CN110731287A - Deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception - Google Patents
Deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception Download PDFInfo
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- 238000009360 aquaculture Methods 0.000 title claims abstract description 85
- 244000144974 aquaculture Species 0.000 title claims abstract description 85
- 230000008447 perception Effects 0.000 title claims abstract description 56
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
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- 239000001301 oxygen Substances 0.000 claims description 14
- 229910052760 oxygen Inorganic materials 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 11
- 239000012530 fluid Substances 0.000 claims description 10
- 238000007726 management method Methods 0.000 claims description 6
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- 238000009395 breeding Methods 0.000 claims 1
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- 238000004064 recycling Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 239000013535 sea water Substances 0.000 description 5
- 235000015170 shellfish Nutrition 0.000 description 4
- 241000237891 Haliotidae Species 0.000 description 3
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 description 3
- 238000011084 recovery Methods 0.000 description 2
- 150000003839 salts Chemical class 0.000 description 2
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- A—HUMAN NECESSITIES
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- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
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Abstract
The invention discloses an deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception, which comprises an equipment floating platform and at least single aquaculture devices, wherein the equipment floating platform is provided with a control machine room and wireless communication equipment, each single aquaculture device comprises a controller, wireless transmission equipment, an ocean environment perception sensor and an equipment state perception sensor, the controller receives a control command of the control machine room to control the aquaculture net cage to rotate, move up and down and left and right, the ocean environment perception sensors and the equipment state perception sensors transmit measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room.
Description
Technical Field
The invention relates to an automatic adjusting device and method for aquaculture net cages, in particular to an automatic adjusting system and method for deep and open sea aquaculture net cages based on ocean data perception.
Background
The marine shellfish is very sensitive to the dissolved oxygen in seawater, the dissolved oxygen is in direct proportion to the growth speed of the shellfish, for example, abalone grows for 22 months, a low-flow-rate and dissolved oxygen area grows into 10 abalones, a high-flow-rate and high-dissolved oxygen area can produce 6 abalones with a great difference, on the contrary, ammonia nitrogen affects the growth of the shellfish due to higher content, even the shellfish dies, and the excretion of organisms and the putrefaction of food and dead abalones can cause the increase of the content of ammonia nitrogen in seawater.
Disclosure of Invention
The invention aims to solve the technical problem of providing automatic deep and open sea aquaculture net cage adjusting systems and methods based on ocean data perception, and solves the problems.
The technical scheme adopted for solving the technical problems is that deep and far sea aquaculture net cage automatic adjusting systems based on ocean data perception are provided, the deep and far sea aquaculture net cage automatic adjusting systems comprise an equipment floating platform and at least single aquaculture equipment, the single aquaculture equipment is arranged corresponding to an aquaculture net cage, the equipment floating platform is provided with a control machine room and wireless communication equipment, the single aquaculture equipment comprises a controller, wireless transmission equipment, an ocean environment perception sensor and an equipment state perception sensor, the wireless transmission equipment is used for controlling data transmission between the machine room and the controller, the controller is used for receiving a control command of the control machine room to control the aquaculture net cage to rotate, move up and down and move left and right, the ocean environment perception sensor and the equipment state perception sensor transmit measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room.
And , deploying a data analysis control subsystem in the control machine room, deploying an equipment automatic control module and an equipment and environment perception module in the controller, transmitting data by the data analysis control subsystem through a wireless communication device and a strategy customizing subsystem, and deploying the strategy customizing subsystem in a data center on the shore.
, the marine environment perception sensor comprises a flow direction and flow velocity sensor, a flow sensor, a dissolved oxygen sensor and a temperature sensor, the equipment state perception sensor comprises a net cage position sensor and an anchor stress sensor, and the equipment and environment perception module acquires data of the equipment state perception sensor and the marine environment perception sensor to obtain data of the water flow velocity direction, the flow, the dissolved oxygen and the temperature around the net cage and data of the position and the anchor stress of the net cage, and transmits the data back to the data analysis control subsystem through the wireless communication equipment.
And , the data analysis control subsystem receives and stores the data of the equipment and the environment perception module, receives the strategy command of the strategy customization subsystem to update the strategy model, operates the strategy model according to the received data, sends the control command to the equipment automatic control module, receives and stores the feedback information, and acquires the data of the data analysis control subsystem by a hard disk recovery mode to train the optimization strategy model.
And , the automatic equipment control module receives a control command of the data analysis control subsystem through the wireless transmission device and returns the current command execution state and the read-write task execution condition, and the automatic equipment control module controls the rotation angles of the multiple cage cages of the aquaculture cage and controls the cage to move up, down, left and right.
, a wind-solar generator is arranged on the equipment floating platform to supply power, the controller is provided with a waterproof shell, a rechargeable detachable power supply is arranged in the waterproof shell, an antenna is integrated in the frame of the waterproof shell, and the waterproof shell is provided with a wadable radiating fin.
The invention provides another technical scheme for solving the technical problems and provides automatic adjusting methods of deep and far aquaculture net cages based on ocean data perception, which comprises the following steps of S1, enabling an equipment and environment perception module to obtain data of an equipment state perception sensor and an ocean environment perception sensor to obtain equipment state data and ocean environment data, transmitting the equipment state data and the ocean environment data to a data analysis control subsystem through wireless communication equipment, enabling the ocean environment data to comprise speed, direction, flow, dissolved oxygen and temperature data of water flow around the net cage, enabling the equipment state data to comprise net cage position and anchor stress data, S2, enabling a strategy customization subsystem to customize an environment coping strategy, sending a coping strategy and a strategy model to a data analysis control subsystem through the wireless communication equipment, S3, enabling the data analysis control subsystem to combine the coping strategy according to the received equipment state data and the ocean environment data, enabling the strategy model to operate to obtain an adjusting movement route of the aquaculture net cages, then sending a control command to the equipment automatic control module, and S4, controlling the rotation angles of the multiple aquaculture net cages to move left and right according to the received control command.
, the data analysis control subsystem includes a strategy management module, a data cleaning and sorting module, a strategy coping operation module and a high-performance message queue, the data cleaning and sorting module includes a strategy model base, an automatic control database, a sea perception database and a cache, S3 includes S31, the strategy management module receives coping strategies and strategy models sent by the strategy customization subsystem and stores the coping strategies and strategy models in the strategy model base and the cache through the data cleaning and sorting module, S32, the high-performance message queue receives equipment state data and sea environment data, S33, the high-performance message queue actively distributes data to the data cleaning and sorting module according to the subscription of the data cleaning and sorting module of the data analysis control subsystem, the data cleaning and sorting module sorts the data and stores the sorted data in the automatic control database, the sea perception database and the cache and informs the strategy coping operation module that new data are updated, S34, the coping strategies coping operation module reads the strategies and strategy model, fetches coping strategy perception data and equipment state data, obtains the relation between the internal flow rate and the position of the aquaculture net cage through the fluid calculation of the model, adjusts the internal flow rate and the position of the aquaculture net cage, and sends the control command to the wireless control module to obtain the automatic control equipment.
, taking the center of the aquaculture net cage (6) as an origin, taking the direction opposite to the water flow as an x axis, and taking the vertical direction as a y axis, the fluid calculation formula corresponding to the point with the coordinates (x, y) in the aquaculture net cage (6) is as follows:
the x-axis velocity u is calculated as:
the y-axis velocity v is calculated as:
wherein:
U∞the speed Q of the water flow around the cultivation net cage (6) is detected by a flow direction and flow velocity sensor and a flow sensorSIs the flow rate Q of the head part of the aquaculture net cage (6)eThe flow rate of the tail of the cultivation net cage (6) is shown, and S is the distance from the head and the tail of the cultivation net cage (6) to the center; and calculating the relation between the internal flow velocity, the position and the angle of the aquaculture net cage (6) by adopting an Eulerian method and a fourth-order Rungeku tower algorithm.
, the automatic control module includes a task execution layer, a file system layer and a device driver layer, the step S4 includes S41, the automatic control module executes the instantiated object running device driver to start the device driver layer through the task execution layer according to the received control command, the task execution layer stores the command data to the file system layer, S42, the device driver layer executes the command and returns the running track and feedback data to the task execution layer, and S43, the task execution layer feeds back the current command execution state to the data analysis control subsystem through the wireless communication device.
Compared with the prior art, the invention has the following beneficial effects: the system and the method for automatically adjusting the deep and open sea aquaculture net cage based on ocean data perception have the following advantages: 1. the automatic adjustment of the culture net cage is realized; 2. the strategy customization subsystem adjusts the cultivation strategy on the remote overall situation level, and the cultivation strategy is continuously optimized and upgraded through the acquired data; 3. the coping strategy can be obtained in advance in an expert discussion form, is flexibly configured and does not need real-time warehouse promotion coping; 4. the data analysis control subsystem adopts a summary data model mode, so that offshore calculation is operated only by a fixed algorithm loading mode, the requirement on computer configuration is not high, and the cost is low; 5. the personnel do not need to go up the culture platform, guarantee personal safety.
Drawings
FIG. 1 is a schematic structural diagram of an automatic adjusting system of a deep and open sea aquaculture net cage based on ocean data sensing in an embodiment of the invention;
FIG. 2 is a diagram of an automatic adjusting system of a deep and open sea aquaculture net cage based on ocean data sensing in an embodiment of the present invention;
FIG. 3 is a data logic diagram of an automatic adjustment method of a deep and far aquaculture net cage based on ocean data sensing in the embodiment of the invention;
FIG. 4 is a composition and dataflow diagram of a data analysis control subsystem in an embodiment of the present invention;
FIG. 5 is a fluid calculation model in an embodiment of the invention;
FIG. 6 is a fluid simulation diagram of a farming net cage according to an embodiment of the present invention;
FIG. 7 is a block diagram and data flow diagram of an automatic control module for the apparatus according to an embodiment of the present invention.
In the figure:
1 equip floating platform 2 controller 3 equip state perception sensor
4 marine environment perception sensor 5 fin 6 aquaculture net case
Detailed Description
The invention is further described with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of an automatic adjusting system of a deep and open sea aquaculture net cage based on ocean data sensing in the embodiment of the invention.
Referring to fig. 1, the automatic deep and open sea aquaculture net cage adjusting system based on ocean data sensing of the embodiment of the invention comprises an equipment floating platform 1 and at least single aquaculture devices, wherein the single aquaculture devices are arranged corresponding to the aquaculture net cage 6, the equipment floating platform 1 is provided with a control machine room and wireless communication equipment, the single aquaculture devices comprise a controller 2, wireless transmission equipment, an ocean environment sensing sensor 4 and an equipment state sensing sensor 3, the wireless transmission equipment is used for transmitting data between the control machine room and the controller 2, the controller 2 is used for controlling the aquaculture net cage 6 to rotate, move up and down and left and right under the control of a control command of the control machine room, the ocean environment sensing sensor 4 and the equipment state sensing sensor 3 transmit measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room.
Preferably, the automatic adjusting system for the deep and far sea aquaculture net cage based on ocean data sensing is characterized in that a wind-solar generator is arranged on an equipment floating platform 1 for supplying power, a controller 2 is provided with a waterproof shell, the shell is sealed and is prevented from being corroded by salt fog, a rechargeable detachable power supply is arranged in the waterproof shell, the power supply is convenient to replace, and an antenna is integrated in the frame of the waterproof shell, so that damage is prevented on the premise of ensuring signal strength; the waterproof shell is provided with the radiating fins 5 capable of wading, hardware radiating is good, the radiating fins go deep underwater, the seawater is used for cooling, and the heat conducting speed is high. The case is sealed to prevent salt spray corrosion.
Referring to fig. 2, in the deep and far sea aquaculture net cage automatic adjustment system based on ocean data perception according to the embodiment of the present invention, a control machine room is deployed with a data analysis control subsystem, an equipment automatic control module and an equipment and environment perception module are deployed in the controller 2, the data analysis control subsystem performs data transmission with a strategy customizing subsystem through a wireless communication device, and the strategy customizing subsystem is deployed in a data center on the shore.
Referring to fig. 3, in the deep and open sea aquaculture net cage automatic adjustment system based on ocean data sensing of the embodiment of the invention, the ocean environment sensing sensor 4 comprises a flow direction and flow velocity sensor, a flow sensor, a dissolved oxygen sensor and a temperature sensor, and the equipment state sensing sensor 3 comprises a net cage position sensor and an anchor stress sensor; the equipment and environment sensing module acquires data of the equipment state sensing sensor 3 and the marine environment sensing sensor 4, obtains water flow speed direction, flow, dissolved oxygen and temperature data around the cage, cage position and anchor stress data, and transmits the data back to the data analysis control subsystem through the wireless communication equipment. Because the data volume is huge, the equipment and the environment sensing module do not store sensing data, and when the aquaculture net cage 6 does not mechanically move, the data feedback clearance time is long (more than 5 minutes), so that the energy is saved; when the aquaculture net cage 6 moves mechanically, the feedback data gap time is short (within 5 seconds), and the state is sensed in time.
Specifically, in the deep and open sea aquaculture net cage automatic adjusting system based on ocean data perception, the data analysis control subsystem receives and stores data of the equipment and the environment perception module, receives a strategy command of the strategy customization subsystem to update the strategy model, operates the strategy model according to the received data, sends a control command to the equipment automatic control module, and simultaneously receives and stores feedback information; the strategy customizing subsystem issues a coping strategy model to the data analysis control subsystem, and acquires data of the data analysis control subsystem in a hard disk recovery mode to train an optimization strategy model; the coping strategies comprise a relation between the flow velocity and the convection angle of the net cage, a relation between the flow direction and the number and the layout of the net cage platforms, adjustment of a fluid calculation formula, a sequencing relation between the rotating flow and the net cage, scheme priority, a marine perception and equipment state data acquisition mode of the data cleaning and sorting module and the like.
Specifically, in the deep and open sea aquaculture net cage automatic adjustment system based on ocean data perception of the embodiment of the invention, the equipment automatic control module receives the control command of the data analysis control subsystem through the wireless transmission device and returns the current command execution state and the read-write task execution condition, and the equipment automatic control module controls the rotation angles of the plurality of net cage cages of the aquaculture net cage 6 and controls the net cage to move up and down and left and right.
The deep and far aquaculture net cage automatic adjusting method based on ocean data perception comprises the following steps:
s1: the equipment and environment sensing module acquires data of the equipment state sensing sensor 3 and the marine environment sensing sensor 4 to obtain equipment state data and marine environment data, and transmits the equipment state data and the marine environment data to the data analysis control subsystem through the wireless communication equipment; the marine environment data comprises speed and direction, flow, dissolved oxygen and temperature data of water flow around the cage, and the equipment state data comprises cage position and anchor stress data;
s2: the strategy customizing subsystem customizes an environment coping strategy and sends the coping strategy and a strategy model to the data analysis control subsystem through the wireless communication equipment;
s3: the data analysis control subsystem operates a strategy model according to the received equipment state data and marine environment data combined coping strategy to obtain an adjusting movement route of the aquaculture net cage 6, and then sends a control command to the equipment automatic control module;
s4: the equipment automatic control module controls the rotation angles of a plurality of net cage cages of the aquaculture net cage 6 and controls the net cage to move up, down, left and right according to the received control command.
Referring to fig. 4, in the method for automatically adjusting a deep and far aquaculture net cage based on ocean data perception according to the embodiment of the present invention, the data analysis and control subsystem includes a policy management module, a data cleaning and sorting module, a policy handling and operation module, and a high-performance message queue, the data cleaning and sorting module includes a policy model library, an automatic control database, an ocean perception database, and a cache, and the step S3 specifically includes:
s31: the strategy management module receives the coping strategy and the strategy model sent by the strategy customizing subsystem and stores the coping strategy and the strategy model into a strategy model base and a cache through the data cleaning and sorting module;
s32: the high-performance message queue receives equipment state data and marine environment data;
s33: the high-performance message queue actively distributes data to the data cleaning and sorting module according to the subscription of the data cleaning and sorting module of the data analysis control subsystem, the data cleaning and sorting module sorts the data and stores the data into the automatic control database, the ocean perception database and the cache, and the strategy coping operation module is informed of new data updating;
s34: the strategy coping operation module reads coping strategies and strategy models, calls ocean perception data and equipment state data, obtains the relation between the internal flow velocity of the aquaculture net cage 6 and the position and angle through fluid calculation of the strategy models, adjusts the position and angle of the aquaculture net cage 6 with the aim of increasing the internal flow velocity of the net cage to obtain the adjustment movement route of the aquaculture net cage 6, and then sends a control command to the equipment automatic control module through wireless transmission equipment.
Referring to fig. 5 and 6, in the method for automatically adjusting a deep and far aquaculture net cage based on ocean data sensing according to the embodiment of the present invention, the fluid calculation specifically includes: the U speed of the water flow around the aquaculture net cage 6 is obtained through the detection of the flow direction and flow velocity sensor and the flow sensor∞The flow of the head and the tail of the aquaculture net cage 6 is Q respectivelyS、QeThe center of the culture net cage 6 is used as an original point, the distance from the head and the tail to the center is S, and the flow velocity corresponding to the point with the coordinate (x, y) in the culture net cage 6 is as follows:
the x-axis velocity u is:
the y-axis velocity v is:
and calculating the relation between the internal flow velocity, the position and the angle of the aquaculture net cage 6 by adopting an Eulerian method and a fourth-order Rungeku tower algorithm.
Referring to fig. 7, in the method for automatically adjusting a deep and far aquaculture net cage based on ocean data sensing according to the embodiment of the present invention, the equipment automatic control module includes a task execution layer, a file system layer, and an equipment driver layer, and step S4 specifically includes:
s41: the equipment automatic control module executes the instantiated object running equipment driver through the task execution layer according to the received control command to start the equipment driver layer, and the task execution layer stores command data to the file system layer;
s42: the device driving layer executes the command and returns the running track and the feedback data to the task execution layer;
s43: the task execution layer feeds back the current command execution state to the data analysis control subsystem through the wireless communication equipment.
The automatic control module and the data analysis control subsystem are equipped to mutually sense the overall state of the system in a heartbeat package mode; when the aquaculture net cage executes mechanical movement, the aquaculture net cage informs the equipment and the environment sensing module of messages, the modules do not interfere with each other, tasks are executed independently, and expansion and cluster distribution are facilitated.
In conclusion, the automatic deep and far sea aquaculture net cage adjusting system based on ocean data perception provided by the invention obtains a model algorithm by utilizing ocean sensing data according to experience or scientific summary, automatically adjusts the net cage layout and changes the water inlet angle of the net cage to the water flow within a certain range of through the structure of the offshore deep sea aquaculture net cage and through calculation of a seawater fluid mathematical model, and obtains the maximum water inflow and the maximum water flow velocity in the net cage, so that the seawater dissolved oxygen in the net cage is improved, ammonia nitrogen is reduced, the aquaculture environment in the net cage is improved, the aquaculture quality is improved, and the death rate is reduced.
Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
- The automatic deep and open sea aquaculture net cage adjusting system based on ocean data sensing is characterized by comprising an equipment floating platform (1) and at least single-culture equipment, wherein the single-culture equipment is arranged corresponding to an aquaculture net cage (6), the equipment floating platform (1) is provided with a control machine room and wireless communication equipment, the single-culture equipment comprises a controller (2), wireless transmission equipment, an ocean environment sensing sensor (4) and an equipment state sensing sensor (3), the wireless transmission equipment is used for controlling data transmission between the machine room and the controller (2), the controller (2) is connected with a control command of the control machine room to control the aquaculture net cage (6) to rotate, move up and down and move left and right, the ocean environment sensing sensor (4) and the equipment state sensing sensor (3) transmit measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room.
- 2. The deep and open sea aquaculture net cage automatic adjustment system based on ocean data perception according to claim 1, characterized in that the control machine room is deployed with a data analysis control subsystem, the controller (2) is deployed with an equipment automatic control module and an equipment and environment perception module, the data analysis control subsystem performs data transmission with a strategy customization subsystem through a wireless communication device, and the strategy customization subsystem is deployed in a data center on the shore.
- 3. The deep and open sea aquaculture cage automatic adjustment system based on ocean data sensing of claim 2, wherein the ocean environment sensing sensors (4) comprise a flow direction flow velocity sensor, a flow sensor, a dissolved oxygen sensor and a temperature sensor, and the equipment state sensing sensors (3) comprise a cage position sensor and an anchor stress sensor; the equipment and environment sensing module acquires data of the equipment state sensing sensor (3) and the marine environment sensing sensor (4), obtains water flow speed direction, flow, dissolved oxygen and temperature data around the cage, cage position and anchor stress data, and transmits the data back to the data analysis control subsystem through the wireless communication equipment.
- 4. The deep open sea aquaculture net cage automatic adjusting system based on ocean data perception according to claim 2, wherein the data analysis control subsystem receives and saves data of equipment and the environment perception module, receives strategy commands of the strategy customization subsystem to update the strategy model, operates the strategy model according to the received data, sends control commands to the equipment automatic control module, and simultaneously receives and saves feedback information; the strategy customizing subsystem issues a coping strategy model to the data analysis control subsystem, and the strategy customizing subsystem acquires data of the data analysis control subsystem in a hard disk recycling mode to train an optimization strategy model.
- 5. The deep and open sea aquaculture net cage automatic adjusting system based on ocean data perception as claimed in claim 2, wherein the equipment automatic control module receives the control command of the data analysis control subsystem through the wireless transmission device and returns the current command execution state and the read-write task execution condition, and the equipment automatic control module controls the rotation angles of a plurality of net cage cages of the aquaculture net cage (6) and controls the net cage to move up and down and left and right.
- 6. The deep open sea aquaculture net cage automatic adjusting system based on ocean data perception according to claim 1, characterized in that a wind-solar generator is arranged on the equipment floating platform (1) for supplying power, the controller (2) is provided with a waterproof shell, a rechargeable detachable power supply is arranged in the waterproof shell, and an antenna is integrated in the frame of the waterproof shell; the waterproof housing is provided with wadable fins (5).
- 7, method for automatically adjusting deep and far aquaculture net cages based on ocean data perception, which adopts the system for automatically adjusting deep and far aquaculture net cages based on ocean data perception of any of claims 1-6, and is characterized by comprising the following steps:s1: the equipment and environment sensing module acquires data of the equipment state sensing sensor (3) and the marine environment sensing sensor (4) to obtain equipment state data and marine environment data, and transmits the equipment state data and the marine environment data to the data analysis control subsystem through the wireless communication equipment; the marine environment data comprises speed and direction, flow, dissolved oxygen and temperature data of water flow around the cage, and the equipment state data comprises cage position and anchor stress data;s2: the strategy customizing subsystem customizes an environment coping strategy and sends the coping strategy and a strategy model to the data analysis control subsystem through the wireless communication equipment;s3: the data analysis control subsystem operates a strategy model according to the received equipment state data and marine environment data combined coping strategy to obtain an adjusting movement route of the aquaculture net cage (6), and then sends a control command to the equipment automatic control module;s4: the automatic control module is arranged to control the rotation angles of a plurality of net cage cages of the breeding net cage (6) and control the net cage to move up, down, left and right according to the received control command.
- 8. The method according to claim 7, wherein the data analysis and control subsystem comprises a policy management module, a data cleaning and sorting module, a policy handling and operation module and a high-performance message queue, the data cleaning and sorting module comprises a policy model library, an automatic control database, a marine perception database and a cache, and the step S3 specifically comprises:s31: the strategy management module receives the coping strategy and the strategy model sent by the strategy customizing subsystem and stores the coping strategy and the strategy model into a strategy model base and a cache through the data cleaning and sorting module;s32: the high-performance message queue receives equipment state data and marine environment data;s33: the high-performance message queue actively distributes data to the data cleaning and sorting module according to the subscription of the data cleaning and sorting module of the data analysis control subsystem, the data cleaning and sorting module sorts the data and stores the data into the automatic control database, the ocean perception database and the cache, and the strategy coping operation module is informed of new data updating;s34: the strategy coping operation module reads coping strategies and strategy models, transfers ocean perception data and equipment state data, obtains the relation between the internal flow rate and the position and the angle of the aquaculture net cage (6) through fluid calculation of the strategy models, adjusts the position and the angle of the aquaculture net cage (6) by aiming at increasing the internal flow rate of the net cage, obtains the adjustment movement route of the aquaculture net cage (6), and then sends a control command to the equipment automatic control module through wireless transmission equipment.
- 9. The method for automatically adjusting the deep and far aquaculture net cage based on ocean data perception according to claim 8, wherein the fluid calculation takes the center of the aquaculture net cage (6) as an origin, the direction opposite to the water flow is an x-axis, and the vertical direction is a y-axis, so that the flow velocity calculation formula of the point corresponding to the coordinates (x, y) in the aquaculture net cage (6) is as follows:
the x-axis velocity u is calculated as:
the y-axis velocity v is calculated as:
wherein:U∞the speed Q of the water flow around the cultivation net cage (6) is detected by a flow direction and flow velocity sensor and a flow sensorSIs the flow rate Q of the head part of the aquaculture net cage (6)eThe flow rate of the tail of the cultivation net cage (6) is shown, and S is the distance from the head and the tail of the cultivation net cage (6) to the center; and calculating the relation between the internal flow velocity, the position and the angle of the aquaculture net cage (6) by adopting an Eulerian method and a fourth-order Rungeku tower algorithm. - 10. The method for automatically adjusting the deep and distant aquaculture net cages based on ocean data perception according to claim 7, wherein the equipment automatic control module comprises a task execution layer, a file system layer and a device driver layer, and the step S4 specifically comprises:s41: the equipment automatic control module executes the instantiated object running equipment driver through the task execution layer according to the received control command to start the equipment driver layer, and the task execution layer stores command data to the file system layer;s42: the device driving layer executes the command and returns the running track and the feedback data to the task execution layer;s43: the task execution layer feeds back the current command execution state to the data analysis control subsystem through the wireless communication equipment.
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