NO300401B1 - A positioning device - Google Patents
A positioning device Download PDFInfo
- Publication number
- NO300401B1 NO300401B1 NO953039A NO953039A NO300401B1 NO 300401 B1 NO300401 B1 NO 300401B1 NO 953039 A NO953039 A NO 953039A NO 953039 A NO953039 A NO 953039A NO 300401 B1 NO300401 B1 NO 300401B1
- Authority
- NO
- Norway
- Prior art keywords
- aid
- ropes
- enclosure
- positioning device
- winches
- Prior art date
Links
- 241000251468 Actinopterygii Species 0.000 claims description 10
- 238000004140 cleaning Methods 0.000 claims description 2
- 238000004904 shortening Methods 0.000 claims description 2
- 239000000725 suspension Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009466 transformation Effects 0.000 description 3
- 230000003542 behavioural effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 241000881711 Acipenser sturio Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Biophysics (AREA)
- Die Bonding (AREA)
- Vehicle Body Suspensions (AREA)
- Fluid-Damping Devices (AREA)
Description
Den foreliggende oppfinnelse angår en posisjoneringsanordning for hjelpemidler som benyttes i innhegninger for fisk, slik som et merd eller et kar. The present invention relates to a positioning device for aids used in enclosures for fish, such as a cage or a vessel.
Hjelpemidler kan være kamera, detektorer, måleutstyr, hjelpemidler som brukes ved forflytning av fisk, og hjelpemidler som brukes ved arbeid på en innhegning, eksempelvis ved ren-gjøring. Hjelpemidlene er normalt innrettet med for liten oppdrift til å kunne flyte, slik at de kan senkes i en innhegning med vann i. Aids can be cameras, detectors, measuring equipment, aids that are used when moving fish, and aids that are used when working on an enclosure, for example when cleaning. The aids are normally designed with too little buoyancy to be able to float, so that they can be lowered into an enclosure with water in it.
Det er kjent å henge aktuelle hjelpemidler i ett eller flere tau som er festet ved innhegningens øvre del, oftest over vannflaten, og posisjonere et hjelpemiddel i innhegningen ved å tilpasse den frie taulengde for de aktuelle tau. Det er imidlertid tidkrevende å endre hjelpemidlets posisjon. Denne ulempe er særlig framtredende for hjelpemidler som skal beveges i innhegningen, slik som eksempelvis et kamera for adferdstudier. It is known to hang relevant aids from one or more ropes that are attached to the upper part of the enclosure, most often above the water surface, and to position an aid in the enclosure by adjusting the free rope length for the relevant ropes. However, it is time-consuming to change the position of the aid. This disadvantage is particularly prominent for aids that are to be moved in the enclosure, such as, for example, a camera for behavioral studies.
For å oppnå bevegelighet og mulighet for fjernstyring er det kjent å anvende fjernstyrte undervannsfarkoster. Kostnadene blir imidlertid forholdsvis høye, og det er nødvendig med høy kompetanse for drift og vedlikehold av slike farkoster. In order to achieve mobility and the possibility of remote control, it is known to use remotely controlled underwater vehicles. However, the costs will be relatively high, and a high level of expertise is required for the operation and maintenance of such vessels.
Fjernstyrte undervannsfarkoster øker også den samlede stør-reise på det tekniske utstyr som anbringes i innhegningen, og dette kan virke forstyrrende på fisk. Undervannsfarkoster avgir dessuten støy som kan virke forstyrrende og umuligjøre adferdsstudier av fisk i innhegningen. Remotely controlled underwater craft also increase the total sturgeon travel on the technical equipment placed in the enclosure, and this can have a disturbing effect on fish. Underwater craft also emit noise that can be disruptive and make behavioral studies of fish in the enclosure impossible.
Et formål med oppfinnelsen er å skaffe tilveie en enkel og rimelig posisjoneringsanordning for hjelpemidler som benyttes i innhegninger for fisk. Det er også et formål at posisjo-neringen skal være enkel å utføre og forstyrre fisken minst mulig. Det er videre et formål at posisjoneringsanordningen skal være egnet for fjernstyring. One purpose of the invention is to provide a simple and affordable positioning device for aids used in enclosures for fish. It is also an aim that the positioning should be easy to carry out and disturb the fish as little as possible. It is also a purpose that the positioning device should be suitable for remote control.
Formålene oppnås ved trekk som angitt i etterfølgende patentkrav. The purposes are achieved by features as stated in subsequent patent claims.
Oppfinnelsen beskrives i det følgende først generelt og der-etter ved hjelp av et foretrukket utførelseseksempel med hen-visning til vedføyde tegningsfigur som viser sett fra siden en fiskeinnhegning med et nedsenket hjelpemiddel. In the following, the invention is described first in general and then with the help of a preferred embodiment with reference to the attached drawing which shows a fish enclosure with a submerged aid as seen from the side.
Ifølge oppfinnelsen henges et hjelpemiddel i en innhegning ved hjelp av to eller flere tau. Hvert tau er tilordnet en motordrevet vinsj som er innrettet til å kunne endre den frie taulengde og derved hjelpemidlets posisjon. According to the invention, an aid is hung in an enclosure using two or more ropes. Each rope is assigned to a motor-driven winch which is designed to be able to change the free length of the rope and thereby the position of the aid.
Ved hjelp av to tau kan et hjelpemiddel posisjoneres i et vertikalplan som avgrenses sideveis av en loddrett linje gjennom hvert av tauenes øvre festepunkt og øverst av en linje mellom festepunktene. Det nevnte vertikalplans utstrek-ning avgrenses nederst av tauenes maksimale frie lengde eller innhegningens bunn. With the help of two ropes, an aid can be positioned in a vertical plane which is bounded laterally by a vertical line through each of the upper attachment points of the ropes and at the top by a line between the attachment points. The extent of the mentioned vertical plane is delimited at the bottom by the maximum free length of the ropes or the bottom of the enclosure.
Ved bruk av mer enn to tau kan et hjelpemiddel posisjoneres i et rom som avgrenses av et prisme hvis vertikale sidekanter er gitt av forbindelseslinjer mellom nabo-festepunkt. Rommet hvor hjelpemidlet kan posisjoneres, avgrenses øverst av et plai* som defineres av de tre høyest beliggende festepunkt, og nederst av tauenes maksimale frie lengde eller innhegningens When using more than two ropes, an aid can be positioned in a space delimited by a prism whose vertical side edges are given by connecting lines between neighboring attachment points. The space where the aid can be positioned is delimited at the top by a plai* defined by the three highest attachment points, and at the bottom by the maximum free length of the ropes or the enclosure
bunn. bottom.
Ifølge oppfinnelsen er vinsjene innrettet til å samvirke på en slik måte at hjelpemidlet enkelt kan forflyttes i ønsket retning ved en samordnet endring av de frie taulengder. Så-ledes kan for eksempel heving langs en vertikal akse i sen-trum av innhegningen, oppnås ved synkron innkorting av den frie lengde av tre tau. According to the invention, the winches are arranged to cooperate in such a way that the aid can easily be moved in the desired direction by a coordinated change of the free rope lengths. Thus, for example, raising along a vertical axis in the center of the enclosure can be achieved by synchronous shortening of the free length of three ropes.
Samvirke mellom vinsjene oppnås ved hjelp av en fortrinnsvis elektronisk styreenhet som er innrettet til å omsette en ønsket posisjonsendring til en samsvarende endring i fri taulengde for hver vinsj. Cooperation between the winches is achieved by means of a preferably electronic control unit which is designed to convert a desired change in position into a corresponding change in free rope length for each winch.
Et foretrukket utførelseseksempel av oppfinnelsen, hvor et hjelpemiddel henger i tre tau, framgår av tegningsfiguren. Henvisningstallet 10 angir en sirkelsylindrisk innhegning for fisk. Tre samvirkende vinsjer vinsjer 12a, 12b og 12c som hver er tilordnet sitt eget tau 14a, 14b og 14c, er anordnet på et felles fundament 16 som er anbragt ved innhegningens 10 øvre kant. Avhengig av innhegningens 10 utforming kan det være hensiktsmessig å plassere fundamentet 16 med de tre samvirkende vinsjer 12a, 12b, 12c inne i innhegningen 10 slik som vist, eller umiddelbart utenfor, eventuelt over, innhegningens 10 øvre kant. A preferred embodiment of the invention, where an aid hangs from three ropes, can be seen in the drawing. The reference number 10 indicates a circular cylindrical enclosure for fish. Three cooperating winches, winches 12a, 12b and 12c, each of which is assigned its own rope 14a, 14b and 14c, are arranged on a common foundation 16 which is placed at the enclosure 10's upper edge. Depending on the design of the enclosure 10, it may be appropriate to place the foundation 16 with the three cooperating winches 12a, 12b, 12c inside the enclosure 10 as shown, or immediately outside, possibly above, the enclosure 10's upper edge.
Hvert tau 14a, 14b og 14c er tilordnet hver sin føring, fortrinnsvis i form av en kasteblokk, 18a, 18b og 18c. Hver føring 18a, 18b, 18c er forsynt med en festeanordning 20a, 20b henholdsvis 20c som på sin side er anbragt ved innhegningens 10 øvre kant. Føringene 18a, 18b, 18c kan også være montert eller opphengt over innhegningens 10 øvre kant, men skal i ethvert tilfelle ha en slik plassering som er hensiktsmessig for posisjonering av et hjelpemiddel 22, for eksempel et undervanns-kamera, som er opphengt ved et knutepunkt 24 nær tauenes 14a, 14b, 14c frie ender. Det er også mulig å anvende færre føringer 18a, 18b, 18c enn tau, da minst ett tau 14a, 14b, 14c kan tenkes ført direkte fra Each rope 14a, 14b and 14c is assigned to its own guide, preferably in the form of a throwing block, 18a, 18b and 18c. Each guide 18a, 18b, 18c is provided with a fastening device 20a, 20b and 20c, respectively, which in turn is placed at the upper edge of the enclosure 10. The guides 18a, 18b, 18c can also be mounted or suspended above the upper edge of the enclosure 10, but must in any case have such a location that is suitable for positioning an aid 22, for example an underwater camera, which is suspended at a node 24 near the free ends of the ropes 14a, 14b, 14c. It is also possible to use fewer guides 18a, 18b, 18c than ropes, as at least one rope 14a, 14b, 14c can be conceivably led directly from
tilhørende vinsj 12a, 12b, 12c til hjelpemidlet 22. associated winch 12a, 12b, 12c to the aid 22.
For å kunne posisjonere hjelpemidlet 22 innenfor størst mulig del av innhegningens 10 volum, skal de tre føringene 18a, 18b, 18c plasseres med innbyrdes ens vinkelavstand ved innhegningens 10 øvre kant. In order to be able to position the aid 22 within the largest possible part of the volume of the enclosure 10, the three guides 18a, 18b, 18c must be placed at the same angular distance from each other at the upper edge of the enclosure 10.
Til enhver posisjon av hjelpemidlet 22 i innhegningen 10 svarer en bestemt fri taulengde for hvert av tauene 14a, 14b, 14c målt fra tilhørende vinsj 12a, 12b, 12c eller fra til-hørende føring 18a, 18b, til tauenes 14a, 14b, 14c felles knutepunkt 24 ved hjelpemidlet 22. To any position of the aid 22 in the enclosure 10 corresponds a specific free rope length for each of the ropes 14a, 14b, 14c measured from the associated winch 12a, 12b, 12c or from the associated guide 18a, 18b, to the common of the ropes 14a, 14b, 14c node 24 at the aid 22.
For en operatør er det naturlig å posisjonere hjelpemidlet 22 i forhold til et tenkt kartesisk koordinatsystem med x,y,z akser eller akser med navn som opp/ned, nord/syd og øst/vest, eventuelt i forhold til et tenkt polart koordinatsystem. For an operator, it is natural to position the aid 22 in relation to an imaginary Cartesian coordinate system with x,y,z axes or axes with names such as up/down, north/south and east/west, possibly in relation to an imaginary polar coordinate system.
Fremgangsmåter for omregning fra gitte frie taulengder til hjelpemidlets posisjon i respektive kartesiske eller polare koordinater, ofte kalt forover koordinattransformasjon, og omregning fra gitte kartesiske eller polare koordinater til respektive frie taulengder, ofte kalt revers eller omvendt koordinattransformasjon, er vel kjent for en fagmann og gjennomgås derfor ikke nærmere. Procedures for conversion from given free rope lengths to the position of the aid in respective Cartesian or polar coordinates, often called forward coordinate transformation, and conversion from given Cartesian or polar coordinates to respective free rope lengths, often called reverse or reverse coordinate transformation, are well known to a person skilled in the art and are reviewed therefore not closer.
I praksis styres de tre samvirkende vinsjer 12a, 12b, 12c ved hjelp av en ikke vist datamaskin som er programmert til å motta posisjoneringsordrer med referanse til et på forhånd valgt koordinatsystem, utføre de nødvendige koordinattrans-formasjoner og gi styrsignaler til vinsjene 12a, 12b, 12c. Operatøren kan mate inn posisjoneringsordrer via datamas-skinens tastatur, via et ikke vist tablå eller over en til-koplet kommunikasj onslinj e. In practice, the three cooperating winches 12a, 12b, 12c are controlled by means of a computer not shown which is programmed to receive positioning orders with reference to a pre-selected coordinate system, carry out the necessary coordinate transformations and give control signals to the winches 12a, 12b, 12c. The operator can enter positioning orders via the computer's keyboard, via an undisplayed tableau or via a connected communication line.
Den nevnte datamaskin er også tilordnet ikke vist elektronikk og kraftkilder for å styre og drive vinsjene 12a, 12b, 12c, samt et ikke vist målesystem som er innrettet til å overføre The aforementioned computer is also assigned electronics and power sources not shown to control and operate the winches 12a, 12b, 12c, as well as a measurement system not shown which is arranged to transfer
informasjon om frie taulengder til datamaskinens program. information about free rope lengths to the computer program.
En selvsagt forutsetning for at posisjoneringsanordningen ifølge utførelseseksemplet skal kunne fungere etter hensikten, er at hjelpemidlet 22 synker i vann. Et hjelpemiddel 22 som flyter, kan imidlertid posisjoneres ved å flytte føringene 18a, 18b, 18c til innhegningens 10 nedre del. Alternativt kan det anordnes en fjerde vinsj med et eget tau som løper gjennom en fjerde føring nær bunnen av innhegningen 10, og en slik utførelse vil også virke om hjelpemidlet 22 er nøytralt i vann. An obvious prerequisite for the positioning device according to the embodiment to be able to function as intended is that the aid 22 sinks in water. An aid 22 that floats can, however, be positioned by moving the guides 18a, 18b, 18c to the lower part of the enclosure 10. Alternatively, a fourth winch can be arranged with a separate rope that runs through a fourth guide near the bottom of the enclosure 10, and such an embodiment will also work if the aid 22 is neutral in water.
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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NO953039A NO300401B1 (en) | 1995-08-02 | 1995-08-02 | A positioning device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO953039A NO300401B1 (en) | 1995-08-02 | 1995-08-02 | A positioning device |
Publications (3)
Publication Number | Publication Date |
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NO953039D0 NO953039D0 (en) | 1995-08-02 |
NO953039L NO953039L (en) | 1997-02-03 |
NO300401B1 true NO300401B1 (en) | 1997-05-26 |
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Application Number | Title | Priority Date | Filing Date |
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NO953039A NO300401B1 (en) | 1995-08-02 | 1995-08-02 | A positioning device |
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NO (1) | NO300401B1 (en) |
Cited By (26)
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WO2012030226A1 (en) * | 2010-08-31 | 2012-03-08 | Aage Skagen | Device for holding and positioning equipment at - and method for feeding fish in - a cage. |
NO344725B1 (en) * | 2019-02-13 | 2020-03-23 | Stingray Marine Solutions As | A cage observation system with a submerged observation unit |
WO2020072438A1 (en) * | 2018-10-05 | 2020-04-09 | X Development Llc | Sensor positioning system |
US11475689B2 (en) | 2020-01-06 | 2022-10-18 | X Development Llc | Fish biomass, shape, size, or health determination |
US11490601B2 (en) | 2020-12-23 | 2022-11-08 | X Development Llc | Self-calibrating ultrasonic removal of ectoparasites from fish |
US11533861B2 (en) | 2021-04-16 | 2022-12-27 | X Development Llc | Control systems for autonomous aquaculture structures |
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1995
- 1995-08-02 NO NO953039A patent/NO300401B1/en unknown
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NO20210907A1 (en) * | 2021-07-14 | 2023-01-16 | Geiga As | Propulsionsystem for equipment used in a fish cage |
NO347035B1 (en) * | 2021-07-14 | 2023-04-24 | Geiga As | Propulsionsystem for equipment used in a fish cage |
US11737434B2 (en) | 2021-07-19 | 2023-08-29 | X Development Llc | Turbidity determination using computer vision |
US11700839B2 (en) | 2021-09-01 | 2023-07-18 | X. Development | Calibration target for ultrasonic removal of ectoparasites from fish |
US11623536B2 (en) | 2021-09-01 | 2023-04-11 | X Development Llc | Autonomous seagoing power replenishment watercraft |
US12051231B2 (en) | 2021-11-12 | 2024-07-30 | X Development Llc | Analysis and sorting in aquaculture |
US11877549B2 (en) | 2021-11-22 | 2024-01-23 | X Development Llc | Controller for seaweed farm |
US11842473B2 (en) | 2021-12-02 | 2023-12-12 | X Development Llc | Underwater camera biomass prediction aggregation |
US11864535B2 (en) | 2021-12-21 | 2024-01-09 | X Development Llc | Mount for a calibration target for ultrasonic removal of ectoparasites from fish |
Also Published As
Publication number | Publication date |
---|---|
NO953039D0 (en) | 1995-08-02 |
NO953039L (en) | 1997-02-03 |
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