinder 3 needs to be controlled to continuously drive the deep water net cage lifting platform to ascend, and if the reference radius r1 is greater than the reference radius r2, the cylinder 3 needs to be controlled to continuously drive the deep water net cage lifting platform to descend, so that the position balance of the deep water net cage is adjusted.
Considering that the deepwater net cage can have some pollutants entering or generate some floating foams when the deepwater net cage rises to the highest position from the deep. Therefore, in this embodiment, the intelligent lifting control system of the deep water net cage further comprises at least two surface cleaning mechanisms 6, the surface cleaning mechanisms 6 correspond to the lifting columns 1 one by one, and the surface cleaning mechanisms 6 are installed at the top ends of the lifting columns 1.
After the second-level controller judges that the deep water net cage reaches the standard position according to image comparison, the second-level controller sends the acquired image of the camera 4 to a terminal of a worker, obtains the position of the object to be cleaned in the acquired image from the terminal of the worker, and determines the coordinate of the object to be cleaned in a geodetic coordinate system according to the position of the object to be cleaned in the acquired image. As shown in fig. 4, the circle 73 is the mark of the object to be cleaned performed by the worker.
And the secondary controller controls the surface cleaning mechanism 6 according to the coordinates of the object to be cleaned in a geodetic coordinate system, so that the surface cleaning mechanism 6 cleans the object to be cleaned.
In this embodiment, the surface cleaning mechanism 6 includes an adsorption structure and a mechanical arm 61, the adsorption structure is mounted at the front end of the mechanical arm 61, the tail end of the mechanical arm 61 is mounted at the top end of the lifting column 1, the adsorption structure includes an adsorption disc 62, a centrifugal fan and a driving motor, the driving motor drives the centrifugal fan, so that a certain air suction force is generated at the front end of the adsorption disc 62, and the driving motor and the mechanical arm 61 are respectively connected with the primary controller 5 and controlled by the primary controller 5 to operate.
In this embodiment, the secondary controller determines the surface cleaning mechanism 6 closest to the object to be cleaned according to the coordinates of the object to be cleaned in the geodetic coordinate system, sends the coordinates of the object to be cleaned in the geodetic coordinate system and a cleaning instruction to the primary controller 5 corresponding to the surface cleaning mechanism 6, and the primary controller 5 plans the movement route of the front end of the mechanical arm 61 according to the coordinates of the object to be cleaned in the geodetic coordinate system and the coordinates of the surface cleaning mechanism 6 in the geodetic coordinate system, and controls the mechanical arm 61 to move, so that the adsorption disc 62 moves to the object to be cleaned, and controls the driving motor to move, so as to adsorb and clean the object to be cleaned. According to the invention, through coordinate conversion, the movement track of the mechanical arm 61 can be conveniently planned, the mechanical arm 61 can conveniently and accurately control the position of the adsorption disc 62, and the influence of the adsorption effect in the adsorption disc 62 on fishes and shrimps cultured in the deepwater net cage is avoided.
In this embodiment, the primary controller 5 is further configured to determine the size of the object to be cleaned according to the coordinates of the object to be cleaned in the geodetic coordinate system, and control the opening size of the damper of the centrifugal fan according to the size of the object to be cleaned so as to control the adsorption force of the adsorption disc 62.
The embodiment of the invention also provides an intelligent lifting control method of the deepwater net cage, which adopts the intelligent lifting control system of the deepwater net cage, and the method comprises the following steps:
when the deep water net cage needs to be lowered, the secondary controllers send lowering instructions to the primary controllers, wherein the lowering instructions comprise lowering target heights and lowering target speeds;
the first-level controller receives the descending instruction and then controls an electromagnetic valve controller of the air cylinder according to the descending target height and the descending target speed, controls the descending speed of the deepwater net cage lifting platform through a piston rod of the air cylinder, and controls the electromagnetic valve controller when the deepwater net cage lifting platform descends to the descending target height so that the piston rod of the air cylinder stops working;
when the secondary controller determines that the deepwater net cage needs to be lifted, a lifting instruction is sent to each primary controller, wherein the lifting instruction comprises a lifting target height and a lifting target speed;
and the primary controller controls the electromagnetic valve controller of the air cylinder according to the ascending target height and the ascending target speed after receiving the ascending instruction, controls the ascending speed of the deepwater net cage lifting platform through the piston rod of the air cylinder, and controls the electromagnetic valve controller when the deepwater net cage lifting platform rises to the ascending target height, so that the piston rod of the air cylinder stops working.
According to the intelligent lifting control method of the deepwater net cage, the balance of the deepwater net cage in the lifting process is guaranteed through the guiding effect of the lifting columns and the lifting effect of the deepwater net cage lifting platform, the cylinder and the controller are arranged on the water surface, and the requirements on the waterproof grade of the cylinder, the controller and other parts can be reduced.
Further, in order to maintain the lifting balance of the deepwater net cage and detect and adjust the lifting balance of the deepwater net cage, the intelligent lifting control method further comprises the following steps:
when the deepwater net cage lifting platform rises to the highest position from the underwater, the secondary controller acquires the acquired images of the cameras, compares the acquired images of the cameras with the standard images of the cameras stored by the secondary controller, calculates the size deviation and the angle deviation of the acquired images of the cameras and the standard images, determines that the deepwater net cage does not reach the standard position if the size deviation and the angle deviation are both greater than a preset threshold value, and sends an adjusting signal to the primary controller according to the comparison result of the acquired images of the cameras and the standard images;
and when the size deviation and the angle deviation of the collected image of each camera and the standard image are smaller than a preset threshold value, the secondary controller judges that the deepwater net cage reaches the standard position.
Therefore, the image comparison after the deep water net cage is lifted to the highest position ensures the position balance of the deep water net cage, and avoids the unbalanced lifting heights at different positions caused by the driving of a plurality of cylinders.
Further, similar to the intelligent lifting control system of the deep water net cage, when the deep water net cage is lifted to a standard position, the collected image of the camera can be sent to a terminal of a worker, the position of the object to be cleaned in the collected image is obtained from the terminal of the worker, and the coordinate of the object to be cleaned in a geodetic coordinate system is determined according to the position of the object to be cleaned in the collected image. And the secondary controller controls the mechanical arm in the surface cleaning mechanism according to the coordinate of the object to be cleaned in a geodetic coordinate system, so that the mechanical arm drives the adsorption disc to arrive at a specified position to clean the object to be cleaned.
In conclusion, the balance of the deepwater net cage in the lifting process is guaranteed through the guiding function of the lifting column and the lifting function of the deepwater net cage lifting platform, the cylinder and the controller are arranged on the water surface, and the requirement on the waterproof grade of the parts such as the cylinder, the controller and the like can be reduced; furthermore, the image comparison after the deep water net cage is lifted to the highest position is adopted, so that the position balance of the deep water net cage is ensured, and the unbalanced lifting heights of different positions caused by the driving of a plurality of cylinders are avoided.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (7)
1. An intelligent lifting control system of a deepwater net cage, which is characterized by comprising:
the deep water net cage lifting platform is positioned below the deep water net cage and used for lifting the deep water net cage, and the deep water net cage lifting platform can drive the deep water net cage to move up and down;
the deep water net cage lifting platform is provided with a guide rail, a guide strip is arranged at a position corresponding to the guide rail, the guide strip is installed in the guide rail, and a rubber pad is arranged on the contact surface of the guide strip and the guide rail;
the cylinders correspond to the lifting columns one by one and are arranged at the tops of the lifting columns, the tops of piston rods of the cylinders are fixedly connected with the deepwater net cage lifting platform, the deepwater net cage lifting platform is driven to move up and down along the guide rails by the cylinders, and the cylinders are controlled to be started and closed by an electromagnetic valve controller respectively;
the primary controllers are in one-to-one correspondence with the lifting columns, are arranged at the top ends of the lifting columns and are connected with the electromagnetic valve controllers;
the second-level controller is in wireless communication with each first-level controller, sends lifting or descending signals of the deep water net cage lifting platform to all the first-level controllers at the same time, and controls the starting and closing of the air cylinder according to control signals of the second-level controllers;
the system comprises at least two cameras, a lifting column and a deep water net cage, wherein the cameras correspond to the lifting column one by one, the cameras are installed at the top of the lifting column, the cameras are used for collecting surface images of the deep water net cage and sending the surface images to a primary controller, the primary controller sends the surface images of the deep water net cage and the serial numbers of the cameras to a secondary controller, and the secondary controller stores the mapping relation between the serial numbers of the cameras and the positions of the cameras;
the secondary controller is also stored with standard images collected by the cameras when the deepwater net cage is at the highest position;
when the lifting platform ascends to the highest position from the underwater, the secondary controller acquires the acquired images of the cameras, compares the acquired images of the cameras with the standard images of the cameras stored by the secondary controller, calculates the size deviation and the angle deviation of the acquired images of the cameras and the standard images, determines that the deep water net cage does not reach the standard position if the size deviation and the angle deviation are larger than preset threshold values, and sends an adjusting signal to the primary controller according to the comparison result of the acquired images of the cameras and the standard images;
when the size deviation and the angle deviation of the collected image of each camera and the standard image are smaller than a preset threshold value, the secondary controller judges that the deepwater net cage reaches a standard position;
the system further comprises:
the surface cleaning mechanisms correspond to the lifting columns one to one, and are mounted at the top ends of the lifting columns;
after the deepwater net cage reaches a standard position, the secondary controller sends a collected image of the camera to a terminal of a worker, obtains the position of an object to be cleaned in the collected image from the terminal of the worker, and determines the coordinate of the object to be cleaned in a geodetic coordinate system according to the position of the object to be cleaned in the collected image;
and the secondary controller controls the surface cleaning mechanism according to the coordinates of the object to be cleaned in a geodetic coordinate system, so that the surface cleaning mechanism cleans the object to be cleaned.
2. The intelligent lifting control system of the deep water net cage according to claim 1, wherein the secondary controller comprises a wave prediction module, the wave prediction module is used for obtaining a wave forecast from a cloud server, determining wave grades in each time period in future according to preset wave grade evaluation conditions, if the wave grade in a time period is greater than a preset grade threshold value, sending a landing signal to the primary controller before the time period, and sending a rising signal to the primary controller when the wave grade after the time period is less than the preset grade threshold value.
3. The intelligent lifting control system of the deep water net cage according to claim 1, wherein the surface cleaning mechanism comprises an adsorption structure and a mechanical arm, the adsorption structure is mounted at the front end of the mechanical arm, the tail end of the mechanical arm is mounted at the top end of the lifting column, the adsorption structure comprises an adsorption disc, a centrifugal fan and a driving motor, the driving motor drives the centrifugal fan, and the driving motor and the mechanical arm are respectively connected with the primary controller.
4. The intelligent lifting control system of the deep water net cage according to claim 3, wherein the secondary controller determines a surface cleaning mechanism closest to the object to be cleaned according to the coordinate of the object to be cleaned in a geodetic coordinate system, sends the coordinate of the object to be cleaned in the geodetic coordinate system and a cleaning command to a primary controller corresponding to the surface cleaning mechanism, plans a movement route of the front end of the mechanical arm according to the coordinate of the object to be cleaned in the geodetic coordinate system and the coordinate of the surface cleaning mechanism in the geodetic coordinate system, and controls the mechanical arm to move, so that the adsorption disc moves to the object to be cleaned, and controls the driving motor to move so as to adsorb and clean the object to be cleaned.
5. The intelligent lifting control system of the deep water net cage according to claim 4, wherein the primary controller is further configured to determine the size of the object to be cleaned according to the coordinates of the object to be cleaned in a geodetic coordinate system, and control the opening size of the damper of the centrifugal fan according to the size of the object to be cleaned so as to control the adsorption force of the adsorption disc.
6. An intelligent lifting control method of a deepwater net cage, which is characterized in that the intelligent lifting control system of the deepwater net cage of any one of claims 1 to 5 is adopted, and the method comprises the following steps:
when the deep water net cage needs to be lowered, the secondary controllers send lowering instructions to the primary controllers, wherein the lowering instructions comprise lowering target heights and lowering target speeds;
the first-level controller receives the descending instruction and then controls an electromagnetic valve controller of the air cylinder according to the descending target height and the descending target speed, controls the descending speed of the deepwater net cage lifting platform through a piston rod of the air cylinder, and controls the electromagnetic valve controller when the deepwater net cage lifting platform descends to the descending target height so that the piston rod of the air cylinder stops working;
when the secondary controller determines that the deepwater net cage needs to be lifted, a lifting instruction is sent to each primary controller, wherein the lifting instruction comprises a lifting target height and a lifting target speed;
and the primary controller controls the electromagnetic valve controller of the air cylinder according to the ascending target height and the ascending target speed after receiving the ascending instruction, controls the ascending speed of the deepwater net cage lifting platform through the piston rod of the air cylinder, and controls the electromagnetic valve controller when the deepwater net cage lifting platform rises to the ascending target height, so that the piston rod of the air cylinder stops working.
7. The intelligent lifting control method for the deepwater net cage as claimed in claim 6, wherein the system further comprises at least two cameras, the cameras are in one-to-one correspondence with the lifting columns, the cameras are installed on the tops of the lifting columns, the cameras are used for collecting surface images of the deepwater net cage and sending the surface images to the primary controller, the primary controller sends the surface images of the deepwater net cage and the numbers of the cameras to the secondary controller, the secondary controller stores the mapping relationship between the numbers of the cameras and the positions of the cameras, and the secondary controller further stores standard images collected by the cameras when the deepwater net cage is at the highest position;
the method further comprises the steps of:
when the deepwater net cage lifting platform rises to the highest position from the underwater, the secondary controller acquires the acquired images of the cameras, compares the acquired images of the cameras with the standard images of the cameras stored by the secondary controller, calculates the size deviation and the angle deviation of the acquired images of the cameras and the standard images, determines that the deepwater net cage does not reach the standard position if the size deviation and the angle deviation are both greater than a preset threshold value, and sends an adjusting signal to the primary controller according to the comparison result of the acquired images of the cameras and the standard images;
and when the size deviation and the angle deviation of the collected image of each camera and the standard image are smaller than a preset threshold value, the secondary controller judges that the deepwater net cage reaches the standard position.
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| CN112335594A (en) * | 2020-10-28 | 2021-02-09 | 江西步前农业发展有限公司 | Flood-prevention waterlogging water production and loss is with breeding pond retaining structure |
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