CN110731287B - Deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception - Google Patents
Deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception Download PDFInfo
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- A—HUMAN NECESSITIES
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a deep and far sea aquaculture net cage automatic adjusting system and method based on ocean data perception, and the system comprises an equipment floating platform and at least one single culture equipment, wherein the equipment floating platform is provided with a control machine room and wireless communication equipment, and the single culture equipment comprises a controller, wireless transmission equipment, an ocean environment perception sensor and an equipment state perception sensor; the controller receives a control command of the control room to control the aquaculture net cage to rotate, move up and down and move left and right, the marine environment perception sensor and the equipment state perception sensor transmit measured data to the controller through wireless transmission equipment, and the controller transmits the data of the sensors to the control room. The invention utilizes ocean sensing data, calculates through a fluid mathematical model according to a model algorithm, automatically adjusts the net cage to obtain the maximum water inflow and the water flow velocity in the net cage, improves the dissolved oxygen content of seawater in the net cage, reduces ammonia nitrogen and improves the culture environment in the net cage.
Description
Technical Field
The invention relates to an automatic adjusting device and method for a aquaculture net cage, in particular to an automatic adjusting system and method for a deep and open sea aquaculture net cage based on ocean data perception.
Background
Marine shellfish organisms are very sensitive to the dissolved oxygen in seawater, the dissolved oxygen is in direct proportion to the growth speed of shellfish, for example, abalone grows for 22 months, areas with low flow rate and dissolved oxygen generally grow into 10 abalones, areas with high flow rate and high dissolved oxygen can produce 6 abalones, and the difference is very large; and conversely, the ammonia nitrogen content is higher, the growth of the shellfish is influenced, even the shellfish organism is dead, and the ammonia nitrogen content in the seawater is increased due to the excretion of the organism, the putrefaction of food and dead abalones. The current state is through experience marine environment's change, pulls adjustment position and angle to the net cage of deep sea breed through the fishing boat, but the fishing boat pull very inconvenient, and the efficiency of pulling to the net cage is very low, and the expense is also very high, and it is not accurate reliable enough to carry out adjustment information according to the experience simultaneously. Therefore, a more scientific and appropriate deep sea fishery breeding method needs to be researched, a more advanced adjusting system of the deep sea fishery breeding net cage is designed, and the yield and the quality of deep sea breeding are improved.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic adjusting system and method for a deep and open sea aquaculture net cage based on ocean data sensing, and solves the problems.
The invention provides an automatic adjusting system for a deep and far sea aquaculture net cage based on ocean data sensing, which comprises an equipment floating platform and at least one single culture device, wherein the single culture device is arranged corresponding to the aquaculture net cage, the equipment floating platform is provided with a control machine room and wireless communication equipment, and the single culture device comprises a controller, wireless transmission equipment, an ocean environment sensing sensor and an equipment state sensing sensor; the wireless transmission equipment is used for transmitting data between the control machine room and the controller, the controller is connected with a control command of the control machine room to control the aquaculture net cage to rotate, move up and down and move left and right, the marine environment perception sensor and the equipment state perception sensor transmit measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room.
Furthermore, a data analysis control subsystem is deployed in the control machine room, an equipment automatic control module and an equipment and environment perception module are deployed in the controller, the data analysis control subsystem performs data transmission with a strategy customizing subsystem through wireless communication equipment, and the strategy customizing subsystem is deployed in a data center on the shore.
Furthermore, the marine environment perception sensor comprises a flow direction and flow velocity sensor, a flow sensor, a dissolved oxygen sensor and a temperature sensor, and the equipment state perception sensor comprises a net cage position sensor and an anchor stress sensor; the equipment and environment sensing module acquires data of the equipment state sensing sensor and the marine environment sensing sensor, obtains water flow speed direction, flow, dissolved oxygen and temperature data around the cage, cage position and anchor stress data, and transmits the data back to the data analysis control subsystem through the wireless communication equipment.
Further, the data analysis control subsystem receives and stores data of the equipment and the environment perception module, receives a strategy command of the strategy customization subsystem to update the strategy model, operates the strategy model according to the received data, sends a control command to the equipment automatic control module, and simultaneously receives and stores feedback information; the strategy customizing subsystem acquires data of the data analysis control subsystem in a hard disk recycling mode to train an optimization strategy model.
Furthermore, the equipment automatic control module receives a control command of the data analysis control subsystem through the wireless transmission device and returns the current command execution state and the read-write task execution condition, and the equipment automatic control module controls the rotation angles of a plurality of cage cages of the aquaculture net cage and controls the cage cages to move up, down, left and right.
Furthermore, a wind-solar generator is arranged on the equipment floating platform for supplying power, the controller is provided with a waterproof shell, a rechargeable detachable power supply is arranged in the waterproof shell, and an antenna is integrated in the frame of the waterproof shell; the waterproof housing is provided with a wadable heat sink.
The invention provides a method for automatically adjusting a deep and far aquaculture net cage based on ocean data perception, which aims to solve the technical problems and adopts another technical scheme, and comprises the following steps: s1: the equipment and environment sensing module acquires data of the equipment state sensing sensor and the marine environment sensing sensor to obtain equipment state data and marine environment data, and transmits the equipment state data and the marine environment data to the data analysis control subsystem through the wireless communication equipment; the marine environment data comprises speed and direction, flow, dissolved oxygen and temperature data of water flow around the cage, and the equipment state data comprises cage position and anchor stress data; s2: the strategy customizing subsystem customizes an environment coping strategy and sends the coping strategy and a strategy model to the data analysis control subsystem through the wireless communication equipment; s3: the data analysis control subsystem operates a strategy model according to a coping strategy of the received equipment state data and marine environment data in combination to obtain an adjusting movement route of the aquaculture net cage, and then sends a control command to the equipment automatic control module; s4: the equipment automatic control module controls the rotation angles of a plurality of net cage cages of the aquaculture net cage and controls the net cage to move up, down, left and right according to the received control command.
Further, the data analysis control subsystem includes a policy management module, a data cleaning and sorting module, a policy handling operation module, and a high-performance message queue, the data cleaning and sorting module includes a policy model library, an automatic control database, a marine perception database, and a cache, and step S3 specifically includes: s31: the strategy management module receives the coping strategy and the strategy model sent by the strategy customizing subsystem and stores the coping strategy and the strategy model into a strategy model base and a cache through the data cleaning and sorting module; s32: the high-performance message queue receives equipment state data and marine environment data; s33: the high-performance message queue actively distributes data to the data cleaning and sorting module according to the subscription of the data cleaning and sorting module of the data analysis control subsystem, the data cleaning and sorting module sorts the data and stores the data into the automatic control database, the ocean perception database and the cache, and the strategy coping operation module is informed of new data updating; s34: the strategy coping operation module reads coping strategies and strategy models, transfers ocean perception data and equipment state data, obtains the relation between the internal flow velocity of the aquaculture net cage and the position and angle through fluid calculation of the strategy models, adjusts the position and angle of the aquaculture net cage for the purpose of increasing the internal flow velocity of the net cage, obtains the adjustment movement route of the aquaculture net cage, and sends control commands to the equipment automatic control module through wireless transmission equipment.
Further, the fluid calculation is performed by taking the center of the aquaculture net cage (6) as an origin, taking the direction opposite to the water flow as an x axis, and taking the vertical direction as a y axis, so that the flow velocity calculation formula corresponding to the point with the coordinates (x, y) in the aquaculture net cage (6) is as follows:
the x-axis velocity u is calculated as:
the y-axis velocity v is calculated as:
wherein:
U∞the speed Q of the water flow around the cultivation net cage (6) is detected by a flow direction and flow velocity sensor and a flow sensorSIs the flow rate Q of the head part of the aquaculture net cage (6)eThe flow rate of the tail of the cultivation net cage (6) is shown, and S is the distance from the head and the tail of the cultivation net cage (6) to the center; and calculating the relation between the internal flow velocity, the position and the angle of the aquaculture net cage (6) by adopting an Eulerian method and a fourth-order Rungeku tower algorithm.
Further, the equipment automatic control module includes a task execution layer, a file system layer, and a device driver layer, and the step S4 specifically includes: s41: the equipment automatic control module executes the instantiated object running equipment driver through the task execution layer according to the received control command to start the equipment driver layer, and the task execution layer stores command data to the file system layer; s42: the device driving layer executes the command and returns the running track and the feedback data to the task execution layer; s43: the task execution layer feeds back the current command execution state to the data analysis control subsystem through the wireless communication equipment.
Compared with the prior art, the invention has the following beneficial effects: the system and the method for automatically adjusting the deep and open sea aquaculture net cage based on ocean data perception have the following advantages: 1. the automatic adjustment of the culture net cage is realized; 2. the strategy customization subsystem adjusts the cultivation strategy on the remote overall situation level, and the cultivation strategy is continuously optimized and upgraded through the acquired data; 3. the coping strategy can be obtained in advance in an expert discussion form, is flexibly configured and does not need real-time warehouse promotion coping; 4. the data analysis control subsystem adopts a summary data model mode, so that offshore calculation is operated only by a fixed algorithm loading mode, the requirement on computer configuration is not high, and the cost is low; 5. the personnel do not need to go up the culture platform, guarantee personal safety.
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FIG. 1 is a schematic structural diagram of an automatic adjusting system of a deep and open sea aquaculture net cage based on ocean data sensing in an embodiment of the invention;
FIG. 2 is a diagram of an automatic adjusting system of a deep and open sea aquaculture net cage based on ocean data sensing in an embodiment of the present invention;
FIG. 3 is a data logic diagram of an automatic adjustment method of a deep and far aquaculture net cage based on ocean data sensing in the embodiment of the invention;
FIG. 4 is a composition and dataflow diagram of a data analysis control subsystem in an embodiment of the present invention;
FIG. 5 is a fluid calculation model in an embodiment of the invention;
FIG. 6 is a fluid simulation diagram of a farming net cage according to an embodiment of the present invention;
FIG. 7 is a block diagram and data flow diagram of an automatic control module for the apparatus according to an embodiment of the present invention.
In the figure:
1 equip floating platform 2 controller 3 equip state perception sensor
4 marine environment perception sensor 5 fin 6 aquaculture net case
Detailed Description
The invention is further described below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of an automatic adjusting system of a deep and open sea aquaculture net cage based on ocean data sensing in the embodiment of the invention.
Referring to fig. 1, the system for automatically adjusting a deep and open sea aquaculture net cage based on ocean data sensing of the embodiment of the invention comprises an equipment floating platform 1 and at least one single aquaculture device, wherein the single aquaculture device is arranged corresponding to an aquaculture net cage 6, the equipment floating platform 1 is provided with a control machine room and wireless communication equipment, and the single aquaculture device comprises a controller 2, wireless transmission equipment, an ocean environment sensing sensor 4 and an equipment state sensing sensor 3; the wireless transmission equipment is used for transmitting data between the control machine room and the controller 2, the controller 2 is connected with a control command of the control machine room to control the aquaculture net cage 6 to rotate, move up and down and move left and right, the marine environment perception sensor 4 and the equipment state perception sensor 3 transmit measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room.
Preferably, the automatic adjusting system for the deep and far sea aquaculture net cage based on ocean data sensing is characterized in that a wind-solar generator is arranged on an equipment floating platform 1 for supplying power, a controller 2 is provided with a waterproof shell, the shell is sealed and is prevented from being corroded by salt fog, a rechargeable detachable power supply is arranged in the waterproof shell, the power supply is convenient to replace, and an antenna is integrated in the frame of the waterproof shell, so that damage is prevented on the premise of ensuring signal strength; the waterproof shell is provided with the radiating fins 5 capable of wading, hardware radiating is good, the radiating fins go deep underwater, the seawater is used for cooling, and the heat conducting speed is high. The case is sealed to prevent salt spray corrosion.
Referring to fig. 2, in the deep and far sea aquaculture net cage automatic adjustment system based on ocean data perception according to the embodiment of the present invention, a control machine room is deployed with a data analysis control subsystem, an equipment automatic control module and an equipment and environment perception module are deployed in the controller 2, the data analysis control subsystem performs data transmission with a strategy customizing subsystem through a wireless communication device, and the strategy customizing subsystem is deployed in a data center on the shore.
Referring to fig. 3, in the deep and open sea aquaculture net cage automatic adjustment system based on ocean data sensing of the embodiment of the invention, the ocean environment sensing sensor 4 comprises a flow direction and flow velocity sensor, a flow sensor, a dissolved oxygen sensor and a temperature sensor, and the equipment state sensing sensor 3 comprises a net cage position sensor and an anchor stress sensor; the equipment and environment sensing module acquires data of the equipment state sensing sensor 3 and the marine environment sensing sensor 4, obtains water flow speed direction, flow, dissolved oxygen and temperature data around the cage, cage position and anchor stress data, and transmits the data back to the data analysis control subsystem through the wireless communication equipment. Because the data volume is huge, the equipment and the environment sensing module do not store sensing data, and when the aquaculture net cage 6 does not mechanically move, the data feedback clearance time is long (more than 5 minutes), so that the energy is saved; when the aquaculture net cage 6 moves mechanically, the feedback data gap time is short (within 5 seconds), and the state is sensed in time.
Specifically, in the deep and open sea aquaculture net cage automatic adjusting system based on ocean data perception, the data analysis control subsystem receives and stores data of the equipment and the environment perception module, receives a strategy command of the strategy customization subsystem to update the strategy model, operates the strategy model according to the received data, sends a control command to the equipment automatic control module, and simultaneously receives and stores feedback information; the strategy customizing subsystem issues a coping strategy model to the data analysis control subsystem, and acquires data of the data analysis control subsystem in a hard disk recovery mode to train an optimization strategy model; the coping strategies comprise a relation between the flow velocity and the convection angle of the net cage, a relation between the flow direction and the number and the layout of the net cage platforms, adjustment of a fluid calculation formula, a sequencing relation between the rotating flow and the net cage, scheme priority, a marine perception and equipment state data acquisition mode of the data cleaning and sorting module and the like.
Specifically, in the deep and open sea aquaculture net cage automatic adjustment system based on ocean data perception of the embodiment of the invention, the equipment automatic control module receives the control command of the data analysis control subsystem through the wireless transmission device and returns the current command execution state and the read-write task execution condition, and the equipment automatic control module controls the rotation angles of the plurality of net cage cages of the aquaculture net cage 6 and controls the net cage to move up and down and left and right.
The deep and far aquaculture net cage automatic adjusting method based on ocean data perception comprises the following steps:
s1: the equipment and environment sensing module acquires data of the equipment state sensing sensor 3 and the marine environment sensing sensor 4 to obtain equipment state data and marine environment data, and transmits the equipment state data and the marine environment data to the data analysis control subsystem through the wireless communication equipment; the marine environment data comprises speed and direction, flow, dissolved oxygen and temperature data of water flow around the cage, and the equipment state data comprises cage position and anchor stress data;
s2: the strategy customizing subsystem customizes an environment coping strategy and sends the coping strategy and a strategy model to the data analysis control subsystem through the wireless communication equipment;
s3: the data analysis control subsystem operates a strategy model according to the received equipment state data and marine environment data combined coping strategy to obtain an adjusting movement route of the aquaculture net cage 6, and then sends a control command to the equipment automatic control module;
s4: the equipment automatic control module controls the rotation angles of a plurality of net cage cages of the aquaculture net cage 6 and controls the net cage to move up, down, left and right according to the received control command.
Referring to fig. 4, in the method for automatically adjusting a deep and far aquaculture net cage based on ocean data perception according to the embodiment of the present invention, the data analysis and control subsystem includes a policy management module, a data cleaning and sorting module, a policy handling and operation module, and a high-performance message queue, the data cleaning and sorting module includes a policy model library, an automatic control database, an ocean perception database, and a cache, and the step S3 specifically includes:
s31: the strategy management module receives the coping strategy and the strategy model sent by the strategy customizing subsystem and stores the coping strategy and the strategy model into a strategy model base and a cache through the data cleaning and sorting module;
s32: the high-performance message queue receives equipment state data and marine environment data;
s33: the high-performance message queue actively distributes data to the data cleaning and sorting module according to the subscription of the data cleaning and sorting module of the data analysis control subsystem, the data cleaning and sorting module sorts the data and stores the data into the automatic control database, the ocean perception database and the cache, and the strategy coping operation module is informed of new data updating;
s34: the strategy coping operation module reads coping strategies and strategy models, calls ocean perception data and equipment state data, obtains the relation between the internal flow velocity of the aquaculture net cage 6 and the position and angle through fluid calculation of the strategy models, adjusts the position and angle of the aquaculture net cage 6 with the aim of increasing the internal flow velocity of the net cage to obtain the adjustment movement route of the aquaculture net cage 6, and then sends a control command to the equipment automatic control module through wireless transmission equipment.
Referring to fig. 5 and 6, in the method for automatically adjusting a deep and far aquaculture net cage based on ocean data sensing according to the embodiment of the present invention, the fluid calculation specifically includes: the U speed of the water flow around the aquaculture net cage 6 is obtained through the detection of the flow direction and flow velocity sensor and the flow sensor∞The flow of the head and the tail of the aquaculture net cage 6 is Q respectivelyS、QeThe center of the culture net cage 6 is used as an original point, the distance from the head and the tail to the center is S, and the flow velocity corresponding to the point with the coordinate (x, y) in the culture net cage 6 is as follows:
the x-axis velocity u is:
the y-axis velocity v is:
and calculating the relation between the internal flow velocity, the position and the angle of the aquaculture net cage 6 by adopting an Eulerian method and a fourth-order Rungeku tower algorithm.
Referring to fig. 7, in the method for automatically adjusting a deep and far aquaculture net cage based on ocean data sensing according to the embodiment of the present invention, the equipment automatic control module includes a task execution layer, a file system layer, and an equipment driver layer, and step S4 specifically includes:
s41: the equipment automatic control module executes the instantiated object running equipment driver through the task execution layer according to the received control command to start the equipment driver layer, and the task execution layer stores command data to the file system layer;
s42: the device driving layer executes the command and returns the running track and the feedback data to the task execution layer;
s43: the task execution layer feeds back the current command execution state to the data analysis control subsystem through the wireless communication equipment.
The automatic control module and the data analysis control subsystem are equipped to mutually sense the overall state of the system in a heartbeat package mode; when the aquaculture net cage executes mechanical movement, the aquaculture net cage informs the equipment and the environment sensing module of messages, the modules do not interfere with each other, tasks are executed independently, and expansion and cluster distribution are facilitated.
In summary, the automatic adjusting system for the deep and far sea aquaculture net cage based on ocean data perception provided by the invention obtains a model algorithm by utilizing ocean sensing data and according to experience or scientific summary, automatically adjusts the net cage layout and changes the water flow angle of the water inlet of the net cage in a certain range through the structure of the offshore deep sea aquaculture net cage and through calculation of a seawater fluid mathematical model, and obtains the maximum water inflow and the maximum water flow velocity in the net cage, so that the purposes of improving the dissolved oxygen content of seawater in the net cage, reducing ammonia nitrogen, improving the aquaculture environment in the net cage, improving the aquaculture quality and reducing the death rate are achieved.
Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. An automatic adjustment method of a deep and open sea aquaculture net cage based on ocean data sensing is characterized in that an adopted automatic adjustment system comprises an equipment floating platform (1) and at least one single aquaculture device, the single aquaculture device is arranged corresponding to an aquaculture net cage (6), the equipment floating platform (1) is provided with a control machine room and wireless communication equipment, and the single aquaculture device comprises a controller (2), wireless transmission equipment, an ocean environment sensing sensor (4) and an equipment state sensing sensor (3); the wireless transmission equipment is used for transmitting data between the control machine room and the controller (2), the controller (2) is connected with a control command of the control machine room to control the aquaculture net cage (6) to rotate, move up and down and move left and right, the marine environment perception sensor (4) and the equipment state perception sensor (3) transmit the measured data to the controller through the wireless transmission equipment, and the controller transmits the data of the sensors to the control machine room;
the control machine room is provided with a data analysis control subsystem, the controller (2) is provided with an equipment automatic control module and an equipment and environment perception module, the data analysis control subsystem performs data transmission with a strategy customizing subsystem through wireless communication equipment, and the strategy customizing subsystem is arranged in a data center on the shore;
the automatic adjustment method comprises the following steps:
s1: the equipment and environment sensing module acquires data of the equipment state sensing sensor (3) and the marine environment sensing sensor (4) to obtain equipment state data and marine environment data, and transmits the equipment state data and the marine environment data to the data analysis control subsystem through the wireless communication equipment; the marine environment data comprises speed and direction, flow, dissolved oxygen and temperature data of water flow around the cage, and the equipment state data comprises cage position and anchor stress data;
s2: the strategy customizing subsystem customizes an environment coping strategy and sends the coping strategy and a strategy model to the data analysis control subsystem through the wireless communication equipment;
s3: the data analysis control subsystem operates a strategy model according to the received equipment state data and marine environment data combined coping strategy to obtain an adjusting movement route of the aquaculture net cage (6), and then sends a control command to the equipment automatic control module;
s4: the equipment automatic control module controls the rotation angles of a plurality of net cage cages of the breeding net cage (6) and controls the net cage to move up, down, left and right according to the received control command;
the data analysis control subsystem comprises a policy management module, a data cleaning and sorting module, a policy coping operation module and a high-performance message queue, the data cleaning and sorting module comprises a policy model base, an automatic control database, a marine perception database and a cache, and the step S3 specifically comprises:
s31: the strategy management module receives the coping strategy and the strategy model sent by the strategy customizing subsystem and stores the coping strategy and the strategy model into a strategy model base and a cache through the data cleaning and sorting module;
s32: the high-performance message queue receives equipment state data and marine environment data;
s33: the high-performance message queue actively distributes data to the data cleaning and sorting module according to the subscription of the data cleaning and sorting module of the data analysis control subsystem, the data cleaning and sorting module sorts the data and stores the data into the automatic control database, the ocean perception database and the cache, and the strategy coping operation module is informed of new data updating;
s34: the strategy coping operation module reads coping strategies and strategy models, transfers ocean perception data and equipment state data, obtains the relation between the internal flow rate and the position and the angle of the aquaculture net cage (6) through fluid calculation of the strategy models, adjusts the position and the angle of the aquaculture net cage (6) by aiming at increasing the internal flow rate of the net cage, obtains the adjustment movement route of the aquaculture net cage (6), and then sends a control command to the equipment automatic control module through wireless transmission equipment.
2. The method for automatically adjusting the deep and open sea aquaculture net cages based on ocean data sensing of claim 1, wherein the ocean environment sensing sensors (4) comprise a flow direction flow velocity sensor, a flow sensor, a dissolved oxygen sensor and a temperature sensor, and the equipment state sensing sensors (3) comprise a net cage position sensor and an anchor stress sensor; the equipment and environment sensing module acquires data of the equipment state sensing sensor (3) and the marine environment sensing sensor (4), obtains water flow speed direction, flow, dissolved oxygen and temperature data around the cage, cage position and anchor stress data, and transmits the data back to the data analysis control subsystem through the wireless communication equipment.
3. The method for automatically adjusting the deep open sea aquaculture net cages based on ocean data perception according to claim 1, wherein the data analysis and control subsystem receives and stores data of equipment and the environment perception module, receives strategy commands of the strategy customization subsystem to update the strategy model, operates the strategy model according to the received data, sends control commands to the equipment automatic control module, and simultaneously receives and stores feedback information; the strategy customizing subsystem issues a coping strategy model to the data analysis control subsystem, and the strategy customizing subsystem acquires data of the data analysis control subsystem in a hard disk recycling mode to train an optimization strategy model.
4. The method for automatically adjusting the deep and open sea aquaculture net cages based on ocean data perception according to claim 1, wherein the equipment automatic control module receives the control command of the data analysis control subsystem through a wireless transmission device and returns the current command execution state and the read-write task execution condition, and controls the rotation angles of the plurality of net cage cages of the aquaculture net cage (6) and controls the net cage to move up and down and left and right.
5. The method for automatically adjusting the deep and open sea aquaculture net cages based on ocean data perception according to claim 1, wherein a wind-solar generator is arranged on the equipment floating platform (1) for supplying power, the controller (2) is provided with a waterproof shell, a rechargeable detachable power supply is arranged in the waterproof shell, and an antenna is integrated in the frame of the waterproof shell; the waterproof housing is provided with wadable fins (5).
6. The method for automatically adjusting the deep and open sea aquaculture net cages based on ocean data perception according to claim 1, wherein the fluid calculation takes the center of the aquaculture net cage (6) as an origin, the direction opposite to the water flow is an x-axis, and the vertical direction is a y-axis, so that the flow velocity calculation formula of the point corresponding to the coordinates (x, y) in the aquaculture net cage (6) is as follows:
the x-axis velocity u is calculated as:
the y-axis velocity v is calculated as:
wherein:
7. The method for automatically adjusting the deep open sea aquaculture net cages based on ocean data perception according to claim 1, wherein the equipment automatic control module comprises a task execution layer, a file system layer and a device driver layer, and the step S4 specifically comprises:
s41: the equipment automatic control module executes the instantiated object running equipment driver through the task execution layer according to the received control command to start the equipment driver layer, and the task execution layer stores command data to the file system layer;
s42: the device driving layer executes the command and returns the running track and the feedback data to the task execution layer;
s43: the task execution layer feeds back the current command execution state to the data analysis control subsystem through the wireless communication equipment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911053973.0A CN110731287B (en) | 2019-10-31 | 2019-10-31 | Deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception |
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| CN201911053973.0A CN110731287B (en) | 2019-10-31 | 2019-10-31 | Deep and open sea aquaculture net cage automatic adjusting system and method based on ocean data perception |
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| Publication Number | Publication Date |
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| CN118696862B (en) * | 2024-07-17 | 2025-02-28 | 中山大学 | A deep-sea aquaculture cage with ocean current power generation and stability control functions |
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