Anchoring device applied to lifting net cage and control method thereof

Abstract

The application relates to an anchoring device applied to a lifting net cage and a control method thereof, and belongs to the technical field of aquaculture anchoring. The rope supply device comprises a rope supply machine shell, a first transverse mounting rod is arranged in the rope supply machine shell, a first rope winding drum is mounted on the first transverse mounting rod, a small pulley is fixed to the side of the first rope winding drum, a first bevel gear is fixed to the side of the small pulley, the first bevel gear is engaged with a second bevel gear, the second bevel gear is mounted on the output shaft of a motor, and the motor is fixed to the side wall of the rope supply machine shell. A frame rope series connection hole is formed in the rope supply device, underwater frame ropes are arranged to penetrate and connect the frame rope series connection holes on the plurality of rope supply devices, so that the plurality of rope supply devices are connected in series, and each rope supply device is connected to the lifting net cage through a net cage mooring rope. The application can stably moor the lifting net cage, and the net cage is sunk to a certain depth underwater to avoid destructive energy.

Description

Technical Field

[0001] This invention relates to the field of aquaculture anchoring technology, and in particular to an anchoring device and its control method for use in lifting net cages. Background Technology

[0002] Net cages are crucial equipment for humans to achieve marine aquaculture and ultimately manage the ocean. The overall safety of the net cages is a vital prerequisite for ensuring the survival of farmed aquatic products. my country's sea areas frequently experience extreme weather events, typically typhoons, which often cause severe sea conditions such as large waves and strong currents. The destructive energy is mainly concentrated on the surface waves, which not only seriously threaten the overall safety of traditional floating net cages but are also a major cause of death for farmed organisms within them. While the technology for deep-sea net cage equipment used in marine aquaculture is rapidly developing, and the industry has developed various types of net cage equipment with higher safety performance capable of withstanding super typhoons, there are still no effective measures for ensuring the survival of farmed aquatic products inside the cages. The instinct to seek advantage and avoid harm is inherent in living organisms. However, under extreme weather conditions, farmed organisms, due to their high density in limited aquaculture water, cannot exercise this instinct and are forced to work with the aquaculture equipment to withstand various environmental loads, ultimately leading to mass damage and death, resulting in severe losses. Summary of the Invention

[0003] This invention overcomes the shortcomings of the prior art and provides an anchoring device and its control method for use in lifting cages.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] The first aspect of the present invention provides an anchoring device for a lifting gabion, the anchoring device comprising a rope supply device:

[0006] The rope feeding device includes a rope feeding machine housing, a first transverse mounting rod is provided inside the rope feeding machine housing, a first rope drum is mounted on the first transverse mounting rod, a small pulley is fixed to the side of the first rope drum, a first bevel gear is fixed to the side of the small pulley, the first bevel gear meshes with a second bevel gear, the second bevel gear is mounted on the output shaft of a motor, and the motor is fixed to the side wall of the rope feeding machine housing.

[0007] The rope supply device has a frame rope series connection hole. Multiple rope supply devices are connected in series by underwater frame ropes passing through the frame rope series connection hole. Each rope supply device is connected to the lifting net box by a net box mooring rope, and the lifting net box is located at the center of the underwater frame rope.

[0008] Furthermore, in a preferred embodiment of the present invention, one end of an anchor leg rope is connected to the first rope drum of each of the rope supply devices, and the other end of the anchor leg rope passes through the outside of the rope supply machine housing and is fixed with a seabed mooring anchor.

[0009] Furthermore, in a preferred embodiment of the present invention, a second transverse mounting rod is provided inside the rope feeding machine housing, a second rope drum is mounted on the second transverse mounting rod, a large pulley is fixed to the side of the second rope drum, and a transmission belt is sleeved on the large pulley.

[0010] Furthermore, in a preferred embodiment of the present invention, the transmission belt is simultaneously fitted onto the small pulley so that the small pulley can transmit the synchronous rotational motion of the large pulley through the transmission belt. One end of the float rope is connected to the second rope drum, and the other end of the float rope passes through the outside of the rope supply machine housing and is fixed to the bottom of the float.

[0011] Furthermore, in a preferred embodiment of the present invention, a third transverse mounting rod is provided inside the rope supply machine housing, a third rope drum is mounted on the third transverse mounting rod, one end of the net cage mooring rope is connected to the third rope drum, and the other end of the net cage mooring rope passes through the outside of the rope supply machine housing and is provided with a connecting buckle.

[0012] Furthermore, in a preferred embodiment of the present invention, a spiral spring is fixedly installed on one side of the third rope drum, the other side of the spiral spring is fixed to the inner wall of the rope feeding machine housing, a speed sensor is installed on the spiral spring, a brake disc is provided on the side of the third rope drum, and an emergency braking device is provided on the inner wall of the rope feeding machine housing.

[0013] Furthermore, in a preferred embodiment of the present invention, the emergency braking device includes an integrated frame, a brake rod is connected to the middle of the integrated frame via a first rotating shaft, one end of a connecting rod is mounted on the brake rod, the other end of the connecting rod is provided with a ring, an eccentric disk is mounted inside the ring, an eccentric through hole in the middle of the eccentric disk is mounted on a second rotating shaft, the second rotating shaft is located in the middle of the integrated frame, and an arc-shaped brake groove is provided at the front end of the brake rod, the arc-shaped brake groove being located above the brake disc.

[0014] Furthermore, in a preferred embodiment of the present invention, a brake plate is provided on the side of the eccentric disk, an electromagnetic device is installed on the brake plate, and the same electromagnetic device is installed on the inner side of the integrated frame. The electromagnetic device includes a protective shell, an iron core is provided inside the protective shell, and an electrical wire is wound around the periphery of the iron core. The electrical wire is connected to the control system.

[0015] Another aspect of the present invention provides a control method for an anchoring device applied to a lifting gabion, applicable to any of the anchoring devices for lifting gabions described in the present invention, comprising the following steps:

[0016] The aquaculture requirements of the lifting cage are obtained, the aquaculture areas of aquatic organisms are extracted based on the aquaculture requirements, and the aquaculture areas of aquatic organisms are searched in the big data network to obtain a water quality point distribution gradient table.

[0017] Based on the big data network, an aquaculture knowledge graph is obtained. The survival characteristics of aquatic organisms are obtained through the aquaculture requirements of the lifting net cage. The survival characteristics are then imported into the aquaculture knowledge graph for searching to obtain the wave resistance energy coefficient of aquatic organisms.

[0018] Based on the water particle distribution gradient table, several water particle depths are obtained. A cosine similarity algorithm is then used to calculate the cosine similarity between the depth of each water particle and the wave resistance energy coefficient.

[0019] Determine whether the cosine similarity is greater than a preset cosine similarity. If it is greater, extract the depth of all water quality points that are greater than the preset cosine similarity. Sort all water quality point depths from smallest to largest and extract the largest water quality point depth to obtain the optimal water quality point depth value.

[0020] The maximum length of the mooring rope of the cage is obtained, and the actual length of the mooring rope of the cage and the lifting cage are obtained when they are parallel. The maximum lifting depth of the lifting cage is obtained by combining the maximum length value and the actual length value in the trigonometric cosine formula.

[0021] If the maximum lifting depth is lower than the optimal water quality point depth, it means that the lifting cage still cannot reach the optimal water quality point when it descends to the maximum length that the mooring rope can extend. The deviation between the maximum lifting depth and the optimal water quality point depth is calculated to obtain the deviation rate. Based on the deviation rate, the motor is controlled to drive the anchor leg rope to retract so that the maximum lifting depth of the lifting cage can reach the optimal water quality point.

[0022] Furthermore, in a preferred embodiment of the present invention, the following steps are also included:

[0023] Obtain the current rotational speed value detected by the rotational speed sensor, calculate the difference between the current rotational speed and the preset rotational speed, and obtain the deviation threshold.

[0024] A hash algorithm is introduced to calculate the hash value between the deviation threshold and the preset deviation threshold, and it is determined whether the hash value is greater than the preset hash value;

[0025] If the value is greater than the value, it indicates that the current rotation speed is too fast. The electromagnetic device is energized based on the hash value to make the control arc brake groove swing downward to perform emergency braking on the brake disc.

[0026] The beneficial technical effects of this invention are as follows:

[0027] The motor rotates, and its output shaft, via a second bevel gear, causes the first bevel gear to rotate. The rotation of the first bevel gear, in turn, causes a small pulley to drive the first rope drum to rotate. At this time, the anchor leg rope on the first rope drum is released and extended, allowing the rope supply device to stop at the required depth for the underwater frame rope. Aquaculture personnel can then maneuver their fishing boats to deploy the seabed mooring anchors from each rope supply device to their corresponding optimal mooring points, thus achieving a secure mooring effect for the underwater frame rope formed by multiple rope supply devices and completing the construction of the mooring system framework. During the extension of the anchor leg rope by the rope supply device, the motor drives the small pulley to rotate via the first and second bevel gears. Driven by a transmission belt, the large pulley rotates, gradually releasing and extending the float rope on the second rope drum. Under the buoyancy of the float, it extends towards the sea surface, allowing the float to rise above the water. This enables the rope supply device to pull down the mooring rope of the lifting net cage when it is suspended on the water, ensuring a safe distance between the netting and the mooring rope. When the net cage sinks below the water surface, it serves as a marker indicating its location in the sea area. Simultaneously, it provides sufficient buoyancy for the lifting net cage to hover underwater, improving the safety and reliability of its lifting and lowering, and providing precise positioning for maintenance and replacement work by aquaculture personnel. This invention can stably moor the lifting net cage, sinking it to a certain depth underwater to avoid destructive energy. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained from these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the overall structure of the anchoring device;

[0030] Figure 2 This is a front view structural diagram of the anchoring device;

[0031] Figure 3 A schematic diagram of the overall structure of the rope supply device;

[0032] Figure 4 A schematic diagram of the internal structure of the rope supply device;

[0033] Figure 5 A schematic diagram of the internal structure of the rope supply device;

[0034] Figure 6 This is a schematic diagram showing the installation position of the arc-shaped brake groove and the brake disc;

[0035] Figure 7 This is a schematic diagram of the internal structure of an emergency braking device.

[0036] Figure 8 This is a schematic diagram of the mounting structure of the connecting rod and the eccentric disk;

[0037] Figure 9 This is a cross-sectional schematic diagram of the electromagnetic device.

[0038] The annotations in the attached figures are explained as follows:

[0039] 101. Rope supply device; 102. Rope supply housing; 103. First transverse mounting rod; 104. First rope drum; 105. Small pulley; 106. First bevel gear; 107. Second bevel gear; 108. Motor; 109. Anchor leg rope; 201. Seabed mooring anchor; 202. Second transverse mounting rod; 203. Second rope drum; 204. Large pulley; 205. Drive belt; 206. Float rope; 207. Float; 208. Frame rope tandem hole; 209. Underwater frame rope; 301. Net cage mooring rope 302. Lifting cage; 303. Third horizontal mounting rod; 304. Third rope drum; 305. Connecting buckle; 306. Spiral spring; 307. Brake disc; 308. Emergency braking device; 309. Integrated frame; 401. First rotating shaft; 402. Brake lever; 403. Connecting rod; 404. Ring; 405. Eccentric disc; 406. Second rotating shaft; 407. Arc-shaped brake groove; 408. Brake plate; 409. Electromagnetic device; 501. Protective shell; 502. Iron core; 503. Electrical wire. Detailed Implementation

[0040] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner. Therefore, they only show the components related to the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0041] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0044] like Figure 1 As shown, the first aspect of the present invention provides an anchoring device for a lifting cage, the anchoring device including a rope supply device 101.

[0045] like Figure 1 , 2 As shown in Figures 3, 4, and 5, the rope feeding device 101 includes a rope feeding housing 102. A first transverse mounting rod 103 is provided inside the rope feeding housing 102. A first rope drum 104 is mounted on the first transverse mounting rod 103. A small pulley 105 is fixed to the side of the first rope drum 104. A first bevel gear 106 is fixed to the side of the small pulley 105. The first bevel gear 106 meshes with a second bevel gear 107. The second bevel gear 107 is mounted on the output shaft of a motor 108. The motor 108 is fixed to the side wall of the rope feeding housing 102.

[0046] like Figure 1 , 2 As shown in Figure 3, one end of the anchor leg rope 109 is connected to the first rope drum 104 of each of the rope supply devices. The other end of the anchor leg rope 109 passes through the outside of the rope supply machine housing 102 and is fixed with a seabed mooring anchor 201.

[0047] It should be noted that before a certain number of rope supply devices are fixed in place by the underwater frame rope 209 and deployed to the aquaculture area, the seabed mooring anchor 201 on each rope supply device must be deployed to the optimal mooring point in the aquaculture area. At this time, the aquaculture personnel control the motor 108 to rotate, and the output shaft of the motor 108 drives the second bevel gear 107 to rotate, thereby causing the second bevel gear 107 to drive the first bevel gear 106 to rotate. When the first bevel gear 106 rotates, the small pulley 105 will rotate synchronously, and the small pulley 105 will drive the first rope drum 104 to rotate. At this time, the anchor leg rope 109 on the first rope drum 104 will be released and extended. When the anchor leg rope 109 extends to the predetermined length... After the motor 108 stops operating, the rope supply device 101 stops at the required depth of the underwater frame rope 209. At this time, the aquaculture personnel can drive the fishing boat to drop the seabed mooring anchors 201 on each rope supply device to the corresponding optimal mooring point, thereby achieving a secure mooring effect on the underwater frame rope 209 formed by multiple rope supply devices 101, completing the construction of the mooring system framework, ensuring the stability of the mooring system for the lifting cage 302, improving the aquaculture performance of the lifting cage 302, greatly reducing the manual anchoring steps in traditional lifting cage 302 aquaculture, saving time and labor, and avoiding the impact of ocean wave energy on the lifting cage.

[0048] like Figure 4 As shown, a second transverse mounting rod 202 is provided inside the rope feeding machine housing 102. A second rope drum 203 is mounted on the second transverse mounting rod 202. A large pulley 204 is fixed to the side of the second rope drum 203. A transmission belt 205 is sleeved on the large pulley 204.

[0049] like Figure 1 , 2 As shown in Figures 3 and 4, the transmission belt 205 is simultaneously fitted onto the small pulley 105 so that the small pulley 105 can transmit the synchronous rotation of the large pulley 204 through the transmission belt 205. One end of the float rope 206 is connected to the second rope drum 203, and the other end of the float rope 206 passes through the outside of the rope supply machine housing 102 and is fixed to the bottom of the float 207.

[0050] It should be noted that during the process of extending the anchor leg rope 109 by the rope supply device 101, the motor 108 drives the small pulley 105 to rotate through the first bevel gear 106 and the second bevel gear 107. The small pulley 105, connected by the transmission belt 205, drives the large pulley 204 to rotate, causing the large pulley 204 to drive the second rope drum 203 to rotate. At this time, the float rope 206 on the second rope drum 203 will be gradually released and extended, and under the buoyancy of the float 207, it will extend towards the sea surface, thereby allowing the float 207 to float out of the water. When the lifting net cage 302 is suspended on the water surface, the rope supply device 101 pulls down the net cage mooring rope 301 to ensure that the lifting net cage 302 is suspended on the water surface. The netting on 02 maintains a safe distance from the mooring rope 301 of the net cage. When the net cage sinks below the water surface, it can serve as a marker point for the net cage's location in the sea area. At the same time, it provides sufficient buoyancy for the lifting net cage 302, enabling the lifting net cage 302 to hover underwater, improving the lifting safety and reliability of the lifting net cage 302. It also provides precise positioning for aquaculture personnel to maintain and replace the lifting net cage 302. The scattered anchor leg ropes 109 form an organic whole, providing the prerequisite for the independent implementation of the anchoring system at sea. This breaks the traditional mode of completing the anchoring system at sea and mooring one by one after the net cages are towed to the designated sea area, which greatly facilitates the offshore construction.

[0051] like Figure 1 , 2 As shown in Figure 3, the rope supply device 101 has a frame rope series connection hole 208. Multiple rope supply devices 101 are connected in series by underwater frame ropes 209. Each rope supply device 101 is connected to a lifting net box 302 by a net box mooring rope 301, and the lifting net box 302 is located at the center of the underwater frame rope 209.

[0052] like Figure 3 , 4 As shown in Figure 5, a third transverse mounting rod 303 is provided inside the rope supply machine housing 102. A third rope drum 304 is installed on the third transverse mounting rod 303. One end of the net cage mooring rope 301 is connected to the third rope drum 304. The other end of the net cage mooring rope 301 passes through the outside of the rope supply machine housing 102 and is provided with a connecting buckle 305.

[0053] like Figure 4 , 5 As shown in Figure 6, a spiral spring 306 is fixedly installed on one side of the third rope drum 304, and the other side of the spiral spring 306 is fixed to the inner wall of the rope feeding machine housing 102. A speed sensor is installed on the spiral spring 306. A brake disc 307 is provided on the side of the third rope drum 304, and an emergency braking device 308 is provided on the inner wall of the rope feeding machine housing 102.

[0054] It should be noted that since there are different product models and specifications of the lifting net cage 302, the appearance of different lifting net cages 302 varies. Therefore, a corresponding number of rope supply devices 101 should be used according to the appearance of the lifting net cage 302 to better moor and pull the lifting net cage 302 with a certain number of net cage mooring lines 301, thereby improving the aquaculture and lifting stability of the lifting net cage 302. After determining the number of rope supply devices 101, the aquaculture personnel pass one end of the underwater frame rope 209 through the frame rope connection hole 208 on each rope supply device 101 one by one. After passing through the last rope supply device 101, the two ends of the underwater frame rope 209 are tied and fixed. The position of each rope supply device 101 on the underwater mooring line 209 is adjusted so that the distribution of multiple rope supply devices 101 is a regular polygon. Then, the aquaculture personnel place the lifting net cage 302 in the center of the underwater frame rope 209 and moor the net cage on each rope supply device 101. The mooring line 301 is fastened to the lifting net cage 302 via the connecting buckle 305, thus mooring the lifting net cage 302 and the underwater frame rope 209 together. When the seabed mooring anchor 201 drags the underwater frame rope 209 to a predetermined depth and the lifting net cage 302 is in a state of dewatering and floating on the surface, the distance between the underwater frame rope 209 and the lifting net cage 302 gradually increases. Therefore, the net cage mooring line 301 will be pulled and extended. Due to the elastic effect of the spiral spring 306, the lifting net cage 302 is filled with water. As the cage gradually descends and approaches the underwater frame rope 209, each mooring rope 301 gradually retracts. Then, the lifting cage 302 continues to descend, and the distance between the underwater frame rope 209 and the lifting cage 302 increases again. At this time, the mooring rope 301 is pulled and extended again, giving it excellent self-adaptive extensibility and enabling stepless lifting and lowering adjustment of the lifting cage 302. At the same time, to ensure biological safety, it supports the flexibility of the lifting cage 302 in both surface and underwater operations according to sea conditions.

[0055] It should be noted that, due to the greatly reduced energy of underwater waves, the force exerted by waves on the suspended cage is significantly reduced, increasing the safety of the lifting cage 302 and reducing the severity of the living environment conditions for aquatic organisms inside the lifting cage 302. At the same time, the number of anchor legs can be further increased according to sea conditions and the shape of the cage to form a local radial mooring pattern as shown in the figure, thereby improving the aquaculture stability of the lifting cage.

[0056] like Figure 6 , 7As shown in Figure 8, the emergency braking device 308 includes an integrated frame 309. A brake lever 402 is connected to the middle of the integrated frame 309 via a first rotating shaft 401. One end of a connecting rod 403 is mounted on the brake lever 402. A ring 404 is provided at the other end of the connecting rod 403. An eccentric disc 405 is installed inside the ring 404. An eccentric through hole in the middle of the eccentric disc 405 is mounted on a second rotating shaft 406. The second rotating shaft 406 is located in the middle of the integrated frame 309. An arc-shaped brake groove 407 is provided at the front end of the brake lever 402. The arc-shaped brake groove 407 is located above the brake disc 307.

[0057] like Figure 7 , 8 As shown in Figure 9, a brake plate 408 is provided on the side of the eccentric disk 405, and an electromagnetic device 409 is installed on the brake plate 408. The same electromagnetic device 409 is installed on the inner side of the integrated frame 309. The electromagnetic device 409 includes a protective shell 501, and an iron core 502 is provided inside the protective shell 501. An electric wire 503 is wound around the outer periphery of the iron core 502, and the electric wire 503 is connected to the control system.

[0058] It should be noted that the amplitude of water particle movement decreases with increasing water depth, and wave energy also decreases accordingly. Therefore, the net cages on the water surface are lowered to a certain depth to avoid destructive energy. When the wave energy at sea increases, the aquatic organisms in the lifting net cage 302 should be placed at a water particle with lower wave energy. Therefore, the lifting net cage 302 is controlled to be lowered to the optimal water particle for aquaculture. During the descent of the lifting net cage 302 in an area with high wave energy, the waves will impact the lifting net cage 302, causing it to shift to one side. At this time, the mooring rope 301 of the net cage 302 on the side impacted by the waves will be quickly stretched outward, resulting in the lifting net cage 302 bobbing up and down, which damages the aquatic organisms inside the lifting net cage 302. Therefore, the speed sensor detects an abnormal speed and connects the current flowing in the opposite direction to the conductor 503 of the electromagnetic device 409 on the brake plate 408 and the integrated frame 309. The current in the conductor 503... The electromagnetic force generated by the flow around the iron core 502 causes the electromagnetic devices 503 on the brake plate 408 and the integrated frame 309 to form positive and negative electromagnetic poles. This causes the electromagnetic devices 503 on the brake plate 408 to be attracted downwards to the electromagnetic devices 503 on the integrated frame 309. This causes the eccentric disc 405 to rotate downwards through the brake plate 408. At this time, the eccentric disc 405 pulls the connecting rod 403 downwards, causing the arc-shaped brake groove 407 at the front end of the brake rod 402 to perform friction braking on the brake disc 307 on the third rope drum 304. This brakes the rapidly rotating third rope drum 304, preventing the mooring rope 301 of the net cage from stretching outwards further. This achieves the effect of fixing the lifting net cage 302 under the impact of sea waves, avoiding the lifting net cage 302 from shaking up and down, improving the stability and safety factor of the lifting net cage 302 in areas with high wave energy, ensuring that the aquatic organisms in the lifting net cage 302 are not damaged, achieving high-quality aquaculture with high reliability.

[0059] Another aspect of the present invention provides a control method for an anchoring device applied to a lifting gabion, applicable to any of the anchoring devices for lifting gabions described in the present invention, comprising the following steps:

[0060] The aquaculture requirements of the lifting cage are obtained, the aquaculture areas of aquatic organisms are extracted based on the aquaculture requirements, and the aquaculture areas of aquatic organisms are searched in the big data network to obtain a water quality point distribution gradient table.

[0061] Based on the big data network, an aquaculture knowledge graph is obtained. The survival characteristics of aquatic organisms are obtained through the aquaculture requirements of the lifting net cage. The survival characteristics are then imported into the aquaculture knowledge graph for searching to obtain the wave resistance energy coefficient of aquatic organisms.

[0062] Based on the water particle distribution gradient table, several water particle depths are obtained. A cosine similarity algorithm is then used to calculate the cosine similarity between the depth of each water particle and the wave resistance energy coefficient.

[0063] Determine whether the cosine similarity is greater than a preset cosine similarity. If it is greater, extract the depth of all water quality points that are greater than the preset cosine similarity. Sort all water quality point depths from smallest to largest and extract the largest water quality point depth to obtain the optimal water quality point depth value.

[0064] The maximum length of the mooring rope of the cage is obtained, and the actual length of the mooring rope of the cage and the lifting cage are obtained when they are parallel. The maximum lifting depth of the lifting cage is obtained by combining the maximum length value and the actual length value in the trigonometric cosine formula.

[0065] If the maximum lifting depth is lower than the optimal water quality point depth, it means that the lifting cage still cannot reach the optimal water quality point when it descends to the maximum length that the mooring rope can extend. The deviation between the maximum lifting depth and the optimal water quality point depth is calculated to obtain the deviation rate. Based on the deviation rate, the motor is controlled to drive the anchor leg rope to retract so that the maximum lifting depth of the lifting cage can reach the optimal water quality point.

[0066] It should be noted that the amplitude of water particle movement decreases with increasing water depth. However, some optimal water particle locations are relatively deep, and the length of the mooring ropes for the net cages is limited. When the lifting net cage is lowered, even with the mooring ropes pulled to their maximum length, it may still not reach the optimal water particle location. This results in the lifting net cage still being subjected to significant wave energy impact, which is detrimental to the high-quality aquaculture of aquatic organisms within the net cage. Therefore, the underwater frame ropes can be lowered as a whole to position the lifting net cage at the optimal water particle location when the mooring ropes are pulled to their limit. By calculating the deviation rate between the maximum lifting depth of the current lifting net cage and the optimal water particle location depth, the motor in the rope supply device can be adjusted to retract the anchor leg ropes. This ensures that the underwater frame ropes descend as a whole when the anchor leg ropes retract, avoiding damage to aquatic organisms from wave energy impact caused by lifting errors, reducing the mortality rate of aquatic organisms, and improving the accuracy and reliability of mooring aquaculture in lifting net cages.

[0067] Furthermore, in a preferred embodiment of the present invention, the following steps are also included:

[0068] Obtain the current rotational speed value detected by the rotational speed sensor, calculate the difference between the current rotational speed and the preset rotational speed, and obtain the deviation threshold.

[0069] A hash algorithm is introduced to calculate the hash value between the deviation threshold and the preset deviation threshold, and it is determined whether the hash value is greater than the preset hash value;

[0070] If the value is greater than the value, it indicates that the current rotation speed is too fast. The electromagnetic device is energized based on the hash value to make the control arc brake groove swing downward to perform emergency braking on the brake disc.

[0071] It should be noted that when the lifting cage descends in an area with high wave energy, the mooring rope will be stretched rapidly outwards. This causes the lifting cage to sway up and down, damaging the aquatic organisms inside and affecting the quality of aquaculture. Therefore, it is necessary to prevent the rapid stretching of the mooring rope. Friction braking is generated by the contact between the arc-shaped brake groove and the brake disc. The descent effect of the arc-shaped brake groove requires the mutual attraction of two electromagnetic devices. Therefore, the electromagnetic devices can be energized by judging whether the rotation speed of the third rope drum detected by the speed sensor exceeds the limit, so as to achieve an emergency braking effect, avoid the up-and-down swaying of the lifting cage caused by the rapid pulling of the mooring rope, improve the lifting stability of the lifting cage under high wave energy, enhance the safety factor of the mooring system, and ensure high reliability.

[0072] Furthermore, the control method for the anchoring device applied to a lifting cage also includes the following steps:

[0073] Obtain the product appearance model of the lifting cage, and determine the number of mooring points of the cage's mooring rope based on the product appearance model;

[0074] Based on the mooring point quantity information, the aquaculture area of ​​aquatic organisms is divided into corresponding sub-areas, resulting in multiple sub-aquaculture areas, and the mooring standard information of seabed mooring anchors is obtained.

[0075] Particle swarm optimization (PSO) algorithm is introduced. Based on the mooring standard information of the seabed mooring anchors, the PSO algorithm filters the mooring layout points of each sub-aquaculture area, updates the current position, velocity, and individual and global optimal position of all mooring layout points in each sub-aquaculture area, and iterates until the iteration termination threshold is met to obtain the optimal mooring layout point corresponding to each sub-aquaculture area.

[0076] A three-dimensional simulation model of the mooring device is constructed using three-dimensional simulation software, and the optimal mooring layout points corresponding to each sub-aquaculture area are fitted to obtain the optimal mooring layout diagram. Based on the optimal mooring layout diagram, the lifting cage is simulated in the three-dimensional simulation model of the mooring device to obtain the simulation error.

[0077] Determine whether the simulation error is within the allowable error range. If not, re-select the optimal anchorage layout points for each sub-aquaculture area until the simulation error is within the allowable error range.

[0078] It should be noted that seabed mooring anchors must be deployed to appropriate mooring points to ensure the stable raising and lowering of lift-up net cages. If seabed mooring anchors are deployed arbitrarily to the ocean floor without adhering to mooring standards, errors may occur in the raising and lowering of the lift-up net cages on the mooring device, thus preventing them from reaching the ideal water quality point and seriously affecting the aquatic organism cultivation quality within the net cages. This method can efficiently and accurately select the mooring placement points of seabed mooring anchors, thereby avoiding the raising and lowering error rate of lift-up net cages failing to reach the ideal water quality point, improving the mooring quality and performance of the mooring device, and ensuring the stability and reliability of the mooring device.

[0079] The above description, based on preferred embodiments of the present invention, is quite specific and detailed, but it should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. An anchoring device for a lifting gabion cage, the anchoring device comprising a rope supply device, characterized in that: The rope feeding device includes a rope feeding machine housing, a first transverse mounting rod is provided inside the rope feeding machine housing, a first rope drum is mounted on the first transverse mounting rod, a small pulley is fixed to the side of the first rope drum, a first bevel gear is fixed to the side of the small pulley, the first bevel gear meshes with a second bevel gear, the second bevel gear is mounted on the output shaft of a motor, and the motor is fixed to the side wall of the rope feeding machine housing. The rope supply device has a frame rope series connection hole. Multiple rope supply devices are connected in series by underwater frame ropes. Each rope supply device is connected to a lifting net box by a net box mooring rope, and the lifting net box is located at the center of the underwater frame rope. A third transverse mounting rod is provided inside the rope supply machine housing. A third rope drum is mounted on the third transverse mounting rod. One end of the net cage mooring rope is connected to the third rope drum. The other end of the net cage mooring rope passes through the outside of the rope supply machine housing and is provided with a connecting buckle. The third rope drum has a spiral spring fixedly installed on one side, and the other side of the spiral spring is fixed to the inner wall of the rope feeding machine housing. A speed sensor is installed on the spiral spring. A brake disc is provided on the side of the third rope drum, and an emergency braking device is provided on the inner wall of the rope feeding machine housing. The emergency braking device includes an integrated frame, with a brake lever connected to the middle of the integrated frame via a first rotating shaft. One end of the brake lever is mounted on the brake lever, and the other end of the connecting rod is provided with a ring. An eccentric disc is mounted inside the ring, and an eccentric through hole in the middle of the eccentric disc is mounted on a second rotating shaft. The second rotating shaft is located in the middle of the integrated frame. An arc-shaped brake groove is provided at the front end of the brake lever, and the arc-shaped brake groove is located above the brake disc. A brake plate is provided on the side of the eccentric disk, and an electromagnetic device is installed on the brake plate. The same electromagnetic device is installed on the inside of the integrated frame. The electromagnetic device includes a protective shell, and an iron core is provided inside the protective shell. An electric wire is wound around the outside of the iron core, and the electric wire is connected to the control system.

2. The anchoring device for a lifting gabion according to claim 1, characterized in that, Each of the aforementioned rope supply devices has an anchor leg rope attached to one end of its first rope drum, and the other end of the anchor leg rope passes through the outside of the rope supply machine housing and is fixed with a seabed mooring anchor.

3. The anchoring device for a lifting gabion according to claim 1, characterized in that, The rope feeding machine housing is provided with a second transverse mounting rod, on which a second rope drum is mounted. A large pulley is fixed to the side of the second rope drum, and a transmission belt is fitted onto the large pulley.

4. The anchoring device for a lifting gabion according to claim 3, characterized in that, The transmission belt is simultaneously fitted onto the small pulley so that the small pulley can transmit the synchronous rotation of the large pulley through the transmission belt. One end of the float rope is connected to the second rope drum, and the other end of the float rope passes through the outside of the rope supply machine housing and is fixed to the bottom of the float.

5. A control method for an anchoring device applied to a lifting gabion, applicable to the anchoring device for a lifting gabion as described in any one of claims 1-4, characterized in that, Includes the following steps: The aquaculture requirements of the lifting cage are obtained, the aquaculture areas of aquatic organisms are extracted based on the aquaculture requirements, and the aquaculture areas of aquatic organisms are searched in the big data network to obtain a water quality point distribution gradient table. Based on the big data network, an aquaculture knowledge graph is obtained. The survival characteristics of aquatic organisms are obtained through the aquaculture requirements of the lifting net cage. The survival characteristics are then imported into the aquaculture knowledge graph for searching to obtain the wave resistance energy coefficient of aquatic organisms. Based on the water particle distribution gradient table, several water particle depths are obtained. A cosine similarity algorithm is then used to calculate the cosine similarity between the depth of each water particle and the wave resistance energy coefficient. Determine whether the cosine similarity is greater than a preset cosine similarity. If it is greater, extract the depth of all water quality points that are greater than the preset cosine similarity. Sort all water quality point depths from smallest to largest and extract the largest water quality point depth to obtain the optimal water quality point depth value. The maximum length of the mooring rope of the cage is obtained, and the actual length of the mooring rope of the cage and the lifting cage are obtained when they are parallel. The maximum lifting depth of the lifting cage is obtained by combining the maximum length value and the actual length value in the trigonometric cosine formula. If the maximum lifting depth is lower than the optimal water quality point depth, it means that the lifting cage still cannot reach the optimal water quality point when it descends to the maximum length that the mooring rope can extend. The deviation between the maximum lifting depth and the optimal water quality point depth is calculated to obtain the deviation rate. Based on the deviation rate, the motor is controlled to drive the anchor leg rope to retract so that the maximum lifting depth of the lifting cage can reach the optimal water quality point.

6. The control method for an anchoring device applied to a lifting gabion according to claim 5, characterized in that, It also includes the following steps: Obtain the current rotational speed value detected by the rotational speed sensor, calculate the difference between the current rotational speed and the preset rotational speed, and obtain the deviation threshold. A hash algorithm is introduced to calculate the hash value between the deviation threshold and the preset deviation threshold, and it is determined whether the hash value is greater than the preset hash value; If the value is greater than the value, it indicates that the current rotation speed is too fast. The electromagnetic device is energized based on the hash value to make the control arc brake groove swing downward to perform emergency braking on the brake disc.

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