CN107295821A - A kind of waters fertilizer apparatus and its method based on unmanned boat - Google Patents
A kind of waters fertilizer apparatus and its method based on unmanned boat Download PDFInfo
- Publication number
- CN107295821A CN107295821A CN201710384943.2A CN201710384943A CN107295821A CN 107295821 A CN107295821 A CN 107295821A CN 201710384943 A CN201710384943 A CN 201710384943A CN 107295821 A CN107295821 A CN 107295821A
- Authority
- CN
- China
- Prior art keywords
- fertilizer
- unmanned boat
- waters
- water
- master controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Fertilizers (AREA)
- Fertilizing (AREA)
Abstract
The invention discloses a kind of waters fertilizer apparatus based on unmanned boat and its method, including unmanned boat and the fertilizer apparatus being arranged on unmanned boat for applying fertilizer to waters to be applied fertilizer；The unmanned boat includes master controller, communication equipment, video equipment, Water quality detector, afterbody spray pumping system and battery, and the master controller is coupled with the communication equipment, video equipment, Water quality detector, afterbody spray pumping system and battery respectively；The fertilizer apparatus includes being used to load the fertilizer storage tank of fertilizer, the sprinkling apparatus for shedding fertilizer and for the water-bed cultivated rake for ploughing soil.Waters fertilizer apparatus based on unmanned boat and its method that the present invention is provided, safe, fertilising is uniform, can realize efficient automatic fertilization in water field of big area plant, and can effective monitoring fertilization effect, saved Fertilizer application amount, improved the efficiency of fertilising.
Description
Technical field
The present invention relates to the technical field of waters robot automation control, more particularly to a kind of waters based on unmanned boat
Fertilizer apparatus and its method.
Technical background
Unmanned boat be it is a kind of by precise satellite positioning and control system can according to preset task surface navigation and from
The Full-automatic water surface robot of main operation.With national defence and civilian demand development, in national defence marine site, seawater fishery and inland river ring
There is increasing unmanned boat running and undertaking task in the waters such as guarantor.In order to realize that water field of big area plant efficiently applies
Fertilizer, it is necessary to introduce unmanned boat system and carry out auxiliary fertilising operation.
In recent years ocean fertilising turn into study hotspot, Conventional marine fertilising for take artificial measures to marine superstructure provide nitrogen,
The limitative nutrients such as phosphorus, iron are to increase the behavior of primary productivity of marine ecosystem, and it is in proliferative biological resource and slows down weather change
Have potentiality in terms of change.Such as South Sea photo-thermal is sufficient, but surface water big nutrient in off-lying sea is deficient, and biological productivity is low, greatly
Nutrient fertilising can improve marine site primary productivity, so as to sustainably increase fishery production；Fertilising breeding phytoplankton and
The shoal of fish can be attracted to assemble in the food organisms compact district of specified sea areas formation, so as to improve off-sea fishery catching rate.
Sea-tangle nitrogen average content and phosphorus content needed for sea area need be more than finite concentration more than when could normal growth,
The content of nitrogen and phosphorous is general below horizontal at this in natural waterses, it is therefore necessary to carry out artificially applying fertilizer；Using " extension when cultivating kelp
The method fertilisings such as bag fertilising, fertilising of splashing, immersion fertilising, the immersion of seedling rope ".And seaweed also has class to seawater phosphorus content and nitrogen content
Like demand, using the fertilising such as " spraying, hanging bag method, infusion method " method during cultivation of porphyra.Above fertilizing method is general by fisherman
Open fishing boat and carry out artificially applying fertilizer, workload is huge, and there is security risk during operation.
Inland river lake fishery cultivation principle is to be thrown by artificial means into water bodys such as lake and reservoirs and apply proportioning science
The nutritional factors such as nitrogen, phosphorus, trace element, water quality of fostering and apply fertilizer by photosynthesis, promotes phytoplankton in water, zooplankter is a large amount of
Breeding, the bait of abundance is provided for the plankton feeding habit fish such as silver carp flathead.Also promote water plant, perphyton simultaneously.Dwell at bottom
The increase of the amount reproduction such as animal, bacterium and vascular plant, detritus, eats feeding fish for grass, bream, carp, crucian carp, green grass or young crops, silver xenocypris etc. and provides
Part bait.Prove, either thrown in waters such as lake, reservoir, ponds after fertilising material, as long as water temperature stability from theory and practice
Between 20 to 32 spend, the fine day that disposable fertilizer is kept for three days or so is often thrown, planktonic organism can then be peaked, and fertilizer efficiency can be maintained
7 days or so, if periodically continuous throw to fertilize, it is allowed to form benign cycle, planktonic organism will be continuous newborn, be doubled and redoubled, mesh
Preceding generally to take superposing type fertilizing method, it cultivates the better of planktonic organism.Because fish have obtained the bait of abundance, fish
Yield is largely increased., it is necessary to manually shed when traditional lake is to fry feed for nursing, unevenness of application can not also be imitated
Fruit monitors.
The content of the invention
Present invention aims at there is provided a kind of safe, uniform, water field of big area plant of applying fertilizer based on unmanned boat
Efficient automatic fertilization, the waters fertilizer apparatus of effective monitoring fertilization effect, and a kind of safe, fertilising based on unmanned boat
Uniformly, the efficient automatic fertilization of water field of big area plant, the fertilizing method of effective monitoring fertilization effect, have saved Fertilizer application
Amount, improves fertilising efficiency.
To achieve the above object, the technical solution adopted by the present invention is：A kind of waters fertilizer apparatus based on unmanned boat, bag
Include unmanned boat and be arranged at the fertilizer apparatus for being used for applying fertilizer to waters to be applied fertilizer on unmanned boat；The unmanned boat includes master control
Device processed, communication equipment, video equipment, Water quality detector, afterbody spray pumping system and battery, the master controller respectively with it is described
Communication equipment, video equipment, Water quality detector, afterbody spray pumping system and battery coupling；The fertilizer apparatus includes being used to fill
Carry the fertilizer storage tank, the sprinkling apparatus for shedding fertilizer and the cultivated rake for water-bed cultivated soil of fertilizer.
Optionally, the fertilizer storage tank is installed on the unmanned boat hull center of gravity vertical line, including cylindric tank body, is led to
The circular lid that alignment pin is fixed on the cylindric tank body is crossed, is used for stirring fertilizer storage on the circular lid
The agitator of fertilizer and the coniform can installed in the cylindric tank body lower part in tank.
Optionally, the coniform can bottom is provided with for controlling discharge velocity and being oriented to fertilizer to transmit crawler belt
The first motor is provided with below discharge valve, the discharge valve and drives the transmission crawler belt for being recycled fertilizer, it is described
Transmission crawler belt tail end is provided with for determining that fertilizer selection connects the sub-material valve of the goods mouth of pipe.
Optionally, the left and right sides is respectively arranged with left side dispatch tube and right side dispatch tube below the sub-material valve, described
Left side dispatch tube upper end is that the wide mouth of pipe is used to receive the fertilizer that the sub-material valve is fallen, and lower end is that round mouth pipe inserts the afterbody
Spray the access cover interface that pump is sprayed in pumping system；The right side dispatch tube upper end is that the wide mouth of pipe falls for receiving the sub-material valve
Under fertilizer, lower end be wide opening pipe fertilizer can be imported in the sprinkling apparatus.
Optionally, the sprinkling apparatus is installed on the outside of unmanned boat hull, including rotating disk and group being arranged on the rotating disk
Piece, rotating disk quick rotation under the drive of the second motor, and drive the plectrum to tap large-particle fertilizer simultaneously by it
Shed into waters.
Optionally, the communication equipment includes digital radio station and figure and conducted electricity platform.
Optionally, the video equipment includes being installed on unmanned boat mast, for monitoring fertilizer apparatus working condition, and
Video information is transmitted to the main camera of the master controller, the cylindric tank body towards main shooting rostral be transparent material,
Fertilizer surplus is monitored by main camera video；And unmanned boat fore is installed on, for monitoring status of the water area, and video
Information is transmitted to the fish-eye camera of the master controller.
Optionally, the Water quality detector is provided with survey depth of water probe, surveys water temperature probe, surveys nitrogen content probe and survey phosphorous
Amount probe, the master controller according to waters size, water temperature and concentration of fertilizer Automatic Optimal apply fertilizer route and fertilising dosage,
The master controller handles water monitoring data packing, and Surveillance center is sent to via the digital radio station.
Optionally, the cultivated rake is provided with two, is respectively arranged in the unmanned boat both sides；It is described it is cultivated rake include capstan winch,
Gear, electric mortise lock, rake root, raking arm, rake rope and drag head, the rake root are fixed on unmanned boat flank, are connected by hinge with raking arm,
The raking arm is hollow stem, and its top is provided with a side opening, and the rake restricts one end through the side opening and below raking arm
Drag head is connected, and the other end is connected on capstan winch, is rotated the receipts of capstan winch realization rake rope by three-motor or is put；The gear connects
Capstan winch one end is connect, gear side sets electric mortise lock, for spreadet spreadet wheel；When it is described rake rope completely with it is tight when, the drag head is embedding
Enter the raking arm tail end.
Present invention also offers a kind of fertilizing method of the waters fertilizer apparatus based on unmanned boat, comprise the steps：
Step 1:Fertilizer is loaded on to unmanned boat in fertilizer storage tank, and records initial fertilizer total amount, is independently navigated by starting point
Row arrives fertilising waters；
Step 2:Unmanned boat starts inspection work waters according to predetermined paths, and waters of applying fertilizer is monitored by Water quality detector
Nitrogen and phosphorus concentration, by each point concentration of fertilizer data record in master controller；Unmanned boat passes through fish-eye camera during inspection
Shoot work waters integrality and send master controller to；
Step 3：Surveillance center determines the need for carrying out water-bed cultivated soil according to the depth of water in packet or crop situation, if
Need, then the rotation of order-driven capstan winch is issued to cultivated rake correspondence three-motor by master controller and adjust and harrow rope length degree, made
Drag head reaches water-bed, is then formulated by master controller and turns over route, and it is water-bed to drive unmanned boat to navigate by water drive drag head completion automatically
Native turns over；
Step 4:According to water temperature and waters nitrogen and phosphorus concentration Automatic Optimal fertilising route and waters face each point fertilising need
The amount of asking, and fertilizer properties and required fertilising demand selection fertilization mode according to carrying；
Step 5:Unmanned boat starts automatic fertilization according to fertilising route, and master controller applies fertilizer demand, and root according to each point
The aperture of discharge valve is really adjusted according to hull speed and fertilising demand, agitator is rotated always during fertilising deposits fertilizer
Fertilizer is uniformly fallen down in storage tank；Main camera shoots fertilizer apparatus correlation circumstance, and sends master controller to；
Step 6:When main controller controls sub-material valve is beaten to the left, fertilizer is imported into afterbody spray pumping system, first by examining
Mouth entrance is repaiied, spray pump high intensity current water is passed through after driving to be sprayed by spray water pump outlet pipe；When main controller controls sub-material valve is beaten
To the right, fertilizer is imported into sprinkling apparatus, the rotating disk of the sprinkling apparatus quick rotation under the drive of the second motor, and drives plectrum to strike
Large-particle fertilizer is hit while it is shed into waters energetically；
Step 7:Master controller estimates fertilizer surplus according to ship's speed and discharge valve aperture, when fertilizer deficiency is then by master control
Device generation alarm signal processed simultaneously passes fertilizer surplus and warning message back to Surveillance center；Main camera passes fertilizer back in step 5
Remaining situation video；
Step 8:Unmanned boat fertilising is finished, and is maked a return voyage automatically to starting point.
Compared with prior art, the present invention has the advantages that：
1) unmanned boat master controller is collected waters fertilising empirical data and is made《Fertilising experience table》, for Optimum operation
Process.
2) waters inspection is completed using unmanned boat autonomous navigation and video monitoring function, and water is completed using Water quality detector
The real-time monitoring of domain nitrogen and phosphorus, is that Optimum route and fertilising demand provide data and supported.
3) determined whether to dig using cultivated rake according to depth of water monitoring result, cultivated rake, which is digged, realizes sea-bottom deposit fertilizer again
Dissolving, improves Fertilizer application effect.
4) set fertilizer apparatus to realize the automatic fertilization of a large amount of fertilizer on unmanned boat, realize waters fertilising automation.
5) when unit area fertilising demand is smaller, fertilizer apparatus imports dissolved fertilizer in spray pumping system, utilizes
The current of strong mobility accelerate the dissolving of fertilizer and scope of splashing.
6) when unit area fertilising demand is larger, fertilizer apparatus imports fertilizer in sprinkling apparatus, is rotated using high speed
Sprinkling apparatus spread out and shed, it is ensured that fertilising efficiency.
7) present invention does not need fisherman to open fishing boat and carries out artificially applying fertilizer, reduces the workload of fisherman and reduces fisherman
Working strength, safe, fertilising is uniform, efficient automatic fertilization can be realized in water field of big area plant, and can effectively supervise
Fertilization effect is controlled, Fertilizer application amount has been saved, has improved the efficiency of fertilising.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of structural representation for waters fertilizer apparatus based on unmanned boat that the present invention is provided；
Fig. 2 is the structural representation of sprinkling apparatus in Fig. 1 of the present invention；
Fig. 3 is the structural representation of Fig. 1 intertillages rake of the present invention；
Fig. 4 is the structural representation of Water quality detector in Fig. 1 of the present invention；
Fig. 5 is that the unmanned boat provided in the embodiment of the present invention realizes that waters is applied fertilizer the schematic diagram of process.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As Figure 1-5, a kind of waters fertilizer apparatus based on unmanned boat, including unmanned boat 10 and be arranged on unmanned boat
Fertilizer apparatus for applying from fertilizer to waters to be applied fertilizer；The unmanned boat includes master controller 11, communication equipment, video and set
Standby, Water quality detector 71, afterbody spray pumping system 40 and battery 12, the master controller 11 respectively with the communication equipment, regard
Frequency equipment, Water quality detector 71, afterbody spray pumping system 40 and battery 12 are coupled；The fertilizer apparatus includes being used to load fertilizer
Fertilizer storage tank, the sprinkling apparatus for shedding fertilizer and for the water-bed cultivated rake for ploughing soil.
The fertilizer storage tank is installed on the hull center of gravity vertical line of unmanned boat 10, including cylindric tank body 21, is passed through
Alignment pin is fixed on the circular lid 22 on the cylindric tank body 21, is used for stirring fertilizer on the circular lid 22
The agitator 24 of fertilizer and the coniform can 23 installed in the cylindric bottom of tank body 21 in storage tank.
The bottom of coniform can 23 is provided with for controlling discharge velocity and being oriented to fertilizer to transmit going out for crawler belt 30
Expect valve 25, the lower section of discharge valve 25 is provided with the first motor 31 and drives the transmission crawler belt for being recycled fertilizer
30, the transmission tail end of crawler belt 30 is provided with for determining that fertilizer selection connects the sub-material valve 32 of the goods mouth of pipe.
The lower section left and right sides of sub-material valve 32 is respectively arranged with left side dispatch tube 41 and right side dispatch tube 51, the left side
The upper end of side dispatch tube 41 is that the wide mouth of pipe is used to receive the fertilizer that the sub-material valve is fallen, and lower end is that round mouth pipe inserts the afterbody
Spray the access cover interface that pump is sprayed in pumping system 40；The upper end of right side dispatch tube 51 is that the wide mouth of pipe is used to receive the material distributing valve
The fertilizer that door is fallen, lower end is that wide opening pipe can import fertilizer in the sprinkling apparatus.
The sprinkling apparatus is installed on the outside of unmanned boat hull, including rotating disk 53 and the plectrum being arranged on the rotating disk 53
54, the rotating disk 53 quick rotation under the drive of the second motor 52, and it is same to drive the plectrum 54 to tap large-particle fertilizer
When shed into waters.
Specifically, when master controller 11 determines fertilization mode for " strong water stirring ", transmission crawler belt 30 is in the first motor 31
Lower cyclic transfer fertilizer is driven, to the left, now fertilizer falls into left side dispatch tube 41 to 32 dozens, the control sub-material of master controller 11 valve；
The upper end of left side dispatch tube 41 is that the wide mouth of pipe is used to connect fertilizer, and lower end is the access cover interface that round mouth pipe inserts spray pump, can
In the water inlet pipe for fine grained or dissolved fertilizer being imported afterbody spray pumping system 40, it is specially to be entered by access hole, utilizes spray
Pump high intensity current water drives fertilizer, is sprayed via spray water pump outlet pipe.
When master controller 11 determines fertilization mode for " spread out and shed ", transmission crawler belt 30 is followed under the drive of the first motor 31
Ring transmits fertilizer, and to the right, now fertilizer falls into right side dispatch tube 51 to 32 dozens, the control sub-material of master controller 11 valve；The right side
The upper end of dispatch tube 51 is that the wide mouth of pipe is used to connect fertilizer, and lower end is that wide opening pipe imports fertilizer in sprinkling apparatus, the rotating disk 53 of sprinkling apparatus
The quick rotation under the drive of the second motor 52, and drive plectrum 54 to tap large-particle fertilizer while being shed into waters.
Set fertilizer apparatus to realize the automatic fertilization of a large amount of fertilizer on unmanned boat, realize waters fertilising automation；Work as list
When plane product fertilising demand is smaller, fertilizer apparatus imports dissolved fertilizer in spray pumping system, utilizes the current of strong mobility
Accelerate the dissolving of fertilizer and scope of splashing；When unit area fertilising demand is larger, fertilizer is imported sprinkling apparatus by fertilizer apparatus
In, spread out and shed using the sprinkling apparatus of high speed rotation, it is ensured that fertilising efficiency.
The communication equipment includes digital radio station 13 and figure and conducted electricity platform 14.
The video equipment includes being installed on unmanned boat mast, for monitoring fertilizer apparatus working condition, and video
Information is transmitted to the main camera 15 of the master controller 11, the cylindric tank body 21 towards the main side of camera 15 be transparent material
Matter, it is ensured that can be with video monitor fertilizer surplus by main camera；And unmanned boat fore is installed on, for monitoring waters feelings
Condition, and video information is transmitted to the fish-eye camera 16 of the master controller 11, master controller 11 is integrated video information and simultaneously passed through
Surveillance center is sent to by the figure platform 14 that conducts electricity.
The Water quality detector 71 is provided with survey depth of water probe 711, surveys water temperature probe 712, surveys nitrogen content probe 713 and survey
Phosphorus content probe 714, Water quality detector 71 is realized the receipts of drawstring by the rotation rotating disk 72 of Electrohydraulic push rod 73 and put, so as to realize water
The receipts of quality detector 71 are put；Wherein nitrogen content probe 713 is one of fertilizer sensor, can be visited according to the configuration of fertilizer feature is different
The remaining concentration of fertilizer of head monitoring fertilising water body；The master controller 11 is automatic according to waters size, water temperature and concentration of fertilizer
Optimum route and fertilising dosage, the master controller 11 handles water monitoring data packing, via the digital radio station
13 are sent to Surveillance center.
Formulate《Fertilising experience table》As shown in table 1：
The fertilising experience table of table 1
In upper table：T is water temperature, and a is the remaining nitrogen content of water body, and b is the remaining phosphorus content of water body, and A is per sq-km
Nitrogen fertilizer application demand, B is applies phosphate industry amount, and v is ship's speed, and K is discharge valve aperture；F1 () and F2 () and F3 () is correspondence
Empirical function, this functional relation table look-at.In fertilising experience table, water temperature is split as 8 sections, is respectively：[t0, t1]、
[t1, t2]、[t2, t3]、[t3, t4]、[t4, t5]、[t5, t6]、[t6, t7]、[t7, t8]；The remaining concentration of fertilizer of water body nitrogen is split as
8 sections, it is respectively：[a0, a1]、[a1, a2]、[a2, a3]、[a3, a4]、[a4, a5]、[a5, a6]、[a6, a7]、[a7, a8]；By water body
Phosphorus residue concentration of fertilizer is split as 8 sections, is respectively：[b0, b1]、[b1, b2]、[b2, b3]、[b3, b4]、[b4, b5]、[b5, b6]、
[b6, b7]、[b7, b8]；So record applies nitrogen demand data by 64 altogether in fertilising experience table, 64 are applied phosphorus demand number
According to；According to measured value (T, a, b) during fertilising, inquiry is obtained (A, B), and then instructs fertilising demand data；
Ship's speed is faster, and the demand of nitrogen or phosphorus is bigger, and discharge valve aperture is bigger, and formula F 3 () is obtained according to experiment；When
When or need not suspend fertilising, discharge valve aperture is 0.
Waters fertilising empirical data is collected according to above-mentioned unmanned boat master controller to be made《Fertilising experience table》, applied for optimizing
Fertile operating process；Waters inspection is completed using unmanned boat autonomous navigation and video monitoring function, and it is complete using Water quality detector 71
It is that Optimum route and fertilising demand provide data and supported into the real-time monitoring of waters nitrogen and phosphorus.
The cultivated rake is provided with two, is respectively arranged in the both sides of unmanned boat 10；The cultivated rake includes capstan winch 61, gear
68th, electric mortise lock 69, rake root 62, raking arm 63, rake rope 66 and drag head 67, the rake root 62 are fixed on the flank of unmanned boat 10, pass through hinge
Chain is connected with raking arm 63, and the raking arm 63 is hollow stem, and its top is provided with a side opening 64, and described rake 66 one end of rope are described in
Side opening 64 is connected with the drag head 67 positioned at the lower section of raking arm 63, and the other end is connected on capstan winch 61, is rotated by the 3rd electronic 65 machine
Capstan winch 61 realizes the receipts of rake rope or put that the other end of capstan winch 61 connection gear 68, gear 68 sets electric mortise lock 69, passes through dead bolt sideways
Spreadet spreadet wheel；When it is described rake rope 66 completely with it is tight when, the drag head 67 is embedded in the tail end of raking arm 63.Master controller 11
Determine whether to carry out water-bed cultivated soil according to depth of water situation, when needs are water-bed ploughs native, issue order-driven to three-motor 65 and twist
Disk 61 is rotated, and master controller 11 calculates turning collar according to the pulse signal gathered from the encoder for being arranged on three-motor shaft end
Number, it is determined that the length of rake rope 66, control adjustment rake 66 length of rope of three-motor 65, when drag head 67 is put into the bottom, unmanned boat
When moving ahead, now three-motor 65 stops operating, and is stuck in water-bed drive capstan winch rotation to prevent from ploughing rake, now master controller 11
Electric mortise lock 69 is controlled to stretch out dead bolt, spreadet spreadet wheel 68 drives to plough to harrow and turned over to water-bed soil, bed mud deposition fertilizer is stirred again
Come, realize that secondary neutralizing is utilized.When that need to shorten the length of rake rope 66, the control electric mortise lock 69 of master controller 11 withdraws dead bolt, drives
Dynamic three-motor 65 is inverted.
When waters of applying fertilizer needs water-bed soil to plough, determined to plough rope decentralization length according to " depth of water ", formula is：
L=1.2*h if Hmin<h<Hmax (1)
L=0 if Hmin>h or h>Hmax (2)
As shown in formula (1), when master controller judges that waters crop is adapted to dig, when depth of water depth is adapted to plough rake, rope is ploughed
Decentralization length is L=1.2*h；As shown in formula (2), when master controller judges that waters crop is difficult to plough subsoil, or the depth of water
When should not plough rake deeply very much, it is L=0 to plough rope decentralization length.
In above-mentioned formula, L, h, Hmin, Hmax represent respectively plough rope decentralization length, depth of water depth, minimum depth threshold value and
Maximum water depth threshold value.
Determine that no use is ploughed rake and digged according to depth of water monitoring result, cultivated rake, which is digged, realizes the molten again of sea-bottom deposit fertilizer
There is provided Fertilizer application effect for solution.
Wherein, the battery 12 to master controller 11, communication equipment, video equipment, agitator, discharge valve 25, point
Material valve 32, the first motor 31, the second motor 52, three-motor 65 and Electrohydraulic push rod 73, electric mortise lock 69 are powered, master control
Device 11 processed electrically connects discharge valve 25, sub-material valve 32, encoder, communication equipment, video equipment, Water quality detector by wire
71st, the first motor 31, the second motor 52, three-motor 65, Electrohydraulic push rod 73 and electric mortise lock 69, and monitor discharge valve
25th, sub-material valve 32, communication equipment, video equipment, Water quality detector 71, the first motor 31, the electricity of the second motor the 52, the 3rd
The working condition of motivation 65 and Electrohydraulic push rod 73.
Present invention also offers a kind of fertilizing method of the waters fertilizer apparatus based on unmanned boat, comprise the steps：
Step 1:Fertilizer is loaded on to unmanned boat 10 in fertilizer storage tank, and records initial fertilizer total amount, it is autonomous by starting point
Navigate by water to fertilising waters；
Step 2:Unmanned boat 10 starts inspection work waters according to predetermined paths, passes through the monitoring fertilising water of Water quality detector 71
The nitrogen and phosphorus concentration in domain, by each point concentration of fertilizer data record in master controller 11；Unmanned boat 10 passes through fish during inspection
The first 16 shooting work waters integrality of Eye imaging simultaneously sends master controller 11 to；
Step 3：Surveillance center determines the need for carrying out water-bed cultivated soil according to the depth of water in packet or crop situation, if
Need, then by master controller 11 to plough rake correspondence three-motor 65 issue order-driven capstan winch 61 rotate and adjust rake rope 66
Length, makes drag head 67 reach the bottom, is then formulated by master controller 11 and turns over route, and drives the navigation drive automatically of unmanned boat 10
Drag head 67 completes turning over for water-bed soil；
Step 4:Master controller 11 by《Fertilising experience table》, according to water temperature and waters nitrogen and phosphorus concentration Automatic Optimal
Fertilising route and waters face each point fertilising demand, and the fertilizer properties according to carrying and required fertilising demand selection fertilising side
Formula；
Step 5:Unmanned boat 10 starts automatic fertilization according to fertilising route, and master controller 11 applies fertilizer demand according to each point,
By《Fertilising experience table》And the aperture of discharge valve 25 is really adjusted according to hull speed and fertilising demand, during fertilising
Agitator 24 is rotated always makes fertilizer in fertilizer storage tank uniformly fall down；Main camera 15 shoots fertilizer apparatus correlation circumstance,
And send master controller 11 to；
Step 6:When fertilization mode elects " strong water stirring " as, 32 dozens, the control sub-material of master controller 11 valve is to the left, fertile
Material is imported into afterbody spray pumping system 40, is first entered by access hole, through pumping out water by spray after the current water drive of spray pump high intensity
Pipe sprays；When fertilization mode elects " spread out and shed " as, to the right, fertilizer is imported into 32 dozens, the control sub-material of master controller 11 valve
In sprinkling apparatus, the rotating disk 53 of the sprinkling apparatus quick rotation under the drive of the second motor 52, and drive plectrum 54 to tap bulky grain fertilizer
Material simultaneously sheds it into waters energetically；
Step 7:Master controller 11 estimates fertilizer surplus according to ship's speed and the aperture of discharge valve 25, when fertilizer it is not enough then by
Master controller 11 generates alarm signal and passes main camera in fertilizer surplus and warning message, step 5 back to Surveillance center and passes
Return the remaining situation video of fertilizer；
Step 8:Unmanned boat fertilising is finished, and is maked a return voyage automatically to starting point.
The present invention does not need fisherman to open fishing boat and carries out artificially applying fertilizer, reduces the workload of fisherman and reduces fisherman's
Working strength, safe, fertilising is uniform, and efficient automatic fertilization can be realized in water field of big area plant, and can effective monitoring
Fertilization effect, has saved Fertilizer application amount, improves the efficiency of fertilising.
Described above is the preferred embodiment of the present invention, can not limit the right model of the present invention with this certainly
Enclose, it is noted that for those skilled in the art, under the premise without departing from the principles of the invention, may be used also
To make some improvement and variation, these are improved and variation is also considered as protection scope of the present invention.
Claims (10)
1. a kind of waters fertilizer apparatus based on unmanned boat, it is characterised in that：It is used for including unmanned boat and being arranged on unmanned boat
Apply the fertilizer apparatus of fertilizer to waters to be applied fertilizer；The unmanned boat includes master controller, communication equipment, video equipment, water quality
Detector, afterbody spray pumping system and battery, the master controller respectively with the communication equipment, video equipment, water quality detection
Device, afterbody spray pumping system and battery coupling；The fertilizer apparatus includes being used to load the fertilizer storage tank of fertilizer, for shedding
The sprinkling apparatus of fertilizer and the cultivated rake for water-bed cultivated soil.
2. the waters fertilizer apparatus according to claim 1 based on unmanned boat, it is characterised in that：The fertilizer storage tank peace
Loaded on the unmanned boat hull center of gravity vertical line, including cylindric tank body, it is fixed on by alignment pin on the cylindric tank body
Circular lid, be used for stirring in fertilizer storage tank the agitator of fertilizer and installed in described on the circular lid
The coniform can of cylindric tank body lower part.
3. the waters fertilizer apparatus according to claim 2 based on unmanned boat, it is characterised in that：The coniform can bottom
End is provided with below the discharge valve for controlling discharge velocity and fertilizer is oriented to transmit crawler belt, the discharge valve and is provided with
The transmission crawler belt for being recycled fertilizer is driven by the first motor, the transmission crawler belt tail end is provided with for determining that fertilizer is selected
Select the sub-material valve for connecing the goods mouth of pipe.
4. the waters fertilizer apparatus according to claim 3 based on unmanned boat, it is characterised in that：Below the sub-material valve
The left and right sides is respectively arranged with left side dispatch tube and right side dispatch tube, and the left side dispatch tube upper end is used to receive institute for the wide mouth of pipe
The fertilizer that sub-material valve is fallen is stated, lower end is that round mouth pipe inserts the access cover interface that pump is sprayed in the afterbody spray pumping system；Institute
It is that the wide mouth of pipe is used to receive the fertilizer that the sub-material valve is fallen to state right side dispatch tube upper end, and lower end is that wide opening pipe can lead fertilizer
Enter in the sprinkling apparatus.
5. the waters fertilizer apparatus based on unmanned boat according to any one of claim 1-4, it is characterised in that：It is described to throw
Spill device and be installed on unmanned boat hull outside, including rotating disk and the plectrum being arranged on the rotating disk, the rotating disk is electronic second
Quick rotation under the drive of machine, and drive the plectrum to tap large-particle fertilizer while being shed into waters.
6. the waters fertilizer apparatus according to claim 5 based on unmanned boat, it is characterised in that：The communication equipment includes
Digital radio station and figure conduct electricity platform.
7. the waters fertilizer apparatus according to claim 6 based on unmanned boat, it is characterised in that：The video equipment includes
It is installed on unmanned boat mast, the master controller is transmitted to for monitoring fertilizer apparatus working condition, and video information
Main camera, the cylindric tank body is transparent material towards main shooting rostral, and fertilizer surplus is monitored by main camera video；
And unmanned boat fore is installed on, for monitoring status of the water area, and the flake that video information is transmitted to the master controller is taken the photograph
As head.
8. the waters fertilizer apparatus according to claim 7 based on unmanned boat, it is characterised in that：The Water quality detector peace
Equipped with surveying depth of water probe, surveying water temperature probe, survey nitrogen content probe and survey phosphorus content probe, the master controller is big according to waters
Small, water temperature and concentration of fertilizer Automatic Optimal fertilising route and fertilising dosage, the master controller beat water monitoring data
Bag processing, Surveillance center is sent to via the digital radio station.
9. the waters fertilizer apparatus based on unmanned boat according to any one of claim 6-8, it is characterised in that：It is described to plough
Rake is provided with two, is respectively arranged in the unmanned boat both sides；It is described it is cultivated rake include capstan winch, gear, electric mortise lock, harrow root, raking arm,
Rake rope and drag head, the rake root are fixed on unmanned boat flank, are connected by hinge with raking arm, and the raking arm is hollow stem, thereon
Portion is provided with a side opening, and rake one end of restricting is connected through the side opening with the drag head being located at below raking arm, and the other end is connected to
On capstan winch, the receipts of capstan winch realization rake rope are rotated by three-motor or put；Described gear connection capstan winch one end, gear side is set
Electric mortise lock is put, for spreadet spreadet wheel；When it is described rake rope completely with it is tight when, the drag head is embedded in the raking arm tail end.
10. a kind of fertilizing method of the waters fertilizer apparatus based on unmanned boat based on any one of claim 1-9, its
It is characterised by：Comprise the steps：
Step 1:Load fertilizer on to unmanned boat in fertilizer storage tank, and record initial fertilizer total amount, by starting point autonomous navigation to
Fertilising waters；
Step 2:Unmanned boat according to predetermined paths start inspection work waters, by Water quality detector monitor apply fertilizer waters nitrogen and
Phosphorus concentration, by each point concentration of fertilizer data record in master controller；Unmanned boat is shot by fish-eye camera during inspection
Work waters integrality simultaneously sends master controller to；
Step 3：Surveillance center determines the need for carrying out water-bed cultivated soil according to the depth of water in packet or crop situation, if needed
Want, then the rotation of order-driven capstan winch is issued to cultivated rake correspondence three-motor by master controller and adjust and harrow rope length degree, make rake
Head reaches water-bed, is then formulated by master controller and turns over route, and drives unmanned boat to navigate by water drive drag head automatically to complete water-bed soil
Turn over；
Step 4:According to water temperature and waters nitrogen and phosphorus concentration Automatic Optimal fertilising route and waters face each point fertilising demand,
And fertilizer properties and required fertilising demand selection fertilization mode according to carrying；
Step 5:Unmanned boat starts automatic fertilization according to fertilising route, and master controller applies fertilizer demand according to each point, and according to ship
Body speed and fertilising demand really adjust the aperture of discharge valve, and agitator is rotated always during fertilising makes fertilizer storage tank
Middle fertilizer is uniformly fallen down；Main camera shoots fertilizer apparatus correlation circumstance, and sends master controller to；
Step 6:When main controller controls sub-material valve is beaten to the left, fertilizer is imported into afterbody spray pumping system, first by access hole
Into spray pump high intensity current water is passed through after driving to be sprayed by spray water pump outlet pipe；When main controller controls sub-material valve is beaten to the right
Side, fertilizer is imported into sprinkling apparatus, the rotating disk of the sprinkling apparatus quick rotation under the drive of the second motor, and it is big to drive plectrum to tap
Granulated fertilizer simultaneously sheds it into waters energetically；
Step 7:Master controller estimates fertilizer surplus according to ship's speed and discharge valve aperture, when fertilizer deficiency is then by master controller
Generation alarm signal simultaneously passes fertilizer surplus and warning message back to Surveillance center；Main camera passes fertilizer residue back in step 5
Situation video；
Step 8:Unmanned boat fertilising is finished, and is maked a return voyage automatically to starting point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384943.2A CN107295821B (en) | 2017-05-26 | 2017-05-26 | Water area fertilizing device and method based on unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710384943.2A CN107295821B (en) | 2017-05-26 | 2017-05-26 | Water area fertilizing device and method based on unmanned ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107295821A true CN107295821A (en) | 2017-10-27 |
| CN107295821B CN107295821B (en) | 2020-02-11 |
Family
ID=60137622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710384943.2A Active CN107295821B (en) | 2017-05-26 | 2017-05-26 | Water area fertilizing device and method based on unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107295821B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109302876A (en) * | 2018-11-29 | 2019-02-05 | 山东宇航航空科技有限公司 | A kind of plant protection operation unmanned boat |
| CN109808839A (en) * | 2017-11-22 | 2019-05-28 | 中冶宝钢技术服务有限公司 | The method of loading of ship |
| CN111602613A (en) * | 2020-05-25 | 2020-09-01 | 广州市诚一水产养殖有限公司 | Accurate fertilization method for pond culture |
| CN111990305A (en) * | 2020-07-20 | 2020-11-27 | 莆田市天然星农业开发有限公司 | Automatic fertilization ship is bred to razor clam |
| CN112362833A (en) * | 2020-10-28 | 2021-02-12 | 福建省吉龙德环保科技有限公司 | Continuous flow analysis system applied to unmanned ship |
| CN113335785A (en) * | 2021-03-30 | 2021-09-03 | 北京艂帆科技有限公司 | Microbial inoculum container, microbial inoculum box, unmanned spraying ship and ship body balance control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201769994U (en) * | 2010-07-26 | 2011-03-23 | 大连太平洋海宝食品有限公司 | Fertilizer splashing ship |
| CN205365782U (en) * | 2016-01-13 | 2016-07-06 | 重庆星溪海农业科技有限责任公司 | Agricultural machinery boat form base |
| CN205357013U (en) * | 2016-01-13 | 2016-07-06 | 重庆星溪海农业科技有限责任公司 | Agricultural machines of boat form |
| CN205879596U (en) * | 2016-08-02 | 2017-01-11 | 河海大学常州校区 | Multi functional remote unmanned ship and control system thereof |
-
2017
- 2017-05-26 CN CN201710384943.2A patent/CN107295821B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201769994U (en) * | 2010-07-26 | 2011-03-23 | 大连太平洋海宝食品有限公司 | Fertilizer splashing ship |
| CN205365782U (en) * | 2016-01-13 | 2016-07-06 | 重庆星溪海农业科技有限责任公司 | Agricultural machinery boat form base |
| CN205357013U (en) * | 2016-01-13 | 2016-07-06 | 重庆星溪海农业科技有限责任公司 | Agricultural machines of boat form |
| CN205879596U (en) * | 2016-08-02 | 2017-01-11 | 河海大学常州校区 | Multi functional remote unmanned ship and control system thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808839A (en) * | 2017-11-22 | 2019-05-28 | 中冶宝钢技术服务有限公司 | The method of loading of ship |
| CN109302876A (en) * | 2018-11-29 | 2019-02-05 | 山东宇航航空科技有限公司 | A kind of plant protection operation unmanned boat |
| CN111602613A (en) * | 2020-05-25 | 2020-09-01 | 广州市诚一水产养殖有限公司 | Accurate fertilization method for pond culture |
| CN111990305A (en) * | 2020-07-20 | 2020-11-27 | 莆田市天然星农业开发有限公司 | Automatic fertilization ship is bred to razor clam |
| CN112362833A (en) * | 2020-10-28 | 2021-02-12 | 福建省吉龙德环保科技有限公司 | Continuous flow analysis system applied to unmanned ship |
| CN112362833B (en) * | 2020-10-28 | 2022-08-16 | 福建省吉龙德环保科技有限公司 | Continuous flow analysis system applied to unmanned ship |
| CN113335785A (en) * | 2021-03-30 | 2021-09-03 | 北京艂帆科技有限公司 | Microbial inoculum container, microbial inoculum box, unmanned spraying ship and ship body balance control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107295821B (en) | 2020-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107295821A (en) | A kind of waters fertilizer apparatus and its method based on unmanned boat | |
| CN103329824A (en) | Aquaculture robot | |
| CN103340165B (en) | Mandarin fish pond ecological high and stable yield method | |
| CN204672473U (en) | A kind of aquaculture swing type automatic spraying device | |
| CN103355071A (en) | Ecological fish farming method in rice field and ecological rice produced by rice plants | |
| CN104273063A (en) | Pond crab strengthened breeding method | |
| CN106922584A (en) | A kind of method of raising crabs in paddy field | |
| CN104621019B (en) | Artificial culturing method for blepharipoda liberata | |
| CN104396822A (en) | Symbiotic artificial breeding technology for rice and crayfishes | |
| CN105145413B (en) | A kind of Ruditapes philippinarum seedling method for massively culturing | |
| CN104982273A (en) | Cultivation method allowing rice-fish intergrowth | |
| CN102422821B (en) | Scaled full-artificial-breeding method for sepiella maindroni | |
| CN109566499A (en) | A method of making ecological rice shrimp using Chinese milk vetch and supports green manure altogether | |
| CN106135085A (en) | One seed shrimp Trionyx sinensis Wiegmann rice continuous cropping ecological cultivation method | |
| CN110178777B (en) | Bait throwing device for cultivation water area | |
| CN106365360A (en) | Method for treating bicarbonate saline-alkali water into water for aquaculture | |
| CN109463327A (en) | A kind of shrimp seed rearing method | |
| CN205161580U (en) | Backflushing type throws and raises ship | |
| CN211932081U (en) | Distributed feeding device for aquaculture | |
| CN211581212U (en) | Feeding device for aquaculture | |
| CN106106285A (en) | A kind of pond natural, ecological cultural method of swimming crab | |
| CN102106276A (en) | Method for breeding charybdis feriatus | |
| M Moursy et al. | Potentials of the use of brackish ground water in integrated aqua-agriculture systems | |
| CN108958143A (en) | A kind of fishery cultivating dynamic monitoring system | |
| CN106358660A (en) | Method for improving environments of fishery aquaculture lakes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |