CN113016683A - Buoyancy-adjustable marine aquaculture net cage and unmanned inspection device thereof - Google Patents
Buoyancy-adjustable marine aquaculture net cage and unmanned inspection device thereof Download PDFInfo
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- CN113016683A CN113016683A CN202110292372.6A CN202110292372A CN113016683A CN 113016683 A CN113016683 A CN 113016683A CN 202110292372 A CN202110292372 A CN 202110292372A CN 113016683 A CN113016683 A CN 113016683A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
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- 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/60—Fishing; Aquaculture; Aquafarming
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Power Engineering (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The embodiment of the invention discloses a buoyancy-adjustable marine aquaculture net cage and an unmanned inspection device thereof. Unmanned inspection device includes: the wireless transceiving module is used for receiving or transmitting wireless signals; the main control module is connected with the wireless transceiving module; the main control module is used for receiving an external control signal transmitted by the wireless transceiving module, acquiring the running state data of the marine aquaculture net cage and transmitting the acquired running state data to an external control system; the power and parking module is connected with the main control module; the power and berthing module is used for driving the unmanned inspection device to move under the control of the main control module. Through the technical scheme of the embodiment of the invention, unmanned inspection work of the marine aquaculture net cage is realized, time and labor are saved, and the marine aquaculture cost is saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of marine aquaculture net cages, in particular to a buoyancy-adjustable marine aquaculture net cage and an unmanned inspection device thereof.
Background
Mariculture is an important component of aquaculture. The marine aquaculture net cage culture has the characteristics of low investment, high yield, maneuverability, quick response and the like.
At present, in the actual process of marine cage culture, after the marine cage culture is thrown into the sea, the operation state of the marine cage culture needs to be checked, and only the culture personnel can check on the shore or by means of marine vehicles, which is time-consuming and labor-consuming.
Disclosure of Invention
The embodiment of the invention provides a buoyancy-adjustable marine aquaculture net cage and an unmanned inspection device thereof, so that unmanned inspection work of the marine aquaculture net cage is realized, time and labor are saved, and marine aquaculture cost is saved.
In a first aspect, an embodiment of the present invention provides an unmanned inspection device for a buoyancy-adjustable marine aquaculture net cage, including: the wireless transceiving module is used for receiving or transmitting wireless signals; the main control module is connected with the wireless transceiving module; the main control module is used for receiving an external control signal transmitted by the wireless transceiving module, acquiring the running state data of the marine aquaculture net cage and transmitting the acquired running state data to an external control system; the power and parking module is connected with the main control module; the power and parking module is used for driving the unmanned inspection device to move under the control of the main control module.
Optionally, the power and park module comprises a full bridge drive circuit and a motor; the full-bridge driving circuit is respectively connected with the motor and the main control module; the main control module is used for outputting a motor driving signal, and the full-bridge driving circuit is used for driving the motor to run according to the motor driving signal so as to drive the unmanned inspection device to move.
Optionally, the power and park module comprises an iron core and a coil; the main control module adjusts magnetic field parameters of an electromagnetic field of the unmanned inspection unit by controlling the current of the coil, and the unmanned inspection device is driven by the electromagnetic field to be positioned and anchored; wherein the magnetic field parameters include a magnetic field direction and a magnetic field strength of the electromagnetic field.
Optionally, the method further comprises: a BMS module and at least one battery pack, the BMS module being connected with the at least one battery pack; the BMS module is used for controlling the at least one battery pack;
the at least one battery pack is respectively connected with the wireless transceiver module, the main control module and the power and parking module; the at least one battery pack is used for respectively supplying power to the wireless transceiver module, the main control module and the power and parking module.
Optionally, the BMS module is connected to the main control module; the BMS module is used for receiving the control signal sent by the main control module, collecting the running state data of the battery pack and sending the running state data of the battery pack to the main control module.
Optionally, the method further comprises: an energy unit connected to the BMS module, the at least one battery pack, and the water surface control unit of the mariculture cage, respectively; the energy unit is used for respectively charging the water surface control unit and/or the at least one battery pack under the control of the BMS module; the water surface control unit is used for controlling the marine aquaculture net cage.
Optionally, the energy unit comprises a photovoltaic power generation module and/or a wireless charging module.
Optionally, the wireless charging module mainly comprises an induction coil and a diode.
In a second aspect, embodiments of the present invention further provide a buoyancy-adjustable marine aquaculture cage, including the unmanned inspection device for a buoyancy-adjustable marine aquaculture cage according to the first aspect.
The buoyancy-adjustable marine aquaculture net cage and the unmanned inspection device thereof provided by the embodiment of the invention are provided with the wireless transceiving module, the main control module and the power and mooring module; the wireless transceiver module is used for receiving or transmitting wireless signals; the main control module is connected with the wireless transceiving module and is used for receiving an external control signal transmitted by the wireless transceiving module, acquiring the running state data of the marine aquaculture net cage and transmitting the acquired running state data to an external control system; the power and berthing module is connected with the main control module and is used for driving the unmanned inspection device to move under the control of the main control module; that is, the unmanned inspection device provided by the embodiment is provided with the wireless transceiver module, so that the unmanned inspection device can perform wireless communication with an external control system, by arranging the main control module, the main control module can receive the control signal of the external system, collect the operation state data of the marine culture net cage and send the acquired operation state data to the external control system, and the unmanned inspection device is driven to move in the sea by the arranged power and the parking module, so that the unmanned acquisition of the operation state data of the marine aquaculture net cage is realized, the external control system can evaluate the operation state of the marine aquaculture net cage based on the received operation state data, therefore, unmanned inspection work of the operation state of the marine aquaculture net cage is realized, the time-consuming and labor-consuming inspection work of the aquaculture personnel in the sea is avoided, and the marine aquaculture cost is saved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of an unmanned aerial inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of an unmanned inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of an unmanned inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of an unmanned aerial inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the present invention, and referring to fig. 1, the unmanned aerial inspection device 100 includes: the system comprises a wireless transceiver module 10, a main control module 20 and a power and parking module 30. The wireless transceiver module 10 is configured to receive or transmit a wireless signal; the main control module 20 is connected to the wireless transceiver module 10. The main control module 20 is configured to receive an external control signal transmitted by the wireless transceiver module 10, acquire operation state data of the marine aquaculture net cage, and send the acquired operation state data to an external control system. The power and parking module 30 is connected with the main control module 20; the power and parking module 30 is used to drive the unmanned aerial vehicle inspection device 100 to move under the control of the main control module 20.
Specifically, the mariculture net cage can include a netting, a structural frame, a water surface platform, a sinker, a guy cable and the like, the netting wraps the structural frame, the water surface platform is arranged on the structural frame (namely, the top of the structural frame), software and hardware equipment for adjusting and controlling the mariculture net cage can be set up on the water surface platform, and the sinker and the guy cable are used for fixing the mariculture net cage.
The wireless transceiving module 10 is used to implement a wireless communication function of the unmanned inspection device 100, which is capable of receiving or transmitting wireless signals, for example, with an external control system on land (i.e., on shore). Illustratively, the wireless transceiver module 10 includes an nRF24L01 module. The wireless transceiving module 10 may be independently installed in the unmanned inspection device 100, or may be installed in the main control module 20.
Any wireless signal between the main control module 20 and the external control system can be transmitted through the wireless transceiver module 10, for example, the main control module 20 receives an external control signal sent by the external control system through the wireless transceiver module 10. The main control module 20 is used for implementing a master control function of the unmanned inspection unit, and the main control module 20 may include an STM32F405 module, for example. The main control module 20 can acquire the operation state data of the mariculture net cage. The operation state data can comprise at least one of a seawater density signal, a seawater oxygen content signal, a seawater temperature signal and a seawater pressure signal of seawater in the region where the marine culture net cage is located, and can also comprise the draught depth of the marine culture net cage and the like. The main control module 20 may acquire operation status data from various sensors disposed on the marine aquaculture net cage, and send the acquired operation status data to an external control system through the wireless transceiver module 10, for example, to a handheld external control system of a farmer on the land, so that the farmer can evaluate the operation status of the marine aquaculture net cage according to the received operation status data.
The power and mooring module 30 may control the unmanned inspection device 100 to move, e.g., move or moor, to a target location in the sea. Illustratively, the power and park module 30 may include a 2N3055 module and/or a10 a10 module. Illustratively, the main control module 20 sends a control signal to the power and parking module 30, so that the power and parking module 30 drives the unmanned inspection device 100 to move and tour among the marine aquaculture net cages, or drives the unmanned inspection device 100 to tour among the marine aquaculture net cages for a circle and then return to the shore after departing from the shore; when the unmanned inspection device 100 approaches a certain mariculture net cage in the moving process, the main control module 20 in the unmanned inspection device 100 can establish communication connection with various sensors on the mariculture net cage, and then the main control module 20 acquires the running state data of the mariculture net cage from the various sensors; or, in the moving process of the unmanned aerial vehicle inspection device 100, when the unmanned aerial vehicle inspection device is close to a certain marine aquaculture net cage, the power and parking module 30 may drive the unmanned aerial vehicle inspection unit to park to the marine aquaculture net cage (at this time, the marine aquaculture net cage is a target position) according to the control signal sent by the main control module 20, for example, to a water surface platform of the marine aquaculture net cage, so that certain functional interaction between the unmanned aerial vehicle inspection device 100 and the marine aquaculture net cage is realized, for example, the unmanned aerial vehicle inspection unit provides electric power to the marine aquaculture net cage.
To sum up, the unmanned inspection device for a buoyancy-adjustable marine aquaculture net cage according to the embodiment of the present invention is provided with a wireless transceiver module to enable the unmanned inspection device to wirelessly communicate with an external control system, a power and mooring module to enable the unmanned inspection device to move in the sea or moor to a target position, and a main control module to enable the unmanned inspection device to acquire operating status data of the marine aquaculture net cage at sea and transmit the acquired operating status data of the marine aquaculture net cage to the external control system, such as a handheld external control system of an aquaculture person on the land, through the wireless transceiver module, that is, to inspect the operating status of the marine aquaculture net cage, the aquaculture person only needs to acquire the operating status data of the marine aquaculture net cage through the unmanned inspection device of the embodiment, therefore, the mariculture cage operation state evaluation device is convenient for mariculture personnel to evaluate the operation state of the mariculture cage according to the received operation state data, unmanned acquisition of the operation state data of the marine mariculture cage is realized, and then unmanned inspection work of the operation state of the marine mariculture cage is realized, the situation that the mariculture personnel depends on a marine vehicle to inspect in the sea is avoided, time and labor are consumed, the mariculture cost is saved, and the technical problem that the inspection work of each marine mariculture cage is difficult to complete by the mariculture personnel in the shore when a plurality of marine aquaculture cages are put in the same sea area is solved.
Fig. 2 is a schematic structural diagram of another unmanned inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the present invention, and referring to fig. 2, a power and mooring module 30 includes a full-bridge driving circuit 31 and a motor 32; the full-bridge driving circuit 31 is respectively connected with the motor 32 and the main control module 20; the main control module 20 is configured to output a motor driving signal, and the full-bridge driving circuit 31 is configured to drive the motor 32 to operate according to the motor driving signal, so as to drive the unmanned inspection device 100 to move.
Specifically, the main control module 20 may control the power and parking module 30 to output a motor driving signal to the power and parking module 30, and then the full-bridge driving circuit 31 drives the motor 32 to operate according to the motor driving signal to drive the unmanned inspection device 100 to move, wherein the motor 32 may be a dc brushless motor, the power and parking module 30 may include a plurality of dc brushless motors, and the specific number of the full-bridge driving circuit 31 and the motor 32 is not limited in this embodiment.
Fig. 3 is a schematic structural diagram of another unmanned inspection device 100 for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the present invention, and referring to fig. 3, the power and mooring module 30 further includes an iron core and a coil 33; the main control module 20 adjusts the magnetic field parameters of the electromagnetic field of the unmanned inspection unit by controlling the current of the coil 33, and the unmanned inspection device 100 is driven by the electromagnetic field to be positioned and parked; wherein the magnetic field parameters comprise the magnetic field direction and the magnetic field strength of the electromagnetic field.
Specifically, when the unmanned inspection device 100 needs to be parked (i.e., parked) to the target position, the unmanned inspection device 100 can be driven by an electromagnetic field generated by an iron core (not shown in the drawings) and the coil 33, for example, the target position has a certain distribution of the electromagnetic field, the unmanned inspection device 100 also has a certain distribution of the electromagnetic field due to the iron core and the coil 33, a total electromagnetic field is formed between the target position and the unmanned inspection unit, and the unmanned inspection unit is parked to the target position under the driving of the total electromagnetic field, i.e., the positioning of the unmanned inspection device 100 is realized. The main control module 20 may adjust the magnetic field direction or the magnetic field strength of the electromagnetic field by controlling the current of the coil 33, the change in the magnetic field direction facilitates the adjustment of the direction of the unmanned inspection device 100 during the parking process, and the change in the magnetic field strength facilitates the adjustment of the speed of the unmanned inspection device 100 during the parking process.
Exemplarily, the mariculture net cage comprises a water surface control unit 200, the water surface control unit 200 can be arranged on a water surface platform, the water surface control unit 200 is used for realizing the general control function of the mariculture net cage, and electromagnets can be arranged in the water surface control unit 200 and provide a certain distribution of electromagnetic fields for the mariculture net cage; thus, when the unmanned aerial inspection device 100 needs to be anchored to the water surface platform of the marine aquaculture net cage, the corresponding electromagnetic field of the marine aquaculture net cage and the electromagnetic field of the unmanned aerial inspection device 100 form a total electromagnetic field, and the main control module 20 adjusts the magnetic field direction and/or the magnetic field intensity of the electromagnetic field of the unmanned aerial inspection device 100, so that the unmanned aerial inspection device 100 is rapidly and accurately anchored to the water surface platform of the marine aquaculture net cage, thereby facilitating certain functional interaction between the unmanned aerial inspection device 100 and the marine aquaculture net cage, for example, the unmanned aerial inspection unit provides power to the marine aquaculture net cage, and the anchoring mode is simple, convenient, accurate, environment-friendly and reliable.
Fig. 4 is a schematic structural diagram of another unmanned aerial vehicle inspection device for a buoyancy-adjustable marine aquaculture net cage according to an embodiment of the present invention, and referring to fig. 4, the unmanned aerial vehicle inspection device 100 further includes: a BMS module 40 and at least one battery pack 50, the BMS module 40 being connected with the at least one battery pack 50; the BMS module 40 for controlling at least one battery pack 50; at least one battery pack 50 is connected with the wireless transceiver module 10, the main control module 20 and the power and parking module 30, respectively; at least one battery pack 50 is used to power the wireless transceiver module 10, the main control module 20, and the power and parking module 30, respectively.
Specifically, the battery pack 50 may be a lead-acid battery pack. A BMS (Battery Management System) module is used to implement a control Management function for the Battery pack 50, such as control Management for charging and discharging the Battery pack 50; illustratively, the BMS module 40 may include a plurality of STM8S003 modules for equalizing and managing the charge and discharge of each battery in the battery pack 50, and the BMS module 40 controls the battery pack 50 to provide the direct current of the corresponding voltage magnitude to the wireless transceiver module 10, the main control module 20, and the power and parking module 30, respectively, which may be 24V direct current to the wireless transceiver module 10, the main control module 20, and the power and parking module 30, respectively.
With continued reference to fig. 4, the BMS module 40 is optionally connected to the master control module 20; the BMS module 40 is configured to receive the control signal transmitted from the main control module 20, and collect operation state data of the battery pack 50 and transmit the operation state data of the battery pack 50 to the main control module 20.
Specifically, the BMS module 40 may collect operation state data of the battery pack 50 according to the control signal transmitted from the main control module 20, and the operation state data of the battery pack 50 may include the temperature of the battery pack 50 and the operation time, operation voltage, operation current, and power of each battery in the battery pack 50. The main control module 20 may transmit the operation state data of the battery pack 50 received from the BMS module 40 to an external control system, and the cultivation personnel may evaluate the power state of the unmanned inspection device 100 according to the operation state data of the battery pack 50 on the unmanned inspection device 100.
With continued reference to fig. 4, optionally, the unmanned aerial vehicle inspection device 100 further comprises: an energy unit 60, wherein the energy unit 60 is respectively connected with the BMS module 40, the at least one battery pack 50 and the water surface control unit 200 of the mariculture cage; the power unit 60 is used to charge the water surface control unit 200 and/or the at least one battery pack 50, respectively, under the control of the BMS module 40; wherein the water surface control unit 200 is used for controlling the marine aquaculture net cage.
Specifically, the power unit 60 may charge the battery pack 50 in the unmanned inspection device 100. The energy unit 60 may also be in particular connected to a battery in the surface control unit 200. When the marine aquaculture net cage is not convenient to park by a case to charge the battery pack in the water surface control unit 200, or when the energy unit in the water surface control unit 200 fails and cannot charge the battery pack in the water surface control unit 200, the unmanned inspection device 100 can move and then park to the water surface platform, and the battery pack in the water surface control unit 200 is charged through the energy unit 60 in the unmanned inspection device 100, so that the electricity consumption of the marine aquaculture net cage is ensured, and the normal operation of the marine aquaculture net cage is further ensured.
With continued reference to fig. 4, the energy unit 60 optionally includes a photovoltaic power generation module 61 and/or a wireless charging module 62. Specifically, photovoltaic power generation module 61 may include a photovoltaic panel, such as a 3KW-4B solar power generation system.
Alternatively, the wireless charging module 62 is mainly composed of the induction coil 33 and a diode. Specifically, the wireless charging module 62 may mainly implement a wireless charging function by an induction coil and a transistor, for example, a10 a10 rectifier diode.
The unmanned inspection device for the buoyancy-adjustable marine aquaculture net cage provided by the embodiment of the invention also comprises an energy unit which can be connected with the water surface control unit of the marine aquaculture net cage, the unmanned inspection device can not only realize the unmanned acquisition of the operation state data of the marine aquaculture net cage, further realizing the unmanned inspection work of the operation state of the marine aquaculture net cage, compensating the power of the marine aquaculture net cage through the energy unit of the marine aquaculture net cage, avoiding the situation that the marine aquaculture net cage cannot normally work due to insufficient power because the marine aquaculture net cage is not convenient to park by a case to charge the battery pack in the water surface control unit or the energy unit in the water surface control unit fails to charge the battery pack in the water surface control unit, the power consumption of the mariculture net cage is ensured, and the normal operation of the mariculture net cage is further ensured.
The embodiment of the invention also provides a buoyancy-adjustable marine aquaculture net cage, which comprises the unmanned inspection device for the buoyancy-adjustable marine aquaculture net cage according to any technical scheme. The buoyancy-adjustable marine aquaculture net cage and the unmanned inspection device for the buoyancy-adjustable marine aquaculture net cage provided by the embodiment of the invention belong to the same invention concept, the same technical effect can be realized, and repeated contents are not repeated here.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. The utility model provides an unmanned inspection device that is used for buoyancy to adjust formula mariculture box with a net, a serial communication port, includes:
the wireless transceiving module is used for receiving or transmitting wireless signals;
the main control module is connected with the wireless transceiving module; the main control module is used for receiving an external control signal transmitted by the wireless transceiving module, acquiring the running state data of the marine aquaculture net cage and transmitting the acquired running state data to an external control system;
the power and parking module is connected with the main control module; the power and parking module is used for driving the unmanned inspection device to move under the control of the main control module.
2. The unmanned inspection device for a buoyancy-regulated marine aquaculture cage of claim 1, wherein the power and mooring module comprises a full bridge drive circuit and a motor;
the full-bridge driving circuit is respectively connected with the motor and the main control module; the main control module is used for outputting a motor driving signal, and the full-bridge driving circuit is used for driving the motor to run according to the motor driving signal so as to drive the unmanned inspection device to move.
3. The unmanned inspection device for a buoyancy-regulated marine aquaculture cage of claim 1, wherein the power and mooring module comprises an iron core and a coil; the main control module adjusts magnetic field parameters of an electromagnetic field of the unmanned inspection unit by controlling the current of the coil, and the unmanned inspection device is driven by the electromagnetic field to be positioned and anchored;
wherein the magnetic field parameters include a magnetic field direction and a magnetic field strength of the electromagnetic field.
4. The unmanned inspection device for buoyancy-regulated marine aquaculture cages of claim 1, further comprising:
a BMS module and at least one battery pack, the BMS module being connected with the at least one battery pack; the BMS module is used for controlling the at least one battery pack;
the at least one battery pack is respectively connected with the wireless transceiver module, the main control module and the power and parking module; the at least one battery pack is used for respectively supplying power to the wireless transceiver module, the main control module and the power and parking module.
5. The unmanned inspection device for buoyancy-adjustable marine aquaculture cages of claim 4, wherein,
the BMS module is connected with the main control module; the BMS module is used for receiving the control signal sent by the main control module, collecting the running state data of the battery pack and sending the running state data of the battery pack to the main control module.
6. The unmanned inspection device for buoyancy-regulated marine aquaculture cages of claim 4, further comprising:
an energy unit connected to the BMS module, the at least one battery pack, and the water surface control unit of the mariculture cage, respectively; the energy unit is used for respectively charging the water surface control unit and/or the at least one battery pack under the control of the BMS module;
the water surface control unit is used for controlling the marine aquaculture net cage.
7. The unmanned inspection device for buoyancy-regulated marine aquaculture cages of claim 6, wherein said energy units comprise photovoltaic power generation modules and/or wireless charging modules.
8. The unmanned inspection device for buoyancy-adjustable marine aquaculture cages of claim 7, wherein,
the wireless charging module mainly comprises an induction coil and a diode.
9. A buoyancy-adjustable marine aquaculture cage, comprising the unmanned inspection device for buoyancy-adjustable marine aquaculture cages of any of claims 1-8.
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| CN202110292372.6A CN113016683B (en) | 2021-03-18 | 2021-03-18 | Buoyancy-adjusting type marine culture net cage and unmanned inspection device thereof |
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