Large-scale aquaculture net cage foul degree detection device

Abstract

The utility model discloses a device for detecting the dirty degree of a large-scale aquaculture net cage, which belongs to the field of large-scale aquaculture and comprises a net cage, a machine is nested at the top of the net cage, a mooring rope is nested outside the machine, and a shell is fixedly mounted at the top of the machine. According to the utility model, a blue-green laser ranging application and net cage fouling condition judgment method and an algorithm for judging the net cage fouling condition by utilizing probability are adopted, and laser measurement is used for judging the underwater net cage fouling condition through cooperative work of the holder and the laser range finder, so that full-position, automatic and real-time detection of the deepwater net cage fouling condition is realized; the net rope pollution degree is reflected through the net rope return proportion of the effective return value in the distance measurement data by utilizing the principle of statistics, and whether the net rope needs to be cleaned or not is judged by detecting the probability of the net rope return data for multiple times and for a long time; therefore, the device has excellent performance in the aspects of automation degree, observation range, detection real-time performance, detection fineness and the like.

Description

Technical Field

[0001] This utility model relates to the field of large-scale aquaculture, and more specifically, it relates to a device for detecting the degree of turbidity in large-scale aquaculture cages. Background Technology

[0002] In deep-sea cage aquaculture, the prolonged immersion of the netting in seawater easily attracts fouling organisms, potentially hindering water exchange and even increasing stress on the cage frame, leading to breakage. Regular cleaning of the cages is essential. Currently, assessing the degree of fouling relies solely on traditional manual observation and underwater ROV (Return on a Vehicle) monitoring. For manual observation, farmers typically clean the cages at predetermined intervals, observing the exposed cages after low tide. Under normal circumstances, cages are cleaned every 2-3 months, but this is shortened to approximately every 20 days during hot seasons. Furthermore, inspection of cage damage is often conducted visually and by divers. Modern cage maintenance primarily utilizes ROV cameras for underwater observation and monitoring.

[0003] In terms of cleaning technology, there are currently two main methods: manual cleaning and mechanical cleaning, both of which involve a comprehensive cleaning of the entire net cage. Manual cleaning often involves divers going underwater to remove clams and other debris attached to the fishing net using high-pressure water guns. Mechanical cleaning uses specialized ROV cleaning robots attached to the net, which are then remotely controlled by operators.

[0004] Significant limitations of existing technologies include low automation, low efficiency, and long processing times. Traditional experience-based methods for determining cleaning time cannot accurately determine the appropriate cleaning time based on the actual attachment conditions of the net cages. If the cleaning cycle is too long, it may lead to water quality deterioration, insufficient oxygen supply, and even create a breeding ground for harmful bacteria and diseases, thereby reducing aquaculture efficiency. Conversely, if the cleaning cycle is too short, it will increase cleaning costs, thus reducing aquaculture profits. Underwater observation using ROVs has drawbacks such as the need for manual operation, insufficient ROV endurance, and reliance on human experience.

[0005] Therefore, a device for detecting the degree of turbidity in large aquaculture cages is proposed to address the above-mentioned problems. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, this utility model provides a device for detecting the degree of turbidity in large aquaculture cages, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a device for detecting the degree of turbidity in large aquaculture cages, comprising a cage, a machine nested at the top of the cage, a mooring rope nested outside the machine, a shell fixedly installed at the top of the machine, a gimbal nested at the bottom of the shell, a laser rangefinder embedded inside the gimbal, a laser emitter embedded on one side of the laser rangefinder, a laser receiver embedded on the other side of the laser rangefinder, a mounting shaft nested outside the laser rangefinder, a mooring hole penetrating inside the shell, a lifting bridge fixedly installed at the top of the shell, a cable hole nested outside the shell, a base embedded inside the bottom of the shell, a horizontal rotating shaft nested at the bottom of the base, a U-shaped arm nested at the bottom of the horizontal rotating shaft, and a vertical rotating shaft embedded inside the U-shaped arm.

[0008] Furthermore, the outer shell is generally in the shape of a disc-shaped cavity.

[0009] Furthermore, there are four mooring ropes and four mooring holes, evenly distributed around the perimeter of the outer shell.

[0010] Furthermore, the gimbal's rotational freedom is controlled by a brushless motor, enabling 360° horizontal and 90° vertical rotation. A turntable on the base allows for horizontal rotation; a U-shaped arm is connected to the turntable, which in turn connects to a laser rangefinder, allowing for vertical rotation.

[0011] Furthermore, the laser rangefinder includes a laser transmitter and a laser receiver, which can emit blue-green lasers for underwater laser ranging and is fixed on the U-shaped arm of the gimbal.

[0012] Furthermore, the main control circuit board inside the cage, which mainly controls the overall operation and communication of the equipment, is fixed inside the outer shell cavity.

[0013] Furthermore, the communication cable inside the cage provides power to the device and serves as a medium for communication with the host computer. It enters the cavity through the holes in the outer shell and connects to the main control unit.

[0014] Furthermore, the host computer inside the cage is responsible for processing the data measured by the system and providing pollution alarms, and is connected to the equipment via a communication power cable.

[0015] The technical effects and advantages of this utility model are as follows:

[0016] 1. Compared with existing technologies, this large-scale aquaculture cage contamination detection device combines a pan-tilt unit with a laser rangefinder, achieving efficient and accurate detection of underwater cage contamination levels. In terms of automation, the device abandons traditional manual diving inspections and ROV camera observation methods, instead employing periodic monitoring with a pan-tilt unit and laser rangefinder, greatly reducing manpower and improving work efficiency. Compared to existing technologies, the observation range of this device is significantly expanded. The periodic movable detection of the pan-tilt unit ensures a comprehensive scan of the area beneath the cage without blind spots, obtaining detailed distance measurement data and contamination information from every corner of the cage.

[0017] 2. Simultaneously, this device boasts strong real-time detection capabilities. Once the ranging data indicates that the pollution level exceeds the preset threshold, the system will immediately send an alert to the host computer, ensuring that management personnel can respond quickly and take timely measures to clean the cages. Furthermore, it offers high detection precision. By extracting key information from the ranging data, this device can assess the pollution level of the cages, providing a scientific basis for subsequent cleaning work. During cage cleaning, it can be used to monitor for any omissions and whether the cleaned cages meet the cleanliness standards.

[0018] 3. Compared with existing methods for detecting contamination in net cages, this device has advantages such as high automation, wide observation range, strong real-time detection, and high detection precision. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0020] Figure 2 This is a top view of the overall structure of this utility model.

[0021] Figure 3 This is a bottom view of the overall structure of this utility model.

[0022] Figure 4 This is a schematic diagram of the overall structure of the laser rangefinder of this utility model.

[0023] Figure 5 This is a schematic diagram of the overall outer shell of this utility model.

[0024] Figure 6 This is a schematic diagram of the overall gimbal structure of this utility model.

[0025] The attached diagram is labeled as follows: 1. Net cage; 2. Machine; 3. Mooring rope; 4. Outer shell; 5. Pan-tilt unit; 6. Laser rangefinder; 7. Laser transmitter; 8. Laser receiver; 9. Mounting shaft; 10. Mooring hole; 11. Lifting bridge; 12. Cable hole; 13. Base; 14. Horizontal rotation shaft; 15. U-shaped arm; 16. Vertical rotation shaft. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1

[0028] As attached Figure 1-6 The device shown is for detecting the degree of turbidity in a large aquaculture cage. It includes a cage 1, a machine 2 nested on the top of the cage 1, a mooring rope 3 nested on the outside of the machine 2, a shell 4 fixedly installed on the top of the machine 2, a gimbal 5 nested on the bottom of the shell 4, a laser rangefinder 6 embedded inside the gimbal 5, a laser emitter 7 embedded on one side of the laser rangefinder 6, a laser receiver 8 embedded on the other side of the laser rangefinder 6, a mounting shaft 9 nested on the outside of the laser rangefinder 6, a mooring hole 10 through the inside of the shell 4, a lifting bridge 11 fixedly installed on the top of the shell 4, a cable hole 12 nested on the outside of the shell 4, a base 13 embedded inside the bottom of the shell 4, a horizontal rotating shaft 14 nested at the bottom of the base 13, a U-shaped arm 15 nested at the bottom of the horizontal rotating shaft 14, and a vertical rotating shaft 16 embedded inside the U-shaped arm 15.

[0029] The detection device is fixed in the water above the center of the aquaculture cage 1 using four mooring cables to ensure it remains submerged during low tide. The size of the cage 1, mesh size, rope thickness, and alarm thresholds are preset in the host computer. The pan-tilt unit 5, controlled by a brushless motor, rotates 360° horizontally and 90° vertically. The pan-tilt unit 5 drives the laser rangefinder 6 for underwater distance measurement. The laser rangefinder 6 includes a laser emitter 7 and a laser receiver 8, emitting blue-green laser light for distance measurement. Based on the rotation angle of the pan-tilt unit 5, the laser rangefinder 6 measures different parts of the cage 1. Based on the measured distance and the preset cage 1 parameters, it determines whether the laser has measured the rope, mesh, or fish in the cage. If the measured distance is much smaller than the size of the cage 1, it is considered that fish in the cage have been measured, and this data is discarded. If the measured distance is close to the set size of the cage 1, it is determined that the rope and its attachments have been measured. If no reflected laser is detected or the measured distance significantly exceeds the size of the net cage 1, it is assumed that the laser is emitted from the mesh into the ocean. Simultaneously, by using the rotation angle of the gimbal 5 and the distance measured by the laser rangefinder 6, the ratio of the projected area of ​​the net rope and mesh at different depths in net cage 1 is calculated. This ratio is compared with the theoretical value when net cage 1 is completely clean to determine the degree of soiling. If the ratio decreases, it indicates that the mesh has become smaller, the proportion of net rope and attached materials has increased, and net cage 1 has become soiled. The device performs multiple detections within one hour, fits the detected points, and sends them to the host computer. The host computer processes the received data to generate a 3D map, visually displaying the soiling status of net cage 1. If the set alarm threshold is reached, the host computer will issue an alarm to remind staff to clean the net cage. After three hours of continuous operation, the device will sleep for 20 minutes to allow the laser rangefinder 6 to cool down before resuming detection.

[0030] The working process of this utility model is as follows:

[0031] When using this large-scale aquaculture cage turbidity detection device, the device is fixed in the water above the center of the aquaculture cage 1 using four mooring cables to ensure that the device will not be exposed during low tide. The size of the cage 1, mesh size, rope thickness, and alarm threshold are preset in the host computer. The pan-tilt unit 5, controlled by a brushless motor, can rotate 360° horizontally and 90° vertically. The pan-tilt unit 5 drives the laser rangefinder 6 to perform underwater distance measurement. The laser rangefinder 6 includes a laser emitter 7 and a laser receiver 8, emitting blue-green laser light for distance measurement. Based on the rotation angle of the pan-tilt unit 5, the laser rangefinder 6 measures the distance to different parts of the cage 1. Based on the measured distance and the preset cage 1 parameters, it is determined whether the laser has measured the rope, mesh, or fish in the cage. If the measured distance is much smaller than the size of the cage 1, it is considered that fish in the cage have been measured, and this data is discarded. If the measured distance is close to the set size of the cage 1, it is determined that the rope and its attachments have been measured. If no reflected laser is detected or the measured distance significantly exceeds the size of the net cage 1, it is assumed that the laser is emitted from the mesh into the ocean. Simultaneously, by using the rotation angle of the gimbal 5 and the distance measured by the laser rangefinder 6, the ratio of the projected area of ​​the net rope and mesh at different depths in net cage 1 is calculated. This ratio is compared with the theoretical value when net cage 1 is completely clean to determine the degree of soiling. If the ratio decreases, it indicates that the mesh has become smaller, the proportion of net rope and attached material has increased, and net cage 1 has become soiled. The device performs multiple checks within one hour, fits the detected points, and sends them to the host computer. The host computer processes the received data to generate a 3D map, visually displaying the soiling status of net cage 1. If the set alarm threshold is reached, the host computer will issue an alarm to remind staff to clean the net cage. After three hours of continuous operation, the device will pause for 20 minutes to allow the laser rangefinder 6 to cool down before resuming detection. This is the working process and principle of the device.

[0032] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0033] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0034] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A device for detecting the degree of turbidity in large aquaculture cages, comprising a cage (1), characterized in that: A machine (2) is nested at the top of the cage (1), and a mooring rope (3) is nested outside the machine (2). A shell (4) is fixedly installed at the top of the machine (2), and a gimbal (5) is nested at the bottom of the shell (4). A laser rangefinder (6) is embedded inside the gimbal (5). A laser transmitter (7) is embedded on one side of the laser rangefinder (6), and a laser receiver (8) is embedded on the other side of the laser rangefinder (6). A mounting shaft (9) is installed, a mooring hole (10) is installed through the inside of the housing (4), a lifting bridge (11) is fixedly installed on the top of the housing (4), a cable hole (12) is nested on the outside of the housing (4), a base (13) is embedded in the bottom of the housing (4), a horizontal rotating shaft (14) is nested in the bottom of the base (13), a U-shaped arm (15) is nested in the bottom of the horizontal rotating shaft (14), and a vertical rotating shaft (16) is embedded in the inside of the U-shaped arm (15).

2. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The outer shell (4) is generally in the shape of a disc-shaped cavity.

3. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The mooring rope (3) and mooring holes (10) are each provided in fours, evenly distributed around the outer shell (4).

4. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The gimbal (5) has all degrees of freedom of rotation controlled by a brushless motor, and can rotate 360° horizontally and 90° vertically. A turntable on the base (13) can rotate horizontally; a U-shaped arm (15) is connected to the turntable, and a laser rangefinder (6) is further connected to it, which can rotate vertically.

5. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The laser rangefinder (6) includes a laser transmitter (7) and a laser receiver (8), which can emit blue-green lasers for underwater laser ranging and is fixed on the U-shaped arm (15) of the gimbal (5).

6. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The main control circuit board inside the cage (1) controls the overall operation and communication activities of the equipment, which is fixed inside the cavity of the outer shell (4).

7. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The communication cable inside the cage (1) provides power to the equipment and serves as a medium for communication with the host computer. It enters the cavity through the holes in the outer shell (4) and connects to the main control unit.

8. The device for detecting the degree of turbidity in large aquaculture cages according to claim 1, characterized in that: The host computer inside the cage (1) is responsible for processing the data measured by the system and providing pollution alarms. It is connected to the equipment via a communication power cable.

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