CN103786838A - Multifunctional rudder-free aquaculture workboat - Google Patents
Multifunctional rudder-free aquaculture workboat Download PDFInfo
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- CN103786838A CN103786838A CN201410052230.2A CN201410052230A CN103786838A CN 103786838 A CN103786838 A CN 103786838A CN 201410052230 A CN201410052230 A CN 201410052230A CN 103786838 A CN103786838 A CN 103786838A
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Abstract
The invention relates to a multifunctional rudder-free aquaculture workboat which comprises a boat body. A drive device, a steering device, a meteorological device providing information of wind speed, the wind direction, temperature, humidity and pressure, a navigation device, a communication module which can be communicated with a handheld mobile base station or a land fixed base station, an obstacle avoidance device, a coordination control drive device, a steering device, a central control module for achieving boat unmanned intelligent navigation, a water flow measuring device for detecting the speed and direction of the water flow, a water quality detection device for collecting a water sample and detecting water quality parameters, an underwater detection device for detecting the distribution state of the underwater fish schools or other biotic communities, an automatic bait casting device for controlling bait casting and feeding, and a storage battery for providing a work power source for a boat device. Fan drive is adopted by the workboat, a complex mechanical engine, a steering rudder and a transmission mechanism are removed, and the multifunctional rudder-free aquaculture workboat is light, high in efficiency, free of rudder and pollution and capable of automatically completing water quality parameter detection and bait casting and feeding in the aquaculture area.
Description
Technical field
The present invention relates to a kind of workboat, relate in particular to a kind of multi-functional without rudder aquaculture workboat.
Background technology
The ship of water surface operation is normally driven under water by screw propeller, and the course of boats and ships controls as rudder for ship, in traveling process, is easily wound around by the foreign material such as fishing net, pasture and water, the normal navigation of impact, and underwater propeller often interrupts pasture and water, and the pasture and water of interrupting easily rot, pollute breeding water body; The screw propeller of common ship drives under water on the other hand, easily invades and harasses scaring to cultivation hydrobiont in traveling process.And the workboat that is applied at present aquaculture can not survey aquatic organism colony in the time of navigation operation, also reckon without the situation of aquatic organism population distribution.
Summary of the invention
The object of the present invention is to provide a kind of multi-functional without rudder aquaculture workboat, be intended to solve: 1. what in prior art, the ship of operation at sea adopted screw propeller to drive under water to bring is easily wound around by the foreign material such as fishing net, pasture and water and the normal navigation of impact, easily interrupt pasture and water and then the polluted-water and easily invade and harass scaring to the hydrobiological problem of cultivation in traveling process of rotting; 2. current aquaculture workboat can not be surveyed aquatic organism colony in the time of navigation operation, also reckons without the problem of the situation of aquatic organism population distribution.Of the present inventionly multi-functionally can automatically complete aquaculture water area water-quality parameter detecting and bait throwing in feeding without rudder aquaculture workboat.
The present invention is achieved by the following technical solutions:
A kind of multi-functional without rudder aquaculture workboat, comprise hull, its special character is: on described hull, be fixed with actuating device, steering hardware, wind speed is provided, wind direction, temperature, humidity, the Meteorological Device of pressure information, homing advice, the communication module that can carry out communication by hand-held mobile base station or land fixed base stations, obstacle avoidance apparatus, coordinate accessory drive, steering hardware and realize the Central Control Module (CCM) of the unmanned intelligent navigation of boats and ships, detect flow rate of water flow, the water flow measuring device of direction, gather the water quality detecting device of water sample and detection water quality parameter, survey the underwater exploration device of the shoal of fish under water or other biological population distribution state, for controlling the automatic bait-laying device for fish of bait throwing in feeding, for device on ship provides the storage battery of working power,
Above-mentioned actuating device comprises by motor and drives the electric rotary table I of rotation and be installed on electric rotary table I by motor-driven drive fan, and actuating device is fixedly mounted on the rear of hull;
Above-mentioned steering hardware comprises by motor and drives the electric rotary table II of rotation and be installed on electric rotary table II by the motor-driven fan that turns to, and steering hardware is fixedly mounted on the front of hull;
Above-mentioned Meteorological Device comprises measuring wind speed, wind direction measurement, temperature survey, humidity measurement, air pressure measuring apparatus, and Meteorological Device is connected by circuit with Central Control Module (CCM);
Above-mentioned homing advice comprises GNSS global positioning system, electronic compass and inertial navigation module;
Above-mentioned obstacle avoidance apparatus comprises shooting, ultrasonic fault detection, laser ranging system;
Above-mentioned communication module comprises 3G or 4G or 5G communication module or GPRS communication module or wireless communication module;
Above-mentioned water flow measuring device and underwater exploration device are fixed on hull by support; Water flow measuring device comprises flow rate of water flow survey sensor and water (flow) direction sensor, and flow rate of water flow and flow direction information are read by Central Control Module (CCM); Underwater exploration device comprises underwater camera equipment and acoustic underwater survey equipment;
Above-mentioned water quality detecting device is with automatic water quality sampling and detecting device, water quality detecting device is connected with the control of water quality monitoring controller, can gather water sample or detect the water quality parameter such as dissolved oxygen content, pH value, water temperature, ammonia-nitrogen content, salinity in operation waters;
Above-mentioned automatic bait-laying device for fish comprises electric rotary table III and is installed on the device for feeding fish bait on electric rotary table III, device for feeding fish bait is fixed on electric rotary table III, electric rotary table III is installed on hull, and automatic bait-laying device for fish is by regulating electric rotary table III to control bait throwing in direction; Device for feeding fish bait can be under the control of central controller, change impelling angle or cast or impelling bait number, make device for feeding fish bait according to the path of plan carry out automatically, reasonable bait throwing in feeding;
Above-mentioned steering hardware, actuating device, homing advice, Meteorological Device, communication module, obstacle avoidance apparatus, water flow measuring device, water quality monitoring controller, underwater exploration device and automatic bait-laying device for fish are all connected with Central Control Module (CCM) by circuit; The comprehensive various sensor informations of Central Control Module (CCM) or the control command receiving, coordinate accessory drive and steering hardware to realize the automatic navigation of boats and ships by circuit.
Further, the fan that turns to of the drive fan of described actuating device and steering hardware all adopts the adjustable motor of rotating speed, described steering hardware is arranged on the other end of the hull relative with actuating device, the electric rotary table I of actuating device and the electric rotary table II of steering hardware are respectively subject to respectively an electric machine control, and Central Control Module (CCM) is connected by circuit with the drive motor of electric rotary table I, electric rotary table II.
Further, in described drive fan, install and measure the tachogen of rotation speed of the fan, on electric rotary table I, install and measure the angular transducer of drive fan axial-rotation angle; Turn on fan and install and measure the tachogen that turns to rotation speed of the fan, on electric rotary table II, install and measure the angular transducer that turns to fan axial-rotation angle; Central Control Module (CCM) can read drive fan by circuit and turn to rotating speed and the direction information of fan vane rotation, controls drive fan and the running that turns to fan by coordination, realizes the actions such as turning to, turn around of boats and ships.
Further, described inertial navigation module comprises three-axis gyroscope or 3-axis acceleration gyroscope.
Further, the map content that described Central Control Module (CCM) comprises GIS geographic information system or relevant operation waters.
Further, this workboat can be accepted artificially to guide control command by communication module and navigate by water, or task according to the rules, can be by specified path navigation planned in advance, also independently path planning, intelligent barrier avoiding, there is automatic navigation method or ability.
Further, described Central Control Module (CCM) can be reported the pose of boats and ships, course, ship's fix coordinate information, equipment working state, accumulator electric-quantity, wind speed, wind direction, water (flow) direction, water velocity, navigation direction, speed of a ship or plane information etc. to control center by base station in real time by communication module.
Further, described Central Control Module (CCM) is with carrying out the parallel port of information, data exchange or the device of serial port or communication exchange with the external world.
Of the present invention multi-functional without rudder aquaculture workboat, be a kind of supermatic, unattended, without rudder and pollution-free, keep away barrier or accept the aquaculture workboat of base station command control navigation according to Task Autonomous path planning, autonomous navigation, autonomous intelligence.The present invention can be applied to the operation occasion such as aquaculture, Autoamtic bait putting feeding of water field of big area.Because boats and ships of the present invention are without rudder, without screw propeller, the underwater sound is less than common ship, the impact of aquatic organism or environment has been dropped to minimum, and can automatically complete aquaculture water area water-quality parameter detecting and bait throwing in feeding task, improve operating efficiency, greatly saved manpower and materials.Workboat of the present invention task according to the rules, can be by specified path planned in advance navigation, also independently path planning, intelligent barrier avoiding, there is automatic navigation method or ability.
Accompanying drawing explanation
Fig. 1 is basic implementation structural representation birds-eye view of the present invention.
Fig. 2 is basic implementation structural representation lateral plan of the present invention.
Fig. 3 is basic implementation structural representation back view of the present invention.
Fig. 4 is that the present invention adopts electric rotary table installation to turn to or drive fan device partial enlarged drawing.
In figure: 1, collision avoidance device; 2, Meteorological Device; 3, communication module; 4, homing advice; 5, storage battery; 6, Central Control Module (CCM); 7, hull; 8, actuating device; 9, water flow measuring device; 10, underwater exploration device; 11, water quality detecting device; 12, water quality monitoring controller; 13, electric rotary table I; 14, support, 15, steering hardware; 16, automatic bait-laying device for fish; 17, electric rotary table II; 18, electric rotary table III.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 shows the multi-functional structural representation without rudder aquaculture workboat that the embodiment of the present invention provides.For convenience of explanation, only show the part relevant to the embodiment of the present invention.
The embodiment of the present invention multi-functional without rudder aquaculture workboat, comprise hull 7, on hull 7, be fixed with actuating device 8, steering hardware 15, wind speed is provided, wind direction, temperature, humidity, the Meteorological Device 2 of pressure information, homing advice 4, can carry out by hand-held mobile base station or land fixed base stations the communication module 3 of communication, obstacle avoidance apparatus 1, coordinate accessory drive 8, steering hardware 15 and realize the Central Control Module (CCM) 6 of the unmanned intelligent navigation of boats and ships, detect flow rate of water flow, the water flow measuring device 9 of direction, gather the water quality detecting device 11 of water sample and detection water quality parameter, survey the underwater exploration device 10 of the shoal of fish under water or other biological population distribution state, for controlling the automatic bait-laying device for fish 16 of bait throwing in feeding, for device on ship provides the storage battery 5 of working power,
Actuating device 8 comprises by motor and drives the electric rotary table I13 of rotation and be installed on electric rotary table I13 by motor-driven drive fan, and actuating device 8 is fixedly mounted on the rear of hull 7;
Steering hardware 15 comprise by motor drive rotation electric rotary table II17 and be installed on the fan that turns on electric rotary table II17, steering hardware 15 is fixedly mounted on the front of hull 7;
Meteorological Device 2 comprises measuring wind speed, wind direction measurement, temperature survey, humidity measurement, air pressure measuring apparatus, and Meteorological Device 2 is connected by circuit with Central Control Module (CCM) 6;
Obstacle avoidance apparatus 1 comprises shooting, ultrasonic fault detection, laser ranging system;
Communication module 3 comprises 3G or 4G or 5G communication module or GPRS communication module or wireless communication module;
Water flow measuring device 9 and underwater exploration device 10 are fixed on hull 7 by support; Water flow measuring device 9 comprises flow rate of water flow survey sensor and water (flow) direction sensor; Underwater exploration device 10 comprises underwater camera equipment and acoustic underwater survey equipment; Water quality detecting device 11 is with automatic water quality sampling and detecting device, and water quality detecting device 11 is controlled and is connected with water quality monitoring controller 12;
Automatic bait-laying device for fish 16 comprises electric rotary table III18 and is installed on the device for feeding fish bait on electric rotary table III18, device for feeding fish bait is fixed on electric rotary table III18, electric rotary table III18 is installed on hull 7, and automatic bait-laying device for fish 16 is by regulating electric rotary table III18 to control bait throwing in direction;
Steering hardware 15, actuating device 8, homing advice 4, Meteorological Device 2, communication module 3, obstacle avoidance apparatus 1, water flow measuring device 9, water quality monitoring controller 11, underwater exploration device 10 and automatic bait-laying device for fish 16 are all connected with Central Control Module (CCM) 6 by circuit; The comprehensive various sensor informations of Central Control Module (CCM) 6 or the control command receiving, coordinate accessory drive 8 and steering hardware 15 to realize the automatic navigation of boats and ships by circuit.
In an embodiment of the present invention, the fan that turns to of the drive fan of actuating device 8 and steering hardware 15 all adopts the adjustable motor of rotating speed, described steering hardware 15 is arranged on the other end of the hull relative with actuating device 8, the electric rotary table I13 of actuating device 8 and the electric rotary table II17 of steering hardware 15 are respectively subject to respectively an electric machine control, and Central Control Module (CCM) 6 is connected by circuit with the drive motor of electric rotary table I13, electric rotary table II17.
In an embodiment of the present invention, in drive fan, install and measure the tachogen of rotation speed of the fan, on electric rotary table I13, install and measure the angular transducer of drive fan axial-rotation angle; Turn on fan and install and measure the tachogen that turns to rotation speed of the fan, on electric rotary table II17, install and measure the angular transducer that turns to fan axial-rotation angle; Central Control Module (CCM) 6 can read drive fan by circuit and turn to rotating speed and the direction information of fan vane rotation, controls drive fan and the running that turns to fan by coordination, realizes the actions such as turning to, turn around of boats and ships.
In an embodiment of the present invention, inertial navigation module comprises three-axis gyroscope or 3-axis acceleration gyroscope.
In an embodiment of the present invention, the map content that Central Control Module (CCM) 6 comprises GIS geographic information system or relevant operation waters.
In an embodiment of the present invention, this workboat can be accepted artificial guidance control command by communication module 3 and navigate by water, or task according to the rules, can be by specified path navigation planned in advance, also independently path planning, intelligent barrier avoiding, there is automatic navigation method or ability.
In an embodiment of the present invention, Central Control Module (CCM) 6 can be reported the pose of boats and ships, course, ship's fix coordinate information, equipment working state, accumulator electric-quantity, wind speed, wind direction, water (flow) direction, water velocity, navigation direction, speed of a ship or plane information etc. to control center by base station in real time by communication module 3.
In an embodiment of the present invention, Central Control Module (CCM) 6 is with carrying out the parallel port of information, data exchange or the device of serial port or communication exchange with the external world.
Below in conjunction with drawings and the specific embodiments, application principle of the present invention is further described.
As Figure 1-Figure 4, this is multi-functional comprises without rudder aquaculture workboat: hull 7, on hull 7, be fixed with actuating device 8, steering hardware 15, wind speed is provided, wind direction, temperature, humidity, the Meteorological Device 2 of pressure information, homing advice 4, can carry out by hand-held mobile base station or land fixed base stations the communication module 3 of communication, obstacle avoidance apparatus 1, coordinate accessory drive 8, steering hardware 15 and realize the Central Control Module (CCM) 6 of the unmanned intelligent navigation of boats and ships, detect flow rate of water flow, the water flow measuring device 9 of direction, gather the water quality detecting device 11 of water sample and detection water quality parameter, survey the underwater exploration device 10 of the shoal of fish under water or other biological population distribution state, for controlling the automatic bait-laying device for fish 16 of bait throwing in feeding, for device on ship provides the storage battery 5 of working power.
Actuating device 8 comprises by motor and drives the electric rotary table I13 of rotation and be installed on electric rotary table I13 by motor-driven drive fan, and actuating device 8 is fixedly mounted on the rear of hull 7; Steering hardware 15 comprises that steering hardware 15 is fixedly mounted on the front of hull 7 by motor-driven electric rotary table II17 and be installed on the fan that turns on electric rotary table II17; Meteorological Device 2 comprises measuring wind speed, wind direction measurement, temperature survey, humidity measurement, air pressure measuring apparatus, and Meteorological Device 2 is connected by circuit with Central Control Module (CCM) 6; Homing advice 4 comprises GNSS global positioning system, electronic compass and inertial navigation module; Obstacle avoidance apparatus 1 comprises shooting, ultrasonic fault detection, laser ranging system; Communication module 3 comprises 3G or 4G or 5G communication module or GPRS communication module or wireless communication module; Water flow measuring device 9 and underwater exploration device 10 are fixed on hull 7 by support; Water flow measuring device 9 comprises flow rate of water flow survey sensor and water (flow) direction sensor; Underwater exploration device 10 comprises underwater camera equipment and acoustic underwater survey equipment, can survey the distribution of the shoal of fish under water or other biological colony, for above water craft operation provides information; Water quality detecting device 11 is with automatic water quality sampling and detecting device, water quality detecting device 11 and water quality monitoring controller 12 controlled and is connected, can gather the water quality parameter such as dissolved oxygen content, pH value, water temperature, ammonia-nitrogen content, salinity in water sample or detection operation waters; Automatic bait-laying device for fish 16 comprises by the electric rotary table III18 of motor driving rotation and is installed on the device for feeding fish bait on electric rotary table III18, device for feeding fish bait is fixed on electric rotary table III18, electric rotary table III18 is installed on hull 7, and automatic bait-laying device for fish 16 is by regulating electric rotary table III18 to control bait throwing in direction.
Steering hardware 15, actuating device 8, homing advice 4, Meteorological Device 2, communication module 3, obstacle avoidance apparatus 1, water flow measuring device 9, water quality monitoring controller 11, underwater exploration device 10 and automatic bait-laying device for fish 16 are all connected with Central Control Module (CCM) 6 by circuit; The comprehensive various sensor informations of Central Control Module (CCM) 6 or the control command receiving, coordinate accessory drive 8 and steering hardware 15 to realize the automatic navigation of boats and ships by circuit.
The fan that turns to of the drive fan of actuating device 8 and steering hardware 15 all adopts the adjustable motor of rotating speed, steering hardware 15 is arranged on the other end of the hull relative with actuating device 8, the electric rotary table I13 of actuating device 8 and the electric rotary table II17 of steering hardware 15 are respectively subject to respectively an electric machine control, and Central Control Module (CCM) 6 is connected by circuit with the drive motor of electric rotary table I13, electric rotary table II17.In drive fan, install and measure the tachogen of rotation speed of the fan, on electric rotary table I13, install and measure the angular transducer of drive fan axial-rotation angle; Turn on fan and install and measure the tachogen that turns to rotation speed of the fan, on electric rotary table II17, install and measure the angular transducer that turns to fan axial-rotation angle; Central Control Module (CCM) 6 can read drive fan by circuit and turn to rotating speed and the direction information of fan vane rotation, controls drive fan and the running that turns to fan by coordination, realizes the actions such as turning to, turn around of boats and ships.
Inertial navigation module comprises three-axis gyroscope or 3-axis acceleration gyroscope.
The map content that Central Control Module (CCM) 6 comprises GIS geographic information system or relevant operation waters.
This workboat can be accepted artificial guidance control command by communication module 3 and navigate by water, or task according to the rules, can be by specified path navigation planned in advance, also independently path planning, intelligent barrier avoiding, there is automatic navigation method or ability.Central Control Module (CCM) 6 can be reported the pose of boats and ships, course, ship's fix coordinate information, equipment working state, accumulator electric-quantity, wind speed, wind direction, water (flow) direction, water velocity, navigation direction, speed of a ship or plane information etc. to control center by base station in real time by communication module 3.Central Control Module (CCM) 6 is with carrying out the parallel port of information, data exchange or the device of serial port or communication exchange with the external world.
This is multi-functional, and automatically to complete the Steps and measures of aquaculture water area water-quality parameter detecting and the work of bait throwing in feeding without rudder aquaculture workboat specific implementation as follows:
(1) know mission bit stream by the data exchange mouth of communication module or Central Control Module (CCM).
(2) Central Control Module (CCM) is surveyed the biotic population distribution situation in water by underwater exploration device, for above water craft navigation or operation provide information.
(3) Central Control Module (CCM) is by the automatic water quality sampling of water quality detecting device or detect the water quality parameter such as dissolved oxygen content, pH value, water temperature, ammonia-nitrogen content, salinity in operation waters.
(4) Central Control Module (CCM) is by the fulfil assignment Autoamtic bait putting feeding task in waters of automatic bait-laying device for fish.
(5) Central Control Module (CCM) can be by specified path navigation planned in advance, also can navigate by water path from master program, after first above-mentioned information being carried out comprehensively, through resolving computing, cook up a ship trajectory that can meet task needs, Central Control Module (CCM) control turns to the adjustable speed of fan or drive fan, can the rotation of rotating fan blade produce antagonistic force, or by coordination control turn to or the running of actuating device or electric rotary table turn to realize advancing of boats and ships, retreat, the action such as turn to or turn around, make workboat of the present invention along the path navigation of having planned, complete aquaculture water area water-quality automatic detection technology of parameter and Autoamtic bait putting feeding job task.
(6) in navigation process, Central Control Module (CCM) utilize boats and ships with shooting, super sonic, laser sensor carry out obstacle detection and range finding, and control boats and ships and change ship trajectory or the speed of a ship or plane and avoid obstacle.
(7) wind-engaging, water currents in ship's navigation process, if depart from initial planning ship trajectory, Central Control Module (CCM) is revised automatically.
(8) boats and ships in navigation process regularly or fitfull by communication module the pose of boats and ships, course, the precise location information of GNSS global positioning system, equipment working state, accumulator electric-quantity, wind speed, wind direction, temperature, humidity, air pressure, water (flow) direction, water velocity, dissolved oxygen content, pH value, water temperature, ammonia-nitrogen content, salinity, underwater sound parameter, underwater photography image, to image analysis data, complaint message in navigation path, path planning information, ship trajectory information, flight path information, all or partial data such as boats and ships posture information is reported to control center by base station.
Because workboat of the present invention is with inertial navigation module, can know the concrete posture information of boats and ships.Central Control Module (CCM), in conjunction with flow velocity, the flow direction, wind speed, wind direction, temperature, humidity, the pressure information of current, by calculating rear change drive fan and the mode of operation that turns to fan, can prevent the inclination of boats and ships and topple.With respect to traditional operation at sea platform, the present invention is a kind of driverless operation and free of contamination workboat, because boats and ships of the present invention are without rudder, without screw propeller, the underwater sound is less than common ship, so dropped to minimum on the impact of aquatic organism or environment, and can automatically complete aquaculture water area water-quality parameter detecting and bait throwing in feeding task, and improve operating efficiency, greatly save manpower and materials.
The present invention adopts the fans drive being placed on hull, and it is minimum that advantage is to make ship to be down to the impact of the animal below the water surface, plant, environment, avoided the screw propeller of common ship to damage aquatic organism.For unpiloted intelligent ship, the configuration of navigationsystem is of crucial importance.Workboat of the present invention is according to operation waters GIS geographic information system and the correlation map information content, task according to the rules, after accurately locating by GNSS global positioning system, Central Control Module (CCM) can be by specified path navigation planned in advance, also can be through calculating, cook up navigation path, independently navigate.Central Control Module (CCM) sends concrete action command to drive fan, makes boats and ships drive towards regulation region from departure point according to path planning.Boats and ships can stop or operation on the way, independently carry out obstacle detection and take to keep away the barrier measure of detouring in navigation process.When ship's navigation, consider current, the impact of air-flow on ship's navigation track, and revise course line, make boats and ships all the time along path planning navigation, keep away that barrier detours, stop, operation.Workboat of the present invention, by water quality detecting device, underwater exploration device, is surveyed the distribution situation of aquatic organism colony, for navigation or other operations of boats and ships provide reference information.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
- One kind multi-functional without rudder aquaculture workboat, comprise hull (7), it is characterized in that: on described hull (7), be fixed with actuating device (8), steering hardware (15), wind speed is provided, wind direction, temperature, humidity, the Meteorological Device (2) of pressure information, homing advice (4), can carry out with hand-held mobile base station or land fixed base stations the communication module (3) of communication, obstacle avoidance apparatus (1), coordinate accessory drive (8), steering hardware (15) and realize the Central Control Module (CCM) (6) of the unmanned intelligent navigation of boats and ships, detect flow rate of water flow, the water flow measuring device (9) of direction, gather the water quality detecting device (11) of water sample and detection water quality parameter, survey the underwater exploration device (10) of the shoal of fish under water or other biological population distribution state, for controlling the automatic bait-laying device for fish (16) of bait throwing in feeding, for device on ship provides the storage battery (5) of working power,Described actuating device (8) comprises by motor and drives the electric rotary table I (13) of rotation and be installed on electric rotary table I (13) by motor-driven drive fan, and actuating device (8) is fixedly mounted on the rear of hull (7);Described steering hardware (15) comprise by motor drive rotation electric rotary table II (17) and be installed on the fan that turns on electric rotary table II (17), steering hardware (15) is fixedly mounted on the front of hull (7);Described Meteorological Device (2) comprises measuring wind speed, wind direction measurement, temperature survey, humidity measurement, air pressure measuring apparatus, and Meteorological Device (2) is connected by circuit with Central Control Module (CCM) (6);Described homing advice (4) comprises GNSS global positioning system, electronic compass and inertial navigation module;Described obstacle avoidance apparatus (1) comprises shooting, ultrasonic fault detection, laser ranging system;Described communication module (3) comprises 3G or 4G or 5G communication module or GPRS communication module or wireless communication module;Described water flow measuring device (9) and underwater exploration device (10) are fixed on hull (7) by support; Water flow measuring device (9) comprises flow rate of water flow survey sensor and water (flow) direction sensor; Underwater exploration device (10) comprises underwater camera equipment and acoustic underwater survey equipment;Described water quality detecting device (11) is with automatic water quality sampling and detecting device, and water quality detecting device (11) is controlled and is connected with water quality monitoring controller (12);Described automatic bait-laying device for fish (16) comprises electric rotary table III (18) and is installed on the device for feeding fish bait on electric rotary table III (18), device for feeding fish bait is fixed on electric rotary table III (18), it is upper that electric rotary table III (18) is installed on hull (7), and automatic bait-laying device for fish (16) is by regulating electric rotary table III (18) to control bait throwing in direction;Described steering hardware (15), actuating device (8), homing advice (4), Meteorological Device (2), communication module (3), obstacle avoidance apparatus (1), water flow measuring device (9), water quality monitoring controller (11), underwater exploration device (10) and automatic bait-laying device for fish (16) are all connected with Central Control Module (CCM) (6) by circuit; The comprehensive various sensor informations of Central Control Module (CCM) (6) or the control command receiving, coordinate accessory drive (8) and steering hardware (15) to realize the automatic navigation of boats and ships by circuit.
- 2. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: the fan that turns to of the drive fan of described actuating device (8) and steering hardware (15) all adopts the adjustable motor of rotating speed, described steering hardware (15) is arranged on the other end of the hull relative with actuating device (8), the electric rotary table I (13) of actuating device (8) and the electric rotary table II (17) of steering hardware (15) are respectively subject to respectively an electric machine control, Central Control Module (CCM) (6) and electric rotary table I (13), the drive motor of electric rotary table II (17) connects by circuit.
- 3. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: in described drive fan, install and measure the tachogen of rotation speed of the fan, on electric rotary table I (13), install and measure the angular transducer of drive fan axial-rotation angle; Turn on fan and install and measure the tachogen that turns to rotation speed of the fan, electric rotary table II installs and measures the angular transducer that turns to fan axial-rotation angle on (17); Central Control Module (CCM) (6) can read drive fan by circuit and turn to rotating speed and the direction information of fan vane rotation, controls drive fan and the running that turns to fan by coordination, realizes the actions such as turning to, turn around of boats and ships.
- 4. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: described inertial navigation module comprises three-axis gyroscope or 3-axis acceleration gyroscope.
- 5. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: the map content that described Central Control Module (CCM) (6) comprises GIS geographic information system or relevant operation waters.
- 6. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: this workboat can be accepted artificial guidance control command by communication module (3) and navigate by water, or task according to the rules, can be by specified path planned in advance navigation, also independently path planning, intelligent barrier avoiding, there is automatic navigation method or ability.
- 7. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: described Central Control Module (CCM) (6) can be reported the pose of boats and ships, course, ship's fix coordinate information, equipment working state, accumulator electric-quantity, wind speed, wind direction, water (flow) direction, water velocity, navigation direction, speed of a ship or plane information etc. to control center by base station in real time by communication module (3).
- 8. according to claim 1 multi-functional without rudder aquaculture workboat, it is characterized in that: described Central Control Module (CCM) (6) is with carrying out the parallel port of information, data exchange or the device of serial port or communication exchange with the external world.
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103988801A (en) * | 2014-06-04 | 2014-08-20 | 江苏大学 | Wind-driven automatic feeding system and evenly feeding method |
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| CN108706088A (en) * | 2018-04-28 | 2018-10-26 | 武汉市农业科学院 | A kind of auto-controlled multifunctional aquaculture operation ship |
| CN109169460A (en) * | 2018-08-17 | 2019-01-11 | 江苏大学 | A kind of accurate feeding method of culture of Chinese mitten crab bait based on AUTONOMOUS TASK ship |
| CN109283301A (en) * | 2017-07-19 | 2019-01-29 | 上海科泽智慧环境科技有限公司 | A kind of online water quality automatic checkout system of removable miniature |
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| CN110442051A (en) * | 2019-06-26 | 2019-11-12 | 金陵科技学院 | A kind of cultivation feeds information collecting and monitoring system and method |
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| CN103988801A (en) * | 2014-06-04 | 2014-08-20 | 江苏大学 | Wind-driven automatic feeding system and evenly feeding method |
| CN104430188A (en) * | 2014-10-20 | 2015-03-25 | 江苏大学 | Full-automatic uniform feeding boat for river crab culture |
| CN104914226A (en) * | 2015-06-07 | 2015-09-16 | 电子科技大学 | Waterborne intelligent robot based on DSP |
| CN105116887A (en) * | 2015-08-14 | 2015-12-02 | 苏州金业船用机械厂 | Fully automated marine propulsion system |
| CN105094016A (en) * | 2015-08-24 | 2015-11-25 | 上海瑞华(集团)有限公司 | Ship-borne controller for all-electric double-power-supply ships |
| CN105129063A (en) * | 2015-08-26 | 2015-12-09 | 中国科学院合肥物质科学研究院 | Wind-energy and luminous energy complementation water surface robot |
| CN105284694A (en) * | 2015-12-07 | 2016-02-03 | 福建渔家傲养殖科技有限公司 | Novel automatic feeding system for aquaculture and implementation method thereof |
| CN105923111B (en) * | 2016-04-30 | 2017-11-28 | 中山市翔实机械设备有限公司 | A kind of multifunctional culture canoe |
| CN105923111A (en) * | 2016-04-30 | 2016-09-07 | 中山市翔实机械设备有限公司 | Multi-functional boat for breeding |
| CN106015069A (en) * | 2016-06-27 | 2016-10-12 | 张宏 | Automatic fan driving system |
| CN106855061A (en) * | 2016-06-27 | 2017-06-16 | 张宏 | Automation fan drive system |
| CN106845709A (en) * | 2017-01-20 | 2017-06-13 | 四方继保（武汉）软件有限公司 | Fishery scheduling system and method based on unmanned ships and light boats |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN106950960B (en) * | 2017-04-12 | 2020-02-18 | 大连理工大学 | Method for automatically controlling dual turning side paddles of lake and reservoir operation ship on line |
| CN107364550A (en) * | 2017-06-26 | 2017-11-21 | 中国水产科学研究院淡水渔业研究中心 | fishery water quality online automatic detection ship |
| CN107364550B (en) * | 2017-06-26 | 2023-05-19 | 中国水产科学研究院淡水渔业研究中心 | Online automatic detection ship for fishery water quality |
| CN109283301A (en) * | 2017-07-19 | 2019-01-29 | 上海科泽智慧环境科技有限公司 | A kind of online water quality automatic checkout system of removable miniature |
| WO2019072196A1 (en) * | 2017-10-10 | 2019-04-18 | 田瑜 | Air powered surfing device |
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN108427416B (en) * | 2018-04-04 | 2021-09-07 | 上海华测导航技术股份有限公司 | Unmanned ship differential automatic steering control system and control method |
| CN108706088A (en) * | 2018-04-28 | 2018-10-26 | 武汉市农业科学院 | A kind of auto-controlled multifunctional aquaculture operation ship |
| CN109169460A (en) * | 2018-08-17 | 2019-01-11 | 江苏大学 | A kind of accurate feeding method of culture of Chinese mitten crab bait based on AUTONOMOUS TASK ship |
| CN109169460B (en) * | 2018-08-17 | 2021-05-25 | 江苏大学 | River crab culture bait accurate feeding method based on autonomous operating ship |
| CN109479787B (en) * | 2018-11-19 | 2021-05-28 | 华南农业大学 | Unmanned navigation feeding boat and feeding method |
| CN109479787A (en) * | 2018-11-19 | 2019-03-19 | 华南农业大学 | A kind of unmanned feeding ship and feeding method of navigating |
| CN109552570A (en) * | 2018-12-03 | 2019-04-02 | 华东师范大学 | A kind of unmanned boat for marine environmental monitoring |
| CN110199961A (en) * | 2019-06-13 | 2019-09-06 | 浙江大学 | A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification |
| CN110442051A (en) * | 2019-06-26 | 2019-11-12 | 金陵科技学院 | A kind of cultivation feeds information collecting and monitoring system and method |
| CN110442051B (en) * | 2019-06-26 | 2020-06-02 | 金陵科技学院 | Cultivation feeding information acquisition monitoring system and method |
| CN110908376A (en) * | 2019-11-26 | 2020-03-24 | 江苏大学 | Wind-resistant accurate bait casting method for automatic bait casting boat |
| CN112681273B (en) * | 2021-01-14 | 2022-09-02 | 国网上海市电力公司 | Wind power generation type automatic salvage equipment for marine garbage |
| CN112681273A (en) * | 2021-01-14 | 2021-04-20 | 成都简寸苛电子商务有限公司 | Wind power generation type automatic salvage equipment for marine garbage |
| CN112793720A (en) * | 2021-01-27 | 2021-05-14 | 北京清源水生态环保科技有限公司 | Novel unmanned microbial inoculum throwing ship and operation method thereof |
| WO2022227795A1 (en) * | 2021-04-26 | 2022-11-03 | 江苏大学 | Agricultural amphibious bait boat capable of crossing ponds and control method |
| GB2610950A (en) * | 2021-04-26 | 2023-03-22 | Univ Jiangsu | Agricultural amphibious bait boat capable of crossing ponds and control method |
| US11892833B2 (en) | 2021-04-26 | 2024-02-06 | Jiangsu University | Agricultural amphibious bait feeding boat capable of moving between ponds and method for controlling same |
| GB2610950B (en) * | 2021-04-26 | 2024-04-24 | Univ Jiangsu | Agricultural amphibious bait feeding boat capable of moving between ponds and method for controlling same |
| CN114586727A (en) * | 2022-04-01 | 2022-06-07 | 山东奥网电子科技有限公司 | Intelligent unmanned feeding boat for aquaculture and aquaculture system |
| CN114586727B (en) * | 2022-04-01 | 2023-12-19 | 山东奥网电子科技有限公司 | Be used for unmanned material ship and farming systems of throwing of aquaculture intelligence |
| CN114771776A (en) * | 2022-05-30 | 2022-07-22 | 中国船舶科学研究中心 | Automatic fixed-point delivery type double-power yacht and using method thereof |
| CN115437387A (en) * | 2022-11-08 | 2022-12-06 | 中国船舶重工集团公司第七一九研究所 | Ship attitude control system based on human-machine engineering |
| CN115959249A (en) * | 2022-12-27 | 2023-04-14 | 巢湖学院 | Water environment movable analysis device |
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