CN107932518A - Aquaculture robot - Google Patents
Aquaculture robot Download PDFInfo
- Publication number
- CN107932518A CN107932518A CN201711138440.3A CN201711138440A CN107932518A CN 107932518 A CN107932518 A CN 107932518A CN 201711138440 A CN201711138440 A CN 201711138440A CN 107932518 A CN107932518 A CN 107932518A
- Authority
- CN
- China
- Prior art keywords
- real
- controller
- bait throwing
- plan target
- blanking
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The present invention provides a kind of aquaculture robot of Intelligent unattended operation, by earth station, remote control equipment, hull part, navigates by water controller, the executable portion that feeds intake, bait throwing in controller, data acquisition module, data and image transmission module and forms.Navigation controller receives the instruction of earth station, remote controler or boat-carrying panel, it is divided into remote control mode and automatic mode, automatic mode is controlled according to default course line, GPS navigation by real-time dynamic course, the speed of a ship or plane, nobody independently completes plan target navigation, ensure that course line is fixed；According to the real-time dynamic control feed rate of the parameters such as real-time voyage, the speed of a ship or plane, doses, uniform bait throwing in ensure that.The data operating parameter related with system that part of data acquisition gathers is transferred to earth station by data in real time to image stage.The present invention can independently complete the operations such as bait throwing in, fertilising, spray, kind grass, mowing, oxygenation, Xun Chi, bird repellent, monitoring.It is four fixed to realize scale aquaculture by the present invention, reduces culture fishery and labour is too relied on.
Description
Technical field
The invention belongs to agricultural mechanical field, and in particular to automatic Pilot, automatic material controlling, automatic charging, automatic job
Control method.
Background technology
Aquaculture bait throwing in needs fixed quality, fixed qty, set time, fixed location, and it is fixed to be commonly called as four.Fixed product
Matter, set time are easily able to, but for as the small special aquatic products of many slow scopes of activities of moving speed such as shrimp crab sea cucumber abalone,
Continuous with cultivation scale expands, and manually can not almost accomplish fixed qty, fixed location, just there is an urgent need to intelligence for this
Equipment, while reducing the dependence to labour, improves the reliability and work efficiency of operation.It is domestic：China Guangxi Wu Feng machines
Tool Co., Ltd produces a remote-control shrimp bait dispensing machine, which is divided into remote control and automatic two kinds of working methods, distant
Navigation route, speed, bait throwing in speed are by manual control during prosecutor formula, it is virtually impossible to avoid the occurrence of course line change, course line is not walked
Complete but bait has finished or course line walks to be over but situation that bait does not finish, can not ensure the whole uniform bait throwing in of device for feeding fish bait；Should
The automatic mode of bait dispensing machine is to realize that, when wind speed and direction changes, course can not by remembering manual remote control operation
What is avoided shifts, and the machine corrects function without course, course line change gently then occurs, heavy then occur hitting slope accident.At the same time should
Device for feeding fish bait sheds bait and begins to work from setting sail, and is just stopped to finished voyage, certainly exists hull close to bank region
During operation, there are a large amount of bait to throw on the bank, it is clear that this be plan target control defect and caused by bait largely waste.It is external：
Foreign countries do not occur the product similar with the present invention also at present, and agriculture in Indian Technological research investigated a shrimp pool device for feeding fish bait,
Feeding machine is evenly distributed in around the shrimp pool by it, controls device for feeding fish bait to work by a central controller, but so
Bait throwing in is not still very uniformly, bait throwing in blind spot still to occur.This equipment making is with high costs, is not suitable for middle-size and small-size raiser,
More have no way of promoting.
The content of the invention
The present invention by earth station, remote control equipment, hull part, navigation controller, blanking bait throwing in part, bait throwing in controller,
Eight part such as data acquisition, data image transfer forms.The present invention is realized by default destination, GPS navigation automatic Pilot and fixed
Course line travels, and is calculated by voyage, the real-time speed of a ship or plane, real-time doses and controls real-time feed rate uniformly to be thrown between realizing whole destinations
Material.Without feeding intake plan target during setting sail and making a return voyage, avoid material and throw into waste on the bank.The present invention realizes scale
The four of aquaculture are fixed, realize as each cultivation individual can be trusted to chance and strokes of luck and ingest, and avoid cultivation individual and strive food and beat
Bucket and noisy water, effectively improve the uniformity of water body bearing capacity, bait utilization and commercial specification.Meanwhile reduce aquatic products and support
Industry is grown too to rely on labour.
Brief description of the drawings
Fig. 1 is aquaculture robot front view；
Fig. 2 is aquaculture robot rearview.
Wherein：1- hulls；2- propellers；3- steering wheels；4- sealing rings；5- storage batteries；6- navigates by water controller；7- bait throwing in controls
Device processed；8- bait throwing in motors；9- rotates Feeding disc；10- feed openings；11- baiting valves；12- blanking servomotors；13-GPS receives mould
Block；14- data acquisition modules；15- data image transfer modules；16- strain detecting supporting rods；17- hoppers；18- boat-carryings control
Panel.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention performs scheduled airline by real-time dynamic control, ensure that fixed location (fixed area) feeds intake, passes through
Real-time dynamic feed rate control performs uniform feeding, ensure that the fixed qty of each point.Navigation controller 6 receives ground
Stand, the instruction of remote controler or boat-carrying control panel 18, perform remote control or automatic mode control direction machine 3 changes the boat of hull 1
Change the speed of a ship or plane of hull 1 to, control propeller 2, the position that automatic mode gives according to default course line and GPS receiver module 13,
Nobody independently completes plan target navigation；According to the real-time voyage of the navigation transmission of controller 6, the speed of a ship or plane, bait throwing in controller 7 is by answering
Become the real-time doses state modulator blanking servomotor 12 in the detection calculating discharge bucket 17 of supporting rod 16, drive baiting valve 11, change
Become the aperture of feed opening 10, control blanking speed, realize uniform blanking；Bait throwing in controller 7 is controlled according to navigation channel or predetermined width
The rotating speed of bait throwing in motor 8, changes the distance that feeds intake of rotation Feeding disc 9, realizes the complete uniform bait throwing in of plan target voyage；Data image
The data that data acquisition module 14 gathers operating parameter related to system is transferred to earth station by transport module 15 in real time.Change and make
Industry pattern simultaneously replaces actuator, so that it may realizes the operations such as intelligence fertilising, spray, kind grass, mowing, oxygenation, Xun Chi, bird repellent, monitoring.
Claims (1)
1. boat-carrying control panel 18 can be independently arranged plan target destination.
Plan target is unmoored automatically after opening.
Plan target is completed to cast anchor automatically.
Cruising ability protection is maked a return voyage automatically.
Complete to feed automatic breakpoint continuation of the journey.
Hull lateral attitude controls.
Automatic obstacle-avoiding navigates by water.
Complete plan target automatic shutdown, standby.
Strain detecting supporting rod 16 completes the real-time doses detection of boat-carrying.
Feed intake 7 dynamic doses detection filter of controller.
The controller 7 that feeds intake realizes the uniform blanking control of round voyage.
The outer voyage of destination does not perform blanking task.
Blanking speed can full-time manual intervention.
Baiting valve 11 on feed opening 10 drives for three arm links.
11 servomotor electrical adjustment of baiting valve.
8 stepless speed regulation of bait throwing in motor is realized and fed intake apart from step-less adjustment.
Rotate 9 central feeding of Feeding disc.
Blanking occlusion detection and 17 shake control of hopper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711138440.3A CN107932518A (en) | 2017-11-16 | 2017-11-16 | Aquaculture robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711138440.3A CN107932518A (en) | 2017-11-16 | 2017-11-16 | Aquaculture robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107932518A true CN107932518A (en) | 2018-04-20 |
Family
ID=61932609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711138440.3A Pending CN107932518A (en) | 2017-11-16 | 2017-11-16 | Aquaculture robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107932518A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021000133A1 (en) * | 2019-06-30 | 2021-01-07 | 唐山哈船科技有限公司 | Batching station system and batching method for supply to automatic feeding robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329824A (en) * | 2013-05-02 | 2013-10-02 | 周长宾 | Aquaculture robot |
| CN104381181A (en) * | 2014-10-17 | 2015-03-04 | 浙江海洋学院 | Long-distance feed conveying device |
-
2017
- 2017-11-16 CN CN201711138440.3A patent/CN107932518A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329824A (en) * | 2013-05-02 | 2013-10-02 | 周长宾 | Aquaculture robot |
| CN104381181A (en) * | 2014-10-17 | 2015-03-04 | 浙江海洋学院 | Long-distance feed conveying device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021000133A1 (en) * | 2019-06-30 | 2021-01-07 | 唐山哈船科技有限公司 | Batching station system and batching method for supply to automatic feeding robot |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180420 |
|
| WD01 | Invention patent application deemed withdrawn after publication |