CN212541059U

CN212541059U - ROV bait casting robot remote control integrated system

Info

Publication number: CN212541059U
Application number: CN202021177724.0U
Authority: CN
Inventors: 刘亮; 王俊雄; 丁海燕; 王琨强
Original assignee: Shanghai Tianxing Control Technology Co ltd
Current assignee: Shanghai Tianxing Control Technology Co ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-02-12
Anticipated expiration: 2030-06-23

Abstract

The utility model discloses a ROV robot remote control integrated system that feeds, including ROV robot and bait casting ware, the ROV robot is including the assembly body and the main storehouse body, install a plurality of propellers on the assembly body, the internal fixed mounting of assembly has searchlight under water, the half ball cover of ya keli is installed to the one end of the main storehouse body, install the camera in the half ball cover of ya keli, install first battery, microcomputer and ARM main control board in the main storehouse body, first battery is connected with propeller and searchlight electricity, microcomputer and ARM main control board electricity are connected. The utility model relates to an aquaculture automatic control technical field, through the input of the control bait that the remote control integrated system can be accurate, can make the raiser can be at any time, control ROV bait casting robot in office space or any breed region simultaneously, accomplish all-weather seamless linking.

Description

ROV bait casting robot remote control integrated system

Technical Field

The utility model relates to an aquaculture automatic control technical field especially relates to a ROV robot remote control integrated system that feeds.

Background

According to the statistics in recent years, the proportion of the fish and shrimp culture yield in the total aquaculture yield in China is increasing year by year. In addition, the bait used by the aquaculture in China is gradually changed from using a large amount of low-value wild trash fish to artificial compound feed, and the demand of the aquaculture industry on the artificial compound feed is gradually increased. Compared with the development quantity and scale of aquaculture industry, the development of aquaculture supporting facilities in China is relatively lagged, and the mechanization and automation degree are low, wherein the outstanding is that automatic bait casting equipment and technology matched with large-scale deep water net cage culture, high-density industrial culture, reservoir large-water-surface net cage culture, large-area pond culture and the like are lacked in China at present. Feeding of baits is basically performed by farmers according to personal experience and hiring labor.

The underwater and overwater operation tasks of traditional aquaculture are finished manually, the labor intensity is high, the danger is high, in recent years, people willing to engage in the industry are fewer and fewer, and the underwater aquaculture operation faces a severe employment crisis and the cost crisis of farmers. With the technical progress and the reduction of the manufacturing cost, the underwater robot has huge demand space for application in aquaculture operation.

To this end, we propose a remote control integrated system for an ROV feeding robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problems in the prior art and providing a remote control integrated system of an ROV bait feeding robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a remote control integrated system of an ROV bait casting robot comprises an ROV robot and a bait casting device, wherein the ROV robot comprises an assembly body and a main bin body, a plurality of propellers are installed on the assembly body, an underwater searchlight is fixedly installed in the assembly body, one end of the main bin body is provided with an acrylic semispherical cover, a camera is installed in the acrylic semispherical cover, a first storage battery, a microcomputer and an ARM main control board are installed in the main bin body, the first storage battery is electrically connected with the propellers and the searchlight, and the microcomputer is electrically connected with the ARM main control board;

the bait casting device comprises a hull shell and a circular hopper, wherein the circular hopper is arranged in the hull shell, a support frame is arranged at the bottom in the hull shell, a framework is fixedly arranged on the support frame, the circular hopper is clamped on the framework, a feeding pipe is inserted in the hull shell and is communicated with the circular hopper, a screw rod is rotatably arranged in the feeding pipe, a motor support is fixedly arranged on one side of the support frame, a motor is fixedly arranged on the motor support, the lower end of the screw rod is fixedly connected with a driving end of the motor, the lower end of the circular hopper is connected with one side of the feeding pipe, a discharge hole is formed in one end of the feeding pipe, which is positioned outside the hull shell, a controller is arranged on the framework and is electrically connected with the motor, and a second storage battery fixedly connected with the hull shell is arranged at the bottom side of the hull shell, the second storage battery is electrically connected with the motor.

Preferably, the ARM main control board is provided with a temperature sensor, a depth pressure sensor, a nine-axis gyroscope chip, a power management chip, a water quality sensor, a sound wave sensing system, a modem, a water communication module and two relays, the microcomputer is electrically connected with the modem through the ethernet, a brushless motor drive board is hermetically mounted on each propeller, the brushless motor drive board is electrically connected with the propeller, the power management chip is electrically connected with a first storage battery, the two relays are electrically connected with the controller and the searchlight respectively, the camera is electrically connected with the water communication module through the DCMI, the water communication module is electrically connected with the ARM main control board through the ethernet, the water communication module is electrically connected with a land communication module through a wireless communication module, the land communication module is electrically connected with a user end through the wireless communication module, the wireless communication module is electrically connected with the modem module.

Preferably, the ARM main control board adopts an embedded ARM chip STM32F429IGT6 with a Cortex-M4 kernel as an Apollo development board of an MPU and is matched with an OV5640 camera module, the nine-axis gyroscope chip adopts an MPU9250 to realize the posture sensing function, and the camera adopts an OV5640 module.

Preferably, the overwater communication module is provided with a placing plate, and the upper side of the placing plate is provided with a sucker fixedly connected with the placing plate.

Preferably, an electric cat module is also arranged in the above-water communication module, and the electric cat module in the ROV robot is connected with the electric cat module in the above-water communication module through a 100M + cable.

Compared with the prior art, the beneficial effects of the utility model are that:

1. and the ROV drags the automatic feeding device to move through the reinforced communication cable, and transmits a serial port control command to the automatic feeding device to control the automatic feeding device to feed. The ROV judges whether a fish school is gathered in the area or not through the front-mounted camera, if so, the feeding device is controlled to feed, whether the feeding willingness of the fish school is weakened or not is judged through the water quality sensor, when the water quality begins to be turbid, the fact that the fish school is full is shown, the residual baits in the water quality are increased, the ROV transmits an instruction to stop the feeding work of the feeding device, and therefore farmers can know the water quality in real time;

2. the ROV is installed below the culture container towards the water surface through a sensor of the sound wave sensing system, generates an image picture of fish and feed particles, and determines whether to stop feeding or not by monitoring the residual bait amount or the behavior of the culture object through the image picture. The mode of monitoring the residual feed amount by sound wave sensing can distinguish feed particles from other substances, and then judge whether the feed amount settled to the bottom of the culture water area reaches a significant level, thereby realizing accurate and appropriate feeding;

3. remote control: the ROV feeding robot can be controlled by farmers at home, in offices or in any breeding area, and all-weather seamless connection is achieved.

Drawings

Fig. 1 is a schematic structural view of an ROV robot and a bait casting device in an ROV bait casting robot remote control integrated system according to the present invention;

fig. 2 is a schematic structural view of a control handle and an ROV robot in the ROV feeding robot remote control integrated system provided by the present invention;

fig. 3 is a system block diagram of an ROV feeding robot according to the present invention;

fig. 4 is a block diagram of the hardware design structure of an underwater vehicle in the ROV bait casting robot according to the present invention;

fig. 5 is a connection diagram of an ARM chip in the ROV bait casting robot of the present invention;

fig. 6 is a schematic diagram of the propeller 14PWM wave output and camera 19 interface in the ROV feeding robot of the present invention;

fig. 7 is a schematic diagram of a nine-axis gyro chip in the ROV feeding robot of the present invention;

fig. 8 is a schematic diagram of an ethernet interface in the ROV feeding robot according to the present invention;

fig. 9 shows an I2C interface expansion circuit in an ROV feeding robot according to the present invention;

fig. 10 is a circuit diagram of a DRAM chip in an ROV bait casting robot according to the present invention;

fig. 11 is a power circuit of the ROV feeding robot according to the present invention;

fig. 12 shows a USB-to-serial port circuit in the ROV bait casting robot of the present invention.

In the figure: 1. an assembly body; 2. a main bin body; 3. a hull shell; 4. a circular hopper; 5. a support frame; 6. a framework; 7. a feeding pipe 8 and a screw rod; 9. a motor bracket; 10. a motor, 11 a controller; 12. a second storage battery; 13. a discharge port; 14. a propeller; 15. an acrylic semispherical cover; 16. a camera; 17. an ARM main control board; 18. a microcomputer; 19. a first storage battery; 20. a searchlight; 21. a water communication module; 22. placing the plate; 23. and (4) sucking discs.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Referring to fig. 1-12, a remote control integrated system of an ROV bait casting robot comprises an ROV robot and a bait casting device, the ROV robot comprises an assembly body 1 and a main cabin body 2, a plurality of propellers 14 are installed on the assembly body 1, an underwater searchlight 20 is fixedly installed in the assembly body 1, one end of the main cabin body 2 is provided with an acrylic hemispherical cover 15, a camera 16 is installed in the acrylic hemispherical cover 15, a first storage battery 19, a microcomputer 18 and an ARM main control board 17 are installed in the main cabin body 2, the first storage battery 19 is electrically connected with the propellers 14 and the searchlight 20, the microcomputer 18 is electrically connected with the ARM main control board 17, the ARM main control board 17 adopts an embedded type ARM STM32F429IGT6 with a Cortex-M4 kernel as an apollo development board of the MPU and is matched with an OV5640 camera module, the OV5640 is a 500 ten thousand pixel image sensor, a DVP interface is supported, a nine-axis gyroscope chip adopts an MPU9250 to realize a posture sensing function, the camera 16 adopts an OV5640 module and adopts an MPU9250 to realize the posture sensing function. The MPU9250 is a 9-axis motion processing device, which comprises a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis magnetometer electronic compass and is provided with a digital motion processor DMP, and can reduce the processing task of the ARM main control board MPU, a temperature sensor, a depth pressure sensor, a nine-axis gyroscope chip, a power management chip, a water quality sensor, an acoustic wave sensing system, a power modem, an overwater communication module 21 and two relays are arranged on the ARM main control board 17, a microcomputer 18 is electrically connected with the power modem through Ethernet, a brushless motor driving board is hermetically installed on each thruster 14 and electrically connected with the thruster 14, the power management chip is electrically connected with a first storage battery 19, the two relays are respectively electrically connected with a controller 11 and a searchlight 20, a camera 16 is electrically connected with the overwater communication module 21 through DCMI, and underwater target detection and identification can be carried out through the camera 16, clear high-resolution videos can be shot underwater, images of aquatic animals are obtained by using image acquisition equipment, image preprocessing, contour extraction, characteristic point calibration, characteristic information statistical analysis and the like are carried out by applying technologies such as image processing, mode recognition and the like, the processes of visual attribute measurement and calculation such as size calculation, shape analysis, quality estimation, color judgment and the like of the aquatic animals are finally realized, the growth state of the aquatic animals can be intelligently analyzed, meanwhile, effective data are collected and uploaded to a cloud-end database for analysis, bait casting strategies are further adjusted, artificial intelligent cultivation is realized, the overwater communication module 21 is electrically connected with the ARM main control board 17 through the Ethernet, a placing board 22 is arranged on the overwater communication module 21, a sucking disc 23 fixedly connected with the placing board 22 is arranged on the upper side of the placing board 22, the sucking disc 23 is additionally arranged on the placing board 22, and the mobile phone is conveniently fixed on the overwater communication wood block 21, the overwater communication module 21 is electrically connected with a land communication module through a wireless communication module, the land communication module is electrically connected with a user end through a wireless communication module, the wireless communication module is electrically connected with the power modem module, the power modem module is also arranged in the overwater communication module 21, the power modem module in the ROV robot is connected with the power modem module in the overwater communication module 21 through a 100M + cable, the overwater communication module 21 is internally provided with a WIFI + GPRS module, the information is transmitted through wireless communication with a mobile phone or a PC, the overwater communication module 21 can also carry out GPS positioning, and more accurate positioning information is obtained;

the bait casting device comprises a hull shell 3 and a circular hopper 4, the circular hopper 4 is installed in the hull shell 3, a support frame 5 is installed at the bottom in the hull shell 3, a framework 6 is fixedly installed on the support frame 5, the circular hopper 4 is clamped on the framework 6, a feeding pipe 7 is inserted in the hull shell 3, the feeding pipe 7 is communicated with the circular hopper 4, a screw rod 8 is installed in the feeding pipe 7 in a rotating mode, a motor support 9 is fixedly installed on one side of the support frame 5, a motor 10 is fixedly installed on the motor support 9, the lower end of the screw rod 8 is fixedly connected with a driving end of the motor 10, the lower end of the circular hopper 4 is connected with one side of the feeding pipe 7, a discharge hole 13 is formed in one end, located on the outer side of the hull shell 3, of the feeding pipe 7, a controller 11 is arranged on the framework 6, the controller 11 is electrically connected with the motor 10, the second battery 12 is connected with motor 10 electricity, provides electric power for motor 10 through second battery 12, and the control signal on the ARM main control board 17 is received to controller 11, control motor 10 rotational speed, and motor 10 drive screw 8 rotates, and screw 8 rotates and is transmitted to discharge gate 13 at conveying pipe 7 internal bait, realizes the function of feeding.

In the utility model, the ARM main control board 17 in the ROV robot sends and controls a plurality of motion modes of the propeller 14 such as sailing, retreating, lateral moving, rotating, rolling, floating, diving and the like, is free and flexible underwater, meets the requirements of motion in an underwater complex environment,

the whole process is through remote communication, wherein a microcomputer 18 is connected with a modem module through an Ethernet port, the modem module of an ROV robot is connected with a modem module in an overwater communication module 21 through a 100M + cable, the ROV robot can control underwater navigation through a mobile phone user end, a camera 16 of the ROV robot can transmit video data to a mobile phone through the modem module to display underwater shot images, a sound wave sensing system on an ARM main control board 17 emits sound waves towards the water through a sound wave sensor of the sound wave sensing system to generate image pictures of fish and feed particles, the residual feed amount or the behavior of a culture object is monitored through the image pictures to determine whether to stop feeding, the sound wave sensor can distinguish the feed particles from other substances by monitoring the residual feed amount, and then whether the feed amount deposited to the bottom of a culture water area reaches a significant level is judged, wherein the sound wave sensing system uses sound wave sensing imaging technology, the ROV robot is provided with a Doppler unit, a three-dimensional sonar image range data modeling and segmentation algorithm based on the super-quadric surface technology is adopted, three-dimensional sound imaging is respectively realized on an underwater columnar target, a spherical target and a combined target based on a simple point scattering target model, feed waste can be reduced by judging bait throwing requirements through a water quality sensor and a sound wave sensor, cost is saved, local water area environment deterioration caused by residual bait pollution is reduced, PC end software compiled by Labview carries out contrastive analysis according to the data of a water quality sensor and a sound wave sensor transmitted by the ROV robot and a cloud database, and automatically makes a control decision to judge whether the underwater state is normal or not, so as to realize the optimal bait throwing strategy, the ROV robot is provided with a camera 16 for underwater target detection and identification, clear high-resolution videos can be shot underwater, images of aquatic animals are obtained by using image acquisition equipment, image preprocessing, contour extraction, feature point calibration, statistical analysis of feature information and the like are performed by applying technologies such as image processing, pattern recognition and the like, and finally the processes of measurement and calculation of visual attributes such as size calculation, shape analysis, quality estimation, color judgment and the like of the aquatic animals are realized, so that the growth state of the aquatic animals can be intelligently analyzed, and artificial intelligent cultivation is realized.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The remote control integrated system comprises an ROV (remote operated vehicle) robot and a bait casting device, and is characterized in that the ROV robot comprises an assembly body (1) and a main cabin body (2), a plurality of propellers (14) are installed on the assembly body (1), an underwater searchlight (20) is fixedly installed in the assembly body (1), an acrylic semispherical cover (15) is installed at one end of the main cabin body (2), a camera (16) is installed in the acrylic semispherical cover (15), a first storage battery (19), a microcomputer (18) and an ARM main control board (17) are installed in the main cabin body (2), the first storage battery (19) is electrically connected with the propellers (14) and the searchlight (20), and the microcomputer (18) is electrically connected with the ARM main control board (17);

the bait casting device comprises a hull shell (3) and a circular hopper (4), wherein the circular hopper (4) is installed in the hull shell (3), a support frame (5) is installed at the bottom in the hull shell (3), a framework (6) is fixedly installed on the support frame (5), the circular hopper (4) is connected to the framework (6) in a clamped mode, a feeding pipe (7) is inserted into the hull shell (3), the feeding pipe (7) is communicated with the circular hopper (4), a screw rod (8) is installed in the feeding pipe (7) in a rotating mode, a motor support (9) is fixedly installed on one side of the support frame (5), a motor (10) is fixedly installed on the motor support (9), the lower end of the screw rod (8) is fixedly connected with the driving end of the motor (10), and the lower end of the circular hopper (4) is connected with one side of the feeding pipe (7), one end of the feeding pipe (7) located on the outer side of the hull shell (3) is provided with a discharge hole (13), the framework (6) is provided with a controller (11), the controller (11) is electrically connected with the motor (10), a second storage battery (12) fixedly connected with the hull shell (3) is arranged on the bottom side of the hull shell, and the second storage battery (12) is electrically connected with the motor (10).

2. The ROV bait casting robot remote control integrated system as claimed in claim 1, wherein the ARM main control board (17) is provided with a temperature sensor, a depth pressure sensor, a nine-axis gyroscope chip, a power management chip, a water quality sensor, a sound wave sensing system, a modem, a water communication module (21) and two relays, the microcomputer (18) is electrically connected with the modem through Ethernet, each propeller (14) is hermetically provided with a brushless motor driving board, the brushless motor driving boards are electrically connected with the propellers (14), the power management chip is electrically connected with a first storage battery (19), the two relays are respectively electrically connected with the controller (11) and the searchlight (20), the camera (16) is electrically connected with the water communication module (21) through DCMI, the water communication module (21) is electrically connected with the ARM main control board (17) through Ethernet, the overwater communication module (21) is electrically connected with a land communication module through a wireless communication module, the land communication module is electrically connected with a user side through the wireless communication module, and the wireless communication module is electrically connected with the modem module.

3. The ROV bait casting robot remote control integrated system as claimed in claim 2, wherein the ARM main control board (17) adopts an embedded ARM chip STM32F429IGT6 with a Cortex-M4 kernel as an Apollo development board of an MPU and is matched with an OV5640 camera module, the nine-axis gyroscope chip adopts an MPU9250 to realize a posture sensing function, and the camera (16) adopts an OV5640 module.

4. The ROV bait casting robot remote control integrated system as claimed in claim 2, wherein the water communication module (21) is provided with a placing plate (22), and the upper side of the placing plate (22) is provided with a suction cup (23) fixedly connected with the placing plate.

5. The ROV bait casting robot remote control integrated system as claimed in claim 2, wherein a power cat module is also arranged in the water communication module (21), and the power cat module in the ROV robot is connected with the power cat module in the water communication module (21) through a 100M + cable.