CN107128445B - Unmanned ship - Google Patents
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- CN107128445B CN107128445B CN201710221006.5A CN201710221006A CN107128445B CN 107128445 B CN107128445 B CN 107128445B CN 201710221006 A CN201710221006 A CN 201710221006A CN 107128445 B CN107128445 B CN 107128445B
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- 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
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- 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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Abstract
The invention discloses an unmanned ship, which comprises a ship body capable of floating on the water surface or diving for operation, a binocular camera device, a sonar detection device and a central processing unit, wherein the binocular camera device and the sonar detection device are arranged on the ship body and are respectively in communication connection with the central processing unit; the sonar detection device is used for acquiring environmental information around the ship body and/or acquiring position information of a target object; and the central processing unit is used for controlling the ship body to avoid/track the target object according to the position information and/or the environmental information acquired by the binocular camera device and/or the sonar detection device. The unmanned ship integrates multiple functions, can track fish schools and avoid obstacles, assists fishing enthusiasts in determining the dense fish school areas, and improves fishing efficiency.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to an unmanned ship for assisting fishing.
Background
In recent years, the robot technology is rapidly developed, and a large number of unmanned devices suitable for different environments, such as unmanned planes, unmanned vehicles, unmanned ships and the like, are not widely used in the civil field yet due to the limitation of factors such as technology and the like. Taking an unmanned ship as an example, most of the existing unmanned ships are military, such as completing a detection task, a remote attack task and the like. Some of them are used in scientific research fields, such as marine data monitoring, experimental sample collection, etc. The method is industrially used for remote maintenance of some underwater equipment, industrial exploitation and the like. The civil applications are still limited, and the demand of unmanned fishing vessels in the civil market is increasing, in addition to unmanned fishing vessels for recreational use, and therefore, higher and higher requirements are put on unmanned fishing vessels.
Some unmanned boats for fishing in the existing market have low technical indexes and single function, and cannot provide comprehensive and professional fishing experience. And compared with the traditional fishing, the fishing rod is not greatly different and has no revolutionary change.
Chinese patent application No. 201320333558.2 discloses a remote control positioning bait casting boat, which comprises a remote control and receiving device, a boat body, a power supply and a control and decoding circuit, wherein the boat body is provided with a plurality of independent cabins with cabin bottoms inclined towards a cabin door; the cabin door is provided with magnetic steel, and the ship body is provided with an electromagnet at a position corresponding to the cabin door magnetic steel; the electromagnet is connected with the receiving device through a control and decoding circuit; the number of the independent cabins is four, and the four independent cabins are respectively arranged on two sides of the ship body. The unmanned ship disclosed by the patent can throw bait and fishhooks in a long-distance multi-point positioning mode and can play the effects of digging and gathering fish. However, the remote control positioning bait casting boat can only be operated in a water area with a low water level, and cannot directly cast bait at a set underwater position.
Application number 201520499153.5's chinese patent discloses a hybrid wireless remote control aquaculture monitoring ship, and this patent except can carrying out the fixed point bait casting, can also survey underwater shoal quantity and fish size through the sonar to this judgement is whether bred the excessive density, whether can catch, is favorable to breeders' operation on next step. The general position and the general quantity of the object can be detected only according to the sonar signals, and a user needs to judge the type, the specific position and the specific quantity of the detected object according to own experience, but cannot exactly know the type, the size and the geographical position of the detected object. For example: when a fish school is detected, the user needs to determine what fish is and approximately where the fish is based on experience, and cannot know exactly what fish is, the size of the fish, and the specific longitude and latitude information of the fish school.
In conclusion, the existing unmanned fishing boat has the functions of digging a pit and detecting underwater sonar. But detailed underwater information, especially underwater image acquisition at a certain depth, cannot be obtained. This is because the prior fishing unmanned ship does not have an underwater camera, and the patent of application No. 201520499153.5 has a camera, but is not disposed underwater but on the water surface. In addition, even if an underwater camera is arranged on the existing fishing unmanned ship, detailed underwater fish information cannot be obtained. Because the existing unmanned fishing boat can not submerge to a certain depth and can not be close to a fish school sufficiently, the image information of the fish can not be obtained, and the information detected by the sonar can not be checked. This can influence fishing effect greatly, and when the data that the sonar detected wrongly, can't in time discover, for example with the marine alga or the pasture and water group discernment under water for the shoal of fish, the fisher can be in vain waste time and bait under the condition of unwittingly.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an unmanned ship which integrates multiple functions, can track fish schools, can nest and lure fish, can avoid obstacles, assists fishing enthusiasts in determining fish school dense areas, realizes long-distance accurate bait throwing and improves fishing efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides an unmanned ship, includes the hull that can float in the surface of water or dive underwater operation, still including setting up binocular camera device, sonar detection device on the hull and respectively rather than communication connection's central processing unit, wherein:
the binocular camera device is used for acquiring the position information of a target object;
the sonar detection device is used for acquiring environmental information around the ship body and/or acquiring position information of a target object;
and the central processing unit is used for controlling the ship body to avoid/track the target object according to the position information and/or the environmental information acquired by the binocular camera device and/or the sonar detection device.
Preferably, the binocular camera device is electrically connected with the central processing unit, and the binocular camera device is also used for collecting underwater images so that a user can check the underwater environment;
or the unmanned ship comprises a main camera for acquiring underwater images;
preferably, the main camera is arranged in the middle between the left camera and the right camera of the binocular camera device, the visual angle of the main camera is not larger than that of the binocular camera device, the main camera is electrically connected with the central processing unit, the main camera collects images of the area where the target object is located and sends the images to the central processing unit, and after the central processing unit receives the images, the advancing action of the ship body is adjusted to keep the visual field center of the target object in the main camera according to the position of the target object in the images.
The binocular camera device simultaneously acquires a first image and a second image of an area where a target object is located, and the central processing unit performs data processing on the first image and the second image to determine the distance between the target object and the unmanned ship.
Preferably, the central processing unit is further configured to perform image enhancement processing on the first image and the second image acquired by the binocular camera device, perform visual ranging calculation on the images subjected to the image enhancement processing, and accurately determine the distance between the target object and the unmanned ship. Wherein, the image enhancement processing comprises: and carrying out color correction calculation on the first image and the second image acquired by the binocular camera device, removing the color deviation of the underwater image, and obtaining the clear first image and the clear second image. The underwater image is processed to facilitate the subsequent visual ranging calculation.
Preferably, the unmanned ship further comprises a lighting device arranged on the ship body, and the lighting device provides a light source for the binocular camera device and/or the main camera;
preferably, the lighting device is also used for attracting fish.
Preferably, the unmanned ship further comprises a nest making device which is arranged on the ship body and used for making nests and attracting fishes when the unmanned ship travels to a target along with the ship body, and the nest making device is in communication connection with the central processing unit;
preferably, the sonar detection device and the nest making device are integrally arranged and are detachably mounted on the ship body together;
or the sonar detection device and the nest making device are separately arranged and respectively detachably mounted on the ship body.
Preferably, sonar detection device include the casing, be provided with power module, sonar detection module, controller and wireless communication module in the casing, power module, wireless communication module and sonar detection module respectively with controller electric connection, the controller pass through wireless communication module and central processing unit communication connection for receive the instruction that central processing unit sent, and control sonar detection device and carry out corresponding instruction.
Preferably, bait can be stored in the shell and used for throwing bait at fixed points and attracting fish.
Preferably, the sonar detection device and the nest making device are arranged in a split manner, mounting interfaces are respectively arranged on the ship body corresponding to the sonar detection device and the nest making device, and the sonar detection device and the nest making device are respectively mounted on the corresponding mounting interfaces;
or, the sonar detection device and the nest making device are installed on the ship body alternatively, only one installation interface is arranged on the ship body, and the sonar detection device and the nest making device are respectively provided with installation pieces which are matched and connected with the installation interfaces.
Preferably, the nest making device comprises a body and a feeding part, wherein the body is fixed on the unmanned ship, a feeding groove is arranged in the feeding part, and the feeding part is movably connected with the body to open/close the feeding groove;
preferably, the feeding part is locked on the body through a locking device, and the body closes the feeding groove to form a first sealed space for containing bait;
preferably, the locking device comprises an electromagnet arranged on the body and a magnetic object arranged on the feeding part, the electromagnet adsorbs the magnetic object, the feeding part is closed with the body, and the body seals the feeding groove.
Preferably, the feeding part is connected with the body through a rotating shaft, an elastic part is arranged on the rotating shaft, and when the feeding part and the body are closed, the elastic part is arranged between the feeding part and the body in a compression deformation manner;
preferably, the elastic part is a torsion spring sleeved on the rotating shaft, and two torsion arms of the torsion spring act on the body and the feeding part respectively.
Preferably, the body is internally provided with a second sealed space, the second sealed space is internally provided with a power module, a wireless module and a main control board, the power module, the wireless module and the electromagnet are respectively electrically connected with the main control board, and the main control board is in wireless communication connection with the central processing unit through the wireless module and is used for receiving a control instruction sent by the central processing unit and controlling the electromagnet to be powered on/off according to the control instruction.
Preferably, the hull is remotely controlled through an external terminal, the external terminal can send a control instruction to the central processing unit, and the central processing unit receives the control instruction and wirelessly sends the control instruction to the sonar detection device or the nest making device corresponding to the control instruction.
After the technical scheme is adopted, the unmanned ship integrates multiple functions, can track fish schools, can nest and lure fishes, can avoid obstacles, assists fishing enthusiasts to determine the fish school dense area, realizes long-distance accurate bait throwing, and improves fishing efficiency.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view of the unmanned ship communication of the present invention;
FIG. 2 is a schematic diagram of the movement of the invention for controlling the hull to travel according to a binocular camera;
FIG. 3 is an exploded view of the punch of the present invention;
FIG. 4 is a schematic perspective view of the nesting device of the present invention;
FIG. 5 is a schematic view of another perspective of the hole setter of the present invention;
FIG. 6 is a schematic view of another perspective of the hole setter of the present invention;
FIG. 7 is a schematic view of another perspective of the hole setter of the present invention;
fig. 8 is a schematic view of the unmanned ship communication connection of the present invention.
In the figure: 1. a stud; 2. an upper housing; 3. an antenna; 4. a main control board; 5. a wireless module; 6. an electromagnet; 7. a power supply module; 8. a seal ring; 9. a lower housing; 10. a screw; 11. a rotating shaft; 12. a torsion spring; 13. a feeding trough; 14. a magnetic object; 15. a body; 16. a feeding part; 17. sonar detection devices or nesting devices; 18. unmanned ship.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 8, the present invention provides an unmanned ship 18, which includes a hull capable of floating on the water or diving, a binocular camera device and a sonar detection device arranged on the hull, and a central processing unit in communication connection with the binocular camera device and the sonar detection device, wherein:
the binocular camera device is used for acquiring the position information of a target object;
the sonar detection device is used for acquiring environmental information around the ship body and/or acquiring position information of a target object;
and the central processing unit is used for controlling the ship body to avoid/track the target object according to the position information and/or the environmental information acquired by the binocular camera device and/or the sonar detection device.
Example one
As an embodiment of the present invention, the binocular camera device is electrically connected to the central processing unit, and the binocular camera device is further configured to collect an underwater image for a user to view an underwater environment;
alternatively, the unmanned vessel 18 includes a main camera for acquiring underwater images. The main camera collects underwater images for a user to view the underwater environment.
Preferably, the main camera is also used to assist the unmanned ship 18 in tracking the target: the binocular camera device set up in the front portion of hull, main camera set up the intermediate position between binocular camera device's left side camera and right side camera, its visual angle is not more than binocular camera device's visual angle, main camera and central processing unit electric connection, main camera gather the image in target object place region to send to central processing unit, central processing unit receive behind the image, according to the position of target object in the image, adjust the action of marcing of hull in order to keep the view center of target object at main camera. The target object is kept at the center of the visual field of the main camera, and the central processor controls the unmanned ship 18 to keep a certain distance from the target object, so that the unmanned ship 18 can track the target object. The central processing unit can acquire distance information between the unmanned ship and the target object through the binocular camera device. Referring to fig. 2, the binocular camera device simultaneously acquires a first image and a second image of an area where a target object is located, and sends the first image and the second image to the central processing unit, and the central processing unit performs data processing on the first image and the second image, determines a distance between the target object and the unmanned ship 18, and further generates a control command to control a ship body to move.
Preferably, the central processing unit is further configured to perform image enhancement processing on the first image and the second image acquired by the binocular camera device, perform visual ranging calculation on the images subjected to the image enhancement processing, and accurately determine the distance between the target object and the unmanned ship 18. Wherein, the image enhancement processing comprises: and carrying out color correction calculation on the first image and the second image acquired by the binocular camera device, removing the color deviation of the underwater image, and obtaining the clear first image and the clear second image. The underwater image processing is beneficial to the subsequent visual ranging calculation, the processed image can also be used for providing a user to check the underwater environment, the visual effect is good, and the user experience is good.
Of course, the unmanned ship 18 may also acquire position information of the target object by the sonar detection device 17, and control the unmanned ship 18 to follow the target object.
Preferably, the unmanned ship 18 further comprises an illuminating device arranged on the ship body, wherein the illuminating device provides a light source for the binocular camera device and/or the main camera; of course, the lighting device can also be used for attracting fish.
In this embodiment, preferably, the unmanned ship 18 further comprises a nesting device mounted on the ship body and used for nesting and attracting fish along with the ship body to a target, the nesting device is in communication connection with the central processing unit, and the sonar detection device and the nesting device are integrally arranged and detachably mounted on the ship body;
or the sonar detection device 17 and the nest making device are separately arranged and respectively detachably mounted on the ship body.
In this embodiment, unmanned ship 18 still include an external terminal, external terminal and unmanned ship 18 communication connection, receive sonar data and image/video data after preliminary treatment that are sent by central processing unit to show for the user, this external terminal still can be used to long-range input control command to unmanned ship 18, and this control command includes the instruction of the action of control unmanned ship 18 marcing, the instruction that sonar detection device detected, the instruction of making a nest the ware and the instruction of light illumination.
Specifically, referring to fig. 1, the unmanned ship 18 communicates with a communication station floating on the water surface through a cable connection, and the communication station is wirelessly connected with an external terminal. Referring to fig. 8, a central processing unit in the unmanned ship 18 is electrically connected with the binocular camera device, wirelessly connected with the sonar detection device and the nest making device, connected with the communication station through a cable, and wirelessly connected with the external terminal.
Example two
The sonar detection device and the nest making device are described in the embodiment:
EXAMPLE III
The difference between the third embodiment and the second embodiment is that: the sonar detection device 17 and the nest making device are arranged in a split mode. The ship body is provided with mounting interfaces corresponding to the sonar detection device 17 and the nest making device respectively, and the sonar detection device 17 and the nest making device are mounted on the corresponding mounting interfaces respectively;
alternatively, as shown in fig. 1, the sonar detection device 17 and the nesting device 17 are alternatively mounted on the ship body, only one mounting interface is arranged on the ship body, and the sonar detection device 17 and the nesting device 17 are respectively provided with a mounting piece which is matched and connected with the mounting interface. Preferably, the mounting piece is a stud arranged at the top of the sonar detection device 17/the nest making device 17, and the ship body is provided with a threaded hole matched with the stud. This sonar detection device/ware of digging pit is according to user's demand, the installation of alternative on the hull, and sonar detection device 17 and ware of digging pit 17 are provided with wireless module respectively, can be connected with this unmanned ship's central processing unit wireless communication respectively, so be provided with do benefit to installation/dismantlement sonar detection device 17/ware of digging pit 17. The sonar detection device 17/the bird's nest 17 may be mounted on the hull of the ship and operated independently. The wireless module can adopt wireless communication modes such as WIFI, Bluetooth or radio frequency.
Example four
Referring to fig. 1, in a fourth embodiment, the nesting device 17 and sonar detection device are alternatively mounted on an unmanned ship.
Referring to fig. 3-7, the nest making device 17 comprises a body 15 and a feeding part 16, wherein a feeding groove 13 is arranged in the feeding part 16, and the feeding part 16 is movably connected with the body 15 to open/close the feeding groove 13.
In the above scheme, the feeding part 16 is movably connected with the body 15, so that the feeding part 16 and the body 15 can be opened and closed, when the feeding part 16 and the body 15 are in an opened state, the feeding groove 13 is communicated with the outside to feed bait, and when the feeding part 16 and the body 15 are in a closed state, the body 15 closes the feeding groove 13, and the bait is sealed in the feeding groove 13.
Preferably, the feeding portion 16 is locked on the body 15 by a locking device, and the body 15 closes the feeding groove 13 to form a first sealed space for containing bait.
In the above scheme, one end of the feeding part 16 is movably connected with the body 15, the other end of the feeding part can be locked on the body 15 through the locking device, the closed state between the feeding part 16 and the body 15 is ensured through the design of the locking device, the feeding groove 13 of the feeding part 16 is also ensured to be sealed by the body 15, and a first sealed space for containing bait is formed.
Preferably, the locking device comprises an electromagnet 6 arranged on the body 15 and a magnetic object 14 arranged on the feeding part 16, the electromagnet 6 adsorbs the magnetic object 14, the feeding part 16 is closed with the body 15, and the body 15 closes the feeding groove 13.
In the above scheme, locking device adopt 6 absorbent technical scheme of electro-magnet to realize the automation of action of digging a pit, simple structure, effectual, and occupation space is few, be fit for using with unmanned ship cooperation, wherein, when 6 outage of electro-magnet are not adsorbed, then throw material portion 16 and 15 unblocks of body, throw material portion 16 and can open under the effect of gravity, carry out the input of bait. However, in water, the throwing portion 16 and the body 15 are not easy to open due to buoyancy, at this time, the throwing portion 16 and the body 15 can be opened by inertia in combination with the advancing action of the unmanned ship 18, because the nest making device 17 is arranged at the bottom of the unmanned ship, the body 15 of the nest making device is fixedly connected with the unmanned ship 18, and the throwing portion 16 is arranged below, at this time, the operation posture of the unmanned ship 18 can also be adjusted to realize the opening of the body 15 and the throwing portion 16, for example, when the unmanned ship 18 carries the nest making device to a target place, the electromagnet 6 is controlled to be powered off, at this time, the throwing portion 16 is not opened between the throwing portion 16 and the body 15 under the effect of buoyancy, or is not completely opened, at this time, the unmanned ship 18 suddenly advances upwards, and the throwing portion 16 and the body 15 are completely opened due to inertia, so that the bait is thrown.
Preferably, the feeding part 16 is connected with the body 15 through a rotating shaft 11, an elastic member is arranged on the rotating shaft 11, and when the feeding part 16 and the body 15 are closed, the elastic member is arranged between the feeding part 16 and the body 15 in a compression deformation mode.
In the above solution, when the feeding part 16 is closed with the body 15, the elastic element is pressed and deformed between the feeding part 16 and the body 15, and has a tendency to urge the body 15 and the feeding part 16 to open, but is always in a compression deformation state under the action of the underwater buoyancy and the electromagnet 6. When the electromagnet 6 is powered off and does not generate the adsorption effect, the elastic force of the elastic piece is larger than the underwater buoyancy, and the feeding part 16 and the body 15 are opened, so that the bait can be fed.
Preferably, the elastic member is a torsion spring 12 sleeved on the rotating shaft 11, and two torsion arms of the torsion spring 12 act on the body 15 and the feeding portion 16 respectively, so that the body 15 and the feeding portion 16 are in an opening trend.
Preferably, a cylindrical mounting structure protrudes from the wall of the feeding groove 13 to the cavity of the feeding groove 13 in the feeding part 16, a mounting cavity is arranged in the mounting structure, and the magnetic object 14 is fixedly mounted in the mounting cavity. This installation cavity sets up in 11 relative one sides of pivot, and is smooth transition between the mounting structure of this cylinder and the cell wall of throwing silo 13 to be favorable to the input of bait.
Preferably, a second sealed space is arranged inside the body 15, and the electromagnet 6 is arranged in the second sealed space or at least part of the electromagnet 6 is arranged in the second sealed space.
Preferably, the body 15 comprises an upper shell 2 and a lower shell 9, wherein at least the upper shell 2 is provided with a containing space, the lower shell 9 is fixed at the bottom of the upper shell 2 in a sealing manner to seal the containing space to form the second sealed space, and the outer surface of the lower shell 9 is used for sealing the opening of the feeding groove 13 when the body 15 and the feeding part 16 are closed.
Preferably, the second sealed space is further provided with a power module 7, a main control board 4, a wireless module 5 and an antenna 3, the wireless module 5 is arranged on the main control board 4, and the power module, the electromagnet 6 and the antenna 3 are respectively and electrically connected with the main control board 4.
Preferably, the power module 7 and the main control board 4 are sequentially arranged in the second sealed space from the surface of the lower shell 9 to the upper part, wherein a mounting groove for mounting the electromagnet 6 is formed in the lower shell 9 corresponding to the magnet on the feeding part 16, a clamping interface is also formed in the main control board 4 corresponding to the mounting groove, one end of the electromagnet 6 is limited in the mounting groove in a sealed manner, and the other end of the electromagnet is limited in the clamping interface.
In the above scheme, wherein lower casing 9 all around through the bottom of screw 10 fixed at last casing 2, seal the appearance space in the casing 2, wherein seal through sealing washer 8 between the edge of lower casing 9 and the last casing 2, guaranteed the leakproofness in second confined space, on the other hand, power module 7, main control board 4 preferably fix on lower casing 9 surface to guaranteed the stability of each modular unit in the second confined space, antenna 3 set up the highest end in the second confined space, because the second confined space is narrow for below wide top, consequently set up antenna 3 perpendicularly on main control board 4, the structure is more reasonable, has practiced thrift the space.
Preferably, the stud 1 is convexly arranged on the top surface of the upper shell 2 and used for being fixed on the unmanned ship 18 in a threaded mode, the unmanned ship 18 can float on the water surface or sink underwater for operation, and the bottom of the unmanned ship 18 is provided with a threaded hole corresponding to the stud 1.
The nest making device in the embodiment comprises a body 15 and a feeding portion 16, bait feeding is achieved through electrifying/powering-off of an electromagnet 6 between the feeding portion 16 and the body 15, the bait feeding device is simple in structure and small in weight, is suitable for being matched with an unmanned ship 18 to be used for fixed-point nest making and underwater nest making, and is not affected by water flow, and on the other hand, the nest making device is in wireless communication connection with the unmanned ship 18, so that the nest making device can be detachably connected with the unmanned ship 18 and can be used independently without being limited to being installed on the unmanned ship 18.
EXAMPLE five
In this embodiment, unmanned ship 18 is including the hull that can float in the surface of water or dive underwater operation, its characterized in that still includes binocular camera device, sonar detection device, the ware of digging a pit that sets up on the hull and respectively rather than communication connection's central processing unit, wherein:
the binocular camera device is used for acquiring the position information of a target object;
the sonar detection device is used for acquiring environmental information around the ship body and/or acquiring position information of a target object;
the nest making device is used for making nests and attracting fishes when the ship body moves to a target place;
and the central processing unit is used for controlling the ship body to avoid/track the target object and controlling the nesting device to nest and lure fish according to the position information and/or the environment information collected by the binocular camera device and/or the sonar detection device.
It should be noted that this unmanned shipboard binocular camera device can be used to gather the positional information of target object, and sonar detection device also can gather the positional information of target object, both all can assist unmanned ship to carry out the tracking and the location to the fish, but both also have the difference, the waters scope that sonar detection device surveyed is big, when needs acquire the fish volume information in a certain region, accessible sonar detection device surveys the fish volume, and certain fish is being tracked at needs, and when looking over its developments in real time, the distance of accessible binocular camera device real-time detection hull and fish, and shoot the developments of this fish, and simultaneously, central processing unit controls unmanned ship's driving system according to the distance information that binocular camera device surveyed, with the distance that keeps hull and fish in certain within range.
The sonar detection devices 17 can also comprise a plurality of sonar detection devices which are distributed on the peripheral surface of the ship body, and each sonar detection device 17 detects environmental information in different directions respectively, so that the effect of detecting the surrounding environment of the ship body in a panoramic manner is achieved.
The unmanned ship 18 integrates multiple functions, can track fish schools, can trap fish nests and avoid obstacles, assists fishing enthusiasts in determining the dense fish school areas, realizes long-distance accurate bait throwing, and improves fishing efficiency.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. The utility model provides an unmanned ship, includes the hull that can float in the surface of water or dive underwater operation, its characterized in that still includes binocular camera device, sonar detection device, main camera, the ware of digging and respectively rather than communication connection's central processing unit of setting on the hull, wherein:
the binocular camera device comprises a left camera and a right camera and is used for acquiring the position information of a target object;
the main camera is arranged in the middle between the left camera and the right camera of the binocular camera device, and the visual angle of the main camera is not larger than that of the binocular camera device;
the sonar detection device is used for acquiring environmental information around the ship body and/or acquiring position information of a target object and arranging a stud;
the nest making device comprises a body and a feeding part, wherein the feeding part is movably connected with the body, the feeding part is locked on the body through a locking device, and a stud is arranged on the body;
the bottom of the ship body is provided with a threaded hole matched with the stud, the sonar detection device/the nest making device is installed on the threaded hole through the stud, and the sonar detection device and the nest making device are respectively provided with a wireless module and can be in wireless communication connection with a central processing unit of the unmanned ship; the central processing unit is used for controlling the ship body to avoid/track a target object and carry the nest making device to dive to a target place according to position information and/or environmental information acquired by the binocular camera device and/or the sonar detection device, controlling the locking device to unlock, controlling the ship body to move upwards, and opening the feeding part under inertia to realize feeding of bait;
the main camera is electrically connected with the central processing unit, the main camera collects images of an area where the target object is located, the central processing unit adjusts the advancing action of the ship body according to the position of the target object in the images so as to keep the target object in the visual field center of the main camera, determines the distance between the target object and the unmanned ship according to image information collected by the binocular camera device, and controls the unmanned ship to keep a certain distance with the target object so as to track the target object.
2. The unmanned ship of claim 1, wherein the binocular camera device is electrically connected to the central processor, and the binocular camera device is further used for acquiring underwater images for a user to view an underwater environment.
3. The unmanned ship of claim 2, further comprising an illumination device disposed on the hull, wherein the illumination device provides a light source for the binocular camera and/or the main camera.
4. An unmanned ship according to claim 3, wherein the lighting device is also used for attracting fish.
5. The unmanned ship of claim 3 or 4, wherein the sonar detection device comprises a housing, a first power module, a sonar detection module, a controller and a wireless communication module are arranged in the housing, the first power module, the wireless communication module and the sonar detection module are respectively electrically connected with the controller, and the controller is in communication connection with the central processing unit through the wireless communication module and is used for receiving an instruction sent by the central processing unit and controlling the sonar detection device to execute a corresponding instruction.
6. The unmanned ship of claim 5, wherein a feeding trough is arranged in the feeding part, the feeding part is movably connected with the body to open/close the feeding trough, the feeding part is locked on the body through a locking device, and the body closes the feeding trough to form a first sealed space for containing bait.
7. The unmanned ship of claim 6, wherein the locking device comprises an electromagnet arranged on the body and a magnetic object arranged on the feeding part, the electromagnet adsorbs the magnetic object, the feeding part is closed with the body, and the body closes the feeding groove.
8. The unmanned ship of claim 7, wherein the feeding portion is connected to the body through a rotating shaft, the rotating shaft is provided with an elastic member, and when the feeding portion and the body are closed, the elastic member is arranged between the feeding portion and the body in a compression deformation manner.
9. The unmanned ship of claim 8, wherein the elastic member is a torsion spring sleeved on the rotation shaft, and two torsion arms of the torsion spring act on the body and the feeding portion respectively.
10. The unmanned ship of any one of claims 6-9, wherein a second sealed space is provided inside the body, a second power module, a wireless module and a main control board are provided inside the second sealed space, the second power module, the wireless module and the electromagnet are respectively electrically connected with the main control board, and the main control board is in wireless communication connection with the central processing unit through the wireless module, and is configured to receive a control command sent by the central processing unit and control the electromagnet to be powered on/off according to the control command.
11. An unmanned ship according to any one of claims 1-4, wherein the hull is remotely controlled by an external terminal, the external terminal can send control instructions to the central processing unit, the central processing unit receives the control instructions and wirelessly sends the control instructions to a sonar detection device or a nest making device corresponding to the control instructions.
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| WO2019119398A1 (en) * | 2017-12-22 | 2019-06-27 | Powervision Tech Inc. | Underwater drone with capacity of multi-shooting view |
| WO2020232580A1 (en) * | 2019-05-17 | 2020-11-26 | 唐山哈船科技有限公司 | Device and method for tracking underwater fish schools |
| CN110393165B (en) * | 2019-07-11 | 2021-06-25 | 浙江大学宁波理工学院 | Open sea aquaculture net cage bait feeding method based on automatic bait feeding boat |
| CN111324126B (en) * | 2020-03-12 | 2022-07-05 | 集美大学 | Vision unmanned ship |
| WO2024065152A1 (en) * | 2022-09-27 | 2024-04-04 | 广东高驰运动科技股份有限公司 | Method for tracking user, and platform, system and storage medium |
| CN115266220B (en) * | 2022-09-29 | 2023-03-31 | 南京河海南自水电自动化有限公司 | Data acquisition unmanned ship for water conservancy digital twin system |
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