Marine cage culture state monitoring and cleaning device

Abstract

The invention discloses a marine cage culture state monitoring and cleaning device which comprises a state monitoring module and a ring main unit cleaning module, the state monitoring module comprises a base, a folding mechanism and a monitoring execution device, and the ring main unit cleaning module comprises an annular track, a ring main unit movement device, a telescopic platform, a turnover mechanism and a collection device. Image video data and culture environment parameter data in the net cage (at different depths and angles above and below the water surface) are acquired in real time through the state monitoring module, so that culture personnel can know the growth condition of fish schools in the net cage, the accumulation condition of floating objects on the water surface and the integrity of the netting at any time, and automatic monitoring and cleaning are realized; the requirement of manual patrol is reduced, so that the traffic cost and the labor cost are reduced; automatic cleaning of floating objects in the net cage is achieved through the ring main unit movement cleaning module, the cleaning efficiency and accuracy are improved, and cleanliness of the water surface of the net cage and water quality safety are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of marine cage aquaculture equipment, and in particular to a marine cage aquaculture state monitoring and cleaning device. Background Art

[0002] In deep-sea cage aquaculture, deep-sea cages are important facilities for fish farming. Because the aquaculture environment is far away from the coast, dead fish and other harmful floating objects are easily accumulated on the water surface. If these floating objects are not cleaned up in time, they are likely to become breeding grounds for pests and diseases, thereby causing the outbreak and spread of diseases, posing a serious threat to farmed fish. At the same time, as the cages are used for a longer time, the purse seine materials are easily damaged due to long-term erosion by seawater, impact of wind and waves and other natural factors, causing fish to escape and causing economic losses to farmers.

[0003] At present, the common practice in the industry is to rely on aquaculture personnel to go out to sea on a regular basis to conduct on-site inspections. During the inspection process, they not only need to observe the water surface, promptly discover and clean up floating objects such as dead fish, but also need to dive to check the integrity of the nets and the growth status of the fish. Therefore, this monitoring method not only requires a lot of transportation costs, but also has a relatively fixed inspection cycle, and cannot achieve real-time monitoring of the aquaculture status, so there is a significant time lag. Summary of the invention

[0004] The purpose of the present invention is to provide a marine cage aquaculture status monitoring and cleaning device to solve one or more technical problems existing in the above-mentioned background technology.

[0005] To achieve this object, the present invention adopts the following technical solutions: A marine cage aquaculture status monitoring and cleaning device, comprising a status monitoring module and a ring cage cleaning module, the status monitoring module comprising a base, a folding mechanism and a monitoring execution device, the base is arranged on the peripheral platform of the aquaculture cage, the folding mechanism is arranged on the base, the monitoring execution device is arranged at the active end of the folding mechanism, the folding mechanism is used to drive the monitoring execution device to enter or move away from the central waters of the aquaculture cage, and is used to collect image video data in the cage and aquaculture environment parameter data in real time; The ring net box cleaning module includes a ring track, a ring net box moving device, a retractable platform, a flipping mechanism and a collecting device. The ring track is arranged on the railing of the breeding net box, the ring net box moving device is slidably connected to the ring track, the retractable platform is arranged on the ring net box moving device, the flipping mechanism is arranged at the telescopic end of the retractable platform, the telescopic end of the retractable platform is also provided with a storage box, the collecting device is arranged at the movable end of the flipping mechanism, the ring net box moving device drives the collecting device to move along the railing of the breeding net box, the retractable platform is used to drive the collecting device to move radially, and the flipping mechanism is used to drive the collecting device to switch between a horizontal collection posture and a vertical unloading posture. When the collecting device is in a vertical unloading posture, the collecting device is located above the storage box.

[0006] Preferably, the flip mechanism comprises an upright pole, a cross pole, an electric push rod, an arm pole, an elbow pole, a first end pole, a second end pole, a first support pole, a second support pole, a third support pole and a fourth support pole, the upright pole is fixed to one side of the storage box, the cross pole is fixed to one side of the upright pole, the fixed end of the electric push rod is connected to the cross pole, one end of the arm pole is hinged to the top of the upright pole, the telescopic end of the electric push rod is hinged to the middle part of the arm pole, the other end of the arm pole is hinged to one end of the elbow pole, the other end of the elbow pole is hinged to the middle part of the first end pole, the first end pole and the second end pole are both connected to the collecting device, the first end pole, the first support pole and the second support pole are connected in sequence, the second end pole, the third support pole and the fourth support pole are connected in sequence, the other end of the second support pole and the other end of the fourth support pole are both hinged to the telescopic end of the telescopic platform; When the electric push rod is in an extended state, the collecting device is in a horizontal collecting state; when the electric push rod is in a retracted state, the arm rod rotates around the vertical rod under the drive of the electric push rod, and drives the elbow rod, the first support rod and the third support rod to fold upward, thereby driving the first end rod and the second end rod to fold upward from a horizontal state to a vertical state, thereby flipping the collecting device from a horizontal collecting posture to a vertical unloading posture.

[0007] Preferably, the collecting device includes a collector, a guide roller, a first unloading baffle and a second unloading baffle, the guide roller is arranged at one end of the collector, the first unloading baffle and the second unloading baffle are arranged at the other end of the collector and can be opened and closed and rotated, and the box wall of the collector has a mesh structure.

[0008] Preferably, the collecting device also includes an I-beam, a first swing arm, a second swing arm, a first spring and a second spring, and the collector is provided with a first slot and a second slot distributed in a linear manner, the I-beam includes a long cross bar portion, a vertical bar portion and a short cross bar portion, the short cross bar portion and the long cross bar portion are respectively arranged at two ends of the vertical bar portion, the vertical bar portion is slidably connected to the first slot and the second slot, the two ends of the short cross bar portion are connected to the first swing arm and the second swing arm, the first unloading baffle and the second unloading baffle are respectively arranged on the first swing arm and the second swing arm, the first spring and the second spring are respectively arranged on both sides of the vertical bar portion, one end of the first spring and one end of the second spring are both connected to the short cross bar portion, the other end of the first spring and the other end of the second spring are both connected to the first slot, and in an initial state, the first spring and the second spring are both in a stretched stress state, so that the first unloading baffle and the second unloading baffle are in a closed state.

[0009] Preferably, the collecting device also includes a unloading roller and a grooved cam bracket, the grooved cam bracket is vertically arranged on the other side of the storage box, the grooved cam bracket is provided with a grooved cam track, and the unloading roller is arranged at the end of the long cross bar part. When the collecting device is flipped from a horizontal collecting posture to a vertical unloading posture, the unloading roller is driven by a flipping mechanism to slide with the grooved cam track, and the I-beam slides downward under the constraint of the grooved cam track to overcome the spring tension, thereby pushing the first rocker arm and the second rocker arm to rotate to drive the first unloading baffle and the second unloading baffle to rotate in opposite directions, so that the first unloading baffle and the second unloading baffle are changed from a closed state to an open state.

[0010] Preferably, the folding mechanism includes a first drive motor, a first folding rod, a second folding rod, a third folding rod, a fourth folding rod and an end bracket, the first drive motor is arranged on the base, one end of the first folding rod is connected to the first drive motor and one end of the fourth folding rod through a bevel gear transmission, the other end of the first folding rod is connected to one end of the second folding rod through a bevel gear transmission, the other end of the fourth folding rod is connected to one end of the third folding rod through a bevel gear transmission, the other end of the second folding rod and the other end of the third folding rod are both rotatably connected to the end bracket, and the monitoring execution device is arranged on the end bracket.

[0011] Preferably, the monitoring execution device includes an electric cylinder, a telescopic rod, a second drive motor, a first camera device, a dissolved oxygen sensor and a temperature sensor. The electric cylinder is vertically arranged on the end bracket, the telescopic rod is connected to the telescopic end of the electric cylinder, the dissolved oxygen sensor, the temperature sensor and the first camera device are all arranged on the telescopic rod, the second drive motor is horizontally arranged on the end bracket, the rotating shaft end of the second drive motor is transmission connected to the electric cylinder, and the second drive motor is used to drive the electric cylinder to rotate.

[0012] Preferably, the ring mesh box movement device includes a movement box, a third drive motor, a drive gear, an annular rack, a support wheel group and a guide roller, the annular rack is arranged on the annular track, the third drive motor is fixed in the movement box, the drive gear is connected to the shaft end of the third drive motor, the drive gear is meshed with the annular rack, and the support wheel group and the guide roller are both arranged at the bottom of the movement box.

[0013] Preferably, the retractable platform includes a connecting frame, a platform plate, a fourth driving motor, a first transmission gear, a second transmission gear, a first spur rack, a second spur rack, a first row of rollers, a second row of rollers, a grooved guide rail and a second camera device. The platform plate is slidably matched with the connecting frame, the fourth driving motor is arranged on the connecting frame, the first transmission gear and the second transmission gear are both connected to the rotating shaft end of the fourth driving motor, the first spur rack and the second spur rack are arranged in parallel on the platform plate, the first transmission gear and the second transmission gear are respectively meshed with the first spur rack and the second spur rack, the grooved guide rail is arranged on both sides of the connecting frame, the first row of rollers and the second row of rollers are respectively fixed to the platform plate and embedded in the grooved guide rail; the second camera device is arranged on one side of the connecting frame.

[0014] Preferably, the collecting device further includes an ultrasonic ranging sensor and a third camera device, and both the ultrasonic ranging sensor and the third camera device are arranged on the collector.

[0015] The beneficial effects of the present invention are as follows: the image and video data in the cage (at different depths and angles above and below the water surface) and the aquaculture environment parameter data are collected in real time through the status monitoring module, so that the aquaculture personnel can understand the growth of the fish in the cage, the accumulation of floating objects on the water surface and the integrity of the net at any time, realize automatic monitoring and cleaning, reduce the need for manual inspections, and thus reduce transportation costs and labor costs; the floating objects in the cage are automatically cleaned through the ring cage motion cleaning module, which improves the cleaning efficiency and accuracy and ensures the cleanliness of the cage water surface and the safety of the water quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings further illustrate the present invention, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0017] Figure 1 It is a schematic diagram of the overall structure of one embodiment of the present invention; Figure 2 It is a structural schematic diagram of a folding mechanism and a monitoring execution device in one embodiment of the present invention; Figure 3 is a schematic diagram of a folding state of a folding mechanism of one embodiment of the present invention; Figure 4 It is a structural schematic diagram of a ring net box moving device according to one embodiment of the present invention; Figure 5 This is a schematic diagram of the bottom structure of a ring net box moving device according to one embodiment of the present invention; Figure 6 is a schematic structural diagram of a retractable platform in one embodiment of the present invention; Figure 7 yes Figure 6 Schematic diagram of the B direction; Figure 8 is a schematic structural diagram of a flipping mechanism of one embodiment of the present invention; Fig. 9 is a schematic diagram of a collection device driven by a turning mechanism in one embodiment of the present invention in a horizontal collection posture; Fig.10 It is a schematic diagram of a turning mechanism in one embodiment of the present invention driving a collecting device to switch to a vertical unloading posture; Fig.11 is a schematic structural diagram of a collecting device according to one embodiment of the present invention; Fig.12 yes Fig.11 Schematic diagram of the C direction; Fig.13 yes Fig.11 Schematic diagram of the D direction; Fig.14 It is a schematic diagram of the cooperation between the I-beam and the grooved cam track according to one embodiment of the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0019] A marine cage aquaculture status monitoring and cleaning device of this embodiment is shown in the attached Figure 1, including a status monitoring module I, a ring cage cleaning module II and an electric control box III, the status monitoring module I includes a base, a folding mechanism and a monitoring execution device, the base is arranged on the outer platform of the aquaculture cage, the folding mechanism is arranged on the base, the monitoring execution device is arranged at the active end of the folding mechanism, the folding mechanism is used to drive the monitoring execution device to enter or move away from the central water area of ​​the aquaculture cage, and is used to collect image video data in the cage and aquaculture environment parameter data in real time; The ring net box cleaning module II includes a ring track, a ring net box moving device, a retractable platform, a flipping mechanism and a collecting device. The ring track is arranged on the railing of the breeding net box, the ring net box moving device is slidably connected to the ring track, the retractable platform is arranged on the ring net box moving device, the flipping mechanism is arranged at the telescopic end of the retractable platform, the telescopic end of the retractable platform is also provided with a storage box, and the collecting device is arranged at the movable end of the flipping mechanism. The ring net box moving device drives the collecting device to move along the railing of the breeding net box, the retractable platform is used to drive the collecting device to move radially, and the flipping mechanism is used to drive the collecting device to switch between a horizontal collecting posture and a vertical unloading posture. When the upper collecting device is in a vertical unloading posture, the collecting device is located above the storage box.

[0020] The status monitoring module collects real-time image and video data in the cage and aquaculture environment parameter data, so that the aquaculture personnel can understand the aquaculture status in the cage at any time, including the growth of fish, the accumulation of floating objects on the water surface and the integrity of the net, and realizes automatic monitoring and cleaning, which reduces the need for manual inspections, thereby reducing transportation costs and labor costs; the collection device is driven by the ring cage movement device to move along the railing of the aquaculture cage, and moves radially through the retractable platform, so that the collection device can cover the entire circumferential water surface area of ​​the cage; the flipping mechanism enables the collection device to switch between the horizontal collection posture and the vertical unloading posture, so that the collected floating objects can be easily unloaded into the storage box, which improves the cleaning efficiency and accuracy.

[0021] Reference Figure 2 and 3 The base includes a base 1 and a support column 2. The base 1 is fixed on the outer platform of the cage railing. The base 1 and the support column 2 are both right-angled. The lower part of the support column 2 is fixed to the base 1 by screws. The upper part of the support column 2 is fixed with a first drive motor 3 by screws. The first drive motor 3 has a reducer and transmits power to the folding mechanism through a first transmission shaft 4.

[0022] The folding mechanism includes a first folding rod 23, a second folding rod 18, a third folding rod 14, a fourth folding rod 8, six bevel gears 5, 6, 9, 12, 19, 21 and three connecting angle blocks 11, 16, 33. The four folding rods 8, 14, 18, 23 are of equal length, wherein both ends of the first folding rod 23 are welded with bevel gears 5, 21, and both ends of the fourth folding rod 8 are welded with bevel gears 6, 9; one end of the second folding rod 18 is welded with bevel gear 19, and one end of the third folding rod 14 is welded with bevel gear 13, and all parameters of the bevel gears are the same; the first bevel gear 5 at the left end of the first folding rod 23 is connected to the first transmission shaft 4 through a flat key, and receives the power input of the first drive motor 3 to become a driving wheel, which drives the first folding rod 23 to swing, and the sixth bevel gear 21 at the right end of the first folding rod 23 is meshed with the fifth bevel gear 19 through the seventh connecting pin 22 and the third connecting angle block 24. The second bevel gear 6 at the left end of the fourth folding rod 8 is hinged on the top of the support column 2 through the first connecting pin 7 and meshes with the first bevel gear 5 of the driving wheel to receive its power input; the third bevel gear 9 at the right end of the fourth folding rod 8 is meshed with the fourth bevel gear 12 through the second connecting pin 10 and the first connecting angle block 11, and the power is transmitted from the fourth folding rod 8 to the third folding rod 14 through meshing transmission; the right end of the third folding rod 14 and the right end of the second folding rod 18 are connected to the two ends of the second connecting angle block 16 through the fourth connecting pin 15 and the sixth connecting pin 17 respectively, and the outer side of the second connecting angle block 16 is welded and fixed with an end bracket 25.

[0023] The monitoring execution device mainly consists of an end bracket 25, an electric cylinder 26, a telescopic rod 35, a second drive motor 32, meshing bevel gear pairs 28 and 29, a first camera device 40, a dissolved oxygen sensor 37, and a temperature sensor 36. The electric cylinder 26 is vertically fixed to the bearing seat hole of the end bracket 25 through the first bearing seat 27, and the telescopic rod 35 is fixed to the lower extension section of the electric cylinder 26. The lower part of the telescopic rod 35 is fixedly connected to a high-brightness LED fill light 39 and the first camera device 40 through a transverse connecting rod 38. In addition, the end of the telescopic rod 35 is fixed with a temperature sensor 36 and a dissolved oxygen sensor 37 through threads. The seventh bevel gear 28 is fixed to the electric cylinder 26 through a set screw, and it is externally meshed with the eighth bevel gear 29 for transmission. The second fixed block 34 is fixed to the right side of the end bracket 25 by screws, the first fixed block 33 is fixed to the right side of the second fixed block 34 by screws, the second drive motor 32 is fixed to the first fixed block 33 by screws, and the second bearing seat 31 is fixed to the bearing hole of the second fixed block 34 by screws. The second transmission shaft 30 passes through the inner hole of the second bearing seat 31, and its left end is connected to the eighth bevel gear 29 by a flat key, and the right end is connected to the output shaft of the second drive motor 32 by a coupling to receive motor power input. The second drive motor 32 drives the eighth bevel gear 29 to rotate through the coupling, and drives the seventh bevel gear 28 to rotate through meshing transmission, thereby driving the electric cylinder 26 to rotate together through the set screw connection, and the telescopic rod 35 and the first camera device 40 fixed thereon also achieve 360-degree rotation.

[0024] When the status monitoring module starts to perform the monitoring task, the first drive motor 3 rotates forward, and the meshing transmission of the three pairs of bevel gears driving the folding mechanism makes each folding rod fully open. The first camera device 40, high-brightness LED fill light 39, temperature sensor 36 and dissolved oxygen sensor 37 carried at the end can extend from the vicinity of the cage railing through the folding rod to the central sky above the cage water area, thereby realizing video monitoring of the water surface in the entire cage range and collecting real-time image video data of floating objects such as fish feeding, leftover bait and dead fish.

[0025] By controlling the electric cylinder 26, the monitoring device can dive to different depths at a fixed time, and by controlling the second drive motor 32, the monitoring device can rotate within a range of 360 degrees, thereby realizing the image and video data collection of fish and nets in the cages at different depths and angles, as well as the water temperature and dissolved oxygen data collection in the cages at different water depths. The backend analyzes the collected data through algorithms to obtain information such as the existence status of floating objects on the water surface of the cages, the growth status of underwater fish, and the integrity status of nets, and provides timely feedback and warnings.

[0026] When the underwater monitoring operation is completed, the second drive motor 32 reverses, the monitoring actuator rotates back to the initial angle position, and the electric cylinder 26 reverses to retract the electric telescopic rod to the initial length position, so that the temperature dissolved oxygen sensors 36, 37 and the first camera device 40 are taken out of the water and returned to mid-air. Under the reverse drive of the first drive motor 3 and the transmission of the bevel gear sets of the folding mechanism, the four folding rods of the folding mechanism are folded from the horizontally expanded state to the folded vertical initial state and stand next to the cage railing.

[0027] The ring cage cleaning module is used to collect and clean floating objects such as dead fish or leftover bait around the water surface in the cage in a timely manner. Because ocean currents and waves will carry floating objects such as dead fish or leftover bait to the surrounding area of ​​the cage and accumulate, the ring cage cleaning module can effectively collect these floating objects, thereby maintaining the safety of water quality in the aquaculture cage area.

[0028] The ring net box cleaning module includes a ring net box moving device, a retractable platform, a turning mechanism and a collecting device.

[0029] Among them, refer to the attached Figure 4-7 The ring cage motion device includes an outer box body 50, an inner box body 51, a third drive motor 52, a drive gear 53, an annular rack 54, a support wheel group 55, an upper row of support wheels 56, a lower row of support wheels 57, a trapezoidal fixed block 58, and a guide roller 61. The outer box body and the inner box body are connected by bolts to form a motion box body. The third drive motor 52 is arranged in the motion box body, which has a reducer and a drive gear 53 is connected to the power output end through a key. The drive gear 53 is meshed with the annular rack 54 for transmission. The annular rack 54 is fixed on the annular track on the upper surface of the upper railing of the cage. Four support wheel groups 55 are arranged on the inner walls on both sides below the motion box body. , two groups of support wheel groups 55 laterally clamp the upper railing 59 of the net box, and the other two groups of support wheel groups 55 laterally clamp the lower railing 60 of the net box; the support wheel group 55 is fixed on the two side surfaces of the trapezoidal fixed block 58 by four upper support wheels 56 and four lower support wheels 57; under the interaction of the support wheel group 55, the upper railing 59 and the lower railing 60, the ring net box moving device is supported and driven by the driving gear 53 to follow the annular rack to perform the ring net box inspection operation; there are two guide rollers 94, which are respectively arranged at the front and rear of the lower part of the inner box body 51 to prevent the ring net box moving device from scratching the net during movement.

[0030] The retractable platform includes a connecting frame 62, a platform plate 63, a fourth drive motor 64, a reducer 65, a first transmission gear 67, a second transmission gear 66, a first spur rack 68, a second spur rack 69, a first row of rollers 70, a second row of rollers 71, a grooved guide rail 72, a second camera device 73, a grooved cam bracket 74, a storage box 75, a vertical pole 76, and connecting blocks 77 and 78. The connecting frame 62 is connected to the ring net box motion device through the inner box body 51; a second camera device 73 is installed at a high position on one side of the front of the connecting frame 62 through a fixing block; a fourth drive motor 64 and a reducer 65 are fixed in the middle of the connecting frame 62 by screws, and the two output shafts of the reducer 65 are connected to the first transmission gear 67 and the second transmission gear 66 by keys; the first spur rack 68 and the second spur rack 69 are fixed on the platform plate 63 by screws, and the first transmission gear 67 and the second transmission gear 66 are respectively transmitted on both sides; grooved guide rails 72 are respectively arranged on both sides of the connecting frame 62; the first row of rollers 70 and the second row of rollers 71 are respectively fixed to the two sides of the platform plate 63 near the end of the connecting frame 62 and are respectively embedded in the grooved guide rails 72 on both sides of the connecting frame 62; the platform plate 63 A grooved cam bracket 74 and a storage box 75 are installed on it by screws, a vertical rod 76 is fixed to the end surface of the platform plate 63, and two connecting blocks 77 and 78 are fixed to the lower front of the platform plate 63. The platform plate is hinged to the rod of the flip mechanism through the vertical rod 76 and the two connecting blocks 77 and 78; when the fourth drive motor 64 is started, the retractable platform is driven by the meshing of the first transmission gear 67, the second transmission gear 66 and the first spur rack 68 and the second spur rack 69, so that the platform plate 63 can achieve translational and telescopic movement in the radial direction of the net box through the first row of rollers 70 and the second row of rollers 71 in the grooved guide rail 72, thereby achieving adjustable radial distance of the collecting device on the platform plate 63 from the net, providing flexibility and safety for the floating object collection operation of the ring net box.

[0031] Reference Figure 8-10The flip mechanism includes a cross bar 80, an electric push rod 81, an arm 82, an elbow rod 83, a first end rod 84, a second end rod 85, a first support rod 86, a second support rod 87, a third support rod 88, and a fourth support rod 89. The cross bar 80 is fixed to the vertical rod 76. The fixed end of the electric push rod 81 is connected to the cross bar 80 by a pin. One end of the arm 82 is hinged to the top of the vertical rod 76. The telescopic end of the electric push rod 81 is connected to the middle part of the arm 82 by a pin. The other end of the arm 82 is hinged to one end of the elbow rod 83. The other end of the elbow rod 83 is hinged to the middle rod section of the first end rod 84. An end rod 84 and a second end rod 85 are respectively fixed to both sides of the back of the collector 90 by connecting blocks, one end of the first end rod 84 is connected to one end of the first support rod 86 by a pin, the other end of the first support rod 86 is connected to one end of the second support rod 87 by a pin, the other end of the second support rod 87 is connected to the connecting block 77 of the platform plate 63 by a pin, and one end of the second end rod 85 is connected to one end of the third support rod 88 by a pin, the other end of the third support rod 88 is connected to one end of the fourth support rod 89 by a pin, and the other end of the fourth support rod 89 is connected to another connecting block 78 of the platform plate 63 by a pin. Therefore, when the electric push rod 81 is in the extended state, the collecting device is in the horizontal collecting state; when the electric push rod 81 is in the retracted state, the arm rod 82 rotates around the vertical rod 76 driven by the electric push rod 81, and drives the elbow rod 83, the first support rod 86 and the third support rod 88 to fold upward, thereby driving the first end rod 84 and the second end rod 85 to fold upward from the horizontal state to the vertical state, thereby flipping the collecting device from the horizontal collecting posture to the vertical unloading posture.

[0032] Reference Figure 11-14 The collecting device includes a collector 90, a connecting member 91, a third camera device 92, a guide roller 93, an ultrasonic distance sensor 94, an I-beam, a first card slot 97, a second card slot 98, a discharge roller 99, a grooved cam track 100, a first swing rod 103, a second swing rod 102, a first discharge baffle 104, a second discharge baffle 105, a first spring 106, and a second spring 107, and the I-beam includes a long cross bar portion 95, a vertical bar portion 96 and a short cross bar portion 101, and the short cross bar portion 101 and the long cross bar portion 95 are respectively arranged at both ends of the vertical bar portion 96, The collector 90 is connected to the first end rod 84 and the second end rod 85 of the flip mechanism through four connecting pieces 91 on its back. A third camera device 92 is installed on the front of the back plate of the collector 90. The wall of the collector 90 has a mesh structure, thereby reducing the water resistance during the collection movement of the ring net box; the guide roller 93 is distributed on both sides of the opening of the collector 90 through a bracket, and an ultrasonic distance sensor 94 is installed on the bracket of the guide roller 93 close to the side of the net box railing; the ultrasonic distance sensor 94 can detect the distance between the collector 90 and the net box net and feedback the signal to control the fourth drive motor 64 of the retractable platform to achieve the setting and adjustment of the telescopic amount to maintain the appropriate spacing during the movement; the vertical rod part 96 of the I-beam is sleeved in the first and second slots 97 and 98 fixed on the back plate of the collector 90 and can slide in the two slots, and the end of the long crossbar part 95 is connected to the discharge roller 99 through interference fit, and the discharge roller 99 can enter the groove convex under the drive of the flip mechanism. Wheel track 100, two ends of the short crossbar portion 101 are respectively connected to one end of the first swing bar 103 and the second swing bar 102 through pins, and the other end of the first swing bar 103 is fixedly connected to the first unloading baffle 104. Similarly, the other end of the second swing bar 102 is connected to the second unloading baffle 105. The first unloading baffle 104 and the second unloading baffle 105 are respectively connected to the two sides of the rear part of the collector 90 through pins and can be opened and closed. The first spring 106 and the second spring 107 are symmetrically distributed on both sides of the vertical rod portion 96, one end of the two springs is connected to the short crossbar portion 101, and the other end is connected to the first slot 97. The initial state of the two springs is a tensile stress state, and the provided tension is transmitted to the first swing bar 103 and the second swing bar 102 through the short crossbar portion 101 of the I-beam, so that the first unloading baffle 104 and the second unloading baffle 105 are in a closed state. As shown in the attached Fig.14 When the collector 90 completes the surface collection operation, the discharge roller 99 follows the collector 90 and is turned upward under the drive of the flip mechanism. The discharge roller 99 enters the grooved cam track 100 and is constrained by the downward arc-shaped grooved cam track 100 to move downward, thereby driving the I-beam to overcome the spring tension and slide downward. During the sliding process, the short cross bar part 101 of the I-beam pushes the first swing bar 103 and the second swing bar 102 to rotate, thereby driving the first discharge baffle 104 and the second discharge baffle 105 to rotate in opposite directions, that is, from a closed state to an open state. The collected floating objects fall into the storage box of the platform plate under the action of gravity, thereby completing the collection operation.

[0033] The working principle of the ring mesh box cleaning module is: first, the third drive motor of the ring mesh box movement device starts to output power, and under the support of the support wheel and the mesh box railing, the drive gear meshes and moves on the annular rack, so that the ring mesh box cleaning module can patrol, move and collect along the circumferential direction of the mesh box. When the inspection reaches the vicinity of the target position given by the first camera device, with the assistance of the second camera device on the connecting frame, the image recognition algorithm confirms that the floating target is within the cleaning and collection range. At this time, the cleaning execution device starts the operation, and the electric push rod 81 of its flipping mechanism pushes outward, and the movement and power are transmitted to the first end rod 84 and the second end rod 85 through the arm rod 82, the elbow rod 83, the first support rod 86 and the second support rod 87. The various rods are unfolded so that the end rods are vertically lowered from mid-air to the lowest horizontal posture. At this time, the collector 90 fixedly connected to the end rods is also flipped forward from the initial posture of the vertical opening upward in mid-air to the horizontal collection operation posture close to the water surface with the opening facing forward; in the process of flipping and lowering the collecting device forward, the unloading roller 99 gradually disengages from the grooved cam track 100, and the I-beam, under the action of the first spring 106 and the second spring 107, is driven by the connecting rod and the hinge shaft to convert the first unloading baffle 104 and the second unloading baffle 105 from open to closed. state, to prevent the collector 90 from escaping floating objects during the collection operation; with the assistance of the ultrasonic ranging sensor 94, the second camera device and the third camera device 92, the collector 90 follows the ring net box movement device and the retractable platform to approach the floating target and clean and collect it; after the collection is completed, the electric push rod 81 retracts back to the initial state, and each rod is driven to fold so that the collector 90 flips counterclockwise to the top of the storage box 75. During the flipping process, the unloading roller 99 on the collector 90 is embedded in the grooved cam track 100 of the grooved cam bracket. The cam track of a predetermined shape guides the unloading roller 99 to move along a predetermined trajectory, so that it drives the I-beam to overcome the spring force and move downward. The I-beam drives the connecting rod to rotate, and at the same time, the connecting rod drives the hinge shaft to rotate in the same direction, so that the first unloading baffle 104 and the second unloading baffle 105 coaxial with the hinge shaft rotate to realize door opening and unloading, so that the floating objects such as dead fish and residual bait collected in the collector 90 fall into the storage box 75. In this process, the stability of the collector 90 during the flipping process is ensured by the fixing effect of the first clamping groove 97 and the second clamping groove 98. After the cleaning operation is completed, the ring net box moving device continues to move forward to perform the next cleaning operation until the cleaning is completed and returns to the initial position.

[0034] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A marine cage aquaculture status monitoring and cleaning device, characterized in that: It comprises a status monitoring module and a ring cage cleaning module, wherein the status monitoring module comprises a base, a folding mechanism and a monitoring execution device, wherein the base is arranged on the peripheral platform of the aquaculture cage, the folding mechanism is arranged on the base, and the monitoring execution device is arranged at the movable end of the folding mechanism, and the folding mechanism is used to drive the monitoring execution device to enter or move away from the central water area of ​​the aquaculture cage, so as to collect image video data in the cage and aquaculture environment parameter data in real time; The ring net box cleaning module includes a ring track, a ring net box moving device, a retractable platform, a flipping mechanism and a collecting device. The ring track is arranged on the railing of the breeding net box, the ring net box moving device is slidably connected to the ring track, the retractable platform is arranged on the ring net box moving device, the flipping mechanism is arranged at the telescopic end of the retractable platform, the telescopic end of the retractable platform is also provided with a storage box, the collecting device is arranged at the movable end of the flipping mechanism, the ring net box moving device drives the collecting device to move along the railing of the breeding net box, the retractable platform is used to drive the collecting device to move radially, and the flipping mechanism is used to drive the collecting device to switch between a horizontal collection posture and a vertical unloading posture. When the collecting device is in a vertical unloading posture, the collecting device is located above the storage box.

2. A marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that: The flip mechanism includes an upright pole, a cross pole, an electric push rod, an arm pole, an elbow pole, a first end pole, a second end pole, a first support pole, a second support pole, a third support pole and a fourth support pole, wherein the upright pole is fixed to one side of the storage box, the cross pole is fixed to one side of the upright pole, the fixed end of the electric push rod is connected to the cross pole, one end of the arm pole is hinged to the top of the upright pole, the telescopic end of the electric push rod is hinged to the middle part of the arm pole, the other end of the arm pole is hinged to one end of the elbow pole, the other end of the elbow pole is hinged to the middle part of the first end pole, the first end pole and the second end pole are both connected to the collecting device, the first end pole, the first support pole and the second support pole are connected in sequence, the second end pole, the third support pole and the fourth support pole are connected in sequence, and the other end of the second support pole and the other end of the fourth support pole are both hinged to the telescopic end of the telescopic platform; When the electric push rod is in an extended state, the collecting device is in a horizontal collecting state; when the electric push rod is in a retracted state, the arm rod rotates around the vertical rod under the drive of the electric push rod, and drives the elbow rod, the first support rod and the third support rod to fold upward, thereby driving the first end rod and the second end rod to fold upward from a horizontal state to a vertical state, thereby flipping the collecting device from a horizontal collecting posture to a vertical unloading posture.

3. The marine cage aquaculture status monitoring and cleaning device according to claim 1 is characterized in that: The collecting device includes a collector, a guide roller, a first unloading baffle and a second unloading baffle. The guide roller is arranged at one end of the collector, and the first unloading baffle and the second unloading baffle are arranged at the other end of the collector and can be opened and closed and rotated. The box wall of the collector has a mesh structure.

4. A marine cage aquaculture status monitoring and cleaning device according to claim 3, characterized in that: The collecting device also includes an I-beam, a first swing arm, a second swing arm, a first spring and a second spring, and the collector is provided with a first slot and a second slot distributed in a linear manner. The I-beam includes a long cross bar portion, a vertical bar portion and a short cross bar portion, and the short cross bar portion and the long cross bar portion are respectively arranged at two ends of the vertical bar portion, and the vertical bar portion is slidably connected to the first slot and the second slot, and the two ends of the short cross bar portion are connected to the first swing arm and the second swing arm, and the first unloading baffle and the second unloading baffle are respectively arranged on the first swing arm and the second swing arm, and the first spring and the second spring are respectively arranged on both sides of the vertical bar portion, one end of the first spring and one end of the second spring are both connected to the short cross bar portion, and the other end of the first spring and the other end of the second spring are both connected to the first slot. In the initial state, the first spring and the second spring are both in a stretched stress state, so that the first unloading baffle and the second unloading baffle are in a closed state.

5. A marine cage aquaculture status monitoring and cleaning device according to claim 4, characterized in that: The collecting device also includes a unloading roller and a grooved cam bracket, the grooved cam bracket is vertically arranged on the other side of the storage box, the grooved cam bracket is provided with a grooved cam track, and the unloading roller is arranged at the end of the long cross bar part. When the collecting device is flipped from a horizontal collecting posture to a vertical unloading posture, the unloading roller is driven by the flipping mechanism to slide with the grooved cam track, and the I-beam slides downward under the constraint of the grooved cam track to overcome the spring tension, thereby pushing the first rocker arm and the second rocker arm to rotate to drive the first unloading baffle and the second unloading baffle to rotate in opposite directions, so that the first unloading baffle and the second unloading baffle are changed from a closed state to an open state.

6. The marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that: The folding mechanism includes a first drive motor, a first folding rod, a second folding rod, a third folding rod, a fourth folding rod and an end bracket. The first drive motor is arranged on the base, one end of the first folding rod is connected to the first drive motor and one end of the fourth folding rod through a bevel gear transmission, the other end of the first folding rod is connected to one end of the second folding rod through a bevel gear transmission, the other end of the fourth folding rod is connected to one end of the third folding rod through a bevel gear transmission, the other end of the second folding rod and the other end of the third folding rod are both rotatably connected to the end bracket, and the monitoring execution device is arranged on the end bracket.

7. A marine cage aquaculture status monitoring and cleaning device according to claim 6, characterized in that: The monitoring execution device includes an electric cylinder, a telescopic rod, a second drive motor, a first camera device, a dissolved oxygen sensor and a temperature sensor. The electric cylinder is vertically arranged on the end bracket, the telescopic rod is connected to the telescopic end of the electric cylinder, the dissolved oxygen sensor, the temperature sensor and the first camera device are all arranged on the telescopic rod, the second drive motor is horizontally arranged on the end bracket, the rotating shaft end of the second drive motor is transmission-connected to the electric cylinder, and the second drive motor is used to drive the electric cylinder to rotate.

8. The marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that: The ring mesh box movement device includes a movement box, a third drive motor, a drive gear, an annular rack, a support wheel group and a guide roller. The annular rack is arranged on the annular track, the third drive motor is fixed in the movement box, the drive gear is connected to the rotating shaft end of the third drive motor, the drive gear is meshed with the annular rack, and the support wheel group and the guide roller are both arranged at the bottom of the movement box.

9. The marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that: The retractable platform includes a connecting frame, a platform plate, a fourth driving motor, a first transmission gear, a second transmission gear, a first spur rack, a second spur rack, a first row of rollers, a second row of rollers, a grooved guide rail and a second camera device. The platform plate is slidably matched with the connecting frame. The fourth driving motor is arranged on the connecting frame. The first transmission gear and the second transmission gear are both connected to the rotating shaft end of the fourth driving motor. The first spur rack and the second spur rack are arranged in parallel on the platform plate. The first transmission gear and the second transmission gear are respectively meshed with the first spur rack and the second spur rack. The grooved guide rail is arranged on both sides of the connecting frame. The first row of rollers and the second row of rollers are respectively fixed to the platform plate and embedded in the grooved guide rails; the second camera device is arranged on one side of the connecting frame.

10. The marine cage aquaculture status monitoring and cleaning device according to claim 3, characterized in that: The collecting device further comprises an ultrasonic distance measuring sensor and a third camera device, and both the ultrasonic distance measuring sensor and the third camera device are arranged on the collector.

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