CN103918596A - GPS (global positioning system) navigation based intelligent feeding and spraying system and device - Google Patents
GPS (global positioning system) navigation based intelligent feeding and spraying system and device Download PDFInfo
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- CN103918596A CN103918596A CN201410138938.XA CN201410138938A CN103918596A CN 103918596 A CN103918596 A CN 103918596A CN 201410138938 A CN201410138938 A CN 201410138938A CN 103918596 A CN103918596 A CN 103918596A
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Abstract
The invention discloses a GPS (global positioning system) navigation based intelligent feeding and spraying system and device, and belongs to the field of aquaculture equipment. A main controller receives a task and an instruction inputted by a man-machine interaction subsystem, and controls a feed subsystem to execute feed action; the feed subsystem feeds back feed information to the main controller, and the feed information is displayed to the man-machine interaction subsystem; a hull controller receives hull movement information inputted by a hull and a movement subsystem and controls the hull to move, and a feeding (spraying) subsystem executes feeding (spraying) action under an instruction of the hull controller; the feeding (spraying) subsystem feeds back feeding (spraying) information to the hall controller; the main controller and the hull controller are wirelessly connected through a communication subsystem. Labor intensity of aquaculture farmers is lowered greatly, accurate feeding of feed and uniform spraying of medicine are realized, use efficiency of the feed and medicine is improved, impact of aquaculture on the environment is reduced, and the system and device is particularly applicable aquaculture of shrimps and crabs.
Description
Technical field
The present invention relates to one feed intake dispenser system and device, more particularly, relate to a kind of intelligence based on GPS navigation feed intake dispenser system and device.
Background technology
The bait of throwing something and feeding is an important job of aquaculture, labour's maximum of cost.Feeding mode mainly contains manually to shed with device for feeding fish bait sheds two kinds.Manually shed that can only rely on manually rows the boat and carry out craft and shed, throw in bait by this operating type, shed inhomogeneous, labour intensity is high and efficiency is low.Machine is shed and is also generally used the fixation device for feeding fish bait feed of throwing something and feeding, and for large area pond, need to disperse fixation that some device for feeding fish baits are installed, and need to constantly give device for feeding fish bait artificial supplementation feed, still has compared with reform through forced labor fatigue resistance.And for shrimp, crab, because its biological nature is different from fish, the cultivation of shrimp crab is evenly shed in pond entirely, current main employing is manually shed mode and is fed intake.Through retrieval, Chinese Patent Application No. 201310155373.1, Shen Qing Publication day is on October 2nd, 2013, invention and created name is: aquaculture robot, this application case relates to a kind of aquaculture robot of Intelligent unattended operation, by earth station, remote control equipment, hull part, navigate by water controller, the operating part that feeds intake, bait throwing in controller, data acquisition module, data and image transmission module and form.Navigation controller is accepted the instruction of earth station, remote controller or boat-carrying panel, be divided into remote control mode and automatic mode, automatic mode is according to default course line, GPS navigation, by dynamically course, speed of a ship or plane control in real time, nobody independently hit the target task navigation, has ensured that course line fixes; Dynamically control in real time feed rate according to parameters such as real-time voyage, the speed of a ship or plane, material amounts, ensured even bait throwing in.Data are transferred to earth station by relevant the data and system of part of data acquisition collection operational factor in real time to image stage.This application case can independently complete the operation such as bait throwing in, spray medicine, has realized fixing quality, fixed qty, set time and the fixed location bait throwing in of scale aquaculture, has reduced the undue dependence of culture fishery to labour.But its weak point is, this application case cannot be hopper feed automatically, and cannot complete autonomous batching, still needs manually to prepare burden material loading, consumes more labour.
Disease control is also an important process of aquaculture.In aquaculture process, diseases prevention and cure the disease and all must use medicine.For ensureing drug use effect, the pond of must the demanding perfection medicine of evenly splashing, therefore the labour intensity of dispenser is very large.The current main employing mode dispenser of manually splashing, lacks the special medicine device of splashing.Chinese Patent Application No. 201210226414.7, Shen Qing Publication day is on January 22nd, 2014, invention and created name is: the automatic device for administration of drugs of a kind of water body, this application case relates to the automatic device for administration of drugs of a kind of water body, hull is divided into power supply control cabinet, liquid cabin, equipment compartment, and hull adopts resistant material, long service life, intensity is high, acid and alkali-resistance; Accumulator is as the power of hull operation, the traffic direction of remote controller, reception antenna, reception controller co-controlling hull; The motion of driven by motor driving shaft, driving shaft drives screw motion, jointly forms hull running gear, and what hull running gear adopted is two paddle structures; High concentration liquid after liquid cabin is dissolved or diluted, by drug taking tube and clear water pipe, is mixed by a certain percentage by ratio adjusting valve control in pipeline, and the effect of ratio adjusting valve is the ratio that regulates liquid and clear water; Ducted mixed liquor is by remote controller and receive controller control spray pump and open pressurization, high pressure liquid is transported to the fan nozzle that is positioned at hull afterbody and realizes the even sprinkling of liquid.This application case has solved medicine in the aquaculture process problem of splashing to a certain extent, but its weak point is, this application case needs manual remote control to complete dispenser, duplicates unavoidably dispenser region and leaks dispenser region, dispenser is even not, and automatization level is lower.
Summary of the invention
1. the technical problem that invention will solve
The object of the invention is to overcome existing aquaculture feed input and medicine splashes even not, the existing device for administration of drugs automatization level that feeds intake is lower, need to rely on the deficiency that hand labor power completes the dispenser that feeds intake, a kind of intelligence based on GPS navigation feed intake dispenser system and device are provided, adopt technical scheme of the present invention, not only greatly reduce culturist's labour intensity, and realized feed precisely throw something and feed and medicine evenly splash, greatly improve the service efficiency of feed and medicine, reduce the impact of aquaculture on environment, improve output, reduce cost, be particularly useful for shrimp crab class and move aquaculture slowly.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of intelligence based on GPS navigation of the present invention dispenser system that feeds intake, comprise main control unit and bait throwing in dispenser unit, described main control unit comprise master controller and communication subsystem, with the two-way man-machine interaction subsystem being connected of master controller and feeding subsystem, described master controller receives task and the instruction of man-machine interactive subsystem input, and controls feeding subsystem and carry out feeding action; Described feeding subsystem feeds back feeding information to master controller, and is shown in man-machine interaction subsystem;
Described bait throwing in dispenser unit comprise hull controller and communication subsystem, with the two-way hull being connected of hull controller and motion subsystem and (dispenser) subsystem that feeds intake, described hull controller receives the ship motion information of hull and motion subsystem input, and control ship motion, described feeding intake (dispenser) subsystem is carried out (dispenser) action that feeds intake under the order of hull controller; Described (dispenser) subsystem feedback that feeds intake feeds intake (dispenser) information to hull controller;
Described master controller and hull controller are by communication subsystem wireless connections.
Further, described feeding subsystem comprises storage bin, feeding mechanism and batch bin, and described storage bin provides materials of blending bin, and exports by feeding mechanism; In described storage bin and batch bin, be equipped with level sensor, be respectively used to feed back the feed material level information in storage bin and batch bin.
Further, described feeding intake (dispenser) subsystem comprises material casting mechanism and administering mechanism, in described material casting mechanism, is provided with level sensor, for feeding back the in-house feed material level of material casting information; In described administering mechanism, be provided with liquid level sensor, for feeding back the liquid liquid level information in administering mechanism.
Further, described hull is provided with electric plating propulsion, electronic compass, keeps away barrier sensor and GPS module, described electronic compass, keep away barrier sensor and GPS module gathers hull direction, position and obstacle information, and feeding back to hull and motion subsystem, described hull and motion subsystem are travelled according to setting path by controlling electric plating propulsion control hull.
Further, described man-machine interaction subsystem carries out exchanges data by wireless network and user's PC.
A kind of intelligence of utilizing said system of the present invention device for administration of drugs that feeds intake, comprise drawing-in device and the device for administration of drugs that feeds intake, described drawing-in device is installed on bank, it comprises storage bin, support, discharge nozzle, batch bin and feeding mechanism, described storage bin is installed on support, and the discharging opening of storage bin is connected with the charging aperture of batch bin by discharge nozzle, and the discharging opening of described batch bin arranges feeding mechanism; The described device for administration of drugs that feeds intake comprises hull, material casting mechanism, administering mechanism and kinematic system module, described material casting mechanism, administering mechanism and kinematic system module are all installed on hull, and the charging aperture height of described material casting mechanism is lower than the discharging opening height of feeding mechanism.
Further, also comprise dock, described dock is arranged at the below of feeding mechanism, charges for spacing hull with for hull.
Further, also comprise the material room for depositing feed, the bank near drawing-in device is located in described material room, and the charging aperture place of described storage bin is provided with feeding mechanism, and described feeding mechanism sucks the feed in material room or lorry in storage bin by feed pipe.
Further, the afterbody of described hull is provided with two electrodeless variable-speed electric plating propulsions, for realizing advancing, retreat, turn to or turning around of hull.
Further, the material of described hull is fiberglass or iron sheet.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following remarkable result:
(1) a kind of intelligence based on GPS navigation of the present invention dispenser system that feeds intake, utilize main control unit control feeding subsystem for (dispenser) subsystem feeding that feeds intake, utilize gps system control ship motion, utilize the control of hull controller feed intake (dispenser) subsystem carry out feed intake (dispenser) action, not only greatly reduce culturist's labour intensity, and realized feed precisely throw something and feed and medicine evenly splash, greatly improve the service efficiency of feed and medicine, reduce the impact of aquaculture on environment, improve output, reduce cost, be particularly useful for shrimp crab class and move aquaculture slowly,
(2) a kind of intelligence based on GPS navigation of the present invention dispenser system that feeds intake, storage bin provides materials of blending bin, and exports by feeding mechanism; In storage bin and batch bin, be equipped with level sensor, be respectively used to feed back the feed material level information in storage bin and batch bin; In material casting mechanism, be provided with level sensor, for feeding back the in-house feed material level of material casting information; In administering mechanism, be provided with liquid level sensor, for feeding back the liquid liquid level information in administering mechanism, facilitated supervision and the control of the dispenser that feeds intake, automatization level is high;
(3) a kind of intelligence based on GPS navigation of the present invention dispenser system that feeds intake, hull is provided with electric plating propulsion, electronic compass, keeps away barrier sensor and GPS module, electronic compass, keep away barrier sensor and GPS module and gather hull direction, position and obstacle information, and feed back to hull and motion subsystem, hull and motion subsystem are travelled according to setting path by controlling electric plating propulsion control hull, guarantee the uniformity that feed is thrown in and medicine is splashed, improved the result of use of feed and medicine;
(4) a kind of intelligence based on GPS navigation of the present invention dispenser system that feeds intake, man-machine interaction subsystem carries out exchanges data by wireless network and user's PC, is convenient to Long-distance Control, convenient to operation;
(5) a kind of intelligence based on GPS navigation of the present invention device for administration of drugs that feeds intake, comprises drawing-in device and the device for administration of drugs that feeds intake, and simple in structure, equipment investment cost is low, is particularly useful for large-scale aquaculture;
(6) a kind of intelligence based on GPS navigation of the present invention device for administration of drugs that feeds intake, its dock is arranged at the below of feeding mechanism, and for spacing hull, facilitating feeding mechanism is material casting mechanism feed; In addition, dock can also charge for hull, meets the need for electricity of hull;
(7) a kind of intelligence based on GPS navigation of the present invention device for administration of drugs that feeds intake, the bank near drawing-in device is located in material room, the charging aperture place of storage bin is provided with feeding mechanism, feeding mechanism sucks the feed in material room or lorry in storage bin by feed pipe, realize automatic feed, saved further hand labor power;
(8) a kind of intelligence based on GPS navigation of the present invention device for administration of drugs that feeds intake, the afterbody of its hull is provided with two electrodeless variable-speed electric plating propulsions, for realizing advancing, retreat, turn to or turn around, mobility strong of hull; The material of hull is fiberglass or iron sheet, has improved impact resistance and the service life of hull.
Brief description of the drawings
Fig. 1 is the feed intake system block diagram of dispenser system of a kind of intelligence based on GPS navigation of the present invention;
Fig. 2 is the feed intake structural representation of device for administration of drugs of a kind of intelligence based on GPS navigation of the present invention;
Fig. 3 is the plan structure schematic diagram of the dock in the present invention.
Label declaration in schematic diagram:
1, material room; 2, feed pipe; 3, feeding mechanism; 4, storage bin; 5, support; 6, discharge nozzle; 7, batch bin; 8, feeding mechanism; 9, material casting mechanism; 10, administering mechanism; 11, hull; 12, kinematic system module; 13, dock.
Embodiment
For further understanding content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
In conjunction with Fig. 1, a kind of intelligence based on GPS navigation of the present embodiment dispenser system that feeds intake, comprises main control unit and bait throwing in dispenser unit, wherein:
Main control unit comprises master controller and communication subsystem, man-machine interaction subsystem and feeding subsystem, man-machine interaction subsystem and feeding subsystem are connected with master controller is two-way respectively, master controller receives task and the instruction of man-machine interactive subsystem input, and controls feeding subsystem and carry out feeding action; Feeding subsystem feeds back feeding information to master controller, and is shown in man-machine interaction subsystem.The human-computer interaction interface of man-machine interaction subsystem adopts liquid crystal touch screen, for action executing parameter, editor's bait throwing in dispenser task, the deal with data of bait throwing in dispenser unit being set and assigning instruction; In addition, man-machine interaction subsystem carries out exchanges data by wireless network and user's PC, is convenient to Long-distance Control, convenient to operation; Above-mentioned wireless network is 3G/Wifi network.Feeding subsystem comprises storage bin, feeding mechanism and batch bin, and storage bin provides materials of blending bin, and exports by feeding mechanism; In storage bin and batch bin, be equipped with level sensor, be respectively used to feed back the feed material level information in storage bin and batch bin, the supervision and the control that have facilitated material to throw in.
Bait throwing in dispenser unit comprises hull controller and communication subsystem, hull and motion subsystem and (dispenser) subsystem that feeds intake, hull and motion subsystem and feed intake (dispenser) subsystem respectively with the two-way link of hull controller, hull controller receives the ship motion information of hull and motion subsystem input, and control ship motion, (dispenser) subsystem that feeds intake is carried out (dispenser) action that feeds intake under the order of hull controller; (dispenser) subsystem that feeds intake feedback feeds intake (dispenser) information to hull controller.(dispenser) subsystem that feeds intake comprises material casting mechanism and administering mechanism, in material casting mechanism, is provided with level sensor, for feeding back the in-house feed material level of material casting information; In administering mechanism, be provided with liquid level sensor, for feeding back the liquid liquid level information in administering mechanism, be convenient to material is thrown in and liquid is splashed supervision and control.Hull is provided with electric plating propulsion, electronic compass, keeps away barrier sensor and GPS module, electronic compass, keep away barrier sensor and GPS module and gather hull direction, position and obstacle information, and feed back to hull and motion subsystem, hull and motion subsystem are travelled according to setting path by controlling electric plating propulsion control hull, guarantee the uniformity that feed is thrown in and medicine is splashed, improved the result of use of feed and medicine.The present embodiment has adopted concentrated storing, realized the distributed throwing of bait or medicine by GPS module automatic Pilot and remove, GPS module can control hull by the route linearity of setting equably or fixed point shed bait or medicine.
Master controller and hull controller, by communication subsystem wireless connections, mainly adopt 2.4GHz wireless communication technique, and master controller and hull controller all adopt the embedded real-time operating system uC/OS-III based on ARM.After hull starts, hull controller can depart from master controller independently to be completed and feeds intake or dispenser; If desired, master controller can be worked by intervention vessel body controller, realize intelligent control, not only greatly reduce culturist's labour intensity, and realized feed precisely throw something and feed and medicine evenly splash, greatly improved the service efficiency of feed and medicine, reduce the impact of aquaculture on environment, improve output, reduced cost, be particularly useful for shrimp crab class and move aquaculture slowly.
A kind of intelligence based on GPS navigation of the present embodiment dispenser system that feeds intake, this dock can detect the dump energy of hull for the spacing dock of hull also to comprise one, in the time that the electric weight of hull is not enough, can automatically complete charging, meets the need for electricity of hull.
In conjunction with Fig. 2 and Fig. 3, the present embodiment a kind of utilizes the intelligence of the said system device for administration of drugs that feeds intake, and comprises material room 1, drawing-in device, device for administration of drugs and dock 13 feed intake.
Drawing-in device is installed on bank, it comprises storage bin 4, support 5, discharge nozzle 6, batch bin 7 and feeding mechanism 8, storage bin 4 is installed on support 5, and the discharging opening of storage bin 4 is connected with the charging aperture of batch bin 7 by discharge nozzle 6, and the discharging opening of batch bin 7 arranges feeding mechanism 8; Storage bin 4 stores feed for batch, and is provided with level sensor therein, for measuring the feed height in storage bin 4; Batch bin 7 is for storing the feed that is about to shed, and batch bin 7 has liquid mixed function, to meet raiser's needs such as mixotrophism reinforcing agent or medicine in feed; In batch bin 7, be also provided with level sensor, for measuring the feed height in it.The bank near drawing-in device is located in material room 1, the charging aperture place of storage bin 4 is provided with feeding mechanism 3, feeding mechanism 3 utilizes rotating vane to produce suction function, and by feed pipe 2, the feed in material room 1 or lorry is sucked in storage bin 4, and material room 1 is for depositing feed and daily management.
The device for administration of drugs that feeds intake comprises hull 11, material casting mechanism 9, administering mechanism 10 and kinematic system module 12, material casting mechanism 9, administering mechanism 10 and kinematic system module 12 are all installed on hull 11, particularly, administering mechanism 10 is installed on the afterbody of hull 11, material casting mechanism 9 is installed on the middle part of hull 11, the charging aperture height of material casting mechanism 9, lower than the discharging opening height of feeding mechanism 8, is convenient to feeding mechanism 8 for material casting mechanism 9 feedings; In material casting mechanism 9, be provided with level sensor, for measuring the feed height in material casting mechanism 9; In administering mechanism 10, be provided with liquid level sensor, for measuring the liquid liquid level in administering mechanism 10.Kinematic system module 12 comprises electronic compass, keeps away barrier sensor and GPS module, travels according to setting path for controlling hull 11.Shown in Figure 3, dock 13 is arranged at the below of feeding mechanism 8, for spacing hull 11; In addition, dock 13 can also charge for hull 11, meets the need for electricity of hull 11.
The one intelligence of the present embodiment device for administration of drugs that feeds intake, the afterbody of hull 11 is provided with two electrodeless variable-speed electric plating propulsions, for realizing advancing, retreat, turn to or turn around, mobility strong of hull 11; The material of hull 11 is fiberglass or iron sheet, has improved impact resistance and the service life of hull 11.The one intelligence of the present embodiment device for administration of drugs that feeds intake, simple in structure, equipment investment cost is low, is particularly useful for large-scale aquaculture.
A kind of intelligence based on GPS navigation of the present invention feed intake dispenser system and device, not only greatly reduce culturist's labour intensity, and realized feed precisely throw something and feed and medicine evenly splash, greatly improve the service efficiency of feed and medicine, reduce the impact of aquaculture on environment, improve output, reduced cost, be particularly useful for shrimp crab class and move aquaculture slowly.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that not departing from the invention aim, without creatively designing the frame mode similar to this technical scheme and embodiment, all should belong to protection scope of the present invention.
Claims (10)
1. the dispenser system that feeds intake of the intelligence based on GPS navigation, comprises main control unit and bait throwing in dispenser unit, it is characterized in that:
Described main control unit comprise master controller and communication subsystem, with the two-way man-machine interaction subsystem being connected of master controller and feeding subsystem, described master controller receives task and the instruction of man-machine interactive subsystem input, and controls feeding subsystem and carry out feeding action; Described feeding subsystem feeds back feeding information to master controller, and is shown in man-machine interaction subsystem;
Described bait throwing in dispenser unit comprise hull controller and communication subsystem, with the two-way hull being connected of hull controller and motion subsystem and (dispenser) subsystem that feeds intake, described hull controller receives the ship motion information of hull and motion subsystem input, and control ship motion, described feeding intake (dispenser) subsystem is carried out (dispenser) action that feeds intake under the order of hull controller; Described (dispenser) subsystem feedback that feeds intake feeds intake (dispenser) information to hull controller;
Described master controller and hull controller are by communication subsystem wireless connections.
2. a kind of intelligence based on GPS navigation according to claim 1 dispenser system that feeds intake, is characterized in that: described feeding subsystem comprises storage bin, feeding mechanism and batch bin, and described storage bin provides materials of blending bin, and exports by feeding mechanism; In described storage bin and batch bin, be equipped with level sensor, be respectively used to feed back the feed material level information in storage bin and batch bin.
3. a kind of intelligence based on GPS navigation according to claim 2 dispenser system that feeds intake, it is characterized in that: described feeding intake (dispenser) subsystem comprises material casting mechanism and administering mechanism, in described material casting mechanism, be provided with level sensor, for feeding back the in-house feed material level of material casting information; In described administering mechanism, be provided with liquid level sensor, for feeding back the liquid liquid level information in administering mechanism.
4. a kind of intelligence based on GPS navigation according to claim 3 dispenser system that feeds intake, it is characterized in that: described hull is provided with electric plating propulsion, electronic compass, keeps away barrier sensor and GPS module, described electronic compass, keep away barrier sensor and GPS module gathers hull direction, position and obstacle information, and feeding back to hull and motion subsystem, described hull and motion subsystem are travelled according to setting path by controlling electric plating propulsion control hull.
5. a kind of intelligence based on GPS navigation according to claim 4 dispenser system that feeds intake, is characterized in that: described man-machine interaction subsystem carries out exchanges data by wireless network and user's PC.
6. one kind is utilized described in claim 1 to 5 any one the intelligence of the system device for administration of drugs that feeds intake, it is characterized in that: comprise drawing-in device and the device for administration of drugs that feeds intake, described drawing-in device is installed on bank, it comprises storage bin (4), support (5), discharge nozzle (6), batch bin (7) and feeding mechanism (8), described storage bin (4) is installed on support (5), and the discharging opening of storage bin (4) is connected with the charging aperture of batch bin (7) by discharge nozzle (6), the discharging opening of described batch bin (7) arranges feeding mechanism (8), the described device for administration of drugs that feeds intake comprises hull (11), material casting mechanism (9), administering mechanism (10) and kinematic system module (12), it is upper that described material casting mechanism (9), administering mechanism (10) and kinematic system module (12) is all installed on hull (11), and the charging aperture height of described material casting mechanism (9) is lower than the discharging opening height of feeding mechanism (8).
7. a kind of intelligence according to claim 6 device for administration of drugs that feeds intake, it is characterized in that: also comprise dock (13), described dock (13) is arranged at the below of feeding mechanism (8), for spacing hull (11) with charge for hull (11).
8. a kind of intelligence according to claim 7 device for administration of drugs that feeds intake, it is characterized in that: also comprise the material room (1) for depositing feed, the bank near drawing-in device is located in described material room (1), the charging aperture place of described storage bin (4) is provided with feeding mechanism (3), and described feeding mechanism (3) will expect that by feed pipe (2) feed in room (1) or lorry sucks in storage bin (4).
9. a kind of intelligence according to claim 8 device for administration of drugs that feeds intake, it is characterized in that: the afterbody of described hull (11) is provided with two electrodeless variable-speed electric plating propulsions, for realizing advancing, retreat, turn to or turning around of hull (11).
10. a kind of intelligence according to claim 9 device for administration of drugs that feeds intake, is characterized in that: the material of described hull (11) is fiberglass or iron sheet.
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| CN110647150A (en) * | 2019-10-14 | 2020-01-03 | 泰州珈沣机械设备有限公司 | Combined navigation method based on aquaculture intelligent ship |
| CN110946105A (en) * | 2019-11-25 | 2020-04-03 | 中国水产科学研究院淡水渔业研究中心 | Self-walking type automatic feeding system for cultivation water tank and control method thereof |
| CN111903589A (en) * | 2020-09-14 | 2020-11-10 | 河海大学 | Recyclable lifting type bait casting device capable of reducing bait pollution and using method |
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