CN103329824A

CN103329824A - Aquaculture robot

Info

Publication number: CN103329824A
Application number: CN2013101553731A
Authority: CN
Inventors: 周长宾
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-05-02
Filing date: 2013-05-02
Publication date: 2013-10-02

Abstract

An intelligent unmanned aquaculture robot comprises a ground station, remote control equipment, a hull part, a sailing controller, a feeding execution part, a bait casting controller, a data acquisition module, a data and image transmission module. The sailing controller receives instructions from the ground station, the remote controller or a shipborne panel, and is divided into a remote control mode and an automatic mode; the automatic mode completes scheduled sailing independently in an unmanned manner according to a preset route and a GPS (Global Position System) via real-time dynamic course control and velocity control, so that the fixed route is ensured; and the feeding velocity controlled dynamically in real time according to parameters such as real-time voyage, velocity and material quantity, so that uniform bait casting is ensured. The data and image transmission part transmits data collected by the data acquisition part and operating parameters related to a system to the ground station in real time. The robot can complete tasks such as the bait casting, fertilizing, spraying, seeding, mowing, oxygenating, pool patrolling, bird expelling, monitoring and the like independently. With the adoption of the robot, fixed quality, fixed points, fixed time and fixed quantity of large-scale aquaculture are realized, and the excess dependence of the aquiculture on the labor force is reduced.

Description

The aquaculture robot

Technical field

The invention belongs to agricultural mechanical field, be specifically related to the control method of automatic driving, automatic material controlling, automatic charging, automatic job.

Background technology

The aquaculture bait throwing in is quality, fixed qty, set time, fixed location fixedly, is commonly called as four and decides.Fixedly quality, set time accomplish easily, but for resembling a lot of little special aquatic products of the slow scope of activities of moving speed such as shrimp crab sea cucumber abalone, continuous expansion along with the scale of breed, by manually almost accomplishing fixed qty, fixed location, this just presses for intelligent equipment, reduction improves reliability and the operating efficiency of operation to labour's dependence the time.Domestic: China Guangxi Wu Feng machinery Co., Ltd has produced a distance type shrimp bait and has thrown in machine, this bait throwing in machine is divided into remote control and automatic two kinds of working methods, navigation route, speed, bait throwing in speed are by Artificial Control during remote control mode, can't avoid almost occurring that the course line changes, does not cover in the course line but bait has been thrown or walk to be in the course line but situation that bait has not been thrown can't guarantee the omnidistance evenly bait throwing in of bait throwing in machine; This bait is thrown in the automatic mode of machine and realized that by the operation of memory manual remote control when wind speed and direction changed, the course inevitably was offset, and this machine does not have the course and corrects function, the course line variation gently then occurs, and is heavy then sloping accident occurs hitting.This bait throwing in machine is shed bait and is just started working from setting sail simultaneously, just quits work to finished voyage, when certainly existing hull near the operation of zone, bank, has a large amount of bait to throw on the bank, and obviously, this is plan target control defective and the bait that causes is wasted in a large number.Abroad: abroad also do not occur and similar products like of the present invention at present, agriculture in Indian science and technology research institute has worked out a shrimp pool bait throwing in machine, it is evenly distributed in fish around the shrimp pool with the bait throwing in machine, control the work of bait throwing in machine by a central controller, but bait throwing in still is not very even like this, still the bait throwing in blind spot can occur.This equipment making is with high costs, is not suitable for middle-size and small-size raiser, more has no way of promoting.

Summary of the invention

The present invention is made up of eight parts such as earth station, remote control equipment, hull part, navigation controller, blanking bait throwing in part, bait throwing in controller, data acquisition, data image transmission.The present invention drives the realization scheduled airline automatically by default destination, GPS navigation and travels, and calculates and controls real-time feed rate and realize evenly feeding intake between whole destinations by voyage, the real-time speed of a ship or plane, real-time material amount.Set sail with the process of making a return voyage in do not have the plan target that feeds intake, avoided material to throw on the bank waste.The present invention has realized the four fixed of scale aquaculture, has realized that each cultures individuality and ingest like all trusting to chance and strokes of luck, and has avoided the breed individuality to strive food and has fought and noisy water, effectively improves the uniformity of water body bearing capacity, bait utilization and commercial specification.Simultaneously, having reduced culture fishery too relies on the labour.

Description of drawings

Fig. 1 is aquaculture robot front view, and Fig. 2 is aquaculture robot rearview.The 1-hull; The 2-propeller; 3-direction machine; The 4-sealing ring; The 5-accumulator; 6-navigates by water controller; 7-bait throwing in controller; 8-bait throwing in motor; 9-rotates Feeding disc; The 10-feed opening; The 11-baiting valve; 12-blanking servomotor; The 13-GPS receiver module; The 14-data acquisition module; 15-data image transport module; 16-strain detecting support bar; The 17-hopper; 18-boat-carrying control panel.

Embodiment

The present invention carries out scheduled airline by real-time dynamically control, has guaranteed that fixed location (FX) feeds intake, and carries out evenly feeding intake by in real time dynamic feed rate control, has guaranteed the fixed qty of each point.Navigation controller 6 is accepted the instruction of earth station, remote controller or boat-carrying control panel 18, carry out remote control or automatic mode controlling party and change the course of hull 1, the speed of a ship or plane that control propeller 2 changes hull 1 to machine 3, automatic mode is according to the given position of default course line and GPS receiver module 13, and nobody navigates by water at the task of independently hitting the target; Real-time voyage, the speed of a ship or plane according to 6 transmissions of navigation controller, bait throwing in controller 7 is controlled blanking servomotor 12 by the real-time material amount parameter that strain detecting support bar 16 calculates in the hopper 17, drives baiting valve 11, changes the aperture of feed opening 10, control blanking speed realizes even blanking; Bait throwing in controller 7 changes the distance that feeds intake of rotation Feeding disc 9 according to the rotating speed of navigation channel or predetermined width control bait throwing in motor 8, realizes the even bait throwing in of full plan target voyage; Data image transport module 15 is transferred to earth station with the relevant operational factor with system of data that data acquisition module 14 is gathered in real time.Change work pattern and change actuator, just can realize intelligence fertilising, spray medicine, plant grass, mowing, oxygenation, Xun Chi, drive operations such as bird, monitoring.

Claims

1.2 the automatic navigation control of ~ 1000 destinations.

2. boat-carrying control panel 18 can independently arrange the plan target destination.

3. plan target is weighed anchor after opening automatically.

4. the task of hitting the target is cast anchor automatically.

5. the flying power protection is maked a return voyage automatically.

6. finish the automatic breakpoint continuation of the journey of supply.

7. hull lateral attitude control.

8. automatic obstacle-avoiding navigation.

9. the task of hitting the target is shut down automatically, standby.

10. strain detecting support bar 16 is finished boat-carrying material amount detection in real time.

The controller 7 dynamic material amount detection filter 11. feed intake.

Controller 7 is realized the even blanking control of round voyage 12. feed intake.

13. the outer voyage of destination is not carried out the blanking task.

14. blanking speed can full-time manual intervention.

15. being three arm connecting rods, the baiting valve 11 on the feed opening 10 drives.

16. baiting valve 11 servomotor electrical adjustment.

17. 8 stepless speed regulations of bait throwing in motor realize feeding intake apart from step-less adjustment.

18. rotation Feeding disc 9 central feedings.

19. blanking occlusion detection and hopper 17 vibrations controls.