CN104137818A - Self-positioning electronic buoy and control method thereof - Google Patents
Self-positioning electronic buoy and control method thereof Download PDFInfo
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- CN104137818A CN104137818A CN201410246043.8A CN201410246043A CN104137818A CN 104137818 A CN104137818 A CN 104137818A CN 201410246043 A CN201410246043 A CN 201410246043A CN 104137818 A CN104137818 A CN 104137818A
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- controller
- buoyancy aid
- screw
- draw bar
- position indicator
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Abstract
The invention discloses a self-positioning electronic buoy and a control method thereof. The electronic buoy comprises a bottom plate, a floating body arranged on the bottom plate, a controller, a first position indicator, a wireless transceiver, a rechargeable battery for supplying power as well as a vibrating sensor, a rudder, a propeller, a propeller motor and an obliquely downwards inclined draw bar which are arranged at the lower part of the floating body, wherein the controller, the first position indicator, the wireless transceiver and the rechargeable battery are arranged in the floating body; a positioning and transmitting device comprises a second position indicator, a microprocessor and a wireless transmitter which are arranged in a sealing cavity; the microprocessor is electrically connected with the second position indicator and the wireless transmitter respectively. The electronic buoy has the characteristics that the electronic buoy can automatically move above a position where a main line and a draw line are connected, and all electronic buoys arranged along the main line can accurately mark the position of the underwater main line.
Description
Technical field
The present invention relates to device for use in fishing trawl technical field, especially relate to a kind of self-align electronic floating unit and control method thereof that can be automatically moved to main rope and top, pull rope junction.
Background technology
Longline fishing is a kind of fishing operation mode, and minute cloth cover is the widest, and quantity and output are higher.Longline fishing generally includes the main rope of hundreds of nautical miles long, and main rope is provided with some branch lines, and branch line end has fishhook and bait, utilize the devices such as floating, sinker by main rope be laid in waters table, in or bottom; Control the length of pull rope and the outfit of settling capacity that are connected with buoy, fishing tackle is settled down to needed water layer.
Because main rope is usually located at hundreds of meters of under water, and main rope can wave with ocean current, and the tens of rice in the main rope of distance top is far away to be conventionally positioned at buoy on the water surface, the very difficult position of accurately finding main rope place during rope closing operation.
Chinese patent mandate publication number: CN203262075U, authorize open day on May 28th, 2013, a kind of automatic color-changing electronic floating unit is disclosed, by floating He Piaoti bottom, body top, form, floating He Piaoti bottom, body top links into an integrated entity by aluminium alloy screw battery case, and formation arranges the closed cavity of buoy main element, wherein buoy main element comprises: be arranged on the through swtich floating in body upper cavity, be arranged on the light emitting diode on through swtich, be connected to the optical fiber on light emitting diode, and be arranged on the microwafer on optical fiber external part; Buoy main element also comprises and is arranged on the needle type battery floating in body lower cavity, and the top of needle type battery connects through swtich, and needle type battery is provided with wire one and is connected respectively Light-Emitting Diode or microwafer with wire two; Described buoy main element is connected and is controlled by the silicon wafer integrated circuit master control being arranged in closed cavity.The weak point of this utility model is that function singleness, can not be for the position of the main rope of mark longline fishing.
Summary of the invention
Goal of the invention of the present invention is in order to overcome buoy of the prior art, to be difficult to the deficiency of the main rope of accurate mark position, and a kind of self-align electronic floating unit and control method thereof that can be automatically moved to main rope and top, pull rope junction is provided.
To achieve these goals, the present invention is by the following technical solutions:
A self-align electronic floating unit, described electronic floating unit is connected by the main rope of pull rope and longline fishing, electronic floating unit and the location dispensing device wireless connections of being located at pull rope and longline fishing junction; Described electronic floating unit comprises base plate, is located at the buoyancy aid on base plate, be located at controller, the first position indicator, wireless transceiver and the rechargeable battery for powering in buoyancy aid, be located at vibrating sensor, rudder, screw, the screw motor of buoyancy aid bottom and the draw bar oliquely downward tilting;
Described location dispensing device comprises the second position indicator, microprocessor and the wireless launcher of being located in seal chamber; Microprocessor is electrically connected to the second position indicator and wireless launcher respectively;
Described draw bar, rudder, screw motor and screw are arranged in order from front to back along the direction of advance of screw, rudder is connected with the steer motor of being located on base plate, draw bar and rudder are articulated and connected, and the rotating shaft of rudder, screw motor is connected successively with screw; Described draw bar is provided with obliquity sensor, and pull rope is connected with draw bar, and described controller is electrically connected to the first position indicator, vibrating sensor, obliquity sensor, steer motor and screw motor respectively.
Main rope of the present invention is positioned in darker marine site, and under the impact of ocean current, main rope can must slightly swing in scope, and pull rope can stretch at the gravity of main rope and the buoyancy of buoyancy aid in the normal state, does not have crooked situation; But when having in the situation that a fish snapped at the bait, fish can drive pull rope shake, pull rope can be in case of bending, and this shake can detect by vibrating sensor.
The draw bar, rudder, screw motor and the screw that along the direction of advance of screw, are arranged in order are from front to back for leading electronic floating unit to move, because pull rope lower end is connected with main rope, therefore main rope can draw the top that draw bar points to main rope and pull rope junction automatically; Obliquity sensor detects the angles of inclination X of draw bar relative level face
1, controller utilizes formula 90-X
1calculate and obtain the angle theta between draw bar and plumb line
1, vibrating sensor is with time interval t
1cycle detection vibration signal value, controller calculates the mean value g of each vibration signal value constantly detecting
pj;
Work as θ
1>=W
2and | g
pj-g ' | < ε. wherein, the current vibration signal value that g ' detects for vibrating sensor; Now pull rope is in straight configuration;
Work as θ
1>=W
2and | g
pj-g ' |>=ε, now pull rope is in case of bending: in two kinds of situations, controller calculates respectively the running time of screw motor, thereby controls the top that buoyancy aid arrives main rope and pull rope junction.
Therefore, no matter how main rope swings under the impact of ocean current, electronic floating unit of the present invention all can automated movement to the top of main rope and pull rope junction, along each electronic floating unit of main rope setting accurately mark be positioned at the position of main rope under water, during rope closing operation, can find timely rapidly main rope, save the time of finding main rope, saved production cost.
As preferably, also comprise the solar panels of being located at buoyancy aid top, described solar panels are electrically connected to rechargeable battery;
Solar panels are connected with buoyancy aid by 4 columns symmetrical along the edge of solar panels; Described column comprises the joint pin hinged with solar panels and the screw mandrel being connected with joint pin, and screw mandrel is connected with joint pin lower end by bearing; 4 screw mandrels respectively be located at buoyancy aid in 4 lead screw motor be connected, screw mandrel is connected with buoyancy aid by connector, connector and screw mandrel, buoyancy aid are all tightly connected; In described buoyancy aid, be provided with digital compass, described digital compass and controller be electrically connected to.
The setting of column makes the solar panels can be at any time towards the sun, thereby transforms out more electric energy.
As preferably, described position indicator is GPS position indicator or Big Dipper position indicator, and buoyancy aid is provided with several warning lamps and illuminance sensor, and illuminance sensor and warning lamp are all electrically connected to controller.
As preferably, in described draw bar, be provided with axially extended cavity, between cavity top and draw bar outer peripheral face, be provided with through hole, pull rope penetrates cavity and passes with draw bar top and be connected from through hole.
The restriction of the connected mode of pull rope and draw bar, makes draw bar can accurately characterize the angle between pull rope and plumb line.
As preferably, buoyancy aid outer peripheral face is provided with 2 to 4 annular reflective tapes.
A control method for self-align electronic floating unit, comprises the steps:
In controller, be provided with the standard angular range W between draw bar and plumb line
1to W
2, the length of pull rope is L, the movement velocity of buoyancy aid on calm water surface is V, is provided with vibration error threshold epsilon;
(6-1) the first position indicator and the second position indicator receive respectively locating information, and controller calculates the residing longitude and latitude data of buoyancy aid according to locating information, and data are stored in controller; Microprocessor calculates the longitude and latitude data of location dispensing device, and microprocessor is controlled the longitude and latitude data that wireless launcher sends location dispensing device;
Controller compares the longitude and latitude data of the longitude and latitude data of the location dispensing device receiving and buoyancy aid, and controller is controlled steer motor and driven rudder to rotate, and rudder turns to the direction of dispensing device top, location;
(6-2) obliquity sensor detects the angle X between draw bar and horizontal plane
1, controller utilizes formula 90-X
1calculate and obtain the angle theta between draw bar and plumb line
1, vibrating sensor is with time interval t
1cycle detection vibration signal value, controller calculates the mean value g of each vibration signal value constantly detecting
pj;
(6-3) work as θ
1>=W
2and | g
pj-g ' | wherein, g ' is the current vibration signal value of vibrating sensor detection to < ε;
(6-3-1) controller utilizes formula S=Lcos θ
1calculate the distance of the tie point top of the buoyancy aid main rope of distance and pull rope; Controller utilizes formula
calculate and obtain the time t that buoyancy aid arrives the tie point top of main rope and pull rope;
(6-3-2) controller is controlled screw electric machine rotation, and buoyancy aid is close to the tie point top of main rope and pull rope gradually, and when reaching time t, controller is controlled screw electric machine rotation and stopped operating, and proceeds to step (6-5);
(6-4) work as θ
1>=W
2and | g
pj-g ' |>=ε;
(6-4-1) controller utilizes formula S=Lcos θ
1calculate the distance of the tie point top of the buoyancy aid main rope of distance and pull rope; Controller utilizes formula
calculate and obtain the time t that buoyancy aid arrives the tie point top of main rope and pull rope; Wherein, V ' is greater than V;
(6-4-2) controller is controlled screw electric machine rotation, and buoyancy aid is close to the tie point top of main rope and pull rope gradually, and when reaching time t, controller is controlled screw electric machine rotation and stopped operating, and proceeds to step (6-5);
(6-5) obliquity sensor detects current draw bar and the angle X between horizontal plane
2, controller utilizes formula 90-X
2calculate and obtain the angle theta between draw bar and plumb line
2, work as θ
2< W
1, controller control screw motor stops operating;
Work as θ
2>=W
2and | g
pj-g ' | < ε; Proceed to step (6-3-1), the θ in (6-3-1)
1use θ
2replace;
Work as θ
2>=W
2and | g
pj-g ' |>=ε; Proceed to step (6-4-1), the θ in (6-4-1)
1use θ
2replace.
As preferably, the described solar panels of being located at buoyancy aid top that also comprise, described solar panels are electrically connected to rechargeable battery; Solar panels are connected with buoyancy aid by 4 columns symmetrical along the edge of solar panels; Described column comprises the joint pin hinged with solar panels and the screw mandrel being connected with joint pin, and screw mandrel is connected with joint pin lower end by bearing; 4 screw mandrels respectively be located at buoyancy aid in 4 lead screw motor be connected, screw mandrel is connected with buoyancy aid by connector, connector and screw mandrel, buoyancy aid are all tightly connected; In described buoyancy aid, be provided with digital compass, described digital compass and controller be electrically connected to; It is characterized in that, also comprise the steps:
In controller, be provided with constantly the corresponding relation turning to solar panels; The direction that controller detects according to digital compass, obtains the residing direction of each column, and controller is controlled each screw mandrel according to the current moment and rotated, and makes solar panels be positioned at all the time the angle with sunshine direct projection.
As preferably, described buoyancy aid is provided with several warning lamps and illuminance sensor, and illuminance sensor and warning lamp are all electrically connected to controller; Also comprise the steps:
In controller, be provided with the sun lifting corresponding with date historical data and the threshold value P that turns on light constantly,
Position indicator receives locating information, and controller calculates longitude and latitude data, time data and date data, and longitude and latitude data, time data and date data are stored in controller;
Controller is compared current area, date, the moment with historical data, obtain the current judgement for daytime or night; Illuminance sensor detects the illuminance H in current waters;
When being positioned at daytime and H < P, controller is controlled each warning lamp and is lighted;
When being positioned at night, controller is controlled each warning lamp and is lighted;
Otherwise controller controls warning lamp and cuts out.
As preferably, V ' is
extremely
As preferably, W
1be 6 to 15 degree, W
2be 28 to 42 degree; P is 28 to 52 luxs.
Therefore, the present invention has following beneficial effect:
(1) electronic floating unit can automated movement to the top of main rope and pull rope junction, along each electronic floating unit of main rope setting accurately mark be positioned at the position of main rope under water;
(2) can find timely rapidly main rope during rope closing operation, save the time of finding main rope, save production cost.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of buoyancy aid of the present invention;
Fig. 2 is a kind of structural representation of rudder of the present invention, screw, screw motor and draw bar;
Fig. 3 is a kind of structural representation of solar panels of the present invention and column;
Fig. 4 is a kind of theory diagram of the present invention;
Fig. 5 is a kind of flow chart of embodiments of the invention 1.
In figure: base plate 1, buoyancy aid 2, controller 3, the first position indicator 4, wireless transceiver 5, vibrating sensor 6, rudder 7, screw 8, screw motor 9, draw bar 10, the second position indicator 11, microprocessor 12, wireless launcher 13, steer motor 14, obliquity sensor 15, column 16, lead screw motor 17, digital compass 18, warning lamp 19, illuminance sensor 20, reflective tape 21, solar panels 22, through hole 23.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Embodiment 1
Embodiment is as shown in Figure 1, Figure 2, Figure 3 shows a kind of self-align electronic floating unit, and main rope is provided with 5 spaced electronic floating units, and electronic floating unit is connected with main rope by pull rope; Electronic floating unit comprises base plate 1, is located at the buoyancy aid 2 on base plate, be located at controller 3, the first position indicator 4, wireless transceiver 5 and the rechargeable battery for powering in buoyancy aid, be located at vibrating sensor 6, rudder 7, screw 8, the screw motor 9 of buoyancy aid bottom and the draw bar 10 oliquely downward tilting;
Location dispensing device comprises the second position indicator 11, microprocessor 12 and the wireless launcher 13 of being located in seal chamber; Microprocessor is electrically connected to the second position indicator and wireless launcher respectively;
Draw bar, rudder, screw motor and screw are arranged in order from front to back along the direction of advance of screw, and rudder is connected with the steer motor 14 of being located on base plate, and draw bar and rudder are articulated and connected, and the rotating shaft of rudder, screw motor is connected successively with screw; Draw bar is provided with obliquity sensor 18, and pull rope is connected with draw bar; As shown in Figure 4, controller is electrically connected to the first position indicator, vibrating sensor, obliquity sensor, steer motor and screw motor respectively.Buoyancy aid outer peripheral face is provided with 2 annular reflective tapes 21.
As shown in Figure 2, be provided with axially extended cavity in draw bar, between cavity top and draw bar outer peripheral face, be provided with through hole, pull rope penetrates cavity and passes with draw bar top and be connected from through hole 23.
As shown in Figure 5, a kind of control method of self-align electronic floating unit, comprises the steps:
In controller, be provided with the standard angular range W between draw bar and plumb line
1to W
2, the length L of setting pull rope is 320 meters, and the degree of depth in main rope waters of living in is 500 meters, and setting the translational speed V of buoyancy aid on the tranquil water surface is 5 ms/min, vibration error threshold epsilon=50 millivolt; W
1be 10 degree, W
2be 30 degree.
Step 100, the direction of adjustment rudder:
The first position indicator and the second position indicator receive respectively locating information, and controller calculates the residing longitude and latitude data of buoyancy aid according to locating information, and data are stored in controller; Microprocessor calculates the longitude and latitude data of location dispensing device, and microprocessor is controlled the longitude and latitude data that wireless launcher sends location dispensing device;
Controller compares the longitude and latitude data of the longitude and latitude data of the location dispensing device receiving and buoyancy aid, and controller is controlled steer motor and driven rudder to rotate, and rudder turns to the direction of dispensing device top, location;
Step 200, calculates the angle between draw bar and plumb line, calculates the mean value of vibration signal value:
Obliquity sensor detects the angle X between draw bar and horizontal plane
1, controller utilizes formula 90-X
1calculate and obtain the angle theta between draw bar and plumb line
1, vibrating sensor is with 30 seconds time intervals cycle detection vibration signal value, and controller calculates the mean value g of each vibration signal value constantly detecting
pj;
Step 300, pull rope stretches in situation, and controller is controlled buoyancy aid and is moved; Work as θ
1>=W
2and | g
pj-g ' | wherein, g ' is the current vibration signal value of vibrating sensor detection to < ε;
Step 310, controller utilizes formula S=Lcos θ
1calculate the distance of the tie point top of the buoyancy aid main rope of distance and pull rope; Controller utilizes formula
calculate and obtain the time t that buoyancy aid arrives the tie point top of main rope and pull rope;
Step 320, controller is controlled screw electric machine rotation, and buoyancy aid is close to the tie point top of main rope and pull rope gradually, and when reaching time t, controller is controlled screw electric machine rotation and is stopped operating, and proceeds to step 500;
Step 400, in the crooked situation of pull rope, controller is controlled buoyancy aid and is moved; Work as θ
1>=W
2and | g
pj-g ' |>=ε;
Step 410, controller utilizes formula S=Lcos θ
1calculate the distance of the tie point top of the buoyancy aid main rope of distance and pull rope; Controller utilizes formula
calculate and obtain the time t that buoyancy aid arrives the tie point top of main rope and pull rope; Wherein, V ' is greater than V;
Step 420, controller is controlled screw electric machine rotation, and buoyancy aid is close to the tie point top of main rope and pull rope gradually, and when reaching time t, controller is controlled screw electric machine rotation and is stopped operating, and proceeds to step 500;
Step 500, detects the angle between draw bar and plumb line again, and controller is controlled buoyancy aid according to angle situation and stopped mobile or continue mobile:
Obliquity sensor detects current draw bar and the angle X between horizontal plane
2, controller utilizes formula 90-X
2calculate and obtain the angle theta between draw bar and plumb line
2, work as θ
2< W
1, controller control screw motor stops operating;
Work as θ
2>=W
2and | g
pj-g ' | < ε; Proceed to step 310, the θ in 310
1use θ
2replace;
Work as θ
2>=W
2and | g
pj-g ' |>=ε; Proceed to step 410, the θ in 410
1use θ
2replace.
Embodiment 2
As shown in Figure 3, in embodiment 2, also comprise the solar panels 22 of being located at buoyancy aid top, solar panels are electrically connected to rechargeable battery;
Solar panels are connected with buoyancy aid by 4 columns 16 symmetrical along the edge of solar panels; Described column comprises the joint pin hinged with solar panels and the screw mandrel being connected with joint pin, and screw mandrel is connected with joint pin lower end by bearing; 4 screw mandrels respectively be located at buoyancy aid in 4 lead screw motor 17 be connected, screw mandrel is connected with buoyancy aid by connector, connector and screw mandrel, buoyancy aid are all tightly connected; In buoyancy aid, be provided with digital compass 18, digital compass and controller be electrically connected to.
Position indicator is GPS position indicator, and buoyancy aid is provided with warning lamp 19 and illuminance sensor 20, and as shown in Figure 4, illuminance sensor and warning lamp are all electrically connected to controller.
In embodiment 2, also comprise the steps:
In controller, be provided with constantly the corresponding relation turning to solar panels; The direction that controller detects according to digital compass, obtains the residing direction of each column, and controller is controlled each screw mandrel according to the current moment and rotated, and makes solar panels be positioned at all the time the angle with sunshine direct projection.
In controller, be provided with the sun lifting corresponding with date historical data and the threshold value P that turns on light constantly,
Position indicator receives locating information, and controller calculates longitude and latitude data, time data and date data, and longitude and latitude data, time data and date data are stored in controller;
Controller is compared current area, date, the moment with historical data, obtain the current judgement for daytime or night; Illuminance sensor detects the illuminance H in current waters;
When being positioned at daytime and H < P, controller is controlled each warning lamp and is lighted;
When being positioned at night, controller is controlled each warning lamp and is lighted;
Otherwise controller controls warning lamp and cuts out.
Other structure and step part in embodiment 2 are in the same manner as in Example 1.
In embodiment 1 and embodiment 2, V ' is 7 ms/min, and P is 50 luxs.
Should be understood that the present embodiment is only not used in and limits the scope of the invention for the present invention is described.In addition should be understood that those skilled in the art can make various changes or modifications the present invention after having read the content of the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
Claims (10)
1. a self-align electronic floating unit, described electronic floating unit is connected by the main rope of pull rope and longline fishing, electronic floating unit and the location dispensing device wireless connections of being located at pull rope and longline fishing junction; It is characterized in that, described electronic floating unit comprises base plate (1), is located at the buoyancy aid (2) on base plate, be located at controller (3), the first position indicator (4), wireless transceiver (5) and the rechargeable battery for powering in buoyancy aid, be located at vibrating sensor (6), rudder (7), screw (8), the screw motor (9) of buoyancy aid bottom and the draw bar (10) oliquely downward tilting;
Described location dispensing device comprises the second position indicator (11), microprocessor (12) and the wireless launcher (13) of being located in seal chamber; Microprocessor is electrically connected to the second position indicator and wireless launcher respectively;
Described draw bar, rudder, screw motor and screw are arranged in order from front to back along the direction of advance of screw, rudder is connected with the steer motor (14) of being located on base plate, draw bar and rudder are articulated and connected, and the rotating shaft of rudder, screw motor is connected successively with screw; Described draw bar is provided with obliquity sensor (15), and pull rope is connected with draw bar, and described controller is electrically connected to the first position indicator, vibrating sensor, obliquity sensor, steer motor and screw motor respectively.
2. self-align electronic floating unit according to claim 1, is characterized in that, also comprises the solar panels (22) of being located at buoyancy aid top, and described solar panels are electrically connected to rechargeable battery;
Solar panels are connected with buoyancy aid along the symmetrical column in the edge of solar panels (16) by 4; Described column comprises the joint pin hinged with solar panels and the screw mandrel being connected with joint pin, and screw mandrel is connected with joint pin lower end by bearing; 4 screw mandrels respectively be located at buoyancy aid in 4 lead screw motor (17) be connected, screw mandrel is connected with buoyancy aid by connector, connector and screw mandrel, buoyancy aid are all tightly connected; In described buoyancy aid, be provided with digital compass (18), described digital compass and controller be electrically connected to.
3. self-align electronic floating unit according to claim 1, it is characterized in that, described position indicator is GPS position indicator or Big Dipper position indicator, and buoyancy aid is provided with several warning lamps (19) and illuminance sensor (20), and illuminance sensor and warning lamp are all electrically connected to controller.
4. self-align electronic floating unit according to claim 1, it is characterized in that, in described draw bar, be provided with axially extended cavity, between cavity top and draw bar outer peripheral face, be provided with through hole, pull rope penetrates cavity and passes with draw bar top and be connected from through hole (23).
5. according to the self-align electronic floating unit described in claim 1 or 2 or 3 or 4, it is characterized in that, buoyancy aid outer peripheral face is provided with 2 to 4 annular reflective tapes (21).
6. a control method that is applicable to self-align electronic floating unit claimed in claim 1, is characterized in that, comprises the steps:
In controller, be provided with the standard angular range W between draw bar and plumb line
1to W
2, the length of pull rope is L, the movement velocity of buoyancy aid on calm water surface is V, is provided with vibration error threshold epsilon;
(6-1) the first position indicator and the second position indicator receive respectively locating information, and controller calculates the residing longitude and latitude data of buoyancy aid according to locating information, and data are stored in controller; Microprocessor calculates the longitude and latitude data of location dispensing device, and microprocessor is controlled the longitude and latitude data that wireless launcher sends location dispensing device;
Controller compares the longitude and latitude data of the longitude and latitude data of the location dispensing device receiving and buoyancy aid, and controller is controlled steer motor and driven rudder to rotate, and rudder turns to the direction of dispensing device top, location;
(6-2) obliquity sensor detects the angle X between draw bar and horizontal plane
1, controller utilizes formula 90-X
1calculate and obtain the angle theta between draw bar and plumb line
1, vibrating sensor is with time interval t
1cycle detection vibration signal value, controller calculates the mean value g of each vibration signal value constantly detecting
pj;
(6-3) work as θ
1>=W
2and | g
pj-g ' | < ε, wherein, the current vibration signal value that g ' detects for vibrating sensor;
(6-3-1) controller utilizes formula S=Lcos θ
1calculate the distance of the tie point top of the buoyancy aid main rope of distance and pull rope; Controller utilizes formula
calculate and obtain the time t that buoyancy aid arrives the tie point top of main rope and pull rope;
(6-3-2) controller is controlled screw electric machine rotation, and buoyancy aid is close to the tie point top of main rope and pull rope gradually, and when reaching time t, controller is controlled screw electric machine rotation and stopped operating, and proceeds to step (6-5);
(6-4) work as θ
1>=W
2and | g
pj-g ' |>=ε;
(6-4-1) controller utilizes formula S=Lcos θ
1calculate the distance of the tie point top of the buoyancy aid main rope of distance and pull rope; Controller utilizes formula
calculate and obtain the time t that buoyancy aid arrives the tie point top of main rope and pull rope; Wherein, V ' is greater than V;
(6-4-2) controller is controlled screw electric machine rotation, and buoyancy aid is close to the tie point top of main rope and pull rope gradually, and when reaching time t, controller is controlled screw electric machine rotation and stopped operating, and proceeds to step (6-5);
(6-5) obliquity sensor detects current draw bar and the angle X between horizontal plane
2, controller utilizes formula 90-X
2calculate and obtain the angle theta between draw bar and plumb line
2, work as θ
2< W
1, controller control screw motor stops operating;
Work as θ
2>=W
2and | g
pj-g ' | < ε; Proceed to step (6-3-1), the θ in (6-3-1)
1use θ
2replace;
Work as θ
2>=W
2and | g
pj-g ' |>=ε; Proceed to step (6-4-1), the θ in (6-4-1)
1use θ
2replace.
7. the control method of self-align electronic floating unit according to claim 6, the described solar panels of being located at buoyancy aid top that also comprise, described solar panels are electrically connected to rechargeable battery; Solar panels are connected with buoyancy aid by 4 columns symmetrical along the edge of solar panels; Described column comprises the joint pin hinged with solar panels and the screw mandrel being connected with joint pin, and screw mandrel is connected with joint pin lower end by bearing; 4 screw mandrels respectively be located at buoyancy aid in 4 lead screw motor be connected, screw mandrel is connected with buoyancy aid by connector, connector and screw mandrel, buoyancy aid are all tightly connected; In described buoyancy aid, be provided with digital compass, described digital compass and controller be electrically connected to; It is characterized in that, also comprise the steps:
In controller, be provided with constantly the corresponding relation turning to solar panels; The direction that controller detects according to digital compass, obtains the residing direction of each column, and controller is controlled each screw mandrel according to the current moment and rotated, and makes solar panels be positioned at all the time the angle with sunshine direct projection.
8. the control method of self-align electronic floating unit according to claim 6, described buoyancy aid is provided with several warning lamps and illuminance sensor, and illuminance sensor and warning lamp are all electrically connected to controller; It is characterized in that, also comprise the steps:
In controller, be provided with the sun lifting corresponding with date historical data and the threshold value P that turns on light constantly,
Position indicator receives locating information, and controller calculates longitude and latitude data, time data and date data, and longitude and latitude data, time data and date data are stored in controller;
Controller is compared current area, date, the moment with historical data, obtain the current judgement for daytime or night; Illuminance sensor detects the illuminance H in current waters;
When being positioned at daytime and H < P, controller is controlled each warning lamp and is lighted;
When being positioned at night, controller is controlled each warning lamp and is lighted;
Otherwise controller controls warning lamp and cuts out.
9. according to the control method of the self-align electronic floating unit described in claim 6 or 7 or 8, it is characterized in that, V ' is
extremely
10. according to the control method of the self-align electronic floating unit described in claim 6 or 7 or 8, it is characterized in that W
1be 6 to 15 degree, W
2be 28 to 42 degree; P is 28 to 52 luxs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410246043.8A CN104137818B (en) | 2014-06-05 | 2014-06-05 | Self-align electronic floating unit and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410246043.8A CN104137818B (en) | 2014-06-05 | 2014-06-05 | Self-align electronic floating unit and control method thereof |
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| CN104137818A true CN104137818A (en) | 2014-11-12 |
| CN104137818B CN104137818B (en) | 2016-03-30 |
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ID=51847302
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|---|---|---|---|
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108522449A (en) * | 2017-03-02 | 2018-09-14 | 防城港思创信息技术有限公司 | A kind of intelligence fishing rod execution method |
| CN110426715A (en) * | 2019-09-05 | 2019-11-08 | 南方科技大学 | A kind of oceanographic instrumentation recycling instruction device and control method |
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| CN110426715A (en) * | 2019-09-05 | 2019-11-08 | 南方科技大学 | A kind of oceanographic instrumentation recycling instruction device and control method |
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|---|---|
| CN104137818B (en) | 2016-03-30 |
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Effective date of registration: 20200923 Address after: East 5th floor, No.9, Donghai West Road, Shenjiamen street, Putuo District, Zhoushan City, Zhejiang Province 316100 Patentee after: Zhoushan Mingzhou ocean fishery Co., Ltd Address before: 316021 No. 28 sports road, Dinghai District, Zhejiang, Zhoushan, Lincheng Patentee before: Zhejiang Marine Fisheries Research Institute |
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