CN110723257A

CN110723257A - Unmanned ship for aquaculture

Info

Publication number: CN110723257A
Application number: CN201910979133.0A
Authority: CN
Inventors: 徐玲; 温随花; 陈益平; 张金榜
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2020-01-24

Abstract

The invention aims to provide an aquaculture unmanned ship, which aims to solve the technical problems that the existing unmanned ship is simple in feeding mode, large in material consumption and easy to pollute water; the structure includes: the device comprises a water area biological quantity detection device, a water quality monitoring device, a material throwing device and an unmanned ship body; the device also comprises a controller; the water area biological quantity detection device is arranged on the hull of the unmanned ship, and the material throwing device is arranged at the stern of the hull of the unmanned ship; the water quality monitoring device is arranged at the bow of the unmanned ship body; the water area biological quantity detection device, the water quality monitoring device and the material throwing device are respectively and electrically connected with the controller; the controller is used for controlling the material throwing device to throw the materials with the matched weight according to the water area biological quantity information and/or the water quality information. The invention can intelligently and dynamically control the material input amount of the material throwing device by combining the water area biological quantity and/or water quality monitoring data, thereby reducing the operation cost of aquaculture.

Description

Unmanned ship for aquaculture

Technical Field

The invention relates to the technical field of aquaculture ships, in particular to an aquaculture unmanned ship.

Background

The existing aquaculture unmanned ship is relatively original, generally adopts remote control operation, can only play a role in preliminarily replacing aquaculture workers to perform launching feeding operation, the adopted feed feeding mode is generally relatively simple and violent, and the feeding position and the feeding amount lack pertinence. The concrete points are as follows: the feed is generally put in a flat state, and is not reasonably put in according to local biological density, and whether improper putting can cause adverse effects on the water quality in a culture water area is not considered. Although some water quality sensors carried on the aquaculture unmanned ship in the prior art are arranged at the rear end of the ship body or directly arranged at the tail end of the ship body, the adopted operation mode is generally that feeding is carried out along the advancing direction and water quality data are collected, and under the operation process, the collected water quality data are easily influenced by feed throwing and are difficult to accurately reflect the real situation of the current water area environment, so that water quality improvement measures are frequently adopted in the later period, and the operation cost of aquaculture is increased. In addition, although the water area biomass statistical sensor has been developed for many years, the water area biomass statistical sensor is mostly applied to fishing boats or biological research boats, is rarely applied to the field of aquaculture unmanned boats, and is not matched with feed feeding facilities on the unmanned boats for use, so that the research and development of related technologies for accurately feeding feed aiming at the number of organisms in the water area by adopting the unmanned boats are still blank at present.

Therefore, it is necessary to provide an aquaculture unmanned ship for the above problems.

Disclosure of Invention

The invention aims to provide an aquaculture unmanned ship, which intelligently and dynamically controls the material throwing amount of a material throwing device by combining the water area biological quantity and/or water quality monitoring data, so as to solve the technical problems that the conventional unmanned ship is too simple in material throwing mode, too much in material consumption and easy to pollute water.

The invention provides an aquaculture unmanned ship, which comprises: the device comprises a water area biological quantity detection device, a water quality monitoring device, a material throwing device and an unmanned ship body; the unmanned ship further comprises a controller arranged in the unmanned ship body; the water area biological quantity detection device is arranged on the unmanned ship body, and the material throwing device is arranged at the stern of the unmanned ship body; the water quality monitoring device is arranged at the bow of the unmanned ship body; the water area biological quantity detection device, the water quality monitoring device and the material throwing device are respectively and electrically connected with the controller; the material is a solid, liquid or solid-liquid mixed material; the controller is used for controlling the material throwing device to throw the materials with the matched weight according to the water area biological quantity information fed back by the water area biological quantity detection device and/or the water quality information fed back by the water quality monitoring device.

Further, the material is aquatic animal feed or a drug for improving water quality.

Furthermore, the water area biological quantity detection device is an ultrasonic sensor; the ultrasonic sensor analyzes the survival number and the activity position of the aquatic animals in the current effective detection water area by comparing the ultrasonic signal before transmission with the ultrasonic signal obtained after reflection.

Furthermore, the operation area of the water area biological quantity detection device and the operation area of the feed throwing and feeding device are both fan-shaped areas; the symmetry axes of the operation area of the water area biological quantity detection device and the operation area of the feed throwing and feeding device are respectively positioned on the symmetry axis of the deck of the unmanned ship body along the direction from the bow to the stern.

Furthermore, the triggering logic of the controller meets the requirement of monitoring water areas at will, the water quality monitoring device collects water firstly, and the material throwing device operates later.

Further, the driving devices of the unmanned ship body are symmetrically arranged on two sides of the unmanned ship body.

Further, the driving device includes: at least one of a front drive, a middle drive, and a rear drive; the installation positions of the front driving device, the middle driving device and the rear driving device are arranged on two sides of the hull of the unmanned ship in sequence from the bow to the stern.

Further, the driving device is a paddle wheel driving device; the actuating component of the paddle wheel driving device comprises: the blade is characterized by comprising a wheel body and blades which are uniformly arranged on the wheel body, wherein the tail ends of the blades are arc-shaped or provided with arc-shaped chamfers.

Further, the driving device is a wind propeller driving device; the wind propeller drive comprises: the driving device comprises a driving motor provided with a propeller, a mounting bracket used for fixing the driving motor on the mounting position of the driving device, and a safety protection cover used for providing protection for the driving motor and/or the mounting bracket.

Further, the driving device is a paddling crawler-type driving device; the paddling crawler-type driving device comprises: the paddling crawler belt comprises a driving wheel, a driven wheel and a paddling crawler belt sleeved on the driving wheel and the driven wheel; the paddling track is provided with paddling teeth.

Furthermore, the wheel diameters of the driving wheel and the driven wheel are matched with the requirements of the use environment.

Further, the diameters of the driving wheel and the driven wheel are different in size.

Furthermore, the diameters of the driving wheel and the driven wheel are the same.

Compared with the prior art, the aquaculture unmanned ship provided by the invention has the following advantages:

according to the aquaculture unmanned ship, the interference of the material throwing operation on the water quality monitoring parameters can be effectively avoided by adopting an operation mode that the water quality monitoring is performed firstly and the material is thrown afterwards; under the scheme, the water quality is monitored before the water quality is polluted by the input materials, and the materials are input after the water quality is monitored, so that the water quality monitoring data is not influenced by the input materials, and the obtained water quality monitoring data is more accurate and reliable; meanwhile, the throwing quantity of the material throwing device is fitted by combining the biological quantity information fed back by the water area biological quantity detection device, so that the technical effect of accurate feed throwing can be obtained, and the phenomena that the water quality is polluted by feeding excessive feed in an area with rare biological quantity and the yield is influenced by the poor nutrition of aquatic animals due to insufficient feed in an area with gathered biological quantity are avoided; because the feed after feeding can form the residue under the rare condition after being snatched by aquatic organisms, the pollution condition to the water body is greatly relieved, and the maintenance cost required by water quality maintenance can be reduced. In addition, when putting in the medicament that is used for improving quality of water, combine the quality of water information in the current monitoring area of water quality monitoring device feedback, the input position and the input quantity of accurate control medicament can reduce the use amount of medicament by a wide margin, further reduce the breed cost of aquatic products. Furthermore, the water quality monitoring device is arranged at the bow of the unmanned ship, the material throwing device and the water quality monitoring device can be isolated by utilizing the self structural length of the ship body, the obtained water quality data cannot be influenced by feed or medicines thrown behind the ship, and further, the analysis result obtained according to the water quality data has stronger reference significance and has extremely strong instructive significance as a judgment basis when the water quality improving agent is accurately put into the ship.

Furthermore, the ultrasonic sensor is adopted to analyze the survival number of the living animals in the current detection water area, so that a relatively accurate number value can be obtained, and a reliable analysis basis is provided for accurately analyzing and calculating the feeding number of the feed.

Furthermore, the driving devices of the unmanned ship body are symmetrically arranged on the two sides of the unmanned ship body, so that the aquatic plants in the culture water area can be effectively prevented from winding the output shaft of the driving devices, and the interference of impurities in water on a power system is avoided. In addition, adopt above-mentioned power drive to set up the mode, power equipment and fodder are shed and are thrown feeding device and at the difficult mutual interference that forms in the position of arranging of hull, cause the fodder to shed and throw feeding device and possess better operational environment and arrange the space, can be more even stable shed material.

Furthermore, at least one of the front driving device, the middle driving device and the rear driving device is used as a preferred driving mode, the arrangement mode of the driving devices can be flexibly selected according to the water discharge of the aquaculture unmanned ship, the driving effect matched with the current use requirement can be conveniently obtained, the output power and the steering of each driving device positioned on the two sides of the ship body can be independently controlled, the operation effect of in-situ steering can be obtained when the front driving device, the middle driving device and the rear driving device are combined and arranged in more than two modes, and the maneuverability and the controllability of the aquaculture unmanned ship can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of an aquaculture unmanned ship in embodiment 1 of the present invention;

FIG. 2 is a schematic structural view of an aquaculture unmanned ship in embodiment 2 of the present invention;

FIG. 3 is a schematic structural diagram of an aquaculture unmanned ship adopting a paddle wheel drive device;

FIG. 4 is a schematic structural diagram of the paddle wheel drive of FIG. 3 in an operating state;

FIG. 5 is a schematic structural view of an aquaculture unmanned ship adopting a wind propeller driving device;

FIG. 6 is a schematic view of the arrangement of the wind driven propeller drive of FIG. 5;

FIG. 7 is a schematic structural view of an aquaculture unmanned ship employing a paddling crawler-type driving device;

FIG. 8 is a schematic structural view of the paddling crawler-type driving device of FIG. 7;

FIG. 9 is a schematic structural view of the paddling teeth on the paddling track in FIG. 7;

FIG. 10 is a schematic view of the operation route of the unmanned aquaculture boat in rectangular water;

fig. 11 is a schematic view of a tapered operation route adopted by the aquaculture unmanned ship in irregular waters.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1, the present invention provides an aquaculture unmanned ship comprising: the system comprises a water area biological quantity detection device 100, a water quality monitoring device 200, a material throwing device 300 and an unmanned ship body 400; further comprising a controller 500 disposed within the unmanned ship hull 400; the water area biological quantity detection device 100 is arranged in the middle of the unmanned ship body 400, and the material throwing device 300 is arranged at the stern of the unmanned ship body 400; the water quality monitoring device 200 is arranged at the bow of the unmanned ship body 400; the water area biological quantity detection device 100, the water quality monitoring device 200 and the material throwing device 300 are respectively electrically connected with the controller 500 (since the electrical connection relationship is based on the prior art, the relevant electrical connection wiring detail diagram is not further shown); the material is a solid, liquid or solid-liquid mixed material; the controller 500 is configured to control the material throwing device 300 to throw the material with the appropriate weight according to the water area biological quantity information fed back by the water area biological quantity detecting device 100 and/or the water quality information fed back by the water quality monitoring device 200.

Preferably, for avoiding the material that above-mentioned material jettison device drops into to the data formation interference of sonar equipment in the biological quantity detection device in waters, the detection distance of the biological quantity detection device in waters is less than the actual jettison distance of material jettison device. A shaded area Y shown in fig. 1 is an actual throwing operation area of the material throwing device, a fan-shaped area S on one side of the area facing the ship body is a detection area of the water area biological number detection device, and two dotted lines X located on the boundary in fig. 1 are actual throwing boundary areas of the material throwing device.

The improved aquaculture unmanned ship can dynamically adjust the throwing amount of the material throwing device according to the survival amount of aquatic animals detected by the water area biological quantity detection device, so that the feed throwing amount is accurate and controllable, and the eutrophication pollution of the water body caused by the excessively thrown feed is reduced. Furthermore, the adoption sets up water quality monitoring device at the bow, and the arrangement that material jettison device set up at the stern can fully avoid the fodder that newly spilled to bring the negative effects to water quality monitoring, causes water quality analysis inaccurate, and exerts excessive quality of water and improves the medicine, increases aquaculture's operating cost. In addition, when the water quality improving agent is thrown, the controller can further dynamically control the amount of the agent thrown by the material throwing device at different water areas through the real water quality data fed back by the water quality monitoring device, so that the throwing position and the throwing amount of the water quality improving agent are more fit with the real information of the current water area, the using amount of the water quality improving agent can be greatly reduced, and the operation cost of aquaculture is reduced.

Preferably, in one of the preferable technical solutions of the present application, the water area biological number detecting device is an ultrasonic sensor; the ultrasonic sensor analyzes the survival number of the aquatic animals in the current effective detection water area by comparing the ultrasonic signal before transmission with the ultrasonic signal obtained after reflection. Since the structure and the operation principle of the ultrasonic sensor are based on the prior art, the related technical details thereof are not further illustrated and described herein.

Preferably, as shown in fig. 1, in one preferred embodiment of the present invention, the water area organism number detecting device 100 and the feed throwing and feeding device 300 are respectively disposed on the symmetry axis of the deck of the unmanned ship. Adopt above-mentioned arrangement mode can implement accurate the controlling to the material input position.

Example 2:

as shown in fig. 2, in this embodiment, in addition to embodiment 1, the driving devices 600 of the unmanned ship hull are symmetrically arranged on both sides of the unmanned ship hull 400.

Preferably, in one of the preferred technical solutions of the present application, the driving device 600 includes: at least one of a front driving device 610, a middle driving device 620, and a rear driving device 630; the front driving device 610, the middle driving device 620, and the rear driving device 630 are installed at two sides of the hull 400 of the unmanned ship in sequence in the direction from the bow to the stern. Preferably, when at least two of the front driving device 610, the middle driving device 620, and the rear driving device 630 are provided on the same hull, the technical effect of controlling the unmanned ship to freely advance and retreat and turn in a narrow space can be achieved by individually controlling the output power of the driving device at each different installation position on each side of the hull, so that the operational maneuverability of the hull can be remarkably improved.

Preferably, as shown in fig. 3, in one preferred embodiment of the present application, the driving device 600 is a paddle wheel driving device; the actuating component of the paddle wheel driving device comprises: the impeller comprises an impeller body 601 and blades 602 which are uniformly arranged on the impeller body and the tail ends of which are arc-shaped or provided with arc-shaped chamfers. It should be noted that the mechanical device for driving the executing component is based on the prior art, and therefore, the details of the related structure are not further described herein; as shown in fig. 4, in the operating state of the paddle wheel driving device, the rotating shaft is far away from the upper part of the water surface, so that the waterweeds and impurities below the water surface cannot be easily hung on the power output shaft, and the driving effect of the paddle wheel is not affected. The execution component shown in FIG. 3 can also be used for reducing vertical work when the blades discharge water, so that the mechanical efficiency of the driving device can be greatly improved, and the driving oil consumption of the ship body is reduced.

Preferably, as shown in fig. 5, in one of the preferred technical solutions of the present application, the driving device 600 is a wind propeller driving device; the wind propeller drives are preferably arranged on the decks on both sides of the hull and symmetrically arranged in a front 610, a middle 620 and a rear 630 arrangement. Preferably, as shown in fig. 6, the wind propeller driving apparatus includes: a drive motor 603 provided with a propeller and a mounting bracket 604 for fixing the drive motor in a drive device mounting position.

Preferably, in one preferred embodiment of the present invention, in order to provide further safety protection for the driving motor 603 and the bracket 604, a safety protection cover may be provided for protecting the driving motor and/or the mounting bracket according to the prior art. It should be noted that, since the technical means involved in the arrangement and connection process of the protective cover are the prior art, the related technical details are not further illustrated and described herein.

Preferably, as shown in fig. 7, in one of the preferred technical solutions of the present application, the driving device 600 is a paddling crawler type driving device, and the paddling crawler type driving device is symmetrically arranged on both sides of the hull. Preferably, as shown in fig. 8, the rowing track type driving device includes: the paddling crawler belt comprises a driving wheel 605, a driven wheel 606 and a paddling crawler belt 607 sleeved on the driving wheel 605 and the driven wheel 606; the paddling caterpillar 607 is provided with paddling teeth H shown in fig. 9. Preferably, in one of the preferred technical solutions of the present application, the diameters of the driving wheel and the driven wheel are different in size. Preferably, in one of the preferable technical solutions of the present application, the diameters of the driving wheel and the driven wheel are the same. When the quantity of the aquatic weeds in the water area is moderate, the driving wheel and the driven wheel are preferably used in a structural mode that the wheel diameters of the driving wheel and the driven wheel are the same; when the quantity of aquatic weeds in the water area is large, the diameter of the crawler wheel close to the bow side is preferably smaller than that of the crawler wheel close to the stern side, so that excessive winding of the aquatic weeds on the crawler is reduced, and the driving efficiency of the ship body is reduced; when the amount of aquatic weeds in the water area is small, the diameter of the crawler wheel close to the bow side is preferably larger than that of the crawler wheel close to the stern side, so that the driving force of the rowing teeth on the ship body is enhanced.

Example 3:

as shown in fig. 10 to 11, in the present embodiment, a route pattern for performing a feed throwing operation in a rectangular water area having a regular shape or a water area having an irregular shape is provided in addition to the above-described embodiments.

As shown in fig. 10, in this embodiment, 2R covers for throwing the material of material feeding system in unmanned ship both sides, the route should set up to the regional boundary R of throwing the material into need of distance during the operation, the slash from the upper right corner to the lower left corner is the automatic route of returning a journey after all operation regions have been covered for the operation, in order to avoid the material extravagant, distance between the operation route should approximately equal to 2R, when guaranteeing the material coverage, can ensure that the position of monitoring quality of water is not polluted by the material, under the short condition in single route, the factor of throwing the material diffusion in aqueous can neglect, under the longer condition in route, the factor of considering the material diffusion in aqueous does the stack weight to quality of water data and obtains accurate value. The operation of the material system can be understood in a conventional scenario that an unmanned ship drags the feeding system to make a round trip.

As shown in fig. 11, in this embodiment, 2R is the material of material feeding system in unmanned ship both sides and is shed the cover, the route should set up to the regional boundary R of throwing the material into need for the distance during operation, in order to avoid the material extravagant, the distance between the operation route should be approximately equal to 2R, the dotted line is the automatic route of returning after the operation has covered all operation regions for the operation, when guaranteeing the material coverage, can ensure that the position of monitoring quality of water is not polluted by the material, under the short condition in single route, the factor of input material diffusion in aqueous can be neglected, under the longer condition in route, thereby need consider that the factor of material diffusion in aqueous makes the stack weight to water quality data and obtain accurate value. The operation of the material system can be understood in a conventional scenario that an unmanned ship drags the feeding system to make a round trip.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An aquaculture unmanned ship comprising: the device comprises a water area biological quantity detection device, a water quality monitoring device, a material throwing device and an unmanned ship body; the unmanned ship is characterized by further comprising a controller arranged in the unmanned ship body; the water area biological quantity detection device is arranged on the unmanned ship body, and the material throwing device is arranged at the stern of the unmanned ship body; the water quality monitoring device is arranged at the bow of the unmanned ship body; the water area biological quantity detection device, the water quality monitoring device and the material throwing device are respectively and electrically connected with the controller; the material is a solid, liquid or solid-liquid mixed material; the controller is used for controlling the material throwing device to throw the materials with the matched weight according to the water area biological quantity information fed back by the water area biological quantity detection device and/or the water quality information fed back by the water quality monitoring device.

2. The aquaculture unmanned ship of claim 1, wherein said water area living being number detecting means is an ultrasonic sensor; the ultrasonic sensor analyzes the survival number and the activity position of the aquatic animals in the current effective detection water area by comparing the ultrasonic signal before transmission with the ultrasonic signal obtained after reflection.

3. The aquaculture unmanned ship of claim 1, wherein the working area of the water area organism number detecting device and the working area of the feed throwing and feeding device are both sector-shaped areas; the symmetry axes of the operation area of the water area biological quantity detection device and the operation area of the feed throwing and feeding device are respectively positioned on the symmetry axis of the deck of the unmanned ship body along the direction from the bow to the stern.

4. The unmanned aquaculture boat of claim 1, wherein the triggering logic of the controller satisfies the requirement that the water quality monitoring device collects water first and the material throwing device operates later in any monitored water area.

5. An aquaculture unmanned ship according to claim 1, wherein the drive means of the unmanned ship hull are arranged on both sides of the unmanned ship hull.

6. An aquaculture unmanned ship according to claim 5, wherein said drive means comprises: at least one of a front drive, a middle drive, and a rear drive; the installation positions of the front driving device, the middle driving device and the rear driving device are arranged on two sides of the hull of the unmanned ship in sequence from the bow to the stern.

7. The aquaculture unmanned ship of claim 5, wherein the drive is a paddle wheel drive; the actuating component of the paddle wheel driving device comprises: the blade is characterized by comprising a wheel body and blades which are uniformly arranged on the wheel body, wherein the tail ends of the blades are arc-shaped or provided with arc-shaped chamfers.

8. An aquaculture unmanned ship according to claim 5, wherein the drive means is a wind propeller drive; the wind propeller drive comprises: the driving device comprises a driving motor provided with a propeller, a mounting bracket used for fixing the driving motor on the mounting position of the driving device, and a safety protection cover used for providing protection for the driving motor and/or the mounting bracket.

9. The aquaculture unmanned ship of claim 5, wherein the drive is a paddling crawler drive; the paddling crawler-type driving device comprises: the paddling crawler belt comprises a driving wheel, a driven wheel and a paddling crawler belt sleeved on the driving wheel and the driven wheel; the paddling track is provided with paddling teeth.

10. The unmanned ship for aquaculture of claim 9, wherein the diameters of the driving wheels and the driven wheels are adapted to the requirements of the use environment.