CN109156408B - Pond robot that can intelligence is herd and fishery - Google Patents
Pond robot that can intelligence is herd and fishery Download PDFInfo
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- CN109156408B CN109156408B CN201811111187.7A CN201811111187A CN109156408B CN 109156408 B CN109156408 B CN 109156408B CN 201811111187 A CN201811111187 A CN 201811111187A CN 109156408 B CN109156408 B CN 109156408B
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- 244000144980 herd Species 0.000 title claims description 9
- 241000251468 Actinopterygii Species 0.000 claims abstract description 89
- 230000006837 decompression Effects 0.000 claims abstract description 79
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 59
- 230000005611 electricity Effects 0.000 claims abstract description 20
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 14
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 235000013305 food Nutrition 0.000 claims abstract description 9
- 238000010521 absorption reaction Methods 0.000 claims abstract description 6
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 5
- 239000001301 oxygen Substances 0.000 claims abstract description 5
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 5
- 238000007667 floating Methods 0.000 claims description 37
- 230000005674 electromagnetic induction Effects 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 8
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- 230000033228 biological regulation Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
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- 238000009834 vaporization Methods 0.000 abstract description 5
- 230000008016 vaporization Effects 0.000 abstract description 5
- 230000000740 bleeding effect Effects 0.000 abstract description 2
- 230000009182 swimming Effects 0.000 abstract description 2
- 235000019688 fish Nutrition 0.000 abstract 3
- 241000252203 Clupea harengus Species 0.000 abstract 1
- 235000019514 herring Nutrition 0.000 abstract 1
- 238000001816 cooling Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
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- 238000009395 breeding Methods 0.000 description 2
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- 238000007599 discharging Methods 0.000 description 2
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- 230000008020 evaporation Effects 0.000 description 2
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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
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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
- 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
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- 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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- 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
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- 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 fishpond robot capable of intelligently grazing and fishing belongs to the technical field of intelligent agriculture. The robot can realize intelligent herding and fishing, controls the fish school movement direction of the fishpond through the power grid, can realize oxygen supply, automatically puts in fish food, automatically cools the fishpond, and monitors swimming tour of the fishpond. This robot floats the box and the decompression chamber constitutes by solar cell panel, gas-supply pipe and blast pipe are installed at both ends, the decompression chamber is in the low pressure state and lets the water heat absorption vaporization of decompression intracavity under the continuous bleeding of air pump, thereby reduce the pond temperature, float the inside lithium cell that is equipped with of box, rudder and GPS location chip, the pinhole camera is equipped with to the position of box left side below, can observe the condition of fish in the pond, solar cell panel the place ahead is used for forming the direction of motion of high-voltage electric network to shoal through the three high-voltage electricity discharge head of connection of electric lines and carries out the management and control and reach the effect of intelligent herring, this pond robot simple structure, low in cost, adopt full automatization intelligent operation, need not personnel's operation, convenient and practical.
Description
Technical Field
The invention relates to a fishpond robot capable of intelligently grazing and fishing, and belongs to the technical field of intelligent agriculture.
Background
At present, on the one hand, pond cooling monitoring and breeding are carried out, most of the existing breeding cooling and monitoring modes need manual operation in person to be operated on site, and the mode consumes a large amount of manpower and material resources; the traditional fish pond feeding method adopts an artificial fixed-point timed feeding mode, the monitoring of the fish pond generally adopts a mode of installing a camera, the situation in the fish pond cannot be thoroughly monitored, the fish swarm quantity and the living condition of the fish swarm in the fish pond cannot be monitored in real time, in order to prevent the fish swarm from swimming from the fish pond in heavy rain or flood, a high-voltage power grid is formed by high voltage electricity released by a robot, the body of the fish is turned to an anode after the fish is stimulated in a direct current electric field with certain strength, the appearance of the direction of transverse current is realized before the fish swarm stops in an alternating current electric field, the principle of the power grid fish blocking is that alternating current or pulse electricity with certain frequency is utilized to form an electric field in a water body within a specific range to generate an avoiding effect on the fish, so that the aim of blocking the fish from escaping is achieved, the method cannot generate any harm to the fish, and the method is correspondingly adjusted according to different water qualities and different salinity currents in the fish pond, for example: salinity is 16.28% (namely salinity at coastal saltwater junction) to 34.34% (corresponding to salinity of ocean and foreign areas), seawater resistance variation is within 8.4-9.34 ohm range, fresh water resistance variation is within 5000-1000 ohm range, and fish body resistance variation has an average value of 200-400 ohm; how to reduce the artificial operation, regulate and control and manage the fishpond effectively, it is a aspect worth studying to herd fish and prevent the shoal from escaping to herd fish, and nobody is the concept to go deep into modern development at present, the robot becomes people's assistant, in the human social development, the robot will play greater and greater role, say, the job function; a perception function; a walking function; it can also perform various actions, it also has a feature of automatic working according to human programming, here a notable feature is that it can be programmed to change its working, frequency, object of working and some requirements of working. The fishpond robot can automatically monitor the condition of the fishpond, remotely control the position and the action direction of the fishpond, does not need to be supervised by personnel, does not need to replace a battery, greatly reduces manpower and material resources, has small volume and convenient use, and accords with the law of agricultural development of the current times.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to solve the technical problem of designing a fish pond robot capable of intelligently grazing and fishing, and belongs to the technical field of intelligent agriculture. The robot consists of a decompression cavity (2), a solar cell panel (6), an air pump (15), a pinhole camera (5), an electromagnetic valve, a rudder (11), a temperature sensor (16) and a pressure detector (4);
the single chip microcomputer (8) gives out a low-voltage direct-current pulse signal and transmits the signal to a secondary coil of the high-voltage electromagnetic induction coil (18), the secondary coil of the high-voltage electromagnetic induction coil (18) is connected with a high-grade coil end of the high-voltage electromagnetic induction coil (18) to increase voltage, a negative high-voltage pulse signal is induced and transmitted to the high-voltage discharge heads (19), the three high-voltage discharge heads (19) are connected with the solar cell panel through electric wires, and the high-voltage discharge heads (19) release negative high-voltage electricity to form a power grid for intercepting fish schools in the fish pond.
Further: the intelligent regulation and control of the power grid are carried out according to signals output by the single chip microcomputer, the single chip microcomputer transmits the signals to devices such as radio and the like, so that artificial intelligent management is facilitated, and the action direction of the fish shoal is remotely managed.
And further: a large decompression cavity (2) is arranged in the center of the robot, firstly, buoyancy can be provided for the device, secondly, water in the decompression cavity (2) is pumped by an air pump (15), and low-pressure water is gasified to absorb heat; an air inlet pipe is arranged in front of the decompression cavity (2), and the middle part of the air inlet pipe is provided with an electromagnetic valve for controlling the air suction, water absorption and sealing of the decompression cavity (2); the front end of the air inlet pipe is provided with an inlet of a floating floater (1) to enable 2/3 of an air inlet to be exposed out of the water surface, an exhaust pipe is arranged behind the decompression cavity (2) to discharge water and water vapor in the decompression cavity (2), the upper end and the lower end of the exhaust pipe are respectively provided with an electromagnetic valve, the electromagnetic valve at the upper end discharges the water vapor from the upper opening when the pressure in the decompression cavity (2) is too low, and the electromagnetic valve at the lower end opens oxygen to discharge the oxygen from the lower end when the pressure is not lower than a specified value to oxygenate the fishpond; a solar cell panel (6) is arranged above the exhaust pipe to provide electric power for the device, a hollow floating box is arranged below the solar cell panel (6), and a pinhole camera (5) is arranged at the left lower part of the floating box to observe the underwater condition of the fishpond; the middle lower part of the floating box is provided with a rudder (11) for controlling the floating direction of the device, and the right lower end of the floating box is provided with a central control circuit board and a GPS for controlling the position of the floating box; solar cell panel (6) the place ahead is used for forming high-voltage electric network and carries out the management and control to the direction of motion of shoal of fish through three high-tension electricity discharge head (19) of connection of electric lines and reaches the effect that intelligence herd and fish, and this fishpond robot simple structure adopts full automatization intelligent operation, need not personnel's operation, convenient and practical.
The technical scheme adopted by the invention is as follows: the utility model provides a fish pond robot that can intelligent herd fish, include and float box and decompression chamber (2) by solar cell panel (6) and constitute, gas-supply pipe and blast pipe are installed to both ends, decompression chamber (2) are in the low pressure state under continuously bleeding of air pump (15) and let the water heat absorption vaporization in decompression chamber (2), thereby reduce the pond temperature, float the inside lithium cell that is equipped with of box, rudder and GPS location chip, the pinhole camera (5) are equipped with to the position of floating box left side below, can observe the condition of fish in the pond, solar cell panel (6) the place ahead is used for forming high-voltage electric network through three high-voltage electric discharge head (19) of connection of electric lines and carries out the control to the direction of motion of shoal of fish and reach the effect that intelligent herd fish, adopt singlechip and remote control to combine together, realize full automatization intelligent operation.
Furthermore, the appearance of the robot is similar to that of a flying saucer, and the robot is composed of a semicircular decompression cavity (2), a disc-shaped solar cell panel (6) and a floating box, wherein a rudder (11) is arranged at the lower left of the floating box for conveniently moving so as to control the direction.
Further, decompression chamber (2) are made by opaque rigidity waterproof material, be equipped with pressure sensor in decompression chamber (2), decompression chamber (2) outer wall is equipped with the reflective membrane, reduce decompression chamber (2) temperature rise because of sunshine shines and leads to, gas-supply pipe and blast pipe are installed to both ends around, air pump (15) of arranging on the blast pipe bleed, through floating in float (1) import makes the water and the air of surface of water draw in decompression chamber (2) together, under the continuous bleed of air pump (15), decompression chamber (2) are in the low pressure state, the water in decompression chamber (2) absorbs the heat vaporization, absorb the evaporation heat, thereby reduce the pond temperature.
Furthermore, a pressure detector (4) is arranged in the decompression chamber (2) and used for monitoring pressure change in the decompression chamber, when the decompression chamber (2) starts to be filled with air, the inlet electromagnetic valve (14) is opened, the front end of the air inlet pipe is provided with an inlet of the floating floater (1), so that 2/3 of the air inlet is exposed out of the water surface, the air pump (15) pumps water and air into the decompression chamber (2), then the upper outlet electromagnetic valve (13) is closed, the lower outlet electromagnetic valve (13) is opened, the air pump (15) pumps air out and exhausts the air into the fish pond from the lower outlet of the exhaust pipe, so as to oxygenate the fish pond, after a period of time, the pressure of the decompression chamber (2) is reduced, the decompression chamber is filled with steam, the lower outlet electromagnetic valve (13) is closed, the upper outlet electromagnetic valve (13) is opened, the air pump (15) can exhaust the steam from the upward exhaust port of the exhaust pipe, and the inlet electromagnetic valve (14), the outlet electromagnetic valve (13) and the pressure detector (4) are all controlled by the single chip microcomputer (8).
Furthermore, the singlechip (8) is connected with a robot control module (9), the robot control module (9) is also connected with and controls a driving module (10), and the driving module (10) controls the fish food feeder (7) to feed food to the fishpond.
Furthermore, a temperature sensor (16) is installed at the lower end of the floating box, the temperature sensor (16) is connected with the single chip microcomputer (8) and controls the operation of the temperature sensor (16) through the single chip microcomputer (8), the temperature sensor (16) is used for monitoring the cooling function of the water temperature control device, and when the water temperature is lower than the growth temperature of fish schools in the fishpond, the air pump (15) stops pumping steam in a low-pressure state and stops cooling.
Further: the moving range of the robot is controlled by a single chip microcomputer (8), a GPS positioning chip is arranged in the floating box, the single chip microcomputer (8) can control the robot to float in the action direction of the fishpond and the range required to be monitored by the fishpond through the GPS positioning chip 2, the position of the robot can be determined through the GPS positioning chip, when the robot needs to be recovered, the robot can be directly found through the positioned position and can be freely moved, the single chip microcomputer (8) transmits signals to devices such as a radio and the like through the single chip microcomputer (8), artificial intelligent management is facilitated, and the moving direction of the robot can be artificially controlled remotely.
Further: the pinhole camera (5) is equipped with in the position of floating box left side below, and the scene of robot in-process of marcing to and the actual environment in pond, the direction of motion of shoal of fish etc. can be observed through singlechip (8) analysis camera data of gathering to data transmission who will gather gives the staff, can let the robot select the best route to advance to the better control in pond.
Further: a layer of solar cell panel (6) is arranged around the decompression cavity (2), the solar cell panel (6) around the decompression cavity (2) is positioned below the water surface by 0.5-2cm, and meanwhile, a lithium battery is arranged in the decompression cavity and can meet the use requirement of a robot; the solar cell panel (6) can generate electricity through solar energy and store the electricity in the lithium battery, and the battery is not required to be replaced by personnel.
A fishpond robot capable of intelligently grazing and fishing, a control method thereof comprises the following steps:
And 2, in the moving process, the temperature sensor (16) monitors the water temperature of the fishpond, the pinhole camera (5) observes the water temperature, the singlechip (8) analyzes the water temperature according to the data of the two aspects, and the area needing cooling and feeding is distinguished from other high-temperature areas to be locked.
And 3, after the area needing to be cooled is locked, the single chip microcomputer (8) sends an instruction to enable the robot to move to a high-temperature water surface, a reflective film is arranged on the outer wall of a decompression cavity (2) in the center of the robot to reduce the temperature rise of the decompression cavity (2) caused by sunlight irradiation, gas pipes and exhaust pipes are arranged at the front end and the rear end, a gas pump (15) arranged on the exhaust pipe is used for pumping air, water and air on the water surface are pumped into the decompression cavity (2) through an inlet of a floating floater (1), when the decompression cavity (2) starts to be filled with air, an inlet electromagnetic valve (14) opens a gas pump (15), the water and the air are pumped into the decompression cavity (2), then an upper outlet electromagnetic valve (13) is closed, a lower outlet electromagnetic valve (13) is opened, the air pump (15) pumps the air into the fish pond from a lower outlet of the exhaust pipe to oxygenate the fish pond, after a period of time, the pressure of the decompression cavity (2) is reduced, the water and the lower outlet electromagnetic valve (13) is closed, the upper outlet electromagnetic valve (13) is opened, the water vapor is exhausted from the exhaust pipe from an exhaust port of the exhaust pipe, the exhaust pipe is continuously evaporated water in the lower pressure cavity (2), and the lower pressure cavity (2) is in a state, and the water temperature of the fish pond is reduced, so that the water is absorbed by vaporization.
And 4, sending a signal to the singlechip (8) through the radio equipment, discharging high-voltage pulses from the high-voltage discharge head (19), forming an electric field in the fish pond, achieving the effect of herding and fishing for fish in the fish pond, remotely controlling and managing the movement direction of the fish pond, preventing the fish from fleeing to cause economic loss due to disasters such as heavy rain, flood and the like, and effectively preventing the fish from wandering when the formed power grid intercepts the fish pond.
And 5, the workers in the fish pond can regularly feed the area needing feeding at a fixed point, manual operation is not needed in the whole process, the moving direction of the robot is received and regulated in real time through devices such as a mobile phone and the like in the whole process, the state of the fish is monitored, and the condition of the fish pond is regulated.
The working principle of the invention is as follows: a large decompression cavity (2) is arranged in the center of the robot, firstly, buoyancy can be provided, secondly, water in the decompression cavity (2) is pumped by an air pump (15), and low-pressure water is gasified to absorb heat to reduce the water temperature; an air inlet pipe is arranged in front of the decompression cavity (2), and the middle part of the air inlet pipe is provided with an electromagnetic valve for controlling the air suction and water absorption of the decompression cavity (2); the solar cell panel (6) around the decompression cavity (2) is positioned below the water surface by 0.5-2cm, and the solar cell panel is automatically radiated by the water in the fishpond, keeps a proper temperature and improves the conversion efficiency of the solar cell panel; the front end of the air inlet pipe is provided with an inlet of a floating floater (1) to enable 2/3 of an air inlet to be exposed out of the water surface, an exhaust pipe is arranged behind the decompression cavity (2) to discharge water and water vapor in the decompression cavity (2), the upper end and the lower end of the exhaust pipe are respectively provided with an electromagnetic valve, the electromagnetic valve at the upper end discharges the water vapor from the upper opening when the pressure in the decompression cavity (2) is too low, and when the pressure is not lower than a specified value, the electromagnetic valve at the lower end opens oxygen to be discharged from the lower end to oxygenate the fish pond; a solar cell panel (6) is arranged above the exhaust pipe to provide electric power for the device, a hollow floating box is arranged below the solar cell panel (6), and a pinhole camera (5) is arranged at the left lower part of the floating box to observe the underwater condition of the fishpond; the lower part is installed rudder (11) and is used for controlling the showy direction of device in the box that floats, and central control circuit board is installed to the right lower extreme in the box that floats, accessible GPS and supervisory program control rudder, realize robot motion position control and location look for, send out the signal to singlechip (8) through radio device, make the singlechip give low pressure direct current pulse signal with signal transmission to the secondary coil of high-pressure electromagnetic induction coil (18), the secondary coil of high-pressure electromagnetic induction coil (18) and the senior coil end of high-pressure electromagnetic induction coil (18) are connected and are risen voltage, the negative high-pressure pulse signal transmission of induction goes out is for high-voltage discharge head (19), three high-voltage discharge head (19) are connected with solar cell panel by the electric wire, high-voltage discharge head (19) release the negative high-voltage electricity, form the electric wire netting and intercept the shoal in the pond. The whole-course robot can move freely without being watched by people; the fish feed is put in through the management program, when patrolling to a certain position, the valve on the fish feed throwing device (7) is opened to throw in fish feed, and after a certain amount of fish feed is thrown in, the valve is closed.
The beneficial effects of the invention are: according to the intelligent fish pond feeding device, an intelligent automation technology is adopted, so that the robot can autonomously monitor, cool and feed fish, three high-voltage emitters dragged at the tail of the device form a power grid through the coordination work of all parts, fish in the fish pond is driven, the fish in the fish pond is prevented from moving outwards, the solar energy is used for charging, personnel do not need to take care of operation, a battery does not need to be replaced, manpower and material resources are greatly reduced, and the robot can be found through positioning when needing to be recovered because a GPS positioning chip is arranged, so that the robot is not required to be lost; the invention has small volume and convenient use, and conforms to the development law of the current times.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a circuit logic diagram of the present invention;
FIG. 3 is a logic diagram of a solar power circuit of the present invention;
FIG. 4 is a schematic diagram of the distribution of the high voltage discharge head of the present invention.
In the figure, each reference number is 1-floating floater; 2-a decompression chamber; 3-a breather pipe; 4-a pressure detector; 5-pinhole camera; 6-solar panel; 7-fish food feeder; 8, a singlechip; 9-a robot control module; 10-a drive module; 11-a rudder; 12-a circuit control center; 13-1-upper outlet electromagnetic valve; 13-2-lower outlet solenoid valve; 14-inlet solenoid valve; 15-an air pump; 16-a temperature sensor; 17-an electromagnetic rudder; 18-high voltage electromagnetic induction coil; 19-high voltage discharge head.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and specific examples:
as shown in the figure, the fish pond robot capable of intelligently grazing and fishing comprises a floating floater (1), a decompression cavity (2), a vent pipe (3), a pressure detector (4), a pinhole camera (5), a solar cell panel (6), a fish food feeder (7), a single chip microcomputer (8), a robot control module (9), a driving module (10), a rudder (11), a circuit control center (12), an outlet electromagnetic valve (13), an inlet electromagnetic valve (14), an air pump (15), a temperature sensor (16), an electromagnetic rudder (17), a high-voltage electromagnetic induction coil (18) and a high-voltage electric discharge head (19); high-voltage electromagnetic induction coil (18) are connected with singlechip (8), and singlechip (8) make high-voltage electricity discharge head (19) discharge, form the electric wire netting and herd the fishing to shoal of fish, and carry out data analysis to the information that each information acquisition device gathered, according to the result of analysis, to the corresponding part on the robot give-out order, make the robot begin to carry out corresponding operation, this pond robot adopts full automatization intelligent operation, need not personnel's operation, convenient and practical.
The appearance of the robot is similar to that of a flying saucer, the robot is composed of a semicircular decompression cavity (2), a solar cell panel (6) and a floating box, and a rudder (11) is arranged at the lower left of the floating box for moving conveniently so as to control the direction.
Decompression chamber (2) are made by opaque rigidity waterproof material, pressure sensor is equipped with in decompression chamber (2), decompression chamber (2) outer wall is equipped with the reflective membrane, reduce decompression chamber (2) temperature rise because of sunshine shines and leads to, gas-supply pipe and blast pipe are installed to both ends around, arrange air pump (15) on the blast pipe and bleed, make the water of the surface of water and air pump together in decompression chamber (2) through floating float (1) import, under the continuous bleed of air pump (15), decompression chamber (2) are in the low pressure state, the water heat absorption vaporization in decompression chamber (2), absorb the evaporation heat, thereby reduce pond temperature.
A pressure detector (4) is arranged in a decompression cavity (2) and used for monitoring pressure change in a decompression chamber, when the decompression cavity (2) starts to be filled with air, an inlet electromagnetic valve (14) is opened, the front end of an air inlet pipe is provided with an inlet of a floating floater (1), so that 2/3 of an air inlet is exposed out of the water surface, an air pump (15) pumps water and air into the decompression cavity (2), meanwhile, the inlet of the floating floater (1) generates negative pressure to pull the whole device to move forwards, the moving direction is electrified through an electromagnetic direction rudder (17), the direction is changed according to the attraction of different electromagnets on the left side and the right side, then an upper outlet electromagnetic valve (13) is closed, a lower outlet electromagnetic valve (13) is opened, the air pump (15) pumps air into a fish pond from a lower outlet of an exhaust pipe to oxygenate the fish pond, after a period of time, the pressure of the decompression cavity (2) is reduced, the steam is filled in the decompression cavity, the lower outlet electromagnetic valve (13) is closed, the upper outlet electromagnetic valve (13) is opened, the air pump (15) can discharge the steam from an exhaust port of the exhaust pipe, the pressure detector (4) and the pressure detector (8) is controlled by a single chip microcomputer.
The single chip microcomputer (8) is connected with the robot control module (9), the robot control module (9) is connected with and controls a driving module (10), and the driving module (10) controls the fish feeding device (7) to feed fish to the fish pond.
The robot moving range is controlled by a single chip microcomputer (8), a GPS positioning chip is arranged in a floating box, the single chip microcomputer (8) can control the robot to float in the action direction of the fish pond and the range required to be monitored by the fish pond through the GPS positioning chip, the position of the robot can be determined through the GPS positioning chip, and when the robot needs to be recovered, the robot can be directly found through the positioned position, so that the robot can move freely without being watched by people.
The temperature sensor (16) is installed to the flotation box lower extreme, and temperature sensor (16) are connected with singlechip (8) and are controlled the operation of temperature sensor (16) by singlechip (8), and temperature sensor (16) are used for monitoring water temperature control device's cooling function, and when the temperature is less than the growth temperature of shoal in the pond, air pump (15) stops pumping steam under the low pressure state, stops the cooling.
The pinhole camera (5) is equipped with in the position of floating box left side below, and the scene of robot in-process of marcing to and the actual environment in pond, the direction of motion of shoal of fish etc. can be observed through singlechip (8) analysis camera data of gathering to data transmission who will gather gives the staff, can let the robot select the best route to advance to the better control in pond.
A layer of solar cell panel (6) is arranged around the decompression cavity (2), and meanwhile, a lithium battery is arranged in the decompression cavity, so that the lithium battery has large electric capacity and small volume and can meet the use requirement of a robot; the solar cell panel (6) can generate electricity through solar energy and store the electricity in the lithium battery, and the battery is not required to be replaced through operation of personnel.
The singlechip (8) analyzes the image data collected by the pinhole camera (5), the pressure data of the pressure sensor, the temperature data of the temperature sensor (16) and the positioning range of the GPS positioning chip to send out a proper instruction to make the robot perform corresponding operation.
The surface of the peripheral part of the decompression cavity (2) is provided with a layer of solar cell panel (6), and meanwhile, a lithium battery is arranged in the decompression cavity, so that the lithium battery has large electric capacity and small volume and can meet the use requirement of a robot; the solar cell panel (6) can generate electricity through solar energy and store the electricity in the lithium battery, and the battery is not required to be replaced through operation of personnel.
The single chip microcomputer (8) analyzes the image data collected by the pinhole camera (5), the infrared data collected by the infrared detector and the positioning range of the GPS positioning chip to send out a proper instruction to enable the robot to make corresponding operation.
The single chip microcomputer (8) is signaled, so that the single chip microcomputer (8) sends a low-voltage direct-current pulse signal and transmits the signal to a secondary coil of the high-voltage electromagnetic induction coil (18), the secondary coil of the high-voltage electromagnetic induction coil (18) is connected with a high-grade coil end of the high-voltage electromagnetic induction coil (18) to increase voltage, a negative high-voltage pulse signal is induced and transmitted to the high-voltage discharge head (19), the three high-voltage discharge heads (19) are connected with the solar cell panel through high-voltage wires, and negative high-voltage electricity is released from the high-voltage discharge head (19) to form a power grid for intercepting fish swarms in a fishpond.
As shown in fig. 2 and 3, the solar panel (6) provides 6V. LT1073 detects a charging current via a resistor R6 and maintains the charging current of 16 milliamperes in the battery; a low voltage measuring device is arranged in the LT1073, and when the output voltage of the solar panel reaches 4V, the LT1073 disconnects the charging circuit; the solar cell panel (6) is connected with the lithium battery panel to provide electric energy for the whole circuit; the circuit connected with the XTAL1 and the XTAL2 is a shock circuit which is necessary for the work of the singlechip (8); the RST is connected with a switch of a singlechip (8), and the switch of the whole circuit can be controlled by a key; a GPS positioning system is connected with the TXD and the RXD, and acquires the position information of the robot and then transmits the information to the singlechip (8) through serial port communication; the air pump (15) is connected with the P0.0 and is controlled to work or not by the singlechip (8); the high-voltage electromagnetic induction coil (18) is connected with the P0.5, and the high-voltage electromagnetic induction coil (18) is also connected with three high-voltage discharge heads (19) and used for discharging high-voltage electricity to form a high-voltage power grid; a pinhole camera (5) is connected with the P1.4, is arranged right in front of the trunk, and observes the actual environment condition of the robot through image processing; the pressure detector (4) is connected with the P1.6, and the pressure detector (4) is used for detecting the pressure change in the decompression cavity (2) in the whole process; connected with P1.7 is a robot control module (9) which controls the movement of the whole robot; connected to P2.0, P2.1, P2.2, P2.3, P2.4 is the NRF24L01 radio transceiver module. Description of the circuit: the fishpond robot stores electricity in the lithium battery through solar energy storage, and supplies power to the whole robot. A pinhole camera (5) is arranged in front of the body of the robot, and the actual environment condition of the fishpond can be known through images. The solar cell panel is connected with three high-voltage discharge heads (19) and used for emitting high voltage to form a high-voltage power grid, the pressure emitting end of the pressure sensor emits signals, and the pressure change in the decompression cavity (2) can be known through analyzing the received information; the temperature sensor (16) also detects the water temperature of the fishpond in real time, and sends a signal to the singlechip (8), the singlechip (8) integrates the signal and transmits the signal to a receiving device such as a mobile phone, and the fishpond is monitored manually; the singlechip (8) is connected with a robot control module (9), and the control module controls four driving modules (10) to control the action of the robot.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the spirit and scope of the present invention, and various modifications and improvements of the technical solutions of the present invention made by those skilled in the art should be within the scope of the present invention without departing from the spirit of the present invention.
Claims (4)
1. The utility model provides a pond robot that can intelligent herd and fish, its characterized in that: the fish feeding device comprises a floating floater (1), a decompression cavity (2), a vent pipe (3), a pressure detector (4), a pinhole camera (5), a solar cell panel (6), a fish feeding device (7), a single chip microcomputer (8), a robot control module (9), a driving module (10), a rudder (11), a circuit control center (12), an outlet electromagnetic valve (13), an inlet electromagnetic valve (14), an air pump (15), a temperature sensor (16), an electromagnetic rudder (17), a high-voltage electromagnetic induction coil (18) and a high-voltage electric discharge head (19);
a decompression cavity (2) is arranged in the center of the robot, firstly, buoyancy can be provided, secondly, water in the decompression cavity (2) is pumped by an air pump (15), and low-pressure water is gasified to absorb heat to reduce the water temperature; an air inlet pipe is arranged in front of the decompression cavity (2), and the middle part of the air inlet pipe is provided with an electromagnetic valve for controlling the air suction and water absorption of the decompression cavity (2); the solar cell panel (6) around the decompression cavity (2) is positioned below the water surface by 0.5-2cm, and the solar cell panel is automatically radiated by the water in the fishpond, keeps a proper temperature and improves the conversion efficiency of the solar cell panel; the front end of the air inlet pipe is provided with an inlet of a floating floater (1) to enable 2/3 of an air inlet to be exposed out of the water surface, an exhaust pipe is arranged behind the decompression cavity (2) to discharge water and water vapor in the decompression cavity (2), the upper end and the lower end of the exhaust pipe are respectively provided with an electromagnetic valve, the electromagnetic valve at the upper end discharges the water vapor from the upper opening when the pressure in the decompression cavity (2) is too low, and when the pressure is not lower than a specified value, the electromagnetic valve at the lower end opens oxygen to be discharged from the lower end to oxygenate the fish pond; a solar cell panel (6) is arranged above the exhaust pipe to provide power for the device, a hollow floating box is arranged below the solar cell panel (6), a pinhole camera (5) is arranged below the left of the floating box, and the underwater condition of the fishpond can be observed; the middle lower part of the floating box is provided with a rudder (11) for controlling the floating direction of the device, the right lower end in the floating box is provided with a central control circuit board, the rudder can be controlled by a GPS and a management program, the robot motion position control and positioning searching are realized, a signal is sent to the single chip microcomputer (8) through the radio device, the single chip microcomputer sends out a low-voltage direct-current pulse signal and transmits the signal to a secondary coil of a high-voltage electromagnetic induction coil (18), the secondary coil of the high-voltage electromagnetic induction coil (18) is connected with a high-level coil end of the high-voltage electromagnetic induction coil (18) to raise voltage, a negative high-voltage pulse signal is induced and transmitted to a high-voltage discharge head (19), the three high-voltage discharge heads (19) are connected with a solar cell panel through electric wires, and the high-voltage discharge head (19) releases negative high voltage electricity, so that a power grid is formed to intercept fish groups in a fish pond; the robot can move freely without being watched by people in the whole process; the fish food is put in through a management program, when the tour reaches a certain position, a valve on the fish food feeder (7) is opened to put in the fish food, and after a certain amount of fish food is put in, the valve is closed;
the single chip microcomputer (8) provides a low-voltage direct-current pulse signal and transmits the signal to a secondary coil of the high-voltage electromagnetic induction coil (18), the secondary coil of the high-voltage electromagnetic induction coil (18) is connected with a high-level coil end of the high-voltage electromagnetic induction coil (18) to increase voltage, a negative high-voltage pulse signal is induced and transmitted to the high-voltage discharge heads (19), the three high-voltage discharge heads (19) are connected with the solar cell panel through electric wires, and the high-voltage discharge heads (19) release negative high-voltage electricity to form a power grid for intercepting fish schools in the fishpond;
the intelligent regulation and control of the power grid are carried out according to signals output by the single chip microcomputer (8), the single chip microcomputer (8) transmits the signals to the radio equipment, so that artificial intelligent management is facilitated, and the fish shoal action direction is remotely managed.
2. The fishpond robot capable of intelligently herding and fishing according to claim 1, characterized in that: the moving range of the robot is controlled by a single chip microcomputer (8), a GPS positioning chip is arranged in a floating box, the robot can be controlled to float in the action direction of the fish pond and the range required to be monitored by the fish pond through the GPS positioning chip, the position of the robot can be determined through the GPS positioning chip, when the robot needs to be recovered, the robot can be directly found through the positioned position, the robot can be freely moved, the single chip microcomputer (8) transmits signals to a radio device, artificial intelligent management is convenient, and the moving direction of the robot can be artificially and remotely controlled.
3. The fishpond robot capable of intelligently herding and fishing according to claim 1, characterized in that: the pinhole camera (5) is equipped with in the position of floating box left side below, and the scene of robot in-process of marcing to and the actual environment in pond, the direction of motion of shoal of fish, through singlechip (8) analysis camera data of gathering, and send the data of gathering for the staff, can let the robot select the best route to advance to the better control in pond.
4. The fishpond robot capable of intelligently herding and fishing according to claim 1, characterized in that: a layer of solar cell panel (6) is arranged around the decompression cavity (2), the solar cell panel (6) around the decompression cavity (2) is positioned below the water surface by 0.5-2cm, and meanwhile, a lithium battery is arranged in the decompression cavity and can meet the use requirement of a robot; the solar cell panel (6) can generate electricity through solar energy and store the electricity in the lithium battery, and the battery is not required to be replaced through operation of personnel.
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| CN112493198A (en) * | 2020-11-23 | 2021-03-16 | 郑刚强 | Portable oxygen machine of income water formula |
| 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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Effective date of registration: 20221130 Address after: 224700 East side of Yingneng Plant, Jingwu Road, High tech Zone, Jianhu County, Yancheng City, Jiangsu Province Applicant after: Jiangsu Youao Intelligent Equipment Co.,Ltd. Address before: 650224 Bailong Temple century long yuan 9-2-1-202, Bailong Road, Panlong District, Kunming, Yunnan Applicant before: Chen Shuqiao |
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