Monitoring equipment for marine ranching

Abstract

The present invention relates to the technical field of monitoring systems, and specifically discloses a monitoring device for use in a marine ranch, including an underwater fixing device, a first driving device being sealedly connected to the underwater fixing device via a third connecting arm, a driving end of the first driving device rotating in a horizontal direction, a driving end of the first driving device being sealedly connected to at least one second driving device via a first connecting arm, a driving end of the second driving device rotating in a vertical direction, a driving end of the second driving device being sealedly connected to a second connecting arm, an end of the second connecting arm away from the second driving device being sealedly connected to a camera device via at least one vertical swinging assembly, and at least one lighting device being provided at a position close to the camera device or on the camera device on the vertical swinging assembly. The present invention has the characteristics of comprehensive monitoring range and good monitoring flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring systems, and in particular to a monitoring device used in marine ranches. Background Art

[0002] Marine ranching is an internationally recognized method of effectively cultivating fishery resources and creating marine artificial ecosystems. The research, development and application of marine ranching has become a strategic choice for major maritime countries and one of the main directions of fishery development in developed countries in the world. Marine ranching refers to artificial fisheries set up in specific sea areas for the planned cultivation and management of fishery resources: that is, by building an artificial environment suitable for the proliferation of biological resources in a specific sea area, using methods such as release, bottom seeding, and transplantation, making full use of natural bait, integrating biological management and environmental control technologies, and achieving the increase of marine biological resources and sustainable fishing; the construction of marine ranching requires a complete set of system facilities and management systems, such as artificial upwelling, automatic feeding machines, fish control facilities, underwater monitoring systems, environmental monitoring and control systems, and resource management systems. The construction of a real-time online monitoring system for the marine ranch environment is an important part of the construction of marine ranches.

[0003] Constrained by previous technology, funds, policies and other conditions, my country's marine ranches have long been in a contradiction of partial utilization transition and insufficient development space. my country has 4.2 billion mu of continental shelf fisheries, of which 200 million mu are shallow sea beach areas. At present, my country's marine aquaculture area is about 30 million mu, accounting for only about 15% of the available area of ​​shallow sea beach. The utilization space and potential of water beach are still very large. At present, my country's marine fisheries mainly rely on two major industrial types: marine fishing and marine aquaculture, but both face different problems and have little room for development. At the same time, due to the depletion of offshore fishery resources and excessive fishing intensity, my country's operating fisheries are forced to continuously move to the open sea, and marine aquaculture in related areas is limited by the current technical level of production equipment, and it is difficult to expand to the sea area beyond the 30-meter isobath. Within the sea area of ​​30-80 meters isobath, a blank area for fishery utilization is relatively formed, which is in a state of "no fish to catch" and "no way to raise".

[0004] A patent application with publication number "CN207894455U" discloses a marine ranch monitoring system, which relates to the field of marine monitoring technology. The marine ranch monitoring system includes an offshore monitoring platform and a shore-based terminal; the offshore monitoring platform is communicatively connected with the shore-based terminal; the offshore monitoring platform is used to monitor the designated marine ranch to obtain marine ranch information, and send the marine ranch information to the shore-based terminal; the shore-based terminal is used to display the received marine ranch information; wherein the marine ranch information includes sea surface environment information, sea environment information and farmed biological status information. The patent can comprehensively monitor the marine ranch in real time for a long time; however, it can only be placed in the marine ranch to monitor the environmental information and biological information within a limited range within the marine ranch from a fixed angle, and cannot monitor the environmental information and biological information from all angles within the marine ranch without blind spots.

[0005] Therefore, existing monitoring devices used in marine ranches have problems such as incomplete monitoring range and poor monitoring flexibility. Summary of the invention

[0006] In order to solve the above technical problems existing in the existing marine ranch monitoring devices, the present invention provides a monitoring device for use in a marine ranch, which has the characteristics of comprehensive monitoring range and good monitoring flexibility.

[0007] The technical solution of the present invention: A monitoring device used in a marine ranch comprises an underwater fixing device, a first driving device is sealedly connected to the underwater fixing device via a third connecting arm, the driving end of the first driving device rotates in a horizontal direction, the driving end of the first driving device is sealedly connected to at least one second driving device via a first connecting arm, the driving end of the second driving device rotates in a vertical direction, the driving end of the second driving device is sealedly connected to a second connecting arm, an end of the second connecting arm away from the second driving device is sealedly connected to a camera device via at least one vertical swinging assembly, and at least one lighting device is provided at a position on the vertical swinging assembly close to the camera device or on the camera device. The present invention provides an underwater fixing device so that the entire device can be stably fixed in the water to monitor the environment and aquatic life in the marine ranch. When the scene captured by the camera device is abnormal, an alarm will be issued to the outside world through wired or wireless means, and the staff can deal with the situation in time after knowing it; the present invention provides a first driving device, and the driving end of the first driving device can rotate in the horizontal direction, so that the camera device can move along the same circular trajectory, so as to comprehensively capture the specific situation at the same level in the marine ranch; the present invention provides a second driving device and a vertical swing component, and the driving end of the second driving device rotates in the vertical direction. The second driving device and the vertical swing component cooperate to enable the camera device to be at any vertical position in the marine ranch, and the second driving device and the vertical swing component cooperate to make The camera device is at a suitable distance relative to the wall of the marine ranch, so that the camera device can clearly capture the situation inside the marine ranch and the contour wall of the marine ranch; the present invention provides brightness support for the camera operation of the camera device by setting at least one lighting device to ensure the clarity of the shooting; the present invention is designed as a fully sealed structure to ensure the long-term stable operation of the equipment in water, wherein the full seal includes welding seal and sealing using a sealing ring; the second drive device on the first connecting arm of the present invention can be one or more, and the specific number can be flexibly set according to actual conditions, and each second drive device will correspond to a camera device, that is, the camera detection unit in the present invention can have multiple, which has better flexibility and can ensure a good marine ranch monitoring effect according to actual conditions.

[0008] Preferably, the underwater fixing device includes an underwater fixing block and an underwater locking block, the underwater fixing block is provided with a plurality of first locking columns and / or a plurality of first locking grooves and / or a plurality of first locking holes, the underwater locking block is provided with a plurality of second locking columns and / or a plurality of second locking grooves and / or a plurality of second locking holes, the second locking columns correspond to the corresponding first locking grooves or first locking holes, the second locking grooves or second locking holes correspond to the corresponding first locking columns; the underwater locking block is sealed and connected to an end of the third connecting arm away from the first driving device. The underwater locking block and the underwater fixing block are detachably locked. The underwater locking block is composed of a cement block or a metal block with great weight. The underwater locking block is locked by its own gravity in a column hole matching or a column groove matching manner, so that the third connecting arm is always in a vertical state. A connecting hole is provided above the underwater locking block, one end of a connecting rope is connected to the connecting hole, and the other end is located outside the water surface. If a problem occurs with the device, personnel can pull the connecting rope to pull the device out of the water for maintenance, without the need for personnel to enter the water for maintenance, which greatly improves the maintenance efficiency. When the column hole or column groove is matched at the beginning, personnel only need to pull the connecting rope to slowly put the device into the water, and the camera can capture the real-time picture, and then the underwater locking block can be locked on the underwater fixing block in a column hole matching or a column groove matching manner by pulling the connecting rope, wherein the underwater fixing block is firmly fixed to the bottom of the ocean ranch.

[0009] Preferably, the second drive device is connected to the first drive device via a safety connector. The safety connector can ensure the safety and stability of the second drive device. Since there are one or more second drive devices, and the second drive devices are all arranged on the first connecting arm, when the length of the first connecting arm is too long, the second drive device located on the first connecting arm, especially the second drive device located at the end of the first connecting arm, may bend or break the first connecting arm, so that the second drive device and other components connected to the second drive device will not work due to loss of support. The second drive device is connected to the first drive device via a safety connector. When the first connecting arm is subjected to excessive force, the safety connector can share part of the force for the first connecting arm, prevent the first connecting arm from bending or breaking, and ensure the stability of the second drive device and other components connected to the second drive device.

[0010] Preferably, a water-blocking frame is provided inside the underwater locking block, and the water-blocking frame is a sealing structure. An installation frame is provided inside the water-blocking frame on the floating board, and at least one main battery is detachably provided inside the installation frame. A control board is provided inside the installation frame, and the control board is electrically connected to the main battery. The present invention ensures the safety of the installation of electrical components such as the main battery and the control board by providing a water-blocking frame; wherein the main battery provides power for the normal operation of the entire device; and a control program is integrated inside the control board, and when the switch is turned on, the entire device begins to monitor the situation in the ocean ranch in real time according to the set program.

[0011] Preferably, at least one backup battery is detachably provided in the installation frame, and the backup battery is electrically connected to the control panel. The backup battery is used as a backup for the main battery. When the main battery is low on power, it automatically switches to the backup battery for power supply, ensuring uninterrupted operation of the entire device until the entire device completes the complete marine ranch monitoring work; the backup battery can be one, two or more, and the specific number can be flexibly set according to actual conditions.

[0012] Preferably, the first driving device comprises a first fixed sleeve, which is sealed and connected to one end of the third connecting arm, a first motor is arranged inside the first fixed sleeve, a first rotating sleeve is sealed and rotatably arranged on the first fixed sleeve, the first rotating sleeve is connected to the driving end of the first motor, and the first motor is electrically connected to the main battery, the backup battery and the control board respectively. The first fixed sleeve is used for the stable and sealed installation of the first driving device on the third connecting arm or the floating device on the water; the first motor provides horizontal rotation force for the horizontal movement of the camera device and the lighting device; the first rotating sleeve is used for transmitting the horizontal rotation force of the first motor and also providing a stable installation position for the first connecting arm; the first driving device as a whole has a heavy weight, and the first driving device acts as a weight after being connected to the floating device on the water through the third connecting arm. When the floating board swings due to the shaking of the water surface, the first driving device can restore the floating board to stability as soon as possible under the action of its own gravity.

[0013] Preferably, the second driving device comprises a second fixed sleeve, the second fixed sleeve is sealedly connected to one end of the first connecting arm away from the first driving device, a second motor is arranged inside the second fixed sleeve, a second rotating sleeve is sealedly rotatably arranged on the second fixed sleeve, the second rotating sleeve is connected to the driving end of the second motor, and the second motor is electrically connected to the main battery, the backup battery and the control board respectively. The second fixed sleeve is used for the stable installation of the second driving device on the first connecting arm; the second motor provides a force for the camera device and the lighting device to rotate in the vertical direction; the second rotating sleeve is used for the stable transmission of the vertical rotation force of the second motor.

[0014] Preferably, the vertical swing assembly includes a third drive device and a fourth connecting arm, the fixed end of the third drive device is sealedly connected to an end of the second connecting arm away from the second drive device, the driving end of the third drive device rotates in the vertical direction, one end of the fourth connecting arm is connected to the driving end of the third drive device, and the other end of the fourth connecting arm is sealedly connected to the camera device. The vertical swing assembly composed of the third drive device and the fourth connecting arm further provides rotation in the vertical direction for the camera device and the lighting device. The vertical swing assembly and the second drive device can provide precise movement for the camera device, and can achieve movement while the distance between the camera device and the wall of the ocean ranch remains unchanged, thereby ensuring the clarity of the camera device shooting the wall of the ocean ranch, and further ensuring the accuracy of the camera device monitoring the ocean ranch; the sealed connection here is a sealed connection through a flange assembly or a clamp assembly.

[0015] Preferably, the third driving device comprises a third fixed sleeve, the third fixed sleeve is sealedly connected to one end of the second connecting arm away from the second driving device, a third motor is arranged inside the third fixed sleeve, a third rotating sleeve is sealedly rotatably arranged on the third fixed sleeve, the third rotating sleeve is connected to the driving end of the third motor, and the third rotating sleeve is sealedly connected to one end of the fourth connecting arm; the third motor is electrically connected to the main battery, the backup battery and the control board respectively. The third fixed sleeve is used for the stable installation of the third driving device on the second connecting arm; the third motor provides a force for the camera device and the lighting device to rotate in the vertical direction; the third rotating sleeve is used for the stable transmission of the vertical rotation force of the third motor; the third driving device and the second driving device can provide precise movement for the camera device together, and can realize the movement when the distance between the camera device and the wall of the marine ranch remains unchanged, so as to ensure the clarity of the camera device shooting the wall of the marine ranch, and then ensure the accuracy of the camera device monitoring the marine ranch; the sealed connection here is a sealed connection through a flange assembly or a clamp assembly.

[0016] Preferably, the camera device includes a sealing cover, which is sealed and connected to one end of the fourth connecting arm away from the third driving device, and a first mounting tube is sealed on the sealing cover, in which a camera is arranged, and a perspective mirror is arranged on one end of the first mounting tube away from the sealing cover, and the perspective mirror is opposite to the camera head of the camera; a wiper assembly is arranged on the first mounting tube, and the wiper assembly corresponds to the perspective mirror; the camera and the wiper assembly are electrically connected to the main battery, the backup battery and the control board. The sealing cover can ensure the sealing performance when connected to the fourth connecting arm, and can also ensure the sealing performance after being installed with the first mounting tube; the first mounting tube is used as the main shell of the camera device; the camera is used to capture images, and the situation of the marine ranch is accurately detected by image recognition in an image visual manner; the wiper assembly is provided to ensure the cleanliness of the perspective mirror, thereby ensuring the clarity and accuracy of the image captured by the camera.

[0017] Preferably, the wiper assembly includes a third mounting frame, the third mounting frame is arranged inside the first mounting tube, a group of limit switches are arranged on the third mounting frame, a fourth motor is arranged on the third mounting frame, an output shaft is arranged at the driving end of the fourth motor, a toggle block is arranged on the output shaft, the toggle block is located between a group of limit switches, a mounting plate is arranged on the end of the output shaft away from the fourth motor, a wiper is detachably arranged on the mounting plate, and the wiper corresponds to the perspective mirror; the fourth motor is electrically connected to the main battery, the backup battery and the control board. The third mounting frame provides an installation position for the limit switch and the fourth motor to ensure the stability of the limit switch and the fourth motor; a group of limit switches are electrically connected to the control board, and the limit switch cooperates with the toggle block to control the forward and reverse rotation of the fourth motor, so as to realize the function of the wiper to reciprocate and clean the surface of the perspective mirror; the mounting plate provides an installation position for the wiper.

[0018] Preferably, the lighting device includes a second mounting tube, the second mounting tube is sealed and connected to the position of the vertical swing assembly close to the camera device or the camera device, the second mounting tube is provided with a first bearing plate inside, the first bearing plate is provided with a driving plate, the driving plate is provided with a heat sink, the second mounting tube is provided with a second bearing plate inside, the second bearing plate is provided with lighting lamp beads, the lighting lamp beads are electrically connected to the driving plate, the second mounting tube is provided with a light-transmitting mirror, the light-transmitting mirror is opposite to the lighting lamp beads, and the driving plate is electrically connected to the main battery, the backup battery and the control board respectively. The driving board is electrically connected to the control board, and is used to control the switch and brightness of the lighting lamp beads according to the signal of the control board; the heat sink is used to timely evacuate the heat generated on the driving board, prevent the driving board from overheating, and ensure the service life and safety of the driving board; the second bearing plate provides an installation position for the lighting lamp beads to ensure the stability of the lighting lamp beads; wherein the lighting lamp beads are LED lamp beads; the light-transmitting mirror is made of high borosilicate glass material, which has the characteristics of good light transmission effect and high strength.

[0019] Preferably, the lighting direction of the lighting device is inclined toward the camera device. The lighting device mainly provides brightness for the camera device, and the lighting device has a better lighting effect when it is inclined toward the camera device, and the specific inclination angle is 0 to 60 degrees; more preferably, the specific inclination angle is 15 to 45 degrees.

[0020] Preferably, the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are each composed of at least one connecting section, and a wiring channel is provided inside the connecting section, and the electrically connected wire passes through the wiring channel. The specific lengths of the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are formed by sealing and splicing the connecting sections according to actual conditions, and have good adaptability; since the entire electrical part of the device cannot have water, it needs to be fully sealed, and the wiring channel provides a safe installation position for the wires or signal lines to ensure the electrical safety of the entire device.

[0021] Preferably, the multiple connecting sections are sealed and connected by a flange assembly and / or a clamp assembly. The flange assembly and the clamp assembly can be flexibly selected according to the actual situation, and both have the characteristics of good sealing connection effect; and the clamp assembly connection method, because the number of bolts used is small, the installation will also become simpler.

[0022] Preferably, the flange assembly includes a first flange and a second flange, the first flange is sealed and fixedly connected to one end of a connecting section, the second flange is sealed and fixedly connected to one end of another connecting section, the first flange and the second flange are sealedly connected, a bowl-shaped plug seat is provided on the first flange or the second flange, a bowl-shaped plug hole is provided on the bowl-shaped plug seat, a bowl-shaped plug hole is provided in the bowl-shaped plug hole, the bowl-shaped plug is pressed in the bowl-shaped plug hole by a pressure cover, and the pressure cover is located between the second flange and the first flange. Through the structure of the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug matching, when the first flange and the second flange are matched by bolts, the pressure cover presses the bowl-shaped plug firmly in the bowl-shaped plug hole, and the wires or signal lines pass through the middle hole of the bowl-shaped plug, which has absolute sealing, ensuring that the interior of the entire device is in a sealed environment, and ensuring the electrical safety of the entire device.

[0023] Preferably, the clamp assembly includes a first clamp and a second clamp, the first clamp is provided with a first screw hole and a second screw hole on the outer wall, the second clamp is provided with a third screw hole and a fourth screw hole on the outer wall, the third screw hole corresponds to the first screw hole, the fourth screw hole corresponds to the second screw hole, the third screw hole is sealed and connected to the first screw hole by a bolt, and the fourth screw hole is sealed and connected to the second screw hole by a bolt. The first clamp and the second clamp can be installed and disassembled by two bolts, which has the characteristics of simple operation and good connection effect.

[0024] Preferably, a first connection flange is provided at one end of one connection section, and a second connection flange is provided at one end of another connection section, the second connection flange corresponds to the first connection flange, the second connection flange and the first connection flange are sealed and connected by a first clamp and a second clamp, a bowl-shaped plug seat is provided on the first connection flange or the second connection flange, a bowl-shaped plug hole is provided on the bowl-shaped plug seat, a bowl-shaped plug hole is provided in the bowl-shaped plug hole, the bowl-shaped plug is pressed in the bowl-shaped plug hole by a gland, and the gland is located between the second connection flange and the first connection flange. Through the matching structure of the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug, the first connection flange and the second connection flange are aligned, the first clamp and the second clamp hold the first connection flange and the second connection flange tightly, and the locking force when the first clamp and the second clamp are locked with two bolts, the gland firmly presses the bowl-shaped plug in the bowl-shaped plug hole, and the wire or signal line passes through the middle hole of the bowl-shaped plug, which has absolute sealing, ensuring that the entire device is in a sealed environment, and ensuring the electrical safety of the entire device; the entire connection method is simple, and the sealing effect after connection is good.

[0025] The present invention has the following beneficial effects:

[0026] (1) By setting up an underwater fixing device, the entire device can be stably fixed in the water to monitor the environment and aquatic organisms in the marine ranch. When the scene captured by the camera device is abnormal, an alarm will be sent to the outside world through wired or wireless means, and the staff will be able to deal with it in time after knowing the situation;

[0027] (2) By providing a first driving device, the driving end of the first driving device can rotate in the horizontal direction, so that the camera device can move along the same circular trajectory, thereby being able to comprehensively capture the specific situation on the same level in the marine ranch;

[0028] (3) By providing a second driving device and a vertical swing assembly, the driving end of the second driving device rotates in the vertical direction. The second driving device and the vertical swing assembly cooperate to enable the camera device to be located at any vertical position in the marine ranch. The second driving device and the vertical swing assembly cooperate to enable the camera device to be located at a suitable distance relative to the wall of the marine ranch, so that the camera device can clearly capture the situation in the marine ranch and the outline of the marine ranch wall;

[0029] (4) at least one lighting device is provided to provide brightness support for the camera operation of the camera device to ensure the clarity of the shooting;

[0030] (5) The whole design is a fully sealed structure to ensure the long-term stable operation of the equipment in water. The full seal includes welding seal and sealing with sealing ring;

[0031] (6) There may be one or more second driving devices on the first connecting arm, and the specific number can be flexibly set according to actual conditions. Each second driving device will correspond to a camera device, that is, there may be multiple camera detection units in the present invention, which has better flexibility and can ensure a good marine ranch monitoring effect according to actual conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 This is a spatial structure diagram for installing the main battery and the control panel in the underwater locking block of the present invention;

[0034] Figure 3 It is a cross-sectional view of the underwater locking block of the present invention for installing the main battery and the control board;

[0035] Figure 4 It is a first structural diagram of the underwater fixing device of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the connecting section in the present invention;

[0037] Figure 6 It is a structural schematic diagram of the wiring channel in the present invention;

[0038] Figure 7 It is a structural schematic diagram of the first driving device in the present invention;

[0039] Figure 8 is a cross-sectional view of a first driving device in the present invention;

[0040] Fig. 9 is a schematic structural diagram of the second driving device in the present invention;

[0041] Fig.10 is a cross-sectional view of a second driving device in the present invention;

[0042] Fig.11 is a schematic structural diagram of the third driving device in the present invention;

[0043] Fig.12 is a cross-sectional view of a third driving device in the present invention;

[0044] Fig.13 It is a structural schematic diagram of the camera device and the lighting device in the present invention when they are connected;

[0045] Fig.14 It is a structural schematic diagram of the camera device in the present invention;

[0046] Fig.15 is a cross-sectional view of the camera device of the present invention;

[0047] Fig.16 It is a structural exploded diagram of the camera device in the present invention;

[0048] Fig.17 is a schematic structural diagram of the lighting device of the present invention;

[0049] Fig.18 is a structural exploded diagram of the lighting device of the present invention;

[0050] Fig.19 It is a structural schematic diagram of the flange assembly in the present invention;

[0051] Fig. 20 It is a structural exploded view of the flange assembly in the present invention;

[0052] Fig.21 It is a schematic diagram of the structure of the clamp assembly of the present invention when the clamp is not installed;

[0053] Fig. 22 This is a first structural exploded view of the clamp assembly in the present invention;

[0054] Fig.23It is a second structural exploded diagram of the clamp assembly in the present invention;

[0055] Fig.24 This is the first structural diagram of the underwater fixing block in the present invention;

[0056] Fig.25 This is the first structural diagram of the underwater locking block in the present invention;

[0057] Fig.26 is a second structural diagram of the underwater fixing device of the present invention;

[0058] Fig. 27 It is a second structural diagram of the underwater fixing block in the present invention;

[0059] Fig.28 It is a second structural diagram of the underwater locking block in the present invention;

[0060] Fig.29 It is the third structural diagram of the underwater fixing device of the present invention;

[0061] Fig.30 It is the third structural diagram of the underwater fixing block in the present invention;

[0062] Fig.31 It is the third structural diagram of the underwater locking block in the present invention;

[0063] Fig.32 is a control circuit diagram of the control board in the present invention;

[0064] Fig.33 It is a control circuit diagram of the control board of the present invention for each connecting arm;

[0065] Fig.34 It is a control circuit diagram of the camera device by the control board in the present invention;

[0066] Fig.35 It is a circuit diagram of the control of the lighting device by the control board in the present invention.

[0067] The marks in the accompanying drawings are: 200-first driving device, 201-first fixed sleeve, 202-first motor, 203-first rotating sleeve, 204-first fixed seat, 205-second fixed seat, 300-first connecting arm, 301-connecting section, 302-wiring channel, 400-second driving device, 401-second fixed sleeve, 402-second motor, 403-second rotating sleeve, 404-third fixed seat, 405-fourth fixed seat, 500-second connecting arm, 600-vertical swing assembly, 601-third driving device, 6011-third fixed sleeve, 6012-third motor, 6013-third rotating sleeve, 6014-third Fifth fixing seat, 6015-sixth fixing seat, 700-camera device, 701-sealing cover, 702-first mounting tube, 703-camera, 704-perspective mirror, 705-wiping assembly, 7051-third mounting bracket, 7052-limit switch, 7053-fourth motor, 7054-output shaft, 7055-sliding block, 7056-mounting plate, 7057-wiping plate, 7058-third mounting block, 706-connecting pipe, 707-first support column, 708-fixing plate, 710-second support column, 711-blocking ring, 713-pressing ring, 800-illumination device, 801-second mounting tube, 802-first bearing plate, 803-drive Plate, 804-heat sink, 805-second bearing plate, 806-illumination lamp beads, 807-light-transmitting mirror, 808-third support column, 809-pressure plate, 810-support section, 900-safety connector, 1000-third connecting arm, 1100-flange assembly, 1101-first flange, 1102-second flange, 1103-bowl-shaped plug seat, 1104-bowl-shaped plug hole, 1106-pressure cover, 1200-hoop assembly, 1201-first hoop, 1202-second hoop, 1203-first screw hole, 1204-second screw hole, 1205-third screw hole, 1206-fourth screw hole, 1207-first connecting flange, 1208- The second connecting flange, 1300-underwater fixing device, 1301-underwater fixing block, 13011-first locking column, 13012-third locking column, 13014-first installation cavity, 13015-second installation cavity, 1302-underwater locking block, 13022-second locking groove, 13023-second locking hole, 13024-fourth locking groove, 13026-waterproof frame, 13027-installation frame, 13028-main battery, 13029-control board, 130210-limiting block, 130211-second mounting frame, 130212-backup battery, 130213-pressure strip, 130214-first mounting frame, 1400-float. DETAILED DESCRIPTION

[0068] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0069] like Figure 1 The monitoring equipment used in marine ranching includes Figure 4 , Fig.26 and Fig.29 The underwater fixing device 1300 shown in the figure is sealedly connected to a third connecting arm 1000 as shown in the figure. Figure 7 and Figure 8 The first driving device 200 shown in the figure has a driving end that rotates in the horizontal direction. The driving end of the first driving device is sealedly connected to at least one of the first connecting arms 300. Fig. 9 and Fig.10 The second driving device 400 shown in the figure has a driving end that rotates in the vertical direction, a second connecting arm 500 is sealedly connected to the driving end of the second driving device, and an end of the second connecting arm that is away from the second driving device is sealedly connected to the second connecting arm 500 through at least one vertical swing assembly 600. Fig.14 , Fig.15 and Fig.16 The camera device 700 shown in the figure has at least one vertical swing assembly located near the camera device or on the camera device. Fig.17 and Fig.18The lighting device 800 shown. The present invention sets an underwater fixing device so that the entire device can be stably fixed in the water to monitor the environment and aquatic life in the marine ranch. When the scene captured by the camera device is abnormal, an alarm will be sent to the outside world through wired or wireless means, and the staff can deal with it in time after knowing the situation; the present invention sets a first driving device, and the driving end of the first driving device can rotate in the horizontal direction, so that the camera device can move along the same circular trajectory, so as to comprehensively capture the specific situation at the same level in the marine ranch; the present invention sets a second driving device and a vertical swing component, and the driving end of the second driving device rotates in the vertical direction. The second driving device and the vertical swing component cooperate to make the camera device at any vertical position in the marine ranch, and the second driving device and the vertical swing component cooperate to make The camera device is at a suitable distance relative to the wall of the marine ranch, so that the camera device can clearly capture the situation inside the marine ranch and the contour wall of the marine ranch; the present invention provides brightness support for the camera operation of the camera device by setting at least one lighting device to ensure the clarity of the shooting; the present invention is designed as a fully sealed structure to ensure the long-term stable operation of the equipment in water, wherein the full seal includes welding seal and sealing using a sealing ring; the second drive device on the first connecting arm of the present invention can be one or more, and the specific number can be flexibly set according to actual conditions, and each second drive device will correspond to a camera device, that is, the camera detection unit in the present invention can have multiple, which has better flexibility and can ensure a good marine ranch monitoring effect according to actual conditions.

[0070] Underwater fixing devices include: Fig.24 , Fig. 27 and Fig.30 The underwater fixing block 1301 shown and Fig.25 , Fig.28 and Fig.31The underwater locking block 1302 shown in the figure is provided with a plurality of first locking columns 13011 and / or a plurality of first locking grooves and / or a plurality of first locking holes on the underwater fixing block, and a plurality of second locking columns and / or a plurality of second locking grooves 13022 and / or a plurality of second locking holes 13023 on the underwater locking block, the second locking columns correspond to the corresponding first locking grooves or first locking holes, and the second locking grooves or second locking holes correspond to the corresponding first locking columns; the underwater locking block is sealedly connected to one end of the third connecting arm away from the first driving device. The underwater locking block and the underwater fixing block are detachably locked. The underwater locking block is composed of a cement block or a metal block with great weight. The underwater locking block is locked by its own gravity in a column hole matching or a column groove matching manner, so that the third connecting arm is always in a vertical state. A connecting hole is provided above the underwater locking block, one end of a connecting rope is connected to the connecting hole, and the other end is located outside the water surface. If a problem occurs with the device, personnel can pull the connecting rope to pull the device out of the water for maintenance, without the need for personnel to enter the water for maintenance, which greatly improves the maintenance efficiency. When the column hole or column groove is matched at the beginning, personnel only need to pull the connecting rope to slowly put the device into the water, and the camera can capture the real-time picture, and then the underwater locking block can be locked on the underwater fixing block in a column hole matching or a column groove matching manner by pulling the connecting rope, wherein the underwater fixing block is firmly fixed to the bottom of the ocean ranch.

[0071] The interior of the underwater fixing block is provided with a first installation cavity 13014 and a second installation cavity 13015, the first installation cavity is connected with the second installation cavity, the second installation cavity is trumpet-shaped, a plurality of first locking columns and / or a plurality of first locking grooves and / or a plurality of first locking holes are arranged on the end surface of the underwater fixing block close to the second installation cavity, the underwater locking block is located in the first installation cavity, the underwater locking block is sealedly connected to an end of the third connecting arm away from the first driving device, the underwater locking block is locked in the first installation cavity by a first locking plate, a plurality of second locking columns and / or a plurality of second locking grooves and / or a plurality of second locking holes are arranged on the first locking plate. The first installation cavity and the second installation cavity provide installation positions for the underwater locking block, and the second installation cavity is arranged in a trumpet shape so that the locking part of the underwater locking block can be smoothly placed in the first installation cavity.

[0072] The mating ends of the first locking column and the second locking column are both tapered, and the tapered ends can more smoothly perform the column hole mating or the column groove mating.

[0073] The underwater fixing block is provided with a third locking column 13012 or a third locking groove, the underwater locking block is provided with a fourth locking groove 13024 or a fourth locking column, the fourth locking groove matches the third locking column, the fourth locking column matches the third locking groove, the third locking column or the third locking groove is located at the center of the underwater fixing block, and the fourth locking groove or the fourth locking column is located at the center of the underwater locking block. The addition of a column-groove match makes the locking effect between the underwater locking block and the underwater fixing block better.

[0074] The third locking column and the fourth locking column are both in the shape of a truncated cone, which can more smoothly match the column groove.

[0075] The second drive device is connected to the first drive device through a safety connector 900. The safety connector can ensure the safety and stability of the second drive device. Since there are one or more second drive devices, and the second drive devices are all arranged on the first connecting arm, when the length of the first connecting arm is too long, the second drive device located on the first connecting arm, especially the second drive device located at the end of the first connecting arm, may bend or break the first connecting arm, so that the second drive device and other components connected to the second drive device will not work due to loss of support. The second drive device is connected to the first drive device through the safety connector. When the first connecting arm is subjected to excessive force, the safety connector can share part of the force for the first connecting arm, prevent the first connecting arm from bending or breaking, and ensure the stability of the second drive device and other components connected to the second drive device.

[0076] The safety connector is a rigid connecting rod and / or a flexible connecting rope. As for whether to select a rigid connecting rod or a flexible connecting rope, it can be flexibly selected according to actual conditions.

[0077] A support rod is provided at one end of the first driving device away from the third connecting arm, and the second driving device is connected to the support rod through a safety connector 900. One end of the safety connector is connected to the support rod, so that a triangle is formed between the support rod, the safety connector and the first connecting arm. The safety connector can better share the force for the first connecting arm, ensuring the safety and stability of the support and connection of the first connecting arm.

[0078] The first driving device is provided with a floating ball 1400, and the buoyancy of the floating ball is based on the ability to ensure that the third connecting arm is in a vertical state. When the underwater fixing device is in an unlocked state, the part of the underwater fixing device connected to the third connecting arm is actually in a floating state, and the part of the underwater fixing device connected to the third connecting arm is located at the bottom of the water in the form of its own gravity. At this time, due to the action of the water flow, the third connecting arm and its related camera device will tilt in the water and be in a non-vertical deflected state. The floating ball gives the third connecting arm a restoring force due to its own buoyancy, so that the third connecting arm can return to a vertical state as soon as possible, so that the entire device can continue to work normally, wherein the buoyancy of the floating ball is less than the gravity of the part of the underwater fixing device connected to the third connecting arm, wherein the buoyancy of the floating ball is based on the ability to both allow the part of the underwater fixing device connected to the third connecting arm to be located at the bottom of the water and be able to pull the third connecting arm up and return to the normal state.

[0079] A support section 810 is provided on the vertical swing assembly near the camera device or on the camera device, and the lighting device is sealed on the support section. The support section provides an installation position for the lighting device, so that the distance and position of the lighting device relative to the camera device are appropriate, and the lighting device can provide lighting of appropriate intensity and width for the camera device.

[0080] The bottom locking block is provided with a water-blocking frame 13026 inside. The water-blocking frame is a sealed structure. The floating board is provided with a water-blocking frame inside. Figure 2 and Figure 3 The installation frame 13027 shown in the figure has at least one main battery 13028 detachably disposed therein, and a control board 13029 disposed therein, which is electrically connected to the main battery. The present invention ensures the safety of the installation of electrical components such as the main battery and the control board by providing a water-proof frame; wherein the main battery provides power for the normal operation of the entire device; and a control program is integrated inside the control board, and when the switch is turned on, the entire device begins to monitor the situation in the ocean ranch in real time according to the set program.

[0081] The main battery is limited inside the installation frame by the limiting block 130210. There can be one, two or more main batteries, and the specific number can be flexibly set according to actual conditions. The limiting block can ensure the stability of the main battery installation, so that the main battery can be stably installed in the installation frame. The main battery can be installed and removed by locking or unlocking the limiting block.

[0082] A second mounting frame 130211 is provided in the mounting frame, and the control panel is arranged on the second mounting frame. The second mounting frame provides a mounting position for the control panel, so that the control panel can be stably located in the mounting frame.

[0083] At least one spare battery 130212 is detachably provided in the installation frame, and the spare battery is electrically connected to the control panel. The spare battery is used as a backup for the main battery. When the main battery is low on power, it automatically switches to the spare battery for power supply, ensuring uninterrupted operation of the entire device until the entire device completes the complete marine ranch monitoring work; there can be one, two or more spare batteries, and the specific number can be flexibly set according to actual conditions.

[0084] The backup battery is arranged inside the installation frame by means of a pressure strip 130213. The pressure strip can ensure the stability of the installation of the backup battery, so that the backup battery can be stably installed in the installation frame, and the backup battery can be installed and removed by locking or unlocking the pressure strip.

[0085] A first mounting frame 130214 is provided in the mounting frame, and the backup battery is arranged on the first mounting frame through a pressure strip. The first mounting frame provides a mounting position for the backup battery, so that the backup battery can be stably located in the mounting frame.

[0086] The first driving device includes a first fixed sleeve 201, which is sealed and connected to one end of the third connecting arm. A first motor 202 is arranged inside the first fixed sleeve. A first rotating sleeve 203 is sealed and rotatably arranged on the first fixed sleeve. The first rotating sleeve is connected to the driving end of the first motor. The first motor is electrically connected to the main battery, the backup battery and the control board respectively. The first fixed sleeve is used for the stable and sealed installation of the first driving device on the third connecting arm or the floating device on the water; the first motor provides horizontal rotation force for the horizontal movement of the camera device and the lighting device; the first rotating sleeve is used to conduct the horizontal rotation force of the first motor and also provide a stable installation position for the first connecting arm; the first driving device as a whole has a heavy weight. After the first driving device is connected to the floating device on the water through the third connecting arm, it acts as a heavy hammer. When the floating board swings due to the shaking of the water surface, under the action of the first driving device's own gravity, the first driving device can make the floating board return to stability as soon as possible.

[0087] The first fixing sleeve is provided with a first fixing seat 204 inside, and the first motor is arranged on the first fixing seat. The first fixing seat provides a mounting position for the first motor inside the first fixing sleeve to ensure the stability of the first motor in mounting and working.

[0088] The driving end of the first motor is provided with a second fixing seat 205, and the first rotating sleeve is arranged on the second fixing seat. The second fixing seat provides a stable installation position for the first rotating sleeve on the one hand, and smoothly transmits the driving force of the first motor to the first rotating sleeve on the other hand; wherein the first rotating sleeve and the first fixing sleeve are connected in a rotating sealing manner, and when the first rotating sleeve rotates, the sealing between the first fixing sleeve and the first rotating sleeve can still be ensured, thereby ensuring the electrical safety of the first motor.

[0089] The first rotating sleeve is sealedly connected to one end of the first connecting arm, wherein the sealed connection is sealedly connected via a flange assembly or a clamp assembly.

[0090] The second driving device includes a second fixed sleeve 401, which is sealed and connected to one end of the first connecting arm away from the first driving device. A second motor 402 is arranged inside the second fixed sleeve, and a second rotating sleeve 403 is sealed and rotatably arranged on the second fixed sleeve. The second rotating sleeve is connected to the driving end of the second motor, and the second motor is electrically connected to the main battery, the backup battery and the control board respectively. The second fixed sleeve is used for the stable installation of the second driving device on the first connecting arm; the second motor provides a force for the camera device and the lighting device to rotate in the vertical direction; and the second rotating sleeve is used for the stable transmission of the vertical rotation force of the second motor.

[0091] The second fixing sleeve is provided with a third fixing seat 404 inside, and the second motor is arranged on the third fixing seat. The third fixing seat provides an installation position for the second motor inside the second fixing sleeve, and ensures the stability of the installation and operation of the second motor.

[0092] The driving end of the second motor is provided with a fourth fixing seat 405, and the second rotating sleeve is arranged on the fourth fixing seat. The fourth fixing seat provides a stable installation position for the second rotating sleeve on the one hand, and smoothly transmits the driving force of the second motor to the second rotating sleeve on the other hand; wherein the second rotating sleeve and the second fixed sleeve are connected in a rotating seal, and when the second rotating sleeve rotates, the sealing between the second fixed sleeve and the second rotating sleeve can still be ensured, thereby ensuring the electrical safety of the second motor.

[0093] The second rotating sleeve is sealedly connected to the vertical swing assembly. The sealing connection here is sealedly connected through a flange assembly or a clamp assembly.

[0094] The vertical swing assembly includes Fig.11 and Fig.12The third drive device 601 and the fourth connecting arm shown, the fixed end of the third drive device is sealedly connected to one end of the second connecting arm away from the second drive device, the driving end of the third drive device rotates in the vertical direction, one end of the fourth connecting arm is connected to the driving end of the third drive device, and the other end of the fourth connecting arm is sealedly connected to the camera device. The vertical swing assembly composed of the third drive device and the fourth connecting arm further provides rotation in the vertical direction for the camera device and the lighting device. The vertical swing assembly and the second drive device can provide precise movement for the camera device, and can achieve movement while the distance between the camera device and the wall of the ocean ranch remains unchanged, thereby ensuring the clarity of the camera device shooting the wall of the ocean ranch, and further ensuring the accuracy of the camera device detecting the outline and internal environment of the ocean ranch; the sealed connection here is a sealed connection through a flange assembly or a clamp assembly.

[0095] Multiple vertical swing assemblies are sealed and connected in sequence. There can be one vertical swing assembly or multiple vertical swing assemblies. When there are multiple vertical swing assemblies, the connection mode is the third drive device-fourth connecting arm-third drive device-fourth connecting arm...sequential connection. The number of vertical swing assemblies can be flexibly set according to the actual size of the ocean ranch and the depth in the water. The standard is to be able to move while the distance between the camera device and the wall of the ocean ranch remains unchanged; the sealed connection here is a sealed connection through a flange assembly or a clamp assembly.

[0096] The third driving device includes a third fixed sleeve 6011, which is sealed and connected to one end of the second connecting arm away from the second driving device. A third motor 6012 is provided inside the third fixed sleeve. A third rotating sleeve 6013 is provided on the third fixed sleeve for sealing and rotation. The third rotating sleeve is connected to the driving end of the third motor, and the third rotating sleeve is sealed and connected to one end of the fourth connecting arm. The third motor is electrically connected to the main battery, the backup battery and the control board respectively. The third fixed sleeve is used for the stable installation of the third driving device on the second connecting arm. The third motor provides a force for the camera device and the lighting device to rotate in the vertical direction. The third rotating sleeve is used for the stable transmission of the vertical rotation force of the third motor. The third driving device and the second driving device can provide precise movement for the camera device together, and can realize the movement of the camera device while keeping the distance between the camera device and the wall of the marine ranch unchanged, so as to ensure the clarity of the camera device shooting the wall of the marine ranch, and then ensure the accuracy of the camera device monitoring the marine ranch. The sealed connection here is a sealed connection through a flange assembly or a clamp assembly.

[0097] A fifth fixing seat 6014 is provided inside the third fixing sleeve, and the third motor is arranged on the fifth fixing seat. The fifth fixing seat provides an installation position for the third motor inside the third fixing sleeve, and ensures the stability of the installation and operation of the third motor.

[0098] The driving end of the third motor is provided with a sixth fixing seat 6015, and the third rotating sleeve is arranged on the sixth fixing seat. The sixth fixing seat provides a stable installation position for the third rotating sleeve on the one hand, and smoothly transmits the driving force of the third motor to the third rotating sleeve on the other hand; wherein the third rotating sleeve and the third fixing sleeve are connected in a rotating sealing manner, and when the third rotating sleeve rotates, the sealing between the third fixing sleeve and the third rotating sleeve can still be ensured, thereby ensuring the electrical safety of the third motor.

[0099] The camera device includes a sealing cover 701, which is sealed and connected to one end of the fourth connecting arm away from the third driving device. A first mounting tube 702 is sealed on the sealing cover, a camera 703 is arranged in the first mounting tube, and a perspective mirror 704 is arranged on one end of the first mounting tube away from the sealing cover, and the perspective mirror is opposite to the camera head of the camera; a wiper assembly 705 is arranged on the first mounting tube, and the wiper assembly corresponds to the perspective mirror; the camera and the wiper assembly are electrically connected to the main battery, the backup battery and the control board. The sealing cover can ensure the sealing performance when connected to the fourth connecting arm, and can also ensure the sealing performance after being installed with the first mounting tube; the first mounting tube is used as the main shell of the camera device; the camera is used to shoot images, and the situation of the marine ranch is accurately detected by image recognition in an image visual manner; the wiper assembly is arranged to ensure the cleanliness of the perspective mirror, thereby ensuring the clarity and accuracy of the image shot by the camera.

[0100] The sealing cover is sealed with a connecting pipe 706, which is sealed and connected to an end of the fourth connecting arm away from the third driving device. The connecting pipe is used for transitional connection between the sealing cover and the fourth connecting arm, so that the sealing cover and the fourth connecting arm have better sealing and connection effect.

[0101] The sealing cover is provided with at least one first support column 707, which is located inside the first installation tube. The first support column is provided with a fixing plate 708, and the camera is set on the fixing plate. The first support column stably supports the fixing plate on the sealing cover, and supports the fixing plate at a suitable position in the first installation tube through the length of the first support column; the fixing plate provides an installation position for the camera to ensure the stability of the camera.

[0102] A first elastic pad is provided at the connection between the first support column and the sealing cover. The first support column is connected to the sealing cover by means of a plug rod and a slot; the first elastic pad provides a buffer for the connection between the first support column and the sealing cover to prevent the camera from shaking due to an accidental collision and affecting the shooting effect, and also to prevent the camera from shaking due to an accidental collision and being damaged.

[0103] A plurality of second support columns 710 are provided on the fixing plate, and a retaining ring 711 is provided at one end of the second support column away from the fixing plate, the retaining ring is opposite to the camera head of the camera, and the perspective mirror is arranged on the retaining ring. The second support column provides an installation position for the retaining ring, and the retaining ring is used to position the perspective mirror. The length of the second support column also determines the shooting angle range of the camera after passing through the perspective mirror, so the length of the second support column is based on the suitable field angle range that the camera can shoot.

[0104] A second elastic pad is provided at the connection between the second support column and the fixing plate. The second support column is connected to the fixing plate by means of a plug rod and a slot; the second elastic pad provides a buffer for the connection between the second support column and the fixing plate, preventing the fixing plate from shaking due to an accidental collision and affecting the shooting effect of the camera, and also preventing the camera or perspective lens from shaking and being damaged due to an accidental collision.

[0105] The first elastic pad and the second elastic pad are both spring pads, which have simple structure, low price and good shock absorption effect.

[0106] The perspective mirror is made of high borosilicate glass. The perspective mirror made of high borosilicate glass has better light transmission effect and higher strength.

[0107] The perspective mirror is arranged on the retaining ring through a pressure ring 713, and the pressure ring is sealed and connected with the first mounting tube. The pressure ring makes the sealing and stability of the perspective mirror installed on the retaining ring better.

[0108] The wiper assembly includes a third mounting frame 7051, which is arranged inside the first mounting tube, and a group of limit switches 7052 are arranged on the third mounting frame, and a fourth motor 7053 is arranged on the third mounting frame, and an output shaft 7054 is arranged on the driving end of the fourth motor, and a toggle block 7055 is arranged on the output shaft, and the toggle block is located between a group of limit switches, and a mounting plate 7056 is arranged on the end of the output shaft away from the fourth motor, and a wiper plate 7057 is detachably arranged on the mounting plate, and the wiper plate corresponds to the perspective mirror; the fourth motor is electrically connected to the main battery, the backup battery and the control board. The third mounting frame provides an installation position for the limit switch and the fourth motor to ensure the stability of the limit switch and the fourth motor; a group of limit switches are electrically connected to the control board, and the limit switch cooperates with the toggle block to control the forward and reverse rotation of the fourth motor, so as to realize the function of the wiper plate reciprocating to clean the surface of the perspective mirror; the mounting plate provides an installation position for the wiper plate.

[0109] The third mounting frame is provided with a third mounting block 7058, and a set of limit switches are arranged on the mounting block. The third mounting block provides a mounting position for the limit switch alone, ensuring the stability of the limit switch and the toggle block, so as to more stably control the forward and reverse rotation of the fourth motor.

[0110] The lighting device includes a second mounting tube 801, which is sealed and connected to a position on the vertical swing assembly close to the camera device or the camera device, a first bearing plate 802 is provided inside the second mounting tube, a driving plate 803 is provided on the first bearing plate, a heat sink 804 is provided on the driving plate, a second bearing plate 805 is provided inside the second mounting tube, a lighting lamp bead 806 is provided on the second bearing plate, the lighting lamp bead is electrically connected to the driving plate, a light-transmitting mirror 807 is provided on the second mounting tube, the light-transmitting mirror is opposite to the lighting lamp bead, and the driving plate is electrically connected to the main battery, the backup battery and the control board respectively. The driving board is electrically connected to the control board, and is used to control the switch and brightness of the lighting lamp bead according to the signal of the control board; the heat sink is used to timely evacuate the heat generated on the driving board, prevent the driving board from overheating, and ensure the service life and safety of the driving board; the second bearing plate provides an installation position for the lighting lamp bead to ensure the stability of the lighting lamp bead; wherein the lighting lamp bead is an LED lamp bead; the light-transmitting mirror is made of high borosilicate glass material, which has the characteristics of good light transmission effect and high strength.

[0111] At least one third support column 808 is provided on the first supporting plate, and the second supporting plate is provided at one end of the third support column away from the first supporting plate. The third support column provides a mounting position for the second supporting plate, and the length of the third support column determines the distance between the second supporting plate and the light-transmitting mirror. Since the lighting lamp beads are mounted on the second supporting plate, the length of the third support column determines the range and light intensity of the exterior that the lighting lamp beads can illuminate. The length of the third support column is based on the balance of the range and light intensity of the exterior that the lighting lamp beads can illuminate.

[0112] The light-transmitting mirror is sealed and arranged on the second mounting tube through a pressure plate 809. The pressure plate makes the light-transmitting mirror installed on the second mounting tube more stable and more sealed.

[0113] The lighting direction of the lighting device is inclined toward the camera device. The lighting device mainly provides brightness for the camera device. The lighting device tilts toward the camera device to have a better lighting effect. The specific tilt angle is 0 to 60 degrees; more preferably, the specific tilt angle is 15 to 45 degrees.

[0114] A position on the vertical swing assembly close to the camera device or a position on the camera device such as Fig.13 The support section 810 shown has an illuminating device disposed thereon, which provides a mounting position for the illuminating device, so that the distance and position of the illuminating device relative to the camera device are both appropriate, and the illuminating device can provide the camera device with illumination of appropriate intensity and breadth.

[0115] The second installation tube seal is arranged on the support section. The support section provides an installation position for the second installation tube seal; the sealing connection here is a sealing connection through a flange assembly or a clamp assembly.

[0116] The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm each have at least one Figure 5 and Figure 6 The connecting section 301 shown in the figure has a wiring channel 302 inside, and the wires of the electrical connection pass through the wiring channel. The specific lengths of the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are formed by sealing and splicing the connecting sections according to the actual situation, and have good adaptability; since the entire electrical part of the device cannot have water, it needs to be fully sealed, and the wiring channel provides a safe installation position for the wires or signal lines to ensure the electrical safety of the entire device.

[0117] Multiple connecting segments are connected by Fig.19 and Fig. 20 The flange assembly 1100 shown and / or Fig.21 , Fig. 22 and Fig.23 The clamp assembly 1200 shown is sealed. The flange assembly and the clamp assembly can be flexibly selected according to the actual situation, and both have the characteristics of good sealing connection effect; and the clamp assembly connection method, because the number of bolts used is small, the installation will also become simpler.

[0118] The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are all sealed and connected to the corresponding components through the flange assembly and / or the clamp assembly. The flange assembly and the clamp assembly can be flexibly selected according to the actual situation, and both have the characteristics of good sealing connection effect; and the clamp assembly connection method, because the number of bolts used is small, the installation will also become simpler.

[0119] The flange assembly includes a first flange 1101 and a second flange 1102. The first flange is sealed and fixedly connected to one end of a connecting section, and the second flange is sealed and fixedly connected to one end of another connecting section. The first flange and the second flange are sealed and connected. A bowl-shaped plug seat 1103 is provided on the first flange or the second flange. A bowl-shaped plug hole 1104 is provided on the bowl-shaped plug seat. A bowl-shaped plug is provided in the bowl-shaped plug hole. The bowl-shaped plug is pressed in the bowl-shaped plug hole by a pressure cover 1106. The pressure cover is located between the second flange and the first flange. Through the structure in which the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug are matched, when the first flange and the second flange are matched by bolts, the pressure cover presses the bowl-shaped plug firmly in the bowl-shaped plug hole. The wires or signal lines pass through the middle hole of the bowl-shaped plug, which has absolute sealing, ensuring that the entire device is in a sealed environment, and ensuring the electrical safety of the entire device.

[0120] The clamp assembly includes a first clamp 1201 and a second clamp 1202. The first clamp is provided with a first screw hole 1203 and a second screw hole 1204 on its outer wall. The second clamp is provided with a third screw hole 1205 and a fourth screw hole 1206 on its outer wall. The third screw hole corresponds to the first screw hole, the fourth screw hole corresponds to the second screw hole, the third screw hole is sealed and connected to the first screw hole through a bolt, and the fourth screw hole is sealed and connected to the second screw hole through a bolt. The first clamp and the second clamp can be installed and disassembled by two bolts, and have the characteristics of simple operation and good connection effect.

[0121] A first connecting flange 1207 is provided at one end of one connecting section, and a second connecting flange 1208 is provided at one end of the other connecting section. The second connecting flange corresponds to the first connecting flange, and the second connecting flange and the first connecting flange are sealed by a first clamp and a second clamp. A bowl-shaped plug seat 1103 is provided on the first connecting flange or the second connecting flange, and a bowl-shaped plug hole 1104 is provided on the bowl-shaped plug seat. A bowl-shaped plug is provided in the bowl-shaped plug hole, and the bowl-shaped plug is pressed in the bowl-shaped plug hole by a pressure cover 1106. The pressure cover is located between the second connecting flange and the first connecting flange. Through the structure in which the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug cooperate, the first connecting flange and the second connecting flange are aligned, the first clamp and the second clamp clamp the first connecting flange and the second connecting flange together, and the locking force when the first clamp and the second clamp are locked with two bolts, the pressure cover presses the bowl-shaped plug firmly into the bowl-shaped plug hole, and the wires or signal lines pass through the middle hole of the bowl-shaped plug, which has absolute sealing, ensuring that the interior of the entire device is in a sealed environment, and ensuring the electrical safety of the entire device; the entire connection method is simple, and the sealing effect after connection is good.

[0122] In the initial state, the first connecting arm, the second connecting arm and the fourth connecting arm are located on the same plane.

[0123] The driving end of the first driving device has a horizontal rotation angle of 0 to 360 degrees. More preferably, the driving end of the first driving device has a horizontal rotation angle of 0 to 320 degrees. Within this angle range, the camera device has no blind spots when shooting on a circular track.

[0124] The rotation angle of the driving end of the second driving device in the vertical direction is 0 to 360 degrees. More preferably, the rotation angle of the driving end of the second driving device in the vertical direction is 0 to 320 degrees. More preferably, the rotation angle of the driving end of the second driving device in the vertical direction is 0 to 270 degrees. More preferably, the rotation angle of the driving end of the second driving device in the vertical direction is 0 to 180 degrees.

[0125] The driving end of the third driving device has a rotation angle of 0 to 360 degrees in the vertical direction. More preferably, the driving end of the first driving device has a rotation angle of 0 to 320 degrees in the horizontal direction. Within this angle range, the camera device has no blind spots when shooting on a circular track. The part of the camera device located in the water is designed with zero buoyancy, and the angle of rotation inside the entire device is based on the underwater part not being able to exceed the water surface.

[0126] The main battery and the backup battery are lead-acid batteries and / or lithium batteries. Both the main battery and the backup battery can be rechargeable batteries and can be charged by external clean energy such as wind power or solar power.

[0127] The imaging device has an imaging field angle α in the range of 10 to 120 degrees. More preferably, the imaging device has an imaging field angle α in the range of 30 to 90 degrees. More preferably, the imaging device has an imaging field angle α in the range of 45 to 70 degrees.

[0128] The moving distance M and the moving distance N are based on the existence of an overlapping area of ​​the shooting field angles α of two adjacent positions of the camera device. The existence of the overlapping area can ensure that the device has no blind spots in the entire monitoring of the marine ranch.

[0129] The distance L and the distance S are equal or different; the moving distance M and the moving distance N are equal or different.

[0130] The environmental monitoring method for marine ranches includes the following steps:

[0131] (a) placing a marine ranch monitoring device in an initial state on the bottom of or inside the marine ranch, the marine ranch monitoring device being located at or near the center of the bottom of the marine ranch;

[0132] (b) activating a power switch of the marine ranch monitoring device in the water so that the first drive device, the second drive device, the third drive device, the camera device and the lighting device are all in an activated state;

[0133] (c) The control panel of the marine ranch monitoring device in the startup state controls the third driving device near the camera device to rotate in the vertical direction. When the shooting direction of the camera device is perpendicular to the bottom surface of the marine ranch, the control panel controls the third driving device to stop rotating. At this time, the center position of the bottom of the marine ranch is within the shooting field angle range of the camera device, and the distance between the camera device and the bottom of the marine ranch is L;

[0134] (d) when the shooting direction of the camera device in step (c) is perpendicular to the bottom of the ocean ranch, the control board controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction;

[0135] (e) After the first driving device in step (d) has completed its rotation, the control panel controls the driving ends of the second driving device and the third driving device to rotate at appropriate angles in the vertical direction simultaneously, so that the camera device moves a distance M toward the side wall of the ocean ranch while ensuring that the shooting direction of the camera device is perpendicular to the bottom of the ocean ranch;

[0136] (f) After the camera device in step (e) moves a distance M toward the side wall of the ocean ranch, the control panel controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction;

[0137] (g) looping steps (e) and (f) until the camera device has captured the entire bottom surface of the ocean ranch;

[0138] (h) After the camera device has finished photographing the entire bottom surface of the ocean ranch, the control panel controls the driving ends of the second driving device and the third driving device to simultaneously rotate at appropriate angles in the vertical direction, so that the shooting direction of the camera device is perpendicular to the position of the side wall of the ocean ranch close to the bottom, and the distance between the camera device and the side wall of the ocean ranch is S;

[0139] (i) when the shooting direction of the camera device is perpendicular to the side wall of the ocean ranch near the bottom, the control panel controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction;

[0140] (j) After the first driving device in step (i) has completed its rotation, the control panel controls the driving ends of the second driving device and the third driving device to rotate at appropriate angles in the vertical direction simultaneously, so that the camera device moves a distance N along the side wall of the ocean ranch toward the top of the ocean ranch while ensuring that the shooting direction of the camera device is perpendicular to the side wall of the ocean ranch;

[0141] (k) After the camera device moves a distance N toward the top of the ocean ranch in step (j), the control panel controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction;

[0142] (l) Repeat steps (j) and (k) until the camera device has captured the entire side wall of the ocean ranch.

[0143] The present invention uses the image of the ocean ranch fence wall captured by the camera device as a reference, adopts image vision technology, and the control panel controls the second drive device and the third drive device to rotate in coordination, so that the camera end of the camera device is always in a vertical state with the fence wall of the ocean ranch. Because the camera end is in a vertical state with the bottom and wall of the ocean ranch, it is convenient to adjust the distance between the camera device and the bottom and wall of the ocean ranch, so that the distance is based on the ability to capture clear images of all sides of the ocean ranch. If the water quality is clear, the distance between the camera device and the fence wall of the ocean ranch can be farther by controlling the second drive device and the third drive device to rotate in coordination. If the water quality is turbid, the distance between the camera device and the fence wall of the ocean ranch can be closer by controlling the second drive device and the third drive device to rotate in coordination. During the entire shooting process, the camera device The distance between the camera and the ocean ranch fence wall is the same, and the camera device moves parallel to the ocean ranch fence wall, so it can automatically operate according to the set program on the control panel. The monitoring method for the environment and aquatic organisms in the ocean ranch is simple, the degree of automation is high, and the monitoring effect is also good; the distance that the camera device moves each time in the present invention is also limited. According to the shooting angle of the camera device, the overlapping area of ​​the shooting areas of the two adjacent camera devices on the ocean ranch fence wall is taken as the standard, so that the whole ocean ranch environment can be monitored without blind spots, thereby ensuring the absolute reliability of the entire ocean ranch, and there is no situation where aquatic products are lost due to damaged fences in the ocean ranch, and there is no situation where the environment in the ocean ranch is polluted or hypoxic, and the vitality of aquatic products is insufficient and outsiders cannot know in time.

[0144] The operating trajectory of the connecting arm of the monitoring equipment used in the marine ranch:

[0145] The first driving device: driven by a planetary gear reduction motor, controls the first connecting arm to rotate 360° in a given direction;

[0146] Second driving device: driven by a planetary gear reduction motor, controls the second connecting arm to swing up and down as required, with a range of 0-360°;

[0147] The first third driving device: driven by a servo, controls the first fourth connecting arm to swing at a given angle within a range of 0-360°;

[0148] The second third driving device: driven by a servo, controls the second fourth connecting arm to swing at a given angle within a range of 0-360°;

[0149] First connecting arm: 5.8 meters long (center distance between the first drive device and the second drive device)

[0150] Second connecting arm: 6 meters long (center distance between the second drive unit and the first and third drive units)

[0151] First fourth connecting arm: 1.5 meters long (center distance between the first third drive device and the second third drive device)

[0152] Second fourth connecting arm: 1.8 meters long (the distance from the center of the second third drive device to the front end of the camera)

[0153] Initial position: The initial position of the whole machine is that all connecting arms are located in the same plane and the whole is tilted downward by 0.2°.

[0154] Outer dimensions of the ocean ranch: The overall outer shape of the ocean ranch is conical, with a top diameter of 25,500mm, a bottom diameter of 24,500mm, and a height of 7,000mm.

[0155] Electronics Description:

[0156] Lighting lamp: 2, each power 20w, voltage 12v;

[0157] Camera: 1, power 20w, voltage 12v;

[0158] Camera moving linear speed: 0.2m / s

[0159] First motor: 1, power 120w, voltage 24v;

[0160] Second motor: 1, power 60w, voltage 24v;

[0161] Servo or third motor: 2, power 30w, voltage 24v;

[0162] Lead-acid batteries;

[0163] Assembly position of the whole machine: After the marine ranch monitoring device is assembled according to the initial position, it is fixed at the top center of the marine ranch with the robotic arm under the water surface.

[0164] Camera running track description: Camera field of view angle 80°, visual distance 400mm, maximum 450mm, minimum 100mm;

[0165] The camera starts to check from the center of the bottom of the ocean ranch. After one rotation, the camera moves outward 660mm (there will be a slight adjustment according to the rotation angle of the second connecting arm), and then rotates one more rotation, and so on, until the bottom of the ocean ranch is checked, and then the direction is deflected to check the side wall of the ocean ranch. In order to avoid missing areas or repeated inspections during the inspection of the ocean ranch, the two adjacent visible areas scanned need to have overlapping parts, with a basic overlapping area of ​​40mm, a maximum overlapping area of ​​50mm, and a minimum overlapping area of ​​20mm. Except for the angle between the bottom and the side wall of the ocean ranch, when checking other positions, the camera is kept perpendicular to the ocean ranch.

[0166] The floating device on the water sinks 30mm below the water surface, and the excess gravity is overcome by buoyancy foam. The first connecting arm is close to the first motor and is 104.2mm away from the water surface.

[0167] Camera running track

[0168] First circular trajectory: The first connecting arm remains in the same position, the second connecting arm swings downward at an angle of 32.9°, the angle between the first fourth connecting arm and the second connecting arm is 139.7°, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. At this time, the camera is about 400mm away from the bottom of the ocean ranch, and the visible range exceeds the center of the ocean ranch by 40mm. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0169] Second circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 32.4° to the first connecting arm, the first fourth connecting arm is at an angle of 112.44° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0170] The third circular trajectory: the first connecting arm remains in the same position, the second connecting arm is at an angle of 34.7° to the first connecting arm, the first fourth connecting arm is at an angle of 92.86° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0171] Fourth circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 39° to the first connecting arm, the first fourth connecting arm is at an angle of 76.43° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0172] The fifth circular trajectory: the first connecting arm remains in the same position, the second connecting arm is at an angle of 45° to the first connecting arm, the first fourth connecting arm is at an angle of 62.16° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0173] The sixth circular trajectory: the first connecting arm remains in the same position, the second connecting arm is at an angle of 52.6° to the first connecting arm, the first fourth connecting arm is at an angle of 49.41° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0174] The seventh circular trajectory: the first connecting arm remains in the same position, the second connecting arm is at an angle of 61.5° to the first connecting arm, the first fourth connecting arm is at an angle of 38.24° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0175] The eighth circular trajectory: the first connecting arm remains in the same position, the second connecting arm is at an angle of 71.1° to the first connecting arm, the first fourth connecting arm is at an angle of 29.37° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0176] The ninth circular trajectory: the first connecting arm remains in the same position, the second connecting arm and the first connecting arm are at an angle of 80.4°, the first fourth connecting arm and the second connecting arm are at an angle of 24.6°, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0177] The 10th circular trajectory: the first connecting arm remains in the same position, the second connecting arm and the first connecting arm are at an angle of 88.1°, the first fourth connecting arm and the second connecting arm are at an angle of 26.23°, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0178] 11th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 94.3° to the first connecting arm, the first fourth connecting arm is at an angle of 34.07° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0179] 12th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 99.7° to the first connecting arm, the first fourth connecting arm is at an angle of 43.6° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0180] 13th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm are at an angle of 104.9°, the first fourth connecting arm and the second connecting arm are at an angle of 53.93°, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0181] 14th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 110.1° to the first connecting arm, the first fourth connecting arm is at an angle of 69.79° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0182] 15th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 115.5° to the first connecting arm, the first fourth connecting arm is at an angle of 85.34° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0183] 16th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 121.4° to the first connecting arm, the first fourth connecting arm is at an angle of 103.48° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0184] 17th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 128.4° to the first connecting arm, the first fourth connecting arm is at an angle of 126.68° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0185] 18th circular trajectory: The first connecting arm remains in the same position, the second connecting arm is at an angle of 140.7° to the first connecting arm, the first fourth connecting arm is at an angle of 174.51° to the second connecting arm, and the second fourth connecting arm is perpendicular to the bottom of the ocean ranch. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0186] 19th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 141.9°, the first fourth connecting arm and the second connecting arm have an angle of 217.75°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 50.54°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0187] 20th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 126.9°, the first fourth connecting arm and the second connecting arm have an angle of 188.52°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0188] 21st circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 118.7°, the first fourth connecting arm and the second connecting arm have an angle of 126.01°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0189] 22nd circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 119.7°, the first fourth connecting arm and the second connecting arm have an angle of 103.59°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0190] 23rd circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 122.9°, the first fourth connecting arm and the second connecting arm have an angle of 85.97°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0191] 24th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 127.9°, the first fourth connecting arm and the second connecting arm have an angle of 70.91°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0192] 25th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 134.5°, the first fourth connecting arm and the second connecting arm have an angle of 57.67°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0193] 26th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 142.5°, the first fourth connecting arm and the second connecting arm have an angle of 46.06°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0194] 27th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 151.5°, the first fourth connecting arm and the second connecting arm have an angle of 36.4°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0195] 28th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 160.8°, the first fourth connecting arm and the second connecting arm have an angle of 29.52°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0196] 29th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 169.2°, the first fourth connecting arm and the second connecting arm have an angle of 27.97°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0197] 30th circular trajectory: The first connecting arm remains in the same position, the second connecting arm and the first connecting arm have an angle of 171.1°, the first fourth connecting arm and the second connecting arm have an angle of 28.28°, and the second fourth connecting arm and the bottom of the ocean ranch have an angle of 4.09°. After the camera reaches this position, the first connecting arm rotates 360° and stops.

[0198] At this point, the ocean ranch inspection is completed and the robotic arm is retracted to its initial position.

[0199] like Fig.32 The control board microcontroller circuit shown uses STM32F103RCT6, in which Y1, C3 and C4 form a crystal oscillator circuit, and R2 and C5 form a reset circuit.

[0200] like Fig.33 , Fig.34 and Fig.35 The control circuit shown is composed of a pull-up resistor and a filter capacitor, and is used for the control board to control each connecting arm, camera and lighting lamp.

Claims

1. Monitoring equipment used in marine ranches, characterized by: The invention comprises an underwater fixing device (1300), to which a first driving device (200) is sealedly connected via a third connecting arm (1000), a driving end of the first driving device rotates in a horizontal direction, a driving end of the first driving device is sealedly connected to at least one second driving device (400) via a first connecting arm (300), a driving end of the second driving device rotates in a vertical direction, a driving end of the second driving device is sealedly connected to a second connecting arm (500), an end of the second connecting arm away from the second driving device is sealedly connected to a camera device (700) via at least one vertical swing assembly (600), and at least one lighting device (800) is provided at a position close to the camera device on the vertical swing assembly; The first connecting arm, the second connecting arm and the third connecting arm are each composed of at least one connecting section (301), wherein a wiring channel (302) is provided inside the connecting section; the plurality of connecting sections are sealed and connected via a flange assembly (1100) and / or a clamp assembly (1200); The clamp assembly comprises a first clamp (1201) and a second clamp (1202), wherein the outer wall of the first clamp is provided with a first screw hole (1203) and a second screw hole (1204), and the outer wall of the second clamp is provided with a third screw hole (1205) and a fourth screw hole (1206), wherein the third screw hole corresponds to the first screw hole, and the fourth screw hole corresponds to the second screw hole, the third screw hole is sealedly connected to the first screw hole by a bolt, and the fourth screw hole is sealedly connected to the second screw hole by a bolt; a first connecting flange (1203) is provided at one end of a connecting section; 207), a second connecting flange (1208) is provided at one end of the other connecting section, the second connecting flange corresponds to the first connecting flange, the second connecting flange and the first connecting flange are sealedly connected via a first clamp and a second clamp, a bowl-shaped plug seat (1103) is provided on the first connecting flange or the second connecting flange, a bowl-shaped plug hole (1104) is provided on the bowl-shaped plug seat, a bowl-shaped plug is provided in the bowl-shaped plug hole, the bowl-shaped plug is pressed in the bowl-shaped plug hole via a pressure cover (1106), and the pressure cover is located between the second connecting flange and the first connecting flange; The first driving device comprises a first fixed sleeve (201), the first fixed sleeve is sealedly connected to one end of the third connecting arm, a first motor (202) is provided inside the first fixed sleeve, a first rotating sleeve (203) is provided on the first fixed sleeve in a sealed and rotatable manner, and the first rotating sleeve is connected to the driving end of the first motor; the second driving device comprises a second fixed sleeve (401), the second fixed sleeve is sealedly connected to one end of the first connecting arm away from the first driving device, a second motor (402) is provided inside the second fixed sleeve, a second rotating sleeve (403) is provided on the second fixed sleeve in a sealed and rotatable manner, and the second rotating sleeve is connected to the driving end of the second motor; Monitoring equipment used in marine ranches and environmental monitoring methods for marine ranches, The following steps are included: (a) placing a marine ranch monitoring device in an initial state on the bottom of or inside the marine ranch, the marine ranch monitoring device being located at or near the center of the bottom of the marine ranch; (b) activating a power switch of the marine ranch monitoring device in the water so that the first drive device, the second drive device, the third drive device, the camera device and the lighting device are all in an activated state; (c) The control panel of the marine ranch monitoring device in the startup state controls the third driving device near the camera device to rotate in the vertical direction. When the shooting direction of the camera device is perpendicular to the bottom surface of the marine ranch, the control panel controls the third driving device to stop rotating. At this time, the center position of the bottom of the marine ranch is within the shooting field angle range of the camera device, and the distance between the camera device and the bottom of the marine ranch is L; (d) when the shooting direction of the camera device in step (c) is perpendicular to the bottom of the ocean ranch, the control board controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction; (e) After the first driving device in step (d) has completed its rotation, the control panel controls the driving ends of the second driving device and the third driving device to rotate at appropriate angles in the vertical direction simultaneously, so that the camera device moves a distance M toward the side wall of the ocean ranch while ensuring that the shooting direction of the camera device is perpendicular to the bottom of the ocean ranch; (f) After the camera device in step (e) moves a distance M toward the side wall of the ocean ranch, the control panel controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction; (g) looping steps (e) and (f) until the camera device has captured the entire bottom surface of the ocean ranch; (h) After the camera device has finished photographing the entire bottom surface of the ocean ranch, the control panel controls the driving ends of the second driving device and the third driving device to simultaneously rotate at appropriate angles in the vertical direction, so that the shooting direction of the camera device is perpendicular to the position of the side wall of the ocean ranch close to the bottom, and the distance between the camera device and the side wall of the ocean ranch is S; (i) when the shooting direction of the camera device is perpendicular to the side wall of the ocean ranch near the bottom, the control panel controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction; (j) After the first driving device in step (i) has completed its rotation, the control panel controls the driving ends of the second driving device and the third driving device to rotate at appropriate angles in the vertical direction simultaneously, so that the camera device moves a distance N along the side wall of the ocean ranch toward the top of the ocean ranch while ensuring that the shooting direction of the camera device is perpendicular to the side wall of the ocean ranch; (k) After the camera device moves a distance N toward the top of the ocean ranch in step (j), the control panel controls the driving end of the first driving device to rotate 320 to 360 degrees in the horizontal direction; (l) looping steps (j) and (k) until the camera device has captured the entire side wall of the ocean ranch; The shooting field angle α of the camera device ranges from 10 degrees to 120 degrees; the moving distance M and the moving distance N are based on the existence of an overlapping area of ​​the shooting field angle α of two adjacent positions of the camera device; the distance L and the distance S are equal or different; the moving distance M and the moving distance N are equal or different.

2. The monitoring device for use in marine ranching according to claim 1 is characterized in that: The underwater fixing device comprises an underwater fixing block (1301) and an underwater locking block (1302), the underwater fixing block being provided with a plurality of first locking columns (13011) and / or a plurality of first locking grooves and / or a plurality of first locking holes, the underwater locking block being provided with a plurality of second locking columns and / or a plurality of second locking grooves (13022) and / or a plurality of second locking holes (13023), the second locking columns corresponding to the corresponding first locking grooves or first locking holes, and the second locking grooves or second locking holes corresponding to the corresponding first locking columns; The underwater locking block is sealedly connected to an end of the third connecting arm away from the first driving device.

3. The monitoring device for use in marine ranching according to claim 2 is characterized in that: A water-proof frame (13026) is provided inside the underwater locking block, and the water-proof frame is a sealed structure. An installation frame (13027) is provided inside the water-proof frame. At least one main battery (13028) is detachably provided inside the installation frame, and a control board (13029) is provided inside the installation frame, and the control board is electrically connected to the main battery; at least one backup battery (130212) is detachably provided inside the installation frame, and the backup battery is electrically connected to the control board.

4. The monitoring device for use in marine ranching according to claim 1 is characterized in that: The second drive device is connected to the first drive device via a safety connection piece (900).

5. The monitoring device for use in marine ranching according to claim 1 is characterized in that: The vertical swing assembly comprises a third drive device (601) and a fourth connecting arm, wherein the fixed end of the third drive device is sealedly connected to an end of the second connecting arm away from the second drive device, the driving end of the third drive device rotates in the vertical direction, one end of the fourth connecting arm is connected to the driving end of the third drive device, and the other end of the fourth connecting arm is sealedly connected to the camera device; the third drive device comprises a third fixed sleeve (6011), the third fixed sleeve is sealedly connected to an end of the second connecting arm away from the second drive device, a third motor (6012) is provided inside the third fixed sleeve, a third rotating sleeve (6013) is provided on the third fixed sleeve for sealing and rotation, the third rotating sleeve is connected to the driving end of the third motor, and the third rotating sleeve is sealedly connected to one end of the fourth connecting arm.

6. The monitoring device for use in marine ranching according to claim 1 is characterized in that: The camera device comprises a sealing cover (701), the sealing cover being sealingly connected to the vertical swing assembly, a first mounting tube (702) being sealingly provided on the sealing cover, a camera (703) being provided in the first mounting tube, a perspective mirror (704) being provided at one end of the first mounting tube away from the sealing cover, the perspective mirror being opposite to the camera head of the camera; and a wiper assembly (705) being provided on the first mounting tube, the wiper assembly being opposite to the perspective mirror.

7. The monitoring device for use in marine ranching according to claim 6 is characterized in that: The wiper assembly comprises a third mounting frame (7051), the third mounting frame is arranged inside the first mounting tube, a group of limit switches (7052) are arranged on the third mounting frame, a fourth motor (7053) is arranged on the third mounting frame, an output shaft (7054) is arranged on the driving end of the fourth motor, a toggle block (7055) is arranged on the output shaft, the toggle block is located between the group of limit switches, a mounting plate (7056) is rotatably arranged at one end of the output shaft away from the fourth motor, a wiper plate (7057) is detachably arranged on the mounting plate, and the wiper plate corresponds to the perspective mirror.

8. The monitoring device for use in marine ranching according to claim 1 is characterized in that: The lighting device comprises a second mounting tube (801), the second mounting tube is sealedly connected to a position on the vertical swing assembly close to the camera device or the camera device, a first bearing plate (802) is provided inside the second mounting tube, a driving plate (803) is provided on the first bearing plate, a heat dissipation plate (804) is provided on the driving plate, a second bearing plate (805) is provided inside the second mounting tube, a lighting lamp bead (806) is provided on the second bearing plate, the lighting lamp bead is electrically connected to the driving plate, and a light-transmitting mirror (807) is provided on the second mounting tube, the light-transmitting mirror is opposite to the lighting lamp bead.

9. The monitoring device for use in marine ranching according to claim 5 is characterized in that: The fourth connecting arm is composed of at least one connecting section (301), wherein a wiring channel (302) is provided inside the connecting section; the plurality of connecting sections are sealed and connected via a flange assembly (1100) and / or a clamp assembly (1200).

Images