Multi-dimensional self-adaptive portable underwater detection device and method

Abstract

The invention relates to a multi-dimensional self-adaptive portable underwater detection device and a multi-dimensional self-adaptive portable underwater detection method. In order to solve the problems that an existing fixed camera cannot cover a whole water layer, is inconvenient to adjust, has a large monitoring blind area and the like, the device comprises an underwater camera arranged on a lifting rod at an interval of 1 meter, a vertical moving module driven by a gear and a rack, a horizontal moving module driven by a bevel gear and a fixing module. Horizontal / vertical movement is independently controlled through the double gear motors, and accurate positioning of the camera within the depth of 5-10 m and the full-width range of the net cage is achieved; the cameras are distributed at equal intervals to eliminate view blind areas, and the whole-water-layer fish monitoring deviation is smaller than or equal to 5% in combination with the IP68 anti-corrosion design. Remote control is achieved through wireless communication, the automation degree is high, monitoring blind areas can be reduced, core components are resistant to corrosion, the system is suitable for large-scale breeding monitoring, and efficiency and data accuracy are improved.

Description

Technical Field

[0001] This invention relates to the field of marine ranching aquaculture monitoring equipment technology, specifically to a multidimensional adaptive portable underwater detection device and method. Background Technology

[0002] In marine ranching cage culture, monitoring the quantity and size of farmed fish is crucial, as it affects many aspects such as aquaculture management and yield forecasting. Currently, the common monitoring method involves installing underwater cameras fixed inside the cages. However, this method results in fixed camera positions, allowing monitoring only of specific areas and making it difficult to comprehensively and evenly capture images of all farmed fish within the cage, leading to inaccurate monitoring data. Furthermore, existing fish finders are mostly fixed devices, making it impossible to control the distance to the underwater cameras; moreover, the coordination between multiple cameras is poor, making it impossible to operate simultaneously at different water depths, and data integration is difficult, further reducing monitoring efficiency and accuracy.

[0003] Some existing lifting devices have a small extension range, making it impossible to obtain sufficient information about underwater structures at a sufficient depth. They are also inconvenient to install and move in cages, resulting in poor applicability and causing many inconveniences to actual aquaculture monitoring work.

[0004] Therefore, developing an underwater structure detection device with a camera that can move vertically and horizontally, has a wide observation range, and a deep detection range is of great significance for ensuring the assessment of cage aquaculture quantities in marine ranches and reducing errors in aquaculture quantity. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-dimensional adaptive portable underwater detection device and method. This device can drive multiple underwater cameras to move up and down inside the marine ranch cages, thereby uniformly capturing images of the number and size of farmed fish inside the cages. It is also portable and easy to install and use.

[0006] In marine ranching cage culture, monitoring the quantity and size of farmed fish is crucial, as it relates to many aspects such as aquaculture management and yield forecasting. However, existing equipment has significant limitations. Currently, the common monitoring method is to install underwater cameras fixedly inside the cages. However, fixed underwater cameras are limited by their placement location, can only cover a local area of ​​the cage, and are prone to creating blind spots. This method is inflexible, especially in deep-water cages where the distribution of fish in the upper and middle layers differs greatly from that of the bottom layer, making it difficult to capture fish activity data across the entire water column from a fixed perspective.

[0007] Existing underwater camera mounting systems lack a power system, requiring manual adjustment of the device distance and lacking the ability to automatically adjust the horizontal and vertical orientation. Furthermore, they are incompatible with different sizes of fish cages. While some devices have lifting capabilities, their detection depth is insufficient, and their single-motor, single-track design only allows movement of one or two cameras. The lifting range is also narrow, making it difficult to capture complete fish schools. In addition, traditional devices involve the mobile unit being submerged in seawater during detection. In the high-salinity environment of seawater, motor failure rates are high, severely impacting monitoring continuity and failing to meet the high-efficiency monitoring needs of large-scale aquaculture.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0009] This invention enables the inspection of underwater structures by fixing a multi-dimensional adaptive portable underwater detection device and method to the edge of a ship's hull, thus enhancing the convenience of the equipment.

[0010] Multiple underwater cameras are evenly and fixedly mounted on a lifting mast. The lifting mast moves vertically along a sliding groove cut into its sliding slot to collect status information of the underwater structure. To enable the cameras to complete a three-dimensional inspection of the underwater structure in one go and to ensure that the inspection device can be moved to the required position, a horizontal sliding module was designed.

[0011] This invention comprises a data collection module, a horizontal movement module, a vertical movement module, and a fixing module. As a further optimization, the underwater camera in the data collection module is fixed to the lifting rod with bolts and nuts, spaced 1 meter apart, ensuring uninterrupted image capture and maximizing the field of view, enabling simultaneous acquisition of images of fish across the entire water column.

[0012] As a further optimization of the present invention, a gear reduction device composed of large and small gears and a reduction motor are fixedly installed in the vertical moving module. A rack is installed on one side of the lifting rod and meshes with the large gear, while the other side is in close contact with the roller strip. The reduction motor controls the rising and falling of the lifting rod, and the vertical movement process can be customized, reaching 5 to 10 meters.

[0013] As a further optimization of the present invention, in the horizontal moving module, the spur gear and the large bevel gear are fixed together, the small bevel gear is fixed to the reduction motor, and one end of each of the two horizontal moving rods is connected to the fixed module to provide support for each component; and a rack is installed on one side of the second horizontal moving rod. The spur gear meshes with the rack of the moving rod, and the large bevel gear meshes with the small gear. Through the reduction motor, the spur gear and the bevel gear are coaxially fixed, and the reduction motor drives the spur gear to rotate. Through meshing, the two horizontal moving rods slide along the fixed bars at both ends, realizing the horizontal movement of the main module. The horizontal movement process can be customized to adapt to cages of different widths.

[0014] As a further optimization of the present invention, the horizontal movement module includes a control box, which contains a wireless communication module (4G / Bluetooth) and a lithium battery. The control box is electrically connected to the reduction motors of the horizontal and vertical movement modules, and can remotely control the movement direction and speed.

[0015] As a further optimization of the present invention, the lifting rod of the vertical moving module is provided with a baffle, which can limit the lifting rod to prevent it from overtraveling.

[0016] By employing the above technical solution, the present invention provides a portable underwater detection device and method for multidimensional adaptive detection, which has at least the following beneficial effects:

[0017] 1. This invention achieves precise movement of the underwater camera in both horizontal and vertical directions through the coordinated action of the horizontal and vertical movement modules, covering the entire water column from the surface to the depths of the fish cage. Combined with multiple underwater cameras spaced 1 meter apart in the data collection module, it can simultaneously acquire images of fish at different water depths, producing uninterrupted images without overlapping or wasted fields of view. This effectively eliminates the blind spots of traditional fixed cameras, reducing fish population statistics deviation to below 5%, and providing comprehensive data support for aquaculture management and yield forecasting.

[0018] 2. The vertical movement module of this invention adopts a geared motor combined with a gear-rack transmission structure, which allows for remote adjustment of the lifting speed via a wireless communication module, enabling the device to be moved to a preset position without manual intervention. The horizontal movement module uses a flat gear and a bevel gear transmission to achieve smooth horizontal sliding of the main device, with fully automated control, reducing the time spent on manual adjustments. Compared with traditional manual devices, the efficiency of a single monitoring session is increased by 60%, and positional deviations caused by manual operation are avoided, ensuring the stability of monitoring data.

[0019] 3. The vertical movement module of this invention uses a rack and pinion mechanism with a large gear for transmission, coupled with roller guides, ensuring smooth lifting and lowering with a positioning accuracy of ±2cm. The horizontal movement module employs double horizontal moving rods linked with gears to ensure smooth sliding. Furthermore, core components (motor and gears) are treated for corrosion resistance and have an IP68 waterproof rating, reducing the failure rate to below 5% in high-salt seawater environments and extending the maintenance cycle to over 6 months, thus ensuring continuous monitoring and reducing downtime maintenance costs. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a partial structural schematic diagram of the lifting rod of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the mobile module of the present invention;

[0024] Figure 4 This is a schematic diagram of the vertical moving module of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the horizontal moving rod of the present invention;

[0026] Figure 6 This is a flowchart of the operation process of the present invention.

[0027] In the picture: 1. Lifting mast; 2. Underwater camera;

[0028] 29. Lifting rod sliding guide rail; 30. Lifting rod moving baffle; 31. Lifting rod rack;

[0029] 3. Control box; 4. First geared motor; 5. 19-tooth bevel gear; 6. 38-tooth bevel gear; 7. First 38-tooth gear; 8. Horizontal roller strip; 9. Upper fixing clamp; 10. Lower fixing clamp; 11. Upper fixing clamp of support frame; 12. Lower fixing clamp of support frame; 13. Support frame; 14. Horizontal moving rod fixing plate; 27. Horizontal moving rod sliding groove;

[0030] 15. Lifting rod fixing plate; 16. Lifting rod sliding groove; 17. 17-tooth gear; 18. Second 38-tooth gear; 19. Vertical roller strip; 20. Horizontal moving rod sliding guide rail; 21. Driven gear; 22. Second geared motor; 28. Horizontal moving rod rack;

[0031] 23. Fixing brackets at both ends of the horizontal moving rod; 24. Fixing bracket in the middle section of the horizontal moving rod; 25. First horizontal moving rod; 26. Second horizontal moving rod. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] First embodiment:

[0034] This invention is a multidimensional adaptive portable underwater detection device, consisting of a data collection module, a horizontal movement module, a vertical movement module, and a fixing module. Each module works collaboratively through specific components. The specific structure and corresponding numbering are as follows:

[0035] Data collection module: The underwater camera 2 is fixed to the lifting rod 1 with bolts and nuts. The distance between adjacent cameras is 1 meter to ensure that the image is unbroken and there is no overlap in the field of view. It can simultaneously collect images of fish in the entire water layer.

[0036] Horizontal movement module: Core components include control box 3, first reduction motor 4, 19-tooth bevel gear 5, 38-tooth bevel gear 6, first 38-tooth gear 7, horizontal roller strip 8, horizontal movement rod fixing plate 14, horizontal movement rod sliding guide rail 20, horizontal movement rod end fixing bracket 23, second horizontal movement rod 26, horizontal movement rod sliding groove 27, and horizontal movement rod rack 28.

[0037] Among them, the first 38-tooth gear 7 and the 38-tooth bevel gear 6 are fixed to each other and fixed at 14. The 19-tooth bevel gear 5 is fixed at the output end of the first reduction motor 4 and meshes with the 38-tooth bevel gear 6. A horizontal moving rod rack 28 is installed on one side of the second horizontal moving rod 26 and meshes with the first 38-tooth gear 7. The second horizontal moving rod 26 slides in the horizontal moving rod sliding groove 27 through the horizontal moving rod sliding guide rail 20, which serves to fix the second horizontal moving rod 26. When the second horizontal moving rod 26 moves, it drives the first horizontal moving rod 25 to move in the horizontal moving rod fixing plate 14 through the horizontal moving rod middle section fixing bracket 24. The horizontal roller strip 8 reduces sliding friction and is fixed on the fixing brackets 23 at both ends of the horizontal moving rod.

[0038] The control box 3 contains a lithium battery and a wireless communication module, which are connected to the first geared motor 4 and the second geared motor 22 of the horizontal and vertical movement modules, enabling remote control of the movement direction and speed; it also provides power to the entire device, and the wireless communication module enables data transmission and command reception.

[0039] During operation, the first reduction motor 4 drives the 19-bevel gear 5 to rotate. Through the meshing of the bevel gear, the 38-tooth bevel gear 6 is driven to rotate, while the first 38-tooth gear 7 is driven to rotate. The first 38-tooth gear 7 meshes with the horizontal moving rod rack 28, which ultimately drives the first horizontal moving rod 25 and the second horizontal moving rod 26 to move horizontally, realizing the horizontal movement of the present invention and adapting to cages of different widths.

[0040] Vertical movement module: It consists of a second reduction motor 22, a gear reduction group composed of a second 38-tooth gear 18 and a 17-tooth gear 17, a lifting rod fixing plate 15, a lifting rod sliding groove 16, a vertical roller strip 19, a lifting rod rack 31 and a lifting rod 1.

[0041] A lifting rod rack 31 is installed on one side of the lifting rod 1. The second reduction motor 22 is fixedly connected to the gear reduction assembly. The second 38-tooth gear 18 of the gear reduction assembly meshes with the lifting rod rack 31. A vertical roller strip 19 is installed on the other side to reduce sliding friction. The second reduction motor 22 rotates through the gear reduction assembly composed of the second 38-tooth gear 18 and the 17-tooth gear 17. The meshing of the gears and rack drives the lifting rod 1 to move vertically. The lifting rod sliding guide rail 29 moves in the lifting rod sliding groove 16, which serves to fix and guide the lifting rod 1.

[0042] The fixing module includes an upper fixing clamp 9, a lower fixing clamp 10, an upper fixing clamp 11 for the support frame, a lower fixing clamp 12 for the support frame, and a support frame 13. The upper fixing clamp 9 and the lower fixing clamp 10 secure the device and enhance stability. The upper fixing clamp 11 and the lower fixing clamp 12 provide support points for the support frame 13; the clamping force is adjusted by bolt fixing, adapting to ring-shaped frames (such as cage frames), and installation time is ≤10 minutes.

[0043] Second Embodiment

[0044] This embodiment, based on the device structure of the first embodiment, details the specific application process of the multidimensional adaptive portable underwater detection device in marine ranching cage aquaculture monitoring, and explains the realization process of its automated operation and full-water-layer monitoring in conjunction with the part numbers:

[0045] The device is secured to the edge of the hull or the cage frame using a fixing module. The specific steps are as follows:

[0046] The upper fixing clamp 9 and the lower fixing clamp 10 are fixedly installed on the ring fence of the marine ranch cage;

[0047] The upper fixing clamp 11 and the lower fixing clamp 12 of the support frame are fixed to the vertical fence of the marine ranch cage, further improving the stability of the installation. The entire installation process takes ≤10 minutes, requires no complicated tools, and is compatible with different sizes of boats or cages.

[0048] Upon activating this invention, control box 3 (integrated wireless communication module, supporting 4G / Bluetooth) enters working mode;

[0049] Connect the wireless communication module via a remote terminal and preset the horizontal movement range (adapting to the current cage width), vertical movement depth (5-10 meters), and the acquisition frequency of the underwater camera 2;

[0050] Control box 3 sends a command to start the first reduction motor 4, driving the horizontal movement module to run:

[0051] The 19-tooth bevel gear 5 at the output end of the first gear motor 4 rotates and meshes with the 38-tooth bevel gear 6, driving the coaxially fixed first 38-tooth gear 7 to rotate synchronously.

[0052] The first 38-tooth gear 7 meshes with the horizontal moving rod rack 28 on one side of the second horizontal moving rod 26. Through gear and rack transmission, the first horizontal moving rod 25 and the second horizontal moving rod 26 slide together along the horizontal moving rod fixing plate 14, sending the data collection module to a preset horizontal distance.

[0053] The horizontal roller strip 8 reduces friction between the moving rod and the track, ensuring that the main module moves smoothly in the horizontal direction, covering the entire horizontal area of ​​the cage, and adapting to the monitoring needs of cages of different widths.

[0054] The second reduction motor 22 is started simultaneously to drive the vertical movement module to achieve full water layer coverage by the underwater camera 2:

[0055] The second geared motor 22 drives the gear reduction group composed of the second 38-tooth gear 18 and the 17-tooth gear 17 to run, and transmits power to the lifting rod rack 31 through gear meshing;

[0056] The lifting rod rack 31 on the side of the lifting rod 1 meshes with the second 38-tooth gear 18 and is fixed on the lifting rod moving baffle 30. Under the guidance of the vertical roller strip 19 and the driven gear 21, the lifting rod 1 is driven to move vertically along the lifting rod sliding groove 16 (lifting range 5-10 meters).

[0057] Multiple underwater cameras 2 are fixed on the lifting rod 1, with an adjacent camera spacing of 1 meter. They rise and fall synchronously with the lifting rod 1 to ensure that the captured images are uninterrupted and have no overlapping fields of view, and to simultaneously acquire images of fish in the entire water layer from the middle and upper layers to the bottom layer.

[0058] The underwater camera 2 collects real-time image data of fish at different water layers and transmits it to the control box 3 via cable;

[0059] The control box 3 sends data to a remote terminal via a wireless communication module. The terminal analyzes the number and size of fish, and the statistical deviation can be controlled to below 5%.

[0060] For long-term observation, a continuous power supply can be provided to ensure continuous monitoring of the equipment and meet the high-efficiency data collection needs of large-scale farming.

[0061] This embodiment achieves full automation of the device from installation to monitoring through the coordinated operation of various modules and components. It covers the entire water layer of the cage and is adaptable to different specifications and scenarios, effectively improving the efficiency and data accuracy of marine ranching aquaculture monitoring.

[0062] Please see Figure 6 The diagram illustrates the workflow of a multidimensional adaptive portable underwater detection device according to the present invention. Employing the apparatus and method described in the two embodiments above, the device includes the following steps:

[0063] Step S01: Fix the present invention to the cage frame using the fixing module;

[0064] Step S02: Start the invention, and control box 3 enters the working state;

[0065] Step S03: Control box 3 is initialized and its parameters are adjusted.

[0066] In step S04, the control box 3 sends a command to drive the first reduction motor 4 of the horizontal movement module, so that the lifting rod 1 moves horizontally to the preset position.

[0067] In step S05, the control box 3 sends a command to drive the second reduction motor 22 of the vertical movement module, so that the lifting rod 1 moves vertically to the preset position, thereby achieving full water layer coverage of the underwater camera 2.

[0068] Step S06: The underwater camera 2 collects real-time image data of fish at different water layers in order to obtain comprehensive information on fish in the net cages.

[0069] Step S07: Control box 3 transmits the images acquired by the underwater camera to the remote terminal via the wireless communication module;

[0070] Step S08: After completing the monitoring task, the lifting rod 1 is reset.

[0071] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multidimensional adaptive portable underwater detection device, characterized in that, include: Data collection module: lifting rod (1) and multiple underwater cameras (2) fixed on it at equal intervals, with the distance between adjacent cameras being 0.8-1.2 meters. The underwater cameras can be equipped with sonar detection units and work together with the image acquisition unit. Horizontal movement module: The first 38-tooth gear (7) meshes with the horizontal movement rod rack (28), and the 38-tooth bevel gear (6) meshes with the 19-tooth bevel gear (5); the first reduction motor (4) drives the 19-tooth bevel gear (5), which in turn drives the first horizontal movement rod (25) and the second horizontal movement rod (26) to slide along the horizontal movement rod fixing plate (14). The horizontal movement module is adapted to cages of different widths and slides smoothly without jamming. Vertical moving module: The lifting rod rack (31) is fixed to the side of the lifting rod (1) and meshes with the second 38-tooth gear (18); the second reduction motor (22) drives the reducer composed of the second 38-tooth gear (18) and the 17-tooth gear (17); the other side of the lifting rod (1) is provided with a vertical roller strip (19), and the back is provided with a lifting rod sliding guide rail (29) and a lifting rod moving baffle (30), which moves along the lifting rod sliding groove (16), with a lifting range of 5-10 meters and high positioning accuracy; Fixed module: including upper fixed clamp (9), lower fixed clamp (10), upper fixed clamp (11) of support frame, lower fixed clamp (12) of support frame, and support frame (13). The clamping force is adjusted by bolts, which can be adapted to the ring cage frame or the edge of the hull. The installation time is short. Control and protection module: The control box (3) has a built-in wireless communication module and lithium battery, which are electrically connected to the dual geared motor; the core components adopt IP68 anti-corrosion design and are suitable for high-salt seawater environment.

2. The multidimensional adaptive portable underwater detection device according to claim 1, characterized in that: The lifting rod moving baffle (30) is set inside the lifting rod (1) and is linked with the transmission logic of the reducer. When the lifting rod (1) reaches the preset limit position, the baffle triggers the mechanical limit and feeds back the signal to the control box (3) to stop the second reduction motor (22) from running, so as to avoid mechanical damage caused by overtravel.

3. The multidimensional adaptive portable underwater detection device according to claim 1, characterized in that: The underwater cameras (2) are spaced 1 meter apart, and the vertical movement module has a lifting range of 5-10 meters. Combined with multi-camera collaborative acquisition, the aquaculture cages are covered without blind spots in the entire water layer, and the fish monitoring deviation is small.

4. The detection method of the multidimensional adaptive portable underwater detection device according to any one of claims 1-3, characterized in that, Includes the following steps: (a) Installation and fixing: The device is fixed to the edge of the hull or the cage frame by the adjustable clamps of the fixing module. Adjust the bolt clamping force to ensure a stable installation and quick installation. (b) Parameter preset: The horizontal movement range, vertical movement depth and the acquisition frequency of the underwater camera (2) are preset by connecting the wireless communication module of the control box (3) through the remote terminal; (c) Horizontal positioning: The control box (3) sends a command to start the first geared motor (4), which drives the first 38-tooth gear (7) to rotate through the meshing transmission of the 19-tooth bevel gear (5) and the 38-tooth bevel gear (6), thereby driving the first horizontal moving rod (25) and the second horizontal moving rod (26) to slide along the horizontal moving rod fixing plate (14) to move the data collection module to the preset horizontal position; (d) Vertical positioning: The second reduction motor (22) is started synchronously, and the reducer is driven to run. Through the meshing transmission of the second 38-tooth gear (18) and the lifting rod rack (31), the lifting rod (1) is driven to move vertically along the lifting rod sliding groove (16), so that the underwater camera (2) covers the preset water layer; (e) Data acquisition across the entire water column: Multiple underwater cameras (2) spaced 0.8-1.2 meters apart are simultaneously activated to acquire images and detect sonar signals, enabling collaborative acquisition of fish information across the entire water column and avoiding blind spots. (f) Data transmission and analysis: The control box (3) transmits the collected image data and sonar data to the remote terminal in real time through the wireless communication module. The terminal analyzes the number and size of fish, and the monitoring deviation is small. (g) Reset and standby: After the monitoring task is completed, the control box (3) controls the horizontal movement module and the vertical movement module to run in opposite directions, and resets the lifting rod (1) to the initial position, and the device enters the standby state.

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