A segmented lifting control system and method for pneumatic lifting aquaculture cages

Abstract

This application discloses a segmented lifting control system and method for pneumatically operated lifting aquaculture cages, relating to the field of marine aquaculture. The segmented lifting control system for pneumatically operated lifting aquaculture cages includes segmented lifting control facilities and segmented automatic lifting inflation devices. Each segmented lifting control facility is constructed from the same number of flexible components and weights connected in series at intervals. The segmented automatic lifting inflation device includes a sensor unit, a lifting controller, a starter, and inflation equipment. An underwater distance sensor measures the vertical distance between the top of the cage frame and the seabed, and a speed sensor measures the vertical speed of the cage frame. The lifting controller sends operation commands to the starter based on the sensor measurement signals and the segmented lifting control parameters of the cage, thereby controlling the opening or closing of the inflation equipment. This segmented control of the lifting process of the aquaculture cage ensures the safety of the aquaculture facilities and the cultured organisms.

Description

Technical Field

[0001] This application relates to the field of marine aquaculture technology, and in particular to a segmented lifting control system and method suitable for pneumatic lifting aquaculture cages. Background Technology

[0002] With the saturation of aquaculture density in bays and nearshore waters, and the increasing demand for high-quality aquatic protein, the expansion of aquaculture cages into the vast, high-quality waters of the outer bays and even the deep sea is an inevitable trend in marine aquaculture. However, due to the often harsh sea conditions in the outer bays and deep seas, aquaculture cages typically employ lifting and lowering operations to ensure the safety of the aquaculture facilities and the cultured organisms.

[0003] Currently, most lifting net cages are pneumatic, using an air compressor to continuously inflate and depress or vent and introduce water into the variable buoyancy chambers of the cage frame to raise and lower the cage. Because the lifting process, especially the buoyancy process, cannot be accurately controlled, particularly at the moment the cage's buoyancy force breaks through equilibrium, the cage can rise tens of meters in a short time. This not only threatens the structural safety of the cage itself but also seriously harms the safety of the farmed fish, resulting in large-scale fish mortality, bloating, and injuries, greatly limiting the development and application of lifting net cages. Summary of the Invention

[0004] To address the problems mentioned in the background art, this application provides a segmented lifting control system and method suitable for pneumatic lifting 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 solution.

[0006] On the one hand, this application provides a segmented lifting control system suitable for pneumatic lifting aquaculture cages, including: one or more sets of segmented lifting control facilities and segmented lifting automatic control inflation device;

[0007] Each segmented lifting control system is made of the same number of flexible components and weights connected in series at intervals; the first flexible component at the top is connected to the bottom of the cage frame of the aquaculture cage.

[0008] The segmented lifting automatic control inflation device includes a sensor unit, a lifting controller, a starter, and an inflation device. The sensor unit includes an underwater ranging sensor, a speed sensor, and a signal cable. The underwater ranging sensor and the speed sensor are fixed to the top of the cage frame. The underwater ranging sensor measures the vertical distance between the top of the cage frame and the seabed. The speed sensor measures the vertical speed of the cage frame. One end of the signal cable is connected to the underwater ranging sensor and the speed sensor. When the aquaculture cage is floating, the other end of the signal cable is connected to the signal input terminal of the lifting controller. The signal output terminal of the lifting controller is connected to the signal input terminal of the starter. The signal output terminal of the starter is connected to the electrical interface of the inflation device. When the aquaculture cage is floating, the inflation interface of the inflation device is connected to the cage frame through an inflation / exhaust pipe.

[0009] Optionally, the segmented lifting control facility may be arranged in a single set at the center of the bottom of the cage frame or in multiple sets evenly arranged in a ring along the bottom of the cage frame.

[0010] Optionally, the length L of a single flexible member when taut flex and the height L of a single heavy block hb The sum satisfies the formula Where H is the vertical distance between the bottom of the aquaculture 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 of the sea area where the aquaculture cage is located; g is the acceleration due to gravity; Δp is the maximum pressure change that the cultured organism can withstand in a short period of time; symbol This indicates rounding up to the nearest integer.

[0011] Optionally, the weight M of a single flexible component dflex and the weight of a single block M dhb Satisfy the formula Where M flex M represents the total air weight of the flexible component. hb N is the total air weight of the heavy block. s The number of flexible components or weights in each segmented lifting control facility; N g The number of segmented lifting control facilities installed at the bottom of the cage frame.

[0012] Optionally, the number N of flexible components or weights in each segmented lifting control facility s The number of segments n equal to the lifting and lowering of the aquaculture cage fs ; h represents the maximum ascent height of the cultured organism.

[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 attached to float on the sea surface.

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

[0015] On the other hand, the present invention also provides a segmented lifting control method suitable for pneumatic lifting aquaculture cages, applied to the aforementioned segmented lifting control system for pneumatic lifting aquaculture cages; the segmented lifting control method suitable for pneumatic lifting aquaculture cages includes:

[0016] The segmented lifting control parameters of the cage are set through the lifting controller; the segmented lifting control parameters of the cage include the single-segment lifting height L of the segmented lifting control facility. ss Allowable height deviation E, initial position h of the cage frame init And the segmented interval time T; where the single-segment lifting height L ss Equal to the length L of a single flexible component when it is taut flex and the height L of a single heavy block hb sum;

[0017] 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;

[0018] The vertical movement speed V of the cage frame is measured by a speed sensor and sent to the lifting controller.

[0019] The lifting controller sends operation commands to the starter based on 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 segmented lifting control parameters of the cage.

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

[0021] Optionally, the lifting controller sends an operation command to the starter based on 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 segmented lifting control parameters of the cage, specifically including:

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

[0023] When the inflator's closing time equals the segmented interval time T, the lifting controller sends a start inflator command to the starter, and the starter controls the inflator to open.

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

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

[0026] This application provides a segmented lifting control system and method for pneumatically operated lifting aquaculture cages. The segmented lifting control facility is constructed from a series of identical flexible components and weights at intervals. A sensor unit, lifting controller, starter, and inflation device constitute the segmented lifting automatic control inflation device. The sensor unit measures the vertical distance D between the top of the cage frame and the seabed using an underwater distance sensor, and measures the vertical velocity V of the cage frame using a velocity sensor. The lifting controller then sends an operation command to the starter based on signals D and V combined with the segmented lifting control parameters, controlling the opening or closing of the inflation device. This application achieves the control objective of maintaining buoyancy balance and pausing lifting at different water depths through intermittent inflation control, giving the cultured organisms time to adapt to different water pressures and improving their survival rate. The segmented lifting control method of this application effectively avoids uncontrollable phenomena during the lifting process, greatly ensuring the safety of the cage structure and the cultured organisms. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a structural schematic diagram of a segmented lifting control system;

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

[0030] Figure 3 This is a schematic diagram showing the state of a net cage when it sinks to the seabed.

[0031] Figure 4 This is a schematic diagram showing the status of the cage when it begins to rise.

[0032] Figure 5 This is a diagram showing the height of the cage as it rises to the first segment.

[0033] Figure 6This is a schematic diagram showing the height of the cage as it rises to the second segment.

[0034] Figure 7 A diagram illustrating the fish cages rising to the sea surface;

[0035] Figure 8 This is a schematic diagram of the cage sinking process. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort 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 for pneumatic lifting aquaculture cages, which ensures the safety of aquaculture facilities and aquaculture objects by segmented control of the lifting process of the aquaculture cages.

[0038] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] This application provides a segmented lifting control system for pneumatic lifting aquaculture cages, comprising: one or more sets of segmented lifting control facilities and a segmented lifting automatic control inflation device.

[0040] like Figure 1 As shown, the segmented lifting control system consists of flexible components 1 and weights 2. Specifically, each segmented lifting control system is made of the same number of flexible components 1 and weights 2 connected in series at intervals. The first segment of the flexible component at the top is connected to the bottom of the aquaculture cage frame, as shown. Figures 4 to 8 As shown. The aquaculture cage described in this application is a pneumatically operated lifting aquaculture cage, also referred to as the cage in the following description. The side closer to the sea surface is described as the top, and the side closer to the seabed is described as the bottom.

[0041] In practical applications, segmented lifting control facilities can be installed in a single set at the center of the bottom of the cage frame, or multiple sets can be installed in a ring-shaped arrangement along the bottom of the cage frame.

[0042] The single-segment lifting height of a segmented lifting cage refers to the maximum height that each lifting segment of the cage can rise or fall during the segmented lifting process. This single-segment lifting height is equal to the sum of the length of the single flexible component when taut and the height of the single weight block. The single-segment lifting height can be expressed by the following formula:

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

[0044] Among them, L ss For the single-section lifting height of the cage, L flex L is the length of the flexible component when it is taut. hb This represents the height of a single heavy block.

[0045] Single-section lifting height L of the wire mesh cage ss The specific method for determining the location of the cages is as follows, based on the ecological needs of the aquaculture species and the sea area where the cages will be deployed.

[0046] The maximum rising height h of the cultured organism is determined based on the maximum pressure change Δp that the cultured organism can withstand in a short period of time. The calculation formula is as follows:

[0047] h=Δp / (ρ*g)(2)

[0048] Where ρ is the density of seawater in the area where the cage is located, and g is the acceleration due to gravity.

[0049] Determine the number of segments n for raising and lowering the cage. fs The calculation formula is as follows:

[0050]

[0051] Where H represents the vertical distance between the bottom of the cage frame and the seabed when the cage floats to the surface. (Symbol) This indicates rounding up to the nearest integer.

[0052] Determine the single-section lifting height L of the cage ss The calculation formula is as follows:

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

[0054] Where 'c' represents the vertical distance between the bottom weight of the segmented lifting control facility and the seabed when the net cage floats to the sea surface, a value ranging from 1 to 3 meters depending on the sea area conditions. Figure 7 As shown.

[0055] By combining equations (2), (3), and (4), we obtain the relationship between the single-segment lifting height of the net cage, the maximum pressure change that the cultured organisms can withstand in a short period of time, and the water depth of the sea area where the net cages are deployed:

[0056]

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

[0058]

[0059] In other words, in each segmented lifting control system, the length L of a single flexible component when taut is... flex and the height L of a single heavy block hb The sum must satisfy the condition of equation (6).

[0060] Furthermore, the total weight of the segmented lifting control facility consists of two parts: the weight of the flexible components and the weight of the counterweight, which is determined based on the buoyancy of the fixed buoyancy chamber, the buoyancy of the variable buoyancy chamber, and the weight of the net cage.

[0061] The buoyancy of the fixed buoyancy chamber, the buoyancy of the variable buoyancy chamber, and the self-weight of the cage frame are determined by the structure and specifications of the cage and are inherent parameters of the cage. This application applies to various pneumatic lifting cages, and the above parameters will differ for different structures of pneumatic lifting cages.

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

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

[0064] Where M wars The weight of the segmented lifting control facility in water; F fix ρ is the buoyancy of the fixed buoyancy chamber of the net cage; k is the displacement coefficient of the variable buoyancy chamber of the net cage, with a value ranging from 0.7 to 0.9; F var M is the buoyancy force when the water in the variable buoyancy chamber of the net cage is completely emptied; warcage The weight of the net cage in water.

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

[0066]

[0067] Among them, M s For the air weight of the segmented lifting control facility, M flex M represents the total air weight of the flexible component. hb M is the total air weight of the heavy block; warflex M represents the total weight of the flexible component in water. warhb ρ is the total weight of the weighted object in water; ρ is the density of the seawater in the area where the cage is located. flex ρ is the density of the flexible component material. hb The density of the heavy block material.

[0068] Weight M of a single flexible component dflex and the weight of a single block M dhb The calculation formula is as follows:

[0069]

[0070] Where, N s Let N be the number of flexible components or weights in each segmented lifting control facility. s =n fs N g The number of segmented lifting control facilities installed for the cages.

[0071] M is determined according to equation (9). dflex M dhb These two parameters related to weight, combined with L in equation (6), flex L hb Two dimensional parameters are sufficient to determine the specifications of the flexible components and the weights. The flexible components in the segmented control system can be made of anchor chains or high-strength fiber ropes. The weights 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 ranging sensor, a speed sensor, and a signal cable. Figure 3 As shown, an underwater ranging sensor and a velocity sensor (collectively referred to as sensor 3) are fixed to the top of the cage frame 4. The underwater ranging sensor measures the vertical distance D between the top of the cage frame and the seabed; the velocity sensor measures the vertical velocity V of the cage frame. One end of a signal cable 5 is connected to the underwater ranging sensor and the velocity sensor 3; when the aquaculture cage is floating, the other end of the signal cable 5 is connected to the signal input terminal of the lifting controller. The signal output terminal of the lifting controller is connected to the signal input terminal of the starter. The signal output terminal of the starter is connected to the electrical interface of the inflation device. When the aquaculture cage is floating, the inflation interface of the inflation device is connected to the cage frame of the aquaculture cage through the inflation / exhaust pipe 6.

[0073] It should be noted that, since the lifting controller, starter, and inflation device are all mounted on such... Figures 4 to 8 On the work vessel 7 shown, the signal cable 5 is detachably connected to the lifting controller; the inflation / deflation pipe 6 is also detachably connected to the inflation equipment. Figure 3 As shown, in non-operational mode, signal cable 5 is disconnected from the lifting controller, and inflation / deflation pipe 6 is disconnected from the inflation equipment. Waterproof sealing heads are installed at their respective interfaces, and floats 8 are attached to them to float on the sea surface. In practical applications, signal cable 5 and inflation / deflation pipe 6 are usually tied together side by side.

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

[0075] In practical applications, sensor 3 (including underwater ranging sensor and velocity sensor) can be either an analog sensor or a digital sensor. For example... Figure 2 As shown in part (a), when 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). Signal cable 5 is connected to the input of the signal isolation amplifier; the sensor signal is isolated, amplified, and converted by the signal isolation amplifier before being 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 sensor 3 is a digital sensor, the lifting controller does not need to be equipped 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 signals, and performs logical judgments based on the segmented lifting control parameters of the cage, generating corresponding start / stop inflation operation commands to the starter, thereby realizing the opening / closing control of the inflation equipment. The human-machine interface has display and operation functions, and can display the underwater ranging signal (i.e., the vertical distance D between the top of the cage frame and the seabed measured by the underwater ranging sensor) and the velocity signal (i.e., the vertical speed of the cage frame measured by the velocity sensor) V in real time; it can also set the segmented lifting control parameters of the cage as needed, including setting the single-segment lifting height L of the segmented lifting control facility. ss Allowable height deviation E, initial position h of the cage frame init , segmented interval time T, etc.

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

[0078] The starter connects to the electrical interface of the inflation equipment and performs the task of starting or stopping the inflation equipment according to the operating instructions. The inflation equipment is an air compressor with appropriate power and flow rate selected according to the specifications of the net cage and the sinking water depth. High-pressure gas is injected into the net cage frame through the inflation and deflation pipe 6. The starter is connected to the control switch of the net cage inflation equipment to realize the intermittent control of net cage inflation. The net cage can maintain the balance of buoyancy and sinking force at different water depths, and pause the raising and lowering of the net cage. This avoids the phenomenon that the buoyancy of the net cage increases continuously during the raising and lowering process, especially during the floating process, while the weight of the net cage remains unchanged, which would lead to an uncontrollable floating process.

[0079] Based on the aforementioned segmented lifting control system for pneumatic lifting aquaculture cages, this application also provides a segmented lifting control method for pneumatic lifting aquaculture cages, comprising:

[0080] S1: Set the segmented lifting control parameters for the cage via the lifting controller; the segmented lifting control parameters include the single-segment lifting height L of the segmented lifting control facility. ss Allowable height deviation E, initial position h of the cage frame init And the segmented interval time T; where the single-segment lifting height L ss Equal to the length L of a single flexible component when it is taut flex and the height L of a single heavy block hb sum.

[0081] S2: Measure the vertical distance D between the top of the cage frame and the seabed using an underwater ranging sensor and send it to the lifting controller.

[0082] S3: The vertical movement speed V of the cage frame is measured by a speed sensor and sent to the lifting controller.

[0083] S4: The lifting controller sends an operation command to the starter based on 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 segmented lifting control parameters of the cage.

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

[0085] Specifically, when D = n*L flex +h init When ±E and V=0, the lifting controller sends a stop inflation command to the starter, and the starter controls the inflation equipment to shut down; where n=1,2,3...n fs ;n fs The number of segments for raising and lowering the aquaculture cage. The initial position h of the cage frame. init =h cage +n fs *L hb ;where hcage This refers to the height of the cage frame.

[0086] When the inflator's closing time equals the segmented interval time T, the lifting controller sends a start inflator command to the starter, and the starter controls the inflator to open.

[0087] The following is combined Figures 3 to 8 This application describes the specific control process of the segmented lifting control system and method applicable to pneumatic lifting aquaculture cages. Figures 3 to 8 In the illustrated embodiment, the number N of flexible components or weights in each segmented lifting control facility is... s =n fs =4; N is the number of segmented lifting control facilities deployed in a single cage. g =4, with four segmented lifting control facilities located at the four corners of the bottom of the cage frame.

[0088] 1) such as Figure 3 As shown, when the cage sinks to the seabed, the weights in the segmented lifting control system accumulate on the seabed, and the flexible components are not taut when connected to the cage, with no interaction between them. The near-sea surface ends of the cage's inflation / deflation pipe 6 and signal cable 5 are free and float on the sea surface via buoys 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 n is the height of the wire mesh frame 4. fs =4.

[0089] 2) When the cage is being raised to the surface:

[0090] 2.1) As Figure 4 As shown, the work vessel 7 travels to the vicinity of the cage, connects the inflation / deflation pipe 6 to the inflation equipment, connects the signal cable 5 to the signal input terminal of the lifting controller, and sets the initial position h of the cage frame displayed on the lifting controller's display interface to the desired position. init Enter the operation interface and start the lifting controller. At this time, the starter controls the inflation device to open and inflate the cage frame. The buoyancy of the cage increases continuously. When the buoyancy of the cage is greater than the weight of the cage, the cage begins to float.

[0091] 2.2) As Figure 5As shown, as the net cage gradually rises, the distance between the weight and the net cage gradually increases. When the net cage rises to the point where the first flexible component between the top weight (i.e., the first weight from top to bottom) and the net cage is taut, in addition to its own buoyancy and gravity, the first weight will also begin to exert a downward pulling force on the net cage. The force state of the net cage is that the buoyancy of the net cage < the weight of the net cage + the weight of the first weight. The net cage cannot rise temporarily. At this time, the net cage rises to the height of the first segment, and the underwater ranging signal D = 1*L flex +h init When ±E and the speed signal V=0, the lifting controller sends a shutdown command to the starter, which shuts down the aeration equipment, giving the aquaculture species time to adapt to different water depths and pressures.

[0092] 2.3) As Figure 6 As shown, when the starter shuts off the inflation device for the time equal to the preset interval T of the lifting controller, the starter restarts the inflation device to continue inflating the net cage frame. As the buoyancy within the net cage frame increases, the net cage gradually reaches a state where the net cage buoyancy > net cage weight + first weight. At this point, the net cage will lift the first weight along with it, and the second flexible component between the weight and the net cage will gradually begin to stretch and tighten. When the net cage's force state is that the net cage buoyancy < net cage weight + first weight + second weight, the net cage stops rising. The net cage rises to the second segment height, and the underwater ranging signal D = 2 * L. flex +h init When ±E and the speed signal V=0, the lifting controller sends a shutdown command to the starter, and the starter shuts down the inflation device again.

[0093] 2.4) Next, repeat the process: "The cage pauses its ascent → the inflation equipment shuts off after a segmented interval T → the starter turns on the inflation equipment to continue inflation → the cage rises → the cage reaches the predetermined segmented lifting height (D = n * L)". flex +h init The process of "±E) and motion state (V=0) → starter shuts off inflation equipment → net cage stops inflation → net cage pauses buoyancy" continues until the net cage rises to the sea surface, ending the operation. Figure 7 As shown.

[0094] 3) such as Figure 8As shown, during the sinking operation of the net cage, the connection between the inflation / deflation pipe 6 and the inflation equipment, and the connection between the signal cable 5 and the lifting controller are disconnected. A waterproof sealing head is installed at the interface of the signal cable 5. Buoys 8 are tied to the ends of the signal cable 5 and the inflation / deflation pipe 6 and then placed into the sea. As the gas in the variable buoyancy chamber of the net cage is discharged from the inflation / deflation pipe 6, the buoyancy of the net cage decreases, and the net cage gradually sinks. The segmented lifting control facility also sinks accordingly. When the bottom weight reaches the seabed, the sinking of the net cage stops. As the gas in the pipe is further discharged, the buoyancy of the net cage further decreases, and the net cage starts to sink again. The above process is repeated until all the weights accumulate on the seabed, and the net cage sinks to the bottom of the sea area.

[0095] This application achieves the goal of maintaining buoyancy balance and pausing buoyancy at different water depths by intermittently controlling the inflation of the net cage. This allows the cultured organisms time to adapt to different water pressure levels, improving their survival rate. The segmented lifting and lowering control method of this application effectively avoids the uncontrollable phenomenon caused by the continuous increase in buoyancy during net cage lifting, especially during the ascent, when the net cage's weight remains constant. It achieves accurate control of the net cage lifting and lowering process, ensuring the safety of the net cage structure and the cultured organisms, and contributing to the vigorous development and widespread application of lifting net cages.

[0096] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A segmented lifting control system suitable for pneumatic lifting aquaculture cages, characterized in that, include: One or more sets of segmented lifting control facilities and segmented lifting automatic control inflation devices; Each segmented lifting control system is made of the same number of flexible components and weights connected in series at intervals; the first flexible component at the top is connected to the bottom of the cage frame of the aquaculture cage. The single-segment lifting height of a segmented lifting cage refers to the maximum height that each lifting segment of the cage can rise or fall during the segmented lifting process; this single-segment lifting height is equal to the sum of the length of the single flexible component when it is taut and the height of the single weight block; the single-segment lifting height is expressed by the following formula: L ss =L flex +L hb (1) Among them, L ss For the single-section lifting height of the cage, L flex L is the length of the flexible component when it is taut. hb This refers to the height of a single heavy block; Single-section lifting height L of the wire mesh cage ss The determination method is as follows: The method is based on the ecological needs of the aquaculture species and the sea area where the cages will be deployed. The maximum rising height h of the cultured organism is determined based on the maximum pressure change Δp that the cultured organism can withstand in a short period of time. The calculation formula is as follows: h=Δp / (ρ*g)(2) Where ρ is the density of seawater in the area where the cage is located, and g is the acceleration due to gravity; Determine the number of segments n for raising and lowering the cage. fs The calculation formula is as follows: Where H is the vertical distance between the bottom of the cage frame and the seabed when the cage floats to the surface; symbol Indicates rounding up to the nearest integer; Determine the single-section lifting height L of the cage ss The calculation formula is as follows: L ss =(H-c) / n fs (4) Where c is the vertical distance between the bottom weight of the segmented lifting control facility and the seabed when the cage floats to the sea surface; By combining equations (2), (3), and (4), we obtain the relationship between the single-segment lifting height of the net cage, the maximum pressure change that the cultured organisms can withstand in a short period of time, and the water depth of the sea area where the net cages are deployed: Substituting equation (1) into equation (5), we obtain the following relationship: In other words, in each segmented lifting control system, the length L of a single flexible component when taut is... flex and the height L of a single heavy block hb The sum must satisfy the condition of equation (6); Weight M of a single flexible component dflex and the weight of a single block M dhb Satisfy the formula Where M flex M represents the total air weight of the flexible component. hb N is the total air weight of the heavy block. s The number of flexible components or weights in each segmented lifting control facility; N g The number of segmented lifting control facilities installed at the bottom of the cage frame; The segmented lifting automatic control inflation device includes a sensor unit, a lifting controller, a starter, and an inflation device. The sensor unit includes an underwater ranging sensor, a speed sensor, and a signal cable. The underwater ranging sensor and the speed sensor are fixed to the top of the cage frame. The underwater ranging sensor measures the vertical distance between the top of the cage frame and the seabed. The speed sensor measures the vertical speed of the cage frame. One end of the signal cable is connected to the underwater ranging sensor and the speed sensor. When the aquaculture cage is floating, the other end of the signal cable is connected to the signal input terminal of the lifting controller. The signal output terminal of the lifting controller is connected to the signal input terminal of the starter. The signal output terminal of the starter is connected to the electrical interface of the inflation device. When the aquaculture cage is floating, the inflation interface of the inflation device is connected to the cage frame through an inflation / exhaust pipe.

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

3. The segmented lifting control system for pneumatic lifting aquaculture cages according to claim 1, 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 attached to float on the sea surface.

4. The segmented lifting control system for pneumatic lifting aquaculture cages according to claim 1, characterized in that, The signal cable and the air inlet / outlet pipes of the cage frame are tied and secured side by side.

5. A segmented lifting control method for pneumatic lifting aquaculture cages, characterized in that, A segmented lifting control system applicable to pneumatically operated lifting aquaculture cages as described in any one of claims 1-4; the segmented lifting control method applicable to pneumatically operated lifting aquaculture cages includes: The segmented lifting control parameters of the cage are set through the lifting controller; the segmented lifting control parameters of the cage include the single-segment lifting height L of the segmented lifting control facility. ss Allowable height deviation E, initial position h of the cage frame init And the segmented interval time T; where the single-segment lifting height L ss Equal to the length L of a single flexible component when it is taut flex and the height L of a single heavy block hb sum; 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; The vertical movement speed V of the cage frame is measured by a speed sensor and sent to the lifting controller. The lifting controller sends operation commands to the starter based on 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 segmented lifting control parameters of the cage. The starter controls the opening or closing of the inflation equipment according to the operating instructions.

6. The segmented lifting control method for pneumatic lifting aquaculture cages according to claim 5, characterized in that, The lifting controller sends operation commands to the starter based on 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 segmented lifting control parameters of the cage. Specifically, these commands include: When D = n*L flex +h init When ±E and V=0, the lifting controller sends a stop inflation command to the starter, and the starter controls the inflation equipment to shut down; where n=1,2,3...n fs ;n fs The number of sections for raising and lowering aquaculture cages; When the inflator's closing time equals the segmented interval time T, the lifting controller sends a start inflator command to the starter, and the starter controls the inflator to open.

7. The segmented lifting control method for pneumatic lifting aquaculture cages according to claim 6, characterized in that, The initial position h of the wire mesh frame init =h cage +n fs *L hb ;where h cage This refers to the height of the cage frame.

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