Sectional type lifting control system and method suitable for pneumatic type lifting culture net cage

Abstract

The invention discloses a sectional type lifting control system and method suitable for a pneumatic type lifting culture net cage, and relates to the field of mariculture. The sectional type lifting control system suitable for the pneumatic type lifting culture net cage comprises a sectional type lifting control facility and a sectional type lifting automatic control inflation device. Each group of sectional lifting control facilities is formed by connecting flexible components and heavy blocks in series at intervals, wherein the flexible components and the heavy blocks are the same in number; the sectional type lifting automatic control inflation device comprises a sensor unit, a lifting controller, a starter and inflation equipment. The vertical distance between the top of the net cage frame and the seabed is measured through the underwater distance measuring sensor, the movement speed of the net cage frame in the vertical direction is measured through the speed sensor, and the lifting controller sends an operation instruction to the starter according to sensor measurement signals and net cage sectional type lifting control parameters so as to control opening or closing of the inflation equipment. Safety of culture facilities and culture objects is guaranteed through sectional control over the lifting process of the culture net cage.

Description

Technical Field

[0001] The present application relates to the technical field of marine aquaculture, and in particular to a segmented lifting control system and method suitable for pneumatic lifting aquaculture cages. Background Art

[0002] With the saturation of aquaculture density in the bay and nearshore waters and the increasing demand for high-quality aquatic protein, it is an inevitable trend for aquaculture cages to develop outside the bay with vast sea areas and good water quality, or even in deep and distant waters. However, due to the often harsh sea conditions outside the bay and in deep and distant waters, aquaculture cages are usually raised and lowered to ensure the safety of aquaculture facilities and aquaculture objects.

[0003] At present, most of the lifting cages are pneumatic cages, which use air compressors to continuously inflate the variable buoyancy compartment of the cage frame to drain water or exhaust air to let in water to achieve the lifting of the cage. Since the lifting process of the cage, especially the floating process, cannot be accurately controlled, especially at the moment when the buoyancy of the cage breaks the balance, the cage will float up to dozens of meters in a short period of time, which not only threatens the structural safety of the cage itself, but also seriously damages the safety of the aquaculture objects, resulting in large-scale fish deaths, fattening, and bruises, which greatly limits the development and application of lifting cages. Summary of the invention

[0004] In order to solve the problems mentioned in the background technology, the present application provides a segmented lifting control system and method suitable for pneumatic lifting of aquaculture cages, which ensures the safety of aquaculture facilities and aquaculture objects through segmented control of the lifting process of the aquaculture cages.

[0005] To achieve the above objectives, this application provides the following solutions.

[0006] On the one hand, the present application provides a segmented lifting control system suitable for pneumatic lifting aquaculture cages, comprising: one or more groups of segmented lifting control facilities and segmented lifting automatic control inflation devices;

[0007] Each set of segmented lifting control facilities is made of the same number of flexible components and weight blocks connected in series at intervals; wherein the first segment of the flexible component at the top is connected to the bottom of the cage frame of the aquaculture cage;

[0008] The sectional lifting automatic control inflation device comprises a sensor unit, a lifting controller, a starter and an inflation device; the sensor unit comprises an underwater distance measuring sensor, a speed sensor and a signal cable; the underwater distance measuring sensor and the speed sensor are fixed on the top of the cage frame; the underwater distance measuring sensor is used to measure the vertical distance between the top of the cage frame and the seabed; the speed sensor is used to measure the movement speed of the cage frame in the vertical direction; one end of the signal cable is connected to the underwater distance measuring sensor and the speed sensor; when the aquaculture cage is floating up, the other end of the signal cable is connected to the signal input end of the lifting controller; the signal output end of the lifting controller is connected to the signal input end of the starter; the signal output end of the starter is connected to the electrical interface of the inflation device; when the aquaculture cage is floating up, the inflation interface of the inflation device is connected to the cage frame of the aquaculture cage through the inflation and exhaust pipes.

[0009] Optionally, a single group of the segmented lifting control facilities is arranged at the center of the bottom of the cage frame, or multiple groups are evenly arranged in a ring along the bottom of the cage frame.

[0010] Optionally, the length L of a single flexible member when stretched tight is flex And the height of the single weight L hb The sum satisfies the formula Where H is the vertical distance between the bottom of the cage frame and the seabed when the aquaculture cage floats to the sea surface; c is the vertical distance between the bottom weight of the segmented lifting control facility and the seabed when the aquaculture cage floats to the sea surface; ρ is the seawater density in the sea area where the aquaculture cage is located; g is the acceleration of gravity; Δp is the maximum pressure change that the aquaculture object can withstand in a short period of time; symbol Indicates rounding up to an integer.

[0011] Optionally, the weight of a single-segment flexible member M dflex And the weight of a single weight block M dhb Satisfy the formula Among them, M flex is the total air weight of the flexible component; M hb is the total air weight of the weight; N s N is the number of flexible components or weights in each set of sectional lifting control facilities; g The number of sectional lifting control facilities arranged at the bottom of the cage frame.

[0012] Optionally, the number N of flexible components or weights in each set of segmented lifting control facilities is s Equal to the number of sections n for raising and lowering the aquaculture cage fs ; h is the maximum rising height of the cultured object.

[0013] Optionally, when not in operation, the signal cable is disconnected from the lifting controller, a waterproof sealing head is installed at the interface, and a buoy is tied to float on the sea.

[0014] Optionally, the signal cable is tied and fixed side by side with the inflation and exhaust air pipes of the cage frame.

[0015] On the other hand, the present invention further provides a sectional lifting control method applicable to a pneumatic lifting aquaculture cage, which is applied to the sectional lifting control system applicable to a pneumatic lifting aquaculture cage; the sectional lifting control method applicable to a pneumatic lifting aquaculture cage comprises:

[0016] The cage segmented lifting control parameters are set by the lifting controller; the cage segmented lifting control parameters include the single-segment lifting height L of the segmented lifting control facility. ss , allowable height deviation E, initial position of cage frame h init And the interval time T; the single-stage lifting height L ss Equal to the length L of a single flexible member when it is stretched tight flex And the height of the single weight L hb sum;

[0017] The vertical distance D between the top of the cage frame and the seabed is measured by an underwater distance measuring sensor and sent to the lifting controller;

[0018] The speed sensor measures the vertical movement speed V of the cage frame and sends it to the lifting controller;

[0019] The lifting controller sends an operation instruction to the starter according to the vertical distance D between the top of the cage frame and the seabed, the vertical movement speed V of the cage frame and the cage segmented lifting control parameters;

[0020] The starter controls the opening or closing of the inflatable device according to the operating instructions.

[0021] Optionally, the lifting controller sends an operation instruction to the starter according to the vertical distance D between the top of the cage frame and the seabed, the vertical movement speed V of the cage frame and the cage segmented lifting control parameters, specifically including:

[0022] When D=n*L flex +h init ±E and V=0, the lifting controller sends a stop inflation operation instruction to the starter, and the starter controls the inflation device to shut down; where n=1,2,3..n fs ;n fs The number of sections for raising and lowering the aquaculture cages;

[0023] When the closing time of the inflatable device = the segmented intermittent time T, the lifting controller sends an instruction to start the inflation operation to the starter, and the starter controls the inflatable device to turn on.

[0024] Optionally, the initial position h of the cage frame init =h cage +n fs *L hb ; where h cage is the cage frame height.

[0025] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0026] The present application provides a segmented lifting control system and method suitable for pneumatic lifting aquaculture cages. The segmented lifting control facility is formed by connecting the same number of flexible components and weights in series at intervals. The segmented lifting automatic control inflation device is composed of a sensor unit, a lifting controller, a starter and an inflation device. The vertical distance D between the top of the cage frame and the seabed is measured by the underwater ranging sensor in the sensor unit, and the movement speed V of the cage frame in the vertical direction is measured by the speed sensor. The lifting controller can send an operation instruction to the starter according to the signals D and V combined with the segmented lifting control parameters of the cage to control the opening or closing of the inflation device. The present application achieves the control goal of maintaining the balance of the buoyancy and suspending the lifting of the cage at different water depths through intermittent control of the cage inflation, giving the aquaculture objects time to adapt to the pressure of different water depths and improving the survival rate of the aquaculture objects. The segmented lifting control method of the present application effectively avoids the uncontrollable phenomenon of the cage lifting process, greatly ensuring the safety of the cage structure itself and the safety of the aquaculture objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a structural schematic diagram of a sectional lifting control facility;

[0029] Figure 2 It is a structural schematic diagram of a segmented lifting automatic control inflation device;

[0030] Figure 3 This is a schematic diagram of the state of the cage sinking to the seabed;

[0031] Figure 4 This is a schematic diagram of the state when the cage starts to float up;

[0032] Figure 5 It is a schematic diagram of the cage floating to the first segment height;

[0033] Figure 6It is a schematic diagram of the cage floating to the second segment height;

[0034] Figure 7 This is a schematic diagram of the cage floating to the sea surface;

[0035] Figure 8 Schematic diagram of the cage sinking process. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] The purpose of this application is to provide a segmented lifting control system and method suitable for pneumatic lifting of aquaculture cages, so as to ensure the safety of aquaculture facilities and aquaculture objects through segmented control of the lifting process of the aquaculture cages.

[0038] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] The embodiment of the present application provides a segmented lifting control system suitable for pneumatic lifting aquaculture cages, including: one or more groups of segmented lifting control facilities and segmented lifting automatic control inflation devices.

[0040] like Figure 1 As shown, the segmented lifting control facility is composed of a flexible member 1 and a weight block 2. Specifically, each group of segmented lifting control facilities is made of the same number of flexible members 1 and weight blocks 2 connected in series at intervals. The first section of the top flexible member is connected to the bottom of the cage frame of the breeding cage, such as Figures 4 to 8 The aquaculture cage described in this application is a pneumatic lifting aquaculture cage, which is also referred to as the cage in the following description. The side close to the sea surface is described as the top, and the side close to the seabed is described as the bottom.

[0041] In practical applications, the segmented lifting control facilities can be arranged in a single group at the center of the bottom of the cage frame, or multiple groups can be arranged, and multiple groups of segmented lifting control facilities can be evenly arranged in a ring shape along the bottom of the cage frame.

[0042] The single-section lifting height of the sectional lifting of the cage refers to the maximum height that each lifting section of the cage can lift during the sectional lifting process. The single-section lifting height is equal to the sum of the length of the single-section flexible member when it is tightened and the height of the single weight block. The single-section lifting height can be expressed by the following relationship:

[0043] Lss =L flex +L hb (1)

[0044] Among them, L ss is the lifting height of the cage in a single section, L flex is the length of the flexible member when it is stretched, L hb Height of a single weight block.

[0045] Cage single section lifting height L ss The specific method is determined based on the ecological needs of the aquaculture objects and the sea area where the cages are deployed.

[0046] The maximum rising height h of the aquaculture object is determined according to the maximum change in pressure Δp that the aquaculture object can withstand in a short period of time. The calculation formula is as follows:

[0047] h=Δp / (ρ*g)(2)

[0048] Among them, ρ is the seawater density in the sea area where the cage is located, and g is the acceleration of gravity.

[0049] Determine the number of sections n for cage lifting fs , the calculation formula is as follows:

[0050]

[0051] Where H is the vertical distance between the bottom of the cage frame and the seabed when the cage floats to the sea surface. Indicates rounding up to an integer.

[0052] Determine the lifting height L of the cage ss , the calculation formula is as follows:

[0053] L ss =(Hc) / n fs (4)

[0054] Where c is the vertical distance between the bottom weight of the sectional lifting control facility and the seabed when the cage floats to the sea surface, and the value is 1-3m according to the sea area conditions. Figure 7 shown.

[0055] Combining equations (2), (3) and (4), we can obtain the relationship between the single-stage lifting height of the cage, the maximum pressure change that the aquaculture object can withstand in a short period of time, and the water depth of the sea area where the cage is deployed:

[0056]

[0057] Substituting equation (1) into equation (5), we obtain the following relationship:

[0058]

[0059] That is to say, in each set of segmented lifting control facilities, the length L of a single segment of flexible components when stretched is flex And the height of the single weight L hb The sum must satisfy the condition of formula (6).

[0060] Furthermore, the total weight of the sectional lifting control facility is composed of two parts: the weight of the flexible component and the weight of the weight block, which is determined according to the buoyancy of the fixed buoyancy compartment of the cage, the buoyancy of the variable buoyancy compartment and the weight of the cage.

[0061] Among them, the buoyancy of the fixed buoyancy compartment of the cage, the buoyancy of the variable buoyancy compartment of the cage and the deadweight of the cage frame are determined by the structure and specifications of the cage, and belong to the inherent parameters of the cage. This application is applicable to various pneumatic lifting cages, and the above parameters of pneumatic lifting cages with different structures are also different.

[0062] When the cage floats to the sea surface, the relationship between the underwater weight of the segmented lifting control facility and the buoyancy and gravity of the cage is as follows:

[0063] M wars =F fix +k*F var -M warcage (7)

[0064] Among them, M wars F is the underwater weight of the sectional lifting control facility; fix is the buoyancy of the fixed buoyancy tank of the cage; k is the drainage coefficient of the variable buoyancy tank of the cage, with a value range of 0.7-0.9; F var M is the buoyancy when the water in the variable buoyancy tank of the cage is completely emptied; warcage It is the weight of the cage in water.

[0065] The relationship between the weight in water and the weight in air of the sectional lifting control facility is as follows:

[0066]

[0067] Among them, M s is the air weight of the sectional lifting control facility, M flex is the total air weight of the flexible member, M hb is the total air weight of the weight; M warflex is the total weight of the flexible component in water, M warhb is the total weight of the weight in water; ρ is the seawater density in the sea area where the cage is located, ρ flex is the material density of the flexible component, ρ hb is the density of the weight material.

[0068] Weight of single-section flexible member M dflex And the weight of a single weight block M dhb The calculation formula is as follows:

[0069]

[0070] Among them, N s is the number of flexible components or weights in each set of sectional lifting control facilities, then N s =n fs ; N g The number of sectional lifting control facilities provided for the cages.

[0071] According to formula (9), M dflex 、M dhb These two parameters about weight, combined with L in formula (6) flex , L hb The two size parameters can determine the specifications of the flexible component and the weight. The flexible component in the segmented control facility can be made of anchor chain or high-strength fiber rope. The weight can be made of concrete.

[0072] like Figure 2 As shown, the segmented lifting automatic control inflation device includes a sensor unit, a lifting controller, a starter and an inflation device. Specifically, the sensor unit includes an underwater distance sensor, a speed sensor and a signal cable. Figure 3 As shown, the underwater distance sensor and the speed sensor (collectively referred to as the sensor 3) are fixed on the top of the cage frame 4; wherein the underwater distance sensor is used to measure the vertical distance D between the top of the cage frame and the seabed; the speed sensor is used to measure the movement speed V of the cage frame in the vertical direction. One end of the signal cable 5 is connected to the underwater distance sensor and the speed sensor 3; when the aquaculture cage is floating up, the other end of the signal cable 5 is connected to the signal input end of the lifting controller. The signal output end of the lifting controller is connected to the signal input end of the starter. The signal output end of the starter is connected to the electrical interface of the inflation device. When the aquaculture cage is floating up, the inflation interface of the inflation device is connected to the cage frame of the aquaculture cage through the inflation and exhaust pipes 6.

[0073] It should be noted that since the lifting controller, starter and inflation equipment are all installed on Figures 4 to 8 On the work boat 7 shown, the signal cable 5 is detachably connected to the lifting controller; the inflation and exhaust pipe 6 is also detachably connected to the inflation device. Figure 3 As shown, in the non-operating state, the signal cable 5 is disconnected from the lifting controller, the inflation and exhaust pipe 6 is disconnected from the inflation device, and waterproof sealing heads are installed at the respective interfaces and the floating ball 8 is tied to float on the sea surface. In practical applications, the signal cable 5 and the inflation and exhaust pipe 6 are usually tied and fixed side by side.

[0074] Specifically, the lifting controller includes a control unit, which is a processor with a human-machine interface. Depending on the type of sensor, the lifting controller may also be provided with a signal processing unit. This is because sensor signals are divided into analog signals and digital signals, and the processor of the control unit can only process digital signals. Therefore, the analog signals of analog sensors must be pre-processed and converted into digital signals before they can be transmitted to the control unit for further processing.

[0075] In practical applications, the sensor 3 (including underwater distance measuring sensor and speed sensor) can be an analog sensor or a digital sensor. Figure 2 As shown in part (a), when the sensor 3 is an analog sensor, the lifting controller includes a signal processing unit and a control unit. The signal processing unit includes a signal isolation amplifier and an analog-to-digital converter (A / D converter). The signal cable 5 is connected to the input end of the signal isolation amplifier; the sensor signal is isolated, amplified, and converted by the signal isolation amplifier and then output to the A / D converter; the A / D converter converts it into a digital signal and then transmits it to the control unit. Figure 2 As shown in part (b), when the sensor 3 is a digital sensor, the lifting controller does not need to be provided with a signal processing unit, and the signal cable is directly connected to the input terminal of the control unit.

[0076] The processor processes and calculates the received digital signal, and performs logical judgment in combination with the cage segmented lifting control parameters, and generates corresponding start / stop inflation operation instructions to the starter, thereby realizing the on / off operation control of the inflation equipment. The human-computer interaction interface has display and operation functions, and can display the underwater distance measurement signal (i.e. the vertical distance between the top of the cage frame and the seabed measured by the underwater distance measurement sensor) D and the speed signal (i.e. the vertical movement speed of the cage frame measured by the speed sensor) V in real time; and the cage segmented lifting control parameters can be set as needed, including setting the single-stage lifting height L of the segmented lifting control facility. ss , allowable height deviation E, initial position of cage frame h init , segment interval time T, etc.

[0077] The lifting controller sends an operation instruction to the starter according to the signals sent by the underwater ranging sensor and speed sensor combined with the sectioned lifting control parameters of the cage: when the underwater ranging signal D = n*L flex +h init ±E(n=1,2,3..n fs ) and the speed signal V=0, the starter controls the inflation device to close; when the inflation device closing time=segment interval time T, the starter controls the inflation device to open.

[0078] The starter is connected to the electrical interface of the inflation device, and performs the task of turning on or off the inflation device according to the operation instructions. The inflation device is an air compressor with corresponding power and flow rate selected according to the specifications of the net cage and the sinking water depth, and can fill the high-pressure gas into the net cage frame through the inflation and exhaust pipe 6. By connecting the starter to the control switch of the net cage inflation device, intermittent control of the net cage inflation is realized. The net cage can maintain the control target of buoyancy and suspension of lifting at different water depths, avoiding the phenomenon that the buoyancy of the net cage increases continuously during the lifting and lowering process, especially the floating process, but the gravity of the net cage remains unchanged, thereby causing the floating process to be uncontrollable.

[0079] Based on the sectional lifting control system applicable to the pneumatic lifting aquaculture cage, the present application also provides a sectional lifting control method applicable to the pneumatic lifting aquaculture cage, including:

[0080] S1: Setting the cage segmented lifting control parameters through the lifting controller; the cage segmented lifting control parameters include the single-segment lifting height L of the segmented lifting control facility ss , allowable height deviation E, initial position of cage frame h init And the interval time T; the single-stage lifting height L ss Equal to the length L of a single flexible member when it is stretched tight flex And the height of the single weight L hb sum.

[0081] S2: The vertical distance D between the top of the cage frame and the seabed is measured by an underwater ranging sensor and sent to the lifting controller.

[0082] S3: The speed sensor measures the vertical movement speed V of the cage frame and sends it to the lifting controller.

[0083] S4: The lifting controller sends an operation instruction to the starter according to the vertical distance D between the top of the cage frame and the seabed, the vertical movement speed V of the cage frame and the cage segmented lifting control parameters.

[0084] S5: The starter controls the opening or closing of the inflation device according to the operating instructions.

[0085] Specifically, when D = n*L flex +h init ±E and V=0, the lifting controller sends a stop inflation operation instruction to the starter, and the starter controls the inflation device to shut down; where n=1,2,3..n fs ;n fs The initial position h of the cage frame is init =h cage +n fs *L hb ; where hcage is the cage frame height.

[0086] When the closing time of the inflatable device = the segmented intermittent time T, the lifting controller sends an instruction to start the inflation operation to the starter, and the starter controls the inflatable device to turn on.

[0087] Combine the following Figures 3 to 8 The present application introduces the specific control process of a segmented lifting control system and method applicable to pneumatic lifting aquaculture cages. Figures 3 to 8 In the embodiment shown, the number N of flexible members or weights in each set of segmented lifting control facilities is s =n fs =4; Number of sectional lifting control facilities installed in a single cage N g =4, 4 segmented lifting control facilities are arranged at the four corners of the bottom of the cage frame.

[0088] 1) If Figure 3 As shown in the figure, when the cage sinks to the seabed, the weights in the segmented lifting control facility are piled on the seabed, the connection between the flexible member and the cage is not tightened, and there is no interaction between the two; the sea surface ends of the cage inflation and exhaust pipe 6 and the signal cable 5 are free and float on the sea surface through the buoy 8. At this time, the vertical distance D measured by the underwater ranging sensor is the initial position h of the cage frame. init =h cage +n fs *L hb ; where h cage is the height of the cage frame 4, n fs =4.

[0089] 2) When the cage is floating:

[0090] 2.1) If Figure 4 As shown, the working boat 7 travels to the vicinity of the net cage, connects the inflation and exhaust pipe 6 to the inflation device, connects the signal cable 5 to the signal input end of the lifting controller, and changes the initial position h of the net cage frame displayed on the lifting controller display interface. init Enter the operation interface and start the lifting controller. At this time, the starter controls the inflation device to start and inflate the cage frame. The buoyancy of the cage increases continuously. When the buoyancy of the cage > the gravity of the cage, the cage begins to float up.

[0091] 2.2) If Figure 5As shown in the figure, as the cage gradually floats up, the distance between the weight block and the cage gradually increases. When the cage floats up to the top weight block (i.e., the first weight block from top to bottom) and the first section of the flexible member between the cage is tightened, in addition to the cage's own buoyancy and gravity, the first weight block will also begin to exert a downward pulling force on it. The force state of the cage is cage buoyancy < cage gravity + first weight block gravity. The cage cannot float up temporarily. At this time, the cage floats up to the first segment height, and the underwater ranging signal D = 1*L flex +h init ±E and speed signal V=0, the lifting controller sends a closing command to the starter, and the starter turns off the inflation device to give the aquaculture object time to adapt to different water depth pressures.

[0092] 2.3) If Figure 6 As shown, when the starter turns off the inflation device for a period of time that reaches the segmented intermittent time T preset by the lifting controller, the starter controls the inflation device to start again and continues to inflate the cage frame. As the buoyancy in the cage frame increases, the cage will gradually reach a state where the cage buoyancy > cage gravity + first weight block gravity. At this time, the cage will drive the first weight block to float up together, and the second section of the flexible member between the weight block and the cage will gradually begin to stretch and tighten. When the stress state of the cage is when the cage buoyancy < cage gravity + first weight block gravity + second weight block gravity, the cage stops floating and floats to the second segment height. The underwater ranging signal D = 2*L flex +h init ±E and speed signal V=0, the lifting controller sends a closing command to the starter, and the starter closes the inflation device again.

[0093] 2.4) Then repeat "cage suspends floating → inflation device shuts down for segmented interval time T → starter turns on inflation device to continue inflation → cage floats → cage reaches the predetermined segmented lifting height (D = n*L) flex +h init ±E) and motion state (V = 0) → starter turns off the inflation device → cage stops inflating → cage stops floating up" until the cage floats to the sea surface, ending the operation process. Figure 7 shown.

[0094] 3) If Figure 8As shown, when the cage is sinking, disconnect the connection between the inflation and exhaust pipe 6 and the inflation equipment, the signal cable 5 and the lifting controller, install a waterproof sealing head at the interface of the signal cable 5, tie the floating ball 8 at the end of the signal cable 5 and the inflation and exhaust pipe 6 and throw it into the sea. As the gas in the variable buoyancy cabin of the cage is discharged from the inflation and exhaust pipe 6, the buoyancy of the cage decreases, the cage gradually sinks, and the segmented lifting control facility also sinks. When the bottom weight sinks to the seabed, the cage stops sinking. As the pipe gas is further discharged, the buoyancy of the cage further decreases, and the cage starts to sink again. Repeat the above process until all the weights are accumulated on the seabed and the cage sinks to the bottom of the sea.

[0095] This application achieves the control goal of maintaining the balance of the buoyancy and suspending the lifting of the cage at different water depths by intermittently controlling the inflation of the cage, giving the aquacultured animals time to adapt to the pressure of different water depths and improving the survival rate of the aquacultured animals. The segmented lifting control method of this application effectively avoids the phenomenon of uncontrollable floating process caused by the continuous increase of buoyancy during the lifting and lowering of the cage, especially during the floating process, but the unchanged gravity of the cage, and achieves accurate control of the lifting and lowering process of the cage, ensuring the safety of the cage structure itself and the safety of the aquacultured animals, and contributing to the vigorous development and promotion of lifting cages.

[0096] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A segmented lifting control system suitable for pneumatic lifting aquaculture cages, characterized in that: include: One or more sets of sectional lifting control facilities and sectional lifting automatic control inflation devices; Each set of segmented lifting control facilities is made of the same number of flexible components and weight blocks connected in series at intervals; wherein the first segment of the flexible component at the top is connected to the bottom of the cage frame of the aquaculture cage; The sectional lifting automatic control inflation device comprises a sensor unit, a lifting controller, a starter and an inflation device; the sensor unit comprises an underwater distance measuring sensor, a speed sensor and a signal cable; the underwater distance measuring sensor and the speed sensor are fixed on the top of the cage frame; the underwater distance measuring sensor is used to measure the vertical distance between the top of the cage frame and the seabed; the speed sensor is used to measure the movement speed of the cage frame in the vertical direction; one end of the signal cable is connected to the underwater distance measuring sensor and the speed sensor; when the aquaculture cage is floating up, the other end of the signal cable is connected to the signal input end of the lifting controller; the signal output end of the lifting controller is connected to the signal input end of the starter; the signal output end of the starter is connected to the electrical interface of the inflation device; when the aquaculture cage is floating up, the inflation interface of the inflation device is connected to the cage frame of the aquaculture cage through the inflation and exhaust pipes.

2. The sectional lifting control system suitable for pneumatic lifting aquaculture cages according to claim 1 is characterized in that: A single group of the segmented lifting control facilities is arranged at the center of the bottom of the cage frame, or multiple groups are evenly arranged in a ring shape along the bottom of the cage frame.

3. The sectional lifting control system suitable for pneumatic lifting aquaculture cages according to claim 1 is characterized in that: The length L of a single flexible member when it is stretched flex And the height of the single weight L hb The sum satisfies the formula Where H is the vertical distance between the bottom of the cage frame and the seabed when the aquaculture cage floats to the sea surface; c is the vertical distance between the bottom weight of the segmented lifting control facility and the seabed when the aquaculture cage floats to the sea surface; ρ is the seawater density in the sea area where the aquaculture cage is located; g is the acceleration of gravity; Δp is the maximum pressure change that the aquaculture object can withstand in a short period of time; symbol Indicates rounding up to an integer.

4. The sectional lifting control system suitable for pneumatic lifting aquaculture cages according to claim 3 is characterized in that: Weight of single-section flexible component M dflex And the weight of a single weight block M dhb Satisfy the formula Among them, M flex is the total air weight of the flexible component; M hb is the total air weight of the weight; N s N is the number of flexible components or weights in each set of sectional lifting control facilities; g The number of sectional lifting control facilities arranged at the bottom of the cage frame.

5. The sectional lifting control system suitable for pneumatic lifting aquaculture cages according to claim 4 is characterized in that: The number of flexible components or weights in each set of sectional lifting control facilities N s Equal to the number of sections n for raising and lowering the aquaculture cage fs ; h is the maximum rising height of the cultured object.

6. The sectional lifting control system suitable for pneumatic lifting aquaculture cages according to claim 1 is characterized in that: When not in operation, the signal cable is disconnected from the lifting controller, a waterproof sealing head is installed at the interface and a buoy is tied to float on the sea.

7. The sectional lifting control system suitable for pneumatic lifting aquaculture cages according to claim 1 is characterized in that: The signal cable and the air filling and exhaust pipes of the cage frame are tied and fixed side by side.

8. A segmented lifting control method suitable for pneumatic lifting aquaculture cages, characterized in that: The sectional lifting control system applicable to a pneumatic lifting aquaculture cage as described in any one of claims 1 to 7; the sectional lifting control method applicable to a pneumatic lifting aquaculture cage comprises: The cage segmented lifting control parameters are set by the lifting controller; the cage segmented lifting control parameters include the single-segment lifting height L of the segmented lifting control facility. ss , allowable height deviation E, initial position of cage frame h init And the interval time T; the single-stage lifting height L ss Equal to the length L of a single flexible member when it is stretched tight flex And the height of the single weight L hb sum; The vertical distance D between the top of the cage frame and the seabed is measured by an underwater distance measuring sensor and sent to the lifting controller; The speed sensor measures the vertical movement speed V of the cage frame and sends it to the lifting controller; The lifting controller sends an operation instruction to the starter according to the vertical distance D between the top of the cage frame and the seabed, the vertical movement speed V of the cage frame and the cage segmented lifting control parameters; The starter controls the opening or closing of the inflatable device according to the operating instructions.

9. The sectional lifting control method applicable to pneumatic lifting aquaculture cages according to claim 8, characterized in that: The lifting controller sends an operation instruction to the starter according to the vertical distance D between the top of the cage frame and the seabed, the vertical movement speed V of the cage frame and the cage segmented lifting control parameters, specifically including: When D=n*L flex +h init ±E and V=0, the lifting controller sends a stop inflation operation instruction to the starter, and the starter controls the inflation device to shut down; where n=1,2,3..n fs ;n fs The number of sections for raising and lowering the aquaculture cages; When the closing time of the inflatable device = the segmented intermittent time T, the lifting controller sends an instruction to start the inflation operation to the starter, and the starter controls the inflatable device to turn on.

10. The sectional lifting control method applicable to pneumatic lifting aquaculture cages according to claim 9, characterized in that: The initial position of the cage frame h init =h cage +n fs *L hb ; where h cage is the cage frame height.

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