CN113464803B

CN113464803B - Environment monitoring method for marine ranch

Info

Publication number: CN113464803B
Application number: CN202110735655.3A
Authority: CN
Inventors: 陈俊
Original assignee: Zhejiang Gengxing Technology Co ltd
Current assignee: Zhejiang Gengxing Technology Co ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-12-02
Anticipated expiration: 2041-06-30
Also published as: CN113464803A

Abstract

The invention relates to the technical field of monitoring systems, and particularly discloses an environment monitoring method for a marine ranch, which comprises the following steps that (c) a control panel of a marine ranch monitoring device in a starting state controls a third driving device close to a camera device to rotate in the vertical direction; (e) The control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction; until the camera device finishes shooting the whole bottom surface of the marine ranch; (h) The control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction; (j) The control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction; until the camera device finishes shooting the whole side wall surface of the marine ranch. The invention has the characteristics of comprehensive monitoring range and better monitoring flexibility.

Description

Environmental monitoring method for marine ranch

Technical Field

The invention relates to the technical field of monitoring systems, in particular to an environment monitoring method for a marine ranch.

Background

The marine ranch is an internationally recognized method for effectively cultivating fishery resources and building a marine artificial ecosystem. Research, development and application of marine ranches have become strategic choices in major marine countries and are also one of the leading directions in fishery development in developed countries of the world. Marine ranch refers to an artificial fishery set up for the planned cultivation and management of fishery resources in a specific sea area: the artificial environment suitable for biological resource proliferation is built in a specific sea area, methods such as releasing, bottom sowing proliferation and transplanting are adopted, natural baits are fully utilized, biological management and environment control technologies are integrated, and the improvement of marine biological resource quantity and sustainable fishing are realized; marine ranch construction requires a whole set of system facilities and management systems, such as artificial upwelling, automatic bait casting machines, fish control facilities, underwater monitoring systems, environmental monitoring and monitoring systems, and resource management systems. The construction of the real-time on-line monitoring system of the marine ranch environment is an important content for constructing the marine ranch.

The marine ranch in China has the contradiction problems of over-local utilization and insufficient excavation of development space for a long time due to the restriction of the conditions such as the prior art, capital, policy and the like. China has 42 million mu land-mounted fishing farms, wherein the shallow sea tidal flat area is 2 million mu, the current marine culture area of China is about 3000 million mu, the shallow sea tidal flat available area is only about 15%, and the water area tidal flat available space and potential are still large. At present, the marine fishery in China mainly depends on two industrial types of marine fishing and mariculture, but the marine fishery faces different problems, and the development margin is not large. Meanwhile, due to the fact that offshore fishery resources are gradually exhausted, the fishing strength is too high and the like, the operation fishery in China is forced to be continuously transferred to the open sea, and the mariculture in related areas is limited by the technical level of current production equipment and is difficult to expand to sea areas beyond the deep line of 30 meters and the like. In the sea area range of 30-80 m deep line, a fishery utilization blank area is formed relatively, and the states of 'fish fishing without fish' and 'fish culture without using' are formed.

The patent application with the publication number of CN207894455U discloses a marine ranch monitoring system, which relates to the technical field of marine monitoring, and comprises a marine monitoring platform and a shore-based terminal; the offshore monitoring platform is in communication connection with a shore-based terminal; the offshore monitoring platform is used for monitoring a specified marine ranch to obtain marine ranch information and sending the marine ranch information to the shore-based terminal; the shore-based terminal is used for displaying the received marine ranch information; the marine ranch information comprises sea surface environment information, marine environment information and cultured organism state information, and the marine ranch information can comprehensively monitor the marine ranch in real time for a long time; however, the device can only be placed in a marine ranch, and can monitor environmental information and biological information in a limited range in the marine ranch from a fixed angle, and cannot monitor environmental information and biological information of all angles in the marine ranch without dead angles.

Therefore, the current monitoring devices for marine ranching have the problem that the monitoring range is incomplete and the monitoring flexibility is poor.

Disclosure of Invention

The invention provides an environmental monitoring method for a marine ranch, which has a comprehensive monitoring range and good monitoring flexibility and aims to solve the technical problems of the conventional marine ranch monitoring device.

The technical scheme of the invention is as follows: a method for environmental monitoring of a marine ranch, comprising the steps of,

(a) Placing a marine ranch monitoring device in an initial state at the bottom or inside a marine ranch, wherein the marine ranch monitoring device is positioned at the bottom center position of the marine ranch or at a center position close to the bottom;

(b) Starting a power switch of the monitoring device for the marine ranch in the water, so that the first driving device, the second driving device, the third driving device, the camera device and the illuminating device are all in a starting state;

(c) The control panel of the marine ranch monitoring device in a starting state controls a third driving device close to the camera device to rotate in the vertical direction, and when the shooting direction of the camera device is perpendicular to the bottom surface of the marine ranch, the control panel controls the third driving device to stop rotating; at the moment, the center position of the bottom of the marine ranch is within the angle range of the shooting field of view of the camera device, and the distance between the camera device and the bottom of the marine ranch is L;

(d) When the shooting direction of the image shooting device in the step (c) is vertical to the bottom of the marine ranch, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;

(e) After the first driving device in the step (d) is rotated, the control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction, and the camera device moves a distance M towards the direction of the side wall surface of the marine ranch under the condition that the shooting direction of the camera device is perpendicular to the bottom of the marine ranch;

(f) After the camera device in the step (e) moves a distance M towards the direction of the side wall surface of the marine ranching, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;

(g) Circulating the steps (e) and (f) until the camera device finishes shooting the whole bottom surface of the marine ranch;

(h) After the camera device shoots the whole bottom surface of the marine ranch, the control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction, so that the shooting direction of the camera device is perpendicular to the position, close to the bottom, of the side wall surface of the marine ranch, and the distance between the camera device and the side wall surface of the marine ranch is S;

(i) When the shooting direction of the camera device is perpendicular to the position, close to the bottom, of the side wall surface of the marine ranching, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;

(j) After the first driving device in the step (i) is rotated, the control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction at the same time, and under the condition that the shooting direction of the camera device is perpendicular to the side wall of the marine ranch, the camera device moves a distance N towards the top of the marine ranch along the side wall of the marine ranch;

(k) After the image pickup device moves towards the top direction of the marine ranch by a distance N in the step (j), the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;

(l) And (j) and (k) are circulated until the camera device shoots the whole side wall surface of the marine ranch.

According to the invention, the image shot by the camera device to the wall surface of the fence of the marine ranching is taken as a reference, the image vision technology is adopted, the control panel controls the second driving device and the third driving device to cooperatively rotate, so that the camera end of the camera device and the wall surface of the fence of the marine ranching are always in a vertical state, and the direct distance between the camera device and the bottom surface and the wall surface of the marine ranching is conveniently regulated and controlled because the camera end and the bottom surface and the wall surface of the marine ranching are in a vertical state, so that the distance is accurate to the clear image shot by the camera device, if the water quality is clear, the distance between the camera device and the wall surface of the fence of the marine ranching is close to a point by controlling the second driving device and the third driving device to cooperatively rotate, and the distance between the camera device and the wall surface of the fence of the marine ranching is the same, and the camera device is parallel to the wall surface of the fence of the marine ranching, so that the camera device can automatically run according to a set program on the control panel, the fence of the marine ranching, the marine ranching can be monitored in a simple manner, and the marine ranching, and the monitoring effect of marine organisms is relatively high; the distance of each movement of the camera device is also limited, and the overlapping area of the shooting areas of two adjacent local camera devices on the wall surface of the fence of the marine ranch is used as the standard according to the shooting visual angle of the camera device, so that the condition that aquatic products are lost due to the damage of the fence of the marine ranch, the condition that the environment in the marine ranch is polluted or lack of oxygen, the vitality of the aquatic products is insufficient and external personnel cannot know the environment in time can be guaranteed, and the absolute reliability of the whole marine ranch can be guaranteed.

Preferably, the imaging field angle α of the imaging device is in a range of 10 degrees to 120 degrees. More preferably, the imaging field angle α of the imaging device is in a range of 30 degrees to 90 degrees. More preferably, the imaging field angle α of the imaging device is in a range of 45 degrees to 70 degrees.

Preferably, the moving distance M and the moving distance N are based on the overlapping area of the shooting field angles α of two adjacent positions of the image pickup device. The existence of the overlapping area can ensure that the device has no dead angle for the whole detection of the marine ranch.

Preferably, the distance L and the distance S are equal or different; the moving distance M and the moving distance N are equal or unequal.

As preferred, marine ranch monitoring devices includes submarine fixing device, there is first drive arrangement submarine fixing device last through third linking arm sealing connection, first drive arrangement's drive end rotates at the horizontal direction, first drive arrangement's drive end has at least one second drive arrangement through first linking arm sealing connection, second drive arrangement's drive end rotates at vertical direction, second drive arrangement's drive end sealing connection has the second linking arm, the one end that second drive arrangement was kept away from to the second linking arm has camera device through at least one vertical swing subassembly sealing connection, be equipped with at least one lighting device on the position or the camera device that are close to camera device on the vertical swing subassembly. According to the invention, the underwater fixing device is arranged, so that the whole device can be stably fixed in water to monitor the environment and aquatic organisms in a marine ranch, when the situation shot by the camera device is abnormal, an alarm can be sent to the outside in a wired or wireless mode, and a worker can timely process the situation after knowing the situation; according to the invention, the driving end of the first driving device can rotate in the horizontal direction by arranging the first driving device, so that the camera device can move along the same annular track, and the specific conditions on the same layer in the marine ranching can be comprehensively shot; according to the invention, the second driving device and the vertical swing assembly are arranged, the driving end of the second driving device rotates in the vertical direction, the second driving device and the vertical swing assembly cooperate to enable the camera device to be positioned at any vertical position in the marine ranch, and the second driving device and the vertical swing assembly cooperate to enable the camera device to be positioned at a proper distance relative to the wall surface of the marine ranch, so that the camera device can clearly shoot the situation in the marine ranch and the contour wall surface situation of the marine ranch; the invention provides brightness support for the shooting operation of the camera device by arranging at least one lighting device, thereby ensuring the shooting definition; the invention is designed to be a full-sealing structure to ensure the long-term stable work of the equipment in water, wherein the full sealing comprises welding sealing and sealing by using a sealing ring; the number of the second driving devices on the first connecting arm can be one or more, the specific number can be flexibly set according to actual conditions, and each second driving device corresponds to one camera device, namely, the number of the camera detection units can be more, so that the flexibility is better, and a good marine ranch monitoring effect can be ensured according to the actual conditions.

As preferred, the submarine fixing device comprises a submarine fixing block and a submarine locking block, wherein the submarine fixing block is provided with a plurality of first locking columns and/or a plurality of first locking grooves and/or a plurality of first locking holes, the submarine locking block is provided with a plurality of second locking columns and/or a plurality of second locking grooves and/or a plurality of second locking holes, the second locking columns correspond to the corresponding first locking grooves or first locking holes, and the second locking grooves or second locking holes correspond to the corresponding first locking columns; and the water bottom locking block is hermetically connected with one end of the third connecting arm, which is far away from the first driving device. The underwater locking block is detachably locked with the underwater fixing block and is composed of a cement block or a metal block with large weight, the underwater locking block is locked in a column hole matching or column groove matching mode through self gravity, the third connecting arm is always in a vertical state, a connecting hole is formed in the underwater locking block, one end of the connecting rope is connected with the connecting hole, and the other end of the connecting rope is located outside the water surface; when carrying out the cooperation of column hole or column groove matched with in the beginning of the term, only need personnel to hold and connect the rope and slowly put into aquatic with the device to the condition of real-time picture is shot to the camera, connects the rope through the pulling and locks the submarine locking piece on submarine fixed block with column hole cooperation or column groove complex mode, and wherein submarine fixed block is firmly fixed in marine ranch bottom.

Preferably, the second drive device is connected to the first drive device by a safety connection. The safety connecting piece can ensure the safety and the stability of the work of the second driving device, one or more second driving devices are arranged on the first connecting arm, when the length of the first connecting arm is too long, the second driving device arranged on the first connecting arm, especially the second driving device arranged at the end part of the first connecting arm can bend or break the first connecting arm, so that the second driving device and other parts connected with the second driving device can not work due to losing the support, the second driving device is connected to the first driving device through the safety connecting piece, when the first connecting arm is stressed too much, the safety connecting piece can share a part of acting force for the first connecting arm, the first connecting arm is prevented from being bent or broken, and the working stability of the second driving device and other parts connected with the second driving device is ensured.

Preferably, the camera device comprises a sealing cover, the sealing cover is in sealing connection with one end, far away from the third driving device, of the fourth connecting arm, a first mounting cylinder is arranged on the sealing cover in a sealing mode, a camera is arranged in the first mounting cylinder, a perspective mirror is arranged at one end, far away from the sealing cover, of the first mounting cylinder, and the perspective mirror is opposite to a camera of the camera; and a water wiping component is arranged on the first mounting cylinder and corresponds to the perspective mirror. The sealing cover can not only ensure the sealing performance when being connected with the fourth connecting arm, but also ensure the sealing performance after being installed with the first installation cylinder; the first mounting cylinder is used as a main shell of the camera device; the camera is used for shooting images and accurately detecting the condition of the marine ranch through image recognition in an image vision mode; the cleanliness of perspective mirror department is guaranteed through setting up the water subassembly of scraping to guarantee that the camera shoots the definition and the degree of accuracy of image.

As preferred, it includes the third mounting bracket to scrape the water subassembly, the third mounting bracket sets up the inside at a first installation section of thick bamboo, be equipped with a set of limit switch on the third mounting bracket, be equipped with the fourth motor on the third mounting bracket, the drive end of fourth motor is equipped with the output shaft, be equipped with the stirring piece on the output shaft, the stirring piece is located between a set of limit switch, the one end that the fourth motor was kept away from to the output shaft rotates and is equipped with the mounting panel, can dismantle on the mounting panel and be equipped with the wiper blade, the wiper blade is corresponding with perspective mirror. The third mounting frame provides mounting positions for the limit switch and the fourth motor, and the working stability of the limit switch and the fourth motor is ensured; the group of limit switches are electrically connected with the control panel, and the limit switches are matched with the shifting block to control the forward and reverse rotation of the fourth motor, so that the function of cleaning the surface of the perspective mirror by reciprocating the wiper blade is realized; the mounting plate provides a mounting position for the wiper blade.

Preferably, in the initial state, the first connecting arm, the second connecting arm and the fourth connecting arm are located on the same plane.

Preferably, the rotation angle of the driving end of the first driving device in the horizontal direction is 0 to 360 degrees. More preferably, the rotation angle of the driving end of the first driving device in the horizontal direction is 0 to 320 degrees. Within this angular range, the camera device takes a picture on a circular path without dead angles.

Preferably, the rotation angle of the driving end of the second driving device in the vertical direction is 0-360 degrees. More preferably, the driving end of the second driving device is rotated by 0 to 320 degrees in the vertical direction. More preferably, the rotation angle of the driving end of the second driving device in the vertical direction is 0 to 270 degrees. More preferably, the driving end of the second driving device is rotated by 0 to 180 degrees in the vertical direction.

Preferably, the rotation angle of the driving end of the third driving device in the vertical direction is 0 to 360 degrees. More preferably, the rotation angle of the driving end of the first driving device in the horizontal direction is 0 to 320 degrees. Within this angular range, the camera device takes a picture on a circular path without dead angles. The part of the camera device in water is designed to be zero buoyancy, and the angle inside the whole device rotates to the aim that the underwater part cannot exceed the water surface.

The invention has the following beneficial effects:

(1) The method is characterized in that an image shot by a camera device to the wall surface of a fence of the marine ranch is taken as a reference, an image vision technology is adopted, and a control panel controls a second driving device and a third driving device to cooperatively rotate, so that a camera end of the camera device and the wall surface of the fence of the marine ranch are always in a vertical state, and the direct distance between the camera device and the bottom surface and the wall surface of the marine ranch can be conveniently regulated and controlled just because the camera end and the bottom surface and the wall surface of the marine ranch are in a vertical state, so that the distance is accurate to the clear image shot by the camera device, if the water quality is clear, the distance between the camera device and the wall surface of the fence of the marine ranch can be close by controlling the second driving device and the third driving device to cooperatively rotate, the distance between the camera device and the wall surface of the fence of the marine ranch is the same, the camera device is parallel to the wall surface of the fence of the marine ranch, so that the control panel automatically operates according to a set program on the control panel, the fence of the marine ranch, the marine ranch can be monitored in a simple and the automatic manner, and the monitoring effect of marine creatures is higher;

(2) The distance that camera device removed at every turn also is definite, according to camera device's shooting visual angle, it is accurate to have the overlap area in the shooting region of two adjacent local camera device on marine ranching rail wall, just so can guarantee to have monitored the no dead angle of whole marine ranching internal environment, thereby can guarantee the absolute reliability of whole marine ranching, the condition that aquatic products wandered because of the rail damage appears in the marine ranching does not exist, also there is not the environmental emergence pollution or the oxygen deficiency in the marine ranching, the aquatic products vitality is not enough and the condition that outside personnel can't in time know.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a perspective view of the underwater lock block of the present invention for installing the main battery and the control panel;

FIG. 3 is a cross-sectional view of the underwater lock block of the present invention for mounting the main battery and the control panel;

FIG. 4 is a first configuration of the underwater fixture of the present invention;

FIG. 5 is a schematic view of the construction of a connecting segment in accordance with the present invention;

FIG. 6 is a schematic structural diagram of the routing channel of the present invention;

FIG. 7 is a schematic view of a first driving device according to the present invention;

FIG. 8 is a cross-sectional view of a first drive arrangement of the present invention;

FIG. 9 is a schematic view of a second driving device according to the present invention;

FIG. 10 is a cross-sectional view of a second drive arrangement in accordance with the present invention;

FIG. 11 is a schematic view of a third driving device according to the present invention;

FIG. 12 is a cross-sectional view of a third drive arrangement of the present invention;

FIG. 13 is a schematic view of the configuration of the camera device and the illumination device when they are connected in the present invention;

FIG. 14 is a schematic view of the structure of the image pickup apparatus according to the present invention;

FIG. 15 is a sectional view of an image pickup apparatus according to the present invention;

fig. 16 is an exploded view of the structure of the image pickup device of the present invention;

FIG. 17 is a schematic view of the structure of the illumination device of the present invention;

FIG. 18 is an exploded view of the structure of the lighting device of the present invention;

FIG. 19 is a schematic view of the flange assembly of the present invention;

FIG. 20 is an exploded view of the structure at the flange assembly of the present invention;

FIG. 21 is a schematic view of the hoop assembly of the present invention without hoop;

FIG. 22 is an exploded view of a first configuration of the hoop assembly of the present invention;

FIG. 23 is an exploded view of a second construction of the hoop assembly of the present invention;

FIG. 24 is a first structural view of the underwater mount of the present invention;

FIG. 25 is a first configuration of the bottom locking block of the present invention;

FIG. 26 is a second block diagram of the bottom fixture of the present invention;

FIG. 27 is a second structural view of the underwater fixing block of the present invention;

FIG. 28 is a second block diagram of the bottom locking block of the present invention;

FIG. 29 is a third structural view of the water bottom fixture of the present invention;

FIG. 30 is a third structural view of the water bottom anchor block of the present invention;

FIG. 31 is a third configuration of the water bottom locking block of the present invention;

FIG. 32 is a control circuit diagram at the control board in the present invention;

FIG. 33 is a circuit diagram showing the control of the control board for each link arm in the present invention;

FIG. 34 is a circuit diagram of the control panel to the image pickup device in the present invention;

fig. 35 is a control circuit diagram of the control board to the lighting device in the present invention.

The labels in the figures are: 200-a first driving device, 201-a first fixed sleeve, 202-a first motor, 203-a first rotating sleeve, 204-a first fixed seat, 205-a second fixed seat, 300-a first connecting arm, 301-a connecting section, 302-a wiring channel, 400-a second driving device, 401-a second fixed sleeve, 402-a second motor, 403-a second rotating sleeve, 404-a third fixed seat, 405-a fourth fixed seat, 500-a second connecting arm, 600-a vertical swinging assembly, 601-a third driving device, 6011-a third fixed sleeve, 6012-a third motor, 6013-a third rotating sleeve, 6014-a fifth fixed seat, 6015-a sixth fixed seat, 602-a fourth connecting arm, 700-camera device, 701-sealing cover, 702-first mounting cylinder, 703-camera, 704-perspective mirror, 705-wiper component, 7051-third mounting rack, 7052-limit switch, 7053-fourth motor, 7054-output shaft, 7055-toggle block, 7056-mounting plate, 7057-wiper plate, 7058-third mounting block, 706-connecting pipe, 707-first supporting column, 708-fixing plate, 710-second supporting column, 711-baffle ring, 713-press ring, 800-lighting device, 801-second mounting cylinder, 802-first bearing plate, 803-driving plate, 804-heat-radiating plate, 805-second bearing plate, 806-lighting lamp bead, light-transmitting mirror, 808-third supporting column, 809-press plate, 810-supporting section, 900-safety connector, 1000-third connecting arm, 1100-flange plate assembly, 1101-first flange plate, 1102-second flange plate, 1103-bowl-shaped plug seat, 1104-bowl-shaped plug hole, 1106-gland, 1200-hoop assembly, 1201-first hoop, 1202-second hoop, 1203-first screw hole, 1204-second screw hole, 1205-third screw hole, 1206-fourth screw hole, 1207-first connecting flange, 1208-second connecting flange, 1300-underwater fixing device, 1301-underwater fixing block, 13011-first locking column, 13012-third locking column, 13014-first mounting cavity, 13015-second mounting cavity, 1302-underwater locking block, 13022-second locking groove, 13023-second locking hole, 13024-fourth locking groove, 13026-water-resisting frame, 13027-mounting frame, 13028-main battery, 13029-control plate, 130211-second locking block, 130212-backup battery, 213-backup battery, 1301400-backup battery, 130214-floating ball, and 13014-first floating ball.

Detailed Description

The invention is further described with reference to the following figures and examples, which are not to be construed as limiting the invention.

The high-end monitoring device for use in the marine ranch as shown in fig. 1 comprises a water bottom fixing device 1300 as shown in fig. 4, fig. 26 and fig. 29, a first driving device 200 as shown in fig. 7 and fig. 8 is hermetically connected to the water bottom fixing device through a third connecting arm 1000, the driving end of the first driving device rotates in the horizontal direction, at least one second driving device 400 as shown in fig. 9 and fig. 10 is hermetically connected to the driving end of the first driving device through a first connecting arm 300, the driving end of the second driving device rotates in the vertical direction, a second connecting arm 500 is hermetically connected to the driving end of the second connecting arm, a camera 700 as shown in fig. 14, fig. 15 and fig. 16 is hermetically connected to one end of the second connecting arm far from the second driving device through at least one vertical swing assembly 600, and at least one lighting device 800 as shown in fig. 17 and fig. 18 is arranged on the vertical swing assembly close to the camera or on the camera. According to the invention, the underwater fixing device is arranged, so that the whole device can be stably fixed in water to monitor the environment and aquatic organisms in a marine ranch, when the situation shot by the camera device is abnormal, an alarm can be sent to the outside in a wired or wireless mode, and a worker can timely process the situation after knowing the situation; according to the invention, the first driving device is arranged, and the driving end of the first driving device can rotate in the horizontal direction, so that the camera device can move along the same annular track, and the specific conditions on the same layer in the marine ranch can be comprehensively shot; according to the invention, the second driving device and the vertical swing assembly are arranged, the driving end of the second driving device rotates in the vertical direction, the second driving device and the vertical swing assembly cooperate to enable the camera device to be positioned at any vertical position in the marine ranch, and the second driving device and the vertical swing assembly cooperate to enable the camera device to be positioned at a proper distance relative to the wall surface of the marine ranch, so that the camera device can clearly shoot the situation in the marine ranch and the contour wall surface situation of the marine ranch; the invention provides brightness support for the shooting operation of the camera device by arranging at least one lighting device, thereby ensuring the shooting definition; the invention is designed to be a full-sealing structure to ensure the long-term stable work of the equipment in water, wherein the full sealing comprises welding sealing and sealing by using a sealing ring; the number of the second driving devices on the first connecting arm can be one or more, the specific number can be flexibly set according to actual conditions, and each second driving device corresponds to one camera device, namely, the number of the camera detection units can be more, so that the flexibility is better, and a good marine ranch monitoring effect can be ensured according to the actual conditions.

The underwater fixing device comprises an underwater fixing block 1301 shown in fig. 24, fig. 27 and fig. 30 and an underwater locking block 1302 shown in fig. 25, fig. 28 and fig. 31, wherein a plurality of first locking columns 13011 and/or a plurality of first locking grooves and/or a plurality of first locking holes are arranged on the underwater fixing block, a plurality of second locking columns and/or a plurality of second locking grooves 13022 and/or a plurality of second locking holes 13023 are arranged on the underwater locking block, the second locking columns correspond to the corresponding first locking grooves or first locking holes, and the second locking grooves or second locking holes correspond to the corresponding first locking columns; the underwater locking block is connected with one end, far away from the first driving device, of the third connecting arm in a sealing mode. The underwater locking block is detachably locked with the underwater fixing block and is composed of a cement block or a metal block with large weight, the underwater locking block is locked in a column hole matching or column groove matching mode through self gravity, the third connecting arm is always in a vertical state, a connecting hole is formed in the underwater locking block, one end of the connecting rope is connected with the connecting hole, and the other end of the connecting rope is located outside the water surface; when carrying out the cooperation of column hole or column groove matched with in the beginning of the term, only need personnel to hold and connect the rope and slowly put into aquatic with the device to the condition of real-time picture is shot to the camera, connects the rope through the pulling and locks the submarine locking piece on submarine fixed block with column hole cooperation or column groove complex mode, and wherein submarine fixed block is firmly fixed in marine ranch bottom.

The inside of submarine fixed block is equipped with first installation cavity 13014 and second installation cavity 13015, first installation cavity is linked together with the second installation cavity, the second installation cavity is tubaeform, a plurality of first locking posts and/or a plurality of first locking groove and/or a plurality of first locking hole setting are close to on the terminal surface in second installation cavity at submarine fixed block, submarine locking block is located first installation cavity, submarine locking block is kept away from first drive arrangement's one end sealing connection with the third linking arm, submarine locking block passes through first locking plate locking in first installation cavity, a plurality of second locking posts and/or a plurality of second locking groove and/or a plurality of second locking hole setting are on first locking plate. First installation cavity and second installation cavity provide the mounted position for submarine locking piece, and the second installation cavity sets up to tubaeform is in order to let the locking part of submarine locking piece smoothly put into first installation cavity.

The mating ends of the first and second locking posts are tapered. The tapered end portion enables a post hole fitting or a post groove fitting to be performed more smoothly.

Be equipped with third locking column 13012 or third locking groove on the submarine fixed block, be equipped with fourth locking column 13024 or fourth locking column on the submarine locking block, the fourth locking groove cooperatees with the third locking column, and the fourth locking column cooperatees with the third locking groove, and the central point that third locking column or third locking groove are located the submarine fixed block puts, and the central point that fourth locking column or fourth locking column are located the submarine locking block puts. The cooperation of a post groove is added for the locking effect between submarine locking piece and submarine fixed block is better.

The third locking column and the fourth locking column are both in the shape of a cone frustum. The cone frustum shape can more smoothly perform the matching of the column groove.

The second driving means is connected to the first driving means through a safety connection 900. The safety connecting piece can ensure the safety and the stability of the operation of the second driving device, one or more second driving devices are arranged on the first connecting arm, when the length of the first connecting arm is too long, the second driving device arranged on the first connecting arm, particularly the second driving device arranged at the end part of the first connecting arm can bend or break the first connecting arm, so that the second driving device and other parts connected with the second driving device can not operate due to losing the support, the second driving device is connected to the first driving device through the safety connecting piece, and when the first connecting arm is excessively stressed, the safety connecting piece can share a part of acting force for the first connecting arm, so that the first connecting arm is prevented from being bent or broken, and the stability of the operation of the second driving device and other parts connected with the second driving device is ensured.

The safety connecting piece is a rigid connecting rod and/or a flexible connecting rope. Arrange in and select rigid connection pole or flexible connection rope for use, can select for use according to actual conditions is nimble.

A supporting rod is arranged at one end, far away from the third connecting arm, of the first driving device, and the second driving device is connected with the supporting rod through a safety connecting piece 900. One end of the safety connecting piece is connected to the supporting rod, a triangle is formed among the supporting rod, the safety connecting piece and the first connecting arm, the safety connecting piece can better share acting force for the first connecting arm, and the first connecting arm is guaranteed to support and connect safety and stability.

The first driving device is provided with a floating ball 1400, and the buoyancy of the floating ball is based on the fact that the third connecting arm can be ensured to be in a vertical state. When the underwater fixing device is in an unlocked state, the part of the underwater fixing device connected with the third connecting arm is actually in a floatable state, the part of the underwater fixing device connected with the third connecting arm is positioned at the water bottom in a self-gravity mode, at the moment, due to the action of water flow, the third connecting arm and the related camera device can incline in water and are in a non-vertical inclined state, the floating ball can return to the vertical state as soon as possible due to the restoring force of the buoyancy of the floating ball to the third connecting arm, and therefore the whole device can continue to work normally, wherein the buoyancy of the floating ball is smaller than the gravity of the part of the underwater fixing device connected with the third connecting arm, and the buoyancy of the floating ball is based on the acting force of the third connecting arm in the underwater fixing device in a pulling-up and returning-to-positive state.

The vertical swing component is provided with a supporting section 810 close to the camera device or the camera device, and the lighting device is hermetically arranged on the supporting section. The support section provides the mounted position for lighting device is suitable for camera device's distance and position all, and lighting device can provide the illumination of suitable intensity and suitable width for camera device.

A water-resisting frame 13026 is arranged inside the underwater locking block, the water-resisting frame is of a sealing structure, an installation frame 13027 shown in figures 2 and 3 is arranged inside the water-resisting frame on the floating plate, at least one main battery 13028 is detachably arranged in the installation frame, a control plate 13029 is arranged in the installation frame, and the control plate is electrically connected with the main battery. The installation safety of main batteries, control panels and other electric devices is ensured by arranging the water-proof frame; the main battery provides power for normal operation of the whole device; the control panel is integrated with a control program inside, and after the switch is started, the whole device starts to monitor the situation in the marine ranch in real time according to the set program.

The main battery is defined inside the mounting frame by a definition block 130210. The main battery can have one, two or more, and specific quantity can be set for according to actual conditions is nimble, and the stability of main battery installation can be guaranteed to the restriction piece for installing that the main battery can be stable in the installing frame, through the locking or the unblock of restriction piece, can realize the installation and take off of main battery.

A second mounting frame 130211 is arranged in the mounting frame, and the control panel is arranged on the second mounting frame. The second mounting bracket provides the mounted position for the control panel can be stable be located the installing frame.

At least one spare battery 130212 is detachably arranged in the mounting frame and is electrically connected with the control panel. The standby battery is used as a backup of the main battery, when the electric quantity of the main battery is insufficient, the standby battery is automatically switched to supply power, so that the uninterrupted work of the whole device is ensured until the whole device completes the complete marine ranch monitoring work; the spare battery can be one, two or more, and the specific number can be flexibly set according to the actual situation.

The backup battery is provided inside the mounting frame via a bead 130213. The layering can guarantee the stability of backup battery installation for backup battery can be stable installs in the installing frame, through the locking or the unblock of layering, can realize backup battery's installation and take off.

A first mounting frame 130214 is arranged in the mounting frame, and the standby battery is arranged on the first mounting frame through a pressing strip. First mounting bracket provides the mounted position for the stand-by battery for stand-by battery can be stable be located the installing frame.

The first driving device comprises a first fixed sleeve 201, the first fixed sleeve is connected with one end of the third connecting arm in a sealing mode, a first motor 202 is arranged inside the first fixed sleeve, a first rotating sleeve 203 is arranged on the first fixed sleeve in a sealing and rotating mode, the first rotating sleeve is connected with a driving end of the first motor, and the first motor is respectively electrically connected with a main battery, a standby battery and a control panel. The first fixing sleeve is used for stably and hermetically mounting the first driving device on the third connecting arm or the water floating device; the first motor provides horizontal rotating force for the movement of the camera device and the lighting device in the horizontal direction; the first rotating sleeve is used for conducting horizontal rotating force of the first motor and providing a stable mounting position for the first connecting arm; the whole very heavy weight that has of first drive arrangement, first drive arrangement is connected the effect that acts as the weight after with floating device on water through the third linking arm, when floating the board because rocking of the surface of water and take place the swing, under the effect of first drive arrangement self gravity, first drive arrangement can make and float the board and resume steadily as early as possible.

The inside of first fixed sleeve is equipped with first fixing base 204, and first motor setting is on first fixing base. First fixing base provides the mounted position for first motor in first fixed sleeve's inside, guarantees the stability of first motor installation and work.

The driving end of the first motor is provided with a second fixed seat 205 on which the first rotating sleeve is arranged. The second fixed seat provides a stable mounting position for the first rotating sleeve on one hand, and transmits the driving force of the first motor to the first rotating sleeve smoothly on the other hand; wherein for rotating sealing connection between first rotation sleeve and the first fixed sleeve, when first rotation sleeve rotated, still can guarantee with the leakproofness between the first fixed sleeve to guarantee the electrical safety of first motor work.

The first rotating sleeve is connected with one end of the first connecting arm in a sealing mode. The sealing connection is realized through a flange assembly or a hoop assembly.

The second driving device comprises a second fixed sleeve 401, the second fixed sleeve is connected with one end, far away from the first driving device, of the first connecting arm in a sealing mode, a second motor 402 is arranged inside the second fixed sleeve, a second rotating sleeve 403 is arranged on the second fixed sleeve in a sealing and rotating mode, the second rotating sleeve is connected with the driving end of the second motor, and the second motor is respectively electrically connected with the main battery, the standby battery and the control panel. The second fixing sleeve is used for stably mounting the second driving device on the first connecting arm; the second motor provides acting force for the camera device and the lighting device to rotate in the vertical direction; the second rotating sleeve is used for stably transmitting vertical rotating force of the second motor.

The inside of second fixed sleeve is equipped with third fixing base 404, and the second motor setting is on the third fixing base. The third fixing base provides the mounted position for the second motor in the inside of second fixed sleeve, guarantees the second motor installation and the stability of work.

The drive end of the second motor is provided with a fourth fixed seat 405 on which a second rotating sleeve is arranged. The fourth fixed seat provides a stable mounting position for the second rotating sleeve on one hand, and transmits the driving force of the second motor to the second rotating sleeve smoothly on the other hand; wherein for rotating sealing connection between second rotating sleeve and the second fixed sleeve, when the second rotating sleeve rotated, still can guarantee and the second fixed sleeve between the leakproofness to guarantee the electrical safety of second motor work.

The second rotating sleeve is connected with the vertical swinging assembly in a sealing mode. The sealing connection is realized through a flange assembly or a hoop assembly.

The vertical swinging assembly comprises a third driving device 601 and a fourth connecting arm 602 as shown in fig. 11 and 12, a fixed end of the third driving device is connected with one end of the second connecting arm far away from the second driving device in a sealing manner, a driving end of the third driving device rotates in a vertical direction, one end of the fourth connecting arm is connected with the driving end of the third driving device, and the other end of the fourth connecting arm is connected with the camera device in a sealing manner. The vertical swing assembly consisting of the third driving device and the fourth connecting arm further provides rotation in the vertical direction for the camera device and the illuminating device, and the vertical swing assembly and the second driving device can provide accurate movement for the camera device together, so that the camera device can move with the distance between the camera device and the wall surface of the marine ranching unchanged, the definition of the camera device for shooting the wall surface of the marine ranching can be ensured, and the accuracy of the camera device for detecting the contour of the marine ranching and the internal environment can be further ensured; the sealing connection is realized by a flange plate assembly or a hoop assembly.

And the plurality of vertical swinging assemblies are sequentially connected in a sealing manner. The number of the vertical swing assemblies can be flexibly set according to the size of an actual marine ranch and the depth in water, and the standard of the vertical swing assemblies is that the vertical swing assemblies can move under the condition that the distance between the camera device and the wall surface of the marine ranch is kept unchanged; the sealing connection is realized through a flange assembly or a hoop assembly.

The third driving device comprises a third fixed sleeve 6011, the third fixed sleeve is hermetically connected with one end, far away from the second driving device, of the second connecting arm, a third motor 6012 is arranged inside the third fixed sleeve, a third rotating sleeve 6013 is arranged on the third fixed sleeve in a sealed and rotating mode, the third rotating sleeve is connected with the driving end of the third motor, and the third rotating sleeve is hermetically connected with one end of the fourth connecting arm; the third motor is electrically connected with the main battery, the standby battery and the control panel respectively. The third fixing sleeve is used for stably mounting the third driving device on the second connecting arm; the third motor provides acting force for the camera device and the lighting device to rotate in the vertical direction; the third rotating sleeve is used for stably transmitting vertical rotating force of a third motor; the third driving device and the second driving device can provide accurate movement for the camera device, and the camera device can move under the condition that the distance between the camera device and the wall surface of the marine ranching is kept unchanged, so that the definition of the camera device for shooting the wall surface of the marine ranching can be ensured, and the accuracy of the camera device for monitoring the marine ranching is further ensured; the sealing connection is realized by a flange plate assembly or a hoop assembly.

A fifth fixing seat 6014 is disposed inside the third fixing sleeve, and the third motor is disposed on the fifth fixing seat. The fifth fixing base provides a mounting position for the third motor in the third fixing sleeve, and the stability of installation and work of the third motor is guaranteed.

The driving end of the third motor is provided with a sixth fixed seat 6015, and the third rotating sleeve is arranged on the sixth fixed seat. The sixth fixing seat provides a stable mounting position for the third rotating sleeve on one hand, and smoothly transmits the driving force of the third motor to the third rotating sleeve on the other hand; wherein for rotating sealing connection between third rotating sleeve and the third fixed sleeve, when the third rotating sleeve rotates, still can guarantee with the leakproofness between the third fixed sleeve to guarantee the electric safety of third motor work.

The camera device comprises a sealing cover 701, the sealing cover is in sealing connection with one end, far away from the third driving device, of the fourth connecting arm, a first mounting cylinder 702 is arranged on the sealing cover in a sealing mode, a camera 703 is arranged in the first mounting cylinder, a perspective mirror 704 is arranged at one end, far away from the sealing cover, of the first mounting cylinder, and the perspective mirror is opposite to a camera of the camera; a wiper component 705 is arranged on the first mounting cylinder, and corresponds to the perspective mirror; the camera and the wiper assembly are electrically connected with the main battery, the backup battery and the control panel. The sealing cover can not only ensure the sealing performance when being connected with the fourth connecting arm, but also ensure the sealing performance after being installed with the first installation cylinder; the first mounting cylinder is used as a main shell of the camera device; the camera is used for shooting images, and accurately detecting the condition of the marine ranch through image recognition in an image vision mode; the cleanliness of perspective mirror department is guaranteed through setting up the water subassembly of scraping to guarantee that the camera shoots the definition and the degree of accuracy of image.

The sealing cover is provided with a connecting pipe 706 in a sealing way, and the connecting pipe is connected with one end of the fourth connecting arm far away from the third driving device in a sealing way. The connecting pipe is used for excessively being connected between sealed lid and the fourth linking arm for the leakproofness and the connection effect of being connected between sealed lid and the fourth linking arm are better.

The sealing cover is provided with at least one first supporting column 707, the first supporting column is positioned inside the first mounting cylinder, the first supporting column is provided with a fixing plate 708, and the camera is arranged on the fixing plate. The first supporting column stably supports the fixing plate on the sealing cover, and the fixing plate is supported at a proper position in the first mounting cylinder through the length of the first supporting column; the fixed plate provides the mounted position for the camera, guarantees the stability of camera work.

The joint of the first support column and the sealing cover is provided with a first elastic cushion. The first supporting column is connected with the sealing cover in a mode that the inserted bar is matched with the slot; the first elastic pad provides the buffering for the junction of first support column and sealed lid, prevents to make the camera take place to shake because unexpected collision and influence the shooting effect, also prevents to make the camera take place to shake because unexpected collision and damage.

The fixed plate is provided with a plurality of second supporting columns 710, one ends of the second supporting columns, far away from the fixed plate, are provided with blocking rings 711, the blocking rings are opposite to the camera of the camera, and the perspective lens is arranged on the blocking rings. The second support column provides the mounted position for keeping off the ring, keeps off the ring and is used for fixing a position perspective mirror again, and the shooting angle range behind the camera transmission perspective mirror has also been decided to the self length of second support column, so the self length of second support column is based on the camera can shoot suitable visual field angle range.

A second elastic cushion is arranged at the joint of the second supporting column and the fixing plate. The second supporting column is connected with the fixing plate in a mode that the inserted bar is matched with the slot; the second cushion provides the buffering for the junction of second support column and fixed plate, prevents to make the fixed plate shake and influence the shooting effect of camera because of accidental collision, also prevents to make camera or perspective mirror shake and damage because of accidental collision.

The first elastic cushion and the second elastic cushion are spring cushions. The spring pad has the advantages of simple structure, low price and good damping effect.

The perspective mirror is made of high borosilicate glass. The perspective mirror made of the high borosilicate glass material has good light transmission effect and high strength.

The perspective mirror is arranged on the retaining ring through a pressing ring 713, and the pressing ring is connected with the first installation cylinder in a sealing mode. The clamping ring enables the sealing performance and the stability of the perspective mirror mounted on the baffle ring to be better.

The wiper component comprises a third mounting rack 7051, the third mounting rack is arranged inside the first mounting cylinder, a group of limit switches 7052 are arranged on the third mounting rack, a fourth motor 7053 is arranged on the third mounting rack, an output shaft 7054 is arranged at the driving end of the fourth motor, a toggle block 7055 is arranged on the output shaft, the toggle block is located between the group of limit switches, a mounting plate 7056 is rotatably arranged at one end, away from the fourth motor, of the output shaft, a wiper plate 7057 is detachably arranged on the mounting plate, and the wiper plate corresponds to the perspective mirror; the fourth motor is electrically connected with the main battery, the standby battery and the control board. The third mounting frame provides mounting positions for the limit switch and the fourth motor, and the working stability of the limit switch and the fourth motor is ensured; the group of limit switches are electrically connected with the control panel, and the limit switches are matched with the shifting block to control the forward and reverse rotation of the fourth motor, so that the function of cleaning the surface of the perspective mirror by reciprocating the wiper blade is realized; the mounting plate provides a mounting position for the wiper blade.

And a third mounting block 7058 is arranged on the third mounting frame, and a group of limit switches are arranged on the mounting blocks. The third installation piece provides the mounted position for limit switch alone, guarantees limit switch and dials piece matched with stability to the positive and negative rotation of control fourth motor that can be more stable.

Lighting device includes second installation section of thick bamboo 801, be close to in camera device's position or camera device sealing connection on second installation section of thick bamboo and the vertical swing subassembly, the inside of second installation section of thick bamboo is equipped with first loading board 802, be equipped with drive plate 803 on the first loading board, be equipped with heating panel 804 on the drive plate, the inside of second installation section of thick bamboo is equipped with second loading board 805, be equipped with illuminating lamp pearl 806 on the second loading board, illuminating lamp pearl is connected with the drive plate electricity, be equipped with printing opacity mirror 807 on the second installation section of thick bamboo, printing opacity mirror is relative with illuminating lamp pearl, the drive plate respectively with the main battery, stand-by battery and control panel electricity are connected. The driving board is electrically connected with the control board and used for controlling the on-off and the light and shade conditions of the illuminating lamp beads according to signals of the control board; the heat dissipation plate is used for timely evacuating heat generated on the drive plate, so that the drive plate is prevented from being overheated, and the service life and the use safety of the drive plate are ensured; the second bearing plate provides a mounting position for the illuminating lamp beads, so that the working stability of the illuminating lamp beads is ensured; wherein the illuminating lamp beads are led lamp beads; the light-transmitting mirror is made of high borosilicate glass material and has the characteristics of good light-transmitting effect and high strength.

The first bearing plate is provided with at least one third supporting column 808, and the second bearing plate is arranged at one end of the third supporting column far away from the first bearing plate. The third support column provides the mounted position for the second loading board, and the distance between second loading board and the printing opacity mirror has been decided to the self length of third support column, because the illumination lamp pearl is installed on the second loading board, the self length of third support column has just decided the scope and the luminous intensity that the illumination lamp pearl can illuminate outside, and the self length of third support column uses illumination lamp pearl to illuminate outside scope and light intensity equal the standard.

The light-transmitting mirror is hermetically disposed on the second mounting cylinder by a platen 809. The pressure disk makes the steadiness and the leakproofness of printing opacity mirror installation on the second installation section of thick bamboo all better.

The illumination direction of the illumination device is inclined toward the image pickup device. The lighting device mainly provides brightness for the camera device, the lighting device has a better lighting effect when the camera device is inclined, and the specific inclination angle is 0-60 degrees; more preferably, the specific inclination angle is 15 to 45 degrees.

A support section 810 as shown in fig. 13 is provided on the vertical swing assembly at a position close to the camera device or on the camera device, and the illumination device is provided on the support section. The support section provides the mounted position for lighting device is suitable for camera device's distance and position all, and lighting device can provide the illumination of suitable intensity and suitable width for camera device.

The second installation cylinder is arranged on the supporting section in a sealing mode. The supporting section provides an installation position for the second installation cylinder; the sealing connection is realized by a flange plate assembly or a hoop assembly.

The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are all composed of at least one connecting section 301 as shown in fig. 5 and 6, a wiring channel 302 is arranged inside the connecting section, and the electrically connected wires penetrate through the wiring channel. The specific lengths of the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are formed by sealing and splicing the connecting sections according to actual conditions, so that the device has good adaptability; because the whole electric part of the device can not have water, the device needs to be completely sealed, and the wiring channel provides a safe installation position for the electric wire or the signal wire, thereby ensuring the electric safety of the whole device.

The plurality of connector segments are sealingly connected by a flange assembly 1100 as shown in fig. 19 and 20 and/or a hoop assembly 1200 as shown in fig. 21, 22 and 23. The flange plate assembly and the hoop assembly can be flexibly selected according to actual conditions and have the characteristic of good sealing connection effect; and staple bolt subassembly connected mode wherein, because the bolt quantity that uses is few, so the installation also can become simpler.

The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are hermetically connected with corresponding parts through the flange assemblies and/or the hoop assemblies. The flange plate assembly and the hoop assembly can be flexibly selected according to actual conditions and have the characteristic of good sealing connection effect; and the hoop component connection mode is simple in installation because the number of the used bolts is small.

The flange plate assembly comprises a first flange plate 1101 and a second flange plate 1102, the first flange plate is fixedly connected with one end of one connecting section in a sealing mode, the second flange plate is fixedly connected with one end of the other connecting section in a sealing mode, the first flange plate is connected with the second flange plate in a sealing mode, a bowl-shaped plug seat 1103 is arranged on the first flange plate or the second flange plate, a bowl-shaped plug hole 1104 is arranged on the bowl-shaped plug seat, a bowl-shaped plug is arranged in the bowl-shaped plug hole, the bowl-shaped plug is tightly pressed in the bowl-shaped plug hole through a pressing cover 1106, and the pressing cover is located between the second flange plate and the first flange plate. Through bowl shape stopper seat, bowl shape consent and bowl shape stopper matched with structure, when first ring flange and second ring flange passed through bolt matched with, the gland compressed tightly bowl shape stopper firmly in bowl shape consent, and electric wire or signal line pass through from the mesopore of bowl shape stopper, have absolute leakproofness, have guaranteed that whole device is inside all to be in sealed environment, have guaranteed the electrical safety of whole device.

The hoop component comprises a first hoop 1201 and a second hoop 1202, a first screw hole 1203 and a second screw hole 1204 are arranged on the outer wall of the first hoop, a third screw hole 1205 and a fourth screw hole 1206 are arranged on the outer wall of the second hoop, the third screw hole corresponds to the first screw hole, the fourth screw hole corresponds to the second screw hole, the third screw hole is in sealing connection with the first screw hole through a bolt, and the fourth screw hole is in sealing connection with the second screw hole through a bolt. The first hoop and the second hoop can be mounted and dismounted through the two bolts, and the novel hoop has the advantages of being simple in operation and good in connecting effect.

One end of one connecting section is equipped with first connecting flange 1207, the one end of another connecting section is equipped with second connecting flange 1208, second connecting flange and first connecting flange are corresponding, second connecting flange and first connecting flange pass through first staple bolt and second staple bolt sealing connection, be equipped with bowl shape chock 1103 on first connecting flange or the second connecting flange, be equipped with bowl shape consent 1104 on the bowl shape chock, be equipped with bowl shape stopper in the bowl shape chock, bowl shape stopper compresses tightly in bowl shape chock through gland 1106, the gland is located between second connecting flange and the first connecting flange. Through the structure that the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug are matched, the first connecting flange and the second connecting flange are aligned, the first hoop and the second hoop tightly hold the first connecting flange and the second connecting flange, and the bowl-shaped plug is firmly pressed in the bowl-shaped plug hole by the gland through the locking acting force when the first hoop and the second hoop are locked by two bolts; the whole connection mode is simple, and the sealing effect after connection is better.

In an initial state, the first connecting arm, the second connecting arm and the fourth connecting arm are located on the same plane.

The rotation angle of the driving end of the first driving device in the horizontal direction is 0-360 degrees. More preferably, the driving end of the first driving device is rotated by 0 to 320 degrees in the horizontal direction. Within this angular range, the camera device takes a picture on a circular path without dead angles.

The rotation angle of the driving end of the second driving device in the vertical direction is 0-360 degrees. More preferably, the driving end of the second driving device is rotated by 0 to 320 degrees in the vertical direction. More preferably, the driving end of the second driving device is rotated by 0 to 270 degrees in the vertical direction. More preferably, the driving end of the second driving device is rotated by 0 to 180 degrees in the vertical direction.

The rotation angle of the driving end of the third driving device in the vertical direction is 0-360 degrees. More preferably, the rotation angle of the driving end of the first driving device in the horizontal direction is 0 to 320 degrees. Within this angular range, the camera device takes a picture on a circular path without dead angles. The part of the camera device, which is positioned in water, is designed to have zero buoyancy, and the angle inside the whole device rotates on the basis that the underwater part cannot exceed the water surface.

The main and backup batteries are lead acid and/or lithium batteries. The main battery and the backup battery can be rechargeable batteries, and can be charged by external clean energy such as wind energy or solar energy.

The range of the shooting field angle alpha of the camera device is 10-120 degrees. More preferably, the imaging field angle α of the imaging device is in the range of 30 degrees to 90 degrees. More preferably, the imaging field angle α of the imaging device is in the range of 45 degrees to 70 degrees.

The moving distance M and the moving distance N are based on the overlapping area of the shooting view field angles alpha of two adjacent positions of the camera device. There is overlap area can guarantee the device to the whole no dead angle of monitoring in marine ranch.

The distance L and the distance S are equal or unequal; the moving distance M and the moving distance N are equal or unequal.

A method for monitoring the environment of a marine ranch, comprising the steps of,

(h) After the camera device shoots the whole bottom surface of the marine ranch, the control panel controls the driving ends of the second driving device and the third driving device to simultaneously rotate at a proper angle in the vertical direction, so that the shooting direction of the camera device is perpendicular to the position, close to the bottom, of the side wall surface of the marine ranch, and the distance between the camera device and the side wall surface of the marine ranch is S;

(j) After the first driving device in the step (i) is rotated, the control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction, and the camera device moves a distance N along the side wall surface of the marine ranch towards the top of the marine ranch under the condition that the shooting direction of the camera device is perpendicular to the side wall of the marine ranch;

According to the invention, the image shot by the camera device on the wall surface of the fence of the marine ranching is taken as a reference, an image vision technology is adopted, the control panel controls the second driving device and the third driving device to cooperatively rotate, so that the camera end of the camera device is always in a vertical state with the wall surface of the fence of the marine ranching, and the camera end is in a vertical state with the bottom surface and the wall surface of the marine ranching, so that the direct distance between the camera device and the bottom surface and the wall surface of the fence of the marine ranching is conveniently regulated and controlled, the distance is accurate to the clear image shot on each surface of the marine ranching, if the water quality is clear, the distance between the camera device and the wall surface of the fence of the marine ranching can be kept a little bit far by controlling the second driving device and the third driving device to cooperatively rotate, if the water quality is turbid, the distance between the camera device and the wall surface of the fence of the marine ranching is kept a little bit close, in the whole shooting process, the camera device and the wall surface of the fence of the marine ranching are the same, the control panel can be moved in parallel to the control panel, the automatic monitoring of the environment and the monitoring of the marine ranching can be carried out according to a set program on the marine ranching, and the monitoring of the marine ranching can be simple and the automatic monitoring effect can be better; the distance of each movement of the camera device is also limited, and the overlapping area of the shooting areas of two adjacent local camera devices on the wall surface of the fence of the marine ranch is determined according to the shooting visual angle of the camera device, so that the condition that aquatic products are lost due to the damage of the fence of the marine ranch, the condition that the environment in the marine ranch is polluted or lack of oxygen, and the external personnel cannot know the vitality of the aquatic products in time can be ensured.

A high-end monitoring facilities linking arm orbit principle for in marine ranch:

a first driving device: the first connecting arm is controlled to rotate 360 degrees in a given direction by using the driving of a planetary gear speed reducing motor;

a second driving device: a planetary gear reduction motor is used for driving, the second connecting arm is controlled to swing up and down according to requirements, and the range is 0-360 degrees;

first and third driving means: the steering engine is used for driving, the first fourth connecting arm is controlled to swing according to a given angle, and the range is 0-360 degrees;

second third driving means: the steering engine is used for driving, the second fourth connecting arm is controlled to swing according to a given angle, and the range is 0-360 degrees;

a first connecting arm: 5.8 m long (center distance between the first and second driving device)

A second connecting arm: 6 m long (center distance between the second and the first third driving device)

First fourth connecting arm: length 1.5 m (center distance between the first and second third driving devices)

Second fourth link arm: length 1.8 m (distance from the center of the second third driving device to the front end of the camera)

Initial position: the initial position of the whole machine is that each connecting arm is positioned on the same plane and the whole machine is inclined downwards by 0.2 degrees.

The outer contour dimension of the marine ranch is as follows: the overall shape of the outer contour of the marine ranch is conical, the diameter of the top is 25500mm, the diameter of the bottom is 2455 mm, and the height is 7000mm.

Description of the electronic devices:

lighting lamp: 2, each power is 20w, and the voltage is 12v;

a camera: 1, power 20w, voltage 12v;

linear velocity of camera movement: 0.2m/s

A first motor: 1, power 120w, voltage 24v;

a second motor: 1, power 60w, voltage 24v;

steering engine or third motor: 2, power 30w, voltage 24v;

a lead-acid battery;

assembling position of the whole machine: after marine ranch monitoring devices are assembled according to the initial position, the marine ranch monitoring devices are fixed at the center of the top of the marine ranch, and the mechanical arm is arranged below the water surface.

Description of the moving track of the camera: the field angle of the camera is 80 degrees, the visible distance is 400mm, the maximum visible distance is 450mm, and the minimum visible distance is 100mm;

the camera begins to look over from the center of marine ranch bottom earlier, and rotatory a week back, the camera outwards removes 660mm (there is the micro-adjustment according to the turned angle of second linking arm), then rotatory a week again, analogizes in proper order, finishes all the inspection to marine ranch bottom, then deflects the direction again, inspects marine ranch lateral wall. In order to avoid missing areas or repeated inspection areas in the process of marine ranch inspection, two adjacent visual areas to be scanned need to have overlapping parts, wherein the overlapping parts are 40mm basically, 50mm in the maximum overlapping area and 20mm in the minimum overlapping area. In addition to the angle between the bottom of the marine ranch and the sidewall, the camera is used to remain perpendicular to the marine ranch when examining other locations.

The floating device on water sinks 30mm below the water surface, and the redundant gravity is overcome by buoyancy foam. The first connecting arm is close to the first motor and is 104.2mm away from the water surface.

Moving track of camera

First circumferential trajectory: the first connecting arm keeps unchanged in position, the second connecting arm swings downwards at an angle of 32.9 degrees, an included angle between the first fourth connecting arm and the second connecting arm is 139.7 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. At the moment, the distance between the camera and the bottom of the marine ranch is approximately 400mm, the visual range exceeds 40mm of the center of the marine ranch, and after the camera reaches the position, the first connecting arm rotates 360 degrees and stops.

Second circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 32.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 112.44 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Third circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 34.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 92.86 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Fourth circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 39 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 76.43 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Fifth circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 45 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 62.16 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Sixth circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 52.6 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 49.41 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Seventh circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 61.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 38.24 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranching. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Eighth circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 71.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 29.37 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Ninth circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 80.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 24.6 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranching. After the camera reaches this position, the first link arm rotates 360 ° and stops.

10 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 88.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 26.23 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

11 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 94.3 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 34.07 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

12 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 99.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 43.6 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranching. After the camera reaches this position, the first link arm rotates 360 ° and stops.

The 13 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 104.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 53.93 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

14 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 110.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 69.79 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Circle locus number 15: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 115.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 85.34 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

16 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 121.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 103.48 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

17 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 128.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 126.68 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

18 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 140.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 174.51 degrees, and the second fourth connecting arm is perpendicular to the bottom of the marine ranch. After the camera reaches this position, the first link arm rotates 360 ° and stops.

19 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 141.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 217.75 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 50.54 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Circle trajectory 20: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 126.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 188.52 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

The 21 st circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 118.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 126.01 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

22 nd circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 119.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 103.59 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

23 rd circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 122.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 85.97 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

24 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 127.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 70.91 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Circumferential track number 25: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 134.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 57.67 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

26 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 142.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 46.06 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

27 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 151.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 36.4 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

28 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 160.8 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 29.52 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

Circumferential track 29: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 169.2 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 27.97 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

30 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 171.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 28.28 degrees, and the included angle between the second fourth connecting arm and the bottom of the marine ranch is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.

So far, the inspection of the marine ranch is finished, and the mechanical arm retracts to the initial position.

As a control board one-chip circuit shown in fig. 32, an STM32F103RCT6 is used, in which Y1, C3, and C4 form a crystal oscillator circuit, and R2 and C5 form a reset circuit.

The control circuit shown in fig. 33, 34 and 35 is composed of a pull-up resistor and a filter capacitor, and is used for controlling the control of each connecting arm, the camera and the illuminating lamp by the control board.

Claims

1. The environmental monitoring method for the marine ranch is characterized by comprising the following steps: comprises the following steps of (a) carrying out,

(a) Placing a marine ranch monitoring device in an initial state inside a marine ranch, wherein the marine ranch monitoring device is positioned at the bottom center position of the marine ranch or at a center position close to the bottom;

(b) Starting a power switch of the marine ranch monitoring device in the water, so that a first driving device, a second driving device, a third driving device, a camera device and an illuminating device in the marine ranch monitoring device are all in a starting state;

(f) After the camera device in the step (e) moves a distance M towards the direction of the side wall surface of the marine ranch, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;

(g) Circulating the steps (e) and (f) until the camera device shoots the whole bottom surface of the marine ranch;

(k) After the image pickup device moves a distance N towards the top direction of the marine ranch in the step (j), the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;

2. The method of environmental monitoring of a marine ranch of claim 1, characterized in that: the range of the shooting field angle alpha of the camera device is 10-120 degrees.

3. The environmental monitoring method for a marine ranch as set forth in claim 1, characterized in that: the moving distance M and the moving distance N are based on the overlapping area of the shooting view field angles alpha of two adjacent positions of the camera device.

4. The environmental monitoring method for a marine ranch as set forth in claim 1, characterized in that: the distance L and the distance S are equal or unequal; the moving distance M and the moving distance N are equal or unequal.

5. The environmental monitoring method for a marine ranch as set forth in claim 1, characterized in that: the rotation angle of the driving end of the first driving device in the horizontal direction is 0-360 degrees; the rotation angle of the driving end of the second driving device in the vertical direction is 0-360 degrees; the rotation angle of the driving end of the third driving device in the vertical direction is 0-360 degrees.

6. The method of environmental monitoring of a marine ranch of claim 1, characterized in that: marine ranch monitoring devices includes submarine fixing device (1300), there is first drive arrangement (200) submarine fixing device last through third linking arm (1000) sealing connection, first drive arrangement's drive end rotates at the horizontal direction, first drive arrangement's drive end has at least one second drive arrangement (400) through first linking arm (300) sealing connection, second drive arrangement's drive end rotates at vertical direction, second drive arrangement's drive end sealing connection has second linking arm (500), the one end that second drive arrangement was kept away from to the second linking arm has camera device (700) through at least one vertical swing subassembly (600) sealing connection, be equipped with at least one lighting device (800) on the position or the camera device that are close to camera device on the vertical swing subassembly.

7. The environmental monitoring method for a marine ranch as set forth in claim 6, wherein: the water bottom fixing device comprises a water bottom fixing block (1301) and a water bottom locking block (1302); a plurality of first locking columns (13011) are arranged on the water bottom fixing block, a plurality of second locking grooves (13022) and/or a plurality of second locking holes (13023) are arranged on the water bottom locking block, and the second locking grooves or the second locking holes correspond to the corresponding first locking columns; or a plurality of first locking grooves and/or a plurality of first locking holes are arranged on the underwater fixing block, a plurality of second locking columns are arranged on the underwater fixing block, and the second locking columns correspond to the corresponding first locking grooves or the corresponding first locking holes; and the underwater locking block is connected with one end of the third connecting arm, which is far away from the first driving device, in a sealing manner.

8. A method of environmental monitoring of a marine ranch as claimed in claim 1 or 6 wherein: the second driving device is connected with the first driving device through a safety connecting piece (900).

9. The environmental monitoring method for a marine ranch as set forth in claim 1, characterized in that: the camera shooting device comprises a sealing cover (701), a fourth connecting arm (602) is connected to the sealing cover, the sealing cover is connected with one end, far away from the third driving device, of the fourth connecting arm in a sealing mode, a first mounting cylinder (702) is arranged on the sealing cover in a sealing mode, a camera (703) is arranged in the first mounting cylinder, a perspective mirror (704) is arranged at one end, far away from the sealing cover, of the first mounting cylinder, and the perspective mirror is opposite to the camera of the camera; and a water wiping component (705) is arranged on the first mounting cylinder, and corresponds to the perspective mirror.

10. The environmental monitoring method for a marine ranch as set forth in claim 9, wherein: the wiper subassembly includes third mounting bracket (7051), the third mounting bracket sets up the inside at a first installation section of thick bamboo, be equipped with a set of limit switch (7052) on the third mounting bracket, be equipped with fourth motor (7053) on the third mounting bracket, the drive end of fourth motor is equipped with output shaft (7054), be equipped with on the output shaft and dial piece (7055), it is located between a set of limit switch to dial the piece, the one end that the fourth motor was kept away from to the output shaft rotates and is equipped with mounting panel (7056), can dismantle on the mounting panel and be equipped with wiper blade (7057), the wiper blade is corresponding with the perspective mirror.