CN214202185U - Aquaculture thing allies oneself with system based on unmanned ship - Google Patents
Aquaculture thing allies oneself with system based on unmanned ship Download PDFInfo
- Publication number
- CN214202185U CN214202185U CN202120276078.1U CN202120276078U CN214202185U CN 214202185 U CN214202185 U CN 214202185U CN 202120276078 U CN202120276078 U CN 202120276078U CN 214202185 U CN214202185 U CN 214202185U
- Authority
- CN
- China
- Prior art keywords
- aquaculture
- monitoring
- unmanned ship
- intelligent
- central controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses an aquaculture thing allies oneself with system based on unmanned ship, including intelligent monitoring and aquaculture unmanned ship, high in the clouds server, customer end, execution end and equipment linkage control ware; the intelligent monitoring and aquaculture unmanned ship, the client and the execution end are respectively in communication connection with the cloud server; the intelligent monitoring and aquaculture unmanned ship is provided with a central controller, a water quality monitoring sensor, a high-definition night vision camera, a wireless communication module, an ultrasonic obstacle avoidance module, a motor, a lithium battery and a solar panel; the cloud server is used for receiving and storing monitoring data and water surface monitoring images uploaded by the intelligent monitoring and aquaculture unmanned ship, and analyzing and processing the monitoring data and the water surface monitoring images; the client comprises an upper computer, a man-machine interaction interface and a database query webpage; the execution end comprises a material putting device with a wireless communication module and aquaculture equipment; the controller of equipment linkage is intelligent remote control socket. The utility model discloses can the on-line monitoring aquaculture condition and in time handle.
Description
Technical Field
The utility model belongs to the technical field of aquaculture, concretely relates to aquaculture thing allies oneself with system based on unmanned ship.
Background
Most of traditional aquaculture households are small-household breeding and experience breeding, baits are thrown blindly in the actual breeding process, bait deposition and water quality eutrophication are caused, water bodies are polluted, and meanwhile higher breeding risks exist. At present, China is almost blank in the aspects of aquatic product informatization and intellectualization. From unmanned intelligent aquaculture equipment appearing on the market, most of the unmanned intelligent aquaculture equipment can only be monitored at fixed points, the monitoring range is very limited, the monitors are easy to damage, the maintenance is troublesome, the classification of flowing aquatic animals cannot be accurately judged, and the aquatic animals and plants in a certain water area and the adaptive environment thereof cannot be accurately analyzed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses not enough to prior art, provide an aquaculture thing networking systems based on unmanned ship, put in unmanned ship and some aquaculture equipment (like feeder, oxygenation pump etc.) with intelligent monitoring and aquaculture unmanned ship, intelligent material and realize the interconnection through unlimited transmission technology, form an intelligent aquaculture thing networking systems. Wherein, intelligent monitoring and aquaculture unmanned ship can cruise monitoring water temperature, PH value and dissolved oxygen value isoparametric in appointed waters to return high in the clouds with data, other thing allies oneself with equipment such as feeder, oxygenation pump can carry out work such as oxygenation and automatic feeding according to the information that transmits back, and intelligent material puts in unmanned ship and can realize the material of fixed point depth of fixation and put in. Meanwhile, all the devices are modularized, so that troubleshooting and maintenance are facilitated, and the stability of the system is improved.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the unmanned ship-based aquaculture internet of things system comprises an intelligent monitoring and aquaculture unmanned ship, a cloud server, a client, an execution end and an equipment linkage controller;
the intelligent monitoring and aquaculture unmanned ship, the client and the execution end are respectively in communication connection with the cloud server;
the intelligent monitoring and aquaculture unmanned ship is provided with a central controller, a water quality monitoring sensor, a high-definition night vision camera, a wireless communication module, an ultrasonic obstacle avoidance module, a motor, a lithium battery and a solar panel;
the cloud server is used for receiving and storing monitoring data and water surface monitoring images uploaded by the intelligent monitoring and aquaculture unmanned ship, analyzing and processing the data, and transmitting the processed images and data to the client;
the client comprises an upper computer, a man-machine interaction interface and a database query webpage and can send a control instruction to other equipment according to a data analysis result;
the execution end comprises a material putting device with a wireless communication module and aquaculture equipment;
the controller of equipment linkage is intelligent remote control socket, including wifi module and relay module, and the relay module carries out the switching according to the instruction of the host computer that the wifi module received, controls the work of execution end equipment.
In order to optimize the technical scheme, the specific measures adopted further comprise:
furthermore, the intelligent monitoring and aquaculture unmanned ship comprises a ship body, wherein a wireless communication module arranged in the ship body is connected with a central controller; the wireless communication module is also connected with the high-definition night vision camera, the navigation speed and course control module and the ultrasonic obstacle avoidance module; the central controller is connected with the water quality monitoring sensor; the upper computer is in wireless communication connection with the wireless communication module.
Furthermore, the water quality monitoring sensor of the intelligent monitoring and aquaculture unmanned ship comprises six high-precision sensors with conventional PH value, temperature, ammonia nitrogen, dissolved oxygen, turbidity and salinity, which are arranged in parallel by adopting an RS485 communication protocol, and is connected with an RS485 interface on the central controller; the water temperature sensor is directly connected with the central controller through AD conversion; the water quality monitoring sensor also comprises a sampling device connected with the central controller.
Furthermore, the staff sends out a sampling instruction through an upper computer, the upper computer sends the sampling instruction to an infinite base station/wireless network bridge node, the node is communicated with a central controller through a network, the central controller controls a motor to rotate, and a sampling device is released to perform sampling.
Furthermore, the central controller processes the data and then communicates with the upper computer through the wireless base station or the network bridge, and the multi-element water quality monitoring and transmission are completed.
Furthermore, the aquaculture equipment of execution end includes oxygenation pump, irrigation and drainage machine, clarifier, feeder, intelligent material and throws the ship.
Further, the material throwing device comprises an intelligent material throwing unmanned ship and is used for throwing the materials to a specified depth.
Further, the human-computer interaction interface comprises a water quality monitoring and real-time monitoring interface.
Further, the database query webpage comprises equipment management, an information log and a user management page.
The utility model has the advantages that: the utility model discloses an all equipment pass through the thing networking interconnection, can realize real-time on-line monitoring and monitoring early warning to aquaculture, and scientific and reasonable's monitoring data is mastered to the very first time to in time react with regard to the condition of aquatic attitude environment and aquatic products crop, if the oxygenation, throw food, problem improvement etc.. The utility model discloses a high system integration and the modularization of many essential elements sensor to each functional module are integrated, make this application have low cost, miniaturized, characteristics that the portability is high.
Drawings
Fig. 1 is a schematic structural view of the aquaculture internet of things system of the utility model.
Fig. 2 is the structure schematic diagram of the intelligent monitoring and aquaculture unmanned ship of the utility model.
Fig. 3 is a schematic diagram of the multi-element water quality monitoring and data transmission structure of the present invention.
Fig. 4 is the structural schematic diagram of the autonomous cruise system of the present invention.
Fig. 5 is a schematic structural diagram of the device linkage controller of the present invention.
Fig. 6 is the utility model discloses unmanned ship is put in to intelligent material.
Fig. 7 is a material delivery flow chart according to an embodiment of the present invention.
Reference numerals: 1-intelligent monitoring and aquaculture unmanned ship; 2-a cloud server; 3-a client; 4-an execution end; 5-equipment linkage controller.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
The intelligent fishery culture unmanned ship aims at the problems that traditional culture relies on experience monitoring, manual cruising, lack of real-time early warning and the like, and the problems that an existing intelligent fishery culture unmanned ship is too high in cost, limited in operation range, limited in material throwing and the like. The utility model provides an use unmanned ship as the aquatic products intelligence breed thing allies oneself with system of core, this system contain but not limited to intelligent monitoring and aquaculture unmanned ship, intelligent material throw ship, throw and raise equipment, oxygenation equipment, irrigation and drainage equipment, clarification plant etc to and realize the cloud ware and the human-computer interaction's of data storage and processing customer end 3. The client 3 is a control center of the system, realizes receiving, storing and analyzing of monitoring information, realizes man-machine interaction through interface display, and sends control instructions to other equipment according to analysis results; the intelligent monitoring and aquaculture unmanned ship 1 serves as a sensing end for monitoring the water quality state, capturing water surface information in a video mode, and then sending monitoring data to a cloud for storage and analysis; other aquaculture equipment such as oxygenation pumps, irrigation and drainage machines, feeding pumps and the like are used as the execution end 4, and the operation is automatically carried out according to the instructions sent by the client end 3. The system realizes the digitalization and informatization of aquaculture, each equipment operation is conducted under the guidance of real-time data, and the system has scientificity, accuracy and timeliness. The novel aquaculture mode not only reduces the labor cost of aquaculture, shields the problem of artificial aquaculture experience errors, but also can effectively prevent the deterioration of aquaculture ecological environment, and has good promotion and supplement effects on the current aquaculture industry.
As shown in the attached drawings, the intelligent monitoring and aquaculture unmanned ship 1, the client 3 and the execution end 4 are respectively in communication connection with the cloud server 2.
The intelligent monitoring and aquaculture unmanned ship 1 serves as a sensing end of an internet of things system and comprises a ship body, a central controller, a water quality monitoring sensor, a high-definition night vision camera, a wireless communication module, an ultrasonic obstacle avoidance module, a motor, a lithium battery and a solar panel, wherein the central controller, the water quality monitoring sensor, the high-definition night vision camera, the wireless communication module, the ultrasonic obstacle avoidance module, the motor, the lithium battery and the solar panel are arranged on the ship body; the carried multiple water quality monitoring sensors comprise: high-precision six-parameter sensors for PH value, temperature, ammonia nitrogen, dissolved oxygen, turbidity and salinity. The wireless communication module arranged in the ship body is connected with the central controller; the wireless communication module is also connected with the high-definition night vision camera, the navigation speed and course control module and the ultrasonic obstacle avoidance module; the central controller is connected with the water quality monitoring sensor; the upper computer is in wireless communication connection with the wireless communication module. In an embodiment of the present invention, the central controller uses a single chip microcomputer STM 32.
The intelligent navigation and active obstacle avoidance of the unmanned ship in the river channel are monitored through a machine vision algorithm based on deep learning, a high-definition night vision camera, a GPS module and an ultrasonic obstacle avoidance module.
And a wireless base station and a network bridge are adopted for two-way communication, so that information interaction among the server, the unmanned ship and the client 3 is completed.
A pair of brushless direct current motors is matched with a double H-bridge motor driving module to provide power for navigation of the unmanned ship. The double H-bridge motor driving module is an internal module of the driving chip L298N; the STM32 sends a PWM signal to the L298N to drive the chip to control the motor to rotate.
The combination mode of the lithium battery and the solar panel is adopted to provide energy power for the unmanned ship, and the cruising ability is improved.
The cloud server 2 and the client 3 serve as a center of the internet of things system, an upper computer system is written by C # language, ship motion data and position information, collected pictures, water quality information and the like are displayed in real time, and remote control can be achieved.
The MySQL is adopted to make a database query webpage, and functions of equipment management, information log, user management and the like are realized.
The method comprises the steps of building a cloud server, using a Sobel edge monitoring algorithm to achieve river bank separation (quote a paper of Yucca, Luawotai, Xufeihong, Weichang 36191. an intelligent clear-floating ship river channel boundary image recognition algorithm. electronic design engineering 2018,26(13), 132-doped 136), using an improved YOLO V3-based algorithm to achieve water surface foreign matter monitoring (quote patent CN111723657A), and using an ant colony-based algorithm to achieve airline planning (quote patent CN 107816999A).
Aquaculture equipment linkage controller 5 is as execution end 4 of thing allies oneself with the system to the relay changes over to and connects original equipment power, and wireless communication module merges into the thing allies oneself with the system, makes equipment such as oxygenation pump, drainage and irrigation machine, clarifier, feeder according to unmanned ship monitoring data that cruises, and the operation is opened and is closed accurately, satisfies harsh aquaculture environmental condition requirement, reduces the unnecessary loss, saves the power consumption simultaneously, reduction in production cost.
With utility model patent name for unmanned ship who has liquid material input device is as execution end 4, realizes the long-range interaction between hull information and the host computer instruction through 4G DTU module, puts in the material according to the instruction fixed point depthkeeping of host computer.
The intelligent monitoring and aquaculture unmanned ship 1 sends monitoring data and a water surface monitoring picture to the cloud server 2, the cloud server 2 processes the data, then transmits the processed picture and data to the client 3, and the client 3 adopts a remote control technology to control the execution end 4.
The intelligent monitoring and aquaculture unmanned ship 1 carries various sensors, and is an intelligent system device which can collect, monitor information and comprehensively monitor and evaluate water quality data of rivers, lakes and offshore water and combines functions of automatic putting and the like. The overall structure schematic diagram of the device is shown in figure 2, the water quality of the river channel is monitored in an unmanned mode through the combination of an unmanned ship system design method and a water quality monitoring system design method, and the water quality is comprehensively analyzed with data of a ground monitoring station on the basis. The multi-element water quality monitoring and data transmission structure of the device is shown in figure 3, the device is provided with a pH sensor, an ammonia nitrogen sensor, a dissolved oxygen sensor, a turbidity sensor and a salinity sensor which are connected in parallel by adopting an RS485 communication protocol, and the device is connected with an RS485 interface on a central controller. The water temperature sensor is directly connected with the central controller through AD conversion. The central controller processes the data and then communicates with the upper computer through the wireless base station or the network bridge to complete the multi-element water quality monitoring and transmission. The sampling device is connected with the central controller, a worker sends out a sampling instruction through the upper computer, the upper computer sends the sampling instruction to the wireless base station/wireless network bridge node, the node is communicated with the central controller through the network, and the central controller controls the motor to rotate and releases the sampling device to perform sampling. The structure of the autonomous cruise system of the device is shown in fig. 4, the ant colony algorithm, the Sobel edge monitoring algorithm, the high-definition night vision camera, the GPS module and the ultrasonic obstacle avoidance module are adopted to monitor the intelligent navigation and active obstacle avoidance of the unmanned ship in the river channel, and the improved YOLO V3 algorithm is combined to monitor foreign matters on the water surface (refer to patent CN 111723657A). When the unmanned ship encounters a water surface obstacle, the unmanned ship avoids the obstacle according to specific conditions, if the unmanned ship cannot pass through the obstacle smoothly, the unmanned ship sends alarm information to the upper computer monitoring platform and reports the position of the unmanned ship, the shore-based monitoring upper computer is requested to resend a navigation instruction and carry out corresponding path planning, and the unmanned ship continues to drive to a destination. The autonomous cruise system compares the current position of the unmanned ship with a destination sent by a shore-based monitoring upper computer through a GPS (global positioning system), and calculates and compares the current position with the destination according to an electronic map stored in a memory, so that a reasonable route is planned. When the unmanned ship starts autonomous navigation, firstly, destination setting is carried out on an upper computer, the speed and the angle of autonomous navigation of the unmanned ship are calculated according to the current longitude and latitude information of the unmanned ship, instructions such as the speed and the angle are transmitted to an STM32 integrated control board of a lower computer main control center of the unmanned ship through a base station access/wireless network bridge communication module, after the corresponding instructions are received, the speed and the angle are converted into PWM data, and therefore a driver of the unmanned ship is driven to operate and drive to a terminal point, wherein a pair of brushless direct current motors is matched with a double H-bridge motor by a driving module of the unmanned ship. And continuously updating the position of the unmanned ship in motion, and continuously adjusting the mapping relation between the current position and the terminal to realize the autonomous navigation of the unmanned ship. And a wireless base station and a network bridge are adopted for two-way communication, so that information interaction among the server, the unmanned ship and the client 3 is completed.
The cloud server 2 and the client 3 are control centers of the system, receiving and storing of monitoring data and water surface monitoring pictures are achieved, meanwhile, in order to reduce the load of an upper computer, partial data are calculated and analyzed in the cloud server, and then the processed pictures and data are transmitted to the client 3. The upper computer adopts a C # language to write an upper computer system, displays the ship motion data and position information, collects pictures, water quality information and the like in real time, and can realize remote control. The method comprises the steps of building a cloud server, using a Sobel edge monitoring algorithm to achieve river bank separation (quote a paper of Yucca, Luawotai, Xufeihong, Weichang 36191. an intelligent clear-floating ship river channel boundary image recognition algorithm. electronic design engineering 2018,26(13), 132-doped 136), using an improved YOLO V3-based algorithm to achieve water surface foreign matter monitoring (quote patent CN111723657A), and using an ant colony-based algorithm to achieve airline planning (quote patent CN 107816999A). The client 3 is divided into a real-time interface and a database query webpage, and the real-time interface displays real-time monitoring information, water surface real-time conditions, other equipment working conditions, simple manual operation instructions and the like; the database query webpage is made by MySQL, and is mainly used for querying historical data stored in the database in a webpage login mode, wherein the historical data comprises water quality monitoring data and other equipment operation data, and interfaces of equipment management, information logs, user management and the like are displayed.
Other aquaculture equipment such as oxygenation pumps, irrigation and drainage machines, intelligent material throwing ships and the like are used as the execution end 4, and the operation is automatically carried out according to the instruction sent by the client end 3. The utility model discloses an intelligence remote control socket is as equipment coordinated control ware 5, and the system architecture of socket is like figure 5. And the automatic remote control equipment of the Internet of things system works. The intelligent remote control socket mainly comprises a WiFi module and a relay module, and the on-off of the relay is determined according to an instruction of an upper computer received by the WiFi module, so that the work of the execution end equipment is controlled. As shown in fig. 6, the intelligent material-throwing unmanned ship mainly realizes throwing a specific number of materials to a specified depth. The launching process diagram is shown in fig. 7, in the first step, the upper computer initializes the unmanned ship, all the electromagnetic valves are in a closed state, the water pump is closed, and the launching rope is tightened by the traction motor; secondly, filling different liquid materials in different bins, and numbering the liquid materials in sequence; thirdly, setting position coordinates, depth and dosage of materials needing to be put in corresponding numbers on an upper computer, converting the depth and dosage information into the number of turns of rotation of a traction motor and the working time of a water pump respectively, and transmitting instructions to the unmanned ship; fourthly, after the unmanned ship receives the instruction, the unmanned ship sails to a first material throwing position autonomously, a traction motor works, a spring water pipe is put to a specified depth, a first chamber electromagnetic valve is opened, a water pump works, the electromagnetic valve is closed after the unmanned ship works for a time corresponding to the corresponding throwing dosage, and the water pump is closed; fifthly, opening the water pump again, opening the electromagnetic valve of the external pipe, closing the electromagnetic valve after working for a preset time, closing the water pump, extracting water in the water area to clean the multi-bin connecting pipe to prevent materials from being mixed and polluted, and then drawing the motor to tighten the throwing rope to withdraw the spring water pipe; sixthly, putting materials in other chambers in the same way as the first chamber; and seventhly, completing the throwing work, and returning the unmanned ship to the starting position or the designated position.
The utility model provides an aquaculture thing allies oneself with system based on unmanned ship has following advantage:
(1) the system can realize real-time on-line monitoring, intelligent cultivation management and monitoring and early warning.
The client side realizes humanized human-computer interaction, cloud data automatic analysis and sensing end automatic cruise monitoring, deep learning, wireless communication, embedded technology and the like are integrated, and the execution section can work automatically or semi-automatically.
(2) Based on the same hull framework, the unmanned ship inner cabin is reformed into the material bin, and through the unique cabin body design, the unmanned ship can carry different materials, so that the automatic cruising, fixed-point depth setting and quantitative sample setting material feeding are realized.
(3) All equipment are interconnected through the Internet of things, scientific and reasonable monitoring data can be mastered at the first time, and reactions such as oxygenation, feeding, problem treatment and the like can be timely made on the conditions of the aquatic ecological environment and aquatic crops.
(4) Through big data technology, the aquaculture environment of different aquatic products is analyzed, and convenience is brought to users for selecting proper species for aquaculture, and inexperienced aquatic product users can obtain benefits simply and quickly.
(5) Through the high system integration to each functional module and the modularization integration of many essential elements sensor, realize the utility model discloses low-cost, miniaturization, portability are high, the draft is shallow, turn to advantages such as nimble, application scene are wide, do not receive submerged reef, fishing net to influence, can independently avoid obstacles such as reef, fishing boat, realize that no dead angle in whole waters is surveyed.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (9)
1. An aquaculture thing networking system based on an unmanned ship is characterized by comprising an intelligent monitoring and aquaculture unmanned ship (1), a cloud server (2), a client (3), an execution end (4) and an equipment linkage controller (5);
the intelligent monitoring and aquaculture unmanned ship (1), the client (3) and the execution end (4) are respectively in communication connection with the cloud server (2);
the intelligent monitoring and aquaculture unmanned ship (1) is provided with a central controller, a water quality monitoring sensor, a high-definition night vision camera, a wireless communication module, an ultrasonic obstacle avoidance module, a motor, a lithium battery and a solar panel;
the cloud server (2) is used for receiving and storing monitoring data and water surface monitoring images uploaded by the intelligent monitoring and aquaculture unmanned ship (1), analyzing and processing the data, and transmitting the processed images and data to the client (3);
the client (3) comprises an upper computer, a man-machine interaction interface and a database query webpage and can send a control instruction to other equipment according to a data analysis result;
the execution end (4) comprises a material putting device with a wireless communication module and aquaculture equipment;
the equipment linkage controller (5) is an intelligent remote control socket and comprises a wifi module and a relay module, wherein the relay module is opened and closed according to an instruction of an upper computer received by the wifi module, and the work of execution end equipment is controlled.
2. The aquaculture internet of things system of claim 1, wherein the intelligent monitoring and aquaculture unmanned ship (1) comprises a ship body, and a wireless communication module arranged in the ship body is connected with the central controller; the wireless communication module is also connected with the high-definition night vision camera, the navigation speed and course control module and the ultrasonic obstacle avoidance module; the central controller is connected with the water quality monitoring sensor; the upper computer is in wireless communication connection with the wireless communication module.
3. The aquaculture internet of things system of claim 2, wherein the water quality monitoring sensors of the intelligent monitoring and aquaculture unmanned ship (1) comprise six high-precision sensors of pH value, temperature, ammonia nitrogen, dissolved oxygen, turbidity and salinity, which are arranged in parallel by adopting an RS485 communication protocol, and are connected with an RS485 interface on the central controller; the water temperature sensor is directly connected with the central controller through AD conversion; the water quality monitoring sensor also comprises a sampling device connected with the central controller.
4. The system of claim 1, wherein the worker sends a sampling command through the upper computer, the upper computer sends the sampling command to the wireless base station/wireless network bridge node, the node is communicated with the central controller through a network, and the central controller controls the motor to rotate and releases the sampling device for sampling.
5. The aquaculture internet of things system of claim 1, wherein the central controller processes the data and then communicates with the upper computer through the wireless base station or the network bridge to complete multi-element water quality monitoring and transmission.
6. An aquaculture internet of things system according to claim 1, characterized in that the aquaculture equipment of the execution end (4) comprises oxygenation pumps, irrigation and drainage machines, purifiers, feeding machines, intelligent material delivery ships.
7. An aquaculture internet of things system according to claim 1 wherein the material delivery means comprises an intelligent material delivery unmanned vessel for delivering material to a specified depth.
8. An aquaculture internet of things system according to claim 1 wherein the human-machine interaction interface comprises a water quality monitoring and real-time monitoring interface.
9. The aquaculture internet of things system of claim 1 wherein the database query pages include equipment management, information logs, and user management pages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120276078.1U CN214202185U (en) | 2021-01-29 | 2021-01-29 | Aquaculture thing allies oneself with system based on unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120276078.1U CN214202185U (en) | 2021-01-29 | 2021-01-29 | Aquaculture thing allies oneself with system based on unmanned ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214202185U true CN214202185U (en) | 2021-09-14 |
Family
ID=77638514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120276078.1U Active CN214202185U (en) | 2021-01-29 | 2021-01-29 | Aquaculture thing allies oneself with system based on unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214202185U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586723A (en) * | 2022-01-27 | 2022-06-07 | 上海市计算技术研究所 | Unmanned ship of material is thrown to intelligence |
| CN116546059A (en) * | 2023-04-20 | 2023-08-04 | 上海农林职业技术学院 | Linkage type intelligent aquatic product sensing system |
-
2021
- 2021-01-29 CN CN202120276078.1U patent/CN214202185U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586723A (en) * | 2022-01-27 | 2022-06-07 | 上海市计算技术研究所 | Unmanned ship of material is thrown to intelligence |
| CN116546059A (en) * | 2023-04-20 | 2023-08-04 | 上海农林职业技术学院 | Linkage type intelligent aquatic product sensing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214202185U (en) | Aquaculture thing allies oneself with system based on unmanned ship | |
| CN110146675B (en) | Hydrological information monitoring system | |
| CN108181908B (en) | Unmanned ship system for monitoring inland river environment | |
| CN204045001U (en) | A kind of underwater environment long distance control system based on Internet of Things | |
| CN108639237B (en) | Solar energy offshore fishery function three-body unmanned boat with side body capable of floating upwards and submerging downwards | |
| CN207510670U (en) | A kind of unmanned boat with water quality detection and garbage collecting function | |
| CN110667813A (en) | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method | |
| CN104569333A (en) | Autonomous navigation type surface water quality sampling and real-time monitoring water level robot | |
| CN103910424A (en) | Solar mobile water ecology maintenance robot | |
| CN207589863U (en) | A kind of packaged type water quality monitoring and the accurate delivery device of bait | |
| CN109601517B (en) | Device and method for spraying pesticide to various weeds | |
| CN209740828U (en) | Movable automatic-restoration intelligent landscape ecological floating bed and system thereof | |
| CN209410285U (en) | A kind of water quality monitoring and water process integration unmanned boat | |
| CN208746199U (en) | A kind of intelligence fishery cultivating unmanned boat | |
| CN110692548B (en) | Wide-area breeding robot device with terahertz sensing and communication functions and method | |
| CN111348161A (en) | Resource environment monitoring system applied to marine ranch and operation method thereof | |
| CN112162075A (en) | Autonomous navigation bionic robot fish for water quality monitoring and control method thereof | |
| CN106444767A (en) | Linkage-combined automatic navigation unmanned ship control system based on APM and I7 intelligent chip | |
| CN112964844A (en) | Urban water removes on-line monitoring system | |
| CN114946807A (en) | Accurate medicine device that spouts based on visual deep learning and thing networking | |
| US20220080478A1 (en) | Management station of multi-point time-sharing water quality monitoring system | |
| CN107222717A (en) | A kind of pollution of river source tracking system | |
| CN113834914A (en) | Multi-point time-sharing water quality monitoring system | |
| CN209728169U (en) | Rivers and lakes sniffing robot | |
| CN114532276B (en) | Be used for unmanned material ship of throwing of aquaculture intelligence |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |