CN107295821B - Water area fertilizing device and method based on unmanned ship - Google Patents
Water area fertilizing device and method based on unmanned ship Download PDFInfo
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- CN107295821B CN107295821B CN201710384943.2A CN201710384943A CN107295821B CN 107295821 B CN107295821 B CN 107295821B CN 201710384943 A CN201710384943 A CN 201710384943A CN 107295821 B CN107295821 B CN 107295821B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention discloses a water area fertilizing device based on an unmanned ship and a method thereof, wherein the water area fertilizing device comprises the unmanned ship and a fertilizing device which is arranged on the unmanned ship and is used for applying fertilizer to a water area to be fertilized; the unmanned ship comprises a main controller, communication equipment, video equipment, a water quality detector, a tail spraying pump system and a storage battery, wherein the main controller is respectively coupled with the communication equipment, the video equipment, the water quality detector, the tail spraying pump system and the storage battery; the fertilizer applying device comprises a fertilizer storage tank for loading fertilizer, a spreader for spreading the fertilizer and a cultivating rake for cultivating soil at the bottom of the water. The unmanned ship-based water area fertilization device and the method thereof have the advantages that the safety is high, the fertilization is uniform, the efficient and automatic fertilization can be realized in a large-area water area farm, the fertilization effect can be effectively monitored, the fertilizer usage amount is saved, and the fertilization efficiency is improved.
Description
Technical Field
The invention relates to the technical field of water area robot automatic control, in particular to a water area fertilizing device and method based on an unmanned ship.
Technical Field
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task and autonomously operate by means of an accurate satellite positioning and control system. With the development of national defense and civil requirements, more and more unmanned ships run and undertake tasks in the national defense sea area, offshore culture, inland river environment-friendly water areas and the like. In order to realize efficient fertilization in large-area water farms, it is necessary to introduce unmanned ship systems for auxiliary fertilization.
In recent years, marine fertilization is a research hotspot, and the traditional marine fertilization is a behavior of adopting artificial measures to provide limiting nutrient elements such as nitrogen, phosphorus, iron and the like to the upper layer of the sea so as to increase the primary productivity of the sea, and has potential in the aspects of proliferating biological resources and slowing down climate change. If the light and heat of the south China sea are sufficient, but the surface water body of the open sea is deficient in macronutrient elements and low in biological productivity, and the fertilization of macronutrient elements can improve the primary productivity of the sea area, so that the fishery output can be continuously increased; the bait organism dense area formed in a specific sea area by fertilizing and breeding phytoplankton can attract fish schools to gather, thereby improving the fishing efficiency of the open sea fishery.
The kelp can normally grow only when the average nitrogen content and the phosphorus content required by the kelp in the sea area need to be more than a certain concentration, and the nitrogen and phosphorus content in the natural sea area is generally below the level, so that artificial fertilization is required; when the kelp is cultivated, the fertilizer is applied by methods of bag hanging fertilization, sprinkling fertilization, soaking fertilization, seedling rope soaking and the like. The laver has similar requirements on the phosphorus content and the nitrogen content of seawater, and the laver is cultivated by applying fertilizers by adopting methods such as a spraying method, a bag hanging method, a soaking method and the like. The fertilization method is generally used for manually fertilizing by a fisherman when starting a fishing boat, the workload is huge, and the operation has safety risk.
The principle of the inland river lake fishery culture is that nutrient elements such as nitrogen, phosphorus, trace elements and the like with scientific proportion are applied to water bodies such as lakes, reservoirs and the like through an artificial means to fertilize water quality, and phytoplankton and zooplankton in water are promoted to breed in large quantities through photosynthesis, so that sufficient bait is provided for phytoplankton-feeding fishes such as silver carps and bighead carps. Meanwhile, the aquatic plants and sessile organisms are promoted. The mass propagation of benthonic animals, bacteria, vascular bundle plants, detritus and the like is increased, and partial bait is provided for feeding fishes such as grass, bream, common carp, crucian carp, cyan and xenocypris bleeker and the like. Theories and practices prove that after fertilizer is fed into water areas such as lakes, reservoirs, ponds and the like, as long as the water temperature is stabilized between 20 and 32 ℃, once fertilizer is fed for keeping a fine day of about three days, plankton can reach a peak, the fertilizer efficiency can be maintained for about 7 days, if the fertilizer is fed continuously at regular intervals, a virtuous cycle is formed, the plankton can be continuously regenerated and increased exponentially, and the effect of culturing the plankton is better by adopting a superposition type fertilization method generally at present. The fish obtains sufficient bait, so that the fish yield is greatly improved. When the feed is fed to the fry in the traditional lake, the feed needs to be manually thrown, and the effect cannot be monitored even if the feed is not uniformly applied.
Disclosure of Invention
The invention aims to provide a water area fertilizing device which is high in safety and uniform in fertilizing based on an unmanned ship, can efficiently and automatically fertilize a large-area water area farm and can effectively monitor the fertilizing effect, and a fertilizing method which is high in safety and uniform in fertilizing based on the unmanned ship, can efficiently and automatically fertilize the large-area water area farm and can effectively monitor the fertilizing effect, so that the fertilizer usage amount is saved, and the fertilizing efficiency is improved.
In order to achieve the purpose, the invention adopts the technical scheme that: a water area fertilizing device based on an unmanned ship comprises the unmanned ship and a fertilizing device which is arranged on the unmanned ship and used for applying fertilizer to a water area to be fertilized; the unmanned ship comprises a main controller, communication equipment, video equipment, a water quality detector, a tail spraying pump system and a storage battery, wherein the main controller is respectively coupled with the communication equipment, the video equipment, the water quality detector, the tail spraying pump system and the storage battery; the fertilizer applying device comprises a fertilizer storage tank for loading fertilizer, a spreader for spreading the fertilizer and a cultivating rake for cultivating soil at the bottom of the water.
Optionally, the fertilizer storage tank is installed on the weight center vertical line of the unmanned ship, and comprises a cylindrical tank body, a circular cover body fixed on the cylindrical tank body through a positioning pin, a stirrer installed on the circular cover body and used for stirring fertilizer in the fertilizer storage tank, and a conical can installed on the lower portion of the cylindrical tank body.
Optionally, a discharge valve for controlling the discharge rate and guiding the fertilizer to the conveying track is installed at the bottom end of the conical can, a conveying track for circularly conveying the fertilizer is arranged below the discharge valve, and a distributing valve for determining the selective receiving opening of the fertilizer is arranged at the tail end of the conveying track.
Optionally, a left conveying pipe and a right conveying pipe are respectively arranged on the left side and the right side below the distributing valve, the upper end of the left conveying pipe is a wide pipe orifice for receiving the fertilizer falling from the distributing valve, and the lower end of the left conveying pipe is a round pipe inserted into an access cover interface of a spray pump in the tail spray pump system; the upper end of the right conveying pipe is provided with a wide pipe opening used for receiving the fertilizer falling from the distributing valve, and the lower end of the right conveying pipe is provided with a wide pipe opening used for guiding the fertilizer into the sprinkling device.
Optionally, the sprinkling device is installed in the unmanned ship hull outside, including the carousel with set up in plectrum on the carousel, the carousel rotates fast under the drive of second motor, and drives the plectrum strikes large granule fertilizer and spills it in the waters simultaneously.
Optionally, the communication device includes a digital station and a map-based station.
Optionally, the video device is mounted on a mast of the unmanned ship and used for monitoring the working state of the fertilizing device and forwarding video information to a main camera of the main controller, the cylindrical tank body is made of transparent material towards the main camera, and the remaining amount of the fertilizer is monitored through the video of the main camera; and the fisheye camera is arranged at the bow of the unmanned ship and used for monitoring the water area condition and forwarding video information to the main controller.
Optionally, water quality testing ware installs and surveys the depth of water probe, surveys the temperature of water probe, surveys nitrogen content probe and surveys the phosphorus content probe, main control unit optimizes fertilization route and fertilization dose according to waters size, water temperature and fertilizer concentration are automatic, main control unit handles the packing of water quality monitoring data, via digital radio station sends for the surveillance center.
Optionally, two of the tilling rakes are arranged and respectively mounted on two sides of the unmanned ship; the harrow comprises a winch, a gear, an electric mortise lock, a harrow root, a harrow bar, a harrow rope and a harrow head, wherein the harrow root is fixed on the side wing of the unmanned ship and is connected with the harrow bar through a hinge, the harrow bar is a hollow bar, a side hole is formed in the upper part of the harrow bar, one end of the harrow rope penetrates through the side hole and is connected with the harrow head positioned below the harrow bar, the other end of the harrow rope is connected to the winch, and the winch is rotated through a third motor to realize the folding and unfolding of the harrow rope; the gear is connected with one end of the winch, and the side face of the gear is provided with an electric mortise lock for locking the gear; when the rake rope is fully tightened, the rake head is embedded in the tail end of the rake lever.
The invention also provides a fertilizing method of the water area fertilizing device based on the unmanned ship, which comprises the following steps:
step 1, loading fertilizers into a fertilizer storage tank on an unmanned ship, recording the total amount of initial fertilizers, and navigating to a fertilizing water area from a starting point;
step 2, the unmanned ship starts to patrol the working water area according to a preset route, the nitrogen and phosphorus concentrations of the fertilization water area are monitored through a water quality detector, and the fertilizer concentration data of each point are recorded in a main controller; in the inspection process, the unmanned ship shoots the whole state of the working water area through the fisheye camera and transmits the shot state to the main controller;
and step 3: the monitoring center determines whether the underwater soil plowing is needed according to the water depth or the crop condition in the data packet, if so, the main controller sends an instruction to the plowing harrow corresponding to the third motor to drive the winch to rotate so as to adjust the length of the harrow rope, so that the harrow head reaches the water bottom, then the main controller establishes a plowing route and drives the unmanned ship to automatically sail to drive the harrow head to complete the plowing of the underwater soil;
step 4, automatically optimizing a fertilization route and fertilization demand of each point of the water area according to the water temperature and the nitrogen and phosphorus concentration of the water area, and selecting a fertilization mode according to the characteristics of the carried fertilizer and the needed fertilization demand;
step 5, the unmanned ship starts automatic fertilization according to the fertilization route, the main controller determines the opening degree of the discharge valve according to fertilization demand of each point and according to the speed of the ship body and the fertilization demand, and the stirrer rotates all the time in the fertilization process to enable the fertilizer in the fertilizer storage tank to fall down uniformly; the main camera shoots relevant conditions of the fertilizing device and transmits the conditions to the main controller;
step 6, when the main controller controls the distributing valve to open to the left side, fertilizer is guided into the tail spraying pump system and enters from the access hole, and the fertilizer is sprayed out from a spraying pump water outlet pipe after being driven by a high-strength flowing water body of the spraying pump; when the main controller controls the distributing valve to open towards the right side, the fertilizer is guided into the sprinkling device, a rotary disc of the sprinkling device is driven by the second motor to rotate rapidly, and the stirring sheet is driven to knock the large-particle fertilizer and throw the large-particle fertilizer into a water area vigorously;
step 7, the main controller estimates the residual amount of the fertilizer according to the ship speed and the opening of the discharge valve, and when the fertilizer is insufficient, the main controller generates an alarm signal and transmits the residual amount of the fertilizer and the alarm information back to a monitoring center; in the step 5, the main camera transmits back a fertilizer remaining situation video;
and 8, automatically returning to the starting point after the unmanned ship finishes fertilizing.
Compared with the prior art, the invention has the following beneficial effects:
1) the unmanned ship main controller collects water area fertilization experience data to prepare a fertilization experience table for optimizing the fertilization operation process.
2) The unmanned ship is used for autonomous navigation and video monitoring to complete water area inspection, and the water quality detector is used for real-time monitoring of nitrogen and phosphorus in the water area, so that data support is provided for optimizing a fertilization route and fertilization demand.
3) And determining whether to adopt the harrow for turning the soil according to the water depth monitoring result, and realizing the redissolution of the seabed deposited fertilizer by the harrow for turning the soil so as to improve the use effect of the fertilizer.
4) The unmanned ship is provided with the fertilizing device, so that automatic fertilization of a large amount of fertilizers can be realized, and automation of water fertilization is realized.
5) When the fertilization demand of unit area is smaller, the fertilizer applying device leads the soluble fertilizer into the spray pump system, and the dissolution and splashing range of the fertilizer is accelerated by utilizing the strong-flowing water flow.
6) When the unit area fertilization demand is great, fertilizer is guided into the sprinkling device by the fertilizing device, and is spread and sprinkled by the sprinkling device rotating at a high speed, so that the fertilization efficiency is ensured.
7) The invention does not need fishermen to open a fishing boat for manual fertilization, reduces the workload of fishermen and the working strength of fishermen, has high safety and uniform fertilization, can realize high-efficiency automatic fertilization in large-area water farms, can effectively monitor the fertilization effect, saves the fertilizer usage amount and improves the fertilization efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a water area fertilizing device based on an unmanned ship, provided by the invention;
FIG. 2 is a schematic illustration of the configuration of the sprinkler of FIG. 1 of the present invention;
FIG. 3 is a schematic structural view of the rake of FIG. 1 of the present invention;
FIG. 4 is a schematic diagram of the structure of the water detector of FIG. 1 according to the present invention;
fig. 5 is a schematic diagram of a water fertilization process implemented by the unmanned ship in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, an unmanned ship-based water area fertilizing apparatus comprises an unmanned ship 10 and a fertilizing apparatus arranged on the unmanned ship for applying fertilizer to a water area to be fertilized; the unmanned ship comprises a main controller 11, communication equipment, video equipment, a water quality detector 71, a tail spraying pump system 40 and a storage battery 12, wherein the main controller 11 is respectively coupled with the communication equipment, the video equipment, the water quality detector 71, the tail spraying pump system 40 and the storage battery 12; the fertilizer applying device comprises a fertilizer storage tank for loading fertilizer, a spreader for spreading the fertilizer and a cultivating rake for cultivating soil at the bottom of the water.
The fertilizer storage tank is installed on a gravity center vertical line of a hull of the unmanned ship 10 and comprises a cylindrical tank body 21, a circular cover body 22 fixed on the cylindrical tank body 21 through a positioning pin, a stirrer 24 installed on the circular cover body 22 and used for stirring fertilizer in the fertilizer storage tank, and a conical can 23 installed at the lower part of the cylindrical tank body 21.
The bottom end of the conical can 23 is provided with a discharge valve 25 for controlling the discharge rate and guiding the fertilizer to a conveying crawler 30, the conveying crawler 30 for circularly conveying the fertilizer is driven by a first motor 31 and arranged below the discharge valve 25, and the tail end of the conveying crawler 30 is provided with a distributing valve 32 for determining the selective receiving pipe orifice of the fertilizer.
A left conveying pipe 41 and a right conveying pipe 51 are respectively arranged on the left side and the right side below the distributing valve 32, the upper end of the left conveying pipe 41 is a wide pipe orifice for receiving fertilizer falling from the distributing valve, and the lower end of the left conveying pipe is a round pipe orifice inserted into an access cover interface of a spray pump in the tail spray pump system 40; the upper end of the right conveying pipe 51 is a wide pipe opening used for receiving the fertilizer falling from the distributing valve, and the lower end of the right conveying pipe is a wide pipe opening used for guiding the fertilizer into the sprinkling device.
The sprinkling device is arranged on the outer side of the hull of the unmanned ship and comprises a rotary table 53 and a shifting piece 54 arranged on the rotary table 53, wherein the rotary table 53 is driven by a second motor 52 to rotate rapidly, and the shifting piece 54 is driven to knock large-particle fertilizers and sprinkle the large-particle fertilizers into a water area.
Specifically, when the main controller 11 determines that the fertilization mode is "strong water stirring", the conveying crawler 30 is driven by the first motor 31 to circularly convey the fertilizer, the main controller 11 controls the material distributing valve 32 to open to the left, and the fertilizer falls into the left conveying pipe 41; the left side conveying pipe 41 upper end is used for connecing fertilizer for the wide mouth of pipe, and the lower extreme inserts the access cover kneck of spray pump for the round mouth pipe, can be to the leading-in pipeline of income of afterbody spray pump system 40 of fine grain or soluble fertilizer, specifically for getting into by the access hole, utilizes the high strength mobile water of spray pump to drive fertilizer, via spraying the blowout of pump outlet pipe.
When the main controller 11 determines that the fertilization mode is 'spreading and throwing', the conveying crawler 30 is driven by the first motor 31 to circularly convey the fertilizer, the main controller 11 controls the distributing valve 32 to open to the right side, and the fertilizer falls into the right conveying pipe 51; the upper end of the right conveying pipe 51 is a wide pipe opening used for receiving fertilizer, the lower end of the right conveying pipe is a wide pipe opening used for guiding the fertilizer into the sprinkling device, a rotary disc 53 of the sprinkling device is driven by a second motor 52 to rotate rapidly, and a shifting piece 54 is driven to knock large-particle fertilizer and sprinkle the large-particle fertilizer into a water area.
The unmanned ship is provided with the fertilizing device, so that automatic fertilization of a large amount of fertilizer can be realized, and automation of water fertilization can be realized; when the fertilization demand in unit area is small, the fertilizing device leads the soluble fertilizer into the spray pump system, and the dissolution and splashing range of the fertilizer is accelerated by using strong-flowing water flow; when the unit area fertilization demand is great, fertilizer is guided into the sprinkling device by the fertilizing device, and is spread and sprinkled by the sprinkling device rotating at a high speed, so that the fertilization efficiency is ensured.
The communication device includes a digital station 13 and a messaging station 14.
The video equipment comprises a main camera 15 which is arranged on a mast of the unmanned ship and used for monitoring the working state of the fertilizer application device and transmitting video information to the main controller 11, and the cylindrical tank body 21 is made of transparent material towards the main camera 15 side to ensure that the residual amount of the fertilizer can be monitored through the main camera; and a fisheye camera 16 which is arranged at the bow of the unmanned ship and used for monitoring the water area condition and transmitting video information to the main controller 11, wherein the main controller 11 integrates the video information and transmits the video information to a monitoring center through a map transmission station 14.
The water quality detector 71 is provided with a water depth measuring probe 711, a water temperature measuring probe 712, a nitrogen content measuring probe 713 and a phosphorus content measuring probe 714, and the water quality detector 71 rotates the turntable 72 through the electro-hydraulic push rod 73 to realize the retraction and the release of the pull rope, so that the retraction and the release of the water quality detector 71 are realized; wherein the nitrogen content probe 713 is one of the fertilizer sensors, and different probes can be configured according to the characteristics of the fertilizer to monitor the concentration of the residual fertilizer in the fertilizing water body; the main controller 11 automatically optimizes the fertilization route and the fertilization dosage according to the water area size, the water body temperature and the fertilizer concentration, and the main controller 11 packages and processes the water quality monitoring data and sends the data to the monitoring center through the digital radio station 13.
The formulation of the fertilization experience table is shown in table 1:
TABLE 1 fertilization experience Table
In the above table: t is the temperature of the water body, a is the residual nitrogen content of the water body, B is the residual phosphorus content of the water body, A is the required amount of applying nitrogen fertilizer per square kilometer, B is the required amount of applying phosphorus fertilizer, v is the ship speed, and K is the opening of a discharge valve; f1(), F2() and F3() are corresponding empirical functions, and the functional relationship can be looked up directly. In the fertilization experience table, the water temperature is split into 8 sections, which are respectively: [ t ] of
0，t
1]、[t
1，t
2]、[t
2，t
3]、[t
3，t
4]、[t
4，t
5]、[t
5，t
6]、[t
6，t
7]、[t
7，t
8](ii) a Splitting the concentration of the residual fertilizer in the water body into 8 sections, which are respectively: [ a ] A
0，a
1]、[a
1，a
2]、[a
2，a
3]、[a
3，a
4]、[a
4，a
5]、[a
5，a
6]、[a
6，a
7]、[a
7，a
8](ii) a Splitting the concentration of the residual fertilizer in the water body into 8 sections, which are respectively: [ b ] a
0，b
1]、[b
1，b
2]、[b
2，b
3]、[b
3，b
4]、[b
4，b
5]、[b
5，b
6]、[b
6，b
7]、[b
7，b
8](ii) a Therefore, 64 nitrogen application demand data and 64 phosphorus application demand data are recorded in the fertilization experience table; during fertilization, according to the measured values (T, a, B), inquiring to obtain (A, B), and further guiding fertilization demand data;
the faster the ship speed is, the larger the required amount of nitrogen or phosphorus is, the larger the opening of the discharge valve is, and a formula F3() is obtained according to an experiment; when the fertilization is not needed or is suspended, the opening of the discharge valve is 0.
Preparing a fertilization experience table according to the fertilization experience data of the water area collected by the unmanned ship main controller, and optimizing the fertilization operation process; the unmanned ship is used for autonomous navigation and video monitoring to complete water area inspection, the water quality detector 71 is used for real-time monitoring of nitrogen and phosphorus in the water area, and data support is provided for optimizing a fertilization route and fertilization demand.
Two plowing harrows are arranged and are respectively arranged at two sides of the unmanned ship 10; the harrow comprises a winch 61, a gear 68, an electric latch 69, a harrow root 62, a harrow bar 63, a harrow rope 66 and a harrow head 67, wherein the harrow root 62 is fixed on the side wing of the unmanned ship 10 and is connected with the harrow bar 63 through a hinge, the harrow bar 63 is a hollow bar, the upper part of the harrow bar is provided with a side hole 64, one end of the harrow rope 66 passes through the side hole 64 to be connected with the harrow head 67 positioned below the harrow bar 63, the other end of the harrow rope is connected with the winch 61, the third electric motor 65 rotates the winch 61 to realize the collection or the release of the harrow rope, the other end of the winch 61 is connected with the gear 68, the side surface of the gear 68 is provided with the electric latch; when the rake rope 66 is fully tightened, the rake head 67 is inserted into the tail end of the rake bar 63. The main controller 11 determines whether to plough the soil at the water bottom according to the water depth, when the soil at the water bottom is needed, the third motor 65 is sent an instruction to drive the winch 61 to rotate, the main controller 11 calculates the number of rotation turns according to the pulse signal collected from the encoder arranged at the shaft end of the third motor, the length of the harrow rope 66 is determined, the third motor 65 is controlled to adjust the length of the harrow rope 66, when the harrow head 67 is put into the water bottom, when the unmanned ship moves forward, the third motor 65 stops rotating at the moment, in order to prevent the harrow from being clamped at the water bottom to drive the winch to rotate, the main controller 11 controls the electric mortise lock 69 to extend out of the lock tongue at the moment, the lock gear 68 drives the harrow to plough the soil at the water bottom, sediment fertilizers are stirred again, and secondary decomposition and utilization are realized. When the length of the rake rope 66 needs to be shortened, the main controller 11 controls the electric latch 69 to retract the bolt, and drives the third motor 65 to rotate reversely.
When the fertilization water area needs bottom soil ploughing, the lowering length of the ploughing rope is determined according to the water depth, and the formula is as follows:
L＝1.2*h if Hmin<h<Hmax (1)
L＝0if Hmin>h or h>Hmax (2)
as shown in the formula (1), when the main controller judges that the crops in the water area are suitable for turning soil and the depth of water is suitable for harrowing, the descending length of the tilling rope is 1.2 x h; when the main controller judges that the crops in the water area are not easy to plough the bottom soil or the water depth is too deep and is not suitable for ploughing and harrowing, the descending length of the plough rope is equal to 0 as shown in the formula (2).
In the above formula, L, h, Hmin, Hmax represent the length of lowering the tilling rope, the depth of water, the minimum threshold value of water depth, and the maximum threshold value of water depth, respectively.
And determining whether to adopt the harrow for turning the soil according to the water depth monitoring result, and realizing the re-dissolution of the seabed deposited fertilizer by the harrow for turning the soil so as to provide the fertilizer using effect.
The storage battery 12 supplies power to the main controller 11, the communication device, the video device, the stirrer, the discharging valve 25, the distributing valve 32, the first motor 31, the second motor 52, the third motor 65, the electro-hydraulic push rod 73 and the electric plug lock 69, the main controller 11 is electrically connected with the discharging valve 25, the distributing valve 32, the encoder, the communication device, the video device, the water quality detector 71, the first motor 31, the second motor 52, the third motor 65, the electro-hydraulic push rod 73 and the electric plug lock 69 through conducting wires, and monitors the working states of the discharging valve 25, the distributing valve 32, the communication device, the video device, the water quality detector 71, the first motor 31, the second motor 52, the third motor 65 and the electro-hydraulic push rod 73.
The invention also provides a fertilizing method of the water area fertilizing device based on the unmanned ship, which comprises the following steps:
step 1, loading fertilizers into a fertilizer storage tank on an unmanned ship 10, recording the total amount of initial fertilizers, and navigating to a fertilizing water area from a starting point;
step 2, the unmanned ship 10 starts to patrol the working water area according to a preset route, monitors the nitrogen and phosphorus concentrations of the fertilization water area through the water quality detector 71, and records the fertilizer concentration data of each point in the main controller 11; in the inspection process, the unmanned ship 10 shoots the whole state of the working water area through the fisheye camera 16 and transmits the shot state to the main controller 11;
and step 3: the monitoring center determines whether the underwater soil plowing needs to be carried out or not according to the water depth in the data packet or the crop condition, if so, the main controller 11 issues an instruction to the plowing harrow corresponding to the third motor 65 to drive the winch 61 to rotate so as to adjust the length of the harrow rope 66, so that the harrow head 67 reaches the water bottom, then the main controller 11 formulates a plowing route, and drives the unmanned ship 10 to automatically sail to drive the harrow head 67 to complete plowing of the underwater soil;
step 4, the main controller 11 automatically optimizes the fertilization route and the fertilization demand of each point of the water area according to the water temperature and the nitrogen and phosphorus concentration of the water area by means of a fertilization experience table, and selects a fertilization mode according to the characteristics of the carried fertilizer and the needed fertilization demand;
step 5, the unmanned ship 10 starts automatic fertilization according to the fertilization route, the main controller 11 determines to adjust the opening degree of the discharge valve 25 according to fertilization demand of each point and according to the speed of the ship body and the fertilization demand by means of a fertilization experience table, and the stirrer 24 rotates all the time in the fertilization process to enable the fertilizer in the fertilizer storage tank to fall down uniformly; the main camera 15 shoots relevant conditions of the fertilizing device and transmits the conditions to the main controller 11;
step 6, when the fertilization mode is 'strong water stirring', the main controller 11 controls the distributing valve 32 to open to the left side, the fertilizer is guided into the tail spraying pump system 40 and firstly enters from the access hole, and the fertilizer is sprayed out from a spraying pump water outlet pipe after being driven by the high-strength flowing water body of the spraying pump; when the fertilization mode is 'spreading and throwing', the main controller 11 controls the distributing valve 32 to open to the right side, the fertilizer is guided into the sprinkling device, the rotary disc 53 of the sprinkling device is driven by the second motor 52 to rotate rapidly, and the shifting plate 54 is driven to knock the large-particle fertilizer and throw the large-particle fertilizer into a water area vigorously;
step 7, the main controller 11 estimates the residual amount of the fertilizer according to the ship speed and the opening degree of the discharging valve 25, when the fertilizer is insufficient, the main controller 11 generates an alarm signal and transmits the residual amount of the fertilizer and the alarm information back to a monitoring center, and the main camera transmits a video of the residual condition of the fertilizer back in the step 5;
and 8, automatically returning to the starting point after the unmanned ship finishes fertilizing.
The invention does not need fishermen to open a fishing boat for manual fertilization, reduces the workload of fishermen and the working strength of fishermen, has high safety and uniform fertilization, can realize high-efficiency automatic fertilization in large-area water farms, can effectively monitor the fertilization effect, saves the fertilizer usage amount and improves the fertilization efficiency.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (5)
1. The utility model provides a waters fertilizer injection unit based on unmanned ship which characterized in that: comprises an unmanned ship and a fertilizing device which is arranged on the unmanned ship and is used for applying fertilizer to a water area to be fertilized; the unmanned ship comprises a main controller, communication equipment, video equipment, a water quality detector, a tail spraying pump system and a storage battery, wherein the main controller is respectively coupled with the communication equipment, the video equipment, the water quality detector, the tail spraying pump system and the storage battery; the fertilizer applying device comprises a fertilizer storage tank for loading fertilizer, a spreader for spreading the fertilizer and a cultivating rake for cultivating soil at the bottom of the water;
the sprinkling device is arranged on the outer side of the unmanned ship body and comprises a rotary table and a shifting piece arranged on the rotary table, the rotary table is driven by a second motor to rotate rapidly, and the shifting piece is driven to knock large-particle fertilizers and sprinkle the large-particle fertilizers into a water area;
the communication equipment comprises a digital radio station and a picture transmission radio station;
the video equipment is arranged on a mast of the unmanned ship and used for monitoring the working state of the fertilizing device and transmitting video information to a main camera of the main controller, the side, facing the main camera, of the cylindrical tank body is made of transparent materials, and the residual amount of the fertilizer is monitored through the video of the main camera; the fisheye camera is arranged at the bow of the unmanned ship and used for monitoring the water area condition and forwarding video information to the main controller;
the water quality detector is provided with a water depth measuring probe, a water temperature measuring probe, a nitrogen content measuring probe and a phosphorus content measuring probe, the main controller automatically optimizes a fertilization route and a fertilization dosage according to the size of a water area, the temperature of a water body and the concentration of fertilizer, and the main controller packs water quality monitoring data and sends the data to the monitoring center through the digital radio station;
the two plowing harrows are respectively arranged on two sides of the unmanned ship; the harrow comprises a winch, a gear, an electric mortise lock, a harrow root, a harrow bar, a harrow rope and a harrow head, wherein the harrow root is fixed on the side wing of the unmanned ship and is connected with the harrow bar through a hinge, the harrow bar is a hollow bar, a side hole is formed in the upper part of the harrow bar, one end of the harrow rope penetrates through the side hole and is connected with the harrow head positioned below the harrow bar, the other end of the harrow rope is connected to the winch, and the winch is rotated through a third motor to realize the folding and unfolding of the harrow rope; the gear is connected with one end of the winch, and the side face of the gear is provided with an electric mortise lock for locking the gear; when the rake rope is fully tightened, the rake head is embedded in the tail end of the rake lever.
2. The unmanned-vessel-based water area fertilizing apparatus as claimed in claim 1, wherein: the fertilizer storage tank is installed on the weight center vertical line of the unmanned ship and comprises a cylindrical tank body, a circular cover body fixed on the cylindrical tank body through a positioning pin, a stirrer installed on the circular cover body and used for stirring fertilizer in the fertilizer storage tank, and a conical can installed on the lower portion of the cylindrical tank body.
3. The unmanned-vessel-based water area fertilizing apparatus as claimed in claim 2, wherein: the bottom end of the conical can is provided with a discharge valve used for controlling the discharge rate and guiding the fertilizer to the conveying crawler belt, the conveying crawler belt which circularly conveys the fertilizer is driven by the first motor is arranged below the discharge valve, and the tail end of the conveying crawler belt is provided with a distributing valve used for determining the selective receiving pipe orifice of the fertilizer.
4. The unmanned-vessel-based water area fertilizing apparatus as claimed in claim 3, wherein: a left conveying pipe and a right conveying pipe are respectively arranged on the left side and the right side below the distributing valve, the upper end of the left conveying pipe is a wide pipe orifice used for receiving fertilizers falling from the distributing valve, and the lower end of the left conveying pipe is a round pipe inserted into an access cover interface of a spray pump in the tail spray pump system; the upper end of the right conveying pipe is provided with a wide pipe opening used for receiving the fertilizer falling from the distributing valve, and the lower end of the right conveying pipe is provided with a wide pipe opening used for guiding the fertilizer into the sprinkling device.
5. A fertilizing method based on the unmanned ship based water area fertilizing device of any one of claims 1-4, characterized in that: the method comprises the following steps:
step 1, loading fertilizers into a fertilizer storage tank on an unmanned ship, recording the total amount of initial fertilizers, and navigating to a fertilizing water area from a starting point;
step 2, the unmanned ship starts to patrol the working water area according to a preset route, the nitrogen and phosphorus concentrations of the fertilization water area are monitored through a water quality detector, and the fertilizer concentration data of each point are recorded in a main controller; in the inspection process, the unmanned ship shoots the whole state of the working water area through the fisheye camera and transmits the shot state to the main controller;
and step 3: the monitoring center determines whether the underwater soil plowing is needed according to the water depth or the crop condition in the data packet, if so, the main controller sends an instruction to the plowing harrow corresponding to the third motor to drive the winch to rotate so as to adjust the length of the harrow rope, so that the harrow head reaches the water bottom, then the main controller establishes a plowing route and drives the unmanned ship to automatically sail to drive the harrow head to complete the plowing of the underwater soil;
step 4, automatically optimizing a fertilization route and fertilization demand of each point of the water area according to the water temperature and the nitrogen and phosphorus concentration of the water area, and selecting a fertilization mode according to the characteristics of the carried fertilizer and the needed fertilization demand;
step 5, the unmanned ship starts automatic fertilization according to the fertilization route, the main controller determines the opening degree of the discharge valve according to fertilization demand of each point and according to the speed of the ship body and the fertilization demand, and the stirrer rotates all the time in the fertilization process to enable the fertilizer in the fertilizer storage tank to fall down uniformly; the main camera shoots relevant conditions of the fertilizing device and transmits the conditions to the main controller;
step 6, when the main controller controls the distributing valve to open to the left side, fertilizer is guided into the tail spraying pump system and enters from the access hole, and the fertilizer is sprayed out from a spraying pump water outlet pipe after being driven by a high-strength flowing water body of the spraying pump; when the main controller controls the distributing valve to open towards the right side, the fertilizer is guided into the sprinkling device, a rotary disc of the sprinkling device is driven by the second motor to rotate rapidly, and the stirring sheet is driven to knock the large-particle fertilizer and throw the large-particle fertilizer into a water area vigorously;
step 7, the main controller estimates the residual amount of the fertilizer according to the ship speed and the opening of the discharge valve, and when the fertilizer is insufficient, the main controller generates an alarm signal and transmits the residual amount of the fertilizer and the alarm information back to a monitoring center; in the step 5, the main camera transmits back a fertilizer remaining situation video;
and 8, automatically returning to the starting point after the unmanned ship finishes fertilizing.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109808839B (en) * | 2017-11-22 | 2020-07-17 | 中冶宝钢技术服务有限公司 | Loading method for ship |
| CN109302876A (en) * | 2018-11-29 | 2019-02-05 | 山东宇航航空科技有限公司 | A kind of plant protection operation unmanned boat |
| CN111602613A (en) * | 2020-05-25 | 2020-09-01 | 广州市诚一水产养殖有限公司 | Accurate fertilization method for pond culture |
| CN111990305B (en) * | 2020-07-20 | 2022-04-08 | 莆田市天然星农业开发有限公司 | Automatic fertilization ship is bred to razor clam |
| CN112362833B (en) * | 2020-10-28 | 2022-08-16 | 福建省吉龙德环保科技有限公司 | Continuous flow analysis system applied to unmanned ship |
| CN113335785A (en) * | 2021-03-30 | 2021-09-03 | 北京艂帆科技有限公司 | Microbial inoculum container, microbial inoculum box, unmanned spraying ship and ship body balance control method |
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| CN201769994U (en) * | 2010-07-26 | 2011-03-23 | 大连太平洋海宝食品有限公司 | Fertilizer splashing ship |
| CN205357013U (en) * | 2016-01-13 | 2016-07-06 | 重庆星溪海农业科技有限责任公司 | Agricultural machines of boat form |
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| CN205879596U (en) * | 2016-08-02 | 2017-01-11 | 河海大学常州校区 | Multi functional remote unmanned ship and control system thereof |
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| CN201769994U (en) * | 2010-07-26 | 2011-03-23 | 大连太平洋海宝食品有限公司 | Fertilizer splashing ship |
| CN205357013U (en) * | 2016-01-13 | 2016-07-06 | 重庆星溪海农业科技有限责任公司 | Agricultural machines of boat form |
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