CN207948605U - A kind of water surface autonomous cruise formula solar energy bait-throwing-in boat - Google Patents
A kind of water surface autonomous cruise formula solar energy bait-throwing-in boat Download PDFInfo
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- CN207948605U CN207948605U CN201721869010.4U CN201721869010U CN207948605U CN 207948605 U CN207948605 U CN 207948605U CN 201721869010 U CN201721869010 U CN 201721869010U CN 207948605 U CN207948605 U CN 207948605U
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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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Abstract
The utility model discloses a kind of water surface autonomous cruise formula solar energy bait-throwing-in boats, belong to technical field of aquaculture equipment.The utility model includes hull, solar panel, accumulator, blanking device and charging device, the solar panel is arranged in the support plate of hull, the solar panel connects accumulator through solar panel controller, accumulator is that hull provides electric energy in surface navigation and the work of blanking device and charging device；The charging device is arranged below blanking device, and blanking device stores bait, and bait is conveyed to charging device, and charging device spreads out bait.The utility model not only solved the problems, such as the powerup issue of traditional bait throwing in equipment but also solve movement it is inflexible, realize fixed point bait throwing in, key area bait throwing in and all standing bait throwing in, disclosure satisfy that the demand at aquaculture family, have very strong adaptability and mobility.
Description
Technical field
The utility model is related to technical field of aquaculture equipment, more specifically to a kind of for fishery cultivating
Water surface autonomous cruise formula solar energy bait-throwing-in boat.
Background technology
In recent years, the culture fishery in China have developed rapidly, and with continuing to optimize for fish production structure, science is breeded fish skill
Art it is continuous universal, Autoamtic bait putting machine can save it is artificial, shed uniformly, be conducive to ingesting for fish, save feed；It will not make again
At the water pollution in fish pond, fish pond is made to keep a good ecosystem；And can achieve higher output, increase benefit, therefore use machine
Tool replaces artificial material of feeding to be commonly recognized.
But with deepening continuously for China's Development of China's Urbanization so that aquaculture region is more and more remoter, and big on the market
Parts of traditional device for feeding fish bait is powered using AC power or DC battery jar, and remote areas power grid does not cover, gives substantially
On the regional device for feeding fish bait that can not be sent to of remote districts or electric power AC power be provided bring prodigious difficulty；And storage battery needs
It often to go to charge manually, use is very inconvenient, time-consuming and laborious, increases aquaculture cost.Raiser buys these bait-laying device for fish
It is substantially all and is integrally fixed at bank, connect power supply on the bank using cable, this can only play the role of local bait throwing in, it is therefore desirable to purchase
The needs of entire pond could be met by buying more device for feeding fish bait, and raiser is unwilling periodically to carry out replacement upgrading to device for feeding fish bait, unfavorable
In fishery automation development.
After another aspect bank base formula sheds bait, the shoal of fish come concentrate bait throwing in point feed, can not only aggravate the shoal of fish in this way and rob food
The phenomenon that, especially general fish pond is all integrated culture, and there are day enemy characters between fish and fish, and the fish of individual species robs food energy
Power is strong, these are all unfavorable for shoal of fish homoepitaxial significantly, while bank base formula bait throwing in will also result at bait throwing in point containing for oxygen in water body
Relatively low, the phenomenon that causing anoxic is measured, the reduction of dissolved oxygen amount can lead to the decline of fish and digestive system, while breathe work
Consumption energy is also resulted in reinforcement to increase, and is influenced the normal growth of the shoal of fish, is reduced the income of culturist, these are all culturists
Not the phenomenon that not wanting to see that.Moreover, recent years, often there is safety problem in device for feeding fish bait product, for example, due to device for feeding fish bait major part
All it is to do shell using metals such as iron, stainless steel and aluminium section bars, metal is conductive, this results in device for feeding fish bait to charge, raiser
It electrocutes, it may be part device for feeding fish bait product itself problem to trace it to its cause；It could also be possible that caused by raiser's misoperation；
It could also be possible that device for feeding fish bait service life is long, the available machine time too long, caused by aging circuit.And these remote districts are toward in the past
Long according to the time, intensity of illumination is big, and solar energy resources are abundant, thus develop it is a it is safe and efficient can water surface autonomous cruise formula too
Positive energy bait-throwing-in boat has certain practical value.
Currently, most of in the market is all bank base formula device for feeding fish bait, such as patent application CN105961262A discloses one kind
Using solar powered bank base formula device for feeding fish bait, working method is located in pond bank and carries out bait throwing in, uses direct current generator
And disk rotational is shed and is concentrating bait throwing in point, attracts the shoal of fish of distant place to concentrate the feed of bait throwing in point, but this device for feeding fish bait cannot
Self-navigation bait throwing in is carried out, cannot achieve fixed point bait throwing in, and metastatic is poor, the form that dismounting assembles again is needed to be shifted, and
It also needs to rearrange support platform after transfer, it is very inconvenient.
There is a small amount of mobile bait-throwing-in boat in the market, such as to disclose a kind of pond distant by patent application CN203709044U
Autoamtic bait putting ship is controlled, bait-throwing-in boat automatic charging is manipulated by remote controler, timing is realized, fixed point, quantitatively launches feed, this side
Formula still needs manually to operate, and can not really liberate manpower, and aquaculture cost is still very high, and human eye is can not to see very
Remote place, when needing in some region bait throwing in, the judgement of naked eyes can only be one general, each bait throwing in point, bait throwing in route
There is prodigious randomness with daily ration, feeding quantity, cannot achieve real timing, fixed point, quantitative bait casting.There are some iron wires in the market
The mobile bait-throwing-in boat of traction, but its moving range is limited, does not have the effect of global bait throwing in.
Utility model content
1. utility model technical problems to be solved
The utility model is directed to traditional bait throwing in equipment and relies on conventional electric power, of high cost, power consumption is big, bait throwing in efficiency is low, dynamic
The shortcomings of power consumption is big, and moving range is small, and control is dumb, and control mode is not changeable provides a kind of water surface and independently patrols
Boat formula solar energy bait-throwing-in boat；The utility model had not only solved the powerup issue of traditional bait throwing in equipment but also had solved mobile inflexible
Problem realizes fixed point bait throwing in, key area bait throwing in and all standing bait throwing in, disclosure satisfy that the demand at aquaculture family, has very
Strong adaptability and mobility.
2. technical solution
In order to achieve the above objectives, technical solution provided by the utility model is：
A kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model, including hull, solar panel, electric power storage
Pond, blanking device and charging device, the solar panel are arranged in the support plate of hull, solar panel warp
Solar panel controller connects accumulator, and accumulator is that hull works in surface navigation and blanking device and charging device
Electric energy is provided；The charging device is arranged below blanking device, and blanking device stores bait, and bait is conveyed to and is fed intake
Device, charging device spread out bait.
Further, supporting rack is provided in the support plate, solar panel is arranged on the supporting rack, and
Sliding slot is provided on supporting rack, supporting rack side is equipped with motor, and motor drives solar panel to be moved along sliding slot, with adjustment
The angle of solar panel.
Further, the blanking device includes hopper, which is a curved plate, in curved plate
Minimum point is provided with hole, is connected to blanking channel, and bait sieve is provided at the top of hopper.
Further, the blanking channel lower part is provided with feeding drawer, which is provided with first
The channel diameter of material path and the second material path, the first material path and the second material path is different；The side of feeding drawer passes through connecting rod and turntable
It is connected, turntable is rotated in the horizontal direction by first motor driving, and then feeding drawer is driven to move back and forth in the horizontal direction.
Further, the charging device is arranged in the underface of blanking channel, which includes the second electricity
Machine, reduction box and batch mixing pan, the second motor are connected through reduction box with the shaft of batch mixing pan, which drives batch mixing pan in water
It square is rotated up, bait falls into batch mixing pan and spread out in the horizontal direction.
Further, the batch mixing pan includes loading plate, discharge tray, baffle and shaft, wherein shaft and discharge tray
It is connected, multiple baffles are arranged away from a face interval of shaft in discharge tray, and loading plate is linked together by baffle and discharge tray；It is described
The edge of loading plate be provided with confining, and multiple material holes are offered on loading plate.
Further, it is provided with hobboing cutter at the confining, and confining short transverse is provided with the rolling more than 2 layers
Knife；It is provided with strainer in the material hole.
Further, the bait-throwing-in boat is provided with electronic module control device, which includes
Central processing unit, temperature sensor module, moisture sensor module, pressure sensor module and GPS navigation module, temperature sensing
Device module detects water temperature, and moisture sensor module detects air humidity, and pressure sensor module detects remaining bait in hopper
Doses, GPS navigation module record the position and speed of hull, feed back to central processing unit, central processing unit drives through motor
Module controls each station motor action.
Further, the bait-throwing-in boat is provided with obstacle avoidance apparatus, which includes ultrasonic distance measuring module, surpasses
Sound ranging module detects front obstacle, and result of detection is fed back to central processing unit.
A kind of water surface autonomous cruise formula solar energy bait-throwing method of the utility model carries out bait throwing in using the bait-throwing-in boat
Operation, including three kinds of Sinl'Perca chuatsTs；Wherein, the first is autonomous formula Sinl'Perca chuatsT, and waters is divided into polylith waters, each
The operating area that bait-throwing-in boat is searched in waters as one, when some bait-throwing-in boat bait is finished, and returns to bank feed supplement, regulation and control distance is recently
And the bait-throwing-in boat that work is completed comes to assist operation；Second is the mobile Sinl'Perca chuatsT of active path planning, including point-to-point
Bait throwing in and region segmentation emphasis bait throwing in, point-to-point bait throwing in calculate the shortest path up to target bait throwing in point using ant group algorithm,
Cruise bait throwing in is carried out according to obtained path；The bait throwing in of region segmentation emphasis adds remote control principles on the basis of point bait throwing in, distant
It controls bait-throwing-in boat and reaches key area progress bait throwing in operation；The third is area coverage all standing Autoamtic bait putting, passes through genetic algorithm
The maximized pond area of bait throwing in utilization rate needed for establishing carries out all standing Autoamtic bait putting.
3. advantageous effect
Using technical solution provided by the utility model, compared with existing known technology, there is following remarkable result：
(1) a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model, is arranged solar-electricity on hull
Pond plate and accumulator are that hull provides electricity in surface navigation and the work of blanking device and charging device using solar panel
Energy；On the one hand abundant solar energy resources are rationally utilized, save the loss of traditional energy；On the other hand, tradition is thrown relatively
Bait device connects the mode of power supply on the bank using cable, and to bait throwing in region, there is no limit, disclosure satisfy that the bait throwing in demand in entire pond,
Using more flexible；
(2) a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model, in solar cell plate bracing frame
Upper setting sliding slot drives solar panel to be moved along sliding slot, to adjust the angle of solar panel so that too by motor
Positive energy solar panel can have preferable solar energy reception under different moments, different situations, and then ensure that solar energy can
It is fully used；
(3) bait is arranged at the top of hopper in a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model
Sieve, preventing the bait of caking from entering blanking channel causes to block；The feeding plate edge of batch mixing pan is provided with confining, along confining height
Direction is provided with the hobboing cutter more than 2 layers, and strainer is arranged in expecting hole；Since bait on the market is not of uniform size, pass through first
Bait sieve carries out primary screening, and the bait of stammerer is sifted out, the centrifugal action that then larger bait is generated in batch mixing pan rotation
Under be brought at edge confining, using hobboing cutter carry out break process, bait throwing in is carried out by strainer filtering again after becoming small middle bait；
It is screened three times by this, can ensure that the bait for feeding the shoal of fish is of moderate size, more meet the requirement of scientific culture；
(4) a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model, bait fall into baffle in batch mixing pan
The sector region surrounded, batch mixing pan rotate under the drive of slowspeed machine, are thrown out bait by centrifugal action, outlet at
130 degree, bait is shed in a sector, and uniform bait throwing in may be implemented；
(5) a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model, in blanking channel lower part, setting is sent
Expect that drawer, the feeding drawer can move back and forth in the horizontal direction, and the feeding passage that two diameters of internal setting are different, sets herein
Meter can be selected between quickly conveying bait and accurately controlling the abundance of food, according to the difference of cultivation shoal of fish type, be considered
Daily ration, feeding quantity avoids bait dispensing from excessively causing to waste；
(6) a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model, setting temperature sensor module are examined
Water temperature is surveyed, moisture sensor module detects air humidity, and pressure sensor module detects residual bait amount in hopper, GPS
Navigation module records the position and speed of hull, and ultrasonic distance measuring module detects front obstacle, and can be in time by testing number
According to sending central processing unit to, central processing unit according to the feedback information of acquisition, can in real time adjust bait-throwing-in boat gait of march,
Travelling route, whether bait throwing in and daily ration, feeding quantity, and can timely feed supplement, the work of entire bait-throwing-in boat is more intelligent；
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of water surface autonomous cruise formula solar energy bait-throwing-in boat of the utility model；
Fig. 2 is the front view of bait-throwing-in boat in the utility model；
Fig. 3 is the front section view of bait-throwing-in boat in the utility model；
Fig. 4 is the dimensional structure diagram of batch mixing pan in the utility model；
Fig. 5 is the front view of batch mixing pan in the utility model；
Fig. 6 is the faces the A-A sectional view of Fig. 5；
Fig. 7 is bait-throwing-in boat Hardware ＆ software system circuit connection diagram in the utility model；
Fig. 8 is bait-throwing-in boat hardware module circuit connection diagram in the utility model.
Label declaration in schematic diagram：
11, floating drum；12, support plate；13, propeller；21, supporting rack；22, solar panel；23, accumulator； 31、
Hopper；32, bait sieves；33, blanking channel；41, first motor；42, turntable；43, connecting rod；44, feeding drawer；441, the first material
Road；442, the second material path；51, the second motor；52, reduction box；53, batch mixing pan；531, loading plate；532, confining；533, blanking
Disk；534, baffle；535, hobboing cutter；536, expect hole；537, shaft.
Specific implementation mode
To further appreciate that the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat of the present embodiment, including hull, too
Positive energy power generator, electronic module control device, navigation device, obstacle avoidance apparatus, blanking device and bait-laying device for fish.
The hull includes two floating drums 11, the support plate 12 being connect with floating drum 11 and two propellers 13, propeller
13 are placed on the tail portion of bait-throwing-in boat, and notch is equipped in support plate 12, and accumulator 23, fixed accumulator 23 are placed in notch
Plane motion, prevent accumulator 23 from being fallen into water since the movement of hull marks support plate 12, this belongs to the power of bait-throwing-in boat
Part.
The device of solar generating includes supporting rack 21, solar panel 22, and the setting of solar panel 22 exists
On the supporting rack 21, it is provided with sliding slot on supporting rack 21, solar panel 22 is facilitated to move up and down, the installation of 21 side of supporting rack
There is motor, motor drives solar panel 22 to be moved along sliding slot, to adjust the angle of solar panel 22 so that solar energy
Solar panel 22 receives energy best results.In conjunction with Fig. 8, the solar panel 22 being mounted on supporting rack 21, with conducting wire and too
Positive energy panel controller connects, and solar panel controller has the function of voltage stabilizing and prevents 23 super-charge super-discharge of accumulator,
Solar panel controller connects accumulator 23, for storing solar energy and being hull as the power original paper of bait-throwing-in boat
Electric energy is provided in surface navigation and the work of blanking device and charging device.
The blanking device includes hopper 31, which is a curved plate, in the minimum point of curved plate
It is provided with hole, is connected to blanking channel 33, ensures that the position at blanking channel 33 is minimum.The top of hopper 31 is provided with bait sieve
32, bait is easy to make moist, and the main function of bait sieve 32 is to prevent from the bait of caking from entering blanking channel 33 to cause to block.It is described
33 lower part of blanking channel be provided with feeding drawer 44, which is internally provided with the first material path 441 and the second material path
442, the first material path 441 is different with the channel diameter of the second material path 442；The side of feeding drawer 44 passes through connecting rod 43 and turntable 42
It is connected, turntable 42 is rotated in the horizontal direction by the driving of first motor 41, and then drives feeding drawer 44 past in the horizontal direction
It is multiple mobile.Two kinds of Sinl'Perca chuatsTs may be implemented in the present embodiment, are selected between quickly conveying bait and accurately controlling the abundance of food
It selects.In waters bait throwing in, the difference of shoal of fish type is cultivated, special consideration daily ration, feeding quantity is needed, if bait dispensing can excessively cause wave
Take, and also unfavorable for shoal of fish growth.
The charging device is arranged in the underface of blanking channel 33, and blanking device stores bait, and bait is conveyed
To charging device, charging device spreads out bait.In conjunction with Fig. 4, Fig. 5 and Fig. 6, which includes the second motor 51, slows down
Case 52 and batch mixing pan 53, the second motor 51 are connected through reduction box 52 with the shaft 537 of batch mixing pan 53, and second motor 51 drive is got rid of
Charging tray 53 rotates in the horizontal direction, and bait falls into batch mixing pan 53 and spread out in the horizontal direction, and the second motor 51 uses low
Speed motor can reduce the breakage rate of bait using slowspeed machine, and batch mixing pan 53 is made disc format, passes through centrifugal action handle
Bait is thrown out, is exported into 130 degree, bait is shed in a sector, and uniform bait throwing in may be implemented.The batch mixing pan 53
Including loading plate 531, discharge tray 533, baffle 534 and shaft 537, wherein shaft 537 is connected with discharge tray 533, discharge tray
Multiple baffles 534 are arranged in 533 face intervals for deviating from shaft 537, and loading plate 531 is linked as by baffle 534 and discharge tray 533
One；The edge of the loading plate 531 is provided with confining 532, hobboing cutter 535 is provided at confining 532, and high along confining 532
Spend the hobboing cutter 535 that direction is arranged 4 layers；Multiple material holes 536 are offered on loading plate 531, expect to be provided with strainer in hole 536.Due to
Bait on the market is not of uniform size, and the present embodiment carries out primary screening by bait sieve 32 first, the bait of stammerer is sifted out, so
Larger bait is brought under the centrifugal action that the rotation of batch mixing pan 53 generates at edge confining 532 afterwards, is carried out using hobboing cutter 535
Break process carries out bait throwing in by strainer filtering again after becoming small middle bait；It is screened three times by this, can ensure to feed the shoal of fish
Bait be of moderate size, more meet the requirement of scientific culture.
The electronic module control device includes central processing unit, temperature sensor module, moisture sensor module, pressure
Force snesor module and GPS navigation module, the direct current generator drive module phase for being connect propeller with central processing unit with conducting wire
Even, direct current generator drive module is used for controlling the opening of propeller, stops the velocity magnitude with foot, includes when to turn.With leading
Temperature sensor module is connected by line with central processing unit, and temperature sensor is attached on the inside of floating drum and keeps left, the work of temperature sensor
With being feedback water temperature, due to when water temperature is very high, fish be do not eat food or feeding rate it is very low, at this time according to usual bait throwing in
A large amount of bait may be wasted, thus temperature higher than setting temperature when, central processing unit control discharge quantity becomes smaller or directly
It connects and returns to starting point not bait throwing in, normal bait throwing in is carried out again after temperature decline.With conducting wire by moisture sensor module and centre
Device to be managed to be connected, moisture sensor module is placed in the support plate of bait-throwing-in boat floating drum, and the moment detects air humidity, once under finding
Rain or humidity are very high, and central processing unit control bait-throwing-in boat directly returns to starting point waiting, because fish food needs consumption a large amount of
Oxygen, rain the sky and water in amount of oxygen can only breathe for fish, so fish would not spend oxygen go food, therefore need
Normal bait throwing in could be carried out after humidity decline.Central processing unit is connected with GPS navigation module with conducting wire, GPS is as one
A receiver, mainly as the position and speed of record hull, central processing unit is connected with gyro module, is mainly used to prevent
GPS lossing signals play record and correct.Central processing unit is connected with pressure sensor module with conducting wire, to detect material
Whether the bait of case has all been launched, and pressure sensor is attached to the left side of the bottom of bait-throwing-in boat hopper, is mainly used to detect
Bait surplus.
The obstacle avoidance apparatus includes ultrasonic distance measuring module, with conducting wire by central processing unit and ultrasonic distance measuring module phase
Even, bow is placed in for detecting front obstacle, is conducive to improve the accuracy measured, is constantly sent out barrier in front of signal detection
Hinder object and result of detection is fed back into central processing unit and carrys out avoidance.
The present embodiment designs three kinds of feeding patterns, and slave computer central processing unit is directly allowed to send out pwm signal control two first
Driving motor, front ultrasonic distance measuring module do not detect barrier, and the identical control bait-throwing-in boat of two driving motor rotating speeds is kept
Straight trip, front ultrasonic distance measuring module detect barrier, and central processing unit sends out two different PWM instruction control driving motors
It exports different rotating speeds and forms differential, realize turning avoiding obstacles, continue to keep straight trip after avoiding obstacles.First is autonomous
Mobile bait throwing in, this mode is to self-navigation, Autoamtic bait putting as its name suggests, but the present embodiment is different from its other party
It is wherein to add more ships in place of case to cooperate this function, since it is considered that in big waters operation, there are many quantity of bait-throwing-in boat
When, all ships have the operating area of oneself, just as cage culture, it is assumed that waters is quadrangle, is divided into
Four pieces, four bait-throwing-in boats have feed supplementing device on the bank in every piece of region, when bait-throwing-in boat fulfils assignment timely return, feed supplement dress
Setting not only can be with feed supplement, while being also the settlement of canoe.When some bait-throwing-in boat bait is finished, mended if returning to bank feed supplement storehouse
Material returns again to work after waiting for feed supplement in this way, wastes time, also increase cost, while if bait-throwing-in boat electricity is very low,
Canoe can be allowed directly to bring to charging, so the bait-throwing-in boat for having completed work for making central processing unit regulation and control distance nearest comes
Cooperative job.Second is the mobile bait throwing in of active path planning, and also referred to as track bait throwing in, there are two types of forms, including point for track bait throwing in
To bait throwing in and region segmentation emphasis bait throwing in, point-to-point bait throwing in is to first pass through the ant group algorithm of internal system to calculate shortest path
Diameter, this algorithm are drawn according to ant group algorithm Optimality Criteria, it is assumed that have a accumulation point, it is assumed that have an ant, an ant
It is placed on an accumulation point, all ants is calculated to the probability of next bait throwing in point, route is selected according to the size of probability, complete
At (being from a bait throwing in point to another bait throwing in point or be exactly the visit for completing multiple accumulation points after primary action
Ask), the pheromone concentration information on a flight path is just updated at once, to the last whole ants have accessed all bait throwing in points,
It is solved by series of algorithms, finally obtains an optimal route, energy is allowed to reach minimum, bait throwing in efficiency highest, according to obtaining
Path carry out cruise bait throwing in, and region segmentation bait throwing in is to add remote control principles on the basis of point bait throwing in, because existing
The most integrated culture of aquaculture or cage culture mode, segmentation bait throwing in ensure that the differentiation of daily ration, feeding quantity, this
Kind of mode can also be applied in cultivation shrimp, crab and soft-shelled turtle, for fish, shrimp, crab and soft-shelled turtle are in water on not being applied only to breed fish
It is little motion, and bait-throwing-in boat food will not be trailed, therefore we needs the mode using special bait throwing in, emphasis segmentation to throw
Bait.The third is exactly area coverage all standing Autoamtic bait putting, and this bait throwing in is based on known water environment, the throwing of bait throwing in equipment
Under bait performance, the maximized object function of bait throwing in utilization rate oneself wanted, the unknown ginseng of bait throwing in are established by genetic algorithm
Number and known parameters obtain an equation, make target function value maximum by the limitation between parameter so that the shoal of fish obtains faster
Growth.
Schematically the utility model and embodiments thereof are described above, description is not limiting, attached drawing
Shown in also be the utility model one of embodiment, actual structure is not limited to this.So if this field
Those of ordinary skill enlightened by it, without deviating from the purpose of the present invention, not inventively design
Frame mode similar with the technical solution and embodiment, all should belong to the protection range of the utility model.
Claims (9)
1. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat, including hull, it is characterised in that：It further include solar panel
(22), the support plate in hull is arranged in accumulator (23), blanking device and charging device, the solar panel (22)
(12) on, for the solar panel (22) through solar panel controller connection accumulator (23), accumulator (23) is hull
Electric energy is provided in surface navigation and the work of blanking device and charging device；The charging device is arranged below blanking device,
Blanking device stores bait, and bait is conveyed to charging device, and charging device spreads out bait.
2. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 1, it is characterised in that：The support
Supporting rack (21) is provided on plate (12), solar panel (22) is arranged on the supporting rack (21), and on supporting rack (21)
It is provided with sliding slot, supporting rack (21) side is equipped with motor, and motor drives solar panel (22) to be moved along sliding slot, with adjustment
The angle of solar panel (22).
3. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 2, it is characterised in that：The blanking
Device includes hopper (31), which is a curved plate, is provided with hole in the minimum point of curved plate, is connected to blanking
Channel (33) is provided with bait sieve (32) at the top of hopper (31).
4. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 3, it is characterised in that：The blanking
Channel (33) lower part is provided with feeding drawer (44), which is internally provided with the first material path (441) and the second material
Road (442), the first material path (441) are different with the channel diameter of the second material path (442)；The side of feeding drawer (44) passes through connecting rod
(43) it is connected with turntable (42), turntable (42) is rotated in the horizontal direction by first motor (41) driving, and then feeding is driven to take out
Drawer (44) moves back and forth in the horizontal direction.
5. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 3 or 4, it is characterised in that：Described
In the underface of blanking channel (33), which includes the second motor (51), reduction box (52) and gets rid of for charging device setting
Charging tray (53), the second motor (51) are connected through reduction box (52) with the shaft (537) of batch mixing pan (53), the second motor (51) band
Dynamic batch mixing pan (53) rotates in the horizontal direction, and bait falls into batch mixing pan (53) and spread out in the horizontal direction.
6. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 5, it is characterised in that：Described gets rid of material
Disk (53) includes loading plate (531), discharge tray (533), baffle (534) and shaft (537), wherein shaft (537) and discharge tray
(533) it is connected, multiple baffles (534) are arranged away from a face interval of shaft (537) in discharge tray (533), and loading plate (531) passes through
Baffle (534) is linked together with discharge tray (533)；The edge of the loading plate (531) is provided with confining (532), and feeding
Multiple material holes (536) are offered on disk (531).
7. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 6, it is characterised in that：The confining
(532) it is provided with hobboing cutter (535) at, and is provided with the hobboing cutter (535) more than 2 layers along confining (532) short transverse；The material
Hole is provided with strainer in (536).
8. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 7, it is characterised in that：The bait throwing in
Ship is provided with electronic module control device, which includes central processing unit, temperature sensor module, humidity
Sensor assembly, pressure sensor module and GPS navigation module, temperature sensor module detect water temperature, humidity sensor
Module detects air humidity, and pressure sensor module detects residual bait amount in hopper (31), and GPS navigation module records hull
Position and speed, feeds back to central processing unit, and central processing unit controls each station motor through motor drive module and acts.
9. a kind of water surface autonomous cruise formula solar energy bait-throwing-in boat according to claim 8, it is characterised in that：The bait throwing in
Ship is provided with obstacle avoidance apparatus, which includes ultrasonic distance measuring module (2), ultrasonic distance measuring module (2) detection front barrier
Hinder object, and result of detection is fed back into central processing unit.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107980685A (en) * | 2017-12-28 | 2018-05-04 | 安徽工业大学 | A kind of water surface autonomous cruise formula solar energy bait-throwing-in boat and method |
| CN109699556A (en) * | 2019-02-15 | 2019-05-03 | 武汉理工大学 | A kind of wind light mutual complementing formula automatic feeding system |
| CN109874722A (en) * | 2019-04-23 | 2019-06-14 | 上海海洋大学 | It is a kind of that nobody manipulates bait-throwing-in boat and its control method |
| CN112704036A (en) * | 2020-12-25 | 2021-04-27 | 海南荣聚新型农业科技发展有限公司 | Accurate feeding device is bred in deep sea |
| CN112931322A (en) * | 2021-04-13 | 2021-06-11 | 中国水产科学研究院黑龙江水产研究所 | Aquaculture pond shade and feeding system |
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2017
- 2017-12-28 CN CN201721869010.4U patent/CN207948605U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107980685A (en) * | 2017-12-28 | 2018-05-04 | 安徽工业大学 | A kind of water surface autonomous cruise formula solar energy bait-throwing-in boat and method |
| CN109699556A (en) * | 2019-02-15 | 2019-05-03 | 武汉理工大学 | A kind of wind light mutual complementing formula automatic feeding system |
| CN109874722A (en) * | 2019-04-23 | 2019-06-14 | 上海海洋大学 | It is a kind of that nobody manipulates bait-throwing-in boat and its control method |
| CN112704036A (en) * | 2020-12-25 | 2021-04-27 | 海南荣聚新型农业科技发展有限公司 | Accurate feeding device is bred in deep sea |
| CN112704036B (en) * | 2020-12-25 | 2022-05-10 | 海南荣聚新型农业科技发展有限公司 | Accurate feeding device is bred in deep sea |
| CN112931322A (en) * | 2021-04-13 | 2021-06-11 | 中国水产科学研究院黑龙江水产研究所 | Aquaculture pond shade and feeding system |
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