CN106386635A - Aquarium robot control system, aquarium system and aquarium system control method - Google Patents
Aquarium robot control system, aquarium system and aquarium system control method Download PDFInfo
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- CN106386635A CN106386635A CN201610816923.3A CN201610816923A CN106386635A CN 106386635 A CN106386635 A CN 106386635A CN 201610816923 A CN201610816923 A CN 201610816923A CN 106386635 A CN106386635 A CN 106386635A
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- aquarium
- control module
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- main controller
- feeding
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- 238000000034 method Methods 0.000 title claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 169
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 38
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 38
- 239000001301 oxygen Substances 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 238000005276 aerator Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 10
- 238000006213 oxygenation reaction Methods 0.000 claims description 6
- 238000001816 cooling Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 230000000284 resting effect Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 abstract description 17
- 238000007599 discharging Methods 0.000 description 9
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 235000013305 food Nutrition 0.000 description 5
- 239000012535 impurity Substances 0.000 description 5
- 241001465754 Metazoa Species 0.000 description 3
- 210000003608 fece Anatomy 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012279 drainage procedure Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/003—Aquaria; Terraria
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/042—Introducing gases into the water, e.g. aerators, air pumps
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/045—Filters for aquaria
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/06—Arrangements for heating or lighting in, or attached to, receptacles for live fish
- A01K63/065—Heating or cooling devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an aquarium robot control system, an aquarium system and an aquarium system control method. The aquarium robot control system includes a robot master controller; and the robot master controller is connected to a power supply module, a turbine motor control module, a water feeding and draining solenoid valve control module, a water drainage pump control module, a feeding solenoid valve control module, and LED lamp control module, a clock module, a camera and a water cabin water level detection sensor. The aquarium system includes the aquarium robot control system. A master controller of the aquarium system is connected to an automatic aerator control module and a water temperature adjustment module. The aquarium robot control system can automatically control a aquarium robot to feed fishes and can clean water. The aquarium system can adjust the temperature of water and the oxygen content of the water, thereby facilitating growth of the fishes.
Description
Technical field
The present invention relates to a kind of aquarium robot control system, aquarium system and aquarium system control method.
Background technology
Aquarium is used to raise the glass wares of fish, plays the effect viewed and admired.Aquarium be also called ecological fish bowl or
Aquaria, is for viewing and admiring use, the special container raising aquatic animals and plants, is an animal feeding area, typically at least has the one side to be
Transparent glass and the plastics of high intensity.In aquarium, artificial feeding writes plant and the animal moving in water.The Shui nationality are also raised
It is one of hobby prevailing all over the world, the whole world there are about 6,000 ten thousand persons of having deep love for.The species of aquarium has a lot of changes, has simple
The small fishbowl only raising a fish, must need to be equipped with the ecological simulation aquarium of accurate support system to complexity.
In aquarium raise fish often run into a lot of problems, such as people because for a long time go out and cannot be on time
Feeding is carried out to fish.Fish can be drained after having eaten food in water；When excreta swim in water, and bad clear
Reason.Aquarium is used to fancy fishes simultaneously, and the refraction due to Shui nationality box outer wall glass and the generation of water leads to not clearly
Appreciation fish.
Content of the invention
It is an object of the invention to：For above-mentioned problem, provide a kind of aquarium robot control system, this water
Race's case robot control system can automatically control aquarium robot and carry out feeding to fish, can purify water；The present invention
Additionally provide the oxygen content that a kind of aquarium system can adjust in water temperature and water, be easy to Fish Survival.
The technical solution used in the present invention is as follows：
The invention discloses a kind of aquarium robot control system, it includes robot main controller, described robot main controller
On be connected with power module, turbo-dynamo control module, enter drain solenoid valve control module, draining pump control module, feeding electricity
Level detection sensor in magnet valve control module, LED lamp control module, clock module, camera and water tank；Wherein, turbine electricity
Left turbo-dynamo and right turbo-dynamo are connected with machine control module；Enter to be connected with water inlet electricity in drain solenoid valve control module
Magnet valve and discharge outlet electromagnetism；It is connected with draining pump on draining pump control module；It is connected with first in feeding solenoid valve control module
Feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve；LED is connected with LED lamp control module.
Described power module is powered for control system；
Described enter drain solenoid valve control module be used for controlling the opening and closing of water inlet solenoid valve and water outlet solenoid valve；
Described draining pump control module is used for controlling the start and stop of draining pump；
Described feeding solenoid valve control module is used for controlling the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding electromagnetism
The opening and closing of valve；
Described LED lamp control module is used for controlling the light on and off of LED；
Described clock module is used for recording the current time；In described water tank, level detection sensor is used for detecting the water in water tank
Position.
Further, described aquarium robot controls system to be connected with mobile terminal also by wireless communication module；Described
Mobile terminal includes the mobile terminal main controller being connected by wireless communication module with robot main controller；Described mobile terminal master
It is connected with display screen and some buttons on control device；Described button include direction key, feeding time set button, shoot button,
Camera button and illuminated push button.
Described display screen can show photo and the video of camera shooting；On mobile terminal main controller connect by bond energy
Enough control the work of aquarium robot；Direction key controls robot straight trip, turns to, floats, sinks and suspend；Time sets
Opening time by key assignments the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve（Opening time is to feed
The food time）；Shoot button and camera button are used for controlling camera to take pictures and image；Illuminated push button controls the light on and off of LED.
Further, described robot main controller is also associated with water temperature detection sensor and measurement of oxygen content sensor.
Described water temperature detection sensor is used for detecting the water temperature in aquarium；Measurement of oxygen content sensor is used for detecting the Shui nationality
Oxygen content in water in case.Water temperature that water temperature detection module detects and the oxygen content that measurement of oxygen content sensor detects are passed through
Display screen on mobile terminal shows.
The invention also discloses a kind of aquarium system, it includes aquarium robot and aquarium, described Shui nationality punch-out equipment
Above-mentioned aquarium robot control system is provided with device people；Aerator and thermostat, institute are equiped with described aquarium
State Shui nationality box top and offer water filling port, top offers discharge outlet, discharge outlet is provided with filter screen and water discharging valve；Described increasing
Oxygen machine and thermostat all connect and are controlled by the aquarium control system being arranged on aquarium, described aquarium control system
It is connected with aquarium robot control system by wireless communication module.
Further, described aquarium control system includes aquarium main controller, and described aquarium main controller is connected with
Aerator control module and thermostat control module；Wherein, aerator control module is connected with aerator, lower water temperature
It is connected with thermostat in device control module；Described aquarium main controller passes through wireless communication module and robot main controller phase
Even.
Described aerator control module is used for controlling aerator to work, and thermostat control module is used for controlling water temperature to adjust
Section device work.
The invention also discloses a kind of control method of aquarium system, described aquarium robot is resting on aquarium
Interior or control it to move in aquarium by the direction key on mobile terminal；Set by the feeding time on mobile terminal
Button is respectively provided with the opening time of the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve；
Water temperature detects that detection sensor detects water temperature A in aquarium, by water temperature A detecting and setting in robot main controller
Temperature value be compared, as A1≤A≤A2, water temperature is normal；As A ＜ A1, robot main controller send intensification signal to
Aquarium main controller, makes aquarium robot main controller control thermostat control module, makes thermostat control module
Thermostat is controlled water to be heated up, till A=A1;As A ＞ A2, robot main controller sends cooling signal feedwater race
Case main controller, makes aquarium main controller control thermostat control module, makes thermostat control module control water temperature to adjust
Section device is lowered the temperature to water, till A=A2；
Measurement of oxygen content sensor detects oxygen content B in water, by oxygen content B detecting and setting in robot main controller
Oxygen-containing value is compared, and as B >=B1, oxygen content is normal；Work as B<During B1, robot main controller sends oxygenation signal feedwater race
Case main controller, makes aquarium main controller control aerator control module, makes aerator control module control aerator oxygenation, until
Till B=B1;
When feeding time then, robot main controller controls feeding solenoid valve control module, makes feeding solenoid valve control module control
Make corresponding feeding magnetic valve to open, carry out feeding；
Water temperature A and measurement of oxygen content sensor that display screen display water temperature detection detection sensor on described mobile terminal is examined
Oxygen content B in detection water.
Further, when controlling aquarium robot mobile by the direction key on mobile terminal, including straight trip, turn
To, float, sink and suspend five kinds of motion shape body situations；Wherein, keep straight on and be diverted through controlling left turbo-dynamo and right turbine
The rotating speed of motor is realizing；During straight trip, robot main controller controls turbo-dynamo control module, makes turbo-dynamo control module control
Make left turbo-dynamo and right turbo-dynamo to rotate with same speed, realize straight trip；During steering, robot main controller controls turbine
Motor control module, makes turbo-dynamo control module control left turbo-dynamo and right turbo-dynamo to rotate at different rates；When
When the rotating speed of left turbo-dynamo is more than the rotating speed of right turbo-dynamo, robot turns right；Do whirlpool when the rotating speed of right turbo-dynamo is more than
During the rotating speed of turbin generator, robot turns left；
Float, sink and suspend and realized by changing the gravity of aquarium robot to water injection in water tank；When Shui nationality punch-out equipment
When device people is in suspended state, the buoyancy that the gravity of aquarium robot is subject to equal to it；Now water level detecting sensing in water tank
It is H that device detects its interior water level0;
When aquarium robot floats, robot main controller controls into drain solenoid valve control module, makes into drain solenoid valve
Control module controls discharge outlet magnetic valve to open；Robot main controller controls draining pump control module, makes draining pump control module
Control draining pump drainage, make level detection sensor in water tank the water level H ＜ H in water tank is detected0；
When aquarium robot sinks, robot main controller controls into drain solenoid valve control module, makes into drain solenoid valve
Control module controls water inlet solenoid valve to open, and the water filling into water tank makes level detection sensor the water level H in water tank is detected
>H0.
Further, described feeding time sets button by the feeding time on mobile terminal and arranges；Described feeding
Time is divided into T1, T2 and T3；When current time T=T1 in clock module, robot main controller controls feeding solenoid valve control
Module, makes feeding solenoid valve control module control the first feeding magnetic valve to open, carries out feeding；
When current time T=T2 in clock module, robot main controller controls feeding solenoid valve control module, makes feeding electricity
Magnet valve control module controls the second feeding magnetic valve to open, and carries out feeding；
When current time T=T3 in clock module, robot main controller controls feeding solenoid valve control module, makes feeding electricity
Magnet valve control module controls the 3rd feeding magnetic valve to open, and carries out feeding.
Further, when the shoot button pressed on mobile terminal or camera button, robot main controller controls camera
Taken pictures or imaged, the photo photographing or video are shown on mobile terminal display screen simultaneously；When pressing on mobile terminal
During illuminated push button, main controller controls LED lamp control module, and LED lamp control module control LED is lighted and is illuminated.
In sum, due to employing technique scheme, the invention has the beneficial effects as follows：
The aquarium robot control system of the present invention, can automatically control the automatic feeding of aquarium robot, and purifies
Water quality.Oxygen content and the water temperature in water can also be detected simultaneously, owner is informed by mobile terminal, be easy to people and understand in water
The survival state of fish.
The aquarium system of the present invention, can automatically adjust water temperature and increase the oxygen content in water.Ensure that fish give birth to
Deposit required living environment.
Brief description
Fig. 1 is the aquarium robot control system figure of the present invention；
Fig. 2 is the aquarium system diagram in the present invention；
The sump structure chart of Tu3Shi aquarium robot；
The top view of Tu4Shi aquarium robot；
The front view of Tu5Shi aquarium robot.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
A kind of aquarium robot, it includes body 1, and described body 1 is divided into upper, middle and lower-ranking；Wherein, upper strata is control
Room 6 processed, middle level is water tank 8, and lower floor is material cabin 11；It is provided with aquarium robot control system, water tank 8 in described control room 6
Inside it is provided with water purifier；Described body 1 left and right sides is provided with flank 2, and body 1 afterbody is provided with empennage 3；On described flank 2
It is provided with the motion driving body 1 motion；Described motion connects and is controlled by aquarium robot control system.
Aquarium robot control system controls motion, and then drives aquarium robot to keep straight in water or turn
To；The floating of robot and sinking are then controlled by the gravity that the suction water yield in water tank changes aquarium robot.When
During the buoyancy that the gravity of Shui nationality management robot is subject to more than it, aquarium robot sinks；Gravity when aquarium robot
During the buoyancy being subject to less than it, aquarium robot floats；When the buoyancy that the gravity that aquarium manages machine is subject to equal to it,
Aquarium robot suspends.It is provided with water purifier due in water tank, during discharging water, can be by the impurity in water and fish
Excreta sucks in water tank and collects, and water purifier purifies water simultaneously.The material cabin that aquarium manages setting on machine can store food
Thing, and then feeding can be carried out to fish.Flank and the presence of empennage, ensure that aquarium management machine is stable in water
Motion.
The described left and right sides wing 2 is symmetrical with regard to body axis, offers respectively and put down with body 1 axis in two flanks 2
The through hole 5 of row, is provided with motion in described through hole 5, the whirlpool that described motion includes turbine 4 and drives turbine 4 to rotate
Turbin generator, described turbo-dynamo connects and is controlled by aquarium robot control system；The front-end and back-end of described through hole 5 are designed with
Flase floor 10.
In said structure, control system controls turbo-dynamo to rotate and then drives turbine rotation, promotes current to make aquarium
Management robot moves.On through hole, the flase floor of setting is prevented from for turbine fish being stirred wound.
Described flase floor 10 is the flase floor 10 of the circle being embedded in through hole 5；It is provided with some on described flase floor 10
Along the blade of flase floor 10 radial arrangement, described blade is equally spaced to be arranged around the center of circle of flase floor for one week；Described blade can
Radial direction upset around flase floor 10.
Due to said structure, blade can overturn, then each interlobate gap is adjustable in.By adjusting flase floor
Gap can adjust inflow, change the translational speed that aquarium manages robot.
The water inlet of described water tank 8 is arranged on the front end of body 1, and delivery port is arranged on the end of body 1；Described water inlet
It is provided with inlet screen plate 12 and water inlet solenoid valve 16 at mouthful；Described water outlet is provided with draining pump 19, delivery port electricity
Magnet valve 19 and delivery port filter screen 18；Described water inlet solenoid valve 16, draining pump 19 and water outlet solenoid valve 19 all connect and are controlled by
Aquarium robot control system.
Due to said structure, control opening of water inlet solenoid valve and water outlet solenoid valve by robot control system
Close, be capable of the discharging water of water tank, in drainage procedure, need draining pump work.Machine is capable of by the discharging water of water tank
The floating of people, sinking and suspension.
Equally spaced on described inlet screen plate 12 it is provided with some vertically parallel flase floor blades, described flase floor
The top and bottom of blade are rotated with inlet screen plate 12 and are connected.
Because flase floor blade is rotatably connected on inlet screen plate, therefore, the gap between each flase floor blade
It is adjustable in.And then control the water intake velocity of water tank and the volume entering impurity and excreta in water tank.
In described water tank 8, the water purifier of setting includes the first filter chamber 13, the second filter chamber 14 and activated carbon chamber 15.
It is provided with multistorey strainer mesh in described first filter chamber；If being provided with dry particl ball in described second filter chamber, described
Particle ball, can be towards any direction play in the second filter chamber when current flow through the second filter chamber；In described activated carbon chamber
It is provided with activated carbon.
Due to said structure, the first filter chamber can filter off the impurity in water for the first time, impurity is stayed in water tank, the second mistake
Particle ball in filter chamber, when current flow through, is collided with water and further filters off impurity；Activated carbon filter chamber can be crossed and remove
Remove the stink in water.
Described material cabin 11 is divided into three material stock chambeies by the dividing plate of setting in it, and each material stock bottom of chamber portion is both provided with discharging
Mouthful, and discharging magnetic valve is both provided with each discharging opening；Each discharging magnetic valve described connects and is controlled by aquarium machine
People's control system.
Material cabin is divided into three, according to different feeding times, opens different material stock chambeies and carrys out feeding.The note of instant food
Amount.
Described control room 6 front end is provided with camera 7；LED, institute's LED setting are additionally provided with described body 1 outside
It is being arranged on control room 6 front end and/or material cabin front end；Described camera and LED connection are controlled by aquarium robot and control
System.
Described camera can be taken pictures to fish in water and be recorded a video, and robot is connected on mobile device and passes through it
On display screen, that just can clean appreciates the fish water from multi-angle and will not give up the impact of all refraction effects.
The aquarium robot control system of the present invention, it includes robot main controller, and described robot main controller connects
It is connected to power module, turbo-dynamo control module, enter drain solenoid valve control module, draining pump control module, feeding magnetic valve
Level detection sensor in control module, LED lamp control module, clock module, camera and water tank；Wherein, turbo-dynamo control
Left turbo-dynamo and right turbo-dynamo are connected with molding block；Enter and be connected with water inlet solenoid valve in drain solenoid valve control module
With discharge outlet electromagnetism；It is connected with draining pump on draining pump control module；First feeding is connected with feeding solenoid valve control module
Magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve；LED is connected with LED lamp control module.
Described power module is powered for control system；
Described enter drain solenoid valve control module be used for controlling the opening and closing of water inlet solenoid valve and water outlet solenoid valve；
Described draining pump control module is used for controlling the start and stop of draining pump；
Described feeding solenoid valve control module is used for controlling the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding electromagnetism
The opening and closing of valve；
Described LED lamp control module is used for controlling the light on and off of LED；
Described clock module is used for recording the current time；In described water tank, level detection sensor is used for detecting the water in water tank
Position.
Described aquarium robot controls system to be connected with mobile terminal also by wireless communication module；Described mobile terminal bag
Include the mobile terminal main controller being connected by wireless communication module with robot main controller；Connect on described mobile terminal main controller
There are display screen and some buttons；Described button include direction key, feeding time set button, shoot button, camera button and
Illuminated push button.
Described display screen can show photo and the video of camera shooting；On mobile terminal main controller connect by bond energy
Enough control the work of aquarium robot；Direction key controls robot straight trip, turns to, floats, sinks and suspend；Time sets
Opening time by key assignments the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve（Opening time is to feed
The food time）；Shoot button and camera button are used for controlling camera to take pictures and image；Illuminated push button controls the light on and off of LED.
Water temperature detection sensor and measurement of oxygen content sensor are also associated with described robot main controller.
Described water temperature detection sensor is used for detecting the water temperature in aquarium；Measurement of oxygen content sensor is used for detecting the Shui nationality
Oxygen content in water in case.Water temperature that water temperature detection module detects and the oxygen content that measurement of oxygen content sensor detects are passed through
Display screen on mobile terminal shows.
The invention also discloses a kind of aquarium system, it includes aquarium robot and aquarium, described Shui nationality punch-out equipment
Above-mentioned aquarium robot control system is provided with device people；Aerator and thermostat, institute are equiped with described aquarium
State Shui nationality box top and offer water filling port, top offers discharge outlet, discharge outlet is provided with filter screen and water discharging valve；Described increasing
Oxygen machine and thermostat all connect and are controlled by the aquarium control system being arranged on aquarium, described aquarium control system
It is connected with aquarium robot control system by wireless communication module.
Described aquarium control system includes aquarium main controller, and described aquarium main controller is connected with aerator control
Module and thermostat control module；Wherein, aerator control module is connected with aerator, thermostat control module
On be connected with thermostat；Described aquarium main controller is passed through wireless communication module and is connected with robot main controller.
Described aerator control module is used for controlling aerator to work, and thermostat control module is used for controlling water temperature to adjust
Section device work.
The invention also discloses a kind of control method of aquarium system, described aquarium robot is resting on aquarium
Interior or control it to move in aquarium by the direction key on mobile terminal；Set by the feeding time on mobile terminal
Button is respectively provided with the opening time of the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve；
Water temperature detects that detection sensor detects water temperature A in aquarium, by water temperature A detecting and setting in robot main controller
Temperature value be compared, as A1≤A≤A2, water temperature is normal；As A ＜ A1, robot main controller send intensification signal to
Aquarium main controller, makes aquarium robot main controller control thermostat control module, makes thermostat control module
Thermostat is controlled water to be heated up, till A=A1;As A ＞ A2, robot main controller sends cooling signal feedwater race
Case main controller, makes aquarium main controller control thermostat control module, makes thermostat control module control water temperature to adjust
Section device is lowered the temperature to water, till A=A2；
Measurement of oxygen content sensor detects oxygen content B in water, by oxygen content B detecting and setting in robot main controller
Oxygen-containing value is compared, and as B >=B1, oxygen content is normal；Work as B<During B1, robot main controller sends oxygenation signal feedwater race
Case main controller, makes aquarium main controller control aerator control module, makes aerator control module control aerator oxygenation, until
Till B=B1;
When feeding time then, robot main controller controls feeding solenoid valve control module, makes feeding solenoid valve control module control
Make corresponding feeding magnetic valve to open, carry out feeding；
Water temperature A and measurement of oxygen content sensor that display screen display water temperature detection detection sensor on described mobile terminal is examined
Oxygen content B in detection water.
When controlling aquarium robot mobile by direction key on mobile terminal, include straight trip, turn to, floating, under
Sink and five kinds of motion shape body situations of suspension；Wherein, keep straight on and be diverted through controlling the rotating speed of left turbo-dynamo and right turbo-dynamo
To realize；During straight trip, robot main controller controls turbo-dynamo control module, makes turbo-dynamo control module control left turbine electricity
Machine and right turbo-dynamo are rotated with same speed, realize straight trip；During steering, robot main controller controls turbo-dynamo to control mould
Block, makes turbo-dynamo control module control left turbo-dynamo and right turbo-dynamo to rotate at different rates；When left turbo-dynamo
Rotating speed be more than right turbo-dynamo rotating speed when, robot turn right；Do turning of turbo-dynamo when the rotating speed of right turbo-dynamo is more than
When fast, robot turns left；
Float, sink and suspend and realized by changing the gravity of aquarium robot to water injection in water tank；When Shui nationality punch-out equipment
When device people is in suspended state, the buoyancy that the gravity of aquarium robot is subject to equal to it；Now water level detecting sensing in water tank
It is H that device detects its interior water level0;
When aquarium robot floats, robot main controller controls into drain solenoid valve control module, makes into drain solenoid valve
Control module controls discharge outlet magnetic valve to open；Robot main controller controls draining pump control module, makes draining pump control module
Control draining pump drainage, make level detection sensor in water tank the water level H ＜ H in water tank is detected0；
When aquarium robot sinks, robot main controller controls into drain solenoid valve control module, makes into drain solenoid valve
Control module controls water inlet solenoid valve to open, and the water filling into water tank makes level detection sensor the water level H in water tank is detected
>H0.
Described feeding time sets button by the feeding time on mobile terminal and arranges；Described feeding time is divided into
T1, T2 and T3；When current time T=T1 in clock module, robot main controller controls feeding solenoid valve control module, makes
Feeding solenoid valve control module controls the first feeding magnetic valve to open, and carries out feeding；
When current time T=T2 in clock module, robot main controller controls feeding solenoid valve control module, makes feeding electricity
Magnet valve control module controls the second feeding magnetic valve to open, and carries out feeding；
When current time T=T3 in clock module, robot main controller controls feeding solenoid valve control module, makes feeding electricity
Magnet valve control module controls the 3rd feeding magnetic valve to open, and carries out feeding.
When the shoot button pressed on mobile terminal or camera button, robot main controller control camera to be taken pictures or
Shooting, shows the photo photographing or video simultaneously on mobile terminal display screen；When pressing the illuminated push button on mobile terminal,
Main controller controls LED lamp control module, and LED lamp control module control LED is lighted and is illuminated.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (9)
1. aquarium robot control system it is characterised in that：It includes robot main controller, and described robot main controller connects
It is connected to power module, turbo-dynamo control module, enter drain solenoid valve control module, draining pump control module, feeding magnetic valve
Control module, LED lamp control module, clock module, camera（7）With level detection sensor in water tank；Wherein, turbo-dynamo
Left turbo-dynamo and right turbo-dynamo are connected with control module；Enter and water inlet electromagnetism is connected with drain solenoid valve control module
Valve（16）With discharge outlet electromagnetism（18）；It is connected with draining pump on draining pump control module（19）；In feeding solenoid valve control module
It is connected with the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve；LED is connected with LED lamp control module
Lamp.
2. a kind of aquarium robot control system according to claim 1 it is characterised in that：Described aquarium robot
System is controlled to be connected with mobile terminal also by wireless communication module；Described mobile terminal is included by wireless communication module and machine
The mobile terminal main controller that people's main controller is connected；Display screen and some buttons are connected with described mobile terminal main controller；Described
Button includes direction key, feeding time sets button, shoot button, camera button and illuminated push button.
3. a kind of aquarium robot control system according to claim 2 it is characterised in that：Described robot main controller
On be also associated with water temperature detection sensor and measurement of oxygen content sensor.
4. aquarium system, it includes aquarium robot and aquarium, and described aquarium robot is provided with aforesaid right
Require the aquarium robot control system described in one of 1 to 3；It is characterized in that：Be equiped with described aquarium aerator and
Thermostat, described Shui nationality box top offers water filling port, and top offers discharge outlet, and discharge outlet is provided with filter screen and row
Penstock；Described aerator and thermostat all connect and are controlled by the aquarium control system being arranged on aquarium, described
Aquarium control system is connected with aquarium robot control system by wireless communication module.
5. aquarium system according to claim 4 it is characterised in that：Described aquarium control system includes aquarium master
Control device, described aquarium main controller is connected with aerator control module and thermostat control module；Wherein, aerator control
Aerator is connected with molding block, thermostat control module is connected with thermostat；Described aquarium main controller leads to
Cross wireless communication module to be connected with robot main controller.
6. aquarium system control method it is characterised in that：Described aquarium robot is resting in aquarium or pass through
Direction key on mobile terminal controls it to move in aquarium；Button is set respectively by the feeding time on mobile terminal
The opening time of the first feeding magnetic valve, the second feeding magnetic valve and the 3rd feeding magnetic valve is set；
Water temperature detects that detection sensor detects water temperature A in aquarium, by water temperature A detecting and setting in robot main controller
Temperature value be compared, as A1≤A≤A2, water temperature is normal；As A ＜ A1, robot main controller send intensification signal to
Aquarium main controller, makes aquarium robot main controller control thermostat control module, makes thermostat control module
Thermostat is controlled water to be heated up, till A=A1;As A ＞ A2, robot main controller sends cooling signal feedwater race
Case main controller, makes aquarium main controller control thermostat control module, makes thermostat control module control water temperature to adjust
Section device is lowered the temperature to water, till A=A2；
Measurement of oxygen content sensor detects oxygen content B in water, by oxygen content B detecting and setting in robot main controller
Oxygen-containing value is compared, and as B >=B1, oxygen content is normal；Work as B<During B1, robot main controller sends oxygenation signal feedwater race
Case main controller, makes aquarium main controller control aerator control module, makes aerator control module control aerator oxygenation, until
Till B=B1;
When feeding time then, robot main controller controls feeding solenoid valve control module, makes feeding solenoid valve control module control
Make corresponding feeding magnetic valve to open, carry out feeding；
Water temperature A and measurement of oxygen content sensor that display screen display water temperature detection detection sensor on described mobile terminal is examined
Oxygen content B in detection water.
7. aquarium system according to claim 6 control method it is characterised in that：By the direction on mobile terminal
When moving by key control aquarium robot, including straight trip, turn to, float, sinking and five kinds of motion shape body situations of suspension；Its
In, keep straight on and be diverted through to control the rotating speed of left turbo-dynamo and right turbo-dynamo to realize；During straight trip, robot main controller control
Turbo-dynamo control module processed, makes turbo-dynamo control module control left turbo-dynamo and right turbo-dynamo to turn with same speed
Dynamic, realize straight trip；During steering, robot main controller controls turbo-dynamo control module, so that turbo-dynamo control module is controlled left
Turbo-dynamo and right turbo-dynamo rotate at different rates；When the rotating speed of left turbo-dynamo is more than the rotating speed of right turbo-dynamo
When, robot turns right；When the rotating speed of right turbo-dynamo is more than the rotating speed making turbo-dynamo, robot turns left；
Float, sink and suspend and realized by changing the gravity of aquarium robot to water injection in water tank；When Shui nationality punch-out equipment
When device people is in suspended state, the buoyancy that the gravity of aquarium robot is subject to equal to it；Now water level detecting sensing in water tank
It is H that device detects its interior water level0;
When aquarium robot floats, robot main controller controls into drain solenoid valve control module, makes into drain solenoid valve
Control module controls discharge outlet electromagnetism（18）Valve is opened；Robot main controller controls draining pump control module, makes draining pump control
Module controls draining pump（19）Draining, makes level detection sensor in water tank the water level H ＜ H in water tank is detected0；
When aquarium robot sinks, robot main controller controls into drain solenoid valve control module, makes into drain solenoid valve
Control module controls water inlet solenoid valve（16）Open, the water filling into water tank, so that level detection sensor is detected in water tank
Water level H>H0.
8. aquarium system according to claim 7 control method it is characterised in that：Described feeding time passes through to move
Feeding time in terminal sets button to arrange；Described feeding time is divided into T1, T2 and T3；When current in clock module
Between T=T1 when, robot main controller controls feeding solenoid valve control module, makes feeding solenoid valve control module control the first feeding
Magnetic valve is opened, and carries out feeding；
When current time T=T2 in clock module, robot main controller controls feeding solenoid valve control module, makes feeding electricity
Magnet valve control module controls the second feeding magnetic valve to open, and carries out feeding；
When current time T=T3 in clock module, robot main controller controls feeding solenoid valve control module, makes feeding electricity
Magnet valve control module controls the 3rd feeding magnetic valve to open, and carries out feeding.
9. aquarium system according to claim 8 control method it is characterised in that：When pressing the bat on mobile terminal
According to button or camera button, robot main controller controls camera（7）Taken pictures or imaged, simultaneously on mobile terminal display screen
Show the photo or video photographing；When pressing the illuminated push button on mobile terminal, main controller controls LED lamp control module,
LED lamp control module control LED is lighted and is illuminated.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610816923.3A CN106386635A (en) | 2016-09-12 | 2016-09-12 | Aquarium robot control system, aquarium system and aquarium system control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610816923.3A CN106386635A (en) | 2016-09-12 | 2016-09-12 | Aquarium robot control system, aquarium system and aquarium system control method |
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| CN106386635A true CN106386635A (en) | 2017-02-15 |
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ID=57999472
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610816923.3A Withdrawn CN106386635A (en) | 2016-09-12 | 2016-09-12 | Aquarium robot control system, aquarium system and aquarium system control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107211939A (en) * | 2017-06-30 | 2017-09-29 | 安徽工程大学 | A kind of fish gene engineering fish pond supervising device |
| CN108177744A (en) * | 2018-02-10 | 2018-06-19 | 佛山市建金建电子科技有限公司 | It is a kind of that there is the underwater robot of microbubble |
| CN108341036A (en) * | 2018-02-10 | 2018-07-31 | 佛山市建金建电子科技有限公司 | A kind of underwater foreign matter recycling machine people supporting function with microbubble |
| CN108633814A (en) * | 2018-03-21 | 2018-10-12 | 青岛海尔科技有限公司 | Control method, device, system, storage medium and the Intelligent fish tank of Intelligent fish tank |
| CN109156408A (en) * | 2018-09-22 | 2019-01-08 | 陈蜀乔 | A kind of fish pond robot that can intelligently herd fishing |
| CN109329194A (en) * | 2018-09-22 | 2019-02-15 | 陈蜀乔 | A kind of fish pond robot integrating monitoring cooling and feeding |
| CN110583560A (en) * | 2019-09-18 | 2019-12-20 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
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2016
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107211939A (en) * | 2017-06-30 | 2017-09-29 | 安徽工程大学 | A kind of fish gene engineering fish pond supervising device |
| CN108177744A (en) * | 2018-02-10 | 2018-06-19 | 佛山市建金建电子科技有限公司 | It is a kind of that there is the underwater robot of microbubble |
| CN108341036A (en) * | 2018-02-10 | 2018-07-31 | 佛山市建金建电子科技有限公司 | A kind of underwater foreign matter recycling machine people supporting function with microbubble |
| CN108633814A (en) * | 2018-03-21 | 2018-10-12 | 青岛海尔科技有限公司 | Control method, device, system, storage medium and the Intelligent fish tank of Intelligent fish tank |
| CN109156408A (en) * | 2018-09-22 | 2019-01-08 | 陈蜀乔 | A kind of fish pond robot that can intelligently herd fishing |
| CN109329194A (en) * | 2018-09-22 | 2019-02-15 | 陈蜀乔 | A kind of fish pond robot integrating monitoring cooling and feeding |
| CN110583560A (en) * | 2019-09-18 | 2019-12-20 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
| CN110583560B (en) * | 2019-09-18 | 2021-10-22 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
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Application publication date: 20170215 |