CN114152280B - Tentacle type soft coral monitoring device - Google Patents
Tentacle type soft coral monitoring device Download PDFInfo
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- CN114152280B CN114152280B CN202111316132.1A CN202111316132A CN114152280B CN 114152280 B CN114152280 B CN 114152280B CN 202111316132 A CN202111316132 A CN 202111316132A CN 114152280 B CN114152280 B CN 114152280B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention provides a tentacle soft coral monitoring device which comprises a lifting device, wherein a first motor is arranged in the middle of the lifting device, a disc is fixedly connected to the end part of a motor shaft, and a telescopic hydraulic rod is fixedly connected to the edge of the disc; the upper part of the lifting device is provided with a second motor through a telescopic structure, the movable rod is connected with the upper part of the lifting device through a spherical hinge, and the hollow outer tube is fixedly connected to a shell of the second motor; the other end of the telescopic hydraulic rod is hinged on the hollow outer pipe; install the sensor mounting bracket on the second motor, the one end fixed connection of first slide rail is on the casing of second motor, and the second slide rail has the resilience, and one end fixed connection is on the motor shaft of second motor, and other end fixed connection still is connected with first slide rail on the casing of second slide rail below on the slider of first slide rail, installs at least one sensor array on the slider on the first slide rail. The invention can observe and record each tentacle soft coral at multiple angles, and has the advantages of high precision, small equipment volume and the like.
Description
Technical Field
The invention relates to the field of coral monitoring, in particular to a tentacle soft coral monitoring device
Background
The coral reef formed by the coral can provide refuge and habitat for marine organisms, and has very important significance for marine ecology; the coral has beautiful color and shape and is artificially cultured and appreciated by more and more enthusiasts; coral can secrete natural products, such as antibiotics to reduce bacterial infection, and provides great help for scientific researchers to extract natural products and research and develop antibiotics. In the wild animal catalogue of national emphasis protection newly released in 2021, part of corals have become national secondary emphasis protection animals.
However, coral is very fragile in growth, both in a natural state and in artificial culture. Environmental changes such as sea water temperature, salinity, light or dissolved oxygen are very likely to cause death of the coral, and it is often very difficult and time-consuming to determine the health of the coral. The color of the coral changes mainly in two aspects, namely, because the color of the coral is determined by the symbiotic algae, when the health condition of the coral changes, the symbiotic algae can be released from the coral, so that the color of the coral becomes bright neon and finally becomes light, and the color of the coral is just the large-area whitening of the Australian great fortunes reef coral; in addition, when the seawater environment is deteriorated, the coral can be molted, and the color of the coral can be changed. For the soft coral with tentacles, the tentacles on the surface can swing in water to catch food, and the observation shows that when the health condition of the soft coral changes, the tentacles can not extend any more or the extending time is shortened. When the soft coral deteriorates in health or dies, the surface of the soft coral shrinks and the shape of the coral changes. There is also a phenomenon that when coral health is a problem, it usually starts to be diseased from a local site and finally spreads throughout the coral.
Based on the above, the health condition of tentacle-type coral is judged mainly by algae release, color change, tentacle length change, and coral body shape change. At present, the coral health condition is generally monitored by recording the growth state of coral reef biological communities through periodic underwater photography and manually investigating marine environment elements on the spot, the periodic observation is restricted by weather factors, long-time continuous dynamic observation cannot be performed, and the field cost is high. Therefore, coral monitoring should be realized by recording each coral, automatically recording in multiple angles and having small hardware size.
Disclosure of Invention
The tentacle soft coral monitoring device provided by the invention can observe and record each tentacle soft coral at multiple angles, and has the advantages of high precision, small equipment volume and the like.
The purpose of the invention is realized by the following technical scheme:
a tentacle soft coral monitoring device comprises a lifting device 13, wherein a first motor 12 is installed in the middle of the lifting device 13, a shell of the first motor 12 is fixedly connected to the lifting device 13, a disc 11 is fixedly connected to the end part of a motor shaft of the first motor 12, and a telescopic hydraulic rod 8 is fixedly connected to the edge of the disc 11; the upper part of the lifting device 13 is provided with a second motor 6 through a telescopic structure, the telescopic structure comprises a hollow outer tube 7 and a movable moving rod 9 which is partially positioned in the hollow outer tube 7, the moving rod 9 is connected with the upper part of the lifting device 13 through a spherical hinge, and the hollow outer tube 7 is fixedly connected to a shell of the second motor 6; the other end of the telescopic hydraulic rod 8 is hinged on the hollow outer tube 7, and the hollow outer tube 7 rotates in a plane where the hollow outer tube 7 and the telescopic hydraulic rod 8 are located by taking the hinged position as the center of a circle; install the sensor mounting bracket on the second motor 6, the sensor mounting bracket include first slide rail 3 and second slide rail 4, the one end fixed connection of first slide rail 3 is on the casing of second motor 6, second slide rail 4 is the helix shape and has the resilience, the one end fixed connection of second slide rail 4 is on the motor shaft of second motor 6, the other end fixed connection of second slide rail 4 is on the slider on first slide rail 3, still be connected with first slide rail 3 on the casing of second slide rail 4 below, install at least one sensor array 1 on the slider on first slide rail 3, the slider on the first slide rail 3 of driving motor 19 drive is by moving on first slide rail 3.
As a more preferable technical scheme of the invention, the monitoring device further comprises a control system 14 which is in control connection with the sensor array 1, the lifting device 13, the telescopic hydraulic rod 8, the first motor 12, the second motor 6, the driving motor 19 and the remote controller 17 through an infrared communication module 16.
As a more preferable technical solution of the present invention, a display screen 15 is installed on the control system 14.
As a more preferable technical scheme of the invention, the sensor array 1 comprises a turbidity sensor, an RGB color sensor, a distance sensor, a salinity sensor and a temperature sensor.
As a more preferable technical solution of the present invention, the lifting device 13 is an automatic lifting hydraulic rod.
As a more preferable technical scheme of the invention, a semicircular bulge extends out of the lower part of the hollow sleeve 7, a through hole parallel to the diameter of the hollow sleeve 7 is formed in the bulge, the axis of the through hole is vertical to the telescopic hydraulic rod 8, a groove is formed at the hinged end of the telescopic hydraulic rod 8 and the hollow sleeve 7, the bulge is placed in the groove, and a shaft is arranged in the through hole on the groove wall at two sides and the through hole of the bulge to form a hinged structure.
The beneficial effects are as follows:
the device can be used for automatically weighing tentacle soft coral in seawater for a long time with high precision, conveniently and quickly monitoring the growth condition of the coral, early warning is performed on the health change of the coral, the implementation of full-angle monitoring on the health condition of the tentacle soft coral is realized, the culture and protection of the coral are facilitated, and the device has great significance in developing coral on-line monitoring and coral reef ecological restoration
Drawings
FIG. 1 is a schematic structural view of the tentacle soft coral monitoring device of the present invention;
FIG. 2 is a schematic structural view (another angle) of the tentacle soft coral monitoring device of the present invention;
FIG. 3 is a diagram showing the use state of the device for monitoring tentacles soft coral, in which the telescopic hydraulic rod 8 of the device rotates to the vertical horizontal plane;
fig. 4 is a diagram of the use state that the telescopic hydraulic rod 8 of the tentacle soft coral monitoring device of the invention rotates to another angle.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 and 2, the invention specifically provides a tentacle soft coral monitoring device, which comprises a lifting device 13, wherein a first motor 12 is installed in the middle of the lifting device 13, a housing of the first motor 12 is fixedly connected to the lifting device 13, a disc 11 is fixedly connected to the end of a motor shaft of the first motor 12, and a telescopic hydraulic rod 8 is fixedly connected to the edge of the disc 11; the upper part of the lifting device 13 is provided with a second motor 6 through a telescopic structure, the telescopic structure comprises a hollow outer tube 7 and a movable moving rod 9 which is partially positioned in the hollow outer tube 7 and can move, the moving rod 9 is connected with the upper part of the lifting device 13 through a spherical hinge, and the hollow outer tube 7 is fixedly connected to a shell of the second motor 6; the other end of the telescopic hydraulic rod 8 is hinged on the hollow outer pipe 7, and the hollow outer pipe 7 rotates in the plane where the hollow outer pipe 7 and the telescopic hydraulic rod 8 are located by taking the hinged position as the center of a circle; install the sensor mounting bracket on the second motor 6, the sensor mounting bracket include first slide rail 3 and second slide rail 4, the one end fixed connection of first slide rail 3 is on the casing of second motor 6, second slide rail 4 is the helix shape and has the resilience, the one end fixed connection of second slide rail 4 is on the motor shaft of second motor 6, the other end fixed connection of second slide rail 4 is on the slider on first slide rail 3, still be connected with first slide rail 3 on the casing of second slide rail 4 below, install at least one sensor array 1 on the slider that has driving motor 19 on first slide rail 3.
In some embodiments, the monitoring device further comprises a control system 14 in control connection with the sensor array 1, the lifting device 13, the telescopic hydraulic rod 8, the first motor 12, the second motor 6, the driving motor 19 and the remote controller 17 through an infrared communication module 16.
In some embodiments, the control system 14 has a display screen 15 mounted thereon. In order to realize data acquisition and processing of a plurality of sensors and control of the electronic hydraulic lifting rod, the invention is provided with a control system and a display screen for information display and early warning, and the invention is also provided with an infrared communication module and a remote controller for realizing remote control of the device in order to facilitate control.
In some embodiments, the sensor array 1 includes turbidity sensors, RGB color sensors, distance sensors, salinity sensors, and temperature sensors. Because the sensors can only monitor the close-range environment of the coral, in order to realize the monitoring of the seawater environment, the invention also adds an environment turbidity sensor, an environment salinity sensor and an environment temperature sensor, realizes the monitoring of the surrounding environment and warns potential harm to the coral caused by environment change.
In some embodiments, the lifting device 13 is an automatic lifting hydraulic rod. The height of the whole system can be adjusted by lifting the automatic lifting hydraulic rod 13, so that the coral sand-collecting machine is suitable for corals with different heights and sizes.
In some embodiments, the bottom of the lifting device 13 is fixedly connected with a fixing frame for fixing the lifting device on the ground.
In some embodiments, the turbidity sensor can use a clear signal RS485, a Xinde TSW-30 and the like, the RGB color sensor can use a wearable disco FS-S72, a Yunchong electronic TCS34725 and the like, the distance sensor can use Jiance JC-85, the environment salinity sensor can use an ECTDS10, the environment temperature sensor can use a K-type thermocouple, the control system 14 can use 80C51 and STM32 chips to build related circuits, the display screen can use a British hong technology 1.8-inch TFT liquid crystal screen, and the infrared communication module can use a Risym infrared module. For the waterproof and moistureproof requirements of a system circuit, PDMS (polydimethylsiloxane) is adopted for sealing the joint, and finally a Parylene C coating is deposited on the surface.
The working process of the monitoring device provided by the invention is as follows:
the root 21 of the soft coral 18 grows on the reef 20, the bottom of the lifting device 13 of the monitoring device provided by the invention is fixed near the reef 20, the second motor 12 is fixed at the upper part of the middle part of the automatic lifting hydraulic rod, and the motor shaft of the second motor 12 is vertical to the automatic lifting hydraulic rod and faces to the direction of the soft coral 18. Two ends of the telescopic hydraulic rod 8 are respectively connected to the hollow outer tube 7 and the disc 11, the other end of the hollow outer tube 7 is connected to a shell of the first motor 6, the plane of the second slide rail 4 is perpendicular to the motor shaft 5 of the first motor 6, and the straight line of the first slide rail 3 is parallel to or coincident with the plane of the second slide rail 4.
When the telescopic hydraulic rod 8 is perpendicular to the horizontal plane, namely the plane where the straight line b and the straight line d are located in fig. 4, wherein the straight line b is the straight line where the hollow outer tube 7 is located, the straight line d is the straight line where the telescopic hydraulic rod 8 is located, the telescopic hydraulic rod 8 pushes one end, connected with the first motor 6, of the hollow outer tube 7 to be away from the horizontal plane after increasing in length, but the position of a ball head at the other end is unchanged, namely the position of the straight line a, and the telescopic structure pushes one end, connected with the first motor 6, of the hollow outer tube 7 to be close to the horizontal plane after reducing in length, but the position of the ball head at the other end is unchanged, namely the position of the straight line c, and the telescopic structure drives the soft slide rail 4 to perform pitching movement in the vertical plane by using the connection point of the hollow outer tube 7 and the hydraulic telescopic rod 8, so as to observe color change, tentacle length change and coral body shape change at various places in the vertical soft coral 18.
After second motor 12 drives disc 11 and rotates, scalable hydraulic stem 8 moves the plane of personally submitting certain angle with last perpendicular, that is, the plane at sharp b and sharp d place in figure 3, wherein sharp b is the straight line at hollow outer tube 7 place, sharp d is the straight line at scalable hydraulic stem 8 place, it extends to be located hollow outer tube 7 and remove back extending structure along carriage release lever 9, promote the one end that hollow outer tube 7 is connected with first motor 6 after scalable hydraulic stem 8 length increases and keep away from disc 11, but other end bulb position is unchangeable, that is, be located the position of sharp a, it shortens to be located hollow outer tube 7 and remove back extending structure along carriage release lever 9, scalable hydraulic stem 8 length reduces and promotes the one end that hollow outer tube 7 is connected with first motor 6 and is close to disc 11, but other end bulb position is unchangeable, that is located the position of sharp c promptly. According to the movement, the telescopic structure rotates in the plane where the straight line b and the straight line d are located by taking the connecting point of the hollow outer tube 7 and the hydraulic telescopic rod 8 as the center, and drives the soft sliding rail 4 to move in a pitching mode in the plane where the hollow outer tube 7 hydraulic telescopic rods 8 are located, so that the color change, the tentacle length change and the coral body shape change of all positions on the soft coral 18 in the plane can be observed.
The movement of other angles is the same as the above, so the structure provided by the invention can realize the full-angle observation of the soft coral 18 and is suitable for the soft corals 18 with different inclination angles.
The sensor array 1 is arranged on a sliding block 19 which moves on a second sliding rail 4, a driving motor is arranged on the sliding block 19, and the driving motor drives the sliding block 19 to move along the second sliding rail, namely drives the sensor array 1 to move to a position to be observed, so that the soft coral monitoring device is suitable for monitoring different positions of soft coral. For the distance sensor, when the volume of the coral changes, signals detected by the two change, and the shape change of the coral is monitored.
The second slide rail 4 is made of a resilient material, when a motor shaft 5 of the first motor 6 rotates clockwise (at an arrangement position shown in fig. 1), the second slide rail 4 contracts, the second slide rail 4 drives the slide block 2 on the first slide rail 3 to move towards the first motor 6, and the second slide rail serving as a support of the sensor array 1 is reduced, so that the soft coral with different sizes can be adapted to, or other corals damaged in the rotation process of the support can be reduced.
The device of the invention considers the sensitivity of the soft coral to the environment, and can be contracted to the bottom of the reef when not used in order not to influence the ecological circle of the nature.
The monitoring device provided by the invention can enable the sensor array 1 to observe different areas of the soft coral 18 or soft corals with different sizes, and the sensor array 1 always faces the coral.
The sensor array 1 comprises a turbidity sensor, an RGB color sensor, a distance sensor, a salinity sensor and a temperature sensor, and can realize more kinds of monitoring by increasing the types of the sensors, and the sensors can realize the monitoring of water body environment and coral state by matching: when the water body environment is required to be monitored, the automatic lifting hydraulic rod 13 is lifted to the highest position, the sensor array 1 is far away from the coral, the turbidity sensor, the salinity sensor and the temperature sensor start to work, and the water body environment is monitored; when the coral health monitoring is needed, the automatic lifting hydraulic rod drives the sensor array 1 to lift to a proper position away from the coral, the working distance from the coral to the coral is usually needed to be 1-5cm, at the moment, the turbidity sensor, the RGB color sensor and the distance sensor start to work, data is recorded, and the control system reminds the water environment and the health condition of the coral by setting a data threshold value.
In another embodiment of the present invention, a sliding groove is formed on the circumference of the disc 11, the telescopic hydraulic rod 8 is fixedly connected to a sliding block in the sliding groove, the sliding block drives the telescopic hydraulic rod 8 to move along the circumference through a driving motor, and the telescopic hydraulic rod 8 is always perpendicular to the axis where the center of the circle of the disc 11 is located.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made to the present invention shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings only for the convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus, are not to be construed as limiting the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (5)
1. The utility model provides a tentacle type soft coral monitoring devices, includes elevating gear 13, elevating gear 13's mid-mounting have first motor 12, the casing fixed connection of first motor 12 on elevating gear 13, its characterized in that: a disc 11 is fixedly connected to the end part of a motor shaft of a first motor 12, and a telescopic hydraulic rod 8 is fixedly connected to the edge of the disc 11; the upper part of the lifting device 13 is provided with a second motor 6 through a telescopic structure, the telescopic structure comprises a hollow outer tube 7 and a movable moving rod 9 which is partially positioned in the hollow outer tube 7, the moving rod 9 is connected with the upper part of the lifting device 13 through a spherical hinge, and the hollow outer tube 7 is fixedly connected to a shell of the second motor 6; the other end of the telescopic hydraulic rod 8 is hinged on the hollow outer tube 7, and the hollow outer tube 7 rotates in a plane where the hollow outer tube 7 and the telescopic hydraulic rod 8 are located by taking the hinged position as the center of a circle; install the sensor mounting bracket on the second motor 6, the sensor mounting bracket include first slide rail 3 and second slide rail 4, the one end fixed connection of first slide rail 3 is on the casing of second motor 6, second slide rail 4 is the helix shape and has the resilience, the one end fixed connection of second slide rail 4 is on the motor shaft of second motor 6, the other end fixed connection of second slide rail 4 is on the slider on first slide rail 3, still be connected with first slide rail 3 on the casing of second slide rail 4 below, install at least one sensor array 1 on the slider that has driving motor 19 on the first slide rail 3.
2. The tentacle soft coral monitoring device of claim 1, wherein: the monitoring device further comprises a control system 14 which is in control connection with the sensor array 1, the lifting device 13, the telescopic hydraulic rod 8, the first motor 12, the second motor 6, the driving motor 19 and the remote controller 17 through an infrared communication module 16.
3. The tentacle soft coral monitoring device of claim 2, wherein: the control system 14 is provided with a display screen 15.
4. The tentacle soft coral monitoring device of claim 1, wherein: the sensor array 1 comprises a turbidity sensor, an RGB color sensor, a distance sensor, a salinity sensor and a temperature sensor.
5. The tentacle soft coral monitoring device of claim 1, wherein: the lifting device 13 is an automatic lifting hydraulic rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111316132.1A CN114152280B (en) | 2021-11-08 | 2021-11-08 | Tentacle type soft coral monitoring device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111316132.1A CN114152280B (en) | 2021-11-08 | 2021-11-08 | Tentacle type soft coral monitoring device |
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| CN114152280A CN114152280A (en) | 2022-03-08 |
| CN114152280B true CN114152280B (en) | 2022-11-22 |
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| CN115046091B (en) * | 2022-06-14 | 2023-12-29 | 福建省农业科学院植物保护研究所 | Citrus psyllid monitoring device and system based on automatic image acquisition and identification |
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| SE538440C2 (en) * | 2014-08-25 | 2016-06-28 | Int Res Inst Of Stavanger As | Biosensor device, system and method for monitoring a deep-water sea-floor |
| CN205333343U (en) * | 2016-01-27 | 2016-06-22 | 三峡大学 | Dam dam facing attachment collection system |
| CN110243709A (en) * | 2019-06-27 | 2019-09-17 | 山东鲁普科技有限公司 | A kind of cableway camera system chemical fibre cable high temperature resistant, wear-resistant experimental provision |
| CN111175464B (en) * | 2020-01-21 | 2021-08-10 | 河海大学 | Water quality index vertical distribution monitoring system under pressure check and use method |
| CN212585839U (en) * | 2020-08-25 | 2021-02-23 | 云南大学 | Infrared automatic monitoring system of river lake top layer temperature |
| CN112857440A (en) * | 2021-01-08 | 2021-05-28 | 成都农业科技职业学院 | Intelligent agricultural greenhouse control system and control method |
| CN112577011A (en) * | 2021-01-11 | 2021-03-30 | 芮老姑 | Environmental monitoring street lamp based on thing networking |
| CN112858296A (en) * | 2021-01-15 | 2021-05-28 | 哈尔滨工程大学 | Coral reef whitening automatic identification on-line monitoring device |
| CN113432656A (en) * | 2021-08-04 | 2021-09-24 | 海南省海洋地质调查研究院 | Coral reef ecological environment monitoring system |
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