CN212260166U - Automatic feed supplement's breed system of feeding based on big dipper location - Google Patents
Automatic feed supplement's breed system of feeding based on big dipper location Download PDFInfo
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- CN212260166U CN212260166U CN202022052655.7U CN202022052655U CN212260166U CN 212260166 U CN212260166 U CN 212260166U CN 202022052655 U CN202022052655 U CN 202022052655U CN 212260166 U CN212260166 U CN 212260166U
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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
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- 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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Abstract
The invention discloses a Beidou positioning-based breeding bait casting system capable of automatically supplementing feed, which comprises a paddle wheel power bait casting boat, a main control machine and a feeding device, wherein a Beidou navigation operation terminal and an automatic feeding system are arranged in the main control machine; the Beidou navigation operation terminal comprises a GPS navigation module, an environment positioning module and a real-time insertion point module, and is used for carrying out region division and path planning according to the area of the culture pond and each group of targets in the culture pond and driving the paddle wheel power bait casting boat to move in the culture pond so as to realize accurate bait casting operation; the automatic feeding system comprises a weighing module, a feedback module, a Bluetooth positioning reciprocating module and a feeding module, and is used for automatically returning to a shoreside material tower to supplement feed after the feed in the paddle wheel power feeding boat is fed, and filling a storage bin to return to an original place to continue feeding. The bait casting device has a high-precision navigation system, and realizes precise bait casting operation.
Description
Technical Field
The invention relates to the technical field of aquaculture, in particular to a Beidou positioning-based aquaculture bait casting system capable of automatically supplementing feed.
Background
Aquaculture is the production activity of breeding, cultivating and harvesting aquatic animals and plants under artificial control. Generally comprises the whole process of cultivating aquatic products from seedlings under artificial feeding management. In a broad sense, this may also include the proliferation of aquatic resources. Aquaculture has modes of rough culture, intensive culture, high-density intensive culture and the like. The rough culture is to put seedlings in medium and small natural waters and to culture aquatic products such as fish in lakes and reservoirs, shellfish in shallow seas and the like by completely relying on natural baits. Intensive culture is to culture aquatic products such as pond fish culture, net cage fish culture, fence culture and the like in a small water body by using bait casting and fertilizing methods. The culture feeding boat is a main tool.
In the aspect of efficient bait casting for shrimp and crab cultivation, the conventional bait casting worker is provided with a remote control type shrimp bait casting machine, a manually operated handheld wireless remote controller is used for remotely controlling a shipborne bait casting machine to throw and feed baits in a shrimp pond, the shipborne bait casting machine is used for controlling a bait casting ship to cast the baits along the periphery of the shrimp pond by arranging traction ropes around the shrimp pond, the self-cruising shrimp pond bait casting machine is used for measuring the distance between the bait casting ship and a bank by installing two ranging sensors on one side of a ship body, and further controlling the ship body to cast the baits along the periphery of the shrimp pond in a cruising manner, however, the measures expand the bait casting range and solve the problem of automatic bait casting of the shrimp pond, but in the actual operation process, the operation track of the bait casting ship cannot be accurately controlled due to poor positioning accuracy, and therefore, a Beidou positioning based cultivation bait casting system for automatically supplementing the baits is provided.
Disclosure of Invention
The invention aims to provide a Beidou positioning-based aquaculture bait casting system capable of automatically supplementing feed, which aims to solve the problems that the existing aquaculture bait casting boat in the background technology expands the bait casting range and automatically casts baits in a shrimp pond, but the operation track of the bait casting boat cannot be accurately controlled due to poor positioning accuracy.
In order to achieve the purpose, the automatic feed supplement breeding bait casting system based on Beidou positioning comprises a paddle wheel power bait casting boat, a main control computer and a feeding device, wherein a Beidou navigation operation terminal and an automatic feeding system are arranged in the main control computer;
the Beidou navigation operation terminal comprises a GPS navigation module, an environment positioning module and a real-time insertion point module, and is used for carrying out region division and path planning according to the area of the culture pond and each group of targets in the culture pond, so that the accurate positioning of the paddle wheel power feeding boat during the moving feeding operation in the culture pond is realized;
the automatic charging system comprises a weighing module, a feedback module, a Bluetooth positioning round-trip module and a charging module; the weighing module is used for monitoring the weight of the feed in the paddle wheel power feeding boat in real time; the feedback module is used for processing according to the data transmitted back by the weighing module and feeding back the processing result to the Bluetooth positioning round-trip module; the Bluetooth positioning reciprocating module is used for driving the paddle wheel power bait casting boat to reciprocate between the feeding device and the feeding point according to the signal of the feedback module; the feeding module is used for being connected with sensing equipment in the feeding device when the paddle wheel power bait casting boat returns to the feeding device, so that feeding action is carried out, and signals are transmitted to the feedback module after feeding to a set value.
Preferably, the GPS navigation module is configured to acquire accurate location information of a user.
Preferably, the environment positioning module is used for carrying out region division and real-time position information of the paddle wheel power feeding boat according to each group of targets in the culture pond and transmitting the information to the GPS navigation module.
Preferably, the real-time insertion point module is used for real-time traveling positions of the paddle wheel power feeding boat in the culture pond, and the real-time insertion point module is used for planning a path by using a linear navigation control algorithm of the real-time insertion point module and recording the positions of the paddle wheel power feeding boat in real time.
Preferably, the bluetooth positioning round-trip module comprises a bluetooth transmitting unit and a bluetooth receiving unit.
Preferably, the paddle wheel power feeding boat comprises a boat body, a discharging bin, a feed storage bin and a control box, wherein the discharging bin is arranged on two sides of the boat body, the feed storage bin is arranged on the upper end surface of the boat body, a bottom plate is arranged at the bottom end of the feed storage bin, the size of the bottom plate is matched with the size inside the feed storage bin, the edge of the bottom plate is in contact with the inner wall of the feed storage bin, the feed storage bin is positioned below the bottom plate, a weighing sensor is connected with the control box and is arranged below the bottom plate, a discharging channel is arranged between the feed storage bin and the discharging bin, two ends of the discharging channel are respectively communicated with the feed storage bin and the discharging bin, the position of the discharging channel communicated with the feed storage bin is higher than that of the bottom plate, a discharging port is arranged at the bottom end of the discharging bin, and a control switch is arranged between the discharging port and the discharging bin, the control switch is electrically connected with the control box, and the control box is installed in the ship body.
Preferably, a power supply is arranged in the ship body, and the main control machine is arranged in the control box.
Preferably, the feeding device comprises a feed supplement tower, an electric control valve, a support frame, a feeding pipeline and an induction controller, wherein an outlet at the bottom end of the feed supplement tower is communicated with one end of the feeding pipeline, the electric control valve is arranged between the outlet of the feed supplement tower and the feeding pipeline, the support frame is installed at the bottom end of the feed supplement tower and is inserted into soil beside a culture pond in an inserting manner, the induction controller is installed on the outer wall of the feed supplement tower facing the culture pond, the induction controller is connected with the paddle wheel power feeding boat through a wireless signal, and the induction controller is electrically connected with the electric control valve.
The invention has the following beneficial effects:
(1) according to the invention, the Beidou navigation operation terminal is installed on the paddle wheel power feeding boat, and the GPS navigation module, the environment positioning module and the real-time insertion point module are arranged in the Beidou navigation operation terminal, so that the paddle wheel power feeding boat has a high-precision navigation system, and a linear navigation control algorithm of the real-time insertion point is adopted, so that the linear navigation tracking precision is smaller than 20cm, and the accurate feeding operation is realized.
(2) The invention is provided with an automatic feeding system consisting of a weighing module, a feedback module, a Bluetooth positioning reciprocating module and a feeding module, and is provided with a matched feeding device on the bank, when a weighing sensor in a feed storage bin detects that the feed is lower than a set position in the using process, the signal is transmitted to the feedback module, the feedback module processes according to the signal and transmits the processing result to the Bluetooth positioning reciprocating module, the Bluetooth positioning reciprocating module drives a paddle wheel power feeding boat to return to the feeding device for feeding, when the paddle wheel power feeding boat is close to the feeding device, an induction controller on the feeding device induces the paddle wheel power feeding boat, then an electric control valve at the bottom end of a feed supplement tower is opened, so that the feed in the feed supplement tower is transmitted to a feed storage bin of a ship body through a feeding pipeline, and the feed in the feed storage bin is added to a set value, the weighing sensor transmits a signal to the feedback module, the feedback module transmits the signal to the Bluetooth positioning reciprocating module, and the Bluetooth positioning reciprocating module drives the paddle wheel power bait casting boat to return to a leaving position to continue to feed on the way.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a block diagram of a Bluetooth positioning round-trip module according to the present invention;
FIG. 3 is a schematic top view of the paddle wheel power feeding boat of the present invention;
FIG. 4 is a front view of the internal structure of the paddle wheel power feeding boat of the present invention;
fig. 5 is a schematic structural view of the feeding device of the present invention.
In the figure: 1. a hull; 2. a discharging bin; 3. a feed storage bin; 4. a control box; 5. a bottom material plate; 6. a discharge port; 7. a weighing sensor; 8. a control switch; 9. a discharge channel; 10. a feed supplement tower; 11. an electrically controlled valve; 12. a support frame; 13. a feeding pipeline; 14. and a sensing controller.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1-5, the automatic feed supplement breeding bait casting system based on Beidou positioning comprises a paddle wheel power bait casting boat, a main control machine and a feeding device, wherein a Beidou navigation operation terminal and an automatic feeding system are arranged in the main control machine.
The Beidou navigation operation terminal comprises a GPS navigation module, an environment positioning module and a real-time insertion point module, and the GPS navigation module is used for acquiring accurate position information of a user. The environment positioning module is used for carrying out region division and real-time position information of the paddle wheel power feeding boat according to each group of targets in the culture pond and transmitting the information to the GPS navigation module. The real-time insertion point module is used for the real-time position of the paddle wheel power feeding boat walking in the culture pond, and a linear navigation control algorithm of the real-time insertion point is utilized. The Beidou navigation operation terminal is used for carrying out region division and path planning according to the area of the culture pond and each group of objects in the culture pond, and driving the paddle wheel power bait casting boat to move in the culture pond to realize accurate bait casting operation.
The automatic feeding system is used for automatically returning to a shoreside material tower to supplement feed after the feed in the paddle wheel power feeding boat is fed, and returning to an original place to continuously feed after a feed bin is filled, and comprises a weighing module, a feedback module, a Bluetooth positioning return module and a feeding module. The weighing module is used for monitoring the feed in the paddle wheel power feeding boat in real time. The feedback module is used for processing according to the data transmitted back by the weighing module and feeding back the processing result to the Bluetooth positioning round-trip module. The Bluetooth positioning round-trip module is used for driving the paddle wheel power bait casting boat to and fro between the feeding device and the feeding point according to the signal of the feedback module, and comprises a Bluetooth transmitting unit and a Bluetooth receiving unit. The feeding module is used for being connected with sensing equipment in the feeding device when the paddle wheel power bait casting boat returns to the feeding device, so that feeding action is carried out, and signals are transmitted to the feedback module after feeding to a set value.
The paddle wheel power bait casting boat comprises a boat body 1, a discharging bin 2, a feed storage bin 3 and a control box 4, wherein the discharging bin 2 is arranged on two sides of the boat body 1, the feed storage bin 3 is arranged on the upper end surface of the boat body 1, a bottom material plate 5 is arranged at the bottom end of the feed storage bin 3, the size of the bottom material plate 5 is matched with the size inside the feed storage bin 3, the edge of the bottom material plate 5 is contacted with the inner wall of the feed storage bin 3, a weighing sensor 7 is arranged below the bottom material plate 5 of the feed storage bin 3, the weighing sensor 7 is connected with the control box 4, the weighing sensor 7 is arranged below the bottom material plate 5, a discharging channel 9 is arranged between the feed storage bin 3 and the discharging bin 2, two ends of the discharging channel 9 are respectively communicated with the feed storage bin 3 and the discharging bin 2, the position where the discharging channel 9 is communicated with the feed storage bin 3 is higher than the, install control switch 8 between discharge gate 6 and the play feed bin 2, control switch 8 and 4 electric connection of control box, control box 4 is installed in hull 1, be equipped with power supply in the hull 1, the main control computer is installed in control box 4, weighing sensor 7 measures the weight of fodder in the fodder storehouse 3 in real time in the fodder storehouse 3 of hull 1, when the weight of fodder is less than the setting value in the fodder storehouse 3 that weighing sensor 7 detected, can turn into the signal of telecommunication with this kind of signal, then transmit feedback module, feedback module carries out data analysis and processing according to this signal, and transmit the processing result for bluetooth location to come and go the module, bluetooth location to come and go the module and pass through bluetooth signal connection with feeding device, bluetooth location to come and go the module can drive paddle wheel power feeding boat and drive toward feeding device department according to the bluetooth signal and carry out the feeding.
The feeding device comprises a feed supplementing tower 10, an electric control valve 11, a support frame 12, a feeding pipeline 13 and an induction controller 14, wherein an outlet at the bottom end of the feed supplementing tower 10 is communicated with one end of the feeding pipeline 13, the electric control valve 11 is arranged between the outlet of the feed supplementing tower 10 and the feeding pipeline 13, the support frame 12 is installed at the bottom end of the feed supplementing tower 10, the support frame 12 is inserted in soil on the bank of the culture pond, the induction controller 14 is installed on the outer wall of the feed supplementing tower 10 facing the culture pond, the induction controller 14 is connected with the paddle wheel power feeding boat through a wireless signal, the induction controller 14 is electrically connected with the electric control valve 11, the induction controller 14 on the feed supplementing tower 10 can sense the paddle wheel power feeding boat and then drive the electric control valve 11 between the feed supplementing tower 10 and the feeding pipeline 13, so that the electric control valve 11 is opened to communicate the feed supplementing tower 10 with the feeding pipeline 13, the fodder in the fodder supplementing tower 10 is delivered to the fodder storage bin 3 of the paddle wheel power feeding boat through the feeding pipeline 13.
It is to be noted that, when the system is applied specifically, a plurality of groups of markers are arranged in a culture pond, the culture pond is divided into grid local areas by an environment positioning module according to the markers, the markers are used as points to form a coordinate system, and then when the system is used by combining with a GPS navigation module, the system can be accurately positioned and navigated in the culture pond, a paddle wheel power bait casting boat carries out walking and feeding in the culture pond according to a walking path set by the GPS navigation module, wherein a real-time insertion point module adopts a linear navigation control algorithm of a real-time insertion point to carry out path planning, so that the linear navigation tracking precision is effectively controlled, the position of the paddle wheel power bait casting boat is recorded in real time, the position mode of the coordinate system is utilized, the position positioning can be effectively carried out, the accurate positioning can still be carried out in extreme weather, so as to realize accurate bait casting operation, wherein, an automatic feeding system is arranged, the weighing sensor 7 in the feed storage bin 3 of the ship body 1 measures the weight of the feed in the feed storage bin 3 in real time, when the weight of the feed in the feed storage bin 3 detected by the weighing sensor 7 is lower than a set value, the signal is converted into an electric signal and then transmitted to the feedback module, the feedback module analyzes and processes data according to the signal and transmits a processing result to the Bluetooth positioning reciprocating module, the Bluetooth positioning reciprocating module is connected with the feeding device through a Bluetooth signal, the Bluetooth positioning reciprocating module drives the open-wheeled power feeding boat to drive to the feeding device according to the Bluetooth signal, the position of the open-wheeled power feeding boat is memorized by the GPS navigation module, the environment positioning module and the real-time insertion point module, and when the open-wheeled power feeding boat is positioned at the feeding position of the feeding device, the induction controller 14 on the feed supplement tower 10 induces the open-wheeled power feeding boat, then the electric control valve 11 between the feed supplement tower 10 and the feeding pipeline 13 is driven, the electric control valve 11 is opened, so that the feed supplement tower 10 is communicated with the feeding pipeline 13, the feed in the feed supplement tower 10 is conveyed into the feed storage bin 3 of the paddle wheel power feeding boat through the feeding pipeline 13, the weighing sensor 7 in the feed storage bin 3 detects the weight in real time, when the weight reaches a set value, a signal is transmitted to the feedback module again, the feedback module processes according to a new signal and transmits the processing result to the Bluetooth positioning reciprocating module, the Bluetooth positioning reciprocating module drives the paddle wheel power feeding boat to return to a leaving position according to a data signal and continues feeding, the feed supplement tower 10 can automatically supply the feed to the side when the paddle wheel power feeding boat finishes feeding in midway, the feed storage bin 3 which is filled can return to the original place to continue feeding, when the open-wheel power feeding boat drives away from the feed supplement tower 10, the induction controller 14 drives the electrically controlled valve 11 to close.
In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a breed system of feeding of automatic supplementary fodder based on big dipper location which characterized in that: the bait feeding device comprises a paddle wheel power bait casting boat, a main control machine and a feeding device, wherein a Beidou navigation operation terminal and an automatic feeding system are arranged in the main control machine;
the Beidou navigation operation terminal comprises a GPS navigation module, an environment positioning module and a real-time insertion point module, and is used for carrying out region division and path planning according to the area of the culture pond and each group of targets in the culture pond, so that the accurate positioning of the paddle wheel power feeding boat during the moving feeding operation in the culture pond is realized;
the automatic charging system comprises a weighing module, a feedback module, a Bluetooth positioning round-trip module and a charging module; the weighing module is used for monitoring the weight of the feed in the paddle wheel power feeding boat in real time; the feedback module is used for processing according to the data transmitted back by the weighing module and feeding back the processing result to the Bluetooth positioning round-trip module; the Bluetooth positioning reciprocating module is used for driving the paddle wheel power bait casting boat to reciprocate between the feeding device and the feeding point according to the signal of the feedback module; the feeding module is used for being connected with sensing equipment in the feeding device when the paddle wheel power bait casting boat returns to the feeding device, so that feeding action is carried out, and signals are transmitted to the feedback module after feeding to a set value.
2. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 1, wherein: the GPS navigation module is used for acquiring accurate position information of a user.
3. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 2, wherein: the environment positioning module is used for carrying out region division and real-time position information of the paddle wheel power feeding boat according to each group of targets in the culture pond and transmitting the information to the GPS navigation module.
4. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 1, wherein: the real-time insertion point module is used for the real-time position of the paddle wheel power feeding boat walking in the culture pond, and the path planning is carried out by utilizing the linear navigation control algorithm of the real-time insertion point, so that the position of the paddle wheel power feeding boat is recorded in real time.
5. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 1, wherein: the Bluetooth positioning round-trip module comprises a Bluetooth transmitting unit and a Bluetooth receiving unit.
6. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 1, wherein: the paddle wheel power bait casting ship comprises a ship body (1), a discharging bin (2), a feed storage bin (3) and a control box (4), wherein the discharging bin (2) is arranged on two sides of the ship body (1), the feed storage bin (3) is installed on the upper end face of the ship body (1), a bottom material plate (5) is installed at the bottom end of the feed storage bin (3), the size of the bottom material plate (5) is matched with the size inside the feed storage bin (3), the edge of the bottom material plate (5) is in contact with the inner wall of the feed storage bin (3), a weighing sensor (7) is arranged below the bottom material plate (5) of the feed storage bin (3), the weighing sensor (7) is connected with the control box (4), the weighing sensor (7) is installed below the bottom material plate (5), and a discharging channel (9) is arranged between the feed storage bin (3) and the discharging bin (2), the both ends of discharging channel (9) communicate with fodder storehouse (3) and play feed bin (2) respectively, the position of discharging channel (9) and fodder storehouse (3) intercommunication is higher than bed charge board (5), the bottom that goes out feed bin (2) is equipped with discharge gate (6), install control switch (8) between discharge gate (6) and play feed bin (2), control switch (8) and control box (4) electric connection, install in hull (1) control box (4).
7. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 6, wherein: a power supply is arranged in the ship body (1), and the main control machine is arranged in the control box (4).
8. The Beidou positioning based automatic feed supplement aquaculture feeding system of claim 1, wherein: the feeding device comprises a feed supplementing tower (10), an electric control valve (11), a support frame (12), a feeding pipeline (13) and an induction controller (14), wherein the outlet at the bottom end of the feed supplementing tower (10) is communicated with one end of the feeding pipeline (13), the electric control valve (11) is arranged between the outlet of the feed supplementing tower (10) and the feeding pipeline (13), the support frame (12) is installed at the bottom end of the feed supplementing tower (10), the support frame (12) is inserted into soil on the bank of the culture pond in an inserting mode, the induction controller (14) is installed on the outer wall of the feed supplementing tower (10) facing the culture pond, the induction controller (14) is connected with the paddle wheel power feeding boat through wireless signals, and the induction controller (14) is electrically connected with the electric control valve (11).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586704A (en) * | 2022-04-18 | 2022-06-07 | 仲恺农业工程学院 | Pigeon feeding system based on multi-sensor fusion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586704A (en) * | 2022-04-18 | 2022-06-07 | 仲恺农业工程学院 | Pigeon feeding system based on multi-sensor fusion |
| CN114586704B (en) * | 2022-04-18 | 2022-11-22 | 仲恺农业工程学院 | Pigeon feeding system based on multisensor fuses |
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