JPH04680Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field This invention relates to a device for cleaning and monitoring the bottom of water during aquaculture.

Conventional technology and its problems For example, in Kuruma shrimp farms (ponds),
Diving surveys and operations are conducted regularly to investigate the state of the water bottom, that is, the state of shrimp development, feeding status, and estimated amount of leftover bait, as well as to recover carcasses and leftover bait. This type of work needs to be done frequently, especially in the summer when the water temperature is high. However, diving work is inefficient and has the problem that only the diver can observe the conditions at the bottom of the water.

The purpose of this invention is to solve the above-mentioned problems and provide an apparatus that can unmanned and efficient cleaning and monitoring of the bottom of the water at a fish farm.

Means for Solving the Problems The device according to this invention includes a floating body equipped with a propulsion device, a first link and a second link parallel to each other whose upper ends are rotatably attached to the floating body, and their lower ends. A third rotatably attached to the
a parallel link mechanism consisting of links, a link drive device for rotating the first link and the second link, an underwater television camera and an inhaler fixed to the third link, and a parallel link mechanism provided on the floating body. The apparatus is equipped with a suction device connected to an inhaler, and a control device having a monitor television for an underwater television camera, a propulsion device, a link drive device, a suction device, and a remote control panel for the underwater television camera.

Embodiment FIG. 1 shows a water bottom cleaning monitoring device installed in a farm (pond) for Kuruma shrimp, etc., and this device is equipped with a boat-shaped floating body 11 equipped with a propulsion device 10.
As shown in detail in FIGS. 2 and 3, the floating body 1
1 is a twin body type consisting of a pair of left and right body parts 11a and a horizontal plate-like connecting part 11b that connects the upper parts of these parts, and each body part 11a is equipped with a thruster 12 and a thruster driving electric motor 13. propulsion device 10
are provided for each. In addition, the left and right torso 1
A lifting eyepiece 14 is attached to the front and rear upper surfaces of 1a.

Long openings 15 are provided in parallel in the front and rear on both left and right sides of the connecting portion 11b of the floating body 11. Bearings 16 are provided on both left and right sides of the central front portion of each opening 15, and one long drive shaft 17 extending left and right is rotatably received by these bearings 16. Further, bearings 18 are provided on both left and right sides of the central rear portion of each opening 15, and two short shafts 19 extending left and right are rotatably received by the bearings 18 on both sides of each opening 15. Drive shaft 17
The upper ends of a pair of left and right first links 20 are fixed to a portion above the opening 15 of the opening 15, and these links 20 extend downward through the opening 15.
A pair of left and right second links 2 are attached to the left and right short shafts 19.
The upper end of 1 is fixed, and these links 2
1 extends downward through the opening 15. At the lower ends of the first link 20 and the second link 21,
As shown in detail in FIG. 4, a pair of parallel left and right third links 22 extending approximately horizontally in the front and back are rotatably attached, and the first link 20 and the second
The links 21 are all parallel. The front and rear ends of the left and right third links 22 are connected to a connecting shaft 23 that extends horizontally to the left and right, respectively.
24. These axes 23,2
4 is fixed to the third link 22 and protrudes slightly to the left and right, and both ends of the front shaft 23 are connected to the left and right first links.
Both ends of a rear shaft 24 are rotatably attached to the lower ends of the left and right second links 21, respectively. These links 20, 21, 22 form a parallel link mechanism 25.
is configured.

A link drive device 28 including an electric motor 26 and a gear reduction mechanism 27 is provided on the connecting portion 11b of the floating body 11. The rotation of the electric motor 26 is transmitted to the drive shaft 17 via the gear reduction mechanism 27, which causes the first link 20 and the second link 22 to rotate within a certain range in the front and back (for example, 80 degrees in the front and back around the perpendicular line).
degree range). When the first link 20 and the second link 21 rotate back and forth, the third link 2
2 and the connecting shafts 23, 24 move back and forth and up and down while maintaining a constant posture without rotating.

Two support rods 29 and 30 are fixed to the front connecting shaft 23 of the third link 22 with screws 31 and 32, respectively, so that the angle can be adjusted. first rod 2
9 extends forward, and at its front end there is a water bottom (B).
An underwater television camera 33 for monitoring the situation is fixed, for example, so as to face slightly forward rather than directly below. Underwater lights 34 are attached to both sides of the camera 33. The second rod 30 extends downward, and has a sensor 35 at its lower end for detecting water temperature, turbidity, pH, dissolved oxygen amount, etc. near the water bottom B, and a sensor 35 for collecting dead bodies, leftover bait, etc. from the water bottom. An inhaler 36 for use is fixed. At the front of the inhaler 36, there is provided an inhaler 36a that is long downward in the left and right directions. The angle and mutual positional relationship between the camera 33 and the inhaler 36 are determined by the support rods 29 and 30 relative to the connecting shaft 23 of the third link 22.
Can be adjusted by adjusting the mounting angle. By rotating the first link 20 and the second link 21 back and forth, the camera 33 and the inhaler 3 are connected to each other.
6 moves back and forth and up and down while maintaining the fixed posture and mutual positional relationship thus adjusted. In order to facilitate the movement of the camera 33 and the inhaler 36 by the parallel link mechanism 25, it is desirable that the gravity and buoyancy acting on these underwater parts be approximately equal.

A suction device 38 equipped with a pump 37 whose output can be adjusted is provided at the rear of the connecting portion 11b of the floating body 11. The suction port of the pump 37 and the inhaler 36 are connected by a retractable suction pipe 39. Note that the suction pipe 39 is connected to an opening 4 that is long in the front and back and is provided at the rear center of the connecting portion 11b of the floating body 11.
It is passed to 0. Further, a sedimentation tank 42 equipped with a float 41 is floated on the water surface (l) of the farm, and the discharge port of the pump 37 and the sedimentation tank 42 are connected by a flexible transport pipe 44 equipped with a float 43. There is.

A monitor television 45 of a camera 33, a propulsion device 10, and a link drive device 2 are installed on the land part of the farm.
8, a control device 47 with a remote control panel 46 for a camera 33, a light 34, a sensor 35, a suction device 38, etc. is provided. Although detailed illustrations are omitted, the main body 48 of the control device 47 includes, in addition to the monitor television 45, a power supply unit, a power switch, a voltmeter and ammeter for input power, and an output digital display meter for the sensor 35. ing. The remote control panel 46 is portable,
This includes a joystick for controlling the propulsion device 10 to move the floating body 11 back and forth and turning, and a joystick for controlling the link drive device 28 to move the first link 20 and the second link 2 of the parallel link mechanism 25.
A joystick for rotating the pump 1 back and forth and a joystick for adjusting the output of the pump 37 of the suction device 38 are provided.

Cleaning and monitoring of the water bottom B of the fish farm using the above-mentioned device is carried out, for example, as follows.

First, the transport pipe 44 is connected to the pump 37 of the suction device 38.
are connected, and the floating body 11 is floated on the water surface L. next,
The control device 47 is powered on, and the remote control panel 46 is used to move the floating body 11 to a desired position.
In addition, when only moving the floating body 11 in this way, the camera 33 and the like are moved to the front and upper side, as shown by the chain line in FIG. Next, the first link 20 and the second link 21 are rotated downward, and the inhaler 36 is moved close to the bottom B while monitoring the situation at the bottom B using the monitor television 45. Then, in this state, the floating body 11 is moved appropriately, and the condition of the water bottom B is monitored by the monitor television 45. At this time, if necessary, light 3
Turn on 4. If necessary, the pump 37 is operated to collect carcasses, leftover bait, etc. on the bottom B of the water. The remaining bait etc. thus collected are sent to the sedimentation tank 44 and settled, and water overflows from the upper part of the tank 44. In this case, monitor TV 4
In Step 5, adjust the output of the pump 37 while watching the suction situation. Further, while monitoring the situation of the water bottom B on the monitor television 45, the height relationship between the water bottom B and the inhaler 36 is adjusted so that an optimal inhalation state can be maintained.

When the predetermined work is completed, the floating body 11 is lifted and recovered, and the transport pipe 44 is cut off. In addition, floating body 1
1 may remain floating on the water surface L.

Effects of the invention Since the device according to the invention has the above-mentioned configuration, cleaning and monitoring of the bottom of the water at the fish farm can be done unmanned, and there is no need for diving work, so it is efficient. In addition, multiple people can simultaneously monitor the situation at the bottom of the water using monitor television, allowing appropriate responses to be taken.

[Brief explanation of the drawing]

The drawings show an embodiment of this invention, and Fig. 1 is a side view showing a bottom cleaning monitoring device installed at a fish farm;
Fig. 2 is a partially cutaway side view showing an enlarged main part of Fig. 1, Fig. 3 is a plan view of the floating body part of Fig. 2,
FIG. 4 is an enlarged perspective view of the lower end of the parallel link mechanism. 10... Propulsion device, 11... Floating body, 20,2
1, 22, ... link, 25 ... parallel link mechanism, 28 ... link drive device, 33 ... underwater television camera, 36 ... inhaler, 38 ... suction device,
45...Monitor TV, 46...Remote control panel, 4
7...Control device.

Claims (1)

[Scope of utility model registration request] A floating body 11 equipped with a propulsion device 10, a first link 20 and a second link 21 parallel to each other whose upper ends are rotatably attached to the floating body 11, and rotatably attached to their lower ends. A parallel link mechanism 25 consisting of a third link 22 and a first
a link drive device 28 for rotating the link 20 and the second link 21, and the third link 2
an underwater television camera 33 and an inhaler 36 fixed to the underwater television camera 2; a suction device 38 provided on the floating body 11 and connected to the inhaler 36;
An underwater bottom cleaning monitoring device in an aquaculture farm, comprising a monitor television 45 of 3 and a control device 47 having a remote control panel 46 for a propulsion device 10, a link drive device 28, a suction device 38 and an underwater television camera 33.