CN108170164A - A kind of method based on unmanned plane automatic spraying fish material - Google Patents
A kind of method based on unmanned plane automatic spraying fish material Download PDFInfo
- Publication number
- CN108170164A CN108170164A CN201810007595.1A CN201810007595A CN108170164A CN 108170164 A CN108170164 A CN 108170164A CN 201810007595 A CN201810007595 A CN 201810007595A CN 108170164 A CN108170164 A CN 108170164A
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- Prior art keywords
- unmanned plane
- module
- fish material
- flight
- automatic spraying
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 55
- 239000000463 material Substances 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005507 spraying Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 235000021050 feed intake Nutrition 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 241000143060 Americamysis bahia Species 0.000 abstract description 3
- 235000013305 food Nutrition 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Zoology (AREA)
- Marine Sciences & Fisheries (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses a kind of methods based on unmanned plane automatic spraying fish material, it is related to unmanned air vehicle technique field, including unmanned plane and earth station, the unmanned plane includes offline mode module, fish material putting module, data reception module and height detection module, the earth station includes timesharing module, the automatic planning module of route and data communication module, method of this kind based on unmanned plane automatic spraying fish material, it can automatically be cooked up according to the shape in fish pond and position and launch the best route of fish material and dispensing place, and it voluntarily completes to launch according to the release time set, it greatly reduces and manually keeps an eye on and feed, facilitate the cultivation of fishes and shrimps.
Description
Technical field
The present invention relates to unmanned air vehicle technique fields, and in particular to a kind of method based on unmanned plane automatic spraying fish material.
Background technology：
The daily feed that feeds is very important work in fish culture, if fish can not obtain good feeding,
Fishes and shrimps can not just grow up, and general small-sized fish pond is all that several food throwing machines are fixedly installed on bank, and every certain time is just
Feed food, and if large-scale fish pond take this kind of method can make fish pond center fish cannot be sufficient food, it is clear that nothing
Method takes this kind of measure, it is therefore desirable to have it is a kind of based on unmanned plane carry out multiple spot feeding method, such as application No. is
CN201720243188.1 discloses a kind of aquatic products and cultivates unmanned plane automatically, including：Feed storage device, set on unmanned plane ontology
Bottom, the bottom of feed storage device is equipped with valve；For the timer at the opening moment of preset valves；For according to feed
The sensor that feed level control valve in storage device is closed；Flight for unmanned plane ontology to be controlled to fly controls system
System；The GPS navigation system positioned for the position coordinates to unmanned plane ontology；For determining flying height according to air pressure
Barometertic altimeter；For gathered data and carry out the cloud server of data analysis；For the analysis knot according to cloud server
Fruit generates and sends the controller of control signal；Electric power system.Such aquatic products cultivates unmanned plane automatically can realize self-timing
Quantitative fixed point launches feed, without human intervention, can save manpower and time, and feeds intake reliable, while can guarantee that feed is launched
Uniformity and property on time, realize that aquatic products cultivates operation automatically, but this kind of unmanned plane can not voluntarily cook up rational dispensing
Route and release position.
It is such as disclosed application No. is CN201710844040.8 and a kind of non-pinpoints the aquaculture feed jettison system that feeds, packet
Unmanned plane is included, further includes the processor connected in communication module and communication module, user terminal and at least one live unmanned plane mould
Block, the unmanned plane module include the Field Communicator connected on field controller and field controller, charging device, nobody
Machine and memory, the field controller, Field Communicator, charging device and memory are arranged on unmanned plane；This programme
Original fixed charging device is substituted using the method that unmanned plane carries charging device, is sent control signals in user terminal
After processor, processor sends control signals to the field controller on unmanned plane, and field controller reads pre- typing memory
In flight control data control unmanned plane flight, while charging device is controlled to feed intake downwards in flight course, but this kind of nothing
Man-machine system can not voluntarily plan feeding route and feeding point according to the shape in fish pond and position.
Invention content
The purpose of the present invention is to provide a kind of method based on unmanned plane automatic spraying fish material, to solve in the prior art
Caused the above-mentioned defects.
A kind of method based on unmanned plane automatic spraying fish material, including unmanned plane and earth station, the unmanned plane includes
Offline mode module, fish material putting module, data reception module and height detection module, the earth station include timesharing mould
The automatic planning module of block, route and data communication module, the height detection module is by detecting the height of unmanned plane and the water surface
Control the optimum height of the dispensing fish material of unmanned plane, according to the impression information control received launch fish material number and dispensing
Type, the offline mode module is for reading impression information, and when flight path in impression information and flight
Between carry out dispensing task, while the moment reads the data that height detection module transfer comes, then keep estimated in flight course
The best height that feeds intake carry out flight and feed intake, safe altitude can be first risen to after having performed and is then back to takeoff point, the fish
Material putting module is for launching fish material, and which includes timer and valve, the timer is connect with the valve, when reaching
Control valve is opened during the time of timing, and the data reception module is used for the mission bit stream that satellite receiver sends over, institute
The time can be set in advance unmanned plane automatic takeoff to be controlled to perform the task that feeds intake accordingly by stating timesharing module, and the route is advised automatically
Drawing module, above the location and shape in different fish ponds automatically generate best dispensing route according to the map, and are formed under record preservation
Come, the information for the task that performs is sent to nothing by the data communication module for the data exchange between earth station and unmanned plane
In man-machine.
Preferably, it is further included in the unmanned plane and controls system for the flight that unmanned plane is controlled to complete various aerial missions
System.
Preferably, the GPS navigation system for navigator fix is equipped in the unmanned plane.
Preferably, electric power system is equipped in the unmanned plane, is equipped with to store flight road in the offline mode module
The memory of line information and mission bit stream.
Preferably, electric power system is equipped in the unmanned plane, the electric power system includes accumulator and solar panel,
The accumulator is connect with solar panel.
Preferably, the flight control system include for measure unmanned plane during flying acceleration three axis accelerometer and
For coordinating the gyroscope of three axis accelerometer contract measurement error.
The advantage of the invention is that：Method of this kind based on unmanned plane automatic spraying fish material, can be according to the shape in fish pond
It is cooked up automatically with position and launches the best route of fish material and launch place, and voluntarily complete according to the release time set
It launches, greatly reduces and manually keep an eye on and feed, facilitate the cultivation of fishes and shrimps.
Description of the drawings
Fig. 1 is the structural schematic block diagram of the present invention.
Fig. 2 is the schematic diagram for launching route and release position in fish pond in the present invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, with reference to
Specific embodiment, the present invention is further explained.
As depicted in figs. 1 and 2, a kind of method based on unmanned plane automatic spraying fish material, including unmanned plane and earth station, institute
It states unmanned plane and includes offline mode module, fish material putting module, data reception module and height detection module, the earth station
Include the automatic planning module of timesharing module, route and data communication module, the height detection module is by detecting unmanned plane
The optimum height of the dispensing fish material of unmanned plane is controlled with the height of the water surface, fish material is launched according to the impression information control received
Number and the type launched, the offline mode module is for reading impression information, and the flight in impression information
Route and flight time carry out dispensing task, while the moment reads the number that height detection module transfer comes in flight course
According to, then the estimated best height that feeds intake is kept to carry out flight and is fed intake, can first rise to safe altitude after having performed is then back to
Takeoff point, the fish material putting module is for launching fish material, which includes timer and valve, the timer and the valve
Door connection, when the time for reaching timing, control valve is opened, and the data reception module sends over for satellite receiver
Mission bit stream, the timesharing module can be set in advance the time and feed intake task accordingly unmanned plane automatic takeoff to be controlled to perform,
Above the location and shape in different fish ponds automatically generate best dispensing route, and shape to the automatic planning module of route according to the map
Into preserving, the data communication module will perform task for the data exchange between earth station and unmanned plane
Information is sent in unmanned plane.
It is worth noting that, the flight control for unmanned plane to be controlled to complete various aerial missions is further included in the unmanned plane
System processed.
In the present embodiment, the GPS navigation system for navigator fix is equipped in the unmanned plane.
In the present embodiment, electric power system is equipped in the unmanned plane, is equipped with to store in the offline mode module
The memory of flight path information and mission bit stream.
In the present embodiment, electric power system is equipped in the unmanned plane, the electric power system includes accumulator and solar energy
Solar panel, the accumulator are connect with solar panel.
In addition, the flight control system includes the three axis accelerometer and use for measuring unmanned plane during flying acceleration
In the gyroscope of cooperation three axis accelerometer contract measurement error.
Based on above-mentioned, method of this kind based on unmanned plane automatic spraying fish material, the automatic planning module of route is according to fish
The route and release position for launching fish material are cooked up in the shape on the pool and position automatically, according to the time of setting, are sent out on time to unmanned plane
Send the task of dispensing, unmanned plane is received to control after information and be taken off, and the place of launching specified is reached by navigation and carries out fish material
Launch, in launch process the height detection module moment detection unmanned plane and the water surface height after the height specified is reached again into
Row is launched, and safe altitude is risen to after the completion of launching and continues flight to next release position, each fish pond is housed in memory
Flight path and release position mission bit stream, the transmission of impression information can be facilitated, without launching transmission cartographic information every time,
It is arranged according to the period of timesharing module, unmanned plane is made to carry out the dispensing of fish material according to the specified time, forms specific pattern.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, all things considered are all merely illustrative, not the only.Institute
Have within the scope of the present invention or be included in the invention in the change being equal in the scope of the present invention.
Claims (6)
1. a kind of method based on unmanned plane automatic spraying fish material, including unmanned plane and earth station, the unmanned plane includes flying
Row mode module, fish material putting module, data reception module and height detection module, the earth station include timesharing module,
The automatic planning module of route and data communication module, which is characterized in that the height detection module is by detecting unmanned plane and water
The height in face controls the optimum height of the dispensing fish material of unmanned plane, and the more of fish material are launched according to the impression information control received
Less and the type of dispensing, the offline mode module are used to read impression information, and the flight path in impression information
Dispensing task, while the data that moment reading height detection module transfer comes in flight course are carried out with the flight time, then
The estimated best height that feeds intake is kept to carry out flight to feed intake, safe altitude can be first risen to after having performed and is then back to and take off
Point, the fish material putting module is for launching fish material, and which includes timer and valve, the timer connects with the valve
It connects, when the time for reaching timing, control valve is opened, and the data reception module is appointed for what satellite receiver sended over
Business information, the time can be set in advance unmanned plane automatic takeoff to be controlled to perform the task that feeds intake accordingly in the timesharing module, described
Above the location and shape in different fish ponds automatically generate best dispensing route, and form note to the automatic planning module of route according to the map
Record preserves, and the data communication module is for the data exchange between earth station and unmanned plane, by the information for the task that performs
It is sent in unmanned plane.
2. a kind of method based on unmanned plane automatic spraying fish material according to claim 1, it is characterised in that：It is described nobody
The flight control system for unmanned plane to be controlled to complete various aerial missions is further included in machine.
3. a kind of method based on unmanned plane automatic spraying fish material according to claim 1, it is characterised in that：It is described nobody
The GPS navigation system for navigator fix is equipped in machine.
4. a kind of method based on unmanned plane automatic spraying fish material according to claim 1, it is characterised in that：The flight
The memory for storing flight path information and mission bit stream is equipped in mode module.
5. a kind of method based on unmanned plane automatic spraying fish material according to claim 2, it is characterised in that：It is described nobody
Electric power system is equipped in machine, the electric power system includes accumulator and solar panel, the accumulator and solar cell
Plate connects.
6. a kind of method based on unmanned plane automatic spraying fish material according to claim 1, it is characterised in that：The flight
Control system is included for measuring the three axis accelerometer of unmanned plane during flying acceleration and for three axis accelerometer to be coordinated to contract
The gyroscope of small measurement error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007595.1A CN108170164A (en) | 2018-01-04 | 2018-01-04 | A kind of method based on unmanned plane automatic spraying fish material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007595.1A CN108170164A (en) | 2018-01-04 | 2018-01-04 | A kind of method based on unmanned plane automatic spraying fish material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108170164A true CN108170164A (en) | 2018-06-15 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810007595.1A Pending CN108170164A (en) | 2018-01-04 | 2018-01-04 | A kind of method based on unmanned plane automatic spraying fish material |
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| CN (1) | CN108170164A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240336A (en) * | 2018-10-31 | 2019-01-18 | 南宁学院 | A kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation |
| CN109566440A (en) * | 2018-10-31 | 2019-04-05 | 南宁学院 | A kind of large-scale cultivation feeding control method based on unmanned vehicle |
| WO2021016957A1 (en) * | 2019-07-31 | 2021-02-04 | 唐山哈船科技有限公司 | Feeding system and feeding method based on unmanned aerial vehicle |
| CN113598109A (en) * | 2021-07-13 | 2021-11-05 | 广东工业大学 | Control method and system of automatic bait casting device of unmanned aerial vehicle |
| WO2023164893A1 (en) * | 2022-03-03 | 2023-09-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, and control method of unmanned aerial vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240336A (en) * | 2018-10-31 | 2019-01-18 | 南宁学院 | A kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation |
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| WO2021016957A1 (en) * | 2019-07-31 | 2021-02-04 | 唐山哈船科技有限公司 | Feeding system and feeding method based on unmanned aerial vehicle |
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Application publication date: 20180615 |
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