CN110100767A - A kind of unmanned boat intelligence fishery system and its control method - Google Patents
A kind of unmanned boat intelligence fishery system and its control method Download PDFInfo
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- CN110100767A CN110100767A CN201910383862.XA CN201910383862A CN110100767A CN 110100767 A CN110100767 A CN 110100767A CN 201910383862 A CN201910383862 A CN 201910383862A CN 110100767 A CN110100767 A CN 110100767A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 241000251468 Actinopterygii Species 0.000 claims description 59
- 235000013305 food Nutrition 0.000 claims description 33
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000012258 culturing Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 11
- 238000012546 transfer Methods 0.000 description 4
- 238000009395 breeding Methods 0.000 description 3
- 230000001488 breeding effect Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009318 large scale farming Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- 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
- A01K61/10—Culture of aquatic animals of fish
-
- 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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
- A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biodiversity & Conservation Biology (AREA)
- Animal Husbandry (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The invention belongs to unmanned boat technical fields, specifically disclose a kind of unmanned boat intelligence fishery system, including tasking operating system, communication module, control system, intelligent fishery system task monitoring system and be arranged on unmanned boat；Tasking operating system is for human-computer interaction and issues operation command signal, communication module is used to the operation command signal that tasking operating system issues being transferred to control system, control system receives the operation command signal that tasking operating system issues, operation command signal issues control instruction to unmanned boat based on the received simultaneously, intelligent fishery system, intelligent fishery system receives the control instruction that control system issues, corresponding fishery cultivating operation is completed according to control instruction, task monitoring system is used to monitor the working condition of unmanned boat and intelligent fishery system, and the information monitored is fed back into tasking operating system.Whole system fishery cultivating process no manual intervention, it is entirely autonomous, can satisfy the unmanned demand of fishery cultivating.
Description
Technical field
The invention belongs to unmanned boat technical fields, and in particular to a kind of unmanned boat intelligence fishery system and its control method.
Background technique
In recent years, fishery market occupies more next in entire food products market as people's lives quality is continuously improved
More consequence, wherein fishery cultivating has become part indispensable in aquaculture.At present in terms of fishery cultivating,
Majority manually drives ship, launches fry, fish food using barreled and is caught by tools such as fishing net, fish pot and fish medicines
Fish.However it is directed to large-scale farming situation, and these processes of manual operation, inefficiency and that there is also staff is overboard
Danger.Therefore, the efficiency for improving fish culture avoids the generation of artificial breeding process potential danger, needs a set of intelligent nothing
People's fishery system replaces manual operation.
Summary of the invention
In view of the problems of the existing technology and insufficient, the object of the present invention is to provide a kind of unmanned boat intelligence fishery systems
And its control method.
To realize goal of the invention, The technical solution adopted by the invention is as follows:
A kind of unmanned boat intelligence fishery system, including tasking operating system, communication module, control system, task monitoring system and
Intelligent fishery system on unmanned boat is set；The tasking operating system is for human-computer interaction and issues operation command signal；
The communication module is used to the operation command signal that tasking operating system issues being transferred to control system；The control system connects
Receive tasking operating system issue operation command signal, while based on the received operation command signal issue control instruction to nobody
Ship, intelligent fishery system；The intelligence fishery system receives the control instruction that control system issues, and completes phase according to control instruction
The fishery cultivating operation answered, the intelligence fishery system include that fry delivery device, fish food spill and put device and fishes fishing device；
The fry delivery device is for launching fry, and the fish food, which is spilt, to be put device and put fish food for spilling, and the fishes fishing device is used
In fishing fish；The task monitoring system is used to monitor the working condition of unmanned boat and intelligent fishery system, and will monitor
The information of unmanned boat and intelligent fishery system feeds back to tasking operating system.
According to above-mentioned unmanned boat intelligence fishery system, it is preferable that the tasking operating system includes interface module and letter
Cease conversion module, position of the interface module for display operation order, the information of task monitoring system feedback and unmanned boat
Set status information；The info conversion module be used for by the operation command signal that interface module issues be converted to digital signal and
The information of task monitoring system feedback is converted to interface displayable signal.
According to above-mentioned unmanned boat intelligence fishery system, it is preferable that the info conversion module includes digital analog converter, mould
Number converter and command converter.
According to above-mentioned unmanned boat intelligence fishery system, it is preferable that the control system includes information receiving module, control
Device and information sending module；The information receiving module is used to receive the operation command signal of communication module transmitting, and will operation
Command signal is transferred to controller, and the controller receives the operation command signal of information receiving module transmission, and according to operation
Command signal issues the control instruction controlled unmanned boat and intelligent fishery system；The information sending module will be for that will control
The control instruction that device processed issues is transferred to unmanned boat and intelligent fishery system.
According to above-mentioned unmanned boat intelligence fishery system, it is preferable that task monitoring system include sensor module and
Information sending module；The sensor module is used to monitor unmanned boat and intelligent fishery system, and by the information of monitoring through information
Sending module is sent to tasking operating system.
According to above-mentioned unmanned boat intelligence fishery system, it is preferable that the sensor module includes GPS, inertial navigation and vision
Sensor.
According to above-mentioned unmanned boat intelligence fishery system, it is preferable that the specific structure of the fry delivery device is referring to Shen
It please number be 201811351624.2, it is entitled " a kind of unmanned boat intelligence fishery fry delivery device and its method for launching fry "
Patent document record fry delivery device structure.Fish food spill put the specific structure of device referring to application No. is
201811369007.5, the patent of entitled " a kind of unmanned boat intelligence fishery fish food, which is spilt, to be put device and its spill the method for putting fish food "
The fish food that document is recorded, which is spilt, puts apparatus structure.The fishes fishing device include fishing mechanism and for will fish mechanism transfer and
Recycling lays recovering mechanism, and specific structure is referring to application No. is 201811302745.8, and entitled " a kind of unmanned boat is intelligent
Fishery fishes fishing device and its fishing method " patent document record structure.
The control method of above-mentioned unmanned boat intelligence fishery system, comprising the following steps:
(1) when being connected to fishery cultivating task, operator issues operational order by tasking operating system, sends and is provided with intelligence
The unmanned boat of energy fishery system arrives at specified culturing area；
(2) when unmanned boat arrives at specified culturing area, operational order issues control instruction to intelligence to control system based on the received
Energy fishery system, control instruction completes corresponding fishery cultivating operation to intelligent fishery system based on the received；
(3) when task monitors system monitoring to the information that when intelligent fishery system completion corresponding fishery cultivating operation, will test
Tasking operating system is fed back to, operator is sent by tasking operating system according to the information that task monitors system feedback and operated
Command signal recalls unmanned boat.
According to above-mentioned control method, it is preferable that the fishery cultivating task includes that fry is launched, fish food spills and puts and fish
Fishing.
Compared with prior art, what the present invention obtained has the beneficial effect that
Unmanned boat intelligence fishery system of the present invention design rationally, structure it is simple, entire control system fishery cultivating process without
Manual intervention, it is entirely autonomous, it can satisfy the unmanned demand of fishery cultivating；And by fry launch, fish food spill put and
Fishery cultivating task is realized in the mutual cooperation of fishes fishing, improves the efficiency of fishery cultivating, while also reducing fishery cultivating
Cost, it is thus also avoided that artificial breeding process potential danger generation；The mode for replacing artificial breeding with unmanned boat simultaneously, is improved
The Intelligent unattended of fishery process.
Detailed description of the invention
Fig. 1 is the schematic diagram of unmanned boat intelligence fishery system of the present invention.
Specific embodiment
Below by way of specific embodiment, invention is further described in detail, but does not limit the scope of the invention.
Embodiment 1:
A kind of unmanned boat intelligence fishery system, as shown in Figure 1, including tasking operating system, communication module, control system, task
Monitoring system and the intelligent fishery system being arranged on unmanned boat.The tasking operating system is for human-computer interaction and issues operation
Command signal；The communication module is used to the operation command signal that tasking operating system issues being transferred to control system；It is described
Control system receives the operation command signal that tasking operating system issues, while operation command signal issues control based on the received
It instructs to unmanned boat, intelligent fishery system；The intelligence fishery system receives the control instruction that control system issues, according to control
Corresponding fishery cultivating operation is completed in instruction；The task monitoring system is used to monitor the work of unmanned boat and intelligent fishery system
Situation, and will monitor that unmanned boat and the information of intelligent fishery system feed back to tasking operating system.
Tasking operating system includes interface module and info conversion module.The interface module for display operation order,
Task monitors the information of system feedback and the location status information of unmanned boat, while interface module supports speech identifying function；
The info conversion module includes digital analog converter, analog-digital converter and command converter, the behaviour for issuing interface module
The information for being converted to digital signal and task monitoring system feedback as command signal is converted to interface displayable signal.
Control system includes information receiving module, controller and information sending module.The information receiving module is for connecing
The operation command signal of communication module transmitting is received, and operation command signal is transferred to controller；The controller receives information
The operation command signal of receiving module transmission, and issue according to received operation command signal to unmanned boat and intelligent fishery system
The control instruction controlled, and then realize the function of the entire intelligent fishery system of control；The information sending module is used for will
The control instruction that controller issues is transferred to unmanned boat and intelligent fishery system.
The intelligence fishery system includes that fry delivery device, fish food spill and put device and fishes fishing device.The fry
Delivery device is for launching fry, including fry case and the chamber door being arranged on fry case two sidewalls, the tool of fry delivery device
Body structure is referring to application No. is 201811351624.2, entitled " a kind of unmanned boat intelligence fishery fry delivery device and its throwing
The method for putting fry " patent document record fry delivery device structure.Fish food, which is spilt, to be put device and puts fish food, packet for spilling
Include fish food storage bin and Sa Liao mechanism, fish food, which is spilt, puts the specific structure of device referring to application No. is 201811369007.5, title
It spills and puts for the fish food that the patent document of " a kind of unmanned boat intelligence fishery fish food spill put device and its spill the method for putting fish food " is recorded
Apparatus structure.The fishes fishing device is used to catch fish, including fishes mechanism and transfer and recycle for that will fish mechanism
Lay recovering mechanism, specific structure is referring to application No. is 201811302745.8, a kind of entitled " unmanned boat intelligence fishery
Fishes fishing device and its fishing method " patent document record structure.Control system passes through control fry delivery device energy
The autonomous dispensing for enough realizing fry can be realized independently spilling for fish food by control fish food dispenser and put, by controlling fish
Finishing device can be realized the autonomous fishing of fish.
It includes sensor module and information sending module that task, which monitors system,.The sensor module include GPS, inertial navigation and
Visual sensor for monitoring unmanned boat and intelligent fishery system, and the information of monitoring is sent to through information sending module and is appointed
Business operating system.
Embodiment 2:
A kind of control method of unmanned boat intelligence fishery system described in embodiment 1, comprising the following steps:
(1) when being connected to fishery cultivating task, fry is put into fry delivery device by operator, and fish food is put into fish food and is spilt
It puts in device, operational order is then issued by the interface module of tasking operating system, sends and is provided with intelligent fishery system
Unmanned boat arrives at specified culturing area；
(2) when unmanned boat arrives at specified culturing area, operational order issues the control that fry is launched to control system based on the received
System instruction is to fry delivery device, and control instruction opens the chamber door of fry case to fry delivery device based on the received, and by fry
Fry in case transfers to specified fry and launches waters, before fry launch process control system controls unmanned boat low speed simultaneously
Into realization unmanned boat launches fry while travelling；
(3) after the completion of fry is launched, control system, which sends fish food, spills the control instruction put and spills to fish food and put device, and fish food, which is spilt, puts dress
It sets control instruction based on the received and fish is eaten to the fish food in storage bin spills to put to specified fish food and spill the domain that discharges water；
(4) after the completion of fish food spills and puts, control system sends the control instruction of fishes fishing to fishes fishing device, fishes fishing dress
It sets control instruction based on the received to transfer mechanism is fished into water, starts to fish, fish amount reaches in the fishing box of mechanism to be fished
When to the specified upper limit, it is recycled on ship by laying recovering mechanism by mechanism is fished；
(5) when task, which monitors system monitoring, completes fishery cultivating task to intelligent fishery system, the information of monitoring is fed back to
Tasking operating system, operator are sent according to the information that task monitors system feedback by the interface module of tasking operating system
The operation command signal that unmanned boat makes a return voyage, unmanned boat is recalled.
The foregoing is merely illustrative of the preferred embodiments of the present invention, but is not limited only to examples detailed above, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of unmanned boat intelligence fishery system, which is characterized in that including tasking operating system, communication module, control system, appoint
Business monitoring system and the intelligent fishery system being arranged on unmanned boat；The tasking operating system is for human-computer interaction and issues behaviour
Make command signal；The communication module is used to the operation command signal that tasking operating system issues being transferred to control system；Institute
It states control system and receives the operation command signal that tasking operating system issues, while operation command signal issues control based on the received
System is instructed to unmanned boat, intelligent fishery system；The intelligence fishery system receives the control instruction that control system issues, according to control
The operation of corresponding fishery cultivating is completed in system instruction, the intelligence fishery system include fry delivery device, fish food spill put device and
Fishes fishing device；For launching fry, the fish food is spilt to be put device and puts fish food, the fish for spilling the fry delivery device
Class finishing device is for catching fish；The task monitoring system is used to monitor the work feelings of unmanned boat and intelligent fishery system
Condition, and will monitor that unmanned boat and the information of intelligent fishery system feed back to tasking operating system.
2. unmanned boat intelligence fishery system according to claim 1, which is characterized in that the tasking operating system includes boundary
Face mould block and info conversion module, the interface module for display operation order, task monitoring system feedback information and
The location status information of unmanned boat；The info conversion module is used to the operation command signal that interface module issues being converted to number
The information of word signal and task monitoring system feedback is converted to interface displayable signal.
3. unmanned boat intelligence fishery system according to claim 2, which is characterized in that the info conversion module includes number
Mode converter, analog-digital converter and command converter.
4. unmanned boat intelligence fishery system according to claim 1 to 3, which is characterized in that the control system includes
Information receiving module, controller and information sending module；The information receiving module is used to receive the operation of communication module transmitting
Command signal, and operation command signal is transferred to controller, the controller receives the operation life of information receiving module transmission
Signal is enabled, and issues the control instruction controlled unmanned boat and intelligent fishery system according to operation command signal；The letter
Breath sending module is used to for the control instruction that controller issues to be transferred to unmanned boat and intelligent fishery system.
5. unmanned boat intelligence fishery system according to claim 4, which is characterized in that the task monitoring system includes passing
Sensor module and information sending module；The sensor module is for monitoring unmanned boat and intelligent fishery system, and by monitoring
Information is sent to tasking operating system through information sending module.
6. unmanned boat intelligence fishery system according to claim 5, which is characterized in that the sensor module include GPS,
Inertial navigation and visual sensor.
7. the control method of a kind of claims 1 or 2 or the 3 or 5 or 6 unmanned boat intelligence fishery systems, which is characterized in that packet
Include following steps:
(1) when being connected to fishery cultivating task, operator issues operational order by tasking operating system, sends and is provided with intelligence
The unmanned boat of energy fishery system arrives at specified culturing area；
(2) when unmanned boat arrives at specified culturing area, operational order issues control instruction to intelligence to control system based on the received
Energy fishery system, control instruction completes corresponding fishery cultivating operation to intelligent fishery system based on the received；
(3) when task monitors system monitoring to the information that when intelligent fishery system completion corresponding fishery cultivating operation, will test
Tasking operating system is fed back to, operator is sent by tasking operating system according to the information that task monitors system feedback and operated
Command signal recalls unmanned boat.
8. control method according to claim 7, which is characterized in that the fishery cultivating task includes fry dispensing, fish
Food, which is spilt, to be put and fishes fishing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910383862.XA CN110100767A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned boat intelligence fishery system and its control method |
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| CN201910383862.XA CN110100767A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned boat intelligence fishery system and its control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015586A (en) * | 2016-01-27 | 2017-08-04 | 余建华 | A kind of fishery cultivating intelligence control system and control method |
| CN107215433A (en) * | 2017-06-12 | 2017-09-29 | 江苏科技大学 | With the autonomous small-waterplane-area binary fishery function unmanned boat for throwing food function |
| CN108029600A (en) * | 2018-01-16 | 2018-05-15 | 广东联芯智能科技有限公司 | Culture diseases early warning robot and its application method |
| CN108812479A (en) * | 2018-05-21 | 2018-11-16 | 江苏科技大学 | Multifunctional marine pasture assists unmanned boat |
| CN108900615A (en) * | 2018-07-03 | 2018-11-27 | 合肥辰知智能科技有限公司 | A kind of fishery cultivating information monitoring method based on Internet of Things |
-
2019
- 2019-05-08 CN CN201910383862.XA patent/CN110100767A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015586A (en) * | 2016-01-27 | 2017-08-04 | 余建华 | A kind of fishery cultivating intelligence control system and control method |
| CN107215433A (en) * | 2017-06-12 | 2017-09-29 | 江苏科技大学 | With the autonomous small-waterplane-area binary fishery function unmanned boat for throwing food function |
| CN108029600A (en) * | 2018-01-16 | 2018-05-15 | 广东联芯智能科技有限公司 | Culture diseases early warning robot and its application method |
| CN108812479A (en) * | 2018-05-21 | 2018-11-16 | 江苏科技大学 | Multifunctional marine pasture assists unmanned boat |
| CN108900615A (en) * | 2018-07-03 | 2018-11-27 | 合肥辰知智能科技有限公司 | A kind of fishery cultivating information monitoring method based on Internet of Things |
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