A marine net cage culture state monitoring and cleaning device

Abstract

The application discloses a kind of marine net cage breeding state monitoring and cleaning device, including state monitoring module and ring net cage cleaning module, state monitoring module includes base, folding mechanism and monitoring execution device, ring net cage cleaning module includes annular track, ring net cage movement device, retractable platform, turnover mechanism and collection device. Through state monitoring module, image video data and breeding environment parameter data in net cage (on water surface and at different depths and angles under water surface) are collected in real time, so that the growth of fish population in net cage, the accumulation of water surface floating objects and the integrity of net can be understood at any time by breeding personnel, automatic monitoring and cleaning are realized, the need for manual inspection is reduced, thereby reducing transportation cost and labor cost;Through ring net cage movement cleaning module, automatic cleaning of floating objects in net cage is realized, the efficiency and accuracy of cleaning are improved, and the cleanliness of net cage water surface and water quality safety are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine net cage culture equipment, and in particular to a marine net cage culture state monitoring and cleaning device. BACKGROUND

[0002] In deep sea net cage culture, deep sea net cages are important facilities for fish culture. Since the culture environment is far from the coast, dead fish and other harmful floating objects are easily accumulated on the water surface. If these floating objects are not cleaned in time, they may become breeding grounds for diseases and pests, and thus cause the outbreak and spread of diseases, which poses a serious threat to the cultured fish. At the same time, as the use time of the net cage increases, the net material is easily damaged due to long-term erosion by seawater, impact by wind and waves and other natural factors, which leads to the escape of fish and causes economic losses to the breeders.

[0003] Currently, the common practice in the industry is to rely on the breeders to go out to sea by boat at regular intervals to conduct on-site patrols. During the patrol, they not only need to observe the water surface conditions to timely discover and clean dead fish and other floating objects, but also need to dive to check the integrity of the net and the growth state of the fish. Therefore, this monitoring method not only requires a large amount of transportation costs, but also has a relatively fixed patrol cycle, which cannot realize real-time monitoring of the culture state, thus having obvious time lag. SUMMARY

[0004] The present application aims to provide a marine net cage culture state monitoring and cleaning device to solve one or more technical problems in the background art.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] A marine net cage culture state monitoring and cleaning device, comprising a state monitoring module and a ring net cage cleaning module, the state monitoring module comprising a base, a folding mechanism and a monitoring execution device, the base being arranged on the peripheral platform of the culture net cage, the folding mechanism being arranged on the base, and the monitoring execution device being arranged at the movable end of the folding mechanism, the folding mechanism being used to drive the monitoring execution device to enter or move away from the central water area of the culture net cage, for real-time collection of image video data and culture environment parameter data in the net cage.

[0007] The ring net cage cleaning module comprises a ring track, a ring net cage moving device, a telescopic platform, a turnover mechanism and a collecting device, the ring track is arranged on the railing of the breeding net cage, the ring net cage moving device is slidingly connected to the ring track, the telescopic platform is arranged on the ring net cage moving device, the turnover mechanism is arranged at the telescopic end of the telescopic platform, the telescopic end of the telescopic platform is further provided with a storage box, the collecting device is arranged at the movable end of the turnover mechanism, the ring net cage moving device drives the collecting device to move along the railing of the breeding net cage, the telescopic platform is used to drive the collecting device to move radially, the turnover mechanism is used to drive the collecting device to switch between the horizontal collecting posture and the vertical unloading posture, when the collecting device is in the vertical unloading posture, the collecting device is located above the storage box.

[0008] Preferably, the turnover mechanism comprises a vertical rod, a horizontal rod, an electric push rod, an arm rod, an elbow rod, a first end rod, a second end rod, a first support rod, a second support rod, a third support rod and a fourth support rod, the vertical rod is fixed on one side of the storage box, the horizontal rod is fixed on one side of the vertical rod, the fixed end of the electric push rod is connected to the horizontal rod, one end of the arm rod is hingedly connected to the top of the vertical rod, the telescopic end of the electric push rod is hingedly connected to the middle of the arm rod, the other end of the arm rod is hingedly connected to one end of the elbow rod, the other end of the elbow rod is hingedly connected to the middle of the first end rod, the first end rod and the second end rod are connected to the collecting device, the first end rod, the first support rod and the second support rod are connected in sequence, the second end rod, the third support rod and the fourth support rod are connected in sequence, the other end of the second support rod and the other end of the fourth support rod are both hingedly connected to the telescopic end of the telescopic platform.

[0009] When the electric push rod is in the extended state, the collecting device is in the horizontal collecting state; when the electric push rod is in the 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 be folded upwards, thereby driving the first end rod and the second end rod to be folded upwards from the horizontal state to the vertical state, and further making the collecting device be turned from the horizontal collecting posture to the vertical unloading posture.

[0010] Preferably, the collecting device comprises a collector, a flow guide cylinder, a first unloading baffle and a second unloading baffle, the flow guide cylinder 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 rotationally, the box wall of the collector has a mesh structure.

[0011] Preferably, the collecting device further comprises an I-shaped rod, a first swing rod, a second swing rod, a first spring and a second spring, the collector is provided with linearly distributed first clamping grooves and second clamping grooves, the I-shaped rod comprises a long crossbar portion, a vertical rod portion and a short crossbar portion, the short crossbar portion and the long crossbar portion are respectively arranged at two ends of the vertical rod portion, the vertical rod portion is slidingly connected to the first clamping grooves and the second clamping grooves, two ends of the short crossbar portion are connected to the first swing rod and the second swing rod, the first discharge baffle and the second discharge baffle are respectively arranged on the first swing rod and the second swing rod, the first spring and the second spring are respectively arranged on two sides of the vertical rod portion, one end of the first spring and one end of the second spring are connected to the short crossbar portion, the other end of the first spring and the other end of the second spring are connected to the first clamping grooves, and in the initial state, the first spring and the second spring are in tensile stress state, so that the first discharge baffle and the second discharge baffle are in closed state.

[0012] Preferably, the collecting device further comprises a discharge roller and a groove cam support, the groove cam support is vertically arranged on the other side of the storage box, the groove cam support is provided with a groove cam track, and the discharge roller is arranged at the end of the long crossbar portion; when the collecting device is flipped from a horizontal collecting posture to a vertical discharging posture, the discharge roller is slidingly matched with the groove cam track under the driving of the flipping mechanism, the I-shaped rod slides downward under the constraint of the groove cam track to overcome the spring tension, so as to drive the first swing rod and the second swing rod to rotate, and drive the first discharge baffle and the second discharge baffle to rotate in opposite directions, so that the first discharge baffle and the second discharge baffle are switched from the closed state to the open state.

[0013] Preferably, the folding mechanism comprises a first driving motor, a first folding rod, a second folding rod, a third folding rod, a fourth folding rod and a terminal support, the first driving motor is arranged on the base, one end of the first folding rod is connected to the first driving motor and one end of the fourth folding rod through bevel gear transmission, the other end of the first folding rod is connected to one end of the second folding rod through bevel gear transmission, the other end of the fourth folding rod is connected to one end of the third folding rod through bevel gear transmission, the other end of the second folding rod and the other end of the third folding rod are both rotationally connected to the terminal support, and the monitoring and executing device is arranged on the terminal support.

[0014] Preferably, the monitoring execution device comprises an electric cylinder, a telescopic rod, a second driving motor, a first camera device, a dissolved oxygen sensor and a temperature sensor, the electric cylinder is vertically arranged on the end support, the telescopic rod is connected with 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 driving motor is horizontally arranged on the end support, the rotating shaft end of the second driving motor is in transmission connection with the electric cylinder, and the second driving motor is used for driving the electric cylinder to rotate.

[0015] Preferably, the ring net box movement device comprises a movement box body, a third driving motor, a driving gear, an annular rack, a support wheel group and a guide drum, the annular rack is arranged on the annular track, the third driving motor is fixed in the movement box body, the driving gear is connected with the rotating shaft end of the third driving motor, the driving gear is in mesh with the annular rack, and the support wheel group and the guide drum are both arranged at the bottom of the movement box body.

[0016] Preferably, the telescopic platform comprises a connecting frame, a platform plate, a fourth driving motor, a first transmission gear, a second transmission gear, a first straight rack, a second straight rack, a first row of rollers, a second row of rollers, a slot guide rail and a second camera device, the platform plate is in sliding cooperation 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 with the rotating shaft end of the fourth driving motor, the first straight rack and the second straight rack are arranged in parallel on the platform plate, the first transmission gear and the second transmission gear are respectively in mesh with the first straight rack and the second straight rack, the slot guide rail is arranged on the two sides of the connecting frame, and the first row of rollers and the second row of rollers are respectively fixed to the platform plate and respectively embedded in the slot guide rail; the second camera device is arranged on one side of the connecting frame.

[0017] Preferably, the collecting device further comprises an ultrasonic ranging sensor and a third camera device, and the ultrasonic ranging sensor and the third camera device are both arranged on the collector.

[0018] The present application has the advantages that: the state monitoring module is used for collecting image video data and breeding environment parameter data in the net cage (on the water surface and at different depths and angles under the water surface) in real time, so that the grower can know the growth of the fish in the net cage, the accumulation of the floating objects on the water surface and the integrity of the net cover at any time, automatic monitoring and cleaning are realized, the need for manual inspection is reduced, and the traffic cost and the labor cost are reduced; the ring net box movement cleaning module is used for automatically cleaning the floating objects in the net cage, the cleaning efficiency and accuracy are improved, and the cleanliness of the water surface of the net cage and the water quality safety are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings further illustrate the present application, but are not intended to limit the present application.

[0020] Figure 1 is a schematic diagram of the overall structure of one embodiment of the present application;

[0021] Figure 2 is a schematic diagram of the folding mechanism and monitoring execution device of one embodiment of the present application;

[0022] Figure 3 is a schematic diagram of the folding mechanism of one embodiment of the present application in a folded state;

[0023] Figure 4 is a schematic diagram of the ring main unit movement device of one embodiment of the present application;

[0024] Figure 5 is a schematic diagram of the bottom structure of the ring main unit movement device of one embodiment of the present application;

[0025] Figure 6 is a schematic diagram of the telescopic platform of one embodiment of the present application;

[0026] Figure 7 is a schematic diagram of the telescopic platform of one embodiment of the present application; Figure 6 is a schematic diagram of the B direction in FIG. 1;

[0027] Figure 8 is a schematic diagram of the turnover mechanism of one embodiment of the present application;

[0028] Figure 9 is a schematic diagram of the turnover mechanism driving the collection device to a horizontal collection posture of one embodiment of the present application;

[0029] Figure 10 is a schematic diagram of the turnover mechanism driving the collection device to switch to a vertical unloading posture of one embodiment of the present application;

[0030] Figure 11 is a schematic diagram of the collection device of one embodiment of the present application;

[0031] Figure 12 is a schematic diagram of the collection device of one embodiment of the present application; Figure 11 is a schematic diagram of the C direction in FIG. 1;

[0032] Figure 13 is a schematic diagram of the D direction in FIG. 1; Figure 11 is a schematic diagram of the D direction in FIG. 1;

[0033] Figure 14 is a schematic diagram of the cooperation between the I-shaped rod and the groove cam track of one embodiment of the present application. DETAILED DESCRIPTION

[0034] The technical solutions of the present application are further illustrated below with reference to the drawings and specific embodiments.

[0035] The marine net cage breeding state monitoring and cleaning device of the present embodiment is shown in the accompanying drawings Figure 1 , including a state monitoring module I, a ring net cage cleaning module II and an electric control box III, the state monitoring module I includes a base, a folding mechanism and a monitoring execution device, the base is arranged on the peripheral platform of the breeding net cage, the folding mechanism is arranged on the base, and the monitoring execution device is arranged on the movable 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 breeding net cage, and is used to collect image video data and breeding environment parameter data in the net cage in real time.

[0036] The ring net cage cleaning module II includes a ring track, a ring net cage movement device, an extendable platform, a turnover mechanism and a collecting device. The ring track is arranged on the railing of the breeding net cage. The ring net cage movement device is slidingly connected to the ring track. The extendable platform is arranged on the ring net cage movement device. The turnover mechanism is arranged on the telescopic end of the extendable platform. The telescopic end of the extendable platform is also provided with a storage box. The collecting device is arranged on the movable end of the turnover mechanism. The ring net cage movement device drives the collecting device to move along the railing of the breeding net cage. The extendable platform is used to drive the collecting device to move radially. The turnover mechanism is used to drive the collecting device to switch between the horizontal collecting posture and the vertical unloading posture. When the collecting device is in the vertical unloading posture, the collecting device is located above the storage box.

[0037] By the state monitoring module, the image video data and the breeding environment parameter data in the net cage are collected in real time, so that the breeding personnel can know the breeding state in the net cage at any time, including the growth of the fish group, the accumulation of the floating objects on the water surface and the integrity of the net clothes. Automatic monitoring and cleaning are realized, the need for manual patrol is reduced, and the transportation cost and the labor cost are reduced. By the ring net cage movement device, the collecting device is driven to move along the railing of the breeding net cage, and by the extendable platform, the collecting device is moved radially, so that the cleaning coverage of the collecting device covers the entire circumferential water surface area of the net cage. By the turnover mechanism, the collecting device can be switched between the horizontal collecting posture and the vertical unloading posture, so that the collected floating objects can be conveniently unloaded into the storage box, and the cleaning efficiency and accuracy are improved.

[0038] The marine net cage breeding state monitoring and cleaning device of the present embodiment is shown in the accompanying drawings Figure 2 and 3 , the base includes a base 1 and a support column 2, and the base 1 is fixed on the peripheral platform of the net cage railing. The base 1 and the support column 2 are both in a right angle type. The lower part of the support column 2 is fixed on the base 1 by a screw. The upper part of the support column 2 is fixed with a first driving motor 3 by a screw. The first driving motor 3 is provided with a speed reducer, and power is transmitted to the folding mechanism through a first transmission shaft 4.

[0039] The folding mechanism comprises 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 equal in length, wherein the first folding rod 23 has bevel gears 5, 21 welded at both ends, and the fourth folding rod 8 has bevel gears 6, 9 welded at both ends; the second folding rod 18 has a bevel gear 19 welded at one end, and the third folding rod 14 has a bevel gear 13 welded at one end, all of which have the same parameters; 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 to become a driving wheel that receives power input from the first driving motor 3, thereby driving the first folding rod 23 to swing; the sixth bevel gear 21 at the right end of the first folding rod 23 is engaged with the fifth bevel gear 19 through the seventh connecting pin 22 and the third connecting angle block 24, thereby transmitting power to the second folding rod 18 to make it swing; the second bevel gear 6 at the left end of the fourth folding rod 8 is hinged to the upper part of the support column 2 through the first connecting pin 7 and is engaged with the driving wheel first bevel gear 5 to receive power input therefrom; the third bevel gear 9 at the right end of the fourth folding rod 8 is engaged with the fourth bevel gear 12 through the second connecting pin 10 and the first connecting angle block 11, thereby transmitting power from the fourth folding rod 8 to the third folding rod 14 through engagement transmission; the right end of the third folding rod 14 and the right end of the second folding rod 18 are respectively connected to both ends of the second connecting angle block 16 through the fourth connecting pin 15 and the sixth connecting pin 17, and the outer side of the second connecting angle block 16 has a terminal support 25 welded and fixed thereon.

[0040] The monitoring execution device mainly consists of an end support 25, an electric cylinder 26, an extension rod 35, a second driving motor 32, a meshing bevel gear pair 28 and 29, a first camera 40, a dissolved oxygen sensor 37 and a temperature sensor 36, etc. The electric cylinder 26 is vertically fixed on the bearing seat hole of the end support 25 through a first bearing seat 27, and the extension rod 35 is fixed on the lower extension section of the electric cylinder 26. The lower part of the extension rod 35 is fixedly connected with a high-brightness LED fill light 39 and the first camera 40 through a transverse connecting rod 38, and the end of the extension rod 35 is fixedly connected with the temperature sensor 36 and the dissolved oxygen sensor 37 through threads. The seventh bevel gear 28 is fixed on the electric cylinder 26 through a set screw, and is externally meshed with the eighth bevel gear 29 for transmission. The second fixed block 34 is fixed on the right side surface of the end support 25 through a screw, the first fixed block 33 is fixed on the right side surface of the second fixed block 34 through a screw, the second driving motor 32 is fixed on the first fixed block 33 through a screw, and the second bearing seat 31 is fixed on the bearing hole of the second fixed block 34 through a screw. The second transmission shaft 30 penetrates the inner hole of the second bearing seat 31, and the left end thereof is connected with the eighth bevel gear 29 through a key, and the right end thereof is connected with the output shaft of the second driving motor 32 through a coupling for receiving the power input of the motor. The second driving motor 32 drives the second transmission shaft 30 to rotate the eighth bevel gear 29 through the coupling, and drives the seventh bevel gear 28 to rotate through meshing transmission, so as to drive the electric cylinder 26 to rotate through the set screw, and the extension rod 35 and the first camera 40 fixed thereon also realize 360-degree rotation.

[0041] When the state monitoring module starts to execute the monitoring task, the first driving motor 3 rotates in the positive direction, and through the meshing transmission of the three pairs of bevel gears of the folding mechanism, the folding rods are fully unfolded, and the first camera 40, the high-brightness LED fill light 39, the temperature sensor 36 and the dissolved oxygen sensor 37 carried on the ends of the folding rods can be extended to the central upper space of the net cage water area from the vicinity of the net cage rail through the folding rods, so as to realize the camera monitoring of the entire net cage water surface, and to collect the image and video data of the fish group feeding, residual feed and dead fish, etc.

[0042] Through the control of the electric cylinder 26, the monitoring device can be dived to different depths at regular time, and through the control of the second driving motor 32, the monitoring device can rotate within a range of 360 degrees, so as to realize the image and video data collection of the fish group and the netting in the net cage at different depths and different angles, and the water temperature and dissolved oxygen data collection in the net cage at different water depths. The background analyzes the collected data through an algorithm, obtains the information of the existence state of the floating objects on the water surface of the net cage, the growth state of the fish group underwater and the complete state of the netting, etc., and timely feedback and early warning are made.

[0043] When the underwater monitoring operation is completed, the second drive motor 32 is reversed, the monitoring execution device rotates back to the initial angular position, the electric cylinder 26 is reversed so that the electric telescopic rod is retracted to the initial length position, so that the temperature dissolved oxygen sensor 36, 37 and the first camera 40 are taken away from the water to the air, and the folding mechanism is folded back to the original vertical state by the driving of the first drive motor 3 and the transmission of the bevel gear set, and stands beside the net cage rail.

[0044] The ring net cage cleaning module is used to collect and clean the floating objects such as dead fish and residual bait around the water surface in the net cage. Because the ocean current and waves can bring the floating objects such as dead fish and residual bait to the periphery of the net cage and accumulate, the ring net cage cleaning module can effectively collect these floating objects, thereby maintaining the water quality safety in the net cage area.

[0045] The ring net cage cleaning module comprises a ring net cage moving device, a telescopic platform, a turnover mechanism and a collecting device.

[0046] Wherein, reference is made to the accompanying drawings Figures 4-7 The ring net cage moving device comprises an outer box 50, an inner box 51, a third drive motor 52, a drive gear 53, a ring gear 54, a support wheel set 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 and the inner box are connected by bolts to form a moving box, the third drive motor 52 is arranged in the moving box, has a reducer and a power output end connected with the drive gear 53 by a key, the drive gear 53 is in meshing transmission with the ring gear 54, the ring gear 54 is fixed on the ring track on the upper surface of the net cage upper rail, four support wheel sets 55 are arranged on the inner walls of the moving box on both sides below, two of the support wheel sets 55 laterally embrace the net cage upper rail 59, and the other two support wheel sets 55 laterally embrace the net cage lower rail 60; the support wheel set 55 is fixed on the two side surfaces of the trapezoidal fixed block 58 by four upper row of support wheels 56 and four lower row of support wheels 57; under the interaction of the support wheel set 55, the upper rail 59 and the lower rail 60, the ring net cage moving device is supported and moves along the ring gear under the driving of the drive gear 53 to perform the ring net cage inspection operation; the guide roller 61 is arranged in front of and behind the lower part of the inner box 51 to prevent the ring net cage moving device from scratching the net during the movement.

[0047] The telescopic platform comprises a connecting frame 62, a platform plate 63, a fourth driving motor 64, a speed reducer 65, a first transmission gear 67, a second transmission gear 66, a first straight rack 68, a second straight rack 69, a first row of rollers 70, a second row of rollers, a grooved guide rail 72, a second camera 73, a grooved cam support 74, a storage box 75, a vertical rod 76, connecting blocks 77 and 78. The connecting frame 62 is connected with the ring main unit moving device through the inner side box body 51; the second camera 73 is installed on the high side of the front side of the connecting frame 62 through a fixing block; the fourth driving motor 64 and the speed reducer 65 are fixed in the middle of the connecting frame 62 through screws, and the two output shafts of the speed reducer 65 are connected with the first transmission gear 67 and the second transmission gear 66 through keys; the first straight rack 68 and the second straight rack 69 are fixed on the two sides of the platform plate 63 through screws and are in transmission with the first transmission gear 67 and the second transmission gear 66 respectively; the grooved guide rails 72 are arranged on the two sides of the connecting frame 62 respectively; the first row of rollers 70 and the second row of rollers are fixed on the two sides of the platform plate 63 near the connecting frame 62 and are embedded in the grooved guide rails 72 on the two sides of the connecting frame 62 respectively; the grooved cam support 74 and the storage box 75 are installed on the platform plate 63 through screws, the vertical rod 76 is fixed on the end surface of the platform plate 63, and the two connecting blocks 77 and 78 are fixed on the lower front side of the platform plate 63; the platform plate is hinged to the rod member of the turnover mechanism through the vertical rod 76 and the two connecting blocks 77 and 78; when the fourth driving motor 64 is started, the telescopic platform realizes the telescopic movement along the radial direction of the ring main unit through the first row of rollers 70 and the second row of rollers in the grooved guide rail 72 under the meshing transmission of the first transmission gear 67, the second transmission gear 66, the first straight rack 68 and the second straight rack 69, so that the radial distance of the collecting device on the platform plate 63 from the ring main unit can be adjusted, and the flexibility and safety of the ring main unit floating object collecting operation are provided.

[0048] The accompanying drawings are referred to in the description of the application Figures 8-10, the turnover mechanism includes a crossbar 80, an electric push rod 81, an arm rod 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, a fourth support rod 89, the crossbar 80 is fixed on the vertical rod 76, the fixed end of the electric push rod 81 is connected to the crossbar 80 through a pin, one end of the arm rod 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 rod 82 through a pin, the other end of the arm rod 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, the first end rod 84 and the second end rod 85 are respectively fixed to the back of the collector 90 through connecting blocks, one end of the first end rod 84 is connected to one end of the first support rod 86 through a pin, the other end of the first support rod 86 is connected to one end of the second support rod 87 through a pin, the other end of the second support rod 87 is connected to the connecting block 77 of the platform plate 63 through a pin, and one end of the second end rod 85 is connected to one end of the third support rod 88 through a pin, the other end of the third support rod 88 is connected to one end of the fourth support rod 89 through a pin, and the other end of the fourth support rod 89 is connected to the other connecting block 78 of the platform plate 63 through a pin. Thus, 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 under the action of 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, and further making the collecting device turn over from the horizontal collecting posture to the vertical discharging posture.

[0049] Reference is made to the accompanying drawings Figures 11-14 , the collecting device includes a collector 90, a connecting piece 91, a third camera 92, a flow guide roller 93, an ultrasonic ranging sensor 94, an I-shaped rod, a first clamping groove 97, a second clamping groove 98, a discharging roller 99, a groove-shaped cam track 100, a first swing rod 103, a second swing rod 102, a first discharging baffle 104, a second discharging baffle 105, a first spring 106, and a second spring 107, and the I-shaped rod includes a long crossbar part 95, a vertical rod part 96 and a short crossbar part 101, the short crossbar part 101 and the long crossbar part 95 are respectively arranged at both ends of the vertical rod part 96,

[0050] The collector 90 is connected to the first end rod 84 and the second end rod 85 of the turnover mechanism through four connectors 91 on the back of the collector 90. A third camera 92 is mounted on the front of the back plate of the collector 90, and the wall of the collector 90 has a mesh structure, thereby reducing the resistance of the water body during the collection movement of the ring net cage. The flow guide rollers 93 are distributed on both sides of the opening of the collector 90 through supports, and an ultrasonic ranging sensor 94 is mounted on the support of the flow guide roller 93 near the net cage rail. The ultrasonic ranging sensor 94 can detect the distance between the collector 90 and the net cage and feed back a signal to control the fourth drive motor 64 of the telescopic platform to set and adjust the telescopic amount to maintain the appropriate distance during the movement. The vertical rod part 96 of the I-shaped rod is sleeved in the first and second linearly distributed clamping grooves 97 and 98 fixed on the back plate of the collector 90 and can slide in the two clamping grooves. The end of the long cross rod part 95 is connected with the unloading roller 99 through interference fit, and the unloading roller 99 can enter the groove cam track 100 under the driving of the turnover mechanism. The ends of the short cross rod part 101 are respectively connected to one end of the first swing rod 103 and the second swing rod 102, and the other end of the first swing rod 103 is fixedly connected to the first unloading baffle 104. Similarly, the other end of the second swing rod 102 is connected to the second unloading baffle 105, and the first and second unloading baffles 104 and 105 can be opened and closed and rotated on both sides of the back of the collector 90 through pin connections. The first and second springs 106 and 107 are symmetrically distributed on both sides of the vertical rod part 96, one end of each spring is connected to the short cross rod part 101, and the other end of each spring is connected to the first clamping groove 97. The initial state of the two springs is a tensile stress state, and the tension provided by the two springs is transmitted to the first and second swing rods 103 and 102 through the short cross rod part 101 of the I-shaped rod, so that the first and second unloading baffles 104 and 105 are in a closed state. As shown in FIG. 8, when the collector 90 is in the water surface collection state, the unloading roller 99 is in the groove cam track 100, and the first and second unloading baffles 104 and 105 are in the closed state. Figure 14 When the collector 90 completes the water surface collection operation, the unloading roller 99 is turned up with the collector 90 under the driving of the turnover mechanism, the unloading roller 99 enters the groove cam track 100, and is constrained by the downward arc-shaped groove cam track 100 to move downward, thereby driving the I-shaped rod to slide downward against the spring tension. During the sliding process, the short cross rod part 101 of the I-shaped rod pushes the first and second swing rods 103 and 102 to rotate, thereby driving the first and second unloading baffles 104 and 105 to rotate in opposite directions, i.e., from the closed state to the 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.

[0051] The working principle of the ring net box cleaning module is as follows: first, the third driving motor of the ring net box moving device starts to output power, and under the support of the support wheel and the net box rail, the driving gear is meshed and moved on the ring gear to realize the movement of the ring net box cleaning module along the circumferential direction of the net box to collect. When the first camera device reaches the target position, the second camera device on the connecting frame assists to confirm the floating target within the cleaning and collecting range through image recognition algorithm, and the cleaning execution device starts to work. The electric push rod 81 of the turnover mechanism is pushed out, 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 rods are unfolded to make the end rod vertically descend from the air to the lowest horizontal posture. At this time, the collector 90 fixedly connected with the end rod also turns forward from the initial posture of the vertical opening upward to the horizontal collecting working posture close to the water surface. In the process of turning forward and lowering the collecting device, the discharge roller 99 gradually separates from the groove cam track 100, and the first discharge baffle 104 and the second discharge baffle 105 are switched from the open state to the closed state through the connecting rod and hinge shaft transmission under the action of the first spring 106 and the second spring 107, so as to avoid the escape of floating objects in the collecting process. Under the assistance of the ultrasonic ranging sensor 94, the second camera device and the third camera device 92, the collector 90 approaches the floating target together with the ring net box moving device and the telescopic platform and collects it. After the collection is completed, the electric push rod 81 is retracted to the initial state, and the rods are driven to fold to make the collector 90 turn counterclockwise to the upper side of the storage box 75. In the process of turning, the discharge roller 99 on the collector 90 is embedded in the groove cam track 100 of the groove cam bracket, the cam track with a predetermined shape guides the discharge roller 99 to move along a predetermined track, so that the discharge roller 99 drives the I-shaped rod to move downward against the spring force. The I-shaped rod drives the connecting rod to rotate, and the connecting rod drives the hinge shaft to rotate in the same direction, so that the first discharge baffle 104 and the second discharge baffle 105 coaxial with the hinge shaft rotate to realize the opening and discharging, 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 first clamping groove 97 and the second clamping groove 98 ensure the stability of the collector 90 in the process of turning. The cleaning work at this position is completed, and the ring net box moving device continues to move forward to perform the next cleaning work until it returns to the initial position.

[0052] The technical principles of the present application are described above in combination with specific embodiments. These descriptions are only for the purpose of explaining the principles of the present application, and cannot be interpreted in any way as a limitation on the scope of protection of the present application. Based on the explanations herein, those skilled in the art can easily think of other specific embodiments of the present application without creative labor, and these embodiments will fall within the scope of protection of the present application.

Claims

1. A device for monitoring and cleaning the status of marine cage aquaculture, characterized in that, It includes a status monitoring module and a ring cage cleaning module. The status monitoring module includes a base, a folding mechanism, and a monitoring execution device. The base is set on the outer platform of the aquaculture cage. The folding mechanism is set on the base. The monitoring execution device is set at the movable end of the folding mechanism. The folding mechanism is used to drive the monitoring execution device into or away from the central water area of ​​the aquaculture cage for real-time collection of image and video data and aquaculture environmental parameter data inside the cage. The ring cage cleaning module includes a ring track, a ring cage moving device, a telescopic platform, a tilting mechanism, and a collection device. The ring track is arranged on the railing of the aquaculture cage. The ring cage moving device is slidably connected to the ring track. The telescopic platform is located on the ring cage moving device. The tilting mechanism is located at the telescopic end of the telescopic platform, which also has a storage box. The collection device is located at the movable end of the tilting mechanism. The ring cage moving device drives the collection device to move along the railing of the aquaculture cage. The telescopic platform is used to drive the collection device to move radially. The tilting mechanism is used to drive the collection device to switch between a horizontal collection posture and a vertical unloading posture. When the collection device is in a vertical unloading posture, it is located above the storage box. The collecting device includes a collector, a guide roller, a first discharge baffle and a second discharge baffle. The guide roller is located at one end of the collector, and the first discharge baffle and the second discharge baffle are located at the other end of the collector and can be opened, closed and rotated. The tank wall of the collector has a mesh structure. The collecting device further includes an I-beam, a first swing arm, a second swing arm, a first spring, and a second spring. The collector is provided with a first slot and a second slot arranged in a straight line. The I-beam includes a long horizontal bar, a vertical bar, and a short horizontal bar. The short horizontal bar and the long horizontal bar are respectively located at both ends of the vertical bar. The vertical bar is slidably connected to the first slot and the second slot. Both ends of the short horizontal bar are connected to the first swing arm and the second swing arm. The first discharge baffle and the second discharge baffle are respectively located on the first swing arm and the second swing arm. The first spring and the second spring are respectively located on both sides of the vertical bar. One end of the first spring and one end of the second spring are both connected to the short horizontal bar. 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 under tension, so that the first discharge baffle and the second discharge baffle are in the closed state.

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

3. The marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that, The collecting device also includes a discharge roller and a grooved cam support. The grooved cam support is vertically arranged on the other side of the storage box and has a grooved cam track. The discharge roller is located at the end of the long horizontal bar. When the collecting device flips from a horizontal collecting posture to a vertical discharge posture, the discharge roller slides in cooperation with the grooved cam track under the drive of the flipping mechanism. The I-beam slides downward against the spring tension under the constraint of the grooved cam track, thereby pushing the first swing arm and the second swing arm to rotate, thereby driving the first discharge baffle and the second discharge baffle to rotate in opposite directions, so that the first discharge baffle and the second discharge baffle change from the closed state to the open state.

4. 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 mounted 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 via a bevel gear transmission. The other end of the first folding rod is connected to one end of the second folding rod via a bevel gear transmission. The other end of the fourth folding rod is connected to one end of the third folding rod via a bevel gear transmission. The other ends of the second and third folding rods are rotatably connected to the end bracket. The monitoring and execution device is mounted on the end bracket.

5. The marine cage aquaculture status monitoring and cleaning device according to claim 4, characterized in that, The monitoring and 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 mounted on the end bracket, and 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 mounted on the telescopic rod. The second drive motor is horizontally mounted on the end bracket, and the shaft end of the second drive motor is connected to the electric cylinder for transmission. The second drive motor is used to drive the electric cylinder to rotate.

6. The marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that, The ring cage motion device includes a motion box, a third drive motor, a drive gear, a ring rack, a support wheel assembly, and a guide roller. The ring rack is mounted on the ring track. The third drive motor is fixed inside the motion box. The drive gear is connected to the shaft end of the third drive motor and meshes with the ring rack. The support wheel assembly and the guide roller are both located at the bottom of the motion box.

7. 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 drive 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 fitted with the connecting frame. The fourth drive motor is mounted on the connecting frame. The first and second transmission gears are both connected to the shaft end of the fourth drive motor. The first and second spur racks are arranged parallel to each other on the platform plate, and the first and second transmission gears mesh with the first and second spur racks, respectively. The grooved guide rail is located on both sides of the connecting frame. The first and second rows of rollers are fixed to the platform plate and embedded in the grooved guide rail, respectively. The second camera device is located on one side of the connecting frame.

8. The marine cage aquaculture status monitoring and cleaning device according to claim 1, characterized in that, The collecting device also includes an ultrasonic ranging sensor and a third camera device, both of which are mounted on the collector.

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