CN208746199U - A kind of intelligence fishery cultivating unmanned boat - Google Patents

Abstract

A kind of intelligence fishery cultivating unmanned boat, including Ship Structure, energy module, power plant module, communication module, cruise and obstacle avoidance module, water quality detection module, sampling and putting module, control and drive module, sonar module, cloud server and client, it is detected compared to traditional artificial sample, the real-time monitoring of the more element water quality detection modules of unmanned boat can guarantee the timeliness of testing result, emergency processing can be made in time, and greatly reduces artificial, time and Material Cost；All detection data cloud storages, have important scientific research and economic value for fishery cultivating and water analysis.

Description

A kind of intelligence fishery cultivating unmanned boat

Technical field

The utility model relates to intelligent technical field of fishery, specially a kind of intelligent fishery cultivating unmanned boat.

Background technique

Up to the present, China or a large agricultural country, one of the important component of fishery as agricultural and agriculture The mainstay of village's economy.Since reform and opening-up, the Fisheries Development in China is rapid, 1978 to the 2015 fishery economic output values from 40.54 hundred million yuan rise to 22019.94 hundred million yuan.Fisheries Development is to Ensuring Food Safety, improvement Dietary Pattern of Residents, raising fisherman Income, stablize the economic structue of agriculture etc. and play a significant role.Due to wide in variety, delicious in taste, nutritive value is high etc. Feature, aquatic products accounting in the diet consumption of resident constantly increase, and aquatic products demand has space and the trend of expansion.But China's fishery does not get rid of traditional extensive breeding way, and with the continuous development of marine industry, cultivation density is continued to increase, Lack the effective monitoring to aquatic environment in aquaculture process, unreasonable feeding greatly is disliked with medication in breeding process Changed aquatic environment, influenced aquatic product quality, aggravated the generation of aquatic products disease so that fish quality, water environment pollution, The problems such as cultivation risk, is very serious." water will first be supported by breeding fish ", an Ecology ring important as the entire ecosystem and fish The habitat of class existence and procreation, therefore the dynamic change of breeding water body and cultured fishes can be grasped in time, facilitate People can regulate and control water quality in time and prevent and cure diseases, and improve survival rate, growth and the speed of procreation and the fish of fish culture Security quality, so that whole improve culture efficiency.However in traditional breeding way, water quality artificial sample and fixed point detection Mode poor in timeliness, implementation cost are high, detection density is low, and rely on micro-judgment shoal of fish situation more, simultaneously for controlling for water quality The unreasonable secondary pollution that will cause water body of application method of reason and shoal of fish disease prevention and cure.

The problem of in face of traditional breeding way, the utility model proposes a kind of intelligent fishery cultivating unmanned boat, It can be realized the autonomous cruise in Cultivated water, the dynamic change and shoal of fish motion conditions of real-time monitoring water quality accurately acquire Water sample and dispensing material and drug, and will test the storage of data cloud and analyzed for scientific research.The utility model is unmanned boat in fishing The practice of industry cultivation industry, for pushing the change of traditional fishery breeding way to be of great significance, while the unmanned boat has Important economic value and scientific research value.

Summary of the invention

(1) the technical issues of solving

The purpose of this utility model is to provide a kind of intelligent fishery cultivating unmanned boats, to solve to mention in above-mentioned background technique Practical problem out.

(2) technical solution

To achieve the above object, the utility model provides the following technical solutions: a kind of intelligence fishery cultivating unmanned boat, including Ship Structure, energy module, power plant module, communication module, cruise and obstacle avoidance module, water quality detection module, sampling and dispensing mould Block, control and drive module, sonar module, cloud server and client, the energy module include the lithium electricity of 12V/26Ah Pond, the solar panels of monocrystalline 12V/20W, solar controller, the power plant module by two 12V/30W direct current unit At the cruise obstacle avoidance module is made of GPS module and ultrasonic sensor modules, and the GPS module passes through the communication mould Location information is transferred to the client in real time by block, the ultrasonic sensor be respectively equipped with it is underwater and two groups of the water surface, it is described Sonar module is ultrasonic fish detector and is set to hull bottom, and the sampling and putting module include stepper motor and two-way water Pump, the detection module includes temperature sensor, acidity-basicity sensor, dissolved oxygen sensor, ammonia nitrogen sensor, turbidity transducer And salinity sensor,.

Preferably, the communication module uses fourth generation mobile communication technology.

Preferably, the control is made of with drive module the controller of model STM32F103ZET6 chip.

Preferably, the motor model of the direct current generator of two 12V/30W in the power plant module is XD-3420.

Preferably, the client is designed under VS environment based on C# language.

(3) beneficial effect

1. the few professional applications in market fill up the sky in terms of the fishery cultivating of unmanned boat in the unmanned boat of fishery cultivating It is white；2. unmanned boat uses modularization assembling, it can flexibly reequip, cope with different practical matters；3. unmanned boat is using cleaning energy Source, and solar battery of arranging in pairs or groups increase its cruising ability and will not pollute；4. unmanned boat is small in size, shallow draft, Neng Goujian Region can not be reached by surveying many Artificial Ships；5. being detected compared to traditional artificial sample, the more element water quality detection modules of unmanned boat Real-time monitoring can guarantee the timeliness of testing result, emergency processing can be made in time, and greatly reduce the artificial, time and Material Cost；6. the fixed point depthkeeping putting module of unmanned boat can be sampled in designated place and depth, solve to water quality more The problem of high request detects；It is quantitatively launched when to water body treating and shoal of fish disease prevention and cure using fixed point depthkeeping, object can be saved Material and drug, while reducing secondary pollution caused by drug and material；7. it is close that unmanned boat fish finding module is able to detect shoal of fish distribution Intensity and activity condition are conducive to the habit for analyzing the shoal of fish in conjunction with GPS position information and water quality testing data；8. using Tabu search algorithm and cruise obstacle module planning most reasonable cruise route, save detection time and battery consumption；9. all inspections The storage of measured data cloud has important scientific research and economic value for fishery cultivating and water analysis.

Detailed description of the invention

In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention, For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings Other attached drawings.

Fig. 1 is unmanned boat overall structure figure；

Fig. 2 is unmanned boat power plant module work flow diagram；

Fig. 3 is L298N chip drive circuit figure；

Fig. 4 is unmanned boat cruise and obstacle avoidance system work flow diagram；

Fig. 5 is Tabu search algorithm flight course planning flow chart；

Fig. 6 is that unmanned boat water quality and the shoal of fish detect work flow diagram；

Fig. 7 is that unmanned boat samples and launches work flow diagram；

Fig. 8 is L298N chip controls mode and motor status table.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts All other embodiment obtained, fall within the protection scope of the utility model.

A kind of intelligence fishery cultivating unmanned boat, including Ship Structure, energy module, power plant module, communication module, cruise with Obstacle avoidance module, water quality detection module, sampling and putting module, control and drive module, sonar module, cloud server and client End, the energy module include the lithium battery of 12V/26Ah, the solar panels of monocrystalline 12V/20W, solar controller, described dynamic Power module is made of the direct current generator of two 12V/30W, and the cruise obstacle avoidance module is by GPS module and ultrasonic sensor modules Location information is transferred to the client, the supersonic sensing in real time by the communication module by composition, the GPS module Device is respectively equipped with underwater and two groups of the water surface, and the sonar module is ultrasonic fish detector and is set to hull bottom, the sampling It include stepper motor and two way water pump with putting module, the detection module includes temperature sensor, acidity-basicity sensor, dissolution Lambda sensor, ammonia nitrogen sensor, turbidity transducer and salinity sensor.The communication module uses forth generation mobile communication skill Art；What the control was made of with drive module the controller of model STM32F103ZET6 chip；In the power plant module Two 12V/30W direct current generator motor model be XD-3420；The client is based on C# language under VS environment It designs, energy module uses one piece of 12/26Ah lithium battery, one piece of monocrystalline 12V/30W solar panel, using the sun Energy technology increases unmanned boat cruising ability, and whole ship not will cause water pollution using clean energy resource, and no-load speed is up to 2500r/ Min, can positive and negative rotation, cylindrical structure does water-proofing treatment having a size of 52*70mm, and to motor, dual H-bridge motor driven mould of arranging in pairs or groups Block uses L298N for driving chip, two-way pwm signal Collaborative Control provides power for unmanned boat navigation, and communication module uses Fourth generation mobile communication technology, using model USR-LTE-7S4 wireless communication module, by serial ports with STM32F103ZET6 connection is able to carry out the data transmission of high speed, realizes the letter between unmanned boat, cloud server and client Breath interaction gets rid of the distance limitation of conventional radio frequency communication mode.Obstacle avoidance module of cruising is by GPS module and ultrasonic sensor group At, by client be arranged unmanned boat navigation route, cruise route is planned in electronic map by client, when unmanned boat navigate The location information of GPS is transmitted to client when row, and compares calculating in cruise route, and course heading revision directive is sent To hull；Under sail using underwater and two groups of ultrasonic sensors waterborne, the water surface and underwater obstacle are detected respectively, works as detection Course is modified when reaching minimum value to obstacle distance.Sonar module is mounted on the ultrasonic fish detector group of hull bottom by one At investigation depth 30M, the detectable shoal of fish is distributed and density case, and whether activity is abnormal for the monitoring shoal of fish, and by data by leading to Believe module transfer to client.More element water quality modules are sensed by temperature sensor, PH sensor, dissolved oxygen sensor, ammonia nitrogen Device, turbidity transducer and conductivity sensor composition, wherein pH, ammonia nitrogen, dissolved oxygen, turbidity and conductivity sensor with The RS485 interface of STM32F103ZET6 control chip is connected, and water temperature sensor is directly connected with central controller by AD conversion It connects, the information of detection uploads to client and server by communication module.Sampling with putting module have a stepper motor and Two way water pump composition, after sampling/placement position and depth information is arranged in client, unmanned boat is reached by cruise obstacle avoidance module Designated place, according to depth data, controller driving stepper motor decentralization formulate water pump after length water pipe sample/launch work Make.Client is based on C# language and designs under VS environment, passes through the communication of network implementations and hull and server, interface master Show hull information, navigation route, operational order, water quality detection information and shoal of fish detection information etc..Cloud Server can incite somebody to action Detection data carries out cloud storage, realizes the communication of hull, client, and search using taboo according to the test point that client is demarcated Rope algorithmic rule unmanned boat navigation path.

Now according to Figure of description, the present invention will be further described, main body and other function of the hull as navigation The carrier of energy module is integrated with energy module, power plant module, communication mould using STM32F103ZET6 model as controller Block, avoidance cruise module, water quality detection module, fish monitoring module and sampling and putting module, and mating Cloud Server and visitor Family end system；Lithium battery plus solar cell panel structure is used to provide operating power source as energy module for full ship；Two 12V without Brushless motor is the power resources of hull navigation, as shown in Fig. 2, avoidance cruise system, flight course planning system and communication mould Block cooperates, and then generates pwm signal after controller is handled, and works through L298N chip drives motor；Motor driven electricity As indicated at 3, L298N chip can drive two-way brshless DC motor simultaneously, and enable end ENA, ENB are effective when being high level on road, Control mode and direct current generator state are as shown in table 1, if adjusting the speed to motor, it is only necessary to IN1 be arranged, IN2 determines that motor turns To then to enable end output pwm pulse；Communication module use the 4G communication technology, by 4G DTU module by serial ports with Controller communication, can be realized remote high speed data transfer；Avoidance cruise module is mainly by GPS system and ultrasonic sensor Composition, as shown in figure 4, starting enabled instruction to unmanned boat, starting motor works, then after client sets cruise path Whether there are obstacles and distance of obstacle is less than warning value in ultrasonic sensor detection per second front, then does if it is less than warning value Avoidance turns to out, then corrects course again, otherwise steady；The correction of course of progress in every 3 seconds, i.e. reading GPS positioning letter Breath and electronic compass angle information, if reach detect terminal if motor stop working, otherwise processor referring to planning course line into Row angle calculation generates the work of two-way pwm signal driving motor using differential method and carries out course adjustment, positive after the correction of course Advance, i.e., motor differential in left and right is 0；Flight course planning system based on TABU search is mainly completed in Cloud Server, such as Fig. 5 Shown, when client sets corresponding test point, the location information of test point is converted into and is coordinate information, then sends To server, flight course planning is carried out using tabu search algorithm, which generates initial solution (initial route) with randomized first, Then several groups field solution (field course line) is generated using 2-opt method, a part is selected as candidate solution according to length for heading and (is waited Routing), if best candidate solution, due to currently solving in (current course line), best candidate solution replaces current solution, and enters taboo Table replaces the solution for entering taboo list at first, otherwise selects optimal solution to replace current solution in the candidate solution of non-taboo and enters taboo Table repeats the above iterative calculation until completing corresponding the number of iterations；The detection part of unmanned boat is broadly divided into two parts, i.e., more Element water quality detection and shoal of fish detection, water quality detection part is made of six sensors, in addition to temperature sensor directly with processing Reading data is realized in the A D interface connection of device, and ammonia nitrogen, turbidity, conductivity, dissolved oxygen, acidity-basicity sensor are communicated using RS485 The connection of the RS485 interface of agreement and processor, operating mode is as shown in fig. 6, primary complete communication process is divided into 3 stages: Host inquiry, slave response and link release, shoal of fish detection module mainly pass through excusing from death wave sensor composition under water, pass through serial ports It is communicated with processor realization；Sampling and putting module are the water quality detections for solution higher precision and water quality is administered and fish disease prevention and cure Problem and design, mainly there is servo motor and two way water pump to work, as shown in fig. 7, on the client be arranged sampling/throwing The operating point put and depth, data are sent to unmanned boat, when unmanned boat cruises to operating position, braking floating, and processor Servo motor is driven to launch conduit to working depth according to set depth, then water pump is sampled and launched work.

In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the utility model In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more embodiment or examples In can be combined in any suitable manner.

The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this Utility model.The utility model is limited only by the claims and their full scope and equivalents.

Claims (5)

1. a kind of intelligence fishery cultivating unmanned boat, it is characterised in that: including Ship Structure, energy module, power plant module, communication mould Block, cruise and obstacle avoidance module, water quality detection module, sampling and putting module, control and drive module, sonar module, cloud clothes Business device and client, the energy module include the lithium battery of 12V/26Ah, the solar panels of monocrystalline 12v/20W, solar energy control Device processed, the power plant module are made of the direct current generator of two 12V/30W, and the cruise obstacle avoidance module is by GPS module and ultrasound Location information is transferred to the client, institute in real time by the communication module by wave sensor module composition, the GPS module It states ultrasonic sensor and is respectively equipped with underwater and two groups of the water surface, the sonar module is ultrasonic fish detector and is set to hull bottom Portion, the sampling and putting module include stepper motor and two way water pump, and the water quality detection module includes temperature sensor, acid Alkalinity sensor, dissolved oxygen sensor, ammonia nitrogen sensor, turbidity transducer and salinity sensor.

2. a kind of intelligent fishery cultivating unmanned boat according to claim 1, it is characterised in that: the communication module is using the Four third-generation mobile communication technologies.

3. a kind of intelligent fishery cultivating unmanned boat according to claim 1, it is characterised in that: the control and drive module It is made of the controller of model STM32F103ZET6 chip.

4. a kind of intelligent fishery cultivating unmanned boat according to claim 1, it is characterised in that: two in the power plant module The motor model of the direct current generator of a 12V/30W is XD-3420.

5. a kind of intelligent fishery cultivating unmanned boat according to claim 1, it is characterised in that: the client is based on C# language What speech designed under VS environment.