WO2021016957A1 - 一种基于无人机的投料系统及投料方法 - Google Patents

一种基于无人机的投料系统及投料方法 Download PDF

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Publication number
WO2021016957A1
WO2021016957A1 PCT/CN2019/098732 CN2019098732W WO2021016957A1 WO 2021016957 A1 WO2021016957 A1 WO 2021016957A1 CN 2019098732 W CN2019098732 W CN 2019098732W WO 2021016957 A1 WO2021016957 A1 WO 2021016957A1
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Prior art keywords
fish
feeding
drone
wireless communication
unmanned aerial
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PCT/CN2019/098732
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English (en)
French (fr)
Inventor
刘浩源
郑玉军
孙立晶
田丙奇
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唐山哈船科技有限公司
唐山圣因海洋科技有限公司
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Application filed by 唐山哈船科技有限公司, 唐山圣因海洋科技有限公司 filed Critical 唐山哈船科技有限公司
Priority to PCT/CN2019/098732 priority Critical patent/WO2021016957A1/zh
Publication of WO2021016957A1 publication Critical patent/WO2021016957A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K61/00—Culture of aquatic animals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Definitions

  • the invention relates to the technical field of aquaculture, in particular to an unmanned aerial vehicle-based feeding system and feeding method.
  • the purpose of the present invention is to provide a feeding system and feeding method based on unmanned aerial vehicles.
  • the present invention can track fish schools through the fish school detection device, and feed the fish schools through the feeding drones, thereby improving the feeding efficiency , And can judge the type, size, and quantity of the fish school, so as to determine the type and quantity of feeding, so as to realize personalized feeding.
  • a feeding system based on a drone, the system including a fish detection device, a feeding drone, and a cloud server, and the fish detection device includes a moving body, It is used to monitor the position of fish schools on the water surface;
  • the lower end of the moving body is a transparent glass cover
  • the camera device is arranged in the glass cover
  • the camera equipment is driven to rotate by a rotating device for adjusting the shooting direction of the camera device, the camera device and the rotating device It is electrically connected with the data processing device, and the rotating device can be driven by a motor to rotate.
  • an ultrasonic device used to sense whether there is a school of fish passing in the area where the equipment is located, and to locate the position of the fish school;
  • the ultrasonic device includes at least one ultrasonic transmitting device and one ultrasonic receiving device, the ultrasonic transmitting device is used for transmitting ultrasonic waves, and the ultrasonic receiving device is used for receiving the ultrasonic waves reflected by the fish.
  • the positioning device adopts a GPS satellite positioning device or a Beidou satellite positioning device.
  • the mobile body of the application is provided with an automatic navigation system.
  • the purpose of the automatic navigation system is to receive the current status of the mobile body by the GPS satellite positioning device or the Beidou satellite positioning device.
  • the location and the data are compared with the user-defined destination, the driving route is calculated by referring to the electronic map, and the information is fed back to the moving subject in real time.
  • the driving device is propelled by electric propellers.
  • This application uses two electric propellers for propulsion. When the two electric propellers rotate at a rotational speed, Push the moving main body to move forward. When the speed of the two electric propellers are inconsistent, the forward direction of the moving main body can be adjusted.
  • a data processing device for analyzing and processing the images taken by the camera device and controlling the movement of the driving device
  • wireless communication device for wireless communication with cloud server and feeding drone
  • the cloud server includes a wireless communication unit for receiving information sent by the mobile body and sending information to the feeding drone;
  • the feeding drone includes the drone body, which is used to carry fish feed to a designated feeding device;
  • wireless communication module for wireless communication with cloud server and fish detection device
  • a plurality of the holding boxes are evenly distributed and fixed on the drone body, the inside of the holding box is designed as an inverted cone-shaped cavity, and a box cover is arranged above the holding box, and the cavity is A cone-shaped container is arranged inside, a weight monitoring device is arranged between the outer side wall of the container and the inner wall of the cavity, and openings are provided at the bottom of the container and the container.
  • the bottom of the barrel is provided with an electric valve for opening or closing the opening at the bottom of the barrel.
  • the positioning module adopts a GPS satellite positioning device or a Beidou satellite positioning device, and the feeding drone of the present application is also provided with an automatic navigation system.
  • the wireless communication device, the wireless communication unit, and the wireless communication module all adopt a Wi-Fi module or a mobile network module.
  • a method for feeding materials using an unmanned aerial vehicle-based feeding system includes the steps:
  • S1 The fish detection device swims in the water, and the fish is sensed by the ultrasonic device;
  • the data processing device performs image recognition on the captured fish school, determines the type, size, and quantity of the fish school, thereby determining the type and quantity of the feed;
  • the fish detection device sends the feeding signal to the cloud server through the wireless communication device, and the cloud server integrates and analyzes the signal before sending the feeding drone to feed;
  • the present invention can track the fish school through the fish school detection device, and feed the fish school through the feeding drone, which improves the feeding efficiency;
  • the present invention can judge the type, size, and quantity of fish school, and determine the type and quantity of fish feed needed, so as to realize personalized feeding;
  • an ultrasonic device is arranged on the fish detection device to sense the fish, and the camera device only starts to work when the fish is sensed, which is more energy-saving and power-saving.
  • Figure 1 is a schematic diagram of the structure of the feeding drone of the present invention
  • FIG. 2 is a schematic diagram of the structure of the fish detection device of the present invention.
  • Figure 3 is a sectional view of the container of the present invention.
  • the present invention provides a technical solution: a feeding system based on a drone, the system includes a fish detection device, a feeding drone, and a cloud server, the fish detection device Including the mobile body 1, used to monitor the position of the fish school on the water surface;
  • the lower end of the moving body 1 is a transparent glass cover 4, the camera device 2 is arranged in the glass cover 4, and the camera equipment is driven to rotate by the rotating device 3 to adjust the shooting direction of the camera device 2.
  • the camera device 2 and the rotating device 3 are electrically connected to the data processing device 8, and the rotating device 3 can be driven by a motor to rotate.
  • An ultrasonic device 10 is included, which is used to sense whether a school of fish passes in the area where the equipment is located, and to locate the position and direction of the school of fish;
  • the ultrasonic device 10 includes at least one ultrasonic transmitting device and one ultrasonic receiving device.
  • the ultrasonic transmitting device is used to transmit ultrasonic waves
  • the ultrasonic receiving device is used to receive the ultrasonic waves reflected by the fish.
  • Position, on a mobile body 1 equipped with an ultrasonic transmitter and receiver device when it emits ultrasonic waves of a specific frequency in a selected direction, after a period of time, it receives the reflected wave from the fish school, according to the reflected wave
  • the direction of the ultrasound can determine the direction of the fish.
  • This application uses ultrasound with a frequency of 5.8 ⁇ 104Hz.
  • the wavelength of the ultrasound in the water is 2.5cm. According to the time of receiving the reflected ultrasonic wave, the distance of the fish can be calculated.
  • It includes a positioning device 5 for positioning the mobile body 1;
  • the positioning device 5 adopts the GPS satellite positioning device 5 or the Beidou satellite positioning device 5.
  • the mobile body 1 of the present application is provided with an automatic navigation system, and the purpose of the automatic navigation system is to use the GPS satellite positioning device 5 or Beidou satellite positioning device.
  • the device 5 receives the current location of the mobile body 1 and compares the data with the user-defined destination, calculates the driving route with reference to the electronic map, and feeds the information back to the mobile body 1 in real time.
  • the user-defined destination is manually entered into The position coordinates of each school of fish gathering place of the storage device 7.
  • the driving device 6 is propelled by electric propellers.
  • This application uses two electric propellers for propulsion. When rotating, the moving main body 1 can be pushed to move forward. When the rotation speeds of the two electric propellers are inconsistent, the forward direction of the moving main body 1 can be adjusted.
  • a data processing device 8 for analyzing and processing images taken by the camera 2 and controlling the movement of the driving device 6;
  • wireless communication device 9 for wireless communication with cloud server and feeding drone
  • the cloud server includes a wireless communication unit for receiving information sent by the mobile body 1 and sending information to the feeding drone;
  • the feeding drone includes a drone body 11, which is used to carry fish feed to a designated feeding device;
  • It includes a wireless communication module 12 for wireless communication with a cloud server and a fish detection device;
  • a plurality of the holding boxes 13 are evenly distributed and fixed on the drone body 11, the inside of the holding box 13 is designed as an inverted cone-shaped cavity, and a box is provided above the holding box 13
  • the cover 18 is provided with a cone-shaped container 16 in the cavity.
  • a weight monitoring device 17 is provided between the outer side wall of the container 16 and the inner wall of the cavity.
  • the weight monitoring device 17 adopts a weight sensor, It is used to monitor the total weight of the container 16 and the fish material. Openings are provided at the bottom of the container 13 and the bottom of the container 16, and an electric valve 15 is provided at the bottom of the container 16 for The opening at the bottom of the barrel 16 is opened or closed.
  • the positioning module 14 adopts the GPS satellite positioning device 5 or the Beidou satellite positioning device 5.
  • the feeding drone of this application is also equipped with an automatic navigation system, and the feeding drone automatically plans the drone's operation through the automatic navigation system. The route from the current position to the feeding location.
  • the wireless communication device 9, the wireless communication unit, and the wireless communication module 12 all use a Wi-Fi module or a mobile network module.
  • a method for feeding materials using an unmanned aerial vehicle-based feeding system includes the steps:
  • S1 The fish detection device swims in the water, and the ultrasonic device 10 senses the fish;
  • Ultrasonic devices 10 are installed in multiple directions under the moving body 1. According to the reflection The direction of the returned ultrasonic waves can determine the direction of the fish. According to the time of receiving the reflected ultrasonic waves, the position of the fish from the moving body 1 can be calculated;
  • the ultrasonic device 10 determines whether there are fish passing by in the current area. If there is no fish passing by, the camera device 2 sleeps. When there is a fish passing by, the camera device 2 starts to work. The camera device 2 can turn to the direction of the fish school under the driving of the rotating device 3 to realize Shooting at thirty or sixty degrees underwater;
  • the data processing device 8 performs image recognition on the captured fish school, determines the type, size, and quantity of the fish school, thereby determining the type and quantity of the feed;
  • the data processing device 8 When a school of fish appears in the captured image, the data processing device 8 obtains the signal that the school of fish appears, and then controls the moving body 1 to stop swimming, and the data processing device 8 uses the image recognition function to compare the captured image with the one stored in the storage device 7 The fish pictures are compared to determine the type, size, and quantity of the fish school,
  • the image analysis and processing process includes:
  • A Compare the images with the pictures stored in the storage device 7, determine the species of the fish school, and select the feed species corresponding to the fish school;
  • B Estimate the average size of the fish in the school according to the individual size of the fish in the image, and judge the overall stage of the fish in the school through the estimated average size of the fish.
  • the overall stage is divided into the seedling stage, the growth stage, and the mature stage;
  • C Estimate the number of fish in the school based on the density of the fish in the image, the estimated average size of the fish, and the size of the school of fish, and calculate the total number of fish based on the estimated number of fish and the amount of fish in each stage. The total amount of feed required;
  • the fish detection device sends the feeding signal to the cloud server through the wireless communication device 9. After the cloud server integrates and analyzes the signal, it sends the feeding drone to feed;
  • the feeding signal includes the location information of the feeding place, the fish school information of the feeding place, and the type and quantity information of the fish feed that needs to be fed.
  • the processor unit of the cloud server performs integrated analysis on the feeding signal according to the feeding drone.
  • the position coordinates sent to the cloud server the feeding signal is sent to the feeding drone in the waiting state that is closest to the location of the feeding place, so that the feeding drone is directly connected with the fish detection device, and the feeding drone passes through the automatic navigation system Automatically plan the route from the current position of the drone to the feeding place, and fly along the route to above the feeding place;
  • the data processing module on the feeding drone selects the corresponding container 13 according to the type of fish feed to be fed, and controls the opening of the electric valve 15 at the bottom of the container 16 so that the fish feed can fall into the water;
  • the feeding drone can monitor the total weight of the container 16 and the fish feed through the weight monitoring device 17. When the fish feed is reduced, the total weight becomes less. The total weight reduction is the weight of the fish feed. When the amount of fish feed reaches the required amount determined by S3, the electric valve 15 is controlled to close and the feeding is stopped. The feeding drone returns to replenish the fed fish after stopping feeding, and the fish detection device continues on the lake along the established route swimming.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

本发明公开了一种基于无人机的投料系统及投料方法，所述系统包括鱼群探测装置、投料无人机、以及云端服务器，所述鱼群探测装置包括移动主体、摄像装置、超声波装置、定位装置、驱动装置、存储装置、数据处理装置、无线通讯装置，所述云端服务器包括无线通讯单元、数据处理单元、存储单元，所述投料无人机括无人机本体、无线通讯模块、多个盛料箱、定位模块、数据处理模块。本发明能够通过鱼群探测装置跟踪鱼群，并通过投料无人机对鱼群进行投食，提高了投食的效率，而且能够对鱼群类型、大小、数量进行判断，从而确定需要投料的类型和数量，从而实现个性化的投食。

Description

一种基于无人机的投料系统及投料方法 技术领域
本发明涉及水产养殖技术领域，具体为一种基于无人机的投料系统及投料方法。
背景技术
在现有的水产养殖中，通常使用定点式的投食机投放鱼料，不跟对鱼群进行跟踪投食，投食的效率较低，而且，湖中鱼的种类可能多种多样，喂养不同鱼群的饲料不尽相同，如何保证针对不同的鱼群投放不同的鱼料。
发明内容
本发明的目的在于提供一种基于无人机的投料系统及投料方法，本发明能够通过鱼群探测装置跟踪鱼群，并通过投料无人机对鱼群进行投食，提高了投食的效率，而且能够对鱼群类型、大小、数量进行判断，从而确定需要投料的类型和数量，从而实现个性化的投食。
为实现上述目的，本发明提供如下技术方案：一种基于无人机的投料系统，所述系统包括鱼群探测装置、投料无人机、以及云端服务器，所述鱼群探测装置包括移动主体，用于在水面上游动监测鱼群的位置；
包括摄像装置，用于拍摄水底的鱼群；
优选的，所述移动主体的下端为透明玻璃罩，所述摄像装置设置在玻璃罩内，所述摄像装备通过转动装置带动转动，用于调整摄像装置的拍摄方向，所述摄像装置和转动装置与数据处理装置电连接，所述转动装置可采用电机驱动转动的方式。
包括超声波装置，用于感应设备所在区域内有无鱼群通过，并定位鱼群的位置方向；
优选的，所述超声波装置至少包括一个超声波发射装置和一个超声波接收装置，超声波发射装置用于发射超声波，超声波接收装置用于接收被鱼群反射回来的超声波。
包括定位装置，用于对移动主体进行定位；
优选的，所述定位装置采用GPS卫星定位装置或北斗卫星定位装置，本申请的移动主体设置有自动导航系统，自动导航系统的用途是由GPS卫星定位装置或北斗卫星定位装置接收移动主体的当前位置并将数据跟用户自定义的目的地比较、参照电子地图计算行驶路线，并实时将信息反馈给移动主体。
包括驱动装置，用于推动移动主体按既定行进路线移动；
优选的，所述驱动装置有若干个，且均匀分布固定在移动主体的下端，所述驱动装置采用电动螺旋桨推进，本申请使用两个电动螺旋桨推进，当两个电动螺旋桨通转速转动时，能够推动移动主体向前移动，当两个电动螺旋桨转速不一致时，可以调整移动主体的前进方向。
包括存储装置，用于记录机器人的既定行进路线、湖中每个品种的鱼的图片、喂养的饲料品种、每个阶段的鱼的喂养量、喂养地的位置信息；
包括数据处理装置，用于对摄像装置拍摄的影像进行分析处理、控制驱动装置移动；
包括无线通讯装置，用于与云端服务器和投料无人机进行无线通讯；
所述云端服务器包括无线通讯单元，用于接受移动主体发送的信息并向投料无人机发送信息；
包括数据处理单元，用于数据的整合、分析、处理；
包括存储单元，用于存储投料地点的位置信息、无人机编号、无人机的位置信息；
所述投料无人机括无人机本体，用于搭载鱼料飞行至指定投料装置；
包括无线通讯模块，用于与云端服务器和鱼群探测装置进行无线通讯；
包括多个盛料箱，用于盛放不同种类的鱼料；
优选的，多个所述盛料箱均匀分布固定在无人机本体上，所述盛料箱的内部设计成倒锥形的空腔，在盛料箱的上方设有箱盖，在空腔内设置有锥形的盛料筒，所述盛料筒的外侧壁与空腔的内壁之间设置有重量监测装置，在盛料箱和盛料筒的底部均设有开口，在所述盛料筒的底部设有电动阀门，用于对盛料筒底部的开口进行开启或闭合。
包括定位模块，用于对无人机进行定位；
优选的，所述定位模块采用GPS卫星定位装置或北斗卫星定位装置，本申请的投料无人机上也设置有自动导航系统。
包括数据处理模块，用于数据的整合、分析、处理。
优选的，所述无线通讯装置、无线通讯单元、无线通讯模块均采用Wi-Fi模块或移动网络模块。
一种使用基于无人机的投料系统进行投料的方法，所示方法包括步骤：
S1：鱼群探测装置在水中游动，通过超声波装置感应鱼群；
S2：超声波装置感应到鱼群后，摄像装置开始工作，拍摄鱼群的影像；
S3：数据处理装置对所拍摄的鱼群进行图像识别，确定鱼群类型、大小、数量，从而确定需要投料的类型和数量；
S4：鱼群探测装置通过无线通讯装置将投料信号发送至云端服务器，云端服务器将信号进行整合分析后，派出投料无人机进行投料；
S5：投料无人机飞行至鱼群探测装置所确定的投料地点后，开始投放S3中所确定的鱼料；
S6：投料结束后，投料无人机返航。
与现有技术相比，本发明的有益效果如下：
一、本发明能够通过鱼群探测装置跟踪鱼群，并通过投料无人机对鱼群进行投食，提高了投食的效率；
二、本发明能够对鱼群类型、大小、数量进行判断，确定需要鱼料的类型和数量，从而实现个性化的投食；
三、本发明通过在鱼群探测装置上设置超声波装置感应鱼群，只有在感应到鱼群时摄像装置才开始工作，更加节能省电。
附图说明
图1为本发明投料无人机的结构示意图；
图2为本发明鱼群探测装置的结构示意图；
图3为本发明盛料筒的剖视图；
图中：1-移动主体，2-摄像装置，3-转动装置，4-透明玻璃罩，5-定位装置，6-驱动装置，7-存储装置，8-数据处理装置，9-无线通讯装置，10-超声波装置，11-无人机本体，12-无线通讯模块，13-盛料箱，14-定位模块，15-电动阀门，16-盛料筒，17-重量监测装置，18-箱盖。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1至图3，本发明提供一种技术方案：一种基于无人机的投料系统，所述系统包括鱼群探测装置、投料无人机、以及云端服务器，所述鱼群探测装 置包括移动主体1，用于在水面上游动监测鱼群的位置；
包括摄像装置2，用于拍摄水底的鱼群；
具体来说，所述移动主体1的下端为透明玻璃罩4，所述摄像装置2设置在玻璃罩4内，所述摄像装备通过转动装置3带动转动，用于调整摄像装置2的拍摄方向，所述摄像装置2和转动装置3与数据处理装置8电连接，所述转动装置3可采用电机驱动转动的方式。
包括超声波装置10，用于感应设备所在区域内有无鱼群通过，并定位鱼群的位置方向；
具体来说，所述超声波装置10至少包括一个超声波发射装置和一个超声波接收装置，超声波发射装置用于发射超声波，超声波接收装置用于接收被鱼群反射回来的超声波，利用超声波可以探测鱼群的位置，在一个装有超声波发射和接收装置的移动主体1上，当它向选定的方向发射出特定频率的超声波后，经过一段时间收到从鱼群反射回来的反射波，根据反射回来的超声波的方向能够判断出鱼群的方向，本申请采用频率为5.8×104Hz的超声波，该种频率的超声波在水中的波长为2.5cm，根据接收超声波反射波的时间，可以计算出鱼群距离移动主体1的位置。
包括定位装置5，用于对移动主体1进行定位；
具体来说，所述定位装置5采用GPS卫星定位装置5或北斗卫星定位装置5，本申请的移动主体1设置有自动导航系统，自动导航系统的用途是由GPS卫星定位装置5或北斗卫星定位装置5接收移动主体1的当前位置并将数据跟用户自定义的目的地比较、参照电子地图计算行驶路线，并实时将信息反馈给移动主体1，其中，用户的自定义目的地为人工输入到存储装置7的各鱼群聚集地的位置坐标。
包括驱动装置6，用于推动移动主体1按既定行进路线移动；
具体来说，所述驱动装置6有若干个，且均匀分布固定在移动主体1的下端，所述驱动装置6采用电动螺旋桨推进，本申请使用两个电动螺旋桨推进，当两个电动螺旋桨通转速转动时，能够推动移动主体1向前移动，当两个电动螺旋桨转速不一致时，可以调整移动主体1的前进方向。
包括存储装置7，用于记录机器人的既定行进路线、湖中每个品种的鱼的图片、喂养的饲料品种、每个阶段的鱼的喂养量、喂养地的位置信息；
包括数据处理装置8，用于对摄像装置2拍摄的影像进行分析处理、控制驱动装置6移动；
包括无线通讯装置9，用于与云端服务器和投料无人机进行无线通讯；
所述云端服务器包括无线通讯单元，用于接受移动主体1发送的信息并向投料无人机发送信息；
包括数据处理单元，用于数据的整合、分析、处理；
包括存储单元，用于存储投料地点的位置信息、无人机编号、无人机的位置信息；
所述投料无人机括无人机本体11，用于搭载鱼料飞行至指定投料装置；
包括无线通讯模块12，用于与云端服务器和鱼群探测装置进行无线通讯；
包括多个盛料箱13，用于盛放不同种类的鱼料；
具体来说，多个所述盛料箱13均匀分布固定在无人机本体11上，所述盛料箱13的内部设计成倒锥形的空腔，在盛料箱13的上方设有箱盖18，在空腔内设置有锥形的盛料筒16，所述盛料筒16的外侧壁与空腔的内壁之间设置有重量监测装置17，所述重量监测装置17采用重量传感器，用于监测盛料筒16与鱼料的总重量，在盛料箱13和盛料筒16的底部均设有开口，在所述盛料筒16 的底部设有电动阀门15，用于对盛料筒16底部的开口进行开启或闭合。
包括定位模块14，用于对无人机进行定位；
具体来说，所述定位模块14采用GPS卫星定位装置5或北斗卫星定位装置5，本申请的投料无人机上也设置有自动导航系统，投料无人机通过自动导航系统自动规划无人机的当前位置到投料地点的航线。
包括数据处理模块，用于数据的整合、分析、处理。
具体来说，所述无线通讯装置9、无线通讯单元、无线通讯模块12均采用Wi-Fi模块或移动网络模块。
一种使用基于无人机的投料系统进行投料的方法，所示方法包括步骤：
S1：鱼群探测装置在水中游动，通过超声波装置10感应鱼群；
使移动主体1按照既定行进路线在湖中游动，所述既定行进路线为各鱼群聚集地的位置坐标所连成的路线，在移动主体1下方多个方位装上超声波装置10，根据反射回来的超声波的方向能够判断出鱼群的方向，根据接收到超声波反射波的时间，可以计算出鱼群距离移动主体1的位置；
S2：超声波装置10感应到鱼群后，摄像装置2开始工作，拍摄鱼群的影像；
通过超声波装置10判断当前区域有无鱼群经过，没有则摄像装置2休眠，有鱼群经过时摄像装置2开始工作，摄像装置2在转动装置3的带动下可以转向鱼群所在的方向，实现对水底三六十度的拍摄；
S3：数据处理装置8对所拍摄的鱼群进行图像识别，确定鱼群类型、大小、数量，从而确定需要投料的类型和数量；
当拍摄的影像中有鱼群出现时，数据处理装置8得到鱼群出现的信号，进而控制移动主体1停止游动，数据处理装置8通过图像识别功能将拍摄的影像与存储在存储装置7的鱼类图片进行比较，确定鱼群类型、大小、数量，
所述影像的分析处理过程包括：
A：通过影像与存储装置7中保存的图片进行比对，确定鱼群的品种，选择与该种鱼群对应的饲料品种；
B：根据影像中鱼的个体大小估算鱼群中鱼的平均大小，并通过所估算的鱼的平均大小来判断鱼群中鱼的整体阶段，整体阶段分为幼苗期、成长期、成熟期；
C：根据图像中鱼的密度、所估算的鱼的平均大小、以及鱼群的大小来估算鱼群中鱼的数量，根据估算出的鱼的数量、每个阶段的鱼的喂养量来计算所需投放的饲料的总量；
S4：鱼群探测装置通过无线通讯装置9将投料信号发送至云端服务器，云端服务器将信号进行整合分析后，派出投料无人机进行投料；
所述投料信号包括投料地的位置信息、投料地的鱼群信息、以及需要投放的鱼料的种类和数量信息，云端服务器的处理器单元在对投料信号进行整合分析后，根据投料无人机发送到云端服务器的位置坐标，将投料信号发送给距离投料地的位置最近的待工作状态的投料无人机，使投料无人机与鱼群探测装置直接联系，投料无人机通过自动导航系统自动规划该无人机的当前位置到投料地点的航线，并沿航线飞行至投料地的上方；
S5：投料无人机飞行至鱼群探测装置所确定的投料地点后，开始投放S3中所确定的鱼料；
投料无人机上的数据处理模块根据需要投放的鱼料的种类选择对应的盛料箱13，通过控制盛料筒16底部的电动阀门15的开启，使鱼料能够落入到水中；
S6：投料结束后，投料无人机返航，
投料无人机通过重量监测装置17能够监测到盛料筒16与鱼料的总重量， 当鱼料减少时，总重量变少，总重量减少的量就是所投放的鱼料的重量，当所投放的鱼料的量达到S3确定的需要投放的量时，控制电动阀门15关闭，停止投料，投料无人机在停止投料后返航补充投放的鱼料，鱼群探测装置沿着既定路线继续在湖面游动。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (8)

  1. 一种基于无人机的投料系统，所述系统包括鱼群探测装置、投料无人机、以及云端服务器，其特征在于：所述鱼群探测装置包括移动主体(1)，用于在水面上游动监测鱼群的位置；
    包括摄像装置(2)，用于拍摄水底的鱼群；
    包括超声波装置(10)，用于感应设备所在区域内有无鱼群通过，并定位鱼群的位置方向；
    包括定位装置(5)，用于对移动主体(1)进行定位，
    包括驱动装置(6)，用于推动移动主体(1)按既定行进路线移动；
    包括存储装置(7)，用于记录机器人的既定行进路线、湖中每个品种的鱼的图片、喂养的饲料品种、每个阶段的鱼的喂养量、喂养地的位置信息；
    包括数据处理装置(8)，用于对摄像装置(2)拍摄的影像进行分析处理、控制驱动装置(6)移动；
    包括无线通讯装置(9)，用于与云端服务器和投料无人机进行无线通讯；
    所述云端服务器包括无线通讯单元，用于接受移动主体(1)发送的信息并向投料无人机发送信息；
    包括数据处理单元，用于数据的整合、分析、处理；
    包括存储单元，用于存储投料地点的位置信息、无人机编号、无人机的位置信息；
    所述投料无人机括无人机本体(11)，用于搭载鱼料飞行至指定投料装置；
    包括无线通讯模块(12)，用于与云端服务器和鱼群探测装置进行无线通讯；
    包括多个盛料箱(13)，用于盛放不同种类的鱼料；
    包括定位模块(14)，用于对无人机进行定位；
    包括数据处理模块，用于数据的整合、分析、处理。
  2. 根据权利要求1所述的一种基于无人机的投料系统，其特征在于：所述移动主体(1)的下端为透明玻璃罩(4)，所述摄像装置(2)设置在玻璃罩(4)内，所述摄像装备通过转动装置(3)带动转动，用于调整摄像装置(2)的拍摄方向，所述摄像装置(2)和转动装置(3)与数据处理装置(8)电连接。
  3. 根据权利要求1所述的一种基于无人机的投料系统，其特征在于：所述定位装置(5)和定位模块(14)均采用GPS卫星定位装置(5)或北斗卫星定位装置(5)。
  4. 根据权利要求1所述的一种基于无人机的投料系统，其特征在于：所述驱动装置(6)有若干个，且均匀分布固定在移动主体(1)的下端，所述驱动装置(6)采用电动螺旋桨推进。
  5. 根据权利要求1所述的一种基于无人机的投料系统，其特征在于：所述超声波装置(10)至少包括一个超声波发射装置和一个超声波接收装置，超声波发射装置用于发射超声波，超声波接收装置用于接收被鱼群反射回来的超声波。
  6. 根据权利要求1所述的一种基于无人机的投料系统，其特征在于：多个所述盛料箱(13)均匀分布固定在无人机本体(11)上，所述盛料箱(13)的内部设计成倒锥形的空腔，在盛料箱(13)的上方设有箱盖(18)，在空腔内设置有锥形的盛料筒(16)，所述盛料筒(16)的外侧壁与空腔的内壁之间设置有重量监测装置(17)，在盛料箱(13)和盛料筒(16)的底部均设有开口，在所述盛料筒(16)的底部设有电动阀门(15)，用于对盛料筒(16)底部的开口进行开启或闭合。
  7. 根据权利要求1所述的一种基于无人机的投料系统，其特征在于：所述 无线通讯装置(9)、无线通讯单元、无线通讯模块(12)均采用Wi-Fi模块或移动网络模块。
  8. 一种使用如权利要求1-7任一项所述的基于无人机的投料系统进行投料的方法，所示方法包括步骤：
    S1：鱼群探测装置在水中游动，通过超声波装置(10)感应鱼群；
    S2：超声波装置(10)感应到鱼群后，摄像装置(2)开始工作，拍摄鱼群的影像；
    S3：数据处理装置(8)对所拍摄的鱼群进行图像识别，确定鱼群类型、大小、数量，从而确定需要投料的类型和数量；
    S4：鱼群探测装置通过无线通讯装置(9)将投料信号发送至云端服务器，云端服务器将信号进行整合分析后，派出投料无人机进行投料；
    S5：投料无人机飞行至鱼群探测装置所确定的投料地点后，开始投放S3中所确定的鱼料；
    S6：投料结束后，投料无人机返航。
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CN208746199U (zh) * 2018-08-31 2019-04-16 南京信息工程大学 一种智能渔业养殖无人船
CN109601436A (zh) * 2019-01-24 2019-04-12 上海孚实船舶科技有限公司 一种基于环境监测的深海养殖方法

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