CN106774549B - It is a kind of based on solar powered walking intelligence oxygenation robot - Google Patents
It is a kind of based on solar powered walking intelligence oxygenation robot Download PDFInfo
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- CN106774549B CN106774549B CN201611195302.4A CN201611195302A CN106774549B CN 106774549 B CN106774549 B CN 106774549B CN 201611195302 A CN201611195302 A CN 201611195302A CN 106774549 B CN106774549 B CN 106774549B
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- 238000006213 oxygenation reaction Methods 0.000 title claims abstract description 41
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 44
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 27
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 27
- 239000001301 oxygen Substances 0.000 claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 238000007667 floating Methods 0.000 claims abstract description 17
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 241000380131 Ammophila arenaria Species 0.000 claims description 30
- 238000002604 ultrasonography Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000009360 aquaculture Methods 0.000 abstract description 9
- 244000144974 aquaculture Species 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000005276 aerator Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 230000007704 transition Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 241000251468 Actinopterygii Species 0.000 description 7
- 238000007726 management method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000010365 information processing Effects 0.000 description 3
- 230000001953 sensory effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 235000013547 stew Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000005945 translocation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/56—Power conversion systems, e.g. maximum power point trackers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
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- Farming Of Fish And Shellfish (AREA)
Abstract
It is a kind of to be constituted based on solar powered walking intelligence oxygenation robot, including floating drum, solar panel, battery plate bracing frame, Main Control Tank, impeller, connecting rod, water quality monitoring system, ultrasonic distance-measuring sensor, ultrasonic transducer, water-proof CCD camera, direction controlling rudder；It may be implemented to acquire aquaculture equipment collection water quality environmental parameter in real time, by data such as acquisition aquatic products dissolved oxygen, pH value, temperature, pressure, use wireless signal transmitter cooperation serving BS.It can long-distance intelligent control mobile automatic aerator；Clean energy resource is used simultaneously, by solar energy in conjunction with robot technology, realizes the mode of Solar use and low-power consumption electricity consumption, promotes the raising of culture fishery production transition and benefit.
Description
Technical field
The present invention relates to a kind of based on solar powered walking intelligence oxygenation robot.
Background technique
With the scarcity of worldwide fishery resources, the effect that aquaculture plays in fish production is more and more significant.I
State occupies the first in the world as aquaculture big country, aquaculture product total amount.Fish culture mainly based on pond culture, is dissolved
Oxygen is the restrictive factor in breed in stew again.When dissolved oxygen in water be lower than 1mg/L when, fish will because of anoxic emersion water
Air is swallowed in face in big mouthfuls, is caused the phenomenon that raising the nose above water to breathe, may finally be led to " the general pool ", is caused a large amount of fish dead, is caused
Severe consequence.
Current progress pond mechanical enhancement common both at home and abroad has paddle aerator, waterwheel aerator, micropore to increase
Oxygen machine and surge machine etc..Different oxygenation way advantage and disadvantage are different, but these traditional aerators be it is fixed somewhere or with
Machine movement, although there is the effect of oxygenation, the oxygen content in fish pond is not uniform enough, and sphere of action is limited, close to aerator
Local dissolved oxygen amount it is high, fish are just more；It is on the contrary then few, cause the utilization rate of fish pond area to reduce.
Many scientific and technical personnel are dedicated to integrated intelligent water quality sensor, wireless sense network, wireless communication, intelligent management system
With the professional techniques such as video monitoring system, comprehensive monitoring management is carried out to breeding environment, water quality, fish growth situation etc., most
Energy-saving, increasing both production and income target is realized eventually.But intelligent aquaculture focuses mostly in single norm controlling, wireless sensor network
The application such as network information collection and research lack systematicness and globality, and monitor the precision and intelligence of system and control system
Change degree is lower, lacks systematic collaboration work capacity, and application is poor, and fishery cultivating still has very big market development empty
Between.
Summary of the invention
To overcome the shortcomings of existing technologies, the purpose of the present invention is to provide a kind of based on solar powered walking intelligence
It can oxygenation robot.
The present invention solves technical problem and adopts the following technical scheme that
It is a kind of based on solar powered walking intelligence oxygenation robot, wherein including floating drum, solar panel,
Battery plate bracing frame, impeller, connecting rod, water quality monitoring system, ultrasonic distance-measuring sensor, ultrasonic transducer, is prevented Main Control Tank
Water camera, direction controlling rudder are constituted；The Main Control Tank squarely cabinet is provided with front, rear, left and right four on the Main Control Tank
A side plate, the battery plate bracing frame l-shaped structure, quantity are three, are connected to the Main Control Tank left plate, right side plate
And on back side panel；The solar panel squarely plate body structure, quantity are three, three solar panels installation
It is fixed in the battery plate bracing frame, is inclined to set in the battery plate bracing frame；There are three the connecting rod quantity,
It is set to the Main Control Tank left plate, right side plate and back side panel lower end, is located at three cell support frame lower positions；The connection
Bar is in horizontally disposed, one end connection Main Control Tank, other end connection floating drum；The Main Control Tank does the connecting rod on side plate and right side plate
On be equipped with impeller, the impeller quantity is two；The floating drum quantity is three, is provided on the Main Control Tank and floating drum
Ultrasonic sensor connecting rod；There are four the ultrasonic distance-measuring sensor connecting rod quantity has altogether, wherein three ultrasounds
It is set to floating drum one end away from sensor connecting rod, before a remaining ultrasonic distance-measuring sensor connecting rod is set to the Main Control Tank
On side plate；The ultrasonic distance-measuring sensor quantity is four, is set to ultrasonic distance-measuring sensor connecting rod one end；It is described super
Acoustic wave transducer is set to Main Control Tank bottom plate lower part；The water quality monitoring system is set to Main Control Tank bottom plate lower part one
Side position, the water quality monitoring system is at including dissolved oxygen sensor, pH value sensor, temperature sensor；The direction controlling
Rudder includes steering engine, helm control device, rudder stock and rudder blade, and the rudder stock top connects one side position of Main Control Tank bottom plate lower part, described
Rudder blade is connected to rudder stock lower end；The steering engine and the helm control device are all set in inside the Main Control Tank, the rudder stock top
Portion protrudes into inside Main Control Tank to be connected with steering engine, and the helm control device is connected with the steering engine；The water-proof CCD camera is installed on
On the Main Control Tank front side board；
Motor, intelligent controller, intelligent gateway, battery, steering engine, helm control device are equipped with inside the Main Control Tank；Institute
Motor is stated to be connected with two connecting rods；The intelligent gateway is connected with intelligent controller by serial ports；The solar panel,
Battery connects intelligent gateway, intelligent controller, motor, steering engine, helm control device by electric wire, by electric wire to intelligent network
Pass, intelligent controller, motor, steering engine, helm control device provide power supply；The intelligent gateway passes through cable and water quality monitoring system
System, ultrasonic distance-measuring sensor, ultrasonic transducer, helm control device, camera are connected, and realize signal transmission；The intelligence
Controller is connected to the motor by cable.
It is above-mentioned a kind of based on solar powered walking intelligence oxygenation robot, wherein the intelligent controller is single
Piece machine, single-chip microcontroller model STM8L051F3.
It is above-mentioned a kind of based on solar powered walking intelligence oxygenation robot, wherein the intelligent gateway is insertion
Formula processor, processor model are HF-LPB100 WIFI.
Compared with the prior art, the beneficial effects of the present invention are embodied in:
Multiple-quality water data are measured by multiple sensors in water quality monitoring system when use, include: is in water molten
Oxygen content, pH value, water temperature, hydraulic pressure and camera acquisition picture and video data are solved, passes through cable after data acquisition for data
Signal passes to intelligent gateway, carries out information processing by intelligent gateway, and data analysis will be carried out for information, device uses
" it " type path type plans oxygenation robot track route, while according to how much controls of the dissolved oxygen content inside this position water body
The oxygenation time processed, and route direction signal is passed into helm control device by cable, direction control is adjusted by helm control device
Rudder angles processed are errorless to complete oxygenation robot track route.In walking process, it is dynamic that walking is not only provided by two wheel rotations
Oxygen in air is more brought into water body due to the rotation of impeller by power, to achieve the effect that water oxygenation, electricity during this
Machine drive connecting rod rotation, connecting rod impeller rotation, and by intelligent gateway will advance with stop signal send intelligent control to
Device processed, intelligent controller control starting and the switch of motor, with the accuracy for guaranteeing robot traveling with stopping.
Four ultrasonic distance-measuring sensors are distributed using surrounding, can detect whether oxygenation robot has in the process in traveling
Barrier can effectively avoid the situation generation for occurring rebuffed in traveling distance.It is special to be additionally arranged at the bottom of a ultrasound in Main Control Tank
Wave transducer can be obtained effectively and prevent stranded effect, improve working efficiency, improve using effect.
It may be implemented to acquire aquaculture equipment collection water quality environmental parameter in real time, by acquiring aquatic products dissolved oxygen, pH value, temperature
The data such as degree, Main Control Tank internal controller can connect mobile phone by wifi signal, and staff can pass through mobile phone remote intelligent control
Mobile automatic aerator；Clean energy resource is used simultaneously, by solar energy in conjunction with robot technology, realizes Solar use and low-power consumption
The mode of electricity consumption (continuous wet weather booster battery), promotes the raising of culture fishery production transition and benefit.This product is realized
Energy-saving, environmentally protective, increasing both production and income target is finally realized in the scientific culture of aquaculture and management.In view of agricultural
Low-cost and high-performance and high reliability are wanted in production, and industrialization design all optimizes and considers to this three needs, allow agricultural
It cooperative society, raiser upper and affords to use, there is wide industrialization prospect.
Detailed description of the invention
Fig. 1 is main view of the invention.
Fig. 2 is top view of the invention.
Fig. 3 is system connection schematic diagram of the invention.
Fig. 4 is oxygenation work flow diagram of the invention.
Figure label:
1 floating drum, 2 solar panels, 21 battery plate bracing frames, 3 Main Control Tanks, 31 motors, 32 intelligent controllers, 33 intelligence
It can gateway, 34 batteries, 35 Main Control Tank front side boards, 36 Main Control Tank back side panels, 37 Main Control Tank left plates, 38 Main Control Tank right side plates, 4
Impeller, 5 connecting rods, 6 water quality monitoring systems, 61 dissolved oxygen sensors, 62 pH value sensors, 63 temperature sensors, 7 ultrasounds
Wave distance measuring sensor, 71 ultrasonic sensor connecting rods, 8 water-proof CCD cameras, 9 direction controlling rudders, 91 steering engines, 92 rudder angle controls
Device, 93 rudder stocks, 94 rudder blades, 10 ultrasonic transducers.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
Intelligent controller used in the present embodiment is single-chip microcontroller, single-chip microcontroller model STM8L051F3.It is used
Intelligent gateway is embeded processor, and processor model is HF-LPB100 WIFI.Used dissolved oxygen sensor model are as follows:
SIN DO530；Purchased from Hangzhou translocation Autotek S. r. l., this kind of dissolved oxygen sensor carries temperature compensation function,
Displays temperature and dissolved oxygen content simultaneously.
Embodiment
It is a kind of based on solar powered walking intelligence oxygenation robot, wherein including floating drum, solar panel,
Battery plate bracing frame, impeller, connecting rod, water quality monitoring system, ultrasonic distance-measuring sensor, ultrasonic transducer, is prevented Main Control Tank
Water camera, direction controlling rudder are constituted；The Main Control Tank squarely cabinet is provided with front, rear, left and right four on the Main Control Tank
A side plate, the battery plate bracing frame l-shaped structure, quantity are three, are connected to the Main Control Tank left plate, right side plate
And on back side panel；The solar panel squarely plate body structure, quantity are three, three solar panels installation
It is fixed in the battery plate bracing frame, is inclined to set in the battery plate bracing frame；There are three the connecting rod quantity,
It is set to the Main Control Tank left plate, right side plate and back side panel lower end, is located at three cell support frame lower positions；The connection
Bar is in horizontally disposed, one end connection Main Control Tank, other end connection floating drum；The Main Control Tank does the connecting rod on side plate and right side plate
On be equipped with impeller, the impeller quantity is two；The floating drum quantity is three, is provided on the Main Control Tank and floating drum
Ultrasonic sensor connecting rod；There are four the ultrasonic distance-measuring sensor connecting rod quantity has altogether, wherein three ultrasounds
It is set to floating drum one end away from sensor connecting rod, before a remaining ultrasonic distance-measuring sensor connecting rod is set to the Main Control Tank
On side plate；The ultrasonic distance-measuring sensor quantity is four, is set to ultrasonic distance-measuring sensor connecting rod one end；It is described super
Acoustic wave transducer is set to Main Control Tank bottom plate lower part；The water quality monitoring system is set to Main Control Tank bottom plate lower part one
Side position, the water quality monitoring system is at including dissolved oxygen sensor, pH value sensor, temperature sensor；The direction controlling
Rudder includes steering engine, helm control device, rudder stock and rudder blade, and the rudder stock top connects one side position of Main Control Tank bottom plate lower part, described
Rudder blade is connected to rudder stock lower end；The steering engine and the helm control device are all set in inside the Main Control Tank, the rudder stock top
Portion protrudes into inside Main Control Tank to be connected with steering engine, and the helm control device is connected with the steering engine；The water-proof CCD camera is installed on
On the Main Control Tank front side board；
Motor, intelligent controller, intelligent gateway, battery, steering engine, helm control device are equipped with inside the Main Control Tank；Institute
Motor is stated to be connected with two connecting rods；The intelligent gateway is connected with intelligent controller by serial ports；The solar panel,
Battery connects intelligent gateway, intelligent controller, motor, steering engine, helm control device by electric wire, by electric wire to intelligent network
Pass, intelligent controller, motor, steering engine, helm control device provide power supply；The intelligent gateway passes through cable and water quality monitoring system
System, ultrasonic distance-measuring sensor, ultrasonic transducer, helm control device, camera are connected, and realize signal transmission；The intelligence
Controller is connected to the motor by cable.
Ant group algorithm software is integrated in the intelligent gateway.
Oxygenation workflow:
Dissolved oxygen content, pH value, water temperature and camera acquisition picture and video data in water, lead to after data acquisition
It crosses cable and data-signal is passed into intelligent gateway, information processing is carried out by intelligent gateway, and data point will be carried out for information
Following 2 kinds of oxygenation ways are supported in analysis:
1, artificial remote manual oxygenation: according to the more of the dissolved oxygen content inside the water body of oxygenation robot site
Few, staff manually controls planning oxygenation robot track route, and (intelligent controller can pass through wireless signal and cell phone customer
End, wechat end and computer connection, and oxygenation robot is controlled), and route direction signal is passed into helm control device, pass through
It is errorless to complete oxygenation robot track route that helm control device adjusts direction controlling rudder angles.And pass through dissolved oxygen sensor reality
When monitor dissolved oxygen data, can targetedly adjust oxygenation length of time, accomplish remote intelligent oxygenation.
2, entire pond automates oxygenation:
What the path planning of device was taken is based on the ant group algorithm (Sensory with sensory adaption function
Adaptation Ant Colony Algorithm, SAACO) on the basis of the finite state machine model that improves choose it is theoretical
Optimal path, then actual experiment adjustment corner is carried out repeatedly, improvement project obtains the high path planning of final exploitativeness.Most
The method planning oxygenation robot track route that whole device is traversed using " it " type path, while according in this position water body
How much control oxygenation times of the dissolved oxygen content in portion, and route direction signal is passed into helm control device, pass through rudder angle control
Device processed adjusts direction controlling rudder angles to complete oxygenation robot track route, completes the intelligent oxygenation in entire pond.
Pathway requirements: device into the water, is remotely controlled by user first, by device far from bank a distance and direction forward direction
One direction, not tilt, into safe range.Then, opening device automatic mode is walked by " it " type.Specific flow chart ginseng
Book attached drawing 3 as directed.
Compared with the prior art, the beneficial effects of the present invention are embodied in:
Multiple-quality water data are measured by multiple sensors in water quality monitoring system when use, include: is in water molten
Oxygen content, pH value, water temperature, hydraulic pressure and camera acquisition picture and video data are solved, passes through cable after data acquisition for data
Signal passes to intelligent gateway, carries out information processing by intelligent gateway, and will carry out data analysis for information, supports artificial remote
Journey Manual oxygenation and entire pond automate oxygenation two ways: 1, artificial remotely controlling, according to the dissolution inside neighbouring water body
The number planning oxygenation robot track route of oxygen content, and route direction signal is passed into helm control device by cable,
It is errorless to complete oxygenation robot track route that direction controlling rudder angles are adjusted by helm control device.2, based on suitable with feeling
It answers and improves on the basis of the ant group algorithm (Sensory Adaptation Ant Colony Algorithm, SAACO) of function
Finite state machine model choose the method that is traversed of " it " type path.Contained simultaneously according to the dissolved oxygen inside this position water body
How much control oxygenation times of amount, and route direction signal is passed into helm control device, direction is adjusted by helm control device
Rudder angles are controlled to complete oxygenation robot track route, complete the intelligent oxygenation in entire pond.
In walking process, walking power is not only provided by two wheel rotations, more since the rotation of impeller will be in air
Oxygen is brought into water body, and to achieve the effect that water oxygenation, motor drives connecting rod rotation, connecting rod band movable vane during this
Wheel rotation, and will be advanced by intelligent gateway and send intelligent controller to stop signal, intelligent controller controls the starting of motor
With switch, with guarantee robot advance with stop accuracy.
Four ultrasonic distance-measuring sensors are distributed using surrounding, can detect whether oxygenation robot has in the process in traveling
Barrier can effectively avoid the situation generation for occurring rebuffed in traveling distance.It is special to be additionally arranged at the bottom of a ultrasound in Main Control Tank
Wave transducer can be obtained effectively and prevent stranded effect, improve working efficiency, improve using effect.
It may be implemented to acquire aquaculture equipment collection water quality environmental parameter in real time, by acquiring aquatic products dissolved oxygen, pH value, temperature
The data such as degree, Main Control Tank internal controller can connect mobile phone by wifi signal, and staff can pass through mobile phone remote intelligent control
Mobile automatic aerator；Clean energy resource is used simultaneously, by solar energy in conjunction with robot technology, realizes Solar use and low-power consumption
The mode of electricity consumption (continuous wet weather booster battery), promotes the raising of culture fishery production transition and benefit.This product is realized
Energy-saving, environmentally protective, increasing both production and income target is finally realized in the scientific culture of aquaculture and management.In view of agricultural
Low-cost and high-performance and high reliability are wanted in production, and industrialization design all optimizes and considers to this three needs, allow agricultural
It cooperative society, raiser upper and affords to use, there is wide industrialization prospect.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the scope of protection of the present invention.Therefore, protection scope of the present invention should be with the protection scope of claims
Subject to.
Claims (1)
1. a kind of based on solar powered walking intelligence oxygenation robot, which is characterized in that including floating drum, solar battery
Plate, battery plate bracing frame, Main Control Tank, impeller, connecting rod, water quality monitoring system, ultrasonic distance-measuring sensor, ultrasonic wave transducer
Device, water-proof CCD camera, direction controlling rudder；The Main Control Tank squarely cabinet is provided with front, rear, left and right four on the Main Control Tank
A side plate, the battery plate bracing frame l-shaped structure, quantity are three, are connected to the Main Control Tank left plate, right side plate
And on back side panel；The solar panel squarely plate body structure, quantity are three, three solar panels installation
It is fixed in the battery plate bracing frame, is inclined to set in the battery plate bracing frame；There are three the connecting rod quantity,
It is set to the Main Control Tank left plate, right side plate and back side panel lower end, is located at three cell support frame lower positions；The connection
Bar is in horizontally disposed, one end connection Main Control Tank, other end connection floating drum；Connecting rod on the Main Control Tank left plate and right side plate
On be equipped with impeller, the impeller quantity is two；The floating drum quantity is three, is provided on the Main Control Tank and floating drum
Ultrasonic sensor connecting rod；There are four the ultrasonic distance-measuring sensor connecting rod quantity has altogether, wherein three ultrasounds
It is set to floating drum one end away from sensor connecting rod, before a remaining ultrasonic distance-measuring sensor connecting rod is set to the Main Control Tank
On side plate；The ultrasonic distance-measuring sensor quantity is four, is set to ultrasonic distance-measuring sensor connecting rod one end；It is described super
Acoustic wave transducer is set to Main Control Tank bottom plate lower part；The water quality monitoring system is set to Main Control Tank bottom plate lower part one
Side position, the water quality monitoring system is at including dissolved oxygen sensor, pH value sensor, temperature sensor；The direction controlling
Rudder includes steering engine, helm control device, rudder stock and rudder blade, and the rudder stock top connects one side position of Main Control Tank bottom plate lower part, described
Rudder blade is connected to rudder stock lower end；The steering engine and the helm control device are all set in inside the Main Control Tank, the rudder stock top
Portion protrudes into inside Main Control Tank to be connected with steering engine, and the helm control device is connected with the steering engine；The water-proof CCD camera is installed on
On the Main Control Tank front side board；
Motor, intelligent controller, intelligent gateway, battery, steering engine, helm control device are equipped with inside the Main Control Tank；The electricity
Machine is connected with two connecting rods；The intelligent gateway is connected with intelligent controller by serial ports；The solar panel, electric power storage
Pond connects intelligent gateway, intelligent controller, motor, steering engine, helm control device by electric wire, by electric wire to intelligent gateway, intelligence
It can control device, motor, steering engine, helm control device and power supply be provided；The intelligent gateway passes through cable and water quality monitoring system, ultrasound
Wave distance measuring sensor, ultrasonic transducer, helm control device, water-proof CCD camera are connected, and realize signal transmission；The intelligent control
Device is connected to the motor by cable；The intelligent controller is single-chip microcontroller；The intelligent gateway is embeded processor.
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| CN201611195302.4A CN106774549B (en) | 2016-12-22 | 2016-12-22 | It is a kind of based on solar powered walking intelligence oxygenation robot |
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| CN201611195302.4A CN106774549B (en) | 2016-12-22 | 2016-12-22 | It is a kind of based on solar powered walking intelligence oxygenation robot |
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| CN106774549A CN106774549A (en) | 2017-05-31 |
| CN106774549B true CN106774549B (en) | 2019-02-05 |
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| CN107271632A (en) * | 2017-07-19 | 2017-10-20 | 开县安德农业科技开发有限公司 | Cultivation water on-Line Monitor Device |
| CN108284933A (en) * | 2018-02-10 | 2018-07-17 | 佛山市建金建电子科技有限公司 | A kind of microbubble robot that can be walked under water |
| CN109001402A (en) * | 2018-08-29 | 2018-12-14 | 王忆 | A kind of aquaculture pond dissolved oxygen automated watch-keeping facility |
| CN111192376B (en) * | 2019-12-25 | 2022-06-17 | 深圳市东深电子股份有限公司 | Reservoir inspection machine based on artificial intelligence |
| CN111302507B (en) * | 2020-02-24 | 2021-02-09 | 苏州乐米凡电气科技有限公司 | Energy-saving suspension aerator for water environment treatment |
| CN111707798B (en) * | 2020-08-20 | 2021-01-05 | 国网浙江省电力有限公司湖州供电公司 | Water dissolved oxygen amount monitoring system of electrified aquaculture farm |
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| JP2000121629A (en) * | 1998-10-14 | 2000-04-28 | Meidensha Corp | Water quality monitoring system |
| CN103754983B (en) * | 2014-02-10 | 2015-05-20 | 天津市水利科学研究院 | Solar water surface algae removal system and water surface algae removal method |
| CN103910424B (en) * | 2014-03-28 | 2015-06-17 | 上海电力学院 | Solar mobile water ecology maintenance robot |
| CN205068057U (en) * | 2015-09-28 | 2016-03-02 | 深圳信息职业技术学院 | Automatic control device for dissolved oxygen |
| CN106069994A (en) * | 2016-08-02 | 2016-11-09 | 广西大学 | Autonomous formula photovoltaic Jet-flow oxygen increasing platform |
| CN206892658U (en) * | 2016-12-22 | 2018-01-16 | 江苏科茂信息技术有限公司 | It is a kind of based on solar powered walking intelligence oxygenation robot |
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