CN108639237A - A kind of lateral body can float the three body unmanned boat of solar energy inshore fishing function of dive - Google Patents
A kind of lateral body can float the three body unmanned boat of solar energy inshore fishing function of dive Download PDFInfo
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- CN108639237A CN108639237A CN201810654033.6A CN201810654033A CN108639237A CN 108639237 A CN108639237 A CN 108639237A CN 201810654033 A CN201810654033 A CN 201810654033A CN 108639237 A CN108639237 A CN 108639237A
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- water
- driving device
- lateral piece
- lateral
- main hull
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
A kind of lateral body disclosed by the invention can float the three body unmanned boat of solar energy inshore fishing function of dive,Including main hull and symmetrical configuration,It is located at the first lateral piece and the second lateral piece of main hull both sides,It is separately connected driving device one and driving device three on first lateral piece and the second lateral piece,Driving device one is identical with three structure of driving device,And the left and right sides of three positional symmetry of driving device one and driving device being located in the middle part of main hull,It is equipped with underwater surface environmental monitoring system on first lateral piece and the second lateral piece,Main hull is equipped with solar electric power supply system,Right place water sampling monitors system,Autonomous aeration system,Driving device two,Controller and power supply,Controller is electrically connected with power supply,Power supply is electrically connected with solar electric power supply system,Underwater surface environmental monitoring system,Right place water sampling monitors system,Autonomous aeration system,Driving device two is electrically connected with the controller respectively.
Description
Technical field
The invention belongs to Marine engineering equipment technical fields, and in particular to a kind of lateral body can float the solar energy coastal waters of dive
Three body unmanned boat of fishery function.
Background technology
China has a vast territory, and ground possesses Bohai and Yellow Seas, the East Sea and the South Sea four across the torrid zone, subtropical zone, temperate zone and cool temperature zone
Big marine site.Seashore line length 18000km has island more than 6500, about 1.5 hundred million hectares of the continental shelf area within depth of water 200m, edge
More than 130 ten thousand hectares of the tidal-flat area that Hai Youke is propagated artificially.China coast warmer climate is gentle, has numerous rivers to enter
Sea, brings large amount of organic matter, therefore littoral seawater nutrient is abundant, and planktonic organism is various, the substrate of littoral zone based on silt,
Have a more rock reefs in some areas, it is above-mentioned everything, be suitable for the procreation growth of fish, shrimp, shellfish, algae.
The seawater fishery in China has a long history, and seawater fishery occupies an important position in fishery economic, for
National economy and living standards of the people have important influence.But with ocean development progress faster, fisherman's dehydration is lost to apply and be asked
Topic is continuously increased；The marine fishing production capacity continued to increase causes catches miniaturization, devalued trend apparent；Sea fishery is set
It is horizontal still relatively backward to apply equipment, standardization, informationization etc., integrated production capacity and the ability to ward off risks be not high, fishery organization's structure
Generally still it is in " low small scattered weak " feature, the market competitiveness needs to be further improved.
Totally apparently, seawater fishery at this stage mainly has following reason that seawater fishery development is caused to be restricted very
To stepping back：
First, cultivation scale is bigger than normal so that and cost of labor and oil plant are higher using total price, and aquaculture cost is continuously increased,
In addition traditional aquaculture management method is improper, to cause seawater fishery per unit area yield rate and earning rate to continue in recent years lowly；
Second, environmental pollution causes the non-natural casualty loss of seawater fishery to be continuously increased；
Third, three the Nature disasters restrict seawater fishery production harvest, as disaster caused by a windstorm destroys seawater fishery bamboo raft, red tide etc.
It is huge that algae great outburst causes the fish shrimps growth deficiency of seawater fishery or even large quantities of death etc. that can be caused to seawater fishery
Loss.
Meanwhile it is more for seawater fishery research direction both at home and abroad at present, but relatively concentrate on fishery cultivating theory and technology
And Method reform, the research in inshore fishing cultivation equipment field is less, and domestic and international seawater fishery equipment is mainly manually grasped
Make, in terms of unmanned boat field, seawater fishery equipment development aspect more blank, especially multi-functional more body unmanned boats are in coastal waters
Application in terms of fishery cultivating has larger blank and huge market prospects.
Invention content
In view of this, the present invention provides a kind of lateral body can float dive three body of solar energy inshore fishing function nobody
Ship, by carrying the different objective function of different Implement of Function Module on three body unmanned boats of the dive that can float, to needle
Some existing technical problem underlyings of inshore fishing cultivation are solved to property.
The technical scheme is that：
A kind of lateral body can float the three body unmanned boat of solar energy inshore fishing function of dive, including main hull and structure pair
The first lateral piece and the second lateral piece claimed, first lateral piece and the second lateral piece are located at main hull both sides, described
Driving device one and driving device three, the driving device one and driving are connected separately on first lateral piece and the second lateral piece
Three structure of device is identical, and the left and right two of three positional symmetry of the driving device one and driving device being arranged in the middle part of main hull
Side, underwater surface environmental monitoring system is equipped on first lateral piece and the second lateral piece, and the main hull is equipped with too
Positive energy power supply system, right place water sampling monitoring system, autonomous aeration system, driving device two, controller and power supply electricity
Source, the controller are electrically connected with power supply, and the power supply is electrically connected with solar electric power supply system, the underwater surface
Environmental monitoring system, right place water sampling monitoring system, autonomous aeration system, driving device two are electrically connected with controller respectively
It connects.
Preferably, the driving device one includes steering engine, and the output shaft of the steering engine is connect by shaft coupling with shaft, institute
The other end for stating shaft is connect by bearing with fulcrum bearing, is provided with connecting plate on the right side of the shaft, and the one of the connecting plate
Side is fixedly connected with shaft, and the other side of the connecting plate is fixedly connected with the second lateral piece；First lateral piece and driving
The connection relation of device one, the second lateral piece are identical as the connection relation of driving device three.
Preferably, the driving device two includes motor, universal coupling one, universal coupling two, transmission shaft one, transmission
Axis two and propeller, for the motor in the middle part of main hull, the output shaft of the motor passes through universal coupling one and transmission shaft
One one end connection, the other end of the transmission shaft one are connect by universal coupling two with one end of transmission shaft two, the biography
The other end of moving axis two extends to after passing through axle sleeve outside main hull, and fixes propeller in its end.
Preferably, the right place water sampling monitoring system includes water receiver, water pump and GPS positioning instrument, the storage
Hydrophone and GPS positioning instrument are arranged on main hull, and water receiver is connect by multichannel hose with water pump, the GPS positioning instrument, water
Pump is electrically connected with the controller respectively.
Preferably, the water receiver includes 24 cells being arranged in order, and is provided between each two cell automatically controlled
Valve is respectively provided with water-level gauge and water quality sensor, the electric control valve, water-level gauge and water quality sensing in each cell
Device is electrically connected with the controller respectively.
Preferably, the underwater surface environmental monitoring system includes being connect with controller signals by wireless transport module
Water temperature sensor, pH value sensor, water turbidity sensor, the oxygen-containing quantity sensor of water and two water-proof CCD cameras, the water temperature pass
Sensor is arranged on rear side of the first lateral piece, and pH value sensor is arranged on rear side of the second lateral piece, and water turbidity sensor and water are oxygen-containing
Quantity sensor is separately positioned on rear side of main hull, before two water-proof CCD cameras are separately positioned on the first lateral piece and the second lateral piece
End.
Preferably, the autonomous aeration system includes oxygen increasing pump, and the oxygen increasing pump is arranged on main hull, the oxygen increasing pump
It is connected by the single channel import of gas-guide tube and part flow arrangement, the multi-way outlet of the part flow arrangement passes through gas-guide tube and ball with holes
Shape oxygen-increasing device connects, and the spherical oxygen-increasing device with holes is evenly distributed below main hull.
Compared with prior art, a kind of lateral body provided by the invention can float three body of solar energy inshore fishing function of dive
Unmanned boat creatively combines the cultivation of three body multifunctional unmanned boats and inshore fishing, has autonomous oxygenation, of fixed place and time
The function of water sampling and monitoring, underwater surface environmental monitoring, it is flat using this advantage of unmanned surface vehicle small-size water surface outstanding
Platform, many advantages, such as playing its high reliability, practicability, economy, different modules is carried on unmanned surface vehicle can be real
Existing different objective function, has high-adaptability, can give full play to its advantage for inshore fishing cultivation, unmanned surface vehicle is made
For platform, and solar panels are assembled, carries various advanced sensors, automation fishery cultivating service module, it can be achieved that the water surface
Comprehensive real time monitoring to target water is realized in the combination of unmanned boat and fishery cultivating, and the aquatic products for carrying out autonomy-oriented is supported
Back work is grown, the quick improvement and development, advantage for being conducive to seawater fishery industry are：
1, the present invention makes full use of trimaran sea-keeping, the good feature of stability that can steadily, flexibly be reached in offshore waters
Culturing area carries out patrol monitoring；
2, the present invention by underwater aquatic environment monitors system and the lower rice root nematode that can float can be to status of the water area and underwater
Environment is monitored, and preferably manages waters, reduces cost of labor；
3, the present invention monitors pH value, water temperature, water in real time by the water quality sensor and wireless transport module that are carried on hull
Turbidity and water oxygen content, and row feedback in real time, carry out oxygenation by control system, reduce the labor intensity of personal monitoring, improve
Seawater fishery autonomy-oriented and intelligence degree；
4, solar energy of the invention absorbs solar energy using solar panels and is converted into the electricity in accumulator for accumulating system
Can, provide electric propulsion for unmanned boat, in addition solar energy be clean energy resource, and solar electric power propulsion Ship Vibration and noise
Small, therefore, energy-saving and emission-reduction whiles, also reduces the influence grown to material culture；
5, the present invention can creatively float three body unmanned boat of descending inshore fishing function and seawater fishery has contacted
Come, make full use of many advantages of unmanned surface vehicle, is allowed to more by equipment needed for unmanned surface vehicle this effective carrier carrying
Good meets seawater fishery job requirements, realizes that the water surface and underwater environment are real to greatest extent by the design for the descending that can float
When the function that monitors, realize remote breeding condition monitoring and cultivation AUTONOMOUS TASK, promoting seawater fishery autonomy-oriented degree
Aquaculture cost is reduced simultaneously, improves breeding income, so as to push inshore fishing cultivation further to modernization, informationization, intelligence
Energyization develops；
6, practicability of the invention is good, is worthy to be popularized.
Description of the drawings
Fig. 1 is the hull top partial view diagram structural schematic diagram of the present invention；
Fig. 2 is hull part the side view figure structure schematic representation of the present invention；
Fig. 3 is the hull partial bottom view structural schematic diagram of the present invention；
Fig. 4 is the solar electric power supply system structural schematic diagram of the present invention；
Fig. 5 is the right place water sampling monitoring system structure diagram of the present invention；
Fig. 6 is the autonomous aeration system structural schematic diagram of the present invention；
Fig. 7 is one structural schematic diagram of inventive drive means.
Reference sign：
101, deck；102, GPS positioning instrument；200, water-proof CCD camera device；201, the first lateral piece；202, motor；2、
Main hull；20, controller；203, universal coupling one；204, pH value sensor；205, wireless transport module；206, transmission shaft
One；300, universal coupling two；301, transmission shaft two；302, propeller；303, water turbidity sensor；304, water oxygen content senses
Device；400, autonomous aeration system；401, spherical oxygen-increasing device with holes；402, part flow arrangement；403, gas-guide tube；404, oxygen increasing pump；
500, monitoring system is acquired；501, the first hose；502, water receiver；503, multichannel hose；504, water pump；505, second is soft
Pipe；600, solar electric power supply system；601, solar panel；602, conducting wire one；603, control panel；604, conducting wire two；
605, accumulator；701, steering engine；702, output shaft；703, connecting plate；704, shaft；705, fulcrum bearing.
Specific implementation mode
Can float the three body unmanned boat of solar energy inshore fishing function of dive the present invention provides a kind of lateral body, with reference to
The structural schematic diagram of Fig. 1 to Fig. 7, the present invention will be described, since the present invention is symmetrical structure, therefore is only said to unilateral side
It is bright.
As shown in Figure 1, a kind of lateral body provided by the invention can float three body of solar energy inshore fishing function of dive nobody
Ship includes the first lateral piece 201 and the second lateral piece of main hull 2 and symmetrical configuration, first lateral piece 201 and second
Lateral piece is located at 2 both sides of main hull, and driving device one is connected separately on first lateral piece, 201 and second lateral piece
With driving device three, the driving device one is identical with three structure of driving device, and the driving device one and driving device three
Being arranged for positional symmetry is equipped with water on the left and right sides at 2 middle part of main hull, first lateral piece, 201 and second lateral piece
Face underwater environment monitors system, and the main hull 2 is equipped with solar electric power supply system 600, right place water sampling monitoring system
System 500, autonomous aeration system 400, driving device two, controller 20 and power supply, the controller 20 and power supply electricity
Connection, the power supply are connect with solar electric power supply system electricity 600, the underwater surface environmental monitoring system, right place
Water sampling monitoring system 500, autonomous aeration system 400, driving device two are electrically connected with the controller respectively.
Further, the driving device one includes steering engine 701, and the output shaft 702 of the steering engine by shaft coupling and turns
Axis 704 connects, and the other end of the shaft is connect by bearing with fulcrum bearing 705, and connecting plate is provided on the right side of the shaft
703, the side of the connecting plate 703 is fixedly connected with shaft, and the other side of the connecting plate 703 is fixed with the second lateral piece to be connected
It connects；First lateral piece 201 and the connection relation of driving device one, the connection relation phase of the second lateral piece and driving device three
Together.
Further, the driving device two includes motor 202, universal coupling 1, universal coupling 2 300, passes
Moving axis 1, transmission shaft 2 301 and propeller 302, the motor 202 is mounted in 2 middle part of main hull, the output of the motor 202
Axis is connect by universal coupling 1 with one end of transmission shaft 1, and the other end of the transmission shaft 1 passes through universal
Shaft coupling 2 300 is connect with one end of transmission shaft 2 301, and the other end of the transmission shaft 2 301 extends to master after axle sleeve
Outside hull 2, and propeller 302 is fixed in its end.
Further, the right place water sampling monitoring system 500 includes water receiver, water pump and GPS positioning instrument
102, the water receiver 502 and GPS positioning instrument 102 are arranged on main hull 2, and water receiver 502 passes through multichannel hose 503 and water
504 connection of pump, the GPS positioning instrument 102, water pump 504 are electrically connected with controller 20 respectively.
Further, the water receiver 502 includes 24 cells being arranged in order, and is provided between each two cell
Electric control valve is respectively provided with water-level gauge and water quality sensor, the electric control valve, water-level gauge and water quality in each cell
Sensor is electrically connected with controller 20 respectively.
Further, the underwater surface environmental monitoring system includes being connect with controller signals by wireless transport module
Water temperature sensor, pH value sensor 204, water turbidity sensor 303, the oxygen-containing quantity sensor 304 of water and two water-proof CCD cameras
200, the water temperature sensor setting is arranged in 201 rear side of the first lateral piece, pH value sensor 204 on rear side of the second lateral piece,
Water turbidity sensor 303 and the oxygen-containing quantity sensor of water 304 are separately positioned on 2 rear side of main hull, and two water-proof CCD cameras 200 are distinguished
It is arranged in the first lateral piece 201 and the second lateral piece front end.
Further, the autonomous aeration system 400 includes oxygen increasing pump 404, and the oxygen increasing pump is arranged on main hull 2,
The oxygen increasing pump 404 is connect by gas-guide tube 403 with the single channel import of part flow arrangement 402, and the multichannel of the part flow arrangement 402 goes out
Mouth is connect by gas-guide tube 403 with spherical oxygen-increasing device 401 with holes, and the spherical oxygen-increasing device 401 with holes is evenly distributed on
2 lower section of main hull.
The three body unmanned boat of solar energy inshore fishing function of dive as shown in Figure 1, a kind of lateral body of the present invention can float, packet
Main hull 2, the first lateral piece 201 and the second lateral piece are included, first lateral piece, 201 and second lateral piece is located at main ship
Body both sides are connected separately with driving device one and driving device three, the drive on first lateral piece, 201 and second lateral piece
Dynamic device one is identical with three structure of driving device, and the setting of three positional symmetry of the driving device one and driving device is in main ship
The left and right sides in the middle part of body, the main hull 2 is equipped with solar electric power supply system 600, right place water sampling monitors system
500, autonomous aeration system 400, GPS positioning instrument 102 and controller 20, the controller 20 respectively with solar electric power supply system
600, right place water sampling monitoring system 500, autonomous aeration system 400 and GPS positioning instrument 102 are electrically connected, and the GPS is fixed
Position instrument 102 is mounted on 2 front part of main hull.
Wherein, it is additionally provided with underwater surface environmental monitoring system in the first lateral piece 201 and the second lateral piece.
As the one of which embodiment of the present invention, as shown in Figure 1, heretofore described driving device two includes motor
202, universal coupling 1, universal coupling 2 300, transmission shaft 1, transmission shaft 2 301 and propeller 302, motor
202 lean on front position mounted in 2 middle part of main hull, and one end of transmission shaft 1 is connected with motor 202 by universal coupling 1
It connects, the other end is connected with transmission shaft 2 301 by universal coupling 2 300, and the other end of transmission shaft 2 301 is stretched by axle sleeve
Go out outside ship, propeller 302 is fixedly connected on transmission shaft 2 301 and stretches out the end outside ship.
Wherein, two navigating power of driving device comes from motor 202, controls motor by controller 20, motor 202 drives
Transmission shaft 1 and transmission shaft 2 301 impart power to propeller.
As the one of which embodiment of the present invention, as shown in Figure 1, the underwater surface environmental monitoring system in the present invention
Including water temperature sensor, pH value sensor 204, water turbidity sensor 303 and water oxygen content sensing 304 and wireless transport module
205, for water temperature sensor cloth in 201 back-end location of the first lateral piece, pH value sensor 204 is arranged in the second lateral piece rear end position
It sets, water turbidity sensor 303 and the oxygen-containing quantity sensor of water 304 are arranged in 2 back-end location of main hull, it can be achieved that unmanned boat is run over
Real-time dynamic monitoring in journey and feedback operation understand water quality situation in time convenient for raiser.
Wherein, water temperature sensor and pH value sensor are using AMT-PH300 Intelligence sensors, the type of water turbidity sensor
Number be JZ-WQZ, the oxygen-containing quantity sensor of water be az | | az8403.
Heretofore described underwater surface environmental monitoring system further includes water-proof CCD camera device 200, water-proof CCD camera
Device 200 is separately mounted to the front end of the first lateral piece 201 and the second lateral piece, and passes through wireless transport module and control respectively
20 signal of device connects.
As the one of which embodiment of the present invention, as shown in fig. 7, the driving device one includes steering engine 701, it is described
The output shaft of steering engine 701 is connect by shaft coupling 702 with shaft 704, and the other end of the shaft 704 passes through bearing and fulcrum bearing
The right side of 705 connections, the shaft 704 is provided with connecting plate 703, and the side of the connecting plate 703 is fixed with shaft 704 to be connected
It connects, the other side of the connecting plate 703 is fixedly connected with the second lateral piece.
Wherein, connection relation, the second lateral piece and the driving device one of first lateral piece 201 and driving device one
Connection relation is identical.
When carrying out aquatic environment monitoring, controller 20 sends control instruction signal to driving device one so that steering engine 701 opens
It is dynamic, while steering engine 701 drives shaft 704 to rotate, synchronous drive connecting plate 703 and with 703 fixed the second side of connecting plate
Sheet body rotates so that after the second lateral piece floats up to above the water surface, controller 20 sends instructions to water-proof CCD camera 200, waterproof
After camera 200 starts, back information carries out data processing to controller 20 and divides after water-proof CCD camera 200 acquires Surface Picture
Analysis.
When carrying out underwater environment monitoring, controller 20 sends control instruction signal to driving device one so that steering engine 701 opens
It is dynamic, while steering engine 701 drives shaft 704 to rotate backward, synchronous drive connecting plate 703 and with connecting plate 703 fixed the
Two lateral pieces rotate backward so that after the second lateral piece dive certain depth, controller 20 sends instructions to water-proof CCD camera
200, after water-proof CCD camera 200 starts, back information carries out data to controller 20 after water-proof CCD camera 200 acquires Surface Picture
Processing and analysis.
When the first lateral piece 201 being needed to float, controller 20 sends control instruction signal to driving device three so that steering engine
701 start, while steering engine 701 drives shaft 704 to rotate, synchronous drive connecting plate 703 and with connecting plate 703 fixed the
One lateral piece 201 rotates so that after the first lateral piece 201 floats up to above the water surface, controller 20 sends instructions to waterproof camera shooting
First 200, after water-proof CCD camera 200 starts, water-proof CCD camera 200 acquires after Surface Picture back information to controller 20 into line number
According to processing and analysis.
When 201 dive of the first lateral piece being needed to carry out underwater environment monitoring, controller 20 sends control instruction signal to drive
Dynamic device three so that steering engine 701 starts, while steering engine 701 drives shaft 704 to rotate backward, synchronous drive connecting plate 703
It is rotated backward with 703 fixed first lateral piece 201 of connecting plate so that after 201 dive certain depth of the first lateral piece, control
Device 20 sends instructions to water-proof CCD camera 200, and after water-proof CCD camera 200 starts, water-proof CCD camera 200 returns after acquiring Surface Picture
Communication is ceased carries out data processing and analysis to controller 20.
As the one of which embodiment of the present invention, as shown in figure 4, heretofore described solar electric power supply system 600
Including solar panel 601, control panel 603 and accumulator 605, solar panel 601 is arranged in the first on main hull 2
On plate 101, solar panel 601 is connected by conducting wire 1 with control panel 603, and control panel 603 passes through conducting wire two
604 are connected with accumulator 605, realize luminous energy and electric transformation of energy, and by the power storage of conversion to accumulator 605 for making
With control panel 603 and controller electrical connection, accumulator 605 is rechargeable lithium battery.
Wherein, solar electric power supply system of the invention can make full use of solar energy to charge, and meet a part of power need
It asks, achievees the effect that energy-saving and emission-reduction reduce production cost.
As the one of which embodiment of the present invention, it includes water receiver, water that right place water sampling, which monitors system 500,
Pump and GPS positioning instrument 102, the water receiver 502 and GPS positioning instrument 102 are arranged on main hull 2, and water receiver 502 passes through mostly logical
Road hose 503 is connect with water pump 504, and the GPS positioning instrument 102, water pump 504 are electrically connected with controller 20 respectively.
Wherein, water receiver 502 is mounted on 2 middle part of main hull, and water receiver 502 includes 24 cells being arranged in order, often
The acquisition water sample for some fixed point for storing a time-domain is corresponded in one cell, is provided between each two cell automatically controlled
Valve is respectively provided with water-level gauge and water quality sensor, the electric control valve, water-level gauge and water quality sensing in each cell
Device is electrically connected with controller 20 respectively.
As the one of which embodiment of the present invention, as shown in figure 5, heretofore described right place water sampling
Monitoring system 500 includes water pump 504, water receiver 502, the first hose 501, multichannel hose 503, the second hose 505 and GPS fixed
Position instrument 102.Second hose 505 is connected to the water inlet of water pump 504, the list of the water outlet connecting multi-channel hose 503 of water pump 504
The multi-way outlet end of road input end, multichannel hose 503 is connect with one end of water receiver 502, the other end connection of water receiver 502
First hose 501, water receiver 502 is mounted on 2 middle part of main hull, and part, water receiver 502 are divided into 24 small lattice and are respectively intended to rearward
Store water sample in different time periods.Water-level gauge is also equipped in the water receiver 502, water-level gauge, water pump 504 connect with controller respectively
It connects.
When system works, controller knows the location of unmanned boat coordinate by GPS positioning instrument, plans unmanned boat in advance
Route, and concurrently set the time of water sampling, location information when water sampling, the storage recorded using GPS positioning instrument
Be additionally provided with water-level gauge and water quality sensor in the small lattice of each of hydrophone, water-level gauge and water quality sensor respectively with controller
Connection, controller are connect with water pump, are imported in water receiver through delivery hose by the collected water sample of water pump, water sample channel is single
One, fill up 24 cells successively, i.e., when filling first cell, when water sample will be filled with cell, electrically operated valve
It closes, water pump is stopped, and when acquiring water sample next time, i.e., water sample will enter second cell, and so on, it is acquired
The water sample arrived carries out Data Detection and record by water quality sensor, so that user can grasp the daily water quality feelings of Cultivated water
Condition.
Wherein, GPS positioning instrument 102 is small-sized positioning device, similar with car-mounted orientator, and main function sets unmanned boat
The route planning of autonomous navigation and the feedback of coordinate, model are SLD3.
When carrying out water sampling, GPS positioning instrument sends the location coordinate information acquired in real time to controller, controller
The location coordinate information received and preset location coordinate information are compared, when the location coordinate information received and preset position
Set coordinate information it is consistent when, controller sends out the water suction of control signal feed pump in water receiver, while water-level gauge acquires water in real time
Position information, and water level information is sent to controller and is compared with preset water level lower threshold value in controller, work as water level information
Equal to when preset water level upper threshold value, controller sends out control signal difference feed pump and electric control valve so that water in controller
Pump stops water suction, and electric control valve closes valve.
As the one of which embodiment of the present invention, as shown in fig. 6, heretofore described autonomous aeration system 400 wraps
Oxygen increasing pump 404, gas-guide tube 403 are included, part flow arrangement 402 and multiple spherical oxygen-increasing devices 401 with holes, oxygen increasing pump 404 are arranged in master
2 middle part of hull leans on front part, the both sides of part flow arrangement 402 to be all connected with gas-guide tube 403, and the wherein side of part flow arrangement 402 is set
A gas-guide tube 403 is set, which is connected directly with oxygen increasing pump 404, and the other side setting of part flow arrangement 402 is multiple
Multiple gas-guide tubes 403 of gas-guide tube 403, the side are connect with spherical oxygen-increasing device 401 with holes respectively, the spherical oxygenation dress with holes
It sets 401 seven are arranged altogether and leans on front position in the middle part of being evenly distributed below hull, realizes the purpose of even oxygen aeration.
Wherein, the GPS positioning instrument auxiliary timing fixed point water sampling monitoring system in the present invention can be to seawater fishery waters
Implement of fixed place and time and dynamic monitoring, Real-time Feedback water area water-quality situation reaches effectively monitoring water area water-quality situation, effectively sends out
Existing water quality pollutant problem, timely feedbacks improvement, and avoiding water pollution from causing, fish shrimps are dead and algae natural calamity is quick-fried
Hair.
Wherein, it is provided with valve between each two cell of water receiver, water level is respectively provided in each cell
Meter, water level is learnt by water-level gauge.
Wherein, it is oxygen-containing can to find that waters is found in water quality monitoring for the water quality sensor in the present invention and autonomous aeration system
Measure it is relatively low in the case of to waters carry out oxygenation operation, keep the best oxygen content in waters.
Wherein, the underwater surface environmental monitoring system in the present invention can carry out effectively Cultivated water with aquatic environment under water
Monitoring, garbage on water floating situation can be monitored, underwater fish shrimps growing state and underwater culture equipment service condition will
Situation Real-time Feedback is cultivated to raiser, is efficiently managed.
When work, the first lateral piece is controlled by controller and the second lateral piece floats, utilizes the realization pair of syringe needle video camera
The monitoring of aquatic environment is realized by controlling the dive of the first lateral piece and the second lateral piece to underwater environment and material culture
Growing state monitoring, real-time Transmission is carried out to the picture of shooting by wireless transport module, to reach real time monitoring water
The purpose of face underwater environment helps raiser to be better understood by Cultivated water and material culture growing state.
Wherein, the present invention three body unmanned boat of descending inshore fishing function that can creatively float is contacted with seawater fishery
Get up, make full use of many advantages of unmanned surface vehicle, is allowed to by equipment needed for unmanned surface vehicle this effective carrier carrying
Better meet seawater fishery job requirements, by the design for the descending that can float realize to greatest extent the water surface and it is underwater in real time
The function of monitoring, so as to push inshore fishing cultivation further to modernization, informationization, intelligent development.
A kind of lateral body provided by the invention can float the three body unmanned boat of solar energy inshore fishing function of dive, creatively
The cultivation of three body multifunctional unmanned boats and inshore fishing is combined, have autonomous oxygenation, water sampling of fixed place and time and monitoring,
It is highly reliable to play its using this advantage of unmanned surface vehicle small-size water surface platform outstanding for the function of underwater surface environmental monitoring
Many advantages, such as property, practicability, economy, different modules is carried on unmanned surface vehicle and can be achieved to different target work(
Can, there is high-adaptability, can give full play to its advantage for inshore fishing cultivation, using unmanned surface vehicle as platform, and assemble
Solar panels carry various advanced sensors, automation fishery cultivating service module, it can be achieved that unmanned surface vehicle and fishery are supported
The combination grown realizes to comprehensive real time monitoring of target water, and carries out the aquaculture back work of autonomy-oriented, favorably
In the quick improvement and development of seawater fishery industry.
A kind of lateral body provided by the invention can float the three body unmanned boat of solar energy inshore fishing function of dive, make full use of
Trimaran sea-keeping, the good feature of stability, offshore waters can steadily, flexibly reach culturing area, carry out patrol monitoring, lead to
Status of the water area and underwater environment can be monitored by crossing underwater aquatic environment monitoring system and the lower rice root nematode that can float, preferably
Waters is managed, cost of labor is reduced, pH value, water is monitored by the water quality sensor and wireless transport module that are carried on hull in real time
Temperature, water turbidity and water oxygen content, and row feedback in real time, carry out oxygenation by control system, reduce the labor intensity of personal monitoring,
Seawater fishery autonomy-oriented and intelligence degree are improved, solar energy absorbs solar energy using solar panels and convert for accumulating system
For the electric energy in accumulator, electric propulsion is provided for unmanned boat, in addition solar energy be clean energy resource, and solar electric power promote
Ship Vibration and noise are small, and therefore, energy-saving and emission-reduction whiles also reduces the influence grown to material culture；The present invention is creatively
Three body unmanned boat of the descending inshore fishing function that can float is connected with seawater fishery, makes full use of all of unmanned surface vehicle
More advantages are allowed to better meet seawater fishery job requirements by equipment needed for unmanned surface vehicle this effective carrier carrying,
The function that the water surface and underwater environment monitor in real time is realized to greatest extent by the design for the descending that can float, and realizes remote breeding
Condition monitoring and cultivation AUTONOMOUS TASK, aquaculture cost is reduced while promoting seawater fishery autonomy-oriented degree, improves cultivation
Income, so as to push inshore fishing cultivation further to modernization, informationization, intelligent development, practicability of the present invention is good, value
It must promote.
Disclosed above is only the preferable specific embodiment of the present invention, and still, the embodiment of the present invention is not limited to this,
What any those skilled in the art can think variation should all fall into protection scope of the present invention.
Claims (7)
- The three body unmanned boat of solar energy inshore fishing function of dive 1. a kind of lateral body can float, which is characterized in that including main hull (2) and the first lateral piece of symmetrical configuration (201) and the second lateral piece, first lateral piece (201) and the second lateral piece Main hull (2) both sides are located at, one He of driving device is connected separately on first lateral piece (201) and the second lateral piece Driving device three, the driving device one is identical with three structure of driving device, and the driving device one and driving device three The symmetrical left and right sides being arranged in the middle part of main hull (2) is set, is equipped on first lateral piece (201) and the second lateral piece Underwater surface environmental monitoring system, the main hull (2) are equipped with solar electric power supply system (600), right place water sampling Monitoring system (500), autonomous aeration system (400), driving device two, controller (20) and power supply, the controller (20) it is electrically connected with power supply, the power supply is connect with solar electric power supply system electric (600), the underwater surface environment Monitoring system, right place water sampling monitoring system (500), autonomous aeration system (400), driving device two respectively with control Device is electrically connected.
- The three body unmanned boat of solar energy inshore fishing function of dive 2. a kind of lateral body according to claim 1 can float, It is characterized in that, the driving device one includes steering engine (701), and the output shaft (702) of the steering engine passes through shaft coupling and shaft (704) it connects, the other end of the shaft is connect by bearing with fulcrum bearing (705), and connection is provided on the right side of the shaft The side of plate (703), the connecting plate (703) is fixedly connected with shaft, the other side and the second lateral plate of the connecting plate (703) Body is fixedly connected；Connection relation, the second lateral piece and the driving device three of first lateral piece (201) and driving device one Connection relation is identical.
- The three body unmanned boat of solar energy inshore fishing function of dive 3. a kind of lateral body according to claim 1 can float, It is characterized in that, the driving device two includes motor (202), universal coupling one (203), universal coupling two (300), transmission Axis one (206), transmission shaft two (301) and propeller (302), the motor (202) is in the middle part of main hull (2), the motor (202) output shaft is connect by universal coupling one (203) with one end of transmission shaft one (206), the transmission shaft one (206) The other end connect with one end of transmission shaft two (301) by universal coupling two (300), the transmission shaft two (301) it is another One end extends to main hull (2) outside after passing through axle sleeve, and fixes propeller (302) in its end.
- The three body unmanned boat of solar energy inshore fishing function of dive 4. a kind of lateral body according to claim 1 can float, It is characterized in that, the right place water sampling monitoring system (500) includes water receiver, water pump (504) and GPS positioning instrument (102), the water receiver (502) and GPS positioning instrument (102) are arranged on main hull (2), and water receiver (502) passes through multichannel Hose (503) is connect with water pump (504), and the GPS positioning instrument (102), water pump (504) are electrically connected with controller (20) respectively.
- The three body unmanned boat of solar energy inshore fishing function of dive 5. a kind of lateral body according to claim 4 can float, It is characterized in that, the water receiver (502) includes 24 cells being arranged in order, and electrically-controlled valve is provided between each two cell , respectively it is provided with water-level gauge and water quality sensor, the electric control valve, water-level gauge and water quality sensor in each cell It is electrically connected respectively with controller (20).
- The three body unmanned boat of solar energy inshore fishing function of dive 6. a kind of lateral body according to claim 1 can float, It is characterized in that, the underwater surface environmental monitoring system includes being passed by the water temperature that wireless transport module is connect with controller signals Sensor, pH value sensor (204), water turbidity sensor (303), the oxygen-containing quantity sensor of water (304) and two water-proof CCD cameras (200), on rear side of the first lateral piece (201), pH value sensor (204) is arranged in the second lateral piece for the water temperature sensor setting Rear side, water turbidity sensor (303) and the oxygen-containing quantity sensor of water (304) are separately positioned on rear side of main hull (2), and two waterproofs are taken the photograph As head (200) is separately positioned on the first lateral piece (201) and the second lateral piece front end.
- The three body unmanned boat of solar energy inshore fishing function of dive 7. a kind of lateral body according to claim 1 can float, It is characterized in that, the autonomous aeration system (400) includes oxygen increasing pump (404), and the oxygen increasing pump is arranged on main hull (2), institute Oxygen increasing pump (404) is stated to connect with the single channel import of part flow arrangement (402) by gas-guide tube (403), the part flow arrangement (402) Multi-way outlet is connect by gas-guide tube (403) with spherical oxygen-increasing device (401) with holes, the spherical oxygen-increasing device with holes (401) it is evenly distributed below main hull (2).
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| CN201810654033.6A CN108639237B (en) | 2018-06-22 | 2018-06-22 | Solar energy offshore fishery function three-body unmanned boat with side body capable of floating upwards and submerging downwards |
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| CN201810654033.6A CN108639237B (en) | 2018-06-22 | 2018-06-22 | Solar energy offshore fishery function three-body unmanned boat with side body capable of floating upwards and submerging downwards |
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| CN110794107A (en) * | 2019-11-12 | 2020-02-14 | 山东交通学院 | Automatic inspection intelligent fishery monitoring device and monitoring method |
| CN111693179A (en) * | 2020-05-08 | 2020-09-22 | 武汉永清环保科技工程有限公司 | Based on wisdom lake detects uses equipment and control monitoring system |
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| CN116750191A (en) * | 2023-07-18 | 2023-09-15 | 武汉理工大学 | Variable cross-medium unmanned ship |
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