CN108490828A - It is a kind of that fishing net device is discarded based on the automatic recycling used on beach - Google Patents
It is a kind of that fishing net device is discarded based on the automatic recycling used on beach Download PDFInfo
- Publication number
- CN108490828A CN108490828A CN201810201508.6A CN201810201508A CN108490828A CN 108490828 A CN108490828 A CN 108490828A CN 201810201508 A CN201810201508 A CN 201810201508A CN 108490828 A CN108490828 A CN 108490828A
- Authority
- CN
- China
- Prior art keywords
- fishing net
- slide unit
- beach
- rod
- caterpillar chassis
- 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.)
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Classifications
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
Abstract
Fishing net device, including caterpillar chassis, supporting rod, omnidirectional images identification camera, solar cell module, adjusting push rod, slide unit module, front end camera, hooking device, microcontroller etc. are discarded based on the automatic recycling used on beach the invention discloses a kind of；The omnidirectional images identification camera is mounted on by supporting rod on caterpillar chassis, solar cell module is mounted on by adjusting push rod on caterpillar chassis, slide unit module is mounted on caterpillar chassis, front end camera is fixed on slide unit module top, hooking device is arranged on slide unit module, and the promotion or decline to hooking device are realized by slide unit module；The omnidirectional images identification camera and front end camera are connected with microcontroller.The present invention is not required to manually monitor in real time, realizes full-automatic recycling fishing net.
Description
Technical field
It is the present invention relates to fishing net retracting device, more particularly to a kind of that fishing net dress is discarded based on the automatic recycling used on beach
It sets.
Background technology
Discarded fishing net refers to those by the illegal fishing net for laying, abandoning of fisherman.They swim in ocean everywhere, are given birth to ocean
State environment makes an extremely bad impression.It is annual all to there are many marine organisms to lead to the Xin Wen Bao of death by fishing net winding is discarded
Road, these reports make us pained, also promote the resolution that government discards cleaning ocean on fishing net.
Marine shoal refers to the tide leaching area between coastal high water level of spring tide and low tide, is known as on geomorphology " between tide
Band ".Beach is the important reserve land resources of China, and, distribution big with area is concentrated, regional conditions are good, farming, animal husbandry and fishery synthesis
The big feature of potentiality to be exploited.But enclosing and cultivating due to people in recent years, do not focus on environmental and ecological protection, beach has received sternly
The destruction of weight, it is even permanent to lose effect.One of Slope protection is that people are fished on beach using fishing net,
Discarded fishing net is just thrown away on beach.These fishing nets are unfavorable for holding for living marine resources in addition to injuring coastal marine organisms
Except continuous utilization, river drainage can be also hindered, huge security risk is caused.
The mode of the fishing net on cleaning beach relies primarily on manpower now, and annual government can all organize a large amount of manpower and materials
It goes to clear up fishing net on beach, not only cost is huge, and ineffective.A kind of automatic time can be used on beach currently not yet
The device of spiller.
Invention content
The purpose of the present invention is for the severe situation for discarding fishing net is cleared up on beach now, propose that one kind makes on beach
The device of fishing net is discarded in automatic recycling, and can realize autonomous energy supply, and control is simple.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：It is a kind of automatic based on what is used on beach
Fishing net device, including caterpillar chassis, supporting rod, omnidirectional images identification camera, solar cell module, tune are discarded in recycling
Save push rod, slide unit module, front end camera, hooking device, microcontroller, driving motor and battery module；
The omnidirectional images identification camera is mounted on by supporting rod on caterpillar chassis, and solar cell module is logical
Push rod is overregulated on caterpillar chassis, and slide unit module is mounted on caterpillar chassis, and front end camera is fixed on slide unit
Module top, hooking device are arranged on slide unit module, and the promotion or decline to hooking device are realized by slide unit module；
The driving motor is mounted on caterpillar chassis, for driving caterpillar chassis to advance；
The solar cell module is electrically connected with battery module, and battery module is discarded fishing net device for automatic recycling and provided
Operating voltage, the omnidirectional images identification camera, front end camera and driving motor are connected with microcontroller.
Further, further include GPS positioning system.
Further, solar cell module adjusts push rod by four and is mounted on caterpillar chassis, and four adjustings push away
Bar arrangement is rectangular.
Further, the slide unit module includes lower plate, upper plate, guide rod, sliding block, lead screw and the drive for connecting lower plate and upper plate
The motor of dynamic lead screw rotation, lead screw are arranged in parallel with guide rod, and guide rod passes through sliding block, sliding block and lead screw engaged transmission, the hook
Device is fixed on sliding block.
Further, the hooking device includes crotch, torsional spring, connecting rod, S types pulling force sensor, fixed seat, push rod electricity
Machine, push rod housing, crotch are articulated in fixed seat, and torsional spring is arranged in articulated section, and one end of connecting rod and crotch are hinged, connecting rod
One end of the other end and S type pulling force sensors mutually hooks, and the other end of S type pulling force sensors is mutually hooked with the push rod of push-rod electric machine, is pushed away
Bar motor is fixed in fixed seat, and fixed seat is fixed on slide unit module, and S types pulling force sensor and push-rod electric machine are and microcontroller
It is connected.
Further, have one between the pulling force F1 that S types pulling force sensor measures and the pulling force F2 of practical fishing net imparting crotch
A transformational relation, such as following formula：
In formula, M is torsional spring torque possessed by tightened position, H1For connecting rod and torsional spring in the vertical direction away from
From H2For the crotch center and the torsional spring in the vertical direction at a distance from.
Further, the microcontroller and GPS positioning system are arranged in control cabinet, and control cabinet is fixed on crawler type bottom
On disk.
Compared with prior art, the beneficial effects of the invention are as follows：
1, it is not required to manually monitor in real time, realizes full-automatic recycling fishing net.
2, the angle design and Rotation Design of crotch successfully solve the problems, such as hooking and putting down for fishing net.
3, the work of different height may be implemented in entire fishing net retracting device, adapts to the recycling of variety classes fishing net.
4, solar powered, energy conservation and environmental protection.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the schematic top plan view of the present invention；
Fig. 3-5 is the structural schematic diagram of caterpillar chassis；
Fig. 6 is the assembling structure schematic diagram of the slide unit module and hooking device of the present invention；
Fig. 7 is the hooking device structural schematic diagram of the present invention；
Fig. 8 is that the crotch of the present invention is in the schematic diagram of original state；
Fig. 9 is the in running order schematic diagram of the crotch of the present invention；
Figure 10 is the hooking device power relation principle figure of the present invention；
Figure 11 is the image recognition flow chart of the present invention；
Figure 12 is the whole control flow chart of the present invention；
In figure, caterpillar chassis 1, supporting rod 2, omnidirectional images identification camera 3, solar cell module 4, adjusting push away
Bar 5, slide unit module 6, front end camera 7, hooking device 8, driving motor 9, battery module 10, control cabinet 11, lower plate 601, on
Plate 602, guide rod 603, sliding block 604, lead screw 605, motor 606, crotch 801, torsional spring 802, connecting rod 803, S type pulling force sensors
804, fixed seat 805, push-rod electric machine 806, push rod housing 807.
Specific implementation mode
The explanation of a step is done to the present invention with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of discarding fishing net device, including caterpillar chassis 1, branch based on the automatic recycling used on beach
Strut 2, omnidirectional images identification camera 3, solar cell module 4, adjust push rod 5, slide unit module 6, front end camera 7,
Hooking device 8, driving motor 9, battery module 10, microcontroller and GPS positioning system；
The microcontroller and GPS positioning system are arranged in control cabinet 11, and control cabinet 11 is fixed on caterpillar chassis 1
On.
The omnidirectional images identification camera 3 is mounted on 1 rear portion of caterpillar chassis by supporting rod 2, it is ensured that possesses most
The good visual field；Solar cell module 4 adjusts push rod 5 by four and is mounted on caterpillar chassis 1, four adjusting 5 rows of push rod
Cloth is rectangular, to adjust the height and gradient of solar cell module 4；Slide unit module 6 is mounted on caterpillar chassis 1, is hung
Hook device 8 is arranged on slide unit module 6, realizes the promotion or decline to hooking device 8 by slide unit module 6, and protect always
Hold the angle of 15 degree of hooking device 8 and caterpillar chassis holding；Front end camera 7 is fixed on 6 top of slide unit module, for observing
The working condition of hooking device 8, judge its whether fishing net on hook.
The driving motor 9 is mounted on caterpillar chassis 1, for driving caterpillar chassis 1 to advance, caterpillar chassis 1
For existing conventional caterpillar chassis, as in Figure 3-5.
The solar cell module 4 and (the strange non-maintaining electric power storage of MENGQI model 12v solar energy of such as dream of battery module 10
Pond group) electrical connection, battery module 10 discards fishing net device for automatic recycling and provides operating voltage, to meet the electricity consumption of whole device
Demand；The omnidirectional images identification camera 3, front end camera 7 and driving motor 9 are connected with microcontroller.
As shown in fig. 6, the slide unit module 6 includes lower plate 601, upper plate 602, the guide rod for connecting lower plate 601 and upper plate 602
603, the motor 606 that sliding block 604, lead screw 605 and driving lead screw 605 rotate, lead screw 605 are arranged in parallel with guide rod 603, guide rod
603 pass through sliding block 604, sliding block 604 to be fixed on sliding block 604 with 605 engaged transmission of lead screw, the hooking device 8.
As shown in fig. 7, the hooking device 8 includes crotch 801, torsional spring 802, connecting rod 803, S type pulling force sensors
804, fixed seat 805, push-rod electric machine 806, push rod housing 807, crotch 801 are articulated in fixed seat 805, and torsional spring is arranged in articulated section
802, one end of connecting rod 803 and crotch 801 are hinged, one end phase of the other end and S types pulling force sensor 804 of connecting rod 803
It hooks, the other end of S types pulling force sensor 804 is mutually hooked with the push rod of push-rod electric machine 806, and push-rod electric machine 806 is fixed on fixed seat 805
On, fixed seat 805 is fixed on slide unit module 6, and S types pulling force sensor 804 and push-rod electric machine 806 are connected with microcontroller.
The hooking device patrol when not yet pull fishing net when state, the initial angle of torsional spring 802 be make it is curved
Hook 801 is in 120 degree of angle (as shown in Figure 8), can ensure to be unlikely to be hooked to other things in normally travel state in this way；And
As shown in figure 9, being then state of the crotch 801 on hook after fishing net, fishing net is to the pulling force of crotch 801, the torsion of torsional spring 802 at this time
Power, connecting rod is that crotch is in equilibrium state always to the pulling force of crotch 801, under this state, because crotch 801 is in certain
Height, and with ground be in 15 degree of angles, so fishing net can be hooked always.
As shown in Figure 10, the S types pulling force sensor 804 measures pulling force F1 and practical fishing net assign the drawing of crotch 801
There are one transformational relations, such as following formula between power F2：
In formula, M is the torque possessed by tightened position of torsional spring 802, H1It is connecting rod 803 and torsional spring 802 in vertical side
Upward distance, H2For 801 center of the crotch and the torsional spring 802 in the vertical direction at a distance from.
As shown in figure 11, this be pattern recognition device detailed process, the omnidirectional images identification camera in Fig. 1 first
3 shooting images, the omnidirectional images identification camera 3 is connected with the picture processing chip in control cabinet 11, by image recognition
Chip carries out the work such as image preprocessing, feature extraction, identification and classification, later according to differentiation as a result, by the list in control cabinet 11
Piece machine sends out control instruction, completes the work of fishing net recycling.
More specifically, the process of image recognition is mainly made of three links, i.e. the acquisition of data, the processing processing of data
And differentiate classification.The acquisition of data refers to the periphery scene of omnidirectional images identification camera shooting, is then converted into suitable
The form of computer disposal.The processing procedure of data includes the pretreatment, feature extraction and selection of data.Microcontroller is mainly
It is to complete the above process, purpose pretreated first is to reinforce useful information, improves picture quality, convenient for dividing image
Analysis and processing, to carry out feature extraction.In feature extraction, the image of omnidirectional images identification camera shooting is mapped
Or the primitive character of higher dimensional space is for conversion into the new feature of lower dimensional space by the method for conversion, from broadly, be from
Space Y is measured to the transformation of feature space X, the feature extraction for image is can to reflect characteristics of image for one group from image zooming-out
Basic element or numerical value original image described.Identification and classification is carried out to described image later, image recognition is reached with this
Effect.
Main process feature extraction uses NMI feature extractions.It, can be by two-dimensional digital ashing in Digital Image Processing
Degree image (M × N) regards the M on two-dimentional XOY plane × N number of pixel as, the gray value of each pixel (x, y) be f (x,
y)。
According to the concept of physically center of gravity, it is as follows to define gray level image barycenter：
Wherein, the center of gravity of barycenter (cx, cy) representative image gray scale.
Image is denoted as J around the rotary inertia of barycenter (cx, cy)(cx,cy):
According to the definition of the barycenter of image and rotary inertia, the normalization that can provide gray level image around barycenter (cx, cy) turns
Dynamic inertia, that is, NMI (Normalized Moment of Inertia)：
Wherein,For picture quality, the sum of all gray values of representative image.It is verified, NMI
With good scaling, rotation and translation invariance, therefore can be as the identification feature of object.
Due to being the operation on beach, the crawler belt of the caterpillar chassis 1, gear etc., supporting rod 2 adjust push rod 5, are sliding
The material of platform module 6 and hooking device 8 is stainless steel, to extend the service life of the present apparatus.
The course of work of the present invention is as follows：
As shown in figure 12, the work of whole device is initial, according to pre-designed route running, until omnidirectional images
Identification camera 3 finds discarded fishing net, and microcontroller can provide instruction at this time, and device is moved near discarded fishing net；Monolithic later
Machine sends out instruction to slide unit module 6, and control hooking device 8 reaches suitable height, controls crotch by push-rod electric machine 806 later
801 will be on fishing net hook；At this time S types pulling force sensor 804 judge the pulling force whether device can be in tolerance range, if so, single
Piece machine controls driving motor 9 and inverts, and device rear changes front, and traveling returns to appointed place；If pulling force, which is more than device, can bear model
It encloses, then controls crotch and put down fishing net, device continues to go on patrol by fixed route, until finding that fishing net repeats above procedure.
Claims (7)
1. a kind of discarding fishing net device based on the automatic recycling used on beach, which is characterized in that including caterpillar chassis, support
Bar, omnidirectional images identification camera, solar cell module, adjust push rod, slide unit module, front end camera, hooking device,
Microcontroller, driving motor and battery module etc.；
The omnidirectional images identification camera is mounted on by supporting rod on caterpillar chassis, and solar cell module passes through tune
It saves push rod to be mounted on caterpillar chassis, slide unit module is mounted on caterpillar chassis, and front end camera is fixed on slide unit module
Top, hooking device are arranged on slide unit module, and the promotion or decline to hooking device are realized by slide unit module；
The driving motor is mounted on caterpillar chassis, for driving caterpillar chassis to advance；
The solar cell module is electrically connected with battery module, and battery module discards fishing net device for automatic recycling and provides work
Voltage, the omnidirectional images identification camera, front end camera and driving motor are connected with microcontroller.
2. according to claim 1 a kind of based on the discarded fishing net device of automatic recycling used on beach, which is characterized in that
It further include GPS positioning system.
3. according to claim 1 a kind of based on the discarded fishing net device of automatic recycling used on beach, which is characterized in that
Solar cell module adjusts push rod by four and is mounted on caterpillar chassis, and four adjusting push rod arrangements are rectangular.
4. according to claim 1 a kind of based on the discarded fishing net device of automatic recycling used on beach, which is characterized in that
The slide unit module includes the motor of the guide rod of lower plate, upper plate, connection lower plate and upper plate, sliding block, lead screw and driving lead screw rotation,
Lead screw is arranged in parallel with guide rod, and guide rod passes through sliding block, sliding block to be fixed on sliding block with lead screw engaged transmission, the hooking device.
5. according to claim 1 a kind of based on the discarded fishing net device of automatic recycling used on beach, which is characterized in that
The hooking device includes crotch, torsional spring, connecting rod, S types pulling force sensor, fixed seat, push-rod electric machine, push rod housing, crotch
It is articulated in fixed seat, torsional spring is arranged in articulated section, and one end of connecting rod and crotch are hinged, the other end and the S type pulling force of connecting rod
One end of sensor mutually hooks, and the other end of S type pulling force sensors is mutually hooked with the push rod of push-rod electric machine, and push-rod electric machine is fixed on fixation
On seat, fixed seat is fixed on slide unit module, and S types pulling force sensor and push-rod electric machine are connected with microcontroller.
6. according to claim 5 a kind of based on the discarded fishing net device of automatic recycling used on beach, which is characterized in that
There are one transformational relations, such as following formula between the pulling force F1 that S type pulling force sensors measure and the pulling force F2 of practical fishing net imparting crotch：
In formula, M is torsional spring torque possessed by tightened position, H1For connecting rod and torsional spring in the vertical direction at a distance from, H2For
The crotch center and the torsional spring in the vertical direction at a distance from.
7. according to claim 1 a kind of based on the discarded fishing net device of automatic recycling used on beach, which is characterized in that
The microcontroller and GPS positioning system are arranged in control cabinet, and control cabinet is fixed on caterpillar chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810201508.6A CN108490828A (en) | 2018-03-12 | 2018-03-12 | It is a kind of that fishing net device is discarded based on the automatic recycling used on beach |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810201508.6A CN108490828A (en) | 2018-03-12 | 2018-03-12 | It is a kind of that fishing net device is discarded based on the automatic recycling used on beach |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108490828A true CN108490828A (en) | 2018-09-04 |
Family
ID=63338623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810201508.6A Withdrawn CN108490828A (en) | 2018-03-12 | 2018-03-12 | It is a kind of that fishing net device is discarded based on the automatic recycling used on beach |
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| Country | Link |
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| CN (1) | CN108490828A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858125A (en) * | 2018-09-11 | 2018-11-23 | 李汉彭 | A kind of robot |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180904 |
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| WW01 | Invention patent application withdrawn after publication |