CN113022796B - Intelligent stock bin device and system based on aquaculture unmanned ship - Google Patents
Intelligent stock bin device and system based on aquaculture unmanned ship Download PDFInfo
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- CN113022796B CN113022796B CN202110126658.7A CN202110126658A CN113022796B CN 113022796 B CN113022796 B CN 113022796B CN 202110126658 A CN202110126658 A CN 202110126658A CN 113022796 B CN113022796 B CN 113022796B
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
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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
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses an intelligent storage bin device and system based on an aquaculture unmanned ship, which comprises a storage mechanism, a discharging device, a lifting device and a charging device, wherein the storage mechanism comprises a bait storage bin and a liquid medicine storage bin; the intelligent stock bin device has the function of automatically supplementing baits, liquid medicines and electric quantity for the aquaculture unmanned boat through a matched intelligent stock bin system, can accurately control the supplement quantity and transmit related data back to a control center, enables aquaculture to be further parameterized and scientific, and enables the aquaculture unmanned boat to be further unmanned and intelligent.
Description
Technical Field
The invention discloses an intelligent stock bin device and system based on an aquaculture unmanned ship, and relates to the technical field of intelligent control of aquaculture equipment.
Background
At present, along with the popularization and application of intelligent aquaculture, some large-scale aquaculture begins to use automatic apparatus for aquaculture, and some of the aquaculture adopts unmanned boats or unmanned boats to replace manual material spreading and pesticide spraying. But by the restriction of unmanned ship or unmanned shipborne weight and electric quantity, most of aquaculture unmanned ships or unmanned ships still need the manual work to carry out frequent supplementary bait, liquid medicine and charge, and degree of automation is not high, and efficiency is compared with traditional manual work mode and is not showing the promotion. Especially for large-scale aquaculture net cages, unmanned boats with limited carrying capacity and limited battery capacity are more difficult to be qualified due to weak endurance, frequent manual feeding and the like, so that the popularization and the use of the aquaculture unmanned boats or unmanned ships are limited.
In practical application, aiming at the defects of the unmanned boat or the unmanned ship, a few simple shore devices for feeding the unmanned boat or the unmanned ship appear, but most of the simple shore devices are only mechanical mechanisms convenient for manual feeding and need personnel to participate in the whole process; in addition, the aquaculture is complex in determining the feed feeding amount, the annual net yield needs to be estimated according to ponds, the feed coefficient of the used feed is determined, the annual total feed demand is estimated, the feeding amount is dynamically distributed along with the growth period according to seasons, water temperature, water quality, growth characteristics of culture objects and nutritional requirements, the simple mechanical feeding device is low in automation degree, and automatic feeding according to needs cannot be achieved. In cultivation, particularly in large and medium-sized net cage cultivation, not only bait needs to be thrown in, but also liquid medicine needs to be sprayed for insect killing and sterilization, and an automatic feeding device aiming at double bins is not provided at present.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides an intelligent storage bin device and system based on an aquaculture unmanned ship, and the intelligent storage bin device and system are used for intelligently feeding the unmanned ship.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides an intelligence feed bin device based on unmanned ship of aquaculture, includes storage mechanism, discharging device, elevating gear and charging device, storage mechanism includes bait storage silo and liquid medicine storage silo, corresponding discharging device is connected respectively to the discharge gate of bait storage silo and liquid medicine storage silo, elevating gear install in the outside of storage device below controller box, elevating gear includes: the lifting driving mechanism adopts a screw rod adjusting structure, the lifting platform is used for placing the unmanned boat, the lifting driving mechanism is connected with the lifting platform, and the lifting platform is provided with a limiting structure which is used for adjusting the position of the unmanned boat so as to conveniently supplement materials; the outer side of the discharging device is provided with an acrylic waterproof cover made of a plurality of acrylic plates through corner pieces, and the acrylic waterproof cover is used for preventing the electromechanical products from shortening the service life due to rainwater and even causing more serious consequences such as short circuit and electric leakage in rainy and snowy weather; the charging device is arranged in the controller box body and used for charging the unmanned ship.
The bait storage bin and the liquid medicine storage bin are formed by bending and welding stainless steel plates, have good strength and corrosion resistance, can resist outdoor wind and rain erosion, and avoid corrosion of stored bait and liquid medicine to the bin; a rubber ring is arranged above the bin main body and is sealed relative to the joint of the upper cover, so that bait is prevented from being damped and deteriorated, and meanwhile, the rubber ring can prevent gaps from being formed after the upper cover is covered, so that rainwater flows in rainy and snowy days; the rear parts of the two bins are provided with monitoring windows for observing the residual amounts of baits and liquid medicines, and the monitoring windows are embedded into the slots on the rear walls of the bins by acrylic plates; the two storage bins are arranged side by side and are provided with a discharge port, and the distance between the two discharge ports is matched with the distance between the feed ports on the unmanned ship.
Furthermore, in order to solve the problem that the material is difficult to feed due to water surface fluctuation when the intelligent stock bin feeds the unmanned ship, the intelligent stock bin is provided with a lifting device; the elevating platform is made by corrosion resistant plate, is the rectangle setting, and the surface is smooth, and sets up limit structure around the surface respectively, and limit structure includes: the limiting plates are inclined towards the interior of the lifting platform and symmetrically arranged at the four top ends of the lifting platform, and if the unmanned boat has left and right deviation, the limiting plates assist the unmanned boat to automatically adjust to a correct position by means of gravity, so that the unmanned boat is ensured to be positioned at the central position of the lifting platform when being lifted, and is aligned with a discharge hole of the discharging device; meanwhile, the positions of the two pairs of limiting plates can be adjusted by the clamping grooves so as to adapt to unmanned boats of different sizes; and the motor for controlling the lifting driving mechanism to move is a waterproof motor.
Furthermore, a plurality of guide isolation plates are arranged in the bait storage bin in a crossed manner, the guide isolation plates are supporting plates with certain inclination angles, one end of each supporting plate is connected to the inner wall of the bait storage bin, the other end of each supporting plate is arranged in a downward inclined manner, so that baits can orderly slide down under the action of gravity, new baits and old baits are sorted and isolated, accumulation of the old baits is avoided, meanwhile, the guide isolation plates can play a role in sharing pressure, bottom baits are prevented from being crushed, and the bait storage bin is provided with an inclined surface, so that part of baits can be prevented from accumulating in corners and being difficult to output; the bottom slope of bait storage silo and liquid medicine storage silo set up, and the discharge gate is seted up to the lower, the discharge gate goes out to be provided with the ramp of downward sloping.
Further, the discharging device of the bait storage bin comprises a screw shaft feeding mechanism, a feeding hole of the screw shaft feeding mechanism is lower than a discharging hole of the bait storage bin, the discharging hole of the bait storage bin is an inclined plane with a certain inclination angle, the spiral shaft feeding mechanism controls the rotating speed through a stepping motor, the output shaft of the stepping motor is connected with the spiral feeding shaft of the spiral feeding mechanism, the spiral shaft feeding mechanism realizes the quantitative falling of the bait through the rotating speed controlled by the stepping motor, an auxiliary flow guide pipe is arranged at the feed opening of the screw shaft feeding mechanism, the inlet of the auxiliary flow guide pipe is aligned with the feed opening of the screw shaft feeding mechanism (the inlet of the auxiliary flow guide pipe is aligned with the center of the feed opening), the outlet of the auxiliary flow guide pipe is aligned with the feed supplement inlet of the bait bin on the unmanned boat, and a protective sleeve is arranged outside the auxiliary flow guide pipe to prevent friction loss with the unmanned boat box body during feed supplement;
the utility model discloses a liquid medicine storage silo, including liquid medicine storage silo, water pump inlet, supplementary honeycomb duct inlet and water pump outlet align (supplementary honeycomb duct inlet aligns with water pump outlet center), and infrared ranging sensor is installed to supplementary honeycomb duct export lateral wall for make supplementary honeycomb duct export align the feed supplement entry of the liquid medicine storehouse on the unmanned ship, supplementary honeycomb duct externally mounted has the protective sheath, prevents the friction loss with the unmanned ship box when the feed supplement.
Furthermore, the side walls of the outlets of the two auxiliary guide pipes are respectively provided with an infrared liquid level sensor, so that the situation that the side walls exceed the limited height of the box body when bait or liquid medicine is supplemented is avoided, the double guarantee of the infrared liquid level sensors and the feeding amount set by the bin system is formed, and the problem of waste caused by the overflow of the feed supplement of the unmanned boat is solved; the auxiliary guide pipe is connected with the electric telescopic rod, and after the outlet of the auxiliary guide pipe is aligned with a feed box or a feed box feed inlet on the unmanned boat, the electric telescopic rod extends to insert the corresponding auxiliary guide pipe into the feed box or the feed box.
Furthermore, a vision camera is installed outside the controller box body and matched with the infrared distance measuring sensor installed on the side wall of the outlet of the auxiliary flow guide pipe, double calibration of the vision camera and the infrared distance measuring sensor for positioning the unmanned ship is formed, and the problem of accurate positioning when the unmanned ship is in shore is solved.
Furthermore, the controller box side wall and the relative position of unmanned ship inflatable buoy install crashproof cushion, prevent the collision damage to the feed bin when unmanned ship is leaned on the bank.
Furthermore, charging device install in intelligent feed bin, charging device adopt wireless charging device, its position is close to unmanned ship battery position, when unmanned ship moves to the shore and automatic bait and liquid medicine of supplementing, for the wireless charging of unmanned ship, solve the continuation of journey problem of charging of unmanned ship.
Further, bait storage silo bottom set up resistance strain gauge formula pressure sensor for detect the quantity of bait in the bait storage silo, the liquid medicine storage silo in set up infrared level sensor, be used for detecting the input quantity in the liquid medicine storage silo.
Further, the side wall of bait storage silo and liquid medicine storage silo set up the spiral opening, the spiral opening connect the one end of a conveying pipeline respectively, the other end of conveying pipeline connect long-range storage silo.
The utility model provides an intelligence feed bin system based on unmanned ship of aquaculture connects on foretell intelligent feed bin device based on unmanned ship of aquaculture, includes: the intelligent feeding device comprises a bin end and a monitoring end, wherein the monitoring end and the bin end are in communication connection through a cloud server, the bin end comprises a control module, a feeding module and a discharging module, the control module is respectively connected with the feeding module and the discharging module, the feeding module is used for controlling the feeding of the intelligent bin device, and the discharging module is used for controlling the discharging of the intelligent bin device.
Furthermore, the control module comprises a central control module, a charging module, a storage unit, a wireless module, a driving module and an emergency module;
the central control module is used for controlling five modules, namely a charging module, a storage unit, a wireless module, an emergency module and a driving module, in the intelligent stock bin, and the storage unit, the wireless module, the emergency module and the driving module are all arranged in the controller box body;
the charging module is used for charging the unmanned ship and is arranged on the side wall of the box body of the material storage mechanism;
the storage unit is used for storing relevant data and historical records of supplementary baits, liquid medicines and electric quantity;
the wireless module is used for wireless communication between the silo end and the cloud server;
the emergency module is used as a standby power supply, supplies power to the central control module when the external power supply is powered off accidentally, and sends an accidental message to the control center in time through the network to remind relevant personnel of overhauling in time so as to ensure the normal operation of the whole intelligent stock bin system under an accidental condition;
the driving module is used for driving the feeding module and the discharging module to operate;
the feeding module comprises: the first driver is controlled by the driving module and drives the air blower, the hydraulic pump and the pipeline distributor to operate;
the first driver is used for driving the blower, the hydraulic pump and the pipeline distributor to operate as required;
the air blower is used for conveying the bait to the bait storage bin of the intelligent bin through the hose;
the hydraulic pump is used for conveying the liquid medicine into the liquid medicine storage bin of the intelligent storage bin through the hose;
the pipeline distributor is used for conveying baits or liquid medicines to each set feed bin to be fed, so that the preparation of feeding at each feeding point at the next time is finished, and the feeding of a plurality of feed bins is realized through the pipeline distributor;
the discharging system comprises: the second driver is controlled by the driving module and drives the stepping motor, the water pump and the lifting device to operate;
the stepping motor is used for supplementing materials for a bait box of the unmanned boat and is arranged outside a bait bin of the intelligent bin;
the water pump is used for supplementing chemicals for the liquid medicine box of the unmanned ship and is arranged outside the liquid medicine bin of the intelligent bin;
the lifting device is used for separating the unmanned boat from the water surface, so that the situation that the unmanned boat swings due to wind waves or the water level is high and low, and the bait or the liquid medicine is wasted in the process of supplementing the bait or the liquid medicine and even pollutes the water quality around the storage bin is avoided; meanwhile, the unmanned ship can be assisted to be adjusted to a correct position matched with the intelligent bin discharging mechanism;
the monitoring end comprises: the server end is connected with the liquid level detection module, the distance detection module, the pressure detection module, the unmanned boat electric quantity detection module, the GPS module and the storage module;
the server end is used for monitoring and controlling the silo end;
the liquid level detection module is used for detecting the residual amounts of the liquid medicine storage bin and the unmanned boat;
the distance detection module is used for detecting whether the unmanned ship reaches the correct position matched with the intelligent bin for feeding;
the pressure detection module is used for detecting the allowance of the bait storage bin;
the unmanned boat electric quantity detection is used for detecting the electric quantity of the unmanned boat and timely performing unmanned boat charging work;
the GPS module is used for water area map import and unmanned boat positioning detection;
the storage module is used for storing the feeding history of the intelligent storage bin and the charging and feeding history of the unmanned ship.
According to the invention, the intelligent bin is arranged on the side of the aquaculture bank, has the function of automatically supplementing baits, liquid medicines and electric quantity for the unmanned aquaculture boat, can accurately control the supplement quantity and transmit related data back to the control center, so that the aquaculture is further parameterized and scientifically realized. The intelligent storage bin is used for supplementing the aquaculture unmanned boat, the storage bin, the feeding device, the drug supplementing water device and the charging device are integrated, the application scene of the aquaculture unmanned boat is expanded, the working efficiency of the aquaculture unmanned boat in a large-scale aquaculture net cage can be improved, and meanwhile the aquaculture unmanned boat is further unmanned and intelligent.
Has the advantages that: the unmanned boat is separated from the water surface through the lifting platform, so that the unmanned boat is prevented from shaking and swinging due to wind waves and water surface fluctuation, and the waste and even pollution to the water quality around the storage bin in the bait or liquid medicine replenishing process are avoided; meanwhile, the unmanned ship can be assisted to be adjusted to the correct position matched with the intelligent bin discharging mechanism.
The charging device is arranged in the intelligent bin, the position of the charging device is close to the position of a battery of the unmanned boat which is close to the shore, and the unmanned boat is wirelessly charged while bait and liquid medicine are automatically supplemented when the unmanned boat is in the shore.
The intelligent stock bin system disclosed by the invention is used for supplementing the aquaculture unmanned ship, can intelligently, efficiently and automatically supplement materials, supplement medicines and charge the aquaculture unmanned ship while well storing baits and liquid medicines, and improves the cruising ability and the working efficiency of the aquaculture unmanned ship. Meanwhile, the intelligent feed bin can remotely control the daily feeding amount and the daily medicine spreading amount by a computer, replaces manual work to accurately record the quantity and time of the supplementary baits each time, and is matched with an aquaculture unmanned boat to form a set of complete data culture system, so that aquaculture is further intelligentized and scientific.
Drawings
FIG. 1 is an isometric view of the overall construction of the present invention;
FIG. 2 is a front view of the external structure of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is a sectional view showing the internal structure of the present invention;
FIG. 5 is an isometric view of the present invention with the flashing installed;
FIG. 6 is a schematic view of the present invention in use with an unmanned boat;
FIG. 7 is a schematic view of the present invention in use with a remote factory feed assembly;
FIG. 8 is an enlarged view of the electric telescopic rod and the auxiliary fluid guide tube of the present invention;
FIG. 9 is a front view of the pump according to the present invention;
FIG. 10 is a partial cross-sectional view of the discharge mechanism of the present invention;
FIG. 11 is a bottom view of the bait storage bin of the present invention;
FIG. 12 is an isometric view of the lift table of the present invention;
fig. 13 is a functional diagram of the intelligent control of the present invention.
Detailed Description
The following describes the embodiments in further detail with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. 1-12 show an embodiment, an intelligent feed bin system for an aquaculture unmanned ship, which comprises a storage mechanism 1, a sealing rubber ring 2, a feed bin upper cover 3, a hinge 4, a stepping motor 5, a water pump 6, an infrared distance measuring sensor 7, a charging device 8, a screw shaft feeding mechanism 9, a flow guide isolation plate 10, a monitoring window 11, a central control module 12, an acrylic waterproof cover 13, an auxiliary flow guide pipe 14, an electric telescopic rod 15, a controller box 16, an emergency module 17, an infrared liquid level sensor 18, a resistance strain gauge type pressure sensor 19, a lifting platform 20 and a screw opening 21.
The upper cover 3 of the storage bin is hinged with the top of the storage mechanism 1 through a hinge 4, and the whole storage mechanism 1 is made of stainless steel through bending and welding, so that the storage bin is not easy to damage outdoors, and can resist corrosion of bait and liquid medicine to the storage mechanism; the top of the storage mechanism 1, which corresponds to the periphery of the interior of the upper cover 3 of the storage bin, is provided with the sealing rubber ring 2, the storage bin is sealed when the upper cover 3 of the storage bin is closed through the sealing rubber ring 2, the storage time of bait in the storage bin is prolonged, the leakage of rainwater in rainy and snowy weather is prevented, and the bait is prevented from being affected by damp and deteriorated in the storage mechanism 1 to influence the culture effect of aquatic products; when the interior of the storage bin needs to be maintained or cleaned, a breeding worker can open the storage mechanism 1 through the hinge 2 to maintain the storage bin upper cover 3; after the maintenance is finished, the upper cover 3 of the storage bin is closed and matched with the sealing rubber ring 2 to ensure that the upper cover 3 of the storage bin is sealed with the storage mechanism 1.
A groove is formed in the rear part of the material storage mechanism 1, a transparent acrylic plate is embedded into the groove to serve as a monitoring window 11, and a farmer can visually observe the condition inside the bin through the monitoring window 11; the side surface of the storage mechanism 1 is provided with a spiral opening 21 matched with an external feeding pipe, and the spiral opening is used for conveying bait and liquid medicine to a storage bin through a conveying pipe of a factory.
The diversion isolation plates 10 are fixedly arranged in the bait bin of the storage mechanism 1, and the diversion isolation plates 10 are a plurality of plates with certain inclination angles, so that baits can orderly slide under the action of gravity, not only can the baits be sequenced according to the bait investment, but also part of baits added firstly are prevented from being stored for too long time and deteriorating to lose nutritional value, and can also share part of pressure, and the baits at the bottom are prevented from being damaged and losing efficacy due to excessive pressure; a bait storage bin in the storage mechanism 1 is provided with a resistance strain gauge type pressure sensor 19, the gravity information of the bait storage bin is sent to a data center in real time, and when the gravity is detected to be lower than a lowest set value, related personnel can make bait supplement work in time; the spiral shaft feeding mechanism 9 is arranged at an outlet at the outer side of the bottom of the bait storage bin, a slope with a certain angle is arranged at the outlet at the bottom of the bait storage bin, and a feed inlet of the spiral shaft feeding mechanism 9 is slightly lower than the bait outlet at the bottom of the bait storage bin, so that the smooth supplement of the bait can be conveniently carried out and the bait can flow into the spiral shaft feeding mechanism 9; the spiral shaft feeding mechanism 9 is controlled by the stepping motor 5 to accurately control the rotating speed so as to output the baits at a fixed speed and a fixed quantity; an auxiliary guide pipe 14 is arranged at a feed opening of the screw shaft feeding mechanism 9, the center of the auxiliary guide pipe 14 is aligned with the center of an outlet of the screw shaft feeding mechanism 9, and an infrared distance measuring sensor 7 is arranged on the side wall of the outlet of the auxiliary guide pipe 14 and used for enabling the outlet of the auxiliary guide pipe 14 to be aligned with a supplement inlet of a bait box on the unmanned boat; the auxiliary guide pipe 14 is connected with the electric telescopic rod 15, and after the outlet of the auxiliary guide pipe 14 is aligned with the bait box supplement inlet on the unmanned boat, the electric telescopic rod 15 extends to insert the auxiliary guide pipe 14 into the bait box of the unmanned boat, so that the waste in the bait supplement process is avoided.
The bottom in the liquid medicine storage bin of the storage mechanism 1 is provided with an inclined plane which is inclined towards the outlet at a certain angle, so that the liquid medicine is prevented from remaining and accumulating at the bottom of the liquid medicine storage bin; an infrared liquid level sensor is arranged on the inner side wall of a liquid medicine storage bin in the storage mechanism 1, when the liquid level is lower than the liquid level sensor, the data center receives the reminding information of the liquid level sensor, and related personnel can make bait supplement work in time; a water pump 6 is fixed at an outlet at the bottom of the liquid medicine bin in the storage mechanism 1, and an auxiliary guide pipe 14 is installed at an outlet of the water pump 6; the center of the auxiliary guide pipe 14 is aligned with the center of the outlet of the water pump 6, and the side wall of the outlet of the auxiliary guide pipe 14 is provided with an infrared distance measuring sensor 7 for aligning the outlet of the auxiliary guide pipe 14 with the supplement inlet of the liquid medicine tank on the unmanned boat; the side wall of the outlet of the auxiliary guide pipe 14 is provided with an infrared liquid level sensor 18 for avoiding exceeding the limited height of the box body when bait or liquid medicine is supplemented; the auxiliary guide pipe 14 is connected with the electric telescopic rod 15, and after the outlet of the auxiliary guide pipe 14 is aligned with the feed box supplement inlet on the unmanned boat, the electric telescopic rod 15 is extended to insert the auxiliary guide pipe 14 into the liquid medicine tank of the unmanned boat, so that waste and even pollution to the water quality around the feed bin in the liquid medicine supplement process are avoided.
Elevating platform 20 is the rectangle setting, and sets up the limiting plate around the surface respectively, and the limiting plate is to the inside slope of elevating platform, and the symmetry sets up on four tops of elevating platform 20, if the deviation of left right direction has appeared in the position of unmanned ship, and the limiting plate helps unmanned ship to rely on gravity automatic adjustment to the exact position, guarantees to be in the central point of elevating platform when unmanned ship holds up to it is aligned with above-mentioned discharging device's discharge gate.
Charging device adopt wireless charging device, charging device 8 directly adopts external electric wire netting power supply to charging device 8 confirms its mounted position according to unmanned ship and feed bin relative position and guarantees when supplementing bait, liquid medicine that wireless charging can go on simultaneously, practices thrift the charge time, raises the efficiency.
The electromechanical products including the stepping motor 5, the spiral shaft feeding structure 9, the water pump 6 and the electric telescopic rod 15 are all of models with certain waterproof capability, and meanwhile, the acrylic waterproof covers 13 made of a plurality of acrylic plates are installed on the peripheries of the electromechanical products through corner pieces and are used for preventing the electromechanical products from shortening the service life due to rainwater and even causing more serious consequences such as short circuit and electric leakage in rainy and snowy weather.
The emergency module 17 and the central control module 12 are positioned in a controller box 16 which is sealed and waterproof at the lower part of the storage mechanism 1, and the charging device 8, the stepping motor 5, the water pump 6, the infrared distance measuring sensor 7, the infrared liquid level sensor 18, the resistance strain gauge type pressure sensor 19, the central control module 12 and the electric telescopic rod 15 are all powered by an external power supply; the emergency module 17 only stores the electric quantity and does not supply power for other equipment under the normal condition, only serves as a standby power supply when the external power supply is unexpectedly powered off, mainly supplies power for the central control module 12, timely sends unexpected messages to the control center through the network, and reminds related personnel of timely overhauling so as to ensure the normal operation of the whole intelligent stock bin system under the unexpected condition and avoid causing more serious loss.
As shown in fig. 13, an intelligent bunker system based on an aquaculture unmanned boat comprises: the intelligent feeding device comprises a bin end and a monitoring end, wherein the monitoring end and the bin end are in communication connection through a cloud server, the bin end comprises a control module, a feeding module and a discharging module, the control module is respectively connected with the feeding module and the discharging module, the feeding module is used for controlling the feeding of the intelligent bin device, and the discharging module is used for controlling the discharging of the intelligent bin device.
The control module comprises a central control module, a charging module, a storage unit, a wireless module, a driving module and an emergency module;
the central control module is used for controlling five modules, namely a charging module, a storage unit, a wireless module, an emergency module and a driving module, in the intelligent stock bin, and the storage unit, the wireless module, the emergency module and the driving module are all arranged in the controller box body;
the charging module is used for charging the unmanned ship and is arranged on the side wall of the box body of the material storage mechanism;
the storage unit is used for storing relevant data and historical records of supplementary baits, liquid medicines and electric quantity;
the wireless module is used for wireless communication between the silo end and the cloud server;
the emergency module is used as a standby power supply, supplies power to the central control module when the external power supply is powered off accidentally, and sends an accidental message to the control center in time through the network to remind relevant personnel of overhauling in time so as to ensure the normal operation of the whole intelligent stock bin system under an accidental condition;
the driving module is used for driving the feeding module and the discharging module to operate;
the feeding module comprises: the first driver is controlled by the driving module and drives the air blower, the hydraulic pump and the pipeline distributor to operate;
the first driver is used for driving the blower, the hydraulic pump and the pipeline distributor to operate as required;
the air blower is used for conveying the bait to the bait storage bin of the intelligent bin through the hose;
the hydraulic pump is used for conveying the liquid medicine into the liquid medicine storage bin of the intelligent storage bin through the hose;
the pipeline distributor is used for conveying baits or liquid medicines to each set feed bin to be fed, so that the preparation of feeding at each feeding point at the next time is finished, and the feeding of a plurality of feed bins is realized through the pipeline distributor;
the discharging system comprises: the second driver is controlled by the driving module and drives the stepping motor, the water pump and the lifting device to operate;
the stepping motor is used for supplementing materials for a bait box of the unmanned boat and is arranged outside a bait bin of the intelligent bin;
the water pump is used for supplementing chemicals for the liquid medicine box of the unmanned ship and is arranged outside the liquid medicine bin of the intelligent bin;
the lifting device is used for separating the unmanned boat from the water surface, so that the unmanned boat is prevented from shaking and swinging due to wind waves and water surface fluctuation, and bait or liquid medicine is wasted in the process of supplementing and even pollutes the water quality around the storage bin; meanwhile, the unmanned ship can be assisted to be adjusted to a correct position matched with the intelligent bin discharging mechanism;
the monitoring end comprises: the server end is connected with the liquid level detection module, the distance detection module, the pressure detection module, the unmanned boat electric quantity detection module, the GPS module and the storage module;
the server end is used for monitoring and controlling the silo end;
the liquid level detection module is used for detecting the residual amounts of the liquid medicine storage bin and the unmanned boat;
the distance detection module is used for detecting whether the unmanned ship reaches the correct position matched with the intelligent bin for feeding;
the pressure detection module is used for detecting the allowance of the bait storage bin;
the unmanned boat electric quantity detection is used for detecting the electric quantity of the unmanned boat and timely performing unmanned boat charging work;
the GPS module is used for water area map import and unmanned boat positioning detection;
the storage module is used for storing the feeding history of the intelligent storage bin and the charging and feeding history of the unmanned ship.
The invention relates to an intelligent bin system for an unmanned aquaculture boat, which is characterized in that when workers observe that the residual quantity of bait in a bin is insufficient in a data center, an air blower in a factory is started, the bait is conveyed into a bait bin of the intelligent bin through a hose, when the pressure of the bait bin reaches a certain value, a pressure sensor transmits corresponding information to the data center, and the air blower stops automatically. When the staff observed the interior liquid medicine surplus of storehouse at data center when not enough, the hydraulic pump in the start mill, in carrying liquid medicine to the liquid medicine storehouse of intelligent feed bin through the hose, when the liquid medicine liquid level reached a definite value, infrared level sensor transmitted corresponding information to data center, and hydraulic pump automatic stop. When the unmanned ship returns to supplement bait, after the infrared distance measuring sensor determines that the staying position of the unmanned ship is accurate, the lifting platform is automatically lifted to lift the unmanned ship out of the water surface, so that the unmanned ship is prevented from shaking and swinging due to wind waves and water surface fluctuation, and waste or even water quality around the storage bin in the bait or liquid medicine supplementing process is prevented from being polluted. When the bait in the storage mechanism needs to be discharged, the electric telescopic rod extends to drive the auxiliary guide pipe to extend into the unmanned boat feeding port to assist in fixing the position of the unmanned boat, then the central control module controls the stepping motor to drive the screw shaft feeding mechanism to operate at a certain rotating speed according to relevant feeding parameters, the bait at the outlet enters the screw shaft feeding mechanism and is discharged at a certain speed, then the bait falls into the unmanned boat through the auxiliary guide pipe, meanwhile, the bait in the bin slides down along the guide isolation plate under the action of gravity, and sequentially falls down and is supplemented to the outlet of the bin, when the feeding is completed, the stepping motor stops rotating, the bait stops being discharged through the outlet, and the electric telescopic rod shortens and extracts the auxiliary guide pipe out of the unmanned boat; when the liquid medicine in the storage mechanism needs to be discharged, the central control module controls the water pump to discharge the required amount of liquid medicine, and the liquid medicine flows into the unmanned ship through the auxiliary flow guide pipe extending into the unmanned ship. When bait and liquid medicine are supplemented, the charging device can automatically supplement electric quantity for the unmanned boat. In the process of supplementing the bait, the liquid medicine and the electric quantity, the central control module is simultaneously responsible for transmitting relevant data of the supplemented bait, the liquid medicine and the electric quantity back to the data center through the network in real time and recording the data in a file for the reference of the breeding personnel, so that the aquaculture is further automated, digitalized and scientific.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. An intelligent bin system based on an aquaculture unmanned ship is connected to an intelligent bin device and is characterized in that the bin end and a monitoring end are connected, the monitoring end is in communication connection with the bin end through a cloud server, the bin end comprises a control module, a feeding module and a discharging module, the control module is respectively connected with the feeding module and the discharging module, the feeding module is used for controlling the feeding of the intelligent bin device, the discharging module is used for controlling the discharging of the intelligent bin device, and the control module comprises a central control module, a charging module, a storage unit, a wireless module, a driving module and an emergency module;
the central control module is used for controlling the charging module, the storage unit, the wireless module, the emergency module and the driving module in the intelligent storage bin, and the storage unit, the wireless module, the emergency module and the driving module are all arranged in the controller box;
the charging module is used for charging the unmanned ship and is arranged on the side wall of the box body of the material storage mechanism;
the storage unit is used for storing relevant data and historical records of supplementary baits, liquid medicines and electric quantity;
the wireless module is used for wireless communication between the silo end and the cloud server;
the emergency module is used as a standby power supply, supplies power to the central control module when the external power supply is powered off accidentally, and sends an accidental message to the control center in time through the network to remind relevant personnel of overhauling in time so as to ensure the normal operation of the whole intelligent stock bin system under an accidental condition;
the driving module is used for driving the feeding module and the discharging module to operate;
the feeding module comprises: the first driver is controlled by the driving module and is used for driving the air blower, the hydraulic pump and the pipeline distributor to operate as required;
the blower is used for conveying the bait to the bait storage bin through the hose;
the hydraulic pump is used for conveying the liquid medicine into the liquid medicine storage bin through the hose;
the pipeline distributor is used for conveying baits or liquid medicines to each set feed bin to be fed, so that the preparation of feeding at each feeding point at the next time is finished, and the feeding of a plurality of feed bins is realized through the pipeline distributor;
the discharging module comprises: the second driver, the stepping motor, the water pump and the lifting device;
the second driver is controlled by the driving module and drives the stepping motor, the water pump and the lifting device to operate;
the stepping motor is used for supplementing materials for a bait box of the unmanned boat and is arranged outside a bait storage bin of the intelligent bin;
the water pump is used for supplementing chemicals for the liquid medicine box of the unmanned ship and is arranged on the outer side of the liquid medicine storage bin of the intelligent storage bin;
the lifting device is used for separating the unmanned boat from the water surface, so that the unmanned boat is prevented from shaking and swinging caused by wind waves and water surface fluctuation, and the unmanned boat can be assisted to be adjusted to a correct position matched with the discharging device;
the monitoring end comprises: the server end is connected with the liquid level detection module, the distance detection module, the pressure detection module, the unmanned boat electric quantity detection module, the GPS module and the storage module;
the server end is used for monitoring and controlling the silo end;
the liquid level detection module is used for detecting the residual amounts of the liquid medicine storage bin and the unmanned boat;
the distance detection module is used for detecting whether the unmanned ship reaches the correct position matched with the intelligent bin for feeding;
the pressure detection module is used for detecting the allowance of the bait storage bin;
the unmanned boat electric quantity detection is used for detecting the electric quantity of the unmanned boat and timely performing unmanned boat charging work;
the GPS module is used for water area map import and unmanned boat positioning detection;
the storage module is used for storing the material supplementing history of the intelligent storage bin and the charging and material supplementing history of the unmanned ship; intelligence feed bin device includes storage mechanism, discharging device, elevating gear and charging device, storage mechanism includes bait storage silo and liquid medicine storage silo, corresponding discharging device is connected respectively to the discharge gate of bait storage silo and liquid medicine storage silo, elevating gear install in storage device's the outside, elevating gear includes: the lifting driving mechanism is connected with the lifting platform.
2. The intelligent stock bin system based on the unmanned ship of aquaculture of claim 1, wherein the elevating platform is rectangular, and a limiting structure is arranged around the surface of the elevating platform, and the limiting structure comprises: and the limiting plate inclines towards the inside of the lifting platform.
3. The intelligent stock bin system based on the aquaculture unmanned boat as claimed in claim 1, wherein a plurality of diversion isolation plates are arranged in the bait storage bin in a crossed manner, each diversion isolation plate is a support plate with a certain inclination angle, one end of each support plate is connected to the inner wall of the bait storage bin, and the other end of each support plate is arranged in a downward inclination manner.
4. The intelligent stock bin system based on the unmanned aquaculture boat as recited in claim 1, wherein the discharging device of the bait storage bin comprises a screw shaft feeding mechanism, a feeding hole of the screw shaft feeding mechanism is lower than a discharging hole of the bait storage bin, the screw shaft feeding mechanism controls the rotating speed through a stepping motor, an auxiliary flow guide pipe is installed at a discharging hole of the screw shaft feeding mechanism, an inlet of the auxiliary flow guide pipe is aligned with the discharging hole of the screw shaft feeding mechanism, and an outlet of the auxiliary flow guide pipe is aligned with a feed supplement inlet of the bait stock bin on the unmanned boat;
the bottom discharge hole of the liquid medicine storage bin is fixedly provided with a water pump, the water pump inlet is connected with the bottom discharge hole of the liquid medicine storage bin, the water pump outlet is provided with an auxiliary flow guide pipe, the inlet of the auxiliary flow guide pipe is aligned with the outlet of the water pump, and the side wall of the outlet of the auxiliary flow guide pipe is provided with an infrared distance measuring sensor for aligning the outlet of the auxiliary flow guide pipe to the feed supplement inlet of the liquid medicine storage bin on the unmanned ship.
5. The intelligent stock bin system based on the unmanned aquaculture boat as claimed in claim 4, wherein the side walls of the outlets of the two auxiliary guide pipes are respectively provided with an infrared liquid level sensor for preventing the side walls of the outlets from exceeding the limited height of the tank body when bait or liquid medicine is supplemented; the auxiliary guide pipe is connected with the electric telescopic rod, and after the outlet of the auxiliary guide pipe is aligned with a feed box or a feed box feed inlet on the unmanned boat, the electric telescopic rod extends to insert the corresponding auxiliary guide pipe into the feed box or the feed box.
6. The intelligent stock bin system based on the aquaculture unmanned ship of claim 1, wherein the bait storage bin is provided with a resistance strain gauge type pressure sensor at the bottom for detecting the amount of bait in the bait storage bin, and the liquid medicine storage bin is provided with an infrared liquid level sensor for detecting the amount of liquid medicine in the liquid medicine storage bin.
7. The intelligent stock bin system based on the unmanned aquaculture boat as claimed in claim 1, wherein the side walls of the bait storage bin and the liquid medicine storage bin are provided with spiral openings, the spiral openings are respectively connected with one end of a conveying pipeline, and the other end of the conveying pipeline is connected with a remote storage bin.
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