CN210519822U - Autonomous anti-wave operation platform suitable for marine cage culture - Google Patents
Autonomous anti-wave operation platform suitable for marine cage culture Download PDFInfo
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- CN210519822U CN210519822U CN201921079130.3U CN201921079130U CN210519822U CN 210519822 U CN210519822 U CN 210519822U CN 201921079130 U CN201921079130 U CN 201921079130U CN 210519822 U CN210519822 U CN 210519822U
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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
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- 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 utility model relates to an autonomous anti-storm operation platform suitable for ocean cage culture; the floating platform comprises a floating platform flat plate, a buoyancy frame, an underwater propeller and a main control box, wherein the buoyancy frame and the floating platform flat plate are fixedly connected to form an operation platform body; the underwater propellers are at least three and are uniformly distributed on the periphery of the floating platform flat plate; the motion controller and the inertial sensor are arranged in the main control box, the inertial sensor is fixedly connected with the main control box, and the main control box is fixedly connected with the floating platform flat plate; the inertial sensor is used for feeding back the attitude of the operation platform, the origin point of the inertial sensor is positioned in the center of the floating platform, the X, Y axis of the inertial sensor is parallel to two sides of the flat plate of the floating platform, and the Z axis points to the air; the motion controller controls the underwater propeller to move coordinately so as to realize the water surface motion navigation function and the self-balancing wind wave resistance function of the operation platform. The utility model discloses increased operation platform's stability, possessed sea navigation function, can shuttle between the box with a net and move, increased the flexibility and the suitability of breed operation.
Description
Technical Field
The utility model relates to an ocean cage culture operation platform, especially be applicable to the unrestrained operation platform of autonomic anti-wind that ocean cage was bred.
Background
The marine fishery is closely related to national economy and social life, but due to the problems of transitional fishing and the like, innovative fishery is urgently needed to be developed. The HDPE (high density polyethylene) marine net cage facility aquaculture gradually replaces marine fishing and becomes an important direction for industrial transformation. At present, the aquaculture operation of fishermen using marine net cages is still the traditional pure manual operation, the automation degree is low, the efficiency is low, and the labor intensity is high. The development is limited due to the lack of automatic equipment support in marine cage culture, and the key problem of marine cage automatic culture needs to be researched and attacked urgently.
The marine cage culture operation generally comprises a plurality of links such as feeding, cage cleaning, catching and the like, the marine cage is generally far away from the land, and in order to provide an operation space, the culture operation of a fishery operator is generally implemented on a ship board or a temporarily built floating platform. Except that can adopt great ship when playing the collection fish, general throwing is raised or the operation is washd to the box with a net, all adopts little sampan or simple and easy floating platform to carry on the operator and goes on. Such a mode has the following disadvantages:
1. the feed needs to be conveyed to the position near the net cage for feeding in the feeding process, the conveying and feeding work efficiency of the sampan in batches is low, fuel is wasted due to repeated reciprocating, and the cost is increased;
2. when the net cage is cleaned, the netting, the floating barrel and the like can only be stacked on the temporarily built floating platform, the floating platform is influenced by wind waves to generate fluctuation, and the instability of the floating platform is not beneficial to the operation of an operator;
3. the existing floating platform needs to be anchored and fixed in order to keep the position unchanged, the anchoring operation is complicated and time-consuming, and the moving of the floating platform is not facilitated, so that a single floating platform is inconvenient to switch and share among different net cages;
4. the system does not have a stable operation platform, is difficult to install and integrate automatic breeding equipment, and is not beneficial to realizing the automation of breeding.
Disclosure of Invention
In order to solve the problem that prior art exists, the utility model provides an unrestrained operation platform of autonomic anti-wind suitable for ocean box with a net breed adopts flotation pontoon and floating platform flat board to build breed operation platform, provides suitable operation space for the fishery operator to increase underwater propulsor and provide power, the active control restraines undulantly, realizes operation platform's self-balancing anti-wind unrestrained, has increased operation platform's stability, and the utility model discloses possess sea navigation function, can shuttle between the box with a net, increased the flexibility and the suitability of breed operation.
The utility model discloses unrestrained operation platform of autonomic anti-wind adopts following technical scheme to realize: the autonomous anti-storm operation platform suitable for marine cage culture comprises a floating platform flat plate, a buoyancy frame, an underwater propeller and a main control box, wherein the buoyancy frame and the floating platform flat plate are fixedly connected to form an operation platform body; the underwater propellers are at least three and are uniformly distributed on the periphery of the floating platform flat plate; the motion controller and the inertial sensor are arranged in the main control box, the inertial sensor is fixedly connected with the main control box, and the main control box is fixedly connected with the floating platform flat plate; the inertial sensor is used for feeding back the attitude of the working platform, the origin of the inertial sensor is positioned in the center of the floating platform, the X, Y axis of the inertial sensor is parallel to two sides of the flat plate of the floating platform, and the Z axis points to the air, so that the attitude change of the working platform body is consistent with the attitude change of the inertial sensor; the motion controller controls the underwater propeller to move coordinately so as to realize the water surface motion navigation function and the self-balancing wind wave resistance function of the operation platform.
In a preferred embodiment, the underwater propeller is installed on the periphery of the floating platform plate through a propeller support, and the propeller support is used for fixing the underwater propeller and enabling a propeller of the underwater propeller to be deep underwater. The operation platform body is square; four underwater propellers are arranged and are uniformly distributed on four corners of the operation platform.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
1. the utility model discloses can provide the platform of box with a net breed operation, as the transfer ground, the interim of being convenient for instrument, fodder etc. is placed, still provides the operation space for the operator.
2. The utility model has the self-balancing anti-storm function, ensures the platform to keep stable posture, provides stable installation and use environment for the automatic equipment, is convenient for the integration of the automatic equipment, and is beneficial to improving the automation degree of the breeding operation; compared with the existing floating platform, the floating platform has the advantages of smaller fluctuation, more stability, capability of improving the comfort level of an operator and reduction of the operation difficulty of the breeding operation.
3. The utility model has the function of sea surface navigation movement, so that the platform can shuttle among different net cages, one platform can be suitable for the operation of a plurality of groups of net cages, and the flexibility and the applicability of the operation platform are improved; the platform operation process need not the anchor fixed relative stability that can keep the position, can not follow the ripples and gradually flow and keep away from the box with a net.
Drawings
FIG. 1 is a schematic view of the overall structure of the autonomous anti-wave operation platform suitable for marine cage culture;
FIG. 2 is a schematic view of an underwater propulsor installation configuration;
FIG. 3 is a schematic coordinate diagram of an inertial sensor;
FIG. 4 is a schematic view of an underwater propulsor installation;
in the figure: the system comprises a floating platform, a main control box, 3 inertial sensors, 4 straight buoys, 5 bent buoys, 6 propeller supports and 7 underwater propellers.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, but the practice of the present invention is not limited thereto.
Examples
As shown in fig. 1-4, the autonomous anti-wave operation platform suitable for marine cage culture of the present embodiment includes a floating platform plate 1, a buoyancy frame, an underwater propeller 7 and a main control box 2, the buoyancy frame and the floating platform plate are fixedly connected to form an operation platform body, and the platform provides buoyancy to float on the water surface through the buoyancy frame and the floating platform plate, so as to provide a culture operation space for fishery operators. The operation platform body is square, round or oval, and the square platform body is most convenient to manufacture.
The main control box adopts a waterproof main control box, a motion controller and an inertial sensor are arranged in the waterproof main control box, the inertial sensor is used for feeding back the attitude of the operation platform, and the motion controller controls the underwater propeller to move coordinately so as to realize the water surface motion navigation function and the self-balancing wind wave resisting function. Wherein the motion controller adopts an STM32 singlechip; the inertial sensor is fixedly connected with the main control box, the main control box is fixedly connected with the floating platform flat plate, the origin of the inertial sensor is positioned in the center of the floating platform, and the X, Y shaft of the inertial sensor is parallel to the two sides of the floating platform flat plate, so that the posture change of the operation platform body is consistent with the posture change of the inertial sensor, and the posture of the operation platform can be fed back.
The underwater propellers are at least three and are respectively arranged on the periphery of the floating platform flat plate through propeller supports 6, and the propeller supports are used for fixing the underwater propellers and enabling the propellers of the underwater propellers to penetrate into the water; at least three underwater propellers are uniformly distributed on the periphery of the floating platform plate. In the embodiment, the number of the underwater propellers is four, the four underwater propellers are fixedly connected with the operation platform body through propeller supports and are uniformly distributed on four corners of the operation platform; the underwater propeller is a brushless waterproof motor, the installation direction of the underwater propeller can be adjusted, and the underwater propeller is suitable to be installed at the opposite angle of 45 degrees.
The buoyancy frame comprises a plurality of straight pontoons 4 and a plurality of curved pontoons 5, the number and size of which are determined by the floating platform slab.
In this embodiment, the floating platform plate is made of hard EVA foam with a size of 5m × 5m × 0.5m, four straight buoys and four curved buoys are selected to form a buoyancy frame according to the side length of the floating platform plate, the buoyancy frame and the floating platform plate are fixedly connected to form an operation platform body, wherein the straight buoys and the curved buoys are made of HDPE materials and have a diameter of 0.5m, and the ends of the straight buoys and the curved buoys are hermetically connected. The four propeller supports are formed by bending stainless steel with the thickness of 1mm and are fixedly connected with the four bent buoys through pipe codes. The EVA foam floating platform panel and the buoyancy frame provide buoyancy jointly to enable the operation platform body to float on the water surface, and the propeller supports located at four corners of the operation platform are deep into the water. Four underwater propellers with voltage of 72V and 0.5kw are selected, and are arranged on a propeller support in 45-degree oblique directions as shown in figures 2 and 4, and propellers of the underwater propellers are submerged in water. The HWT905 nine-axis inertial sensor arranged in the waterproof main control box provides feedback signals (acceleration, angular velocity and angle of X, Y, Z three axes can be provided), the X, Y axis is parallel to two sides of the floating platform flat plate, the Z axis points to the air, so that the posture change of the operation platform body is consistent with the posture change of the inertial sensor, the operation platform posture is fed back, and the motion controller controls the underwater propeller to move coordinately, so that the water surface motion sailing function and the self-balancing wind and wave resisting function are realized.
The autonomous anti-storm operation platform has a water surface motion navigation function and a self-balancing anti-storm function, and under the water surface motion navigation function state, a plurality of underwater propellers realize coordination work through a motion controller in a main control box so as to realize three-degree-of-freedom motion of the water surface; and under the self-balancing anti-storm state, the attitude of the platform realizes feedback through the inertial sensor, and controls the plurality of underwater propellers to work coordinately, so that the platform resists the fluctuation generated by storm, the attitude is kept stable autonomously, and self-balancing is realized. The utility model realizes the water surface navigation and self-balancing control by providing power by the underwater propeller, and the water surface motion navigation function improves the flexibility and the applicability of the operation platform; the self-balancing function of the device can ensure the stable posture of the marine cage culture operation platform under the fluctuation of wind and waves, improves the stability of the operation platform and is convenient for fishery operators to carry out culture operation.
The utility model discloses based on above-mentioned unrestrained operation platform of autonomic anti-wind, the realization includes following step to the control of surface of water motion navigation:
firstly, according to an angle signal fed back by an HWT905 inertial sensor, taking the positive direction of a Y axis as the positive direction of the operation platform, setting other signals to zero and resetting, and waiting for working;
secondly, performing off-line planning on the navigation path by adopting a particle swarm algorithm to obtain a walking path coordinate set and a direction vector set of the center point of the operation platform at each moment for subsequent motion control;
thirdly, calculating to obtain the speed relation of the four underwater propellers according to a kinematic inverse solution equation corresponding to the configuration of the underwater propellers arranged at the opposite angles of 45 degrees, and obtaining the relation between the motion configuration of the underwater propellers and the water surface navigation motion state of the operation platform as the following table I:
watch 1
And fourthly, simultaneously controlling the driving voltage (voltage corresponds to the rotating speed) of each underwater propeller at each moment by the motion controller according to the speed relation, realizing speed regulation, synthesizing a water surface motion path of the operation platform and realizing motion navigation.
The utility model discloses based on above-mentioned unrestrained operation platform of autonomic anti-wind realizes unrestrained control of self-balancing anti-wind, including following step:
step one, under the condition of no wind waves, placing the platform on the water surface for standing for a period of time, and according to a feedback signal of an HWT905 inertial sensor, setting a posture signal to zero and resetting to wait for working;
and secondly, in an actual application environment, acquiring a fluctuation signal reflecting the actual fluctuation condition of the operation platform by the HWT905 inertial sensor, decoupling the fluctuation signal according to a kinematics equation of the operation platform to obtain three paths of fluctuation signals α, β and gamma rotating around an axis, carrying out Kalman filtering processing on the three paths of fluctuation signals to eliminate noise influence, then carrying out fast Fourier transform analysis to obtain fluctuation amplitude-frequency characteristics and phase-frequency characteristics, and calculating fluctuation main frequency and amplitude fluctuation direction.
Thirdly, taking the three-axis fluctuation angle of the platform as 0 as an input signal, carrying out negative feedback on three-axis fluctuation main frequency and amplitude fluctuation direction signals, adopting a self-adaptive control algorithm to calculate the control voltage of each underwater propeller, resisting the influence of wind waves on the attitude of the operation platform through the thrust of the coordinated underwater propellers, and ensuring that the relationship between the motion configuration of the underwater propellers and the attitude adjustment of the operation platform is as follows:
watch two
Wherein, the propeller motion configuration all takes underwater propeller forward as the standard.
The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. The autonomous anti-storm operation platform is suitable for marine cage culture and is characterized by comprising a floating platform flat plate, a buoyancy frame, an underwater propeller and a main control box, wherein the buoyancy frame and the floating platform flat plate are fixedly connected to form an operation platform body; the underwater propellers are at least three and are uniformly distributed on the periphery of the floating platform flat plate; the motion controller and the inertial sensor are arranged in the main control box, the inertial sensor is fixedly connected with the main control box, and the main control box is fixedly connected with the floating platform flat plate; the inertial sensor is used for feeding back the attitude of the working platform, the origin of the inertial sensor is positioned in the center of the floating platform, the X, Y axis of the inertial sensor is parallel to two sides of the flat plate of the floating platform, and the Z axis points to the air, so that the attitude change of the working platform body is consistent with the attitude change of the inertial sensor; the motion controller controls the underwater propeller to move coordinately so as to realize the water surface motion navigation function and the self-balancing wind wave resistance function of the operation platform.
2. The autonomous wind and wave resistant operation platform according to claim 1, wherein the underwater propulsor is installed on the periphery of the floating platform plate through a propulsor bracket, and the propulsor bracket is used for fixing the underwater propulsor and making a propeller of the underwater propulsor go deep into the water.
3. The autonomous wind and wave resistant work platform of claim 2, wherein the work platform body is square; four underwater propellers are arranged and are uniformly distributed on four corners of the operation platform.
4. The autonomous wind and wave resistant work platform of claim 3, wherein the underwater propulsion unit is a brushless waterproof motor mounted diagonally at 45 degrees.
5. The autonomous wind and wave resistant work platform of claim 1, wherein the work platform body is square, circular or oval.
6. The autonomous wind and wave resistant work platform of claim 1, wherein the buoyancy frame comprises a plurality of straight pontoons and a plurality of curved pontoons, the straight pontoons being sealingly connected to ends of the curved pontoons.
7. The autonomous wind and wave resisting operation platform according to claim 6, wherein the underwater thruster is installed on the periphery of the floating platform plate through a thruster support, and the thruster support is used for fixing the underwater thruster and enabling a propeller of the underwater thruster to go deep into the water; the propeller support is formed by bending stainless steel and is fixedly connected with the bent floating barrel through a pipe code.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921079130.3U CN210519822U (en) | 2019-07-11 | 2019-07-11 | Autonomous anti-wave operation platform suitable for marine cage culture |
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| CN201921079130.3U CN210519822U (en) | 2019-07-11 | 2019-07-11 | Autonomous anti-wave operation platform suitable for marine cage culture |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338116A (en) * | 2019-07-11 | 2019-10-18 | 华南农业大学 | Autonomous wind and wave resistance job platform and control method suitable for marine mesh cage cultivation |
| CN112537416A (en) * | 2021-01-25 | 2021-03-23 | 吴钦发 | Self-balancing offshore floating platform |
| CN112997939A (en) * | 2021-02-20 | 2021-06-22 | 闽江学院 | Real-time modeling system for deep-sea net cage posture |
| CN113575485A (en) * | 2021-07-02 | 2021-11-02 | 钟奶荣 | Cage type aquaculture feeding and cleaning equipment and operation method thereof |
| CN114104230A (en) * | 2021-11-23 | 2022-03-01 | 深圳潜行创新科技有限公司 | Underwater robot |
-
2019
- 2019-07-11 CN CN201921079130.3U patent/CN210519822U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338116A (en) * | 2019-07-11 | 2019-10-18 | 华南农业大学 | Autonomous wind and wave resistance job platform and control method suitable for marine mesh cage cultivation |
| CN112537416A (en) * | 2021-01-25 | 2021-03-23 | 吴钦发 | Self-balancing offshore floating platform |
| CN112997939A (en) * | 2021-02-20 | 2021-06-22 | 闽江学院 | Real-time modeling system for deep-sea net cage posture |
| CN113575485A (en) * | 2021-07-02 | 2021-11-02 | 钟奶荣 | Cage type aquaculture feeding and cleaning equipment and operation method thereof |
| CN114104230A (en) * | 2021-11-23 | 2022-03-01 | 深圳潜行创新科技有限公司 | Underwater robot |
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