CN110262295A - The intelligent elevated control system and control method of deep water mesh cage - Google Patents
The intelligent elevated control system and control method of deep water mesh cage Download PDFInfo
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- CN110262295A CN110262295A CN201910542829.7A CN201910542829A CN110262295A CN 110262295 A CN110262295 A CN 110262295A CN 201910542829 A CN201910542829 A CN 201910542829A CN 110262295 A CN110262295 A CN 110262295A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 173
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007423 decrease Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 25
- 230000000630 rising effect Effects 0.000 claims description 17
- 230000009194 climbing Effects 0.000 claims description 15
- 238000001179 sorption measurement Methods 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000004078 waterproofing Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 3
- 241000196171 Hydrodictyon reticulatum Species 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 241000143060 Americamysis bahia Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005119 centrifugation Methods 0.000 description 1
- 239000003653 coastal water Substances 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 238000009364 mariculture Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000384 rearing effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000003643 water by type Substances 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
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- 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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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to the intelligent elevated control systems and control method of a kind of deep water mesh cage, and the system comprises deep water mesh cages to lift platform, are located at below deep water mesh cage, for lifting deep water mesh cage, and deep water mesh cage lifts platform and deep water mesh cage can be driven to move up and down；At least two lifting columns；At least two cylinders, cylinder are installed on the top of lifting column, and the piston rod part of cylinder is lifted platform with deep water mesh cage and is fixedly connected, and are driven by the cylinder deep water mesh cage and lift platform along guided way up and down motion；At least two primary controllers, primary controller and lifting column correspond, and primary controller is installed on the top of lifting column, and primary controller is connected with solenoid valve controller；And two-level controller.The present invention ensures the balance in deep water mesh cage lifting process by the effect of lifting that the guiding role and deep water mesh cage of lifting column lift platform, and cylinder and controller are arranged on the water surface, requires to reduce to the waterproofing grade of the components such as cylinder and controller.
Description
Technical field
The present invention relates to deep water mesh cage technical field, in particular to the intelligent elevated control systems and control of a kind of deep water mesh cage
Method processed.
Background technique
In recent years, due to there is the problems such as worldwide excessive amount of fishing and environmental pollution, fishery resources occur
Slump of disastrous proportions.For this purpose, the emphasis of fishery industry to be turned to the aquaculture fishery for formula of herding by traditional hunting formula fishing fishery, especially
It is the environment easy to pollute for avoiding coastal waters inner bay, turns to off-lying sea and goes to develop the deep-water net cage culture industry of high economic value fish,
Common recognition as countries in the world.Deep water mesh cage is as a kind of industry, to the current Fishery Resource Exhaustion of alleviation；And net can be driven
The related industries such as case production, seed rearing, bait production, processing and antistaling, sale transport.
The large-scale net cage that the depth of water is arranged in 15 meters or more, coastal opening waters is known as deep water mesh cage.Deep-water net cage culture
Capacity is larger, is the mariculture facility with stronger wind and wave resistance, ocean current performance.Deep water mesh cage is being expanded aquaculture sea area, is being subtracted
Light shore-environment pressure, the quality for improving cultivation fish, increase culture efficiency etc. have shown that apparent advantage.
Existing some deep water mesh cages have elevating function, and deep water mesh cage can be with falls downward when at sea stormy waves is bigger
Into water, to reduce influence of the stormy waves to deep water mesh cage.When stormy waves is smaller, deep water mesh cage can be raised above again.Therefore,
The elevating function of deep water mesh cage has very big benefit for the wind wave prevention function of deep water mesh cage.
However, often cannot keep deep water mesh cage in lifting process in the apparatus for controlling of lifting of existing deep water mesh cage
Balance, be easy to appear deep water mesh cage and go up and down unbalanced problem.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of intelligent elevated control system of deep water mesh cage and
Control method ensures deep water mesh cage lifting process by the effect of lifting that the guiding role and deep water mesh cage of lifting column lift platform
In balance, cylinder and controller are arranged on the water surface, require to reduce to the waterproofing grade of the components such as cylinder and controller.
To achieve the goals above, the present invention has following constitute:
The present invention provides a kind of intelligent elevated control system of deep water mesh cage, the system comprises:
Deep water mesh cage lifts platform, is located at below deep water mesh cage, for lifting the deep water mesh cage, and the deep water mesh cage
Lifting platform can drive the deep water mesh cage to move up and down；
At least two lifting columns, the lifting column are respectively arranged at the side that the deep water mesh cage lifts platform, and described
Lifting column is provided with guided way towards the side that the deep water mesh cage lifts platform, and the deep water mesh cage is lifted platform and led with described
The corresponding position of rail is provided with gib block, the gib block is installed in the guided way, and the gib block is led with described
The contact surface of rail is provided with rubber pad；
At least two cylinders, the cylinder and the lifting column correspond, and the cylinder is installed on the lifting column
Top, the piston rod part of the cylinder lifts platform with the deep water mesh cage and is fixedly connected, as described in cylinder driving
Deep water mesh cage lifts platform and moves up and down along the guided way, and the cylinder controls starting by a solenoid valve controller respectively and closes
It closes；
At least two primary controllers, the primary controller and the lifting column correspond, the primary controller
It is installed on the top of the lifting column, and the primary controller is connected with the solenoid valve controller；
Two-level controller, the two-level controller are carried out wireless communication with each primary controller, the second level control
Device processed simultaneously to all primary controllers send deep water mesh cage lift platform rise or falling signal, the primary controller according to
The control signal of the two-level controller controls the starting and closing of the cylinder.
Optionally, the two-level controller includes stormy waves prediction module, and the stormy waves prediction module is used for from cloud service
Device obtains wind wave forecast and determines that future presets the seakeeping in each period according to preset seakeeping assessing terms,
If the seakeeping in a period is greater than predetermined level threshold value, the primary controller described in the forward direction of the period is sent
Falling signal, and after the period seakeeping be less than predetermined level threshold value when, Xiang Suoshu primary controller send rise letter
Number.
Optionally, the system also includes:
At least two cameras, the camera and the lifting column correspond, and the camera is installed on the liter
The top of column drops, and the camera is used to acquire the surface image of the deep water mesh cage and is sent to the surface image described
The number of the surface image of the deep water mesh cage and the camera is sent to described by primary controller, the primary controller
Two-level controller, the mapping that the two-level controller is stored with the number of each camera and the position of the camera are closed
System.
Optionally, the deep water mesh cage is also stored in the two-level controller at extreme higher position, each camera shooting
The standard picture of head acquisition；
Described when lifting platform by rising to extreme higher position under water, the two-level controller obtains each camera
Acquire image, the mark for each camera that the acquisition image of more each camera and the two-level controller store
Quasi- image calculates the dimensional discrepancy and angular deviation of the acquisition image and standard picture of each camera, if size is inclined
Difference and angular deviation are all larger than preset threshold, it is determined that the deep water mesh cage is not up to normal place, according to each camera shooting
The acquisition image of head and the comparison result of standard picture send adjustment signal to the primary controller；
The acquisition image of each camera and the dimensional discrepancy of standard picture and angular deviation are respectively less than preset threshold
When, the two-level controller judges that the deep water mesh cage has reached normal place.
Optionally, the system also includes:
At least two removing surface mechanisms, the removing surface mechanism and the lifting column correspond, and the surface is clear
Reason mechanism is installed on the top of the lifting column；
After the deep water mesh cage has reached normal place, the two-level controller sends out the acquisition image of the camera
It send to the terminal of staff, position of the object for clearance in the acquisition image is obtained from the terminal of staff, according to institute
It states position of the object for clearance in the acquisition image and determines coordinate of the object for clearance in earth coordinates；
Coordinate of the two-level controller according to the object for clearance in earth coordinates, controls the removing surface machine
Structure, so that the removing surface mechanism clears up the object for clearance.
Optionally, the removing surface mechanism includes adsorption structure and mechanical arm, and the adsorption structure is installed on the machine
The front end of tool arm, the end of the mechanical arm are installed on the top of the lifting column, and the adsorption structure includes suction tray, centrifugation
Formula blower and driving motor, the driving motor drive the centrifugal fan, the driving motor and mechanical arm difference
It is connected with the primary controller.
Optionally, the two-level controller according to coordinate of the object for clearance in earth coordinates it is determining with it is described to
Object is cleared up apart from nearest removing surface mechanism, coordinate of the object for clearance in earth coordinates and cleaning instruction are sent
To the corresponding primary controller of the removing surface mechanism, the primary controller is according to the object for clearance in earth coordinates
In coordinate in earth coordinates of coordinate and the removing surface mechanism, plan the movement road of the front end of the mechanical arm
Line, and the manipulator motion is controlled, so that the suction tray moves at the object for clearance, control the driving motor fortune
It is dynamic, the object for clearance is cleared up with absorption.
Optionally, the primary controller is also used to determine institute according to coordinate of the object for clearance in earth coordinates
The size for stating object for clearance, according to the door opening size of centrifugal fan described in the size Control of the object for clearance, with control
Make the adsorption capacity of the suction tray.
The embodiment of the present invention also provides a kind of intelligent elevated control method of deep water mesh cage, using the deep water mesh cage
Intelligent elevated control system, described method includes following steps:
The two-level controller is determining it is required that when the deep water mesh cage declines, and decline instruction is sent to each described
Primary controller, the decline instruction include decline object height and decline target velocity；
The primary controller receives after the decline instructs according to the decline object height and decline target velocity
The solenoid valve controller for controlling the cylinder controls the decline that the deep water mesh cage lifts platform by the piston rod of the cylinder
Speed, and the solenoid valve controller is controlled when dropping to decline object height, so that the piston rod of the cylinder stops work
Make；
The two-level controller is determining it is required that when the deep water mesh cage rises, and climb command is sent to each described
Primary controller, the climb command include climbing target height and climbing target speed；
The primary controller receives after the climb command according to the climbing target height and climbing target speed
The solenoid valve controller for controlling the cylinder controls the rising that the deep water mesh cage lifts platform by the piston rod of the cylinder
Speed, and the solenoid valve controller is controlled when rising to climbing target height, so that the piston rod of the cylinder stops work
Make.
Optionally, the system also includes at least two cameras, the camera and the lifting columns to correspond, institute
State the top that camera is installed on the lifting column, the camera is used to acquire the surface image of the deep water mesh cage and by institute
It states surface image and is sent to the primary controller, the primary controller is by the surface image of the deep water mesh cage and described takes the photograph
As the number of head is sent to the two-level controller, the two-level controller is stored with the number of each camera and described
The mapping relations of the position of camera are also stored with the deep water mesh cage at extreme higher position in the two-level controller, each
The standard picture of the camera acquisition；
The method also includes following steps:
When the deep water mesh cage lifts platform by rising to extreme higher position under water, the two-level controller obtains each described
The acquisition image of camera, what acquisition image and the two-level controller of more each camera stored each described takes the photograph
As the standard picture of head, the dimensional discrepancy and angular deviation of the acquisition image and standard picture of each camera are calculated, such as
Fruit dimensional discrepancy and angular deviation are all larger than preset threshold, it is determined that the deep water mesh cage is not up to normal place, according to each
The acquisition image of the camera and the comparison result of standard picture send adjustment signal to the primary controller；
The acquisition image of each camera and the dimensional discrepancy of standard picture and angular deviation are respectively less than preset threshold
When, the two-level controller judges that the deep water mesh cage has reached normal place.
Therefore, the present invention ensures deep water net by the effect of lifting that the guiding role and deep water mesh cage of lifting column lift platform
Balance in case lifting process, cylinder and controller are arranged on the water surface, want to the waterproofing grade of the components such as cylinder and controller
Asking can reduce；Further, the present invention rises to the image comparison behind extreme higher position by deep water mesh cage, it is ensured that deep water mesh cage
Position balance avoids because the driving of multiple cylinders causes different location adjustable height uneven.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the intelligent elevated control system of the deep water mesh cage of one embodiment of the invention；
Fig. 2 is the structural block diagram of the intelligent elevated control system of the deep water mesh cage of one embodiment of the invention；
Fig. 3 is that the two-level controller of one embodiment of the invention carries out the schematic diagram of image comparison；
Fig. 4 marks the schematic diagram of object for clearance in the acquisition image for the camera of one embodiment of the invention.
Appended drawing reference:
1 lifting column, 11 guided way, 2 deep water mesh cage lifts platform
3 cylinder, 4 camera, 5 primary controller
6 removing surface mechanism, 61 mechanical arm, 62 suction tray
71 standard pictures 72 acquire the substance markers for clearance of image 73
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Described feature, structure or characteristic can be incorporated in one or more embodiments in any suitable manner
In.In the following description, many details are provided to provide and fully understand to embodiments of the present invention.However,
One of ordinary skill in the art would recognize that without one or more in specific detail, or using other methods, constituent element, material
Material etc., can also practice technical solution of the present invention.In some cases, be not shown in detail or describe known features, material or
Person operates to avoid the fuzzy present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of intelligent elevated control system of deep water mesh cage, the system packets
It includes:
Deep water mesh cage lifts platform 2, is located at below deep water mesh cage, for lifting the deep water mesh cage, and the deep water net
Case, which lifts platform 2, can drive the deep water mesh cage to move up and down；
At least two lifting columns 1, the lifting column 1 are respectively arranged at the side that the deep water mesh cage lifts platform 2, and institute
It states lifting column 1 and the side that the deep water mesh cage lifts platform 2 is provided with guided way 11, the deep water mesh cage lifts platform 2
Position corresponding with the guided way 11 is provided with gib block, and the gib block lifts the height of platform 2 along the deep water mesh cage
Direction extends, and the gib block is installed in the guided way 11, and the contact surface of the gib block and the guided way 11
It is provided with rubber pad；
At least two cylinders 3, the cylinder 3 is corresponded with the lifting column 1, and the cylinder 3 is installed on the liter
The top of column 1 drops, and the piston rod part of the cylinder 3 is lifted platform 2 with the deep water mesh cage and is fixedly connected, by the cylinder 3
It drives the deep water mesh cage to lift platform 2 to move up and down along the guided way 11, the cylinder 3 is respectively by a solenoid valve controller
Control starting and closing；
At least two primary controllers 5, the primary controller 5 are corresponded with the lifting column 1, the level-one control
Device 5 is installed on the top of the lifting column 1, and the primary controller 5 is connected with the solenoid valve controller；
Two-level controller, the two-level controller are carried out wireless communication with each primary controller 5, the second level control
Device processed sends deep water mesh cage to all primary controllers 5 simultaneously and lifts the rising of platform 2 or falling signal, the primary controller 5
The starting and closing of the cylinder 3 are controlled according to the control signal of the two-level controller.The two-level controller can be installed
Wherein on a lifting column 1, it also may be mounted at other positions.Two-level controller can control the lifting of a deep water mesh cage
All primary controllers 5 in control system also can control all one in the lift control system of many deep water mesh cages
Grade controller 5.
The intelligent elevated control system of deep water mesh cage of the invention is lifted by the guiding role and deep water mesh cage of lifting column
The effect of lifting of platform ensures the balance in deep water mesh cage lifting process, and cylinder and controller are arranged on the water surface, to cylinder and
The waterproofing grade of the components such as controller requires to reduce.
In this embodiment, the two-level controller includes stormy waves prediction module, and the stormy waves prediction module is used for from cloud
End server obtains wind wave forecast and determines that future presets the wind in each period according to preset seakeeping assessing terms
Unrestrained grade, if the seakeeping in a period is greater than predetermined level threshold value, the level-one control described in the forward direction of the period
Device 5 processed sends falling signal, and when seakeeping is less than predetermined level threshold value after the period, Xiang Suoshu primary controller 5
Send rising signals.Seakeeping assessing terms, which can according to need, to be set, for example, seakeeping assessing terms can be
Which wind speed range corresponding to each grade, wave height range etc. judge according to the wind wave forecast data of cloud server
The seakeeping assessing terms of grade.
As depicted in figs. 1 and 2, in this embodiment, the intelligent elevated control system of the deep water mesh cage further include:
At least two cameras 4, the camera 4 are corresponded with the lifting column 1, and the camera 4 is installed on institute
The top of lifting column 1 is stated, the camera 4 is used to acquire the surface image of the deep water mesh cage and sends the surface image
To the primary controller 5, the primary controller 5 is by the number of the surface image of the deep water mesh cage and the camera 4
It is sent to the two-level controller, the two-level controller is stored with numbering and the camera 4 for each camera 4
The mapping relations of position.Further, the deep water mesh cage is also stored in the two-level controller at extreme higher position, it is each
The standard picture that the camera 4 acquires.
Described when lifting platform 2 by rising to extreme higher position under water, the two-level controller obtains each camera 4
Acquisition image, more each camera 4 acquisition image and the two-level controller storage each camera 4
Standard picture, the dimensional discrepancy and angular deviation of the acquisition image and standard picture of each camera 4 are calculated, if ruler
Very little deviation and angular deviation are all larger than preset threshold, it is determined that the deep water mesh cage is not up to normal place, according to each described
The acquisition image of camera 4 and the comparison result of standard picture send adjustment signal to the primary controller 5；
The acquisition image of each camera 4 and the dimensional discrepancy of standard picture and angular deviation are respectively less than preset threshold
When, the two-level controller judges that the deep water mesh cage has reached normal place.
Therefore, the present invention rises to the image comparison behind extreme higher position by deep water mesh cage, it is ensured that the position of deep water mesh cage is flat
Weighing apparatus property avoids because the driving of multiple cylinders causes different location adjustable height uneven.
As shown in figure 3, the image that camera 4 acquires is often the surface of an oval deep water mesh cage, selection is oval
The greatest radius of shape, which is used as, judges benchmark.When between the horizon radius r1 of acquisition image 72 and the horizon radius r2 of standard picture 71
Difference be greater than first threshold, and the angle a between horizon radius r1 and horizon radius r2 be greater than second threshold when, then explanation should
Cylinder 3 corresponding to camera 4 lifts the control inaccuracy of platform to deep water mesh cage, if horizon radius r1 is less than horizon radius
R2 then needs to control the cylinder 3 and continues that deep water mesh cage is driven to lift platform rising, if horizon radius r1 is greater than horizon radius
R2 then needs to control the cylinder 3 and continues that deep water mesh cage is driven to lift platform decline, so as to adjust the position balance of deep water mesh cage.
In view of deep water mesh cage is when rising to extreme higher position from depths, it might have some pollutants and enter or generate one
A little buoyant foams.Therefore, in this embodiment, the intelligent elevated control system of the deep water mesh cage further includes at least two surfaces
Cleaning mechanism 6, the removing surface mechanism 6 are corresponded with the lifting column 1, and the removing surface mechanism 6 is installed on described
The top of lifting column 1.
After two-level controller deep water mesh cage according to image contrast judgement has reached normal place, the second level
The acquisition image of the camera 4 is sent to the terminal of staff by controller, is obtained from the terminal of staff for clearance
Position of the object in the acquisition image determines that object for clearance exists according to position of the object for clearance in the acquisition image
Coordinate in earth coordinates.As shown in figure 4, being the label for the object for clearance that staff carries out at circle 73 in figure.
Coordinate of the two-level controller according to the object for clearance in earth coordinates, controls the removing surface machine
Structure 6, so that the removing surface mechanism 6 clears up the object for clearance.
In this embodiment, the removing surface mechanism 6 includes adsorption structure and mechanical arm 61, the adsorption structure installation
In the front end of the mechanical arm 61, the end of the mechanical arm 61 is installed on the top of the lifting column 1, the adsorption structure packet
Suction tray 62, centrifugal fan and driving motor are included, the driving motor drives the centrifugal fan, so that the suction tray
62 front ends generate certain air suction, and the driving motor and the mechanical arm 61 are connected with the primary controller 5 respectively
It connects, work is controlled by the primary controller 5.
In this embodiment, the two-level controller according to coordinate of the object for clearance in earth coordinates determine with
The object for clearance is apart from nearest removing surface mechanism 6, by coordinate of the object for clearance in earth coordinates and cleaning
Instruction is sent to the corresponding primary controller 5 of the removing surface mechanism 6, and the primary controller 5 is according to the object for clearance
The coordinate of coordinate and the removing surface mechanism 6 in earth coordinates in earth coordinates, plans the mechanical arm 61
Front end moving line, and control the mechanical arm 61 and move so that the suction tray 62 moves at the object for clearance,
The driving motor movement is controlled, the object for clearance is cleared up with absorption.The present invention by coordinate convert, can be convenient to machine
The motion profile of tool arm 61 is planned, mechanical arm 61 is facilitated to be precisely controlled the position of suction tray 62, is avoided in suction tray 62
Suction-operated impacts the fishes and shrimps cultivated in deep water mesh cage.
In this embodiment, the primary controller 5 is also used to the seat according to the object for clearance in earth coordinates
Mark determines the size of the object for clearance, big according to the door opening of centrifugal fan described in the size Control of the object for clearance
It is small, to control the adsorption capacity of the suction tray 62.
The embodiment of the present invention also provides a kind of intelligent elevated control method of deep water mesh cage, using the deep water mesh cage
Intelligent elevated control system, described method includes following steps:
The two-level controller is determining it is required that when the deep water mesh cage declines, and decline instruction is sent to each described
Primary controller, the decline instruction include decline object height and decline target velocity；
The primary controller receives after the decline instructs according to the decline object height and decline target velocity
The solenoid valve controller for controlling the cylinder controls the decline that the deep water mesh cage lifts platform by the piston rod of the cylinder
Speed, and the solenoid valve controller is controlled when dropping to decline object height, so that the piston rod of the cylinder stops work
Make；
The two-level controller is determining it is required that when the deep water mesh cage rises, and climb command is sent to each described
Primary controller, the climb command include climbing target height and climbing target speed；
The primary controller receives after the climb command according to the climbing target height and climbing target speed
The solenoid valve controller for controlling the cylinder controls the rising that the deep water mesh cage lifts platform by the piston rod of the cylinder
Speed, and the solenoid valve controller is controlled when rising to climbing target height, so that the piston rod of the cylinder stops work
Make.
The intelligent elevated control method of deep water mesh cage of the invention is lifted by the guiding role and deep water mesh cage of lifting column
The effect of lifting of platform ensures the balance in deep water mesh cage lifting process, and cylinder and controller are arranged on the water surface, to cylinder and
The waterproofing grade of the components such as controller requires to reduce.
Further, in order to keep the up and down balance system of deep water mesh cage and the up and down balance system of deep water mesh cage be detected and adjusted
Whole, the intelligent elevated control method further includes following steps:
When the deep water mesh cage lifts platform by rising to extreme higher position under water, the two-level controller obtains each described
The acquisition image of camera, what acquisition image and the two-level controller of more each camera stored each described takes the photograph
As the standard picture of head, the dimensional discrepancy and angular deviation of the acquisition image and standard picture of each camera are calculated, such as
Fruit dimensional discrepancy and angular deviation are all larger than preset threshold, it is determined that the deep water mesh cage is not up to normal place, according to each
The acquisition image of the camera and the comparison result of standard picture send adjustment signal to the primary controller；
The acquisition image of each camera and the dimensional discrepancy of standard picture and angular deviation are respectively less than preset threshold
When, the two-level controller judges that the deep water mesh cage has reached normal place.
Therefore, the present invention rises to the image comparison behind extreme higher position by deep water mesh cage, it is ensured that the position of deep water mesh cage is flat
Weighing apparatus property avoids because the driving of multiple cylinders causes different location adjustable height uneven.
Further, similarly with the intelligent elevated control system of above-mentioned deep water mesh cage, the deep water mesh cage rises to standard
When position, the acquisition image of the camera can be sent to the terminal of staff, from the terminal of staff obtain to
Position of the object in the acquisition image is cleared up, is determined according to position of the object for clearance in the acquisition image for clearance
Coordinate of the object in earth coordinates.Coordinate of the two-level controller according to the object for clearance in earth coordinates, control
The mechanical arm in the removing surface mechanism is made, so that the mechanical arm drives the suction tray to come designated position, to institute
Object for clearance is stated to be cleared up.
In conclusion the present invention is ensured deeply by the effect of lifting that the guiding role and deep water mesh cage of lifting column lift platform
Balance in the case lifting process of the network of rivers, cylinder and controller are arranged on the water surface, to the waterproof etc. of the components such as cylinder and controller
Grade requirement can reduce；Further, the present invention rises to the image comparison behind extreme higher position by deep water mesh cage, it is ensured that deep water net
The position balance of case avoids because the driving of multiple cylinders causes different location adjustable height uneven.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (10)
1. a kind of intelligent elevated control system of deep water mesh cage, which is characterized in that the system comprises:
Deep water mesh cage lifts platform, is located at below deep water mesh cage, for lifting the deep water mesh cage, and the deep water mesh cage is lifted
Platform can drive the deep water mesh cage to move up and down；
At least two lifting columns, the lifting column are respectively arranged at the side that the deep water mesh cage lifts platform, and the lifting
Column is provided with guided way towards the side that the deep water mesh cage lifts platform, and the deep water mesh cage lifts platform and the guided way
Corresponding position is provided with gib block, and the gib block is installed in the guided way, and the gib block and the guided way
Contact surface be provided with rubber pad；
At least two cylinders, the cylinder and the lifting column correspond, and the cylinder is installed on the top of the lifting column
Portion, the piston rod part of the cylinder are lifted platform with the deep water mesh cage and are fixedly connected, and drive the deep water by the cylinder
Net cage lifts platform and moves up and down along the guided way, and the cylinder controls starting by a solenoid valve controller respectively and closes；
At least two primary controllers, the primary controller and the lifting column correspond, the primary controller installation
In the top of the lifting column, and the primary controller is connected with the solenoid valve controller；
Two-level controller, the two-level controller are carried out wireless communication with each primary controller, the two-level controller
Deep water mesh cage is sent to all primary controllers simultaneously and lifts platform rising or falling signal, and the primary controller is according to
The control signal of two-level controller controls the starting and closing of the cylinder.
2. the intelligent elevated control system of deep water mesh cage according to claim 1, which is characterized in that the two-level controller
Including stormy waves prediction module, the stormy waves prediction module is used to obtain wind wave forecast from cloud server, according to preset stormy waves
Ranking condition determines that future presets the seakeeping in each period, if the seakeeping in a period is greater than
Predetermined level threshold value, then the primary controller described in the forward direction of the period sends falling signal, and the stormy waves after the period
When grade is less than predetermined level threshold value, Xiang Suoshu primary controller sends rising signals.
3. the intelligent elevated control system of deep water mesh cage according to claim 1, which is characterized in that the system is also wrapped
It includes:
At least two cameras, the camera and the lifting column correspond, and the camera is installed on the lifting column
Top, the camera be used for acquire the deep water mesh cage surface image and the surface image is sent to the level-one
The number of the surface image of the deep water mesh cage and the camera is sent to the second level by controller, the primary controller
Controller, the two-level controller are stored with the mapping relations of the number of each camera and the position of the camera.
4. the intelligent elevated control system of deep water mesh cage according to claim 3, which is characterized in that the two-level controller
In be also stored with the deep water mesh cage at extreme higher position, the standard picture of each camera acquisition；
Described when lifting platform by rising to extreme higher position under water, the two-level controller obtains the acquisition of each camera
The standard drawing of each camera of image, the acquisition image of more each camera and two-level controller storage
Picture calculates the dimensional discrepancy and angular deviation of the acquisition image and standard picture of each camera, if dimensional discrepancy and
Angular deviation is all larger than preset threshold, it is determined that the deep water mesh cage is not up to normal place, according to each camera
The comparison result for acquiring image and standard picture sends adjustment signal to the primary controller；
When the acquisition image of each camera and the dimensional discrepancy of standard picture and angular deviation are respectively less than preset threshold, institute
It states two-level controller and judges that the deep water mesh cage has reached normal place.
5. the intelligent elevated control system of deep water mesh cage according to claim 4, which is characterized in that the system is also wrapped
It includes:
At least two removing surface mechanisms, the removing surface mechanism and the lifting column correspond, the removing surface machine
Structure is installed on the top of the lifting column；
After the deep water mesh cage has reached normal place, the acquisition image of the camera is sent to by the two-level controller
The terminal of staff, from the terminal of staff obtain object for clearance it is described acquisition image in position, according to it is described to
Position of the cleaning object in the acquisition image determines coordinate of the object for clearance in earth coordinates；
Coordinate of the two-level controller according to the object for clearance in earth coordinates, controls the removing surface mechanism,
So that the removing surface mechanism clears up the object for clearance.
6. the intelligent elevated control system of deep water mesh cage according to claim 5, which is characterized in that the removing surface machine
Structure includes adsorption structure and mechanical arm, and the adsorption structure is installed on the front end of the mechanical arm, the end peace of the mechanical arm
Top loaded on the lifting column, the adsorption structure include suction tray, centrifugal fan and driving motor, the driving motor
The centrifugal fan is driven, the driving motor and the mechanical arm are connected with the primary controller respectively.
7. the intelligent elevated control system of deep water mesh cage according to claim 6, which is characterized in that the two-level controller
According to coordinate of the object for clearance in earth coordinates it is determining with the object for clearance apart from nearest removing surface mechanism,
Coordinate of the object for clearance in earth coordinates is sent to the corresponding level-one of the removing surface mechanism with cleaning instruction
Controller, the primary controller exist according to coordinate of the object for clearance in earth coordinates and the removing surface mechanism
Coordinate in earth coordinates plans the moving line of the front end of the mechanical arm, and controls the manipulator motion, so that institute
It states suction tray to move at the object for clearance, controls the driving motor movement, the object for clearance is cleared up with absorption.
8. the intelligent elevated control system of deep water mesh cage according to claim 7, which is characterized in that the primary controller
It is also used to determine the size of the object for clearance according to coordinate of the object for clearance in earth coordinates, according to described to clear
The door opening size of centrifugal fan described in the size Control of object is managed, to control the adsorption capacity of the suction tray.
9. a kind of intelligent elevated control method of deep water mesh cage, which is characterized in that using described in any one of claims 1 to 8
Deep water mesh cage intelligent elevated control system, described method includes following steps:
The two-level controller is determining it is required that when the deep water mesh cage declines, and decline instruction is sent to each level-one
Controller, the decline instruction include decline object height and decline target velocity；
The primary controller controls after receiving the decline instruction according to the decline object height and decline target velocity
The solenoid valve controller of the cylinder controls the lower reduction of speed that the deep water mesh cage lifts platform by the piston rod of the cylinder
Degree, and the solenoid valve controller is controlled when dropping to decline object height, so that the piston rod of the cylinder stops working；
The two-level controller is determining it is required that when the deep water mesh cage rises, and climb command is sent to each level-one
Controller, the climb command include climbing target height and climbing target speed；
The primary controller receives after the climb command according to the climbing target height and climbing target speed control
The solenoid valve controller of the cylinder controls the upper raising speed that the deep water mesh cage lifts platform by the piston rod of the cylinder
Degree, and the solenoid valve controller is controlled when rising to climbing target height, so that the piston rod of the cylinder stops working.
10. the intelligent elevated control method of deep water mesh cage according to claim 9, which is characterized in that the system is also wrapped
At least two cameras are included, the camera and the lifting column correspond, and the camera is installed on the lifting column
Top, the camera are used to acquire the surface image of the deep water mesh cage and the surface image are sent to the level-one control
The number of the surface image of the deep water mesh cage and the camera is sent to the second level control by device processed, the primary controller
Device processed, the two-level controller are stored with the mapping relations of the number of each camera and the position of the camera, institute
It states and is also stored with the deep water mesh cage in two-level controller at extreme higher position, the standard picture of each camera acquisition；
The method also includes following steps:
When the deep water mesh cage lifts platform by rising to extreme higher position under water, the two-level controller obtains each camera shooting
The acquisition image of head, each camera of the acquisition image of more each camera and two-level controller storage
Standard picture, the dimensional discrepancy and angular deviation of the acquisition image and standard picture of each camera are calculated, if ruler
Very little deviation and angular deviation are all larger than preset threshold, it is determined that the deep water mesh cage is not up to normal place, according to each described
The acquisition image of camera and the comparison result of standard picture send adjustment signal to the primary controller；
When the acquisition image of each camera and the dimensional discrepancy of standard picture and angular deviation are respectively less than preset threshold, institute
It states two-level controller and judges that the deep water mesh cage has reached normal place.
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| CN201910542829.7A CN110262295B (en) | 2019-06-21 | 2019-06-21 | Intelligent lifting control system and control method for deepwater net cage |
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| CN201910542829.7A CN110262295B (en) | 2019-06-21 | 2019-06-21 | Intelligent lifting control system and control method for deepwater net cage |
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| CN110262295B (en) | 2022-05-17 |
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