CN105015719A - Intelligent unmanned fishing ship - Google Patents
Intelligent unmanned fishing ship Download PDFInfo
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- CN105015719A CN105015719A CN201510400783.7A CN201510400783A CN105015719A CN 105015719 A CN105015719 A CN 105015719A CN 201510400783 A CN201510400783 A CN 201510400783A CN 105015719 A CN105015719 A CN 105015719A
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Abstract
The invention discloses an intelligent unmanned fishing ship, relates to an unmanned small-scale ship, in particular to an unmanned ship applied to the field of fishing. The intelligent unmanned fishing ship is provided with a ship body, a power source, power devices, a wireless remote control device, a bait bin device, an anchor positioning device, a fishing device and an intelligent control system. The intelligent unmanned fishing ship is characterized in that the power devices are 1-3 underwater propellers; the wireless remote control device is a handheld remote controller or a remote control terminal formed by connecting an intelligent cellphone with the remote controller; the bait bin device comprises a bin hopper, a bin hopper motor and corresponding transmission devices; the anchor positioning device comprises a positioning anchor and an anchor casting and retracting device; the intelligent control system is provided with a microprocessor. The intelligent unmanned fishing ship disclosed by the invention has the positive effects that the user experience is good, the intelligent degree is high, the fishing efficiency is high, and the intelligent unmanned fishing ship is suitable for group leisure sports.
Description
Technical field
The present invention relates to a kind of unpiloted small boat, particularly belong to a kind of unmanned boat being applied in fishing field.
Background technology
All the time, the fishing activity that people are traditional always is and adopts fishing rod to carry out.Although be equipped in continuous progress in recent years on fishing rod, many intelligent mechanisms and electronics package have been installed, but judge whether to change fish point, whether have that a fish snapped at the bait, when receive the problems such as hook time, still need people to concentrate one's energy to observe to make correct judgement and action.The method adopting fishing rod to fish is simple, machinery, underaction, and people can not leave out from whiffing process, thus can not meet the demand of more customers for diversified amusement and recreation mode.
At first patent application CN103448877A " intelligent distant control automatic fishing fishing boat ", provide a kind of intelligent distant control automatic fishing fishing boat, there is hull, power supply, actuating device, wireless remote controller, on the bank Message Display Terminal, anchoring arrangement, auto-angling device and intelligent control system.In use, after hand-held remote controller control vessel arrives predetermined fishing point, central process unit controls anchoring arrangement on ship, and put down positioning anchor, afterwards, Remote Control Automatic folding and unfolding hook device puts down fish hook, and now ship is in unattended auto-angling state.After fish bite automatic detection device detects fish bite, the pole device that automatically rises that ship assembles has triggered pole immediately, and fish is fished, and now positioning anchor packed up by anchoring arrangement; Then hand-held remote controller packs up fish hook by the automatic deploying and retracting hook device in drone ship, and control vessel is homeward.Reach strong, full intellectualized, the easy to use good effect being rich in enjoyment of Combination property.But still there is following shortcoming:
1) fishing rod is limited to fixing places for contestants in an angling contest and fishes point, and whole process of fishing needs angler to concentrate, if play pole not in time after a fish snapped at the bait, fish will be broken off relations escape;
2) actuating device adopts screw propeller, is linked by transmission shaft and drive motor, and noise is very large, and place of arrival fish is easily stampeded;
3) lack necessary fish means of sauntering, both lacked fishing enjoyment, and lacked again the means tackling large fish, and easily caused the situation that ship is dragged away from or toppled by large fish;
4) bait crouches in the bottom, and fishing sensitivity is very low;
5) remote controller very low side, Consumer's Experience sense is very poor;
6) auto-angling device adopts fishing rod, and can only meet individual's fishing and experience, the waters that fishing rod can arrive is apart from limited;
7) fishing effect is too low, and Consumer's Experience sense is poor.
Summary of the invention
The object of the present invention is to provide a kind of intelligence fishing unmanned boat, to reach the object reducing noise, improve fishing effect, increase fishing enjoyment, promote Consumer's Experience.
Intelligence fishing unmanned boat provided by the present invention, has hull, power supply, engine installation, wireless remote controller, bait bin device, positioning of anchor device, angling device and intelligent control system; Wherein:
Above-mentioned engine installation is 1-3 underwater propeller; Underwater propeller is made up of the drive motor sealed, screw propeller and protective cover;
Above-mentioned wireless remote controller can be the remote controller of hand-held, also can be to connect by smart mobile phone and remote controller the telecommand terminal formed; Above-mentioned remote controller has included radio receiving transmitting module, docks to realize data-signal transmit with the radio receiving transmitting module in above-mentioned intelligent control system;
Above-mentioned bait bin device comprises magazine, magazine motor and corresponding driving device; Magazine is positioned at directly over hull afterbody, is connect by rotating shaft and hull; Driving device is made up of screw mandrel, slide block, lifting bar; Slide block is arranged on screw mandrel; One end of lifting bar is fixed on slide block, and the other end is fixed on magazine; Rotating shaft and the screw mandrel of magazine motor link together;
Above-mentioned positioning of anchor device comprises positioning anchor and receives throws anchor device; Receive and throw that anchor device throws anchor motor by receiving, ionization conjunction, rope sheave, anchor line are formed; Ionization co-bit is thrown between anchor motor and rope sheave in receipts; Rope sheave is fixed on receipts and throws in the rotating shaft of anchor motor, and anchor line is drawn from rope sheave, and positioning anchor lies in anchor line end;
Angling device refers to that elastic rod device throws hook device with receipts; Described bullet pole device comprises support, elastic rod, bar cover, torsion spring, locking and inspiration device; Described receipts throwing hook device comprises receipts throwing hook motor, ionization is closed, fish eats hook judgment means; Wired wheel is fixed in the rotating shaft of receipts throwing hook motor; Ionization co-bit is thrown between hook motor and line wheel in receipts; Fish hook is hung by the fishing line end system be wound around on online wheel; Described fish eats hook judgment means and refers to that the fish that fishing line is bound eats hook detecting sensor, is connected to the microprocessor of above-mentioned intelligent control system;
Described intelligent control system has microprocessor; Microprocessor input connects that anchor touches end sensor, hook touches end sensor, anchor position transduser, hook position transduser, fish eat hook detecting sensor any one or multiple, its mouth connects underwater propeller, receive and throw anchor motor, receive any one or the multiple control module of throwing hook motor, and common port connects radio receiving transmitting module.
Intelligence fishing unmanned boat provided by the present invention, can adopt smart mobile phone remotely pilotless ship, after fish bite, the elastic rod on unmanned boat can be upspring automatically, and fish is fished.Smart mobile phone can jingle bell prompting unmanned boat middle fish at the same time.Then smart mobile phone Telecontrol fishing boat is homeward, have highly intelligent, fishing effect is high, can execute fishing at a distance, in outdoor activity, experience the enjoyment of fishing, have that Consumer's Experience is good, highly intelligent, fishing effect is high and the good effect of applicable group outdoor activity.
Accompanying drawing explanation
Accompanying drawing part discloses specific embodiments of the invention, wherein,
Fig. 1, integral structure schematic diagram of the present invention;
Fig. 2, hull interior main device figure;
Fig. 3, engine installation schematic diagram;
Fig. 4, underwater propeller structural representation;
Fig. 5, positioning of anchor apparatus structure schematic diagram;
Fig. 6, plays pole apparatus structure schematic diagram;
Fig. 7, receives and throws hook device structural representation;
Fig. 8, bait bin device structural representation;
Fig. 9, wireless remote controller structural representation;
Figure 10, Wireless sonar fish finding apparatus structure schematic diagram;
Figure 11, intelligent control system logic diagram;
Figure 12, remote controller logic diagram;
Figure 13, fish eats hook detecting sensor logic diagram;
Figure 14, high sensitivity fishes method schematic diagram;
Figure 15, plays permanent magnet electromagnetic iron schematic circuit diagram in pole device;
Figure 16, underwater propeller logic diagram of circuit;
Figure 17, bait bin device logic diagram of circuit;
Figure 18, receives and throws hook device logic diagram of circuit;
Figure 19, receives and throws anchor device logic diagram of circuit.
Detailed description of the invention
Shown in Fig. 1, intelligence fishing unmanned boat provided by the present invention, there is hull, wireless remote controller that power supply, engine installation, smart mobile phone participate in, bait bin device, cam device, lighting lamp device, positioning of anchor device, angling device and intelligent control system.Cam device 1 is positioned to receive to be thrown directly over anchor motor, and lighting lamp device 2 is positioned to receive to be thrown directly over hook motor.During work, camera is sent to the video pictures of buoyance on smart mobile phone by microprocessor mainboard 4.During night fishing, smart mobile phone will manipulate lighting lamp device 2 by microprocessor mainboard 4 and open illumination.
As shown in Fig. 2, there is in hull power supply and intelligent control system.Wherein power supply is chargeable dynamic lithium battery 3.Intelligent control system adopts highly intelligent 32 ARM core microprocessor mainboards 4.
As shown in Figure 3, engine installation comprises 2 underwater propeller positions 13 of hull afterbody, is placed in below afterbody.Certainly, also can adopt 1 or 3 underwater propellers, even also can coordinate rudder for ship to realize the change in navigation direction, its effect is the same.Owing to having various ways to the action control of rudder for ship, as electric pushrod, hydraulic actuating cylinder, connecting rod mechanism etc., and be technical personnel and easily expect and can realize, therefore do not do too much explanation.
As shown in Figure 4, a left side is put underwater propeller and is comprised that propulsion electric machine 14 is put on a left side, screw propeller 17 and containment envelope 18 are put in water proof case 15, seal ring 16, a left side.A left side is put propulsion electric machine 14 and is sealed in water proof case 15, machine shaft is installed with a left side and puts screw propeller 17, there is seal ring 16 machine shaft and water proof case 15 contact position, containment envelope 18 installation provision is on water proof case 15, and machine shaft is put screw propeller 17 together with a left side and protected interior by water proof case 15.The right side is put underwater propeller and is comprised that propulsion electric machine 19 is put on the right side, screw propeller 22 and containment envelope 23 are put in water proof case 20, seal ring 21, the right side.The annexation that underwater propeller is put on the right side is same as a left side and puts underwater propeller.During work, a left side is put propulsion electric machine 14 and the right side and is put propulsion electric machine 19 and rotate simultaneously, and drive a left side to put screw propeller 17 and the right side and put screw propeller 22 and rotate simultaneously, unmanned boat travels forward or backward; Only have a left side to put propulsion electric machine 14 when rotating, drive a left side to put screw propeller 17 and rotate, unmanned boat is turned right curved traveling; Only have the right side to put propulsion electric machine 19 when rotating, drive the right side to put screw propeller 22 and rotate, unmanned boat is turned left curved traveling.
As shown in figure 16, the common of relay K 1 and K2 is received at the two ends that propulsion electric machine 14 is put on a left side respectively, the control coil of K1 and K2 receives ARM core microprocessor 5, the open contact K1-1 of K1 receives 24V power supply output cathode, the open contact K2-1 of K2 also receives 24V power supply output cathode, the normally closed contact K1-2 of K1 receives 24V power supply output negative pole, and the normally closed contact K2-2 of K2 also receives 24V power supply output negative pole, and 24V power supply exports the power management module 6 that both positive and negative polarity receives microprocessor mainboard 4.When ARM core microprocessor 5 control K1 contact is by K1-2 to K1-1, a left side is put propulsion electric machine 14 and is rotated forward, and drives left screw propeller 17 of putting to produce thrust forward; When ARM core microprocessor 5 control K1 contact is by K1-2 to K1-1, a left side is put propulsion electric machine 14 and is rotated forward, and drives left screw propeller 17 of putting to produce thrust forward; When ARM core microprocessor 5 control K2 contact is by K2-2 to K2-1, a left side is put propulsion electric machine 14 and is reversed, and drives left screw propeller 17 of putting to produce thrust backward; It is identical that propulsion electric machine 14 is put on the right side control of putting propulsion electric machine 19 and connection mode and a left side.Controlled as rotating forward by ARM core microprocessor 5 when propulsion electric machine 14 is put on a left side and propulsion electric machine 19 is put on the right side while, unmanned boat forwards travels; Controlled as reversion by ARM core microprocessor 5 when propulsion electric machine 14 is put on a left side and propulsion electric machine 19 is put on the right side while, unmanned boat rearward travels; Put propulsion electric machine 14 when a left side to rotate forward, when propulsion electric machine 19 stall or reversion are put in the right side, unmanned boat right steering travels; Put propulsion electric machine 14 when the right side to rotate forward, when propulsion electric machine 19 stall or reversion are put in a left side, unmanned boat left steering travels.
As shown in Figure 1, shown in Figure 5, described positioning of anchor device comprises positioning anchor 24 and receives throws anchor device; Receive and throw that anchor device throws anchor motor 25 by receiving, ionization conjunction 26, anchor line 27, line are taken turns 28 and formed; Anchor line is drawn from rope sheave, and positioning anchor lies in anchor line end; Ionization cohabit cohabitation is thrown between anchor motor and rope sheave in receipts.
For whether automatic decision positioning anchor touches the end completely, above-mentioned positioning of anchor device is also provided with position identification device, is made up of sensor of the tactile end 29, position transduser 30; Touch sensor upper end, the end through anchor line, lower end is fixed on hull; Position transduser is positioned at the dwang 32 on pulley 31.
As shown in figure 19, receive throwing anchor motor 25 to be realized controlling by relay K 3, K4, the open contact K4-1 of open contact K3-1 and K4 of K3 is linked into 24V power supply output negative pole, 24V power supply exports the power management module 6 that both positive and negative polarity receives microprocessor mainboard 4, the control coil of K3 and K4 receives ARM core microprocessor 5, and by Microprocessor S3C44B0X, release ionization is closed, rope sheave becomes free unwrapping wire state, and in the positioning anchor short time, quick dive is to water-bed; When positioning anchor is placed to the bottom, anchor line becomes slack and undisciplined state from exceptionally straight state, and the sensor of the tactile end be placed on anchor line can detect this state variation, and transmit a signal to microprocessor, and braking ionization is closed; When making a return voyage, microprocessor starts to receive throws anchor motor, contrarotation rope sheave, anchor line is rapped around on rope roller, and the positioning anchor being fixed on anchor line end is back packed up along with anchor line, when positioning anchor is received fore, the dwang be placed on pulley rotates upward, triggers the position transduser in it, after microprocessor receives corresponding signal, control to receive and throw anchor motor stalls, positioning anchor is stowed in fore position.
Described positioning of anchor device can also have escapes device extremely, refer to and be provided with fuse in rope sheave side, in fuse, there is heating wire, anchor line from after rope sheave is drawn through heating wire, when running into the situation of anchor hanging end or abnormal coiling, fishing line fusing can be escaped.
Angling device is thrum pole device and receives throwing hook device.As shown in Figure 6, described bullet pole device mainly comprises support 33, torsion spring 34 and locking and flip flop equipment.In the present embodiment, described locking and flip flop equipment adopt automatically controlled mode, comprise permanent magnet electromagnetic iron 35 and ferromagnetic metalloid tactile disk 36; Support is inserted in and is fixed on the base 37 of hull, and cantilever tip has rotating shaft 38, and bar cover 39, through rotating shaft, can rotate around the axis; Between support and bar cover, be provided with torsion spring, the support below rotating shaft is provided with permanent magnet electromagnetic iron, the corresponding position that bar puts has ferromagnetic metalloid tactile disk; Play pole 42 to be inserted in bar cover, play pole top and be provided with suspension ring 40, suspension ring are through fishing line 41.
Above-mentioned locking and flip flop equipment also can adopt mechanical system, " automatic rod lifter " disclosed in No. 201120082238.5 patents, comprise added, undercarriage and spring both connecting, fishing rod be inserted into added in; Undercarriage comprises vertical bar and undercarriage foundry goods, and vertical bar is arranged with a self-locking mechanism.Self-locking mechanism comprises self-locking foundry goods, triggers little hook and movable plate, triggers little hook and movable plate is located in self-locking foundry goods.Self-locking foundry goods comprises U type pin and two thin slices, and be connected with one end of two thin slices in the middle part of the circular arc of U type pin, the other end of thin slice has recess.Two thin slices are respectively provided with two through holes one to one, trigger little hook and movable plate is located in two thin slices by pot nail clip in through hole.
Above-mentioned bullet pole device, play pole under normality and be forced into level attitude, and the ferromagnetic metalloid tactile disk playing pole end be placed thereunder to be under off-position that permanent magnet electromagnetic is very tight tightly to be adsorbed, after detecting that fish eats hook message, permanent magnet electromagnetic iron is applied in release voltage immediately, and permanent magnet electromagnetic iron loses strong magnetic force instantaneously, plays the permanent magnet electromagnetic iron that weak magnetic force shaken off by pole under the elastic force effect of torsion spring, and by fishing line pull-up, thus achieve appliance for releasing single pole function.
As shown in figure 15, one end of permanent magnet electromagnetic iron 35 is received on 24V power cathode, and the other end receives the common of relay K 5, and 24V positive source receives the open contact K5-1 of relay, the control coil of relay is received on microprocessor, to realize by its power on/off of Microprocessor S3C44B0X.
As shown in Figure 7, described receipts throw hook device comprise receive throw hook motor 43, fish eats hook detecting device 69 and escapes device, receive throw hook motor rotating shaft on fix and wiredly take turns 46, ionization conjunction 44 occupy to receive and throws between hook motor and line wheel, and plummet 68 lies in fishing line 45 end.Described device of escaping refers to, line wheel side is provided with heater 47, has heating wire 48 in heater.Fishing line 45 passes heating wire after line wheel is drawn, and is lowered in water through the pulley 49 of stern and drive link 55.
As shown in figure 18, receive and throw the common that hook motor 43 receives relay K 6, K7 respectively, the open contact of relay K 6 receives 24V positive source, and the open contact of relay K 7 receives 24V power cathode, and 24V power supply is received on power management module.The control coil of K6 and K7 is received on microprocessor, is received throw the rotating forward of hook motor or reversion by Microprocessor S3C44B0X.
Above-mentioned receipts are thrown in hook device, and fish eats hook detecting device and touches end sensor 50 and fish by hook and eat hook detecting sensor 51 and form, and touch end sensor and fish and eat hook detecting sensor and receive microprocessor, and fish eats hook detecting sensor and can detect fish and eat hook-shaped state.
As shown in figure 13, fish eats hook detecting sensor 51 and refers to Gravity accelerometer module, is made up of singlechip chip 52 and Gravity accelerometer 53.When fish eats hook, by fishing line, power is delivered to fish and eats hook detecting device, Gravity accelerometer will sense that this changes, and singlechip chip constantly scans the state variation of Gravity accelerometer, by middle fish signal transmission to ARM core microprocessor.
As shown in figure 14, before lower hook is fished, regulate fish to eat hook detecting device and the plummet weight together with bait on fish hook, the weight making fish eat hook detecting device is higher than plummet together with bait on fish hook, and the weight difference of difference determines the sensitivity of middle fish.When plummet is put into the bottom together with the bait on fish hook, manipulation is received and is thrown the take-up of hook motor, and plummet is lifted away from the bottom together with the bait on fish hook, and when fish eats hook, fish eats hook detecting device and is easy to just can detect the power that fishing line passes over.
For whether automatic decision fish hook touches the end completely and rise completely put in place, above-mentioned angling device is also provided with position identification device, is made up of, is connected to the microprocessor of intelligent control system of the present invention sensor of the tactile end and location identification sensor.
During work, discharge ionization by ARM core Microprocessor S3C44B0X and close, free unwrapping wire state taken turns into by line, and under on plummet and fish hook, the gravity of bait drives, fishing line without hindrance releasing from line wheel, drops into fish hook in water; When fish hook arrives water-bed, touch end ball switch and can detect fish hook signal on earth, now ARM core microprocessor receives this signal, and braking ionization is closed and stopped unwrapping wire; When fish eat hook detecting device detected that a fish snapped at the bait time, jingle bell is pointed out by smart mobile phone; Now can operative intelligence mobile phone remote short range take-up, ARM core Microprocessor S3C44B0X starts to receive throws hook motor, and contrarotation line is taken turns, and fishing line is rapped around on line wheel, and fish hook is back packed up along with fishing line.When middle fish not detected, remote control whole fishing line should be packed up, when fish hook receives stern, dwang 55 on pulley is pulled up, position transduser 54 in it will detect this state, and ARM core microprocessor stops receiving throws hook electric machine rotation, and fish hook is stowed in stern.
Described angling device, can also comprise Wireless sonar fish finding device, as shown in Figure 10, Wireless sonar fish finding device comprises Sonar Probe 56 and sonar processing module 7, Sonar Probe is placed in below hull afterbody, and sonar processing module is included in microprocessor mainboard.The Sonar Probe detecting water temperature in waters, the depth of water and the movement pattern of fish, be sent on remote controller by radio receiving transmitting module, and fisherman can it is reported the movement pattern of fish in this waters according to display.
As shown in Figure 8, bait bin device has magazine 58, magazine motor 62 and driving device.Rotating shaft 57 is positioned at unmanned stern end; Magazine is positioned at directly over stern, and one end is fixed by rotating shaft and stern; Driving device is made up of screw mandrel 59, slide block 60, lifting bar 61.Slide block is arranged on screw mandrel; One end of lifting bar is fixed on slide block, and the other end is fixed on magazine; Rotating shaft and the lifting bar of magazine motor link together.Screw mandrel rotates under the drive of magazine motor, and slide block is free crank motion on screw mandrel, drives lifting bar rise or fall.Magazine also rises along with lifting bar and falls.When throwing in bait, by Microprocessor S3C44B0X magazine motor, magazine is risen, bait inclines and hits the drink, and magazine returns voluntarily and drops to unmanned stern under the drive of lifting bar immediately.
Wireless remote controller of the present invention can be the remote controller of hand-held, also can be to connect by smart mobile phone and remote controller the telecommand terminal formed.As shown in figure 12, according to the function that will realize, the remote controller of hand-held forms primarily of micro controller system, electric supply installation, radio receiving transmitting module, bluetooth module, acoustic luminous device, read-out and keyboard.Micro controller system is core processor, under the overall leadership and other functional components of process; Electric supply installation contains power supply and power management module, supply all functions component power; Radio receiving transmitting module receives sonar information, navigation information and the unmanned boat status information that unmanned boat sends, and sends remote information to unmanned boat; Bluetooth module transmission and send control and status information to smart mobile phone; Read-out can show sonar information, navigation information and unmanned boat state; Button in remote controller also can replace smart mobile phone to manipulate unmanned boat.
As Fig. 9, smart mobile phone 63 can be placed on the support 65 of remote controller 64, can realize connection between smart mobile phone and remote controller by wired or bluetooth.Smart mobile phone installs app by the operation of remote controller relaying manipulation unmanned boat, and smart mobile phone can also receive the video of boat-carrying camera on unmanned boat by WIFI and show on its screen.
Described intelligent control system has microprocessor; Microprocessor input connects that above-mentioned anchor touches end sensor, hook touches end sensor, anchor position transduser, hook position transduser, fish eat hook detecting sensor, its mouth connects underwater propeller, receives the control module of throwing anchor motor, receiving throwing hook motor, and common port connects above-mentioned radio receiving transmitting module.
Described intelligent control system can also comprise GPS navigation locating module and/or electrical compass module, and GPS navigation locating module, electrical compass module are linked into the input end of intelligent control system.
As shown in Figure 10, Figure 11, described intelligent control system adopts 32 ARM core microprocessor mainboards 4, there is ARM core microprocessor 5, power management module 6, signal processing module 7, electrical compass module 8, GPS module 9, radio receiving transmitting module 10, reception of wireless signals module 11, WIFI AP module 12, input port and delivery port.Anchor touches end sensor, hook touches end sensor, anchor position transduser, hook position microprocessor, fish eat hook sensor in input port access, and delivery port receives that propelling unit motor is put on a left side, propelling unit motor is put on the right side, receive and throw anchor motor, receive and throw hook motor, permanent magnet electromagnetic iron, bait storehouse motor, lighting lamp device.The ARM core microprocessor overall situation is under the overall leadership and control signal processing module 7, electrical compass module 8, GPS module 9, radio receiving transmitting module 10, reception of wireless signals module 11, WIFI AP module 12, input port and delivery port.
Wherein, power management module 6 input end receives dynamic lithium battery 3, and the power supply managed supplies whole intelligent control system; The input end of signal processing module 7 receives Sonar Probe, and mouth receives ARM core microprocessor 4, and sonar information data are sent to remote controller via radio receiving transmitting module 10, and on the read-out of remote controller, demonstrate water temperature, the depth of water and movement pattern of fish information.
Electrical compass module 8, GPS module 9 complete unmanned boat navigation locating function jointly.The direction information that wherein electrical compass module 8 relies on self-sensor device to sense outputs to ARM core microprocessor 4; The location information that GPS module 9 receives satellite outputs to ARM core microprocessor 4, and then direction information data and location information data are sent to remote controller via radio receiving transmitting module 10, and can at any time in the path of motion of the display screen display unmanned boat of remote controller.Radio receiving transmitting module 10 receives control information data from remote controller to ARM core microprocessor 4, and the current status information data from the direction information data of microprocessor 4, location information data, sonar information data and line fishing boat is sent to remote controller.Reception of wireless signals module 11 short distance reception carrys out the retractable cable control signal of self extending fishing rod, this signal transmission to ARM core microprocessor 4, receives throw the operation of anchor motor via the management of ARM core microprocessor 4.WIFI AP module 12 one end is linked into camera 1, and the other end receives ARM core microprocessor 4, and the video pictures of camera is directly sent on smart mobile phone in the air, and on smart mobile phone on the environmental aspect in real-time waters residing for viewing unmanned boat.
Claims (8)
1. an intelligence fishing unmanned boat, has hull, power supply, engine installation, wireless remote controller, bait bin device, positioning of anchor device, angling device and intelligent control system; It is characterized in that,
Described engine installation is 1-3 underwater propeller (13);
Described wireless remote controller is the remote controller of hand-held, or connects by smart mobile phone and remote controller the telecommand terminal formed;
Described bait bin device comprises magazine (58), magazine motor (62) and corresponding driving device;
Described positioning of anchor device comprises positioning anchor (24) and receives throws anchor device; Receipts throwing anchor device throws anchor motor (25) by receiving, (26), rope sheave (28) are closed in ionization, anchor line (27) is formed;
Angling device refers to that elastic rod device throws hook device with receipts;
Described intelligent control system has microprocessor; Microprocessor input connects that anchor touches end sensor, hook touches end sensor, anchor position transduser, hook position transduser, fish eat hook detecting sensor any one or multiple, its mouth connects underwater propeller, receive and throw anchor motor, receive any one or the multiple control module of throwing hook motor, and common port connects radio receiving transmitting module.
2. intelligence fishing unmanned boat according to claim 1, is further characterized in that also have cam device (1), lighting lamp device (2).
3. intelligence fishing unmanned boat according to claim 1, be further characterized in that, described positioning of anchor device is also provided with position identification device, is made up of sensor of the tactile end (29), position transduser (30).
4. intelligence fishing unmanned boat according to claim 1, is further characterized in that, described receipts throwing hook device comprises receipts throwing hook motor (43), fish eats hook detecting device (69) and escapes device; Receive throw hook motor rotating shaft on fix wired wheel (46), ionization is closed (44) and is occupy to receive and throw between hook motor and line wheel.
5. intelligence fishing unmanned boat according to claim 1, is further characterized in that, fish eats hook detecting device and touches end sensor (50) and fish by hook and eat hook detecting sensor (51) and form; Fish eats hook detecting sensor and refers to Gravity accelerometer module, is made up of singlechip chip (52) and Gravity accelerometer (53).
6. intelligence fishing unmanned boat according to claim 1, be further characterized in that, described angling device also comprises Wireless sonar fish finding device, comprises Sonar Probe (56) and sonar processing module (7).
7. intelligence fishing unmanned boat according to claim 1, be further characterized in that, the driving device of bait bin device is made up of screw mandrel (59), slide block (60), lifting bar (61); Slide block is arranged on screw mandrel; One end of lifting bar is fixed on slide block, and the other end is fixed on magazine; Rotating shaft and the lifting bar of magazine motor (62) link together.
8. intelligence fishing unmanned boat according to claim 1, be further characterized in that, described intelligent control system also comprises GPS navigation locating module and/or electrical compass module.
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| CN118160697A (en) * | 2024-05-14 | 2024-06-11 | 深圳安培时代数字能源科技有限公司 | Intelligent fishing point selection method and related device |
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| CN105746460A (en) * | 2015-12-11 | 2016-07-13 | 重庆远钓科技有限公司 | Automatic coordinate-type fishing control system and method |
| CN105746460B (en) * | 2015-12-11 | 2019-04-02 | 重庆远钓科技有限公司 | Automatic co-ordinate-type fishing control system and method |
| CN105941358B (en) * | 2016-06-24 | 2019-01-25 | 吴尚义 | Multi-functional raft lines |
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| CN107499486A (en) * | 2017-07-28 | 2017-12-22 | 安徽工程大学 | Mobile platform and its localization method on a kind of positioning intelligent water |
| CN109892298A (en) * | 2017-12-10 | 2019-06-18 | 湖南发运机电贸易有限公司 | A kind of portable small-sized water surface intelligence ship fishing instrument |
| CN108082410A (en) * | 2017-12-18 | 2018-05-29 | 佛山市神风航空科技有限公司 | Small drone airplane parking area waterborne |
| CN108082400A (en) * | 2017-12-18 | 2018-05-29 | 佛山市神风航空科技有限公司 | Aerial photography aircraft airplane parking area waterborne |
| CN108112555A (en) * | 2018-01-19 | 2018-06-05 | 湖北思泽新能源科技有限公司 | A kind of wheel component for being remotely controlled whiffing boat |
| CN108260572A (en) * | 2018-02-26 | 2018-07-10 | 张乙 | A kind of auto fishing device |
| CN108260572B (en) * | 2018-02-26 | 2023-12-22 | 张一乙 | Automatic fishing device |
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| CN118160697A (en) * | 2024-05-14 | 2024-06-11 | 深圳安培时代数字能源科技有限公司 | Intelligent fishing point selection method and related device |
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Application publication date: 20151104 |