CN109116395A - A kind of unmanned plane fish collection system based on Beidou positioning - Google Patents
A kind of unmanned plane fish collection system based on Beidou positioning Download PDFInfo
- Publication number
- CN109116395A CN109116395A CN201811230893.3A CN201811230893A CN109116395A CN 109116395 A CN109116395 A CN 109116395A CN 201811230893 A CN201811230893 A CN 201811230893A CN 109116395 A CN109116395 A CN 109116395A
- Authority
- CN
- China
- Prior art keywords
- fish
- unmanned plane
- collecting box
- collection system
- beidou
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
Abstract
The invention discloses a kind of unmanned plane fish collection systems based on Beidou positioning, belong to intelligent aquaculture field, including unmanned plane, positioning system, fish collection system；The unmanned plane is equipped with robot control system(RCS), fish deteclor, the first wireless communication system；The positioning system includes Beidou positioning chip, Beidou satellite system and Communication receiving station, and the Beidou positioning chip is mounted on unmanned plane；The fish collection system includes fish-collecting box, and the fish-collecting box is placed in unmanned plane lower part, is gone up and down by unmanned aerial vehicle (UAV) control, and the both ends of the fish-collecting box are equipped with entrance, is equipped with fish-luring light at the middle part of fish-collecting box.Position of the high accuracy positioning shoal of fish in waters is realized, sends fisherman to provide target for fishing center；Using the synergistic effect of fish-luring light and fish-collecting box, the position of the shoal of fish can be stablized, prevent location information deviation；Fish-collecting box plays the role of auxiliary fishing simultaneously, can provide convenience for the fishing of subsequent fishing boat.
Description
Technical field
The present invention relates to intelligent aquaculture field, especially a kind of unmanned plane fish collection system based on Beidou positioning.
Background technique
In the aquaculture of large reservoir or offshore waters, since the determination position to the shoal of fish is inaccurate, it will usually waste
The a large amount of time in the search positioning to the shoal of fish, leads to the inefficiency of fishing boat fishing.In order to solve this problem, existing skill
Have in art and sends location information to the device of fishing command centre for after shoal of fish positioning.However in the process of specific implementation
In, the trace of the shoal of fish is dynamic change, therefore in some cases, deviation occurs in fish school location after positioning, this is equally
It can come to fishing work belt difficult.It is also put forward higher requirements to positioning device in addition, continually carrying out positioning determination.
Summary of the invention
The technical problems to be solved by the present invention are: in view of the above problems, provide a kind of based on Beidou positioning
Unmanned plane fish collection system can carry out the opposite of position using fish-luring light and fish collection system while positioning to the shoal of fish
It is fixed, play the role of auxiliary fishing.
The technical solution adopted by the invention is as follows: including unmanned plane, positioning system, fish collection system；The unmanned plane installation
There are robot control system(RCS), fish deteclor, the first wireless communication system, the robot control system(RCS), fish deteclor are connect with the first wireless communication system；
The positioning system includes the first Beidou terminal, the second Beidou terminal, Beidou satellite system and Communication receiving station, first north
Bucket terminal is mounted on unmanned plane；The fish collection system includes the kickboard of fish-collecting box and its connection, and the fish collection system is placed in
Unmanned plane lower part, is gone up and down by unmanned aerial vehicle (UAV) control, and the both ends of the fish-collecting box are equipped with entrance, is equipped with attracting at the middle part of fish-collecting box
Lamp is equipped with the second Beidou terminal in the kickboard.
The working principle of above-mentioned fish collection system are as follows: Beidou terminal is connect with Beidou satellite system and Communication receiving station, Beidou
Terminal can receive Beidou satellite system positioning information, and can transmission of location information to Communication receiving station.By in fishing
The heart transmits signal command unmanned plane auto-flare system, and unmanned plane is positioned using Beidou terminal, carries out in reservoir and offshore sea waters
Shoal of fish search, after finding concentrated school, control fish collection system into the water, is lured the shoal of fish using fish-luring light, part
The shoal of fish enters fish-collecting box from two end entrances of fish-collecting box.Unmanned plane, which can voluntarily leave, executes other tasks, by the of fish collection system
Location information is constantly fed back to Communication receiving station by two Beidou terminals, to be conducive to subsequent fishing work.
Preferably, the fish-collecting box is connect by interconnecting piece with kickboard, and the fish-collecting box is the material for being greater than water by density
Manufactured engraved structure, the kickboard arrange buoyancy caused by water greater than the sum of fish-collecting box and kickboard self gravity.Fish-collecting box
It can be made of the material that density is greater than water, such as stainless steel etc.；It is set as engraved structure, the load of unmanned plane can be reduced, it is described
The size of engraved structure should be less than the volume size of conventional fry or juvenile fish, reduce the fishing to the prematurity shoal of fish, in addition hollow out
Structure makes fish-collecting box be easier to sink to down when being lowered into water.Since the gravity of kickboard is greater than the gravity of fish-collecting box, hold
Fish-collecting box is convenient for subsequent recycling so that fish-collecting box is not easy to sink to the bottom.Meanwhile second Beidou terminal be arranged in kickboard, do not sink to
The water surface interferes the transmission of its information so as to effectively avoid the second Beidou terminal from being destroyed.
Preferably, the fish-collecting box is cage construction, and cage body mid diameter is greater than both ends inlet diameter.Fish-collecting box both ends enter
Mouth is smaller, is not easy to escape from after entering cage body convenient for the shoal of fish, biggish cage body can then be packed into more fishes.
Preferably, the unmanned plane lower part is equipped with several lifting cylinders, the end of the telescopic rod of each lifting cylinder
Portion is equipped with suspension hook, and by the opening and closing of micromotor control suspension hook, the fish collection system is mounted on suspension hook by hanging ring.
Preferably, the unmanned plane has obstacle avoidance apparatus.The obstacle avoidance apparatus is detection sensor, when unmanned plane is flying
During, sensor detects front when having obstacle, the distance of the obstacle detected and size can be transferred to unmanned plane
Control system, so the program by being set in unmanned aerial vehicle control system in advance to determine whether stop flight, make a return voyage or detour,
Ensure safety when flight.
Preferably, the type of the fish deteclor is ultrasonic fish detector or radar fish deteclor.
Preferably, the unmanned plane is equipped with image capturing system, can carry out information to the real-time condition near waters
Acquisition, is transmitted back to fishing center, to make more accurate fishing instruction.
Preferably, the fish-collecting box is equipped with the second wireless communication system, the second image capturing system, can shoot underwater
Real-time Water condition to understand more accurate shoal of fish information and fishing environment, and is transferred to fishing center.
Preferably, the first Beidou terminal and the second Beidou terminal are also connected with normalizer, the signal correction
Device includes sequentially connected secondary memory and terminating machine, is stored with fiducial error correction value in the pair memory.Terminating machine is pressed
Pre-defined rule handles the received geography information of Beidou terminal and the fiducial error correction value in the first secondary memory, obtains
Revised geography information returns to Beidou terminal, is sent to Communication receiving station by Beidou terminal.
Preferably, the fish-luring light is mounted on fish-collecting box by bracket.
Preferably, the fish-luring light be adjusted light intensity with it is photochromic.Can be improved according to the characteristic of caught fish light intensity with
It is photochromic, to improve the attraction to fish, enhance fish-gathering effect.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, position of the high accuracy positioning shoal of fish in waters is realized, sends fisherman fishing to provide mesh for fishing center
Mark；
2, using the synergistic effect of fish-luring light and fish-collecting box, can the relatively stable shoal of fish position, play auxiliary fishing
It acts through, sends the position of fish-collecting box in real time by the second Beidou terminal, convenience, unmanned plane can be provided for the fishing of subsequent fishing boat
Then achievable other tasks, do not need the real-time monitoring shoal of fish always；
3, in conjunction with the investigation of unmanned plane and the auxiliary of fish-collecting box, the shoal of fish size of area and waters in waters can be determined
Real-time situation avoid the waste for accidentally fisherman being sent to result only in so that more accurate fishing instruction is made at fishing center.
4, Beidou positioning information is repaired using normalizer, so that the positioning of unmanned plane and the shoal of fish is more accurate.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is a kind of unmanned plane fish collection system schematic diagram based on Beidou positioning of the invention.
Fig. 2 is fish-collecting box enlarged diagram of the invention.
In figure, 1 is unmanned plane, and 2 be robot control system(RCS), and 3 be wireless communication system, and 4 be fish deteclor, and 5 be detection sensor, 6
It is the first Beidou terminal for the first image capturing system, 7,8 be the second Beidou terminal, and 9 be Beidou satellite system, and 10 connect for communication
Station is received, 11 be fish-collecting box, and 12 be kickboard, and 13 be fish-luring light, and 14 be lifting cylinder, and 15 be suspension hook, and 16 be micromotor, and 17 be the
Two wireless communication systems, 18 be the second image capturing system, 19 is normalizer, 20 is fishing center, 21 is the shoal of fish.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification unless specifically stated can be equivalent or with similar purpose by other
Alternative features are replaced.That is, unless specifically stated, each feature is an example in a series of equivalent or similar characteristics
?.
As Figure 1-Figure 2, The technical solution adopted by the invention is as follows:
A kind of unmanned plane fish collection system based on Beidou positioning, including unmanned plane 1, positioning system, fish collection system；The nothing
Man-machine 1 is equipped with robot control system(RCS) 2, the first wireless communication system 3, fish deteclor 4, detection sensor 5, the first image capturing system 6；
The positioning system includes the first Beidou terminal 7, the second Beidou terminal 8, Beidou satellite system 9 and Communication receiving station 10, described
First Beidou terminal 7 is mounted on unmanned plane 1；The fish collection system includes fish-collecting box 11 and the kickboard connecting with fish-collecting box 12,
The fish collection system is placed in 1 lower part of unmanned plane, is controlled and is gone up and down by unmanned plane 1, and the both ends of the fish-collecting box 11 are equipped with entrance,
Fish-luring light 13 is equipped with by bracket at the middle part of fish-collecting box 11, the fish-luring light 13 be adjusted light intensity with it is photochromic.
The unmanned plane lower part is equipped with lifting cylinder 14, and the end of the telescopic rod of the lifting cylinder is equipped with suspension hook
15, the opening and closing of suspension hook 15 is controlled by micromotor 16, the fish collection system is mounted on suspension hook by hanging ring.
Further, the fish-collecting box 11 is hollow out cage construction, and cage body mid diameter is greater than both ends inlet diameter, described
Fish-collecting box 11 is equipped with the second wireless communication system 17, the second image capturing system 18.
Further, the fish-collecting box 11 is connect by connecting rope with kickboard 12, and the fish-collecting box 11 is to be greater than by density
The material of water is made, and the kickboard 12 arranges buoyancy caused by water greater than the sum of fish-collecting box 11 and the self gravity of kickboard 12.
The second Beidou terminal 8 is mounted in kickboard 12.
Further, the first Beidou terminal 7 and the second Beidou terminal 8 are also connected with normalizer 19, the letter
Number corrector 19 includes sequentially connected secondary memory and terminating machine, is stored with fiducial error correction value in the pair memory.
The low-latitude flying above predetermined waters of unmanned plane 1 is commanded at fishing center 20, is positioned and is scouted using the first Beidou terminal 7
21 situation of the shoal of fish in waters.Wherein, 21 quantity of the shoal of fish in the detectable certain area of fish deteclor 4, the shoal of fish that then will acquire
21 information are transmitted back to fishing center 20 by the first wireless communication system 3, by catch the computer at center 20 by the information with it is interior
It sets data to compare, judges whether to meet fishing standard.After reaching fishing standard, oneself of unmanned plane 1 is controlled by fishing center 20
Control system 2 issues instruction and drops to the fish collection system control of 1 lower part of unmanned plane in the region waters.Note that fish collection system
Decline should not be too fast, otherwise will cause the larger sound, to startle the shoal of fish 21.After fish collection system enters the waters, fish-collecting box
11 submergeds, kickboard 12 are kept afloat, and the part shoal of fish 18 is traped using fish-luring light 13 and is entered in fish-collecting box 11, and remaining is not
The shoal of fish 18 into fish-collecting box 11 can also be centered around around fish-luring light 13, therefore play the role of stable 18 position of the shoal of fish.With this
Meanwhile region is positioned using the second Beidou terminal 8 in kickboard 12, and position signal is transferred to fishing center
12, suitable ship is arranged according to the type of the shoal of fish 21, quantity, size and location by fishing center 20.
Further, the real-time situation on the waters periphery can be shot in the first image capturing system 6 of unmanned plane 1, and led to
It crosses the first wireless communication system 3 and is transferred to fishing center 20 together together with 11 information of the shoal of fish；Second Image Acquisition of fish-collecting box 11
The underwater real-time situation in the waters that system 15 can be shot, and fishing center 20 is transferred to by the second wireless communication system 14,
More accurately fishing instruction is made to be conducive to fishing center 20.
After the ship of fishing reaches corresponding region, quickly fished in combination with the auxiliary of fish-collecting box 11, and complete
Also recyclable fish collection system afterwards, improves the efficiency of fishing.
Further, mountable multiple when the unmanned plane 1 is large-scale unmanned plane 1 in the embodiment optimized at one
Fish collection system is dropped to behind waters the detection that can carry out subsequent region by lifting cylinder 14 and fish collection system, in waters
Disposably detect multiple fishing points.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of unmanned plane fish collection system based on Beidou positioning, it is characterised in that: including unmanned plane, positioning system, fish gathering system
System；The unmanned plane is equipped with robot control system(RCS), fish deteclor, the first wireless communication system, the robot control system(RCS), fish deteclor and first
Wireless communication system connection；The positioning system includes the first Beidou terminal, the second Beidou terminal, Beidou satellite system and communication
Receiving station, the first Beidou terminal are mounted on unmanned plane；The fish collection system includes the kickboard of fish-collecting box and its connection, institute
It states fish collection system and is placed in unmanned plane lower part, gone up and down by unmanned aerial vehicle (UAV) control, the both ends of the fish-collecting box are equipped with entrance, in fish gathering
The middle part of case is equipped with fish-luring light, is equipped with the second Beidou terminal in the kickboard.
2. unmanned plane fish collection system according to claim 1, it is characterised in that: the fish-collecting box passes through interconnecting piece and kickboard
Connection, the fish-collecting box are to be greater than engraved structure made of the material of water density, and the kickboard arranges buoyancy caused by water
Greater than the sum of fish-collecting box and kickboard self gravity.
3. unmanned plane fish collection system according to claim 2, it is characterised in that: the fish-collecting box is hollow out cage construction,
Cage body mid diameter is greater than both ends inlet diameter.
4. unmanned plane fish collection system according to claim 1, it is characterised in that: the unmanned plane lower part is equipped with several liters
The end of sending down abnormally ascending cylinder, the telescopic rod of each lifting cylinder is equipped with suspension hook, described by the opening and closing of micromotor control suspension hook
Fish collection system is mounted on suspension hook by hanging ring.
5. unmanned plane fish collection system according to claim 1, it is characterised in that: the first Beidou terminal and the second Beidou
Terminal is also connected with normalizer, and the normalizer includes that sequentially connected secondary memory and terminating machine, the pair are deposited
Fiducial error correction value is stored in reservoir.
6. unmanned plane fish collection system according to claim 1, it is characterised in that: the unmanned plane has obstacle avoidance apparatus.
7. unmanned plane fish collection system according to claim 1, it is characterised in that: the unmanned plane is equipped with the first image and adopts
Collecting system.
8. unmanned plane fish collection system according to claim 1, it is characterised in that: the fish-collecting box is equipped with the second channel radio
Letter system, the second image capturing system.
9. unmanned plane fish collection system according to claim 1-8, it is characterised in that: the fish-luring light passes through bracket
It is mounted on fish-collecting box.
10. unmanned plane fish collection system according to claim 9, it is characterised in that: light intensity and light is adjusted in the fish-luring light
Color.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230893.3A CN109116395B (en) | 2018-10-22 | 2018-10-22 | Unmanned aerial vehicle fish gathering system based on big dipper location |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230893.3A CN109116395B (en) | 2018-10-22 | 2018-10-22 | Unmanned aerial vehicle fish gathering system based on big dipper location |
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| Publication Number | Publication Date |
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| CN109116395A true CN109116395A (en) | 2019-01-01 |
| CN109116395B CN109116395B (en) | 2023-03-28 |
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| CN201811230893.3A Active CN109116395B (en) | 2018-10-22 | 2018-10-22 | Unmanned aerial vehicle fish gathering system based on big dipper location |
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| CN113575528A (en) * | 2021-07-30 | 2021-11-02 | 海南福港远洋渔业有限公司 | Far deep sea fishing method |
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| CN109116395B (en) | 2023-03-28 |
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