CN109156408A - A kind of fish pond robot that can intelligently herd fishing - Google Patents
A kind of fish pond robot that can intelligently herd fishing Download PDFInfo
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- CN109156408A CN109156408A CN201811111187.7A CN201811111187A CN109156408A CN 109156408 A CN109156408 A CN 109156408A CN 201811111187 A CN201811111187 A CN 201811111187A CN 109156408 A CN109156408 A CN 109156408A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 122
- 244000144980 herd Species 0.000 title claims abstract description 20
- 238000007667 floating Methods 0.000 claims abstract description 39
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 13
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000005674 electromagnetic induction Effects 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000009423 ventilation Methods 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 40
- 238000005086 pumping Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010521 absorption reaction Methods 0.000 abstract description 5
- 230000002045 lasting effect Effects 0.000 abstract description 5
- 238000009834 vaporization Methods 0.000 abstract description 4
- 230000008016 vaporization Effects 0.000 abstract description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 abstract description 3
- 239000001301 oxygen Substances 0.000 abstract description 3
- 229910052760 oxygen Inorganic materials 0.000 abstract description 3
- 230000008676 import Effects 0.000 description 8
- 238000001816 cooling Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005684 electric field Effects 0.000 description 3
- 238000001704 evaporation Methods 0.000 description 3
- 230000008020 evaporation Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000012528 membrane Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 240000002836 Ipomoea tricolor Species 0.000 description 2
- 230000006837 decompression Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000004078 waterproofing Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000006213 oxygenation reaction Methods 0.000 description 1
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- 239000013535 sea water Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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- 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
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
-
- 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
-
- 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
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/042—Introducing gases into the water, e.g. aerators, air pumps
-
- 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
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/06—Arrangements for heating or lighting in, or attached to, receptacles for live fish
- A01K63/065—Heating or cooling 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
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/60—Fishing; Aquaculture; Aquafarming
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Zoology (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
A kind of fish pond robot that can intelligently herd fishing, belongs to Agricultural Intelligent System technical field.The robot can realize that intelligence herds fishing, by the shoal of fish direction of motion in power grid control fish pond, can be achieved oxygen supply, it is automatic launch fish food, automatically cooled down to fish pond, fishpond is cruised the multiple functions such as monitoring.The robot is made of solar panel floating box and relief chamber, both ends are equipped with appendix and exhaust pipe, relief chamber is in low-pressure state by the water heat absorption vaporization in relief chamber under the lasting pumping of air pump, to reduce fish pond water temperature, lithium battery is housed inside floating box, rudder and GPS positioning chip, the position of floating box lower left is equipped with pinhole cameras, in Observable fish pond the case where fish, it connects three high-voltage electrical discharges heads by electric wire in front of solar panel and is used to form high-voltage fence and the direction of motion of the shoal of fish manage and achieve the effect that intelligence herds fishing, fish pond robot architecture is simple, it is cheap, using full-automatic intelligent operation, it is operated without personnel, it is convenient and practical.
Description
Technical field
The present invention relates to the fish pond robots that one kind can intelligently herd fishing, belong to Agricultural Intelligent System technical field.
Background technique
Currently, cooling down in pond monitors and raise this aspect, existing raising cooling and monitor mode require mostly
It manually arrives scene in person to be operated, this mode all largely consumes man power and material；It feeds using artificial fixed in traditional fish pond
The mode that point timing is fed, and the mode that the supervision in fish pond then generallys use installation camera does not simply fail to the situation in fish pond
Carrying out thoroughly monitoring, it is even more impossible to the living conditions of the number of fish school and the shoal of fish in real-time monitoring fish pond, and in order to prevent under
Shoal of fish migration out of fish pond when heavy rain or generation flood, the high pressure electric forming high-voltage fence released by robot,
Body turns to anode after the DC electric field Mesichthyes of some strength is stimulated, and the shoal of fish is stagnated in AC field,
The performance situation of transversal current direction, it is using the pulse electricity of alternating current or certain frequency in specific model that power grid, which blocks the principle of fish,
It is that fish generate avoidance effect that electric field is formed in the water body enclosed, achievees the purpose that stop its flight and the method whereby for fish
Class will not generate any harm, be also adjusted accordingly in example according to the different water quality in fish pond and different salinity electric currents
As: salinity is that 16.28% (the i.e. littoral salty salinity for talking water intersection) to salinity is 34.34% (being equivalent to ocean, teaching area outside
Salinity) in the range of, seawater resistance variation is within the scope of 8.4 1 9.34 ohm, and the resistance variation of fresh water is in 5,000 1 1000 Europe
Within the scope of nurse;And the average value of fish body resistance variation is 200 1 400 ohm；How artificial operation is reduced, and effectively to fish
The pool carries out regulation and administration, and herd fishing to prevent shoal of fish flight to the shoal of fish is the aspect for being worth research, and at present nobody this
One concept gos deep into modern development, and robot becomes the assistant of people, and in human social development, robot will be played increasingly
Big effect, such as operation function；Perceptional function；Walking function；Various movements can also be completed, it is root there are one feature
It can automatically work according to the programming of people, here an outstanding feature, be exactly that it can be programmed, change its work, frequency, work
The object of work and some requirements of work.And a kind of fish for herd to the shoal of fish in fish pond fishing using power grid is then proposed here
Pool robot, can monitor fish pond situation, remote control fish school location and route automatically, keep an eye on operation without personnel, be not necessarily to
Battery is replaced, greatly reduces manpower and material resources, and small in size, it is easy to use, meet the rule of the agricultural development of current era.
Summary of the invention
To solve the deficiencies in the prior art, the technical problem to be solved by the present invention is to can intelligently herd fishing by designing one kind
Fish pond robot, belong to Agricultural Intelligent System technical field.The robot is by relief chamber (2), solar panel (6), air pump
(15), pinhole cameras (5), solenoid valve, rudder for ship (11), temperature sensor (16), pressure detector (4) are constituted；
Single-chip microcontroller (8) provides the secondary coil that low voltage AC pulse train signal transfers signals to high-voltage electromagnetic induction coil (18),
The secondary coil of high-voltage electromagnetic induction coil (18) is connect with the advanced coil-end of high-voltage electromagnetic induction coil (18) increases voltage,
It generates negative high voltage pulse signal transmission to give high-voltage electrical discharges head (19), three high-voltage electrical discharges heads (19) are by electric wire and solar energy
Solar panel connection, high-voltage electrical discharges head (19) release negative high voltage electricity, form the shoal of fish in power grid interception fish pond.
It is further: Intelligentized regulating and controlling to be carried out to power grid according to the signal of single-chip microcontroller output, single-chip microcontroller transmits a signal to
The equipment such as radio are convenient for manual intelligent management, and shoal of fish route is managed at a distance.
Further: the center of robot has one big relief chamber (2) first is that buoyancy can be provided for device, second is that subtracting
The water in chamber (2) is pressed to be evacuated because of air pump (15), water absorption heat under low pressure；There is an air inlet pipe in front of relief chamber (2),
The air-breathing water suction and sealing of one solenoid valve control relief chamber (2) are installed in the middle part of air inlet pipe；Air inlet pipe front end is equipped with a drift
Floating float (1) import, makes air inlet 2/3 expose the surface, relief chamber (2) rear has an exhaust pipe by the water in relief chamber (2)
It is discharged with vapor, exhaust pipe upper and lower ends have a solenoid valve, hypotony of the upper end solenoid valve in relief chamber (2) respectively
When by discharge vapor suitable for reading, lower end solenoid valve is opened oxygen and is discharged by lower end when pressure not low specified value, gives fish pond
Oxygenation；Solar panel (6) is installed above exhaust pipe and provides electric power for device, is equipped with below solar panel (6)
One hollow floating box, floating box lower left are equipped with pinhole cameras (5), the sub-marine situations in Observable fish pond；The installation of floating box middle and lower part
There are rudder for ship (11) to be used to the floating direction of control device, and bottom righthand side is equipped with central control circuit plate and GPS control in floating box
The position of floating box；Three high-voltage electrical discharges heads (19) are connected by electric wire in front of solar panel (6) and are used to form high-voltage electricity
Net carries out control to the direction of motion of the shoal of fish and achievees the effect that intelligence herds fishing, and fish pond robot architecture is simple, using full-automatic
Change intelligent operation, is operated without personnel, it is convenient and practical.
The technical solution adopted by the present invention is that: one kind can intelligently herd the fish pond robot of fishing, including by solar battery
Plate (6) floating box and relief chamber (2) are constituted, and both ends are equipped with appendix and exhaust pipe, depressurize under the lasting pumping of air pump (15)
Chamber (2) is in low-pressure state by the water heat absorption vaporization in relief chamber (2), so that fish pond water temperature is reduced, equipped with lithium electricity inside floating box
The position of pond, rudder and GPS positioning chip, floating box lower left is equipped with pinhole cameras (5), in Observable fish pond the case where fish, too
Three high-voltage electrical discharges heads (19) are connected by electric wire in front of positive energy solar panel (6) and are used to form movement of the high-voltage fence to the shoal of fish
Direction carries out control and achievees the effect that intelligence herds fishing, is combined using single-chip microcontroller and long-range control, realizes full-automatic intelligence behaviour
Make.
Further, the robot appearance is similar with flying saucer, too by a semicircular relief chamber (2) and disc-shape
Positive energy solar panel (6) and floating box are constituted, and mobile floating box lower left controls direction equipped with rudder for ship (11) for convenience.
Further, relief chamber (2) is made of opaque rigidity water-proofing material, and relief chamber (2) is provided with pressure sensor,
Relief chamber (2) outer wall is equipped with reflective membrane, and relief chamber (2) temperature caused by reducing because of sunlight irradiation increases, rear and front end installation
There are appendix and exhaust pipe, air pump (15) pumping being placed on exhaust pipe makes the water and sky of the water surface by floating float (1) import
Gas is pumped into together in relief chamber (2), and under the lasting pumping of air pump (15), relief chamber (2) is in low-pressure state, relief chamber (2)
Interior water, which absorbs heat, to be vaporized, and heat of evaporation is absorbed, to reduce fish pond water temperature.
Further, it is used in relief chamber (2) monitor the pressure change in decompression chamber equipped with pressure detector (4), when subtracting
When pressure chamber (2) starts to be filled with air, inlet solenoid valve (14) is opened, and air inlet pipe front end is equipped with floating float (1) import, is made
Air inlet 2/3 exposes the surface, and air pump (15) by the gentle suction relief chamber (2) of water, close by subsequent upper outlet solenoid valve (13), under
Outlet solenoid valve (13) is opened, and air pump (15) extraction air is discharged into fish pond from the lower outlet of exhaust pipe, is oxygenated for fish pond, when one
After the section time, relief chamber (2) pressure reduction is interior to be full of vapor, and lower outlet solenoid valve (13) is closed, upper outlet solenoid valve (13)
It opens, vapor will be discharged by the upward exhaust outlet of exhaust pipe for air pump (15), inlet solenoid valve (14), outlet solenoid valve
(13), pressure detector (4) is all controlled by single-chip microcontroller (8).
Further, single-chip microcontroller (8) connection robot control module (9), robot control module (9) connect and control again
A drive module (10), drive module (10) control fish food device for administering orally (7), give fish pond feeding.
Further, floating box lower end is equipped with temperature sensor (16), temperature sensor (16) connect with single-chip microcontroller (8) by
Single-chip microcontroller (8) controls the operation of temperature sensor (16), and temperature sensor (16) is used to monitor the cooling function of water temperature control device
Can, when water temperature is lower than the growth temperature of the shoal of fish in fish pond, air pump (15) stops pumping steam in a low voltage state, stops drop
Temperature.
Further: the moving range of robot is controlled by single-chip microcontroller (8), and GPS positioning chip is filled inside floating box, is had
Single-chip microcontroller (8) can be controlled floating in the range of robot monitors needed for the route in fish pond and fish pond by GPS positioning core 2
It is dynamic, the position of robot can be specified by the GPS positioning chip, when if desired recycling, can directly pass through the position of positioning
Robot is found, can freely be moved, single-chip microcontroller (8) is transmitted a signal to the equipment such as radio convenient for people by single-chip microcontroller (8)
Work intelligent management can artificially be remotely controlled the direction of motion of robot.
Further: the position of floating box lower left is equipped with pinhole cameras (5), and pinhole cameras (5) can observe machine
The actual environment of scene and fish pond in people's traveling process, the direction of motion etc. of the shoal of fish are analyzed by single-chip microcontroller (8) and are imaged
Collected data of head institute, and collected data are sent to staff can allow Robot Selection best route to advance pair
Fish pond preferably monitors.
It is further: it is a layer solar cell plate (6) around relief chamber (2), the solar battery around relief chamber (2)
Plate (6) is located under the 0.5-2cm of underwater, while internal equipped with lithium battery, can meet the use of robot；Solar panel
(6) electricity can be generated by solar energy again and is stored in lithium battery, operates replacement battery without personnel.
A kind of fish pond robot that can intelligently herd fishing, control method include the following steps:
After step 1. starts robot, robot starts to move, and absorbs water and moves ahead by air pump (15) air-breathing, when moving single-chip microcontroller
(8) range that can be passed through by GPS positioning chip analysis robot makes robot not to control robot movable range
It can repeat to spin within the scope of one.
In step 2. moving process, temperature sensor (16) monitors the water temperature in fish pond, and pinhole cameras (5) is observed,
By both sides data, single-chip microcontroller (8) is analyzed it, and will need the region and other high-temperature area areas of cooling and feeding
The region for dividing locking to need to cool down.
Behind the region that step 3. locking needs to cool down, single-chip microcontroller (8) issues instruction, and robot is made to be moved to the high temperature water surface,
Relief chamber (2) outer wall in robot center is equipped with reflective membrane, and relief chamber (2) temperature caused by reducing because of sunlight irradiation increases,
Rear and front end is equipped with appendix and exhaust pipe, and air pump (15) pumping being placed on exhaust pipe is made by floating float (1) import
The water and air of the water surface is pumped into together in relief chamber (2), and when relief chamber (2) starts to be filled with air, inlet solenoid valve (14) is opened
Air pump (15), the gentle suction relief chamber (2) of water is interior, and subsequent upper outlet solenoid valve (13) is closed, and lower outlet solenoid valve (13) is opened,
Air pump (15) extraction air is discharged into fish pond from the lower outlet of exhaust pipe, is oxygenated for fish pond, after a period of time, relief chamber (2)
Pressure reduction, interior to be full of vapor, lower outlet solenoid valve (13) is closed, and upper outlet solenoid valve (13) is opened, and air pump (15) will
Vapor is discharged by the upward exhaust outlet of exhaust pipe, under the lasting pumping of air pump (15), relief chamber (2) is in low pressure shape
State, the water in relief chamber (2) absorb heat vaporization, heat of evaporation are absorbed, to reduce fish pond water temperature.
Step 4. issues signal to single-chip microcontroller (8) by wireless device, and high-voltage pulse is put from high-voltage electrical discharges head (19)
Out, electric field is formed in fish pond, achievees the effect that herd fishing to the shoal of fish in fish pond, the trend of the shoal of fish is remotely controlled at a distance
And management, the shoal of fish, which runs away, when preventing because of disasters such as heavy rain or floods causes economic loss, and the power grid of formation intercepts in fish pond
The shoal of fish can effectively prevent shoal of fish migration.
The staff in step 5. fish pond can also pinpoint to be fed for needing the region of feeding to be timed, and whole process is accomplished
Without manual hand manipulation, whole process passes through handset device real-time reception and regulates and controls the whereabouts of robot, monitors the state of fish, right
It makes adjustment in the case where appearance in fish pond.
The working principle of the invention is: there is one big relief chamber (2) in robot center first is that buoyancy can be provided, second is that
Water in relief chamber (2) is because air pump (15) are evacuated, and water absorption heat reduces water temperature under low pressure；Have in front of relief chamber (2)
A piece air inlet pipe, air inlet pipe middle part are equipped with the air-breathing water suction of a solenoid valve control relief chamber (2)；Around relief chamber (2)
Solar panel (6) is located under the 0.5-2cm of underwater, carries out automatic heat radiation to solar panels by the water in fish pond, and keep
Suitable temperature improves solar panels transfer efficiency；Air inlet pipe front end is equipped with floating float (1) import, makes air inlet 2/3
It exposes the surface, relief chamber (2) rear has an exhaust pipe that the water and steam in relief chamber (2) is discharged, two above and below exhaust pipe
There is a solenoid valve at end respectively, by discharge vapor suitable for reading when hypotony of the upper end solenoid valve in relief chamber (2), works as pressure
Not when low specified value, lower end solenoid valve is opened oxygen and is discharged by lower end, is oxygenated to fish pond；The sun is installed above exhaust pipe
Energy solar panel (6) provides electric power for device, and a hollow floating box, floating box lower left dress are equipped with below solar panel (6)
There are pinhole cameras (5), the sub-marine situations in Observable fish pond；Floating box middle and lower part is equipped with the drift that rudder for ship (11) are used to control device
Floating direction, and bottom righthand side is equipped with central control circuit plate in floating box, can control rudder by GPS and management program, realizes
Robot motion's position control and positioning are found, and are issued signal to single-chip microcontroller (8) by radio device, are provided single-chip microcontroller low
Straightening signal pulse stream transfers signals to the secondary coil of high-voltage electromagnetic induction coil (18), high-voltage electromagnetic induction coil (18)
Secondary coil connect with the advanced coil-end of high-voltage electromagnetic induction coil (18) increase voltage, generate negative high voltage pulse signal
It is transferred to high-voltage electrical discharges head (19), three high-voltage electrical discharges heads (19) are connect by electric wire with solar panel, and high-voltage electricity is put
Dateline (19) releases negative high voltage electricity, forms the shoal of fish in power grid interception fish pond.Whole robot is kept an eye on without personnel, can be free
It is moved；The dispensing of fish food is realized by management program, when cruising to certain position, is opened fish and is eaten device for administering orally
(7) valve on launches fish food, after dispensing is a certain amount of, closes valve.
The beneficial effects of the present invention are: the present invention uses intelligent automation technology, make robot that can independently carry out fish pond prison
Cooling and feeding are surveyed, by the co-ordination of each section, three high-voltage electricity emitting heads that device end pulls form power grid, to fish
Fish in the pool is driven, and prevents the fish in fish pond from moving about outward, and can be carried out charging by the sun, keeps an eye on behaviour without personnel
Make, no replacement is required battery, manpower and material resources is greatly reduced, and due to being equipped with GPS positioning chip, so there is no concern that robot
It loses, when needing to recycle, can be found by positioning；The invention small volume, it is easy to use, meet the development of current era
Rule.
Detailed description of the invention
Fig. 1 is overall structure figure of the invention；
Fig. 2 is circuit logic diagram of the invention；
Fig. 3 is solar energy circuit logic diagram of the invention；
Fig. 4 is high-voltage electrical discharges head distribution schematic diagram of the present invention.
Float respectively is floated marked as 1- in figure；2- relief chamber；3- snorkel；4- pressure detector；5- pinhole cameras；6-
Solar panel；7- fish eats device for administering orally；8- single-chip microcontroller；9- robot control module；10- drive module；11- rudder for ship；12- electricity
Road control centre；13-1- upper outlet solenoid valve；Outlet solenoid valve under 13-2-；14- inlet solenoid valve；15- air pump；16- temperature
Sensor；17- electromagnetism rudder；18- high-voltage electromagnetic induction coil；19- high-voltage electrical discharges head.
Specific embodiment:
In the following with reference to the drawings and specific embodiments, the invention will be further described:
As shown, a kind of fish pond robot that can intelligently herd fishing, including floating float (1) relief chamber (2), snorkel (3),
Pressure detector (4), pinhole cameras (5), solar panel (6), fish eat device for administering orally (7), single-chip microcontroller (8), robot control
Molding block (9), drive module (10), rudder for ship (11), circuit control center (12), outlet solenoid valve (13), inlet solenoid valve
(14), air pump (15), temperature sensor (16), electromagnetism rudder (17), high-voltage electromagnetic induction coil (18), high-voltage electrical discharges head
(19)；High-voltage electromagnetic induction coil (18) is connect with single-chip microcontroller (8), and single-chip microcontroller (8) makes high-voltage electrical discharges head (19) to discharge, and is formed
Power grid herd fishing to the shoal of fish, and carries out data analysis to the collected information of each information collecting device institute, according to being analyzed
As a result, to robot corresponding portion issue instruction, make robot start carry out corresponding operation, the fish pond robot
Using full-automatic intelligent operation, operated without personnel, it is convenient and practical.
The robot appearance is similar with flying saucer, by a semicircular relief chamber (2) and solar panel (6) and floating box
It constitutes, mobile floating box lower left is equipped with rudder for ship (11) to control direction for convenience.
Relief chamber (2) is made of opaque rigidity water-proofing material, and relief chamber (2) is provided with pressure sensor, relief chamber (2)
Outer wall be equipped with reflective membrane, reduce because sunlight irradiation caused by relief chamber (2) temperature increase, rear and front end be equipped with appendix and
Exhaust pipe, air pump (15) pumping being placed on exhaust pipe are pumped into the water and air of the water surface together by floating float (1) import
In relief chamber (2), under the lasting pumping of air pump (15), relief chamber (2) is in low-pressure state, the water heat absorption in relief chamber (2)
Vaporization absorbs heat of evaporation, to reduce fish pond water temperature.
It is used to monitor the pressure change in decompression chamber equipped with pressure detector (4) in relief chamber (2), when relief chamber (2) is opened
When beginning is filled with air, inlet solenoid valve (14) is opened, and air inlet pipe front end is equipped with floating float (1) import, makes air inlet 2/3
It exposing the surface, air pump (15) is interior by the gentle suction relief chamber (2) of water, meanwhile, floating float (1) import can generate a negative pressure,
Whole device is pulled to move forward, mobile direction to electromagnetism rudder (17) by being powered, according to different to the right and left
Electromagnetism carries out attracting to reach changing nyctitropic purpose, subsequent upper outlet solenoid valve (13) is closed, and lower outlet solenoid valve (13) is beaten
It opens, air pump (15) extraction air is discharged into fish pond from the lower outlet of exhaust pipe, it is oxygenated for fish pond, after a period of time, relief chamber
(2) pressure reduction, interior to be full of vapor, lower outlet solenoid valve (13) is closed, and upper outlet solenoid valve (13) is opened, and air pump (15) is just
Vapor can be discharged by the upward exhaust outlet of exhaust pipe, inlet solenoid valve (14), outlet solenoid valve (13), pressure detector
(4) it is all controlled by single-chip microcontroller (8).
Single-chip microcontroller (8) connects robot control module (9), and robot control module (9) connects again and controls a drive
Dynamic model block (10), drive module (10) control fish food device for administering orally (7), give fish pond feeding.
Robot moving range is controlled by single-chip microcontroller (8), and GPS positioning chip is filled inside floating box, has single-chip microcontroller (8) can
It floats in the range of monitoring needed for the route in fish pond and fish pond by GPS positioning chip controls robot and by being somebody's turn to do
GPS positioning chip can specify the position of robot, when if desired recycling, directly can find machine by the position positioned
People can freely be moved so robot is kept an eye on without personnel.
Floating box lower end is equipped with temperature sensor (16), and temperature sensor (16) is connect with single-chip microcontroller (8) by single-chip microcontroller (8)
The operation of temperature sensor (16) is controlled, temperature sensor (16) is used to monitor the cooling function of water temperature control device, works as water temperature
Lower than in fish pond when the growth temperature of the shoal of fish, air pump (15) stops pumping steam in a low voltage state, stops cooling.
The position of floating box lower left is equipped with pinhole cameras (5), and pinhole cameras (5) can observe robot traveling process
In scene and fish pond actual environment, the direction of motion etc. of the shoal of fish, by single-chip microcontroller (8) analyze camera collected
Data, and collected data are sent to staff, Robot Selection best route can be allowed to advance better to fish pond
Monitoring.
It is a layer solar cell plate (6) around relief chamber (2), while inside is equipped with lithium battery, lithium battery capacity is big,
It is small in size, the use of robot can be met；Solar panel (6) can be generated electricity by solar energy again and be stored in lithium battery
In, replacement battery is operated without personnel.
Single-chip microcontroller (8) passes through the image data that acquires to pinhole cameras (5), the pressure data of pressure sensor, temperature
The temperature data of sensor (16) and the orientation range of GPS positioning chip are analyzed, and make machine to issue instruction appropriate
People makes corresponding operation.
Relief chamber (2) periphery surface is a layer solar cell plate (6), while internal equipped with lithium battery, lithium battery
Capacity is big, small in size, can meet the use of robot；Solar panel (6) can be generated electricity again and be stored by solar energy
In lithium battery, replacement battery is operated without personnel.
Single-chip microcontroller (8) passes through the image data acquired to pinhole cameras (5), the infrared line number of infrared detector acquisition
Accordingly and the orientation range of GPS positioning chip is analyzed, and so that robot is made corresponding operation to issue instruction appropriate.
By issuing signal to single-chip microcontroller (8), so that single-chip microcontroller (8) is provided low voltage AC pulse train signal and transfer signals to height
The secondary coil of piezoelectricity magnetic induction coil (18), the secondary coil and high-voltage electromagnetic induction coil of high-voltage electromagnetic induction coil (18)
(18) advanced coil-end connection increases voltage, generates negative high voltage pulse signal transmission and gives high-voltage electrical discharges head (19), and three
High-voltage electrical discharges head (19) is connect by high-tension bus-bar with solar panel, and high-voltage electrical discharges head (19) releases negative high voltage electricity,
Form the shoal of fish in power grid interception fish pond.
As shown in Figures 2 and 3, solar panel (6) provides 6V voltage in figure.LT1073 is detected via resistance R6 and is charged
Electric current maintains 16 milliamperes of charging current in battery；There is low-voltage analyzer in LT1073, in the output electricity of solar panels
When pressing near 4V, LT1073 will be switched off charging circuit；Solar panel (6) connects with lithium-cell plate, provides for entire circuit
Electric energy；XTAL1, XTAL2, the circuit to connect are to play seismoelectric road necessary to single-chip microcontroller (8) work；What RST connected is single-chip microcontroller
(8) it switchs, the switch by the entire circuit of key control can be passed through；What is connected with TXD, RXD is GPS positioning system, obtains robot
Location information information is transmitted to single-chip microcontroller (8) by serial communication again；What is connected with P0.0 is air pump (15), passes through single-chip microcontroller
(8) whether controlling its work；What is be connected with P0.5 is high-voltage electromagnetic induction coil (18), high-voltage electromagnetic induction coil (18) again with
Three high-voltage electrical discharges head (19) connections are for releasing high pressure electric forming high-voltage fence；What is connected with P1.4 is pinhole cameras
(5), it is mounted on the front of trunk, the actual ambient conditions of robot is observed by image procossing；What is connected with P1.6 is pressure
Force detector (4), whole process pass through the pressure change in pressure detector (4) detection relief chamber (2)；What is connected with P1.7 is machine
People's control module (9) controls the activity of entire robot；With P2.0, P2.1, P2.2, what P2.3, P2.4 connected is
NRF24L01 radio receiving transmitting module.Circuit explanation: the fish pond robot will be stored electronically in lithium battery by solar energy power accumulating,
For the power supply of entire robot.Pinhole cameras (5) are housed in front of the trunk of robot, pass through the actual ring in fish pond known to image
Border situation.Solar panel is connect with three high-voltage electrical discharges heads (19) forms high-voltage fence, pressure for launching high pressure
The pressure transmitting terminal of sensor issues signal, then by analyzing received information, it is known that the pressure change in relief chamber (2)；Temperature
Sensor (16) also real-time detection fish pond water temperature is spent, is sent a signal to single-chip microcontroller (8), signal integration is transmitted to by single-chip microcontroller (8)
The reception devices such as mobile phone, are manually monitored fish pond；Then robot control module (9), control module control single-chip microcontroller (8)
Four drive modules (10), control the action of robot.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to structure of the invention
Think and protection scope is defined, without departing from the inventive concept of the premise, ordinary engineering and technical personnel is to this in this field
The various changes and improvements that the technical solution of invention is made, should all be within protection scope of the present invention.
Claims (4)
1. the fish pond robot that one kind can intelligently herd fishing, it is characterised in that: float float including 1-；2- relief chamber；3- ventilation
Pipe；4- pressure detector；5- pinhole cameras；6- solar panel；7- fish eats device for administering orally；8- single-chip microcontroller；The control of 9- robot
Molding block；10- drive module；11- rudder for ship；12- circuit control center；13- outlet solenoid valve；14- inlet solenoid valve；15- gas
Pump；16- temperature sensor；17- electromagnetism rudder；18- high-voltage electromagnetic induction coil；19- high-voltage electrical discharges head；
Single-chip microcontroller (8) provides the secondary coil that low voltage AC pulse train signal transfers signals to high-voltage electromagnetic induction coil (18),
The secondary coil of high-voltage electromagnetic induction coil (18) is connect with the advanced coil-end of high-voltage electromagnetic induction coil (18) increases voltage,
It generates negative high voltage pulse signal transmission to give high-voltage electrical discharges head (19), three high-voltage electrical discharges heads (19) are by electric wire and the sun
Energy solar panel connection, high-voltage electrical discharges head (19) release negative high voltage electricity, form the shoal of fish in power grid interception fish pond；
Intelligentized regulating and controlling is carried out to power grid according to the signal of single-chip microcontroller (8) output, single-chip microcontroller (8) transmits a signal to radio etc.
Equipment is convenient for manual intelligent management, and shoal of fish route is managed at a distance.
2. the fish pond robot that one kind according to claim 1 can intelligently herd fishing, it is characterised in that: the movement of robot
Range is controlled by single-chip microcontroller (8), and GPS positioning chip is filled inside floating box, has single-chip microcontroller (8) that can control by GPS positioning core 2
Robot floats in the range of monitoring needed for the route in fish pond and fish pond, can specify machine by the GPS positioning chip
The position of people when if desired recycling, directly can find robot by the position positioned, can freely be moved, monolithic
Single-chip microcontroller (8) is transmitted a signal to the equipment such as radio and is convenient for manual intelligent management by machine (8), can be artificially to the fortune of robot
Dynamic direction is remotely controlled.
3. the fish pond robot that one kind according to claim 1 can intelligently herd fishing, it is characterised in that: floating box lower left
Position is equipped with pinhole cameras (5), and pinhole cameras (5) can observe scene in robot traveling process and fish pond
Actual environment, the direction of motion etc. of the shoal of fish analyze the collected data of camera institute by single-chip microcontroller (8), and will be collected
Data are sent to staff, and the advance of Robot Selection best route can be allowed preferably to monitor fish pond.
4. the fish pond robot that one kind according to claim 1 can intelligently herd fishing, it is characterised in that: relief chamber (2) week
Enclosing is a layer solar cell plate (6), and the solar panel (6) around relief chamber (2) is located under the 0.5-2cm of underwater, together
When inside be equipped with lithium battery, the use of robot can be met；Solar panel (6) can be generated electricity again and be stored up by solar energy
There are in lithium battery, replacement battery is operated without personnel.
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| CN201811111187.7A CN109156408B (en) | 2018-09-22 | 2018-09-22 | Pond robot that can intelligence is herd and fishery |
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| CN109156408B CN109156408B (en) | 2022-12-16 |
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| CN112655645A (en) * | 2020-12-17 | 2021-04-16 | 泉州永春佳鼎农业机械有限公司 | Anti-freezing device for fish pond culture |
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