Intelligent control buoy for deep sea lifting net cage

Abstract

The application relates to an intelligent control buoy of a deep-sea lifting net cage, belonging to the technical field of buoys, which comprises a buoy body, at least four groups of lifting mechanisms arranged on the buoy body, a positioner arranged on the lifting mechanism, position information in the lifting process being acquired through the positioner, the lifting mechanism being adjusted when the position information in the lifting process is not within a preset range, a buoyancy tester arranged on the buoy body, real-time buoyancy information being acquired through the buoyancy tester, the air intake of a first chamber being adjusted and the water intake of a second chamber being adjusted according to the real-time buoyancy information, so as to control the lifting of the buoy. According to the application, the air intake or water intake in the first chamber and the second chamber is dynamically adjusted according to the environmental characteristic change data in the target water area of the buoy, so that the weight of the overall buoy is adjusted, and the lifting movement of the buoy is more accurately adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of floating buoys, in particular to an intelligent control floating buoy of a deep-sea lifting net cage. BACKGROUND

[0002] The South China Sea has a large area and a suitable temperature, and is the main battlefield for the country to create a "blue granary" and practice the "big food concept" to develop marine aquaculture. However, extreme environments and weather such as typhoons and red tides often occur in the South China Sea, which usually causes great damage to marine facilities such as net cages, resulting in great property losses. Under such weather, the destructive energy of the sea mainly converges in the waves on the water surface, which not only seriously threatens the overall safety of traditional floating net cages on the water surface, but also is the main cause of death of the captive organisms in the net cage.

[0003] The net cage can be lifted in the water depth direction, which is one of the effective ways to avoid such destructive energy. Although the lifting net cage has been tried in China since the early "Tenth Five-Year Plan", it has not been widely applied due to imperfect materials, personnel quality and process technology. The lifting net cage mainly changes its weight to realize the conversion from the water surface to the underwater state, and the weight change is mainly achieved by air injection and water drainage weight reduction and water filling and emptying weight increase. Such components mainly include floating pipes and floating buoys. For small unit scale aquaculture facilities, it is an economical and effective way to develop an intelligent control floating buoy that matches such a net cage. Based on the existing shape and working principle of the floating buoy, the present application proposes an intelligent control floating buoy. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art and provides an intelligent control floating buoy of a deep-sea lifting net cage.

[0005] To achieve the above purpose, the technical solution adopted by the present application is as follows:

[0006] The present application provides an intelligent control floating buoy of a deep-sea lifting net cage in the first aspect, which comprises a floating buoy body,

[0007] At least four groups of lifting mechanisms are arranged on the floating buoy body, and the lifting mechanism comprises at least a first chamber and a second chamber;

[0008] A positioner is arranged on the lifting mechanism, and the position information during the lifting process is obtained through the positioner. When the position information during the lifting process is not within the preset range, the lifting mechanism is adjusted.

[0009] A buoyancy tester is arranged on the floating buoy body, and the real-time buoyancy information is obtained through the buoyancy tester. The air intake of the first chamber and the water intake of the second chamber are adjusted according to the real-time buoyancy information, so as to control the lifting of the floating buoy.

[0010] Further, in a preferred embodiment of the present buoy, a plurality of mounting grooves are arranged around the buoy body, and the lifting mechanism is fixedly mounted in the mounting grooves.

[0011] Further, in a preferred embodiment of the present buoy, the lifting mechanism comprises an adjusting cylinder, and the upper and lower portions of the adjusting cylinder are a first chamber and a second chamber.

[0012] Further, in a preferred embodiment of the present buoy, a telescopic rod is mounted on the top of the first chamber, an elastic member is sleeved on the outside of the telescopic rod, and the output end of the telescopic rod is connected with an adjusting block.

[0013] Further, in a preferred embodiment of the present buoy, the adjusting block is in sealing contact with the inside of the first chamber.

[0014] Further, in a preferred embodiment of the present buoy, a through hole is formed in the bottom of the second chamber, a first pipeline is mounted on the through hole, the other end of the first pipeline is connected with an electric control valve, and the electric control valve is connected with a second pipeline.

[0015] Further, in a preferred embodiment of the present buoy, a plurality of air holes are formed in the top of the adjusting cylinder, and a third pipeline is mounted on the air holes, the other end of the third pipeline is connected with a gas collecting device.

[0016] Further, in a preferred embodiment of the present buoy, the gas collecting device is internally arranged with gas.

[0017] The second aspect of the present application provides a control method of an intelligent control buoy of a deep-sea lifting net cage, which is applied to any one of the intelligent control buoys of the deep-sea lifting net cage, and comprises the following steps:

[0018] obtaining water density data information of a current water area, and calculating buoyancy information of the buoy in the current water area according to the water density data information of the current water area;

[0019] obtaining mass information of the current buoy, and calculating a force difference information according to the buoyancy information of the buoy in the current water area and the mass information of the current buoy, and determining a motion state of the current buoy based on the mass information of the current buoy;

[0020] obtaining motion state requirement information of the current buoy, and determining whether the motion state of the current buoy is the motion state requirement information of the current buoy;

[0021] when the motion state of the current buoy is not the motion state requirement information of the current buoy, controlling and adjusting the lifting mechanism of the buoy according to the force difference information.

[0022] Further, in the method, the water body density data information of the current water area is obtained, specifically comprising:

[0023] The water body density data information under different environmental characteristic data is obtained through big data, and a graph neural network is introduced, wherein the environmental characteristic data is taken as a first graph node of the graph neural network;

[0024] The water body density data information is taken as a second graph node of the graph neural network, the first graph node and the second graph node are connected through a directed edge to describe a relationship, a related topological structure graph is generated, and a water body density knowledge graph is constructed;

[0025] A related adjacency matrix is obtained according to the related topological structure graph, the adjacency matrix is sequentially input into the knowledge graph for storage, and environmental characteristic data information in the current water area is obtained through a wireless sensor;

[0026] The environmental characteristic data information in the current water area is input into the knowledge graph for data matching, and water body density data information under the environmental characteristic data in the current water area is obtained.

[0027] The present application solves the defects in the background art, and has the following advantages:

[0028] The present application adjusts the intake or water intake in the first chamber and the second chamber when the buoy moves up and down in the water area or the sea area according to the environmental characteristic change data in the buoy target water area, thereby adjusting the weight of the overall buoy, and further adjusting the up and down movement of the buoy more accurately. On the other hand, by setting at least four groups of lifting mechanisms, the four groups of lifting mechanisms can adjust the stability in the front and rear and left and right directions, so that the buoy moves more stably in the water area or the sea area, and completes the predetermined work task. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings of embodiments according to these drawings without creative labor.

[0030] Fig. 1 A perspective structural schematic view of the lifting cylinder is shown;

[0031] Fig. 2 A top view structural schematic view of the lifting cylinder is shown;

[0032] Fig. 3 A cross-sectional structure diagram of the lifting cylinder is shown.

[0033] In the drawings:

[0034] 1. pontoon body, 2. lifting mechanism, 201. adjusting cylinder, 2011. first chamber, 2012. second chamber, 202. telescopic rod, 203. elastic component, 204. adjusting block, 205. first pipeline, 206. electric control valve, 207. second pipeline, 208. third pipeline, 209. gas collecting device. DETAILED DESCRIPTION

[0035] In order to enable persons skilled in the art to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application will be further described in detail below in conjunction with the drawings and specific embodiments, which are all simplified schematic diagrams and only schematically show the basic structure of the present application, and thus only show the components related to the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0036] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and thus cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be understood as limiting the scope of protection of the present application. In addition, the terms “first”, “second” and the like are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with “first”, “second” and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified and limited, the term “a plurality of” means two or more.

[0037] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connection” should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0038] For the purpose of facilitating the understanding of the present application, a more complete description of the present application will be provided below with reference to the relevant drawings. The drawings show the preferred embodiments of the present application. However, the present application can be implemented in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0039] As shown in the drawings, the first aspect of the present application provides an intelligent control buoy for deep sea lifting net cage, comprising a buoy body 1, Figs. 1 to 3 At least four groups of lifting mechanisms 2 are arranged on the buoy body 1, and the lifting mechanism 2 at least comprises a first chamber 2011 and a second chamber 2012.

[0040] A positioning instrument is arranged on the lifting mechanism 2, and the positioning information in the lifting process is obtained through the positioning instrument. When the positioning information in the lifting process is not within the preset range, the lifting mechanism is adjusted.

[0041] It should be noted that, since there are four groups of lifting mechanisms 2, the positioning information of the four positions of each lifting mechanism can be obtained in real time through the positioning instrument arranged on the lifting mechanism 2. The four positioning information is used to determine whether the lifting mechanism 2 is vertically lowered or lowered at a certain angle range. When the positioning information in the lifting process is not within the preset range, the lifting mechanism is adjusted.

[0042] It should be noted that, by arranging at least four groups of lifting mechanisms, the four groups of lifting mechanisms can adjust the stability in the front-back and left-right directions, so that the buoy moves more stably in the water or sea area and completes the predetermined work task.

[0043] A buoyancy tester is arranged on the buoy body 1, and the real-time buoyancy information is obtained through the buoyancy tester. The air intake of the first chamber and the water intake of the second chamber are adjusted according to the real-time buoyancy information, so as to control the lifting of the buoy.

[0044]

[0045] ​It should be noted that, since different environmental characteristic data will change the buoyancy received by the buoy, such as water temperature, salinity and other data, the water density data information under different environmental characteristic data is obtained through big data acquisition, and a graph neural network is introduced, the environmental characteristic data is taken as the first graph node of the graph neural network; the water density data information is taken as the second graph node of the graph neural network, the first graph node and the second graph node are connected through directed edges to describe the relationship, a related topological structure graph is generated, and a water density knowledge graph is constructed; according to the related topological structure graph, a related adjacency matrix is obtained, the adjacency matrix is sequentially input into the knowledge graph for storage, and the environmental characteristic data information in the current water area is obtained through a wireless sensor; the environmental characteristic data information in the current water area is input into the knowledge graph for data matching, so as to obtain the water density data information under the environmental characteristic data in the current water area, so that the buoyancy data can be accurately obtained, and the accurate control of the buoy is completed. Thus, the water density data information of the current water area is obtained, and the buoyancy information received by the buoy in the current water area is calculated according to the water density data information of the current water area; the mass information of the current buoy is obtained, and the difference information of the force is calculated according to the buoyancy information received by the buoy in the current water area and the mass information of the current buoy, the motion state of the current buoy is determined based on the mass information of the current buoy; the motion state requirement information of the current buoy is obtained, and whether the motion state of the current buoy is the motion state requirement information of the current buoy is judged; when the motion state of the current buoy is not the motion state requirement information of the current buoy, the lifting mechanism of the buoy is controlled and adjusted according to the difference information of the force. The accurate control of the buoy is completed.

[0046] Further, in a preferred embodiment of the present buoy, a plurality of mounting grooves are arranged around the buoy body 1, and the lifting mechanism 2 is fixedly installed in the mounting grooves.

[0047] Further, in a preferred embodiment of the present buoy, the lifting mechanism 2 comprises an adjusting cylinder 201, and the upper and lower parts of the adjusting cylinder 201 are a first cavity 2011 and a second cavity 2012.

[0048] Further, in a preferred embodiment of the present buoy, a telescopic rod 202 is installed on the top of the first cavity 2011, an elastic member 203 is sleeved outside the telescopic rod 202, and an output end of the telescopic rod 202 is connected with an adjusting block 204.

[0049] It should be noted that when the actual required movement state is descending movement in the water area or the sea area, according to force analysis, when the buoyancy is greater than the gravity, the float will rise, at this time, the adjusting rod 204 is driven by the telescopic rod 202, so that the space of the first chamber 2011 is reduced, thereby increasing the space of the second chamber 2012, increasing the amount of water entering the second chamber 2012, increasing the weight of the float, and adjusting the state to descend. Conversely, when the required movement state is ascending movement and the actual state is descending movement, when the buoyancy is less than the gravity, the float will descend, the adjusting rod 204 is driven by the telescopic rod 202, so that the space of the first chamber 2011 is increased, thereby reducing the space of the second chamber 2012, reducing the amount of water entering the second chamber 2012, reducing the weight of the float, and adjusting the state to ascend.

[0050] Further, in a preferred embodiment of the present float, the adjusting block 204 is in sealing fit with the inside of the first chamber 2011.

[0051] It should be noted that in the adjusted movement, the sealing fit between the adjusting block 204 and the first chamber 2011 is maintained.

[0052] Further, in a preferred embodiment of the present float, a through hole is formed in the bottom of the second chamber 2012, and a first pipe 205 is installed on the through hole, the other end of the first pipe 205 is connected with an electric control valve 206, and the electric control valve 206 is connected with a second pipe 207.

[0053] It should be noted that in practice, water enters the electric control valve 206 through the second pipe 207, and then enters the second chamber 2012 through the first pipe 205. A water pump is arranged in the second chamber 2012, and the water pump is used to pump water into or out of the second chamber 2012. The electric control valve 206 is closed or opened according to the pumping or draining condition.

[0054] Further, in a preferred embodiment of the present float, a plurality of air holes are formed in the top of the adjusting cylinder 201, and a third pipe 208 is installed on the air holes, the other end of the third pipe 208 is connected with a gas collecting device 209.

[0055] It should be noted that the gas collecting device 209 can control the emission and inhalation of gas, thereby recycling or releasing gas, and achieving precise control.

[0056] Further, in a preferred embodiment of the present float, the gas collecting device 209 is internally arranged with gas.

[0057] In summary, the application adjusts the air or water intake in the first chamber and the second chamber when the buoy moves up and down in the water area or the sea area according to the environmental characteristic change data in the target water area of the buoy, so as to adjust the weight of the overall buoy, and further to more accurately adjust the up and down movement of the buoy. On the other hand, at least four sets of lifting mechanisms are arranged, so that the four sets of lifting mechanisms can adjust the stability in the front-rear and left-right directions, so that the buoy moves more stably in the water area or the sea area, and completes the scheduled work task.

[0058] The second aspect of the application provides a control method of an intelligent control buoy of a deep-sea lifting net cage, which is applied to any of the intelligent control buoys of the deep-sea lifting net cage and includes the following steps:

[0059] Obtaining water density data information of a current water area, and calculating buoyancy information of the buoy in the current water area according to the water density data information of the current water area;

[0060] Obtaining mass information of the current buoy, and calculating a force difference information according to the buoyancy information of the buoy in the current water area and the mass information of the current buoy, and determining a movement state of the current buoy based on the mass information of the current buoy;

[0061] Obtaining movement state requirement information of the current buoy, and determining whether the movement state of the current buoy is the movement state requirement information of the current buoy;

[0062] When the movement state of the current buoy is not the movement state requirement information of the current buoy, controlling and adjusting the lifting mechanism of the buoy according to the force difference information.

[0063] It should be noted that when the actual required movement state is a downward movement in the water area or the sea area, according to force analysis, when the buoyancy is greater than the gravity, the buoy will rise, at this time, the adjusting rod 204 is driven by the telescopic rod 202 to reduce the space of the first chamber 2011, so as to increase the space of the second chamber 2012, increase the water amount entering the second chamber 2012, increase the weight of the buoy, and adjust the state to move downward. Conversely, when the required movement state is upward movement and the actual state is downward movement, when the buoyancy is less than the gravity, the buoy will descend, the adjusting rod 204 is driven by the telescopic rod 202 to increase the space of the first chamber 2011, so as to reduce the space of the second chamber 2012, reduce the water amount entering the second chamber 2012, reduce the weight of the buoy, and adjust the state to move upward.

[0064] Further, in the method, the water density data information of the current water area is obtained, specifically including:

[0065] The water body density data information under different environment characteristic data is acquired through big data, and a graph neural network is introduced, wherein the environment characteristic data is taken as first graph nodes of the graph neural network;

[0066] The water body density data information is taken as second graph nodes of the graph neural network, the first graph nodes and the second graph nodes are connected through directed edges to describe the relationship, a related topological structure graph is generated, and a water body density knowledge graph is constructed;

[0067] A related adjacency matrix is acquired according to the related topological structure graph, the adjacency matrix is sequentially input into the knowledge graph for storage, and environment characteristic data information in a current water area is acquired through a wireless sensor;

[0068] The environment characteristic data information in the current water area is input into the knowledge graph for data matching, and water body density data information under the environment characteristic data in the current water area is acquired.

[0069] It should be noted that, since the buoyancy received by the buoy will change due to different environment characteristic data, such as water temperature, salinity and the like, the control accuracy of the buoy can be further improved through the method, so that the buoy can complete control according to the actual situation.

[0070] In summary, the application adjusts the air or water intake in the first chamber and the second chamber when the buoy moves up and down in the water area or the sea area according to the environment characteristic change data in the target water area of the buoy, thereby adjusting the weight of the overall buoy, and further adjusting the up and down movement of the buoy more accurately. On the other hand, by setting at least four groups of lifting mechanisms, the four groups of lifting mechanisms can adjust the stability in the front and rear and left and right directions, so that the buoy moves more stably in the water area or the sea area, and completes the predetermined work task.

[0071] In addition, the method can further include the following steps:

[0072] The historical water temperature change characteristic data information of the current water area is acquired through big data, and a water temperature prediction model is constructed based on a deep neural network, and a feature matrix is constructed according to the historical water temperature change characteristic data information of the current water area;

[0073] The feature matrix is input into the water temperature prediction model for coding learning, when the model parameters of the water temperature prediction model are within a preset parameter range, the model parameters of the water temperature prediction model are saved, and the water temperature prediction model is output;

[0074] The water body temperature prediction model is used to predict water body temperature data information of the current water area within a preset time, and water body density data information under the water body temperature data information of the current water area within the preset time is obtained;

[0075] The buoyancy information of the buoy is calculated according to the water body density data information under the water body temperature data information of the current water area within the preset time, and when the buoyancy information of the buoy is not greater than the maximum mass information that can be adjusted by the buoy, a corresponding time period is taken as an operation time period of the buoy.

[0076] It should be noted that the water temperature in the water area is actually affected by weather, season and other data, such as higher water body in summer sunny day, lower water temperature in winter snow day, and the like. When the buoyancy information of the buoy is not greater than the maximum mass information that can be adjusted by the buoy, it indicates that the buoy can still adjust the lifting movement. When the buoyancy information of the buoy is greater than the maximum mass information that can be adjusted by the buoy, it indicates that the buoy can only do the floating movement in the water area. Through the method, whether the buoy is suitable for operation can be determined according to the actual situation, and the operation efficiency of the buoy is improved.

[0077] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity. The skilled person should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by the skilled person.

[0078] According to the ideal embodiments of the present application, the above description, relevant personnel can make various changes and modifications without deviating from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. A control method of an intelligent control buoy of a deep-sea lifting net cage, comprising a buoy body, characterized in that, The method comprises the following steps: obtaining water density data information of the current water area, and calculating the buoyancy information of the buoy in the current water area according to the water density data information of the current water area; obtaining the mass information of the current buoy, and calculating the difference information of the force according to the buoyancy information of the buoy in the current water area and the mass information of the current buoy, and determining the motion state of the current buoy based on the mass information of the current buoy; obtaining the motion state requirement information of the current buoy, and determining whether the motion state of the current buoy is the motion state requirement information of the current buoy; when the motion state of the current buoy is not the motion state requirement information of the current buoy, the lifting mechanism of the buoy is controlled and adjusted according to the difference information of the force; wherein, obtaining the water density data information of the current water area, specifically comprising: obtaining the water density data information under different environmental characteristic data through big data, and introducing a graph neural network, taking the environmental characteristic data as the first graph node of the graph neural network; taking the water density data information as the second graph node of the graph neural network, connecting the first graph node and the second graph node through directed edges to describe the relationship, generating a related topological structure graph, and constructing a water density knowledge graph; obtaining a related adjacency matrix according to the related topological structure graph, inputting the adjacency matrix into the knowledge graph in sequence for storage, and obtaining environmental characteristic data information in the current water area through a wireless sensor; inputting the environmental characteristic data information in the current water area into the knowledge graph for data matching, and obtaining the water density data information under the environmental characteristic data in the current water area; The intelligent control buoy of the deep sea lifting net cage comprises at least four groups of lifting mechanisms arranged on the buoy body, and the lifting mechanism at least comprises a first chamber and a second chamber. A positioner is arranged on the lifting mechanism to obtain positioning information during the lifting process, and the lifting mechanism is adjusted when the positioning information during the lifting process is not within a preset range. A buoyancy tester is arranged on the buoy body to obtain real-time buoyancy information, and the air intake of the first chamber and the water intake of the second chamber are adjusted according to the real-time buoyancy information to control the lifting of the buoy.

2. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 1, characterized in that, A plurality of mounting grooves are arranged around the buoy body, and the lifting mechanism is fixedly installed in the mounting grooves.

3. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 1, characterized in that, The lifting mechanism comprises an adjusting cylinder, and the upper and lower parts of the adjusting cylinder are the first chamber and the second chamber.

4. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 3, characterized in that, A telescopic rod is installed on the top of the first chamber, an elastic member is sleeved outside the telescopic rod, and the output end of the telescopic rod is connected with an adjusting block.

5. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 4, characterized in that, The adjusting block is sealed and fitted with the inside of the first chamber.

6. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 1, characterized in that, A through hole is formed in the bottom of the second chamber, a first pipeline is installed in the through hole, the other end of the first pipeline is connected with an electric control valve, and the electric control valve is connected with a second pipeline.

7. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 3, characterized in that, A plurality of air holes are formed on the top of the adjusting cylinder, and a third pipeline is installed on the air holes, and the other end of the third pipeline is connected with a gas collecting device.

8. A control method of an intelligent control buoy of a deep-sea lifting net cage according to claim 7, characterized in that, The gas collecting device is internally arranged with gas.

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