CN107128445A - A kind of unmanned boat - Google Patents
A kind of unmanned boat Download PDFInfo
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- CN107128445A CN107128445A CN201710221006.5A CN201710221006A CN107128445A CN 107128445 A CN107128445 A CN 107128445A CN 201710221006 A CN201710221006 A CN 201710221006A CN 107128445 A CN107128445 A CN 107128445A
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- 238000012545 processing Methods 0.000 claims abstract description 54
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 230000007613 environmental effect Effects 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 19
- 230000000007 visual effect Effects 0.000 claims description 14
- 230000000903 blocking effect Effects 0.000 claims description 9
- 235000021050 feed intake Nutrition 0.000 claims description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 238000010009 beating Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 238000001727 in vivo Methods 0.000 claims 1
- 230000037081 physical activity Effects 0.000 claims 1
- 241000251468 Actinopterygii Species 0.000 abstract description 31
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 230000002708 enhancing effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005587 bubbling Effects 0.000 description 1
- 210000002421 cell wall Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 244000144977 poultry Species 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/14—Fishing vessels
-
- 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
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
Abstract
The present invention discloses a kind of unmanned boat, include the hull for the operation that can bubble through the water column or pull the plug, also include binocular camera shooting device, sonar contact device and the central processing unit for communicating with connection respectively being arranged on hull, described binocular camera shooting device, the positional information for gathering object；Described sonar contact device, for gathering the environmental information around hull and/or gathering the positional information of object；Described central processing unit, for according to binocular camera shooting device and/or sonar contact device collection positional information and/or environmental information, control hull avoid/follow the trail of object.The unmanned boat of the present invention integrates a variety of functions, and the shoal of fish can be traced, also can avoidance, auxiliary fishing fan determines shoal of fish close quarters, improves fishing efficiency.
Description
Technical field
The present invention relates to unmanned boat field, more particularly, to a kind of unmanned boat for aiding in fishing.
Background technology
Robotics development is rapid in recent years, a large amount of unmanned machine such as unmanned planes for being applicable varying environment, unmanned vehicle, nothing
People's ship etc., but these equipment are limited also without extensively into civil area by factors such as technologies.It is existing by taking unmanned boat as an example
Unmanned boat is mostly military, such as completes investigation tasks, long-range attack task dispatching.Also some are used for scientific research field, such as ocean number
According to monitoring, experiment sample collection etc..Industrially it is used in terms of the remote maintenance of equipment in some water, commercial mining.It is civilian
The application of aspect is also very limited, at present in addition to the unmanned boat as recreational use, and the unmanned boat for fishing is in civilian city
The demand of field is increasing, therefore proposes higher and higher requirement for fishing unmanned boat.
Some fishing in the market are not high with unmanned boat technical indicator, and function is single, it is impossible to provide comprehensive specialty
Fishing experience.And distinguish little compared with tradition fishing, change without revolutionary.
The Chinese patent of Application No. 201320333558.2 discloses a kind of remote controlled locating bait-throwing-in boat, containing remote control and reception
Device, hull, power supply and control and decoding circuit, hull are provided with some bilge to the inclined independent cabin of hatch door；Hatch door is provided with
On magnet steel, hull electromagnet is provided with hatch door magnet steel correspondence position；Electromagnet is connected by control and decoding circuit with reception device
Connect；Described independent cabin sets four altogether, is divided into hull both sides.Unmanned boat disclosed in the patent multipoint positioning can be thrown at a distance
Bait, fish hook are put, and the effect for beating the poly- fish of nest can be played.However, the remote controlled locating bait-throwing-in boat can only be in the relatively low waters of water level
Operated, its bait can not directly be delivered setting position under water.
The Chinese patent of Application No. 201520499153.5 discloses a kind of hybrid power wireless remote control aquaculture prison
Ship is surveyed, the patent, can also be by the sonar contact number of fish school and fish size under water, with this except that can carry out fixed point bait throwing in
Judge whether that cultivation is overstocked, if can fish for, be conducive to the next step of poultry feeders to operate.It can only be visited according to Sonar Signal
Measure the approximate location and substantially quantity of object, user needs to be detected the species of thing and specific according to the micro-judgment of oneself
Position and particular number, and can not definitely learn the species, size and geographical position of detected thing.For example：When detecting the shoal of fish
When, user need rule of thumb to judge this be what fish, substantially where, and can not know exactly which be what fish,
Specific longitude where the size of fish and the shoal of fish, latitude information.
Visible in summary, existing fishing unmanned boat has the function of beating nest, sonar contact under water.But can not obtain
Details under water, the especially acquisition to the underwater picture of certain depth.This is due to that existing fishing unmanned boat does not have
Underwater camera, although the patent of application number 201520499153.5 has camera, is not arranged under water but in water
On face.Also, set underwater camera can not also obtain detailed shoal of fish information under water on existing fishing unmanned boat.Cause
Dive can not be realized for existing fishing unmanned boat, not dive to certain depth, it is impossible to be sufficiently close together with the shoal of fish also can not just be obtained
Get the image information of fish, it is impossible to which the information to sonar contact is verified.This can largely effect on fishing effect, work as sonar contact
Data it is wrong when, it is impossible in time find, for example by marine alga under water or pasture and water group be identified as the shoal of fish, fisherman is unwitting
In the case of can waste time and bait.
In view of this, it is special to propose the present invention.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art that there is provided a kind of unmanned boat, the unmanned boat
Integrate a variety of functions, can be traced the shoal of fish, nest attracting can be played, also can avoidance, auxiliary fishing fan determine that the shoal of fish is intensive
Region, and the remote accurate dispensing of bait is realized, improve fishing efficiency.
In order to solve the above technical problems, the present invention is using the basic conception of technical scheme：
A kind of unmanned boat, includes the hull for the operation that can bubble through the water column or pull the plug, in addition to is arranged on double on hull
Mesh camera device, sonar contact device and the central processing unit for communicating with connection respectively, wherein：
Described binocular camera shooting device, the positional information for gathering object；
Described sonar contact device, for gathering the environmental information around hull and/or gathering the position letter of object
Breath；
Described central processing unit, for the positional information according to binocular camera shooting device and/or the collection of sonar contact device
And/or environmental information, control hull avoid/follow the trail of object.
It is preferred that, described binocular camera shooting device is electrically connected with the central processing unit, and described binocular camera shooting device is also used
In collection underwater picture so that user checks underwater environment；
Or, described unmanned boat includes the principal phase machine for gathering underwater picture；
It is preferred that, described principal phase machine is arranged on the interposition between the left camera of binocular camera shooting device and right camera
Put, its visual angle is not more than the visual angle of binocular camera shooting device, described principal phase machine is electrically connected with the central processing unit, described principal phase
The image of machine collection object region, and send to central processing unit, described central processing unit is received after image, root
According to the position of object in the picture, the traveling of adjustment hull acts to keep object in the central region of principal phase machine.
Wherein, described binocular camera shooting device gathers the first image and the second image of object region, institute simultaneously
The central processing unit stated carries out data processing to first image and the second image, determine between object and unmanned boat away from
From.
It is preferred that, the first image and the second image that described central processing unit is additionally operable to gather binocular camera shooting device enter
The enhancing of row figure is handled, and to being handled by figure enhancing after image carry out visual token calculating, it is accurate determine object with
The distance between unmanned boat.Wherein, described figure enhancing processing includes：The first image gathered to binocular camera shooting device and the
Two images carry out color correct calculating, remove the misalignment of underwater picture, obtain clearly the first image and the second image.It is logical
The visual token crossed after the processing to underwater picture is conducive to is calculated.
It is preferred that, described unmanned boat also includes the lighting device being arranged on hull, and described lighting device is binocular
Camera device and/or principal phase machine provide light source；
It is preferred that, described lighting device is additionally operable to attracting.
It is preferred that, described unmanned boat also includes being arranged on hull to lure for carrying out dozen nest with hull with marching to target
The nest-making device of fish, described nest-making device is communicated to connect with central processing unit；
It is preferred that, described sonar contact device and nest-making device are wholely set and are removably mounted at jointly on hull；
Or described sonar contact device and nest-making device split set and are removably mounted at respectively on hull.
It is preferred that, described sonar contact device include being provided with housing, housing power module, sonar contact module,
Controller and wireless communication module, described power module, wireless communication module and sonar detecting module respectively with the control
Device is electrically connected with, and described controller is communicated to connect by wireless communication module and central processing unit, for receiving central processing
The instruction that device is sent, and control sonar contact device to perform corresponding instruction.
It is preferred that, bait can be also deposited in described housing, nest attracting is played for pinpointing to deliver.
It is preferred that, described sonar contact device and nest-making device split are set, correspondence sonar contact device on the hull
Mounting interface is respectively arranged with nest-making device, described sonar contact device and nest-making device are separately mounted to corresponding mounting interface
On；
Or, the sonar contact device and nest-making device select one be arranged on hull on, on described hull only set one pacify
Attaching mouthful, described sonar contact device and nest-making device are respectively arranged with the installed part with the mating connection of described mounting interface.
It is preferred that, described nest-making device includes body and the portion that feeds intake, and described body is fixed on unmanned boat, described throwing
The groove that feeds intake is provided with material portion, the described portion that feeds intake is flexibly connected to open/close the described groove that feeds intake with body；
It is preferred that, the described portion that feeds intake is locked on body by blocking device, and the described groove that feeds intake of body closing is formed
Accommodate first sealing space of bait；
It is preferred that, described blocking device includes the electromagnet being arranged on body and the Magnetic Materials being arranged in the portion of feeding intake
Body, the described magnetic bodies of electromagnet absorption, the portion that feeds intake is closed with body, the described groove that feeds intake of body closing.
It is preferred that, the described portion that feeds intake is connected by rotating shaft with body, and elastic component is provided with described rotating shaft, described
Portion and body feed intake when closing, elastic component compressive deformation is located between the portion of feeding intake and body；
It is preferred that, described elastic component is the torsion spring being set in rotating shaft, and two torque arm of the torsion spring are respectively acting on this
Body and the portion that feeds intake.
It is preferred that, described body interior is provided with the second sealing space, the second sealing space provided with power module, wirelessly
Module and master control borad, described power module, wireless module, electromagnet are electrically connected with described master control borad respectively, described
Master control borad is by wireless module and central processing unit wireless communication connection, for receiving the control instruction that central processing unit is sent
And control electromagnet power on/off according to the control instruction.
It is preferred that, described hull is by exterior terminal remote control, and control instruction can be transmitted extremely in described exterior terminal
Described central processing unit, described central processing unit receives the control instruction and transmits wirelessly the control instruction to control instruction
Corresponding sonar contact device or nest-making device.
After adopting the above technical scheme, the unmanned boat of the present invention integrates a variety of functions, the shoal of fish can be traced, nest can be beaten
Attracting, also can avoidance, auxiliary fishing fan determines shoal of fish close quarters, and realize bait it is remote it is accurate deliver, carry
Height fishing efficiency.
The embodiment to the present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Accompanying drawing is as the part of the present invention, and for providing further understanding of the invention, of the invention is schematic
Embodiment and its illustrate to be used to explain the present invention, but do not constitute inappropriate limitation of the present invention.Obviously, drawings in the following description
Only some embodiments, to those skilled in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In the accompanying drawings：
Fig. 1 is the unmanned boat communication schematic diagram of the present invention；
Fig. 2 is the present invention according to binocular camera shooting device control hull traveling action schematic diagram；
Fig. 3 is the nest-making device explosive view of the present invention；
Fig. 4 is the dimensional structure diagram of the nest-making device of the present invention；
Fig. 5 is another visual angle schematic diagram of the nest-making device of the present invention；
Fig. 6 is another visual angle schematic diagram of the nest-making device of the present invention；
Fig. 7 is another visual angle schematic diagram of the nest-making device of the present invention；
Fig. 8 is the unmanned boat communication connection schematic diagram of the present invention.
In figure：1st, stud；2nd, upper shell；3rd, antenna；4th, master control borad；5th, wireless module；6th, electromagnet；7th, power module；
8th, sealing ring；9th, lower house；10th, screw；11st, rotating shaft；12nd, torsion spring；13rd, feed intake groove；14th, magnetic bodies；15th, body；16th, throw
Material portion；17th, sonar contact device or nest-making device；18th, unmanned boat.
It should be noted that these accompanying drawings and word description are not intended as the design model for limiting the present invention in any way
Enclose, but be that those skilled in the art illustrate idea of the invention by reference to specific embodiment.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in embodiment is clearly and completely described, following examples be used for illustrate the present invention, but
It is not limited to the scope of the present invention.
It is term " on ", " under ", "front", "rear", "left", "right", " perpendicular in the description of the invention, it is necessary to explanation
Directly ", the orientation or position relationship of the instruction such as " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electric connection；Can be joined directly together, can also be indirectly connected to by intermediary.For
For one of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Referring to shown in Fig. 1-Fig. 8, the present invention provides a kind of unmanned boat 18, including the operation that can bubble through the water column or pull the plug
Hull, in addition to binocular camera shooting device, sonar contact device and the center for communicating with connection respectively being arranged on hull
Processor, wherein：
Described binocular camera shooting device, the positional information for gathering object；
Described sonar contact device, for gathering the environmental information around hull and/or gathering the position letter of object
Breath；
Described central processing unit, for the positional information according to binocular camera shooting device and/or the collection of sonar contact device
And/or environmental information, control hull avoid/follow the trail of object.
Embodiment one
As one embodiment of the invention, described binocular camera shooting device is electrically connected with the central processing unit, and described is double
Mesh camera device is additionally operable to collection underwater picture so that user checks underwater environment；
Or, described unmanned boat 18 includes the principal phase machine for gathering underwater picture.Principal phase machine collection is schemed under water
As checking underwater environment for user.
It is preferred that, the principal phase machine can be additionally used in auxiliary unmanned boat 18 and be tracked object：Described binocular camera shooting device
The front portion of hull is arranged on, described principal phase machine is arranged on the centre between the left camera of binocular camera shooting device and right camera
Position, its visual angle is not more than the visual angle of binocular camera shooting device, and described principal phase machine is electrically connected with the central processing unit, described master
The image of camera collection object region, and send to central processing unit, described central processing unit is received after image,
According to the position of object in the picture, the traveling of adjustment hull acts to keep object in the central region of principal phase machine.Will
Object is maintained at the central region of principal phase machine, and central processing unit control unmanned boat 18 and object keep it is certain away from
From so as to can realize that unmanned boat 18 tracks the object.Wherein central processing unit can obtain unmanned boat by binocular camera shooting device
With the range information of object.Shown in Figure 2, described binocular camera shooting device gathers the first of object region simultaneously
Image and the second image, and central processing unit is sent to, described central processing unit is carried out to first image and the second image
Data processing, determines the distance between object and unmanned boat 18, and then generates control instruction, to control hull traveling to act.
It is preferred that, the first image and the second image that described central processing unit is additionally operable to gather binocular camera shooting device enter
The enhancing of row figure is handled, and to being handled by figure enhancing after image carry out visual token calculating, it is accurate determine object with
The distance between unmanned boat 18.Wherein, described figure enhancing processing includes：To binocular camera shooting device gather the first image and
Second image carries out color correct calculating, removes the misalignment of underwater picture, obtains clearly the first image and the second image.
Visual token after being conducive to by the processing to underwater picture is calculated, and the image after the processing can also be used for offer user and look into
Underwater environment is seen, good visual effect, Consumer's Experience is good.
Certain, unmanned boat 18 can also obtain the positional information of object by sonar contact device 17, and control nothing
People's ship 18 follows the object.
It is preferred that, described unmanned boat 18 also includes the lighting device being arranged on hull, and described lighting device is double
Mesh camera device and/or principal phase machine provide light source；Certain, the lighting device can be additionally used in attracting.
In the present embodiment, it is preferred that described unmanned boat 18 also includes being arranged on hull and is used to march to mesh with hull
Mark ground beat the nest-making device of nest attracting, and described nest-making device is communicated to connect with central processing unit, described sonar contact device
It is wholely set and is removably mounted at jointly on hull with nest-making device；
Or described sonar contact device 17 and nest-making device split set and are removably mounted at respectively on hull.
In the present embodiment, described unmanned boat 18 also includes an exterior terminal, and the exterior terminal communicates with unmanned boat 18
Connection, receives the sonar data and image/video data after preliminary treatment sent by central processing unit, and show
To user, the exterior terminal can be additionally used in remote input control instruction to unmanned boat 18, and the control instruction includes control unmanned boat
The instruction of 18 travelings action, the instruction of sonar contact device detection, nest-making device play the instruction that the instruction of nest and illuminating lamp are illuminated.
Specifically, referring to shown in accompanying drawing 1, unmanned boat 18 and operating office on bubbling through the water column, should by cable connection communication
Operating office and exterior terminal wireless communication connection.It is shown in Figure 8, central processing unit and binocular camera shooting device in unmanned boat 18
It is electrically connected with, with sonar contact device and nest-making device wireless connection, is connected with operating office by cable, and operating office is whole with outside
Hold wireless connection.
Embodiment two
Sonar contact device and nest-making device are described in this implementation：
Described sonar contact device 17 and nest-making device are wholely set to be removably mounted on hull jointly, wherein, it is described
Sonar contact device 17 include housing, be provided with power module, sonar contact module, controller and radio communication mold in housing
Block, described power module, wireless communication module and sonar detecting module is electrically connected with the controller respectively, described control
Device processed is communicated to connect by wireless communication module and central processing unit, for receiving the instruction that central processing unit is sent, and is controlled
Sonar contact device processed performs corresponding instruction.The instruction includes the instruction that sonar contact device carries out detecting fish school position.Its
In, bait can be also deposited in described housing, nest attracting is played for pinpointing to deliver.
Embodiment three
The difference of embodiment three and embodiment two is：Sonar contact device 17 and nest-making device split are set.The hull
Upper correspondence sonar contact device 17 and nest-making device are respectively arranged with mounting interface, described sonar contact device 17 and nest-making device point
An Zhuan not be on corresponding mounting interface；
Or, shown in Figure 1, the sonar contact device 17 and nest-making device 17 are selected one and are arranged on hull, described
Hull on a mounting interface is only set, described sonar contact device 17 and nest-making device 17 be respectively arranged with and described installation
The installed part of Interference fit connection.It is preferred that, the installed part is the spiral shell for being arranged on the top of 17/ nest-making device of sonar contact device 17
Post, and the screwed hole being engaged with stud is offered on hull.Sonar contact device/the nest-making device selects one according to user's request
Be arranged on hull, sonar contact device 17 and nest-making device 17 are respectively arranged with wireless module, and difference can be with the unmanned boat
Central processing unit wireless communication connection, is arranged such and is conducive to the nest-making device 17 of attaching/detaching sonar contact device 17/.And the sound
The nest-making device 17 of detection device 17/ can also be not limited to be arranged on hull and work, and can also work independently.Wherein described nothing
Wire module can use WIFI, the wireless communications mode such as bluetooth or radio frequency.
Example IV
Shown in Figure 1, in example IV, the nest-making device 17 and sonar detection device are selected one and are arranged on unmanned boat.
Referring to shown in Fig. 3-Fig. 7, described nest-making device 17, including body 15 and the portion 16 that feeds intake, described feeds intake in portion 16
The groove 13 that feeds intake is provided with, the described portion 16 that feeds intake is flexibly connected with body 15 with the groove 13 that feeds intake described in opening/closing.
In such scheme, the portion 16 that feeds intake is flexibly connected with body 15, is beaten so as to feed intake between portion 16 and body 15 and can have
Closeable action is opened, when between the portion of feeding intake 16 and body 15 being open mode, the groove 13 that feeds intake is in communication with the outside, and can carry out bait
The dispensing of material, and be closed mode when feeding intake between portion 16 and body 15, then body 15 closes the described groove 13 that feeds intake, and bait is close
This is enclosed in feed intake in groove 13.
It is preferred that, the described portion 16 that feeds intake is locked on body 15 by blocking device, and body 15 closes described feed intake
Groove 13 forms the first sealing space for accommodating bait.
In such scheme, the one end of portion 16 that feeds intake is flexibly connected with body 15, and the other end can be locked in by blocking device
On body 15, pass through the design of blocking device, it is ensured that the closed mode fed intake between portion 16 and body 15, also ensure that body
15 close the groove 13 that feeds intake in the portion 16 that feeds intake, and form the first sealing space for accommodating bait.
It is preferred that, described blocking device includes the electromagnet 6 being arranged on body 15 and is arranged in the portion of feeding intake 16
Magnetic bodies 14, electromagnet 6 adsorbs described magnetic bodies 14, and the portion 16 that feeds intake is closed with body 15, and body 15 is closed described
Feed intake groove 13.
In such scheme, the technical scheme that described blocking device is adsorbed using electromagnet 6 plays nest action to realize
Automation, simple in construction, effect is good, and space-consuming is few, is adapted to use cooperatively with unmanned boat, wherein, when electromagnet 6 is powered off not
During absorption, then the portion 16 that feeds intake is unlocked with body 15, and the portion 16 that feeds intake can be opened under gravity, carries out the dispensing of bait.So
And, in water, because the effect of buoyancy, feed intake is difficult to open between portion 16 and body 15, can now combine the row of unmanned boat 18
Enter action by inertia so that feeding intake portion 16 and body 15 is opened, because the nest-making device 17 is arranged on the bottom of unmanned boat, its
Body 15 is fixedly connected with unmanned boat 18, and the portion 16 that feeds intake is arranged below, now, also can adjust the operation posture of unmanned boat 18,
To realize body 15 and the opening in portion 16 of feeding intake, such as when unmanned boat 18 carry the nest-making device to target when, control electromagnet 6
Power-off, the portion 16 that now feeds intake between body 15 and is not switched in the presence of buoyancy, or is opened completely, now nobody
Ship 18 is travelled upwardly suddenly, then because inertia, and the portion 16 that feeds intake is opened completely with body 15, it is achieved thereby that the dispensing of bait.
It is preferred that, the described portion 16 that feeds intake is connected by rotating shaft 11 with body 15, sets flexible in described rotating shaft 11
Part, when the described portion 16 that feeds intake is closed with body 15, elastic component compressive deformation is located between the portion of feeding intake 16 and body 15.
In such scheme, when the portion of feeding intake 16 and body 15 are closed, elastic component compressive deformation is located at the He of the portion of feeding intake 16
Between body 15, with promoting body 15 and the trend for the opening of portion 16 that feeds intake, but the effect of buoyancy and electromagnet 6 under water,
It is constantly in compression state.When electromagnet 6, which is powered off, does not produce suction-operated, then the elastic force of the elastic component is more than under water
Buoyancy, the portion 16 that feeds intake is opened with body 15, so as to carry out the dispensing of bait.
It is preferred that, described elastic component is the torsion spring 12 being set in rotating shaft 11, and two torque arm of the torsion spring 12 are made respectively
For body 15 and the portion 16 that feeds intake, so that body 15 and the portion 16 that feeds intake are in opening trend.
It is preferred that, from the cell wall for the groove 13 that feeds intake to the cavity convex of groove 13 that feeds intake in the described groove 13 that feeds intake fed intake in portion 16
Go out to have the mounting structure of cylinder, installation cavity is provided with described mounting structure, described magnetic bodies 14 is fixedly mounted on
In the installation cavity.The installation cavity is arranged on the relative side of rotating shaft 11, and the groove of the mounting structure of the cylinder and the groove 13 that feeds intake
To seamlessly transit between wall, so as to be conducive to the dispensing of bait.
It is preferred that, the described inside of body 15 is provided with the second sealing space, and described electromagnet 6 is arranged on described second
Sealing space is interior or described electromagnet 6 is at least partially disposed in the second described sealing space.
It is preferred that, described body 15 includes upper shell 2 and lower house 9, wherein, at least upper shell 2 is provided with receiving
Space, lower house 9 seals the receiving space being fixed on described in the bottom lock of upper shell 2 and forms the second described sealing space, institute
The outer surface of lower house 9 stated is used to, when body 15 and the portion 16 that feeds intake are closed, close the opening for the groove 13 that feeds intake.
It is preferred that, power module 7, master control borad 4, wireless module 5 and antenna are additionally provided with the second described sealing space
3, described wireless module 5 is arranged on master control borad 4, and institute is electrically connected in described power module, electromagnet 6 and antenna 3
The master control borad 4 stated.
It is preferred that, it is disposed with described power module 7 in the second described sealing space upwards by the surface of lower house 9
With master control borad 4, wherein, the magnet that feeds intake in portion 16 of correspondence offers the mounting groove for installing electromagnet 6 on described lower house 9,
On described master control borad 4 to should mounting groove be also equipped with card interface, described one end of electromagnet 6 is sealedly spacing described
In mounting groove, the other end is spacing on described card interface.
In such scheme, wherein the described surrounding of lower house 9 is fixed on the bottom of upper shell 2 by screw 10, closing
Sealed between appearance space in upper shell 2, the wherein edge of lower house 9 and upper shell 2 by sealing ring 8, it is ensured that second is close
The sealing in space is sealed, on the other hand, described power module 7, master control borad 4 are preferably fixed on the surface of lower house 9, so as to protect
The stability of each modular unit in the second sealing space is demonstrate,proved, described antenna 3 is arranged on the most significant end in the second sealing space,
Because the second sealing space is that the wide top in lower section is narrow, therefore antenna 3 is vertically set on master control borad 4, structure is more reasonable,
Space is saved.
It is preferred that, the described top surface of upper shell 2 protrusion is provided with stud 1, for being threadedly secured in unmanned boat 18, institute
The unmanned boat 18 stated can be bubbled through the water column or sink under the water operation, and the described stud 1 of the described bottom of unmanned boat 18 correspondence is provided with
Screwed hole.
Nest-making device in the present embodiment, including body 15 and the portion 16 that feeds intake, feed intake between portion 16 and body 15 by electromagnetism
The power on/off of iron 6 realizes the dispensing of bait, and this is simple in construction, and weight is small, is adapted to support the use adjustable point with unmanned boat 18
Nest can also be beaten under water and not influenceed by current by beating nest, on the other hand, the nest-making device and the wireless communication connection of unmanned boat 18, so that
So that the nest-making device may be configured as being detachably connected with unmanned boat 18, the nest-making device also can be used alone, and be not limited to be arranged on nothing
On people's ship 18.
Embodiment five
In the present embodiment, unmanned boat 18 includes the hull for the operation that can bubble through the water column or pull the plug, it is characterised in that also wrap
Include the binocular camera shooting device being arranged on hull, sonar contact device, nest-making device and the centre for communicating with connection respectively
Device is managed, wherein：
Described binocular camera shooting device, the positional information for gathering object；
Described sonar contact device, for gathering the environmental information around hull and/or gathering the position letter of object
Breath；
Described nest-making device, for carrying out with marching to target playing nest attracting with hull；
Described central processing unit, for the positional information according to binocular camera shooting device and/or the collection of sonar contact device
And/or environmental information, control hull avoids/followed the trail of object, and control nest-making device plays nest attracting.
It should be noted that positional information of the binocular camera shooting device available for collection object on the unmanned boat, and sound
Detection device can also gather the positional information of object, and both of which can aid in unmanned boat to carry out tracking and positioning to fish,
But both also have difference, the waters scope of sonar contact device detection is big, is needing to obtain the letter of the fish amount in a certain region
During breath, fish amount can be detected by sonar contact device, and needing to track a certain bar fish, and real time inspection its it is dynamic when, can lead to
The distance of binocular camera shooting device real-time detection hull and fish is crossed, and shoots the dynamic of the fish, meanwhile, central processing unit is according to binocular
The range information of camera device detection controls the dynamical system of unmanned boat, to keep the distance of hull and fish in certain scope
It is interior.
Described sonar contact device 17 can also be distributed on the outer peripheral face of hull, each sonar contact including multiple
Device 17 separately detects the environmental information of different directions, so as to reach the effect of the detection hull surrounding environment of " panorama ".
The present invention unmanned boat 18 integrate a variety of functions, can be traced the shoal of fish, nest attracting can be played, also can avoidance, it is auxiliary
Help fishing fan to determine shoal of fish close quarters, and realize the remote accurate dispensing of bait, improve fishing efficiency.
Described above is only presently preferred embodiments of the present invention, not makees any formal limitation to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people for being familiar with this patent
Member without departing from the scope of the present invention, when the technology contents using above-mentioned prompting make it is a little change or be modified to
The equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modification, equivalent variations and modification that above example is made, in the range of still falling within the present invention program.
Claims (10)
1. a kind of unmanned boat, includes the hull for the operation that can bubble through the water column or pull the plug, it is characterised in that also including being arranged on ship
Binocular camera shooting device, sonar contact device and the central processing unit for communicating with connection respectively on body, wherein：
Described binocular camera shooting device, the positional information for gathering object；
Described sonar contact device, for gathering the environmental information around hull and/or gathering the positional information of object；
Described central processing unit, for according to binocular camera shooting device and/or sonar contact device collection positional information and/or
Environmental information, control hull avoid/follow the trail of object.
2. a kind of unmanned boat according to claim 1, it is characterised in that described binocular camera shooting device and central processing unit
It is electrically connected with, described binocular camera shooting device is additionally operable to collection underwater picture so that user checks underwater environment；
Or, described unmanned boat includes the principal phase machine for gathering underwater picture；
It is preferred that, described principal phase machine is arranged on the centre position between the left camera of binocular camera shooting device and right camera,
Its visual angle is not more than the visual angle of binocular camera shooting device, and described principal phase machine is electrically connected with the central processing unit, described principal phase machine
The image of object region is gathered, and is sent to central processing unit, described central processing unit is received after image, according to
The position of object in the picture, the traveling of adjustment hull acts to keep object in the central region of principal phase machine.
3. a kind of unmanned boat according to claim 2, it is characterised in that also including the lighting device being arranged on hull,
Described lighting device is that binocular camera shooting device and/or principal phase machine provide light source；
It is preferred that, described lighting device is additionally operable to attracting.
4. according to a kind of any described unmanned boats of claim 1-3, it is characterised in that also including be used on hull with
Hull carries out beating the nest-making device of nest attracting with marching to target, and described nest-making device is communicated to connect with central processing unit；
It is preferred that, described sonar contact device and nest-making device are wholely set and are removably mounted at jointly on hull；
Or described sonar contact device and nest-making device split set and are removably mounted at respectively on hull.
5. a kind of unmanned boat according to claim 4, it is characterised in that described sonar contact device includes housing, shell
It is provided with power module, sonar contact module, controller and wireless communication module in vivo, described power module, radio communication
Module and sonar detecting module are electrically connected with the controller respectively, and described controller passes through wireless communication module and center
Processor communication is connected, and is referred to accordingly for receiving the instruction that central processing unit is sent, and controlling sonar contact device to perform
Order；
It is preferred that, bait can be also deposited in described housing, nest attracting is played for pinpointing to deliver.
6. a kind of unmanned boat according to claim 4, it is characterised in that described sonar contact device and nest-making device split
Set, correspondence sonar contact device and nest-making device are respectively arranged with mounting interface, described sonar contact device on the hull
It is separately mounted to nest-making device on corresponding mounting interface；
Or, the sonar contact device and nest-making device select one be arranged on hull on, on described hull only set one install connects
Mouthful, described sonar contact device and nest-making device are respectively arranged with the installed part being connected with described mounting interface.
7. a kind of unmanned boat according to claim 6, it is characterised in that described nest-making device includes body and the portion that feeds intake,
Described body is fixed on unmanned boat, and the groove that feeds intake is provided with the described portion that feeds intake, and the described portion that feeds intake connects with body activity
Connect with the groove that feeds intake described in opening/closing；
It is preferred that, the described portion that feeds intake is locked on body by blocking device, and the described groove that feeds intake of body closing forms appearance
Receive the first sealing space of bait；
It is preferred that, described blocking device includes the electromagnet being arranged on body and the magnetic bodies being arranged in the portion of feeding intake,
The described magnetic bodies of electromagnet absorption, the portion that feeds intake is closed with body, the described groove that feeds intake of body closing.
8. a kind of unmanned boat according to claim 7, it is characterised in that the described portion that feeds intake is connected by rotating shaft and body
Connect, elastic component is provided with described rotating shaft, when the described portion that feeds intake is closed with body, being located at for elastic component compressive deformation feeds intake
Between portion and body；
It is preferred that, described elastic component is the torsion spring being set in rotating shaft, two torque arm of the torsion spring be respectively acting on body and
Feed intake portion.
9. a kind of unmanned boat according to claim 7 or 8, it is characterised in that described body interior is provided with the second sealing
Space, is provided with power module, wireless module and master control borad in the second sealing space, described power module, wireless module, electromagnetism
Iron is electrically connected with described master control borad respectively, and described master control borad passes through described wireless module and central processing unit channel radio
Letter connection, for receiving control instruction that central processing unit sends and controlling electromagnet power on/off according to the control instruction.
10. according to a kind of any described unmanned boats of claim 1-9, it is characterised in that described hull passes through exterior terminal
Control instruction is can be transmitted to described central processing unit in remote control, described exterior terminal, and described central processing unit is received
The control instruction simultaneously transmits wirelessly the control instruction to the corresponding sonar contact device of control instruction or nest-making device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710221006.5A CN107128445B (en) | 2017-04-06 | 2017-04-06 | Unmanned ship |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221006.5A CN107128445B (en) | 2017-04-06 | 2017-04-06 | Unmanned ship |
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| CN107128445B CN107128445B (en) | 2020-01-10 |
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