CN110352888A - A kind of automatic charging machine people and its feeding method - Google Patents
A kind of automatic charging machine people and its feeding method Download PDFInfo
- Publication number
- CN110352888A CN110352888A CN201910574994.0A CN201910574994A CN110352888A CN 110352888 A CN110352888 A CN 110352888A CN 201910574994 A CN201910574994 A CN 201910574994A CN 110352888 A CN110352888 A CN 110352888A
- Authority
- CN
- China
- Prior art keywords
- fish
- main body
- shoal
- mobile main
- machine people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 241000251468 Actinopterygii Species 0.000 claims abstract description 189
- 238000003860 storage Methods 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 16
- 239000006052 feed supplement Substances 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 86
- 239000011521 glass Substances 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000010365 information processing Effects 0.000 claims description 6
- 239000013589 supplement Substances 0.000 claims description 6
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 235000021050 feed intake Nutrition 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000009469 supplementation Effects 0.000 claims description 4
- 235000019733 Fish meal Nutrition 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims 1
- 239000000039 congener Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000009318 large scale farming Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- RAFZYSUICBQABU-HMMYKYKNSA-N Phytal Chemical compound CC(C)CCCC(C)CCCC(C)CCC\C(C)=C\C=O RAFZYSUICBQABU-HMMYKYKNSA-N 0.000 description 1
- RAFZYSUICBQABU-QYLFUYDXSA-N Phytal Natural products CC(C)CCC[C@@H](C)CCC[C@@H](C)CCC\C(C)=C/C=O RAFZYSUICBQABU-QYLFUYDXSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- UZVHFVZFNXBMQJ-UHFFFAOYSA-N butalbital Chemical compound CC(C)CC1(CC=C)C(=O)NC(=O)NC1=O UZVHFVZFNXBMQJ-UHFFFAOYSA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- RAFZYSUICBQABU-UHFFFAOYSA-N phytenal Natural products CC(C)CCCC(C)CCCC(C)CCCC(C)=CC=O RAFZYSUICBQABU-UHFFFAOYSA-N 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
- A01K61/80—Feeding devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Environmental Sciences (AREA)
- Electromagnetism (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of automatic charging machine people and its feeding methods, the robot includes mobile main body and center dosing, photographic device, ultrasonic unit, positioning device, driving device, storage device, data processing equipment, magazine, charging device, clout detection device, wireless communication apparatus are provided in the mobile main body, the center dosing is the batch bin that lakeside is arranged in comprising wireless communication module, processor unit, multiple charging interfaces, multiple feed supplement connectors；The present invention can targetedly be fed intake by the judgement of type to the shoal of fish, growth stage and the size of the shoal of fish, realize that personalization is breeded fish in lake.
Description
Technical field
The present invention relates to fish cultural technique field, specially a kind of automatic charging machine people and its feeding method.
Background technique
It breeds fish in lake, needs to feed the shoal of fish, it may varied, the feed of different shoals of fish phase not to the utmost in lake
Together, how personalized feed is that have problem to be solved at present.
At present by the way of artificial breeding, needs worker and determine the type of the shoal of fish, rank of growing up according to the experience of itself
Section and the size of the shoal of fish, and dispensing fish material is carried out according to the judgement of oneself, this method is highly dependent upon worker's experience, to people
Work is more demanding, is unfavorable for large-scale farming.
Summary of the invention
The purpose of the present invention is to provide a kind of automatic charging machine people and its feeding method, the present invention can be by fish
The judgement of the type, growth stage and the size of the shoal of fish of group, is targetedly fed intake, and personalization is breeded fish in realization lake.
To achieve the above object, the invention provides the following technical scheme: a kind of automatic charging machine people, the robot packet
Mobile main body and center dosing are included, photographic device is provided in the mobile main body, for shooting the shoal of fish；
Preferably, the lower end of the mobile main body is transparent glass cover, and the photographic device is arranged in cloche, described
Camera shooting equipment is driven by rotating device to be rotated, for adjusting the shooting direction of photographic device, the photographic device and rotation dress
It sets and is electrically connected with data processing equipment.
Further, by the way of stepper motor driving rotation, the stepper motor is fixed on to be set the rotating device
The inside of cloche below standby main body is fixedly connected with rotation seat in the output end of stepper motor, and the photographic device uses market
Common infrared waterproof camera, the video camera are fixed on rotation seat.
Including ultrasonic unit, for whether there is or not the shoals of fish to pass through in sensing apparatus region, and the position side of the shoal of fish is positioned
To judging current region by ultrasonic unit, whether there is or not shoal of fish process, no then photographic device suspend mode, camera shootings when having the shoal of fish to pass through
Device is started to work；
Including positioning device and driving device, positioning device is used to position mobile main body, and driving device is for pushing away
Dynamic mobile main body is mobile by set travelling route；
Preferably, the positioning device uses GPS satellite positioning device or big-dipper satellite positioning device, the driving device
There are several, and be uniformly distributed the lower end for being fixed on mobile main body, the driving device is promoted using electric propeller.
Further, the application is promoted using two electric propellers, when two electric propellers lead to rotational speed, energy
It is enough that mobile main body is pushed to move forward, when two electric propeller revolving speeds are inconsistent, the advance side of adjustable mobile main body
To.
Including storage device, for the picture of the fish of each kind in the set travelling route of recorder people, lake, feed
Hay varieties, the fish in each stage feeding volume, feed ground location information and center dosing location information；
Including data processing equipment, for being analyzed and processed to the image that photographic device is shot, controlling opening for feeding port
It closes, control driving device movement；
Preferably, the analysis of the image, which is handled, includes:
A: being compared by the picture saved in image and storage device, determines the kind of the shoal of fish, selection and this kind of fish
The corresponding hay varieties of group；
B: according to the mean size of fish in the Individual Size estimation shoal of fish of fish in image, and pass through being averaged for estimated fish
Size judges that whole stage of fish in the shoal of fish, whole stage are divided into Seedling Stage, growth stage, maturity period；
C: it is estimated in the shoal of fish according to the size of the density of fish, the mean size for the fish estimated and the shoal of fish in image
The quantity of fish, the total amount for the feed launched needed for being calculated according to the feeding volume of the quantity of the fish estimated, the fish in each stage.
Preferably, the control mode of the feeding port are as follows:
1.: according to the kind of the shoal of fish determined in A；
2.: select corresponding fish material storage box；
3.: it is realized by controlling the automatic door switch of the fish material storage box and launches fish material and closure feeding port.
4.: judged to launch the amount of fish material according to clout detection device, when injected volume reaches estimated injected volume, automatically-controlled door
It closes and is not launching fish material.
Including magazine and charging device, for magazine for storing various fish meals, charging device is used to open throwing
Material mouth feeds intake；
Preferably, the magazine includes multiple fish material storage boxes, and each fish material storage box stores different fishes respectively
Material, the charging device include multiple automatically-controlled doors, and multiple automatically-controlled doors and multiple fish material storage boxes are corresponded and blocked in fish material
The bottom of storage box.
Further, the fish material storage box is inverted cone-shaped, offers feed opening above it, offers in its bottom
Opening, the Automatic sealing device for door are got lodged at the bottom opening of fish material storage box, and automatically-controlled door drives sealing plate rotation using driving motor
Mode blocks or opens the bottom opening of fish material storage box.
Including clout detection device, for detecting the remaining situation of fish material；
Preferably, the clout detection device uses weight sensor.
Including wireless communication apparatus, for being contacted with center dosing；
Preferably, the wireless communication apparatus use Wi-Fi module or mobile network's module, the wireless communication apparatus with
Data processing equipment connection.
The center dosing is the batch bin that lakeside is arranged in comprising wireless communication module, for receiving movement
The information that main body is sent, the information includes the remaining situation of various fish materials, the electricity of the fish material type that requires supplementation with, mobile main body
Measure remaining situation, the location information of mobile main body, the shoal of fish type of movement main body region and estimation quantity；
Including processor unit, it is used for information processing, the information processing to include according to the information of mobile main body feedback, peace
The interface of charging interface and supplement feed is arranged, and is stocked up in advance；
Including multiple charging interfaces, for charging to mobile main body；
Including multiple feed supplement connectors, for supplementing the fish material of mobile main body；
A method of using automatic charging, machine people feeds intake, the method includes the steps:
S1: it determines the range to feed intake, and is planned according to travelling route of the range to feed intake to robot, make robot
It moves about in water according to the route of traveling, current region is judged whether there is or not shoal of fish process by ultrasonic unit, photographic device penetrates
Captured image is sent to data processing equipment and analyzed to shooting in lake by the transparent glass cover of lower section；
S2: data processing equipment passes through image identification function for the image of shooting and the fish picture for being stored in storage device
It is compared, according to the analysis of analysis processing device as a result, the automatically-controlled door for opening corresponding fish material storage box bottom is launched
Fish material；
S3: judging to launch the amount of fish material according to clout detection device, when injected volume reaches estimated injected volume, automatically-controlled door
It closes and is not launching fish material, meanwhile, positioning device position and store its location information to storage to the position on the ground that feeds intake
In device, and using the position on the ground that feeds intake as the center of circle, 200 meters of diameter of water surface range is not launching congener fish interior for 24 hours
Material；
S4: after S2, S3, robot continues to move about according to set travel route, and repeats S2, S3；
S5: when clout detection device detects that certain fish material in magazine has been launched, according to center ingredient
The position coordinates of the position coordinates of unit and itself plan return route, while information is passed through channel radio by data processing equipment
News device is sent to center dosing, the interface of charging interface and supplement feed is arranged convenient for center dosing, and in advance
It stocks up；
S6: when robot encounters the shoal of fish when making a return voyage, according to circumstances feeding intake, after the completion of feeding intake, robot continue by
It makes a return voyage according to return route.
Compared with prior art, beneficial effects of the present invention are as follows:
The present invention can be by imaging the shoal of fish, and analyzes image, being capable of type to the shoal of fish, growth rank
Section and the size of the shoal of fish are judged, and are targetedly fed intake according to the judgement, realize that personalization is breeded fish in lake, more just
Prompt and saving manpower, the large-scale farming suitable for the shoal of fish.
Detailed description of the invention
Fig. 1 is connection schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of the robot of the invention that feeds intake；
Fig. 3 is the weight sensor scheme of installation on installing ring of the invention；
In figure: the mobile main body of 1-, 2- data processing equipment, 3- storage device, 4- wireless communication apparatus, 5- positioning device,
6- fish material storage box, 7- installing ring, 8- automatically-controlled door, 9- driving motor, 10- electric propeller, 11- transparent glass cover, 12- camera shooting
Device, 13- weight sensor, 14- ultrasonic unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig.3, the present invention provides a kind of technical solution: a kind of automatic charging machine people, the robot packet
Mobile main body 1 and center dosing are included, photographic device 12 is provided in the mobile main body 1, for shooting the shoal of fish；
Preferably, the lower end of the mobile main body 1 is transparent glass cover 11, and the photographic device 12 is arranged in cloche
Interior, the camera shooting equipment is driven by rotating device to be rotated, for adjusting the shooting direction of photographic device 12, the photographic device
12 and rotating device be electrically connected with data processing equipment 2.
Further, by the way of stepper motor driving rotation, the stepper motor is fixed on to be set the rotating device
The inside of cloche below standby main body is fixedly connected with rotation seat in the output end of stepper motor, and the photographic device 12 uses city
The common infrared waterproof camera in face, the video camera are fixed on rotation seat.
Including ultrasonic unit 14, for whether there is or not the shoals of fish to pass through in sensing apparatus region, and the position of the shoal of fish is positioned
Direction judges current region whether there is or not shoal of fish process by ultrasonic unit 14, and no then 12 suspend mode of photographic device has shoal of fish process
When photographic device 12 start to work；
It can be equipped on the fishing boat of ultrasonic wave transmitter-receiver device with the position of detecting fish school at one using ultrasonic wave,
After it launches the ultrasonic wave of specific frequency to selected direction, received after a period of time from the reflected reflection of the shoal of fish
Wave, the application use frequency for the ultrasonic wave of 5.8 × 104Hz, and the wavelength of the ultrasonic wave of this kind of frequency in water is 2.5cm, root
According to the time for receiving ultrasonic reflections wave, position of the shoal of fish apart from robot can be calculated.
Including positioning device 5 and driving device, positioning device 5 is used to position mobile main body 1, and driving device is used for
Push mobile main body 1 mobile by set travelling route；
Preferably, the positioning device 5 uses GPS satellite positioning device 5 or big-dipper satellite positioning device 5, the driving
Device has several, and is uniformly distributed the lower end for being fixed on mobile main body 1, and the driving device is pushed away using electric propeller 10
Into.
Further, the application is promoted using two electric propellers 10, when two electric propellers 10 lead to rotational speed
When, mobile main body 1 can be pushed to move forward, when two 10 revolving speeds of electric propeller are inconsistent, adjustable mobile main body 1
Direction of advance.
The mobile main body 1 of the application is provided with automated navigation system, and the purposes of automated navigation system is positioned by GPS satellite
Device 5 or big-dipper satellite positioning device 5 receive the current location of mobile main body 1 and by data with the customized destination ratio of user
Compared with, referring to electronic map calculate travel route, and feed back information to mobile main body 1 in real time.
Including storage device 3, for the picture of the fish of each kind in the set travelling route of recorder people, lake, feed
The position letter of the feeding volume of feeding hay varieties, the fish in each stage, the location information for feeding ground and center dosing
Breath；
Preferably, the set travelling route is the company, multiple nursing position coordinates institute that is artificially input to storage device 3
At route, mobile main body 1 advances under the action of automated navigation system along set travelling route.
Including data processing equipment 2, the image for shooting to photographic device 12 is analyzed and processed, controls feeding port
Switch, control driving device are mobile；
Preferably, the analysis of the image, which is handled, includes:
A: being compared by the picture saved in image and storage device 3, determines the kind of the shoal of fish, selection and this kind of fish
The corresponding hay varieties of group；
B: according to the mean size of fish in the Individual Size estimation shoal of fish of fish in image, and pass through being averaged for estimated fish
Size judges that whole stage of fish in the shoal of fish, whole stage are divided into Seedling Stage, growth stage, maturity period；
C: it is estimated in the shoal of fish according to the size of the density of fish, the mean size for the fish estimated and the shoal of fish in image
The quantity of fish, the total amount for the feed launched needed for being calculated according to the feeding volume of the quantity of the fish estimated, the fish in each stage.
Preferably, the control mode of the feeding port are as follows:
1.: according to the kind of the shoal of fish determined in A；
2.: select corresponding fish material storage box 6；
3.: the automatically-controlled door 8 by controlling the fish material storage box 6 switchs to realize and launch fish material and closure feeding port.
4.: judged to launch the amount of fish material according to clout detection device, when injected volume reaches estimated injected volume, automatically-controlled door
8 close in dispensing fish material.
Including magazine and charging device, for magazine for storing various fish meals, charging device is used to open throwing
Material mouth feeds intake；
Preferably, the magazine includes multiple fish material storage boxes 6, and each fish material storage box 6 stores different respectively
Fish material, the charging device include multiple automatically-controlled doors 8, and multiple automatically-controlled doors 8 are corresponded and blocked with multiple fish material storage boxes 6
The bottom of fish material storage box 6.
Further, the fish material storage box 6 is inverted cone-shaped, offers feed opening above it, opens up in its bottom
There is opening, the automatically-controlled door 8 blocks at the bottom opening of fish material storage box 6, and automatically-controlled door 8 drives sealing plate using driving motor 9
The mode of rotation blocks or opens the bottom opening of fish material storage box 6.
Driving motor 9 is fixed on the side wall of fish material storage box 6.
The installing ring 7 that inner sidewall is the conical surface, the upper opening of the installing ring 7 are equipped on the side wall of the mobile main body 1
Greatly, under shed is small, and the fish material storage box 6 can be placed on installing ring 7；
Including clout detection device, for detecting the remaining situation of fish material；
Preferably, the clout detection device uses weight sensor 13, and the weight sensor 13 shares multiple and equal
On the inner sidewall of installing ring 7, weight sensor 13 is in contact even distributing installation with the lateral wall of fish material storage box 6.
Including wireless communication apparatus 4, for being contacted with center dosing；
Preferably, the wireless communication apparatus 4 uses Wi-Fi module or mobile network's module, the wireless communication apparatus 4
It is connect with data processing equipment 2.
The center dosing is the batch bin that lakeside is arranged in comprising wireless communication module, for receiving movement
The information that main body 1 is sent, fish material type, the mobile main body 1 that the information includes the remaining situation of various fish materials, requires supplementation with
Electricity residue situation, the location information of mobile main body 1, the shoal of fish type of movement 1 region of main body and estimation quantity；
Including processor unit, it is used for information processing, the information processing includes the information fed back according to mobile main body 1,
The interface of charging interface and supplement feed is arranged, and is stocked up in advance；
Including multiple charging interfaces, for charging to mobile main body 1；
Including multiple feed supplement connectors, for supplementing the fish material of mobile main body 1；
A method of using automatic charging, machine people feeds intake, the method includes the steps:
S1: according to the habit of the shoal of fish, such as liking profundal zone or phytal zone, determine the range to feed intake, and according to feeding intake
Range plans the travelling route of robot, so that robot is moved about in water according to the route of traveling, is filled by ultrasonic wave
14 judgement current regions are set whether there is or not shoal of fish process, no then 12 suspend mode of photographic device is taken the photograph when ultrasonic wave receives the signal of reflection
As device 12 is started to work, ultrasonic transmission device shares multiple, and is evenly distributed on the lateral wall of mobile main body 1, work
Emit ultrasonic wave when making while around,
Photographic device 12 penetrates the transparent glass cover 11 of lower section to shooting in lake, and captured image is sent to
Data processing equipment 2 is analyzed；
S2: data processing equipment 2 is schemed the image of shooting with the fish for being stored in storage device 3 by image identification function
Piece is compared, and determines in image whether be the shoal of fish, why the shoal of fish of kind,
When having the shoal of fish to occur in the image of shooting, mobile main body 1 obtains the signal of shoal of fish appearance, and then controls robot
Stop travelling, determining shoal of fish kind, the automatically-controlled door 8 for opening corresponding 6 bottom of fish material storage box are thrown based on the analysis results
Put fish material, step are as follows:
1.: according to the kind of the shoal of fish determined in A；
2.: select corresponding fish material storage box 6；
3.: the automatically-controlled door 8 by controlling the fish material storage box 6 switchs to realize and launch fish material and closure feeding port.
4.: judged to launch the amount of fish material according to clout detection device, when injected volume reaches estimated injected volume, automatically-controlled door
8 close in dispensing fish material.
S3: judged to launch the amount of fish material according to clout detection device, be subtracted by value of the weight sensor 13 before feeding intake
Go the value after feeding intake that can calculate the total amount of launched fish material；
When injected volume reaches estimated injected volume, automatically-controlled door 8, which is closed, is not launching fish material, control mode are as follows: by right
The fish material total amount launched needed for the analysis and processing result estimation of image, and fish material storage before launching is obtained according to weight sensor 13
The weight of case 6 calculates the weight of fish material storage box 6 after launching fish material, if having reached the weight during launching fish material,
To 2 feedback signal of data processing equipment, data processing equipment 2 closes automatically-controlled door 8 by driving motor 9；
Meanwhile positioning device 5 position and store its location information to storage device 3 to the position on the ground that feeds intake,
And using the position on the ground that feeds intake as the center of circle, 200 meters of diameter of water surface range is not launching congener fish material in for 24 hours, can be with
It prevents from repeatedly launching identical fish material in same place；
S4: after S2, S3, robot continues to move about according to set travel route, and repeats S2, S3；
S5: when clout detection device detects that certain fish material in magazine has been launched, data processing equipment 2
After the hole capital after selling all securities signal for receiving clout detection device, according to the position coordinates of the position coordinates of center dosing and itself, planning
Return route, while data processing equipment 2 is by the remaining situation of various fish materials, the fish material type required supplementation with, mobile main body 1
The information such as electricity residue situation, the location information of mobile main body 1, the shoal of fish type of mobile 1 region of main body and estimation quantity
It is sent to center dosing by wireless communication apparatus 4, arranges charging interface and supplement feed convenient for center dosing
Interface, and stock up in advance；
S6: when robot is when making a return voyage, if photographic device 12 takes the shoal of fish, and being also equipped with nursing in magazine should
Fish material needed for kind of the shoal of fish, and the position of the shoal of fish not specified in the S3 for 24 hours in the range of do not launch fish material, then stop machine
Device people carries out the movement that feeds intake in S2, S3, and after the completion of feeding intake, robot continuation is maked a return voyage according to return route.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of automatic charging machine people, the robot includes mobile main body (1) and center dosing, it is characterised in that:
Photographic device (12) are provided on the mobile main body (1), for shooting the shoal of fish；
Including ultrasonic unit (14), for whether there is or not the shoals of fish to pass through in sensing apparatus region, and the position side of the shoal of fish is positioned
To；
Including positioning device (4) and driving device, positioning device (4) is used to position mobile main body (1), and driving device is used
It is mobile by set travelling route in promotion mobile main body (1)；
Including storage device 3, for the picture of the fish of each kind in the set travelling route of recorder people, lake, feed
Hay varieties, the fish in each stage feeding volume, feed ground location information and center dosing location information；
Including data processing equipment (2), for being analyzed and processed to the image that photographic device (12) are shot, controlling feeding port
Switch, control driving device are mobile；
Including magazine and charging device, for magazine for storing various fish meals, charging device is used to open feeding port
It feeds intake；
Including clout detection device, for detecting the remaining situation of fish material；
Including wireless communication apparatus (4), for being contacted with center dosing；
The center dosing is the batch bin that lakeside is arranged in comprising wireless communication module, for receiving mobile main body
(1) information sent, the information includes the remaining situation of various fish materials, the fish material type that requires supplementation with, mobile main body (1)
Electricity residue situation, the location information of mobile main body (1), the shoal of fish type of movement main body (1) region and estimation quantity；
Including processor unit, it is used for information processing, the information processing to include according to the information of mobile main body (1) feedback, peace
The interface of charging interface and supplement feed is arranged, and is stocked up in advance；
Including multiple charging interfaces, for charging to mobile main body (1)；
Including multiple feed supplement connectors, for supplementing the fish material of mobile main body (1).
2. a kind of automatic charging machine people according to claim 1, it is characterised in that: the lower end of the mobile main body (1)
For transparent glass cover (11), in cloche (11), the camera shooting equipment passes through rotating device for photographic device (12) setting
Rotation is driven, for adjusting the shooting direction of photographic device (12), the photographic device (12) and rotating device and data processing
Device (2) electrical connection.
3. a kind of automatic charging machine people according to claim 1, it is characterised in that: the positioning device (4) uses GPS
Satellite positioning device (4) or big-dipper satellite positioning device (4), the driving device have several, and are uniformly distributed and are fixed on shifting
The lower end of dynamic main body (1), the driving device are promoted using electric propeller (10).
4. a kind of automatic charging machine people according to claim 1, it is characterised in that: the analysis of the image handles packet
It includes:
A: being compared by the picture saved in image and storage device 3, determines the kind of the shoal of fish, selection and this kind of shoal of fish pair
The hay varieties answered；
B: according to the mean size of fish in the Individual Size estimation shoal of fish of fish in image, and pass through the mean size of estimated fish
To judge that the whole stage of fish in the shoal of fish, whole stage are divided into Seedling Stage, growth stage, maturity period；
C: fish in the shoal of fish is estimated according to the size of the density of fish, the mean size for the fish estimated and the shoal of fish in image
Quantity, the total amount for the feed launched needed for being calculated according to the feeding volume of the quantity of the fish estimated, the fish in each stage.
5. a kind of automatic charging machine people according to claim 1, it is characterised in that: the magazine includes multiple fishes
Expect storage box (6), each fish material storage box (6) stores different fish materials respectively, and the charging device includes multiple automatically-controlled doors
(8), multiple automatically-controlled doors (8) and multiple fish material storage boxes (6) correspond and block in the bottom of fish material storage box (6).
6. a kind of automatic charging machine people according to claim 5, it is characterised in that: the fish material storage box (6) is to fall
It is coniform, feed opening is offered above it, offers opening in its bottom, the automatically-controlled door (8) blocks in fish material storage box
(6) at bottom opening, automatically-controlled door (8) is in such a way that driving motor (9) drive sealing plate rotation to the bottom of fish material storage box (6)
Portion's opening is blocked or opened.
7. a kind of automatic charging machine people according to claim 1, it is characterised in that: the clout detection device is using weight
Quantity sensor (13).
8. a kind of automatic charging machine people according to claim 1, it is characterised in that: the wireless communication apparatus (4) is adopted
With Wi-Fi module or mobile network's module, the wireless communication apparatus (4) connect with data processing equipment (2).
9. a kind of method to be fed intake using such as the described in any item automatic charging machine people of claim 1-8, the method
Comprising steps of
S1: determining the range that feeds intake, and planned according to travelling route of the range to feed intake to robot, make robot according to
The route of traveling moves about in water, judges current region whether there is or not shoal of fish process by ultrasonic unit, photographic device (12) penetrates
Captured image is sent to data processing equipment (2) and carried out to shooting in lake by the transparent glass cover (11) of lower section
Analysis；
S2: data processing equipment (2) passes through image identification function for the image of shooting and the fish picture for being stored in storage device 3
Be compared, according to the analysis of analysis processing device as a result, open the automatically-controlled door (8) of corresponding fish material storage box (6) bottom into
Row launches fish material；
S3: judging to launch the amount of fish material according to clout detection device, when injected volume reaches estimated injected volume, automatically-controlled door (8)
It closes and is not launching fish material, meanwhile, positioning device (4) carries out positioning to the position on the ground that feeds intake and stores its location information to depositing
In storage device 3, and using the position on the ground that feeds intake as the center of circle, 200 meters of diameter of water surface range is not launching same type interior for 24 hours
Fish material；
S4: after S2, S3, robot continues to move about according to set travel route, and repeats S2, S3；
S5: when clout detection device detects that certain fish material in magazine has been launched, according to center dosing
Position coordinates and itself position coordinates, plan return route, while information is passed through wireless telecommunications by data processing equipment (2)
Device (4) is sent to center dosing, the interface of charging interface and supplement feed is arranged convenient for center dosing, and in advance
It stocks up；
S6: when robot encounters the shoal of fish when making a return voyage, according to circumstances feeding intake, and after the completion of feeding intake, robot continues according to returning
Air route line makes a return voyage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574994.0A CN110352888A (en) | 2019-06-28 | 2019-06-28 | A kind of automatic charging machine people and its feeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574994.0A CN110352888A (en) | 2019-06-28 | 2019-06-28 | A kind of automatic charging machine people and its feeding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110352888A true CN110352888A (en) | 2019-10-22 |
Family
ID=68216585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910574994.0A Withdrawn CN110352888A (en) | 2019-06-28 | 2019-06-28 | A kind of automatic charging machine people and its feeding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110352888A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112931377A (en) * | 2021-02-07 | 2021-06-11 | 金华市广信网络工程有限责任公司 | Fishpond feed feeding control system and method based on image living body recognition |
| CN113060248A (en) * | 2021-04-07 | 2021-07-02 | 国网江苏省电力有限公司兴化市供电分公司 | Floating unmanned ship of feeding |
| CN113487143A (en) * | 2021-06-15 | 2021-10-08 | 中国农业大学 | Fish shoal feeding decision method and device, electronic equipment and storage medium |
| CN114237238A (en) * | 2021-12-08 | 2022-03-25 | 扬州大学 | Autonomous-navigation intelligent feeding robot and feeding method thereof |
| CN114706399A (en) * | 2022-04-06 | 2022-07-05 | 江苏卡尔曼航天应用技术有限公司 | Internet of things-based intelligent control system and method for automatic small-shed shrimp breeding |
-
2019
- 2019-06-28 CN CN201910574994.0A patent/CN110352888A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112931377A (en) * | 2021-02-07 | 2021-06-11 | 金华市广信网络工程有限责任公司 | Fishpond feed feeding control system and method based on image living body recognition |
| CN112931377B (en) * | 2021-02-07 | 2022-08-05 | 金华市广信网络工程有限责任公司 | Fishpond feed feeding control system and method based on image living body recognition |
| CN113060248A (en) * | 2021-04-07 | 2021-07-02 | 国网江苏省电力有限公司兴化市供电分公司 | Floating unmanned ship of feeding |
| CN113060248B (en) * | 2021-04-07 | 2024-05-24 | 国网江苏省电力有限公司兴化市供电分公司 | Floating unmanned bait casting ship |
| CN113487143A (en) * | 2021-06-15 | 2021-10-08 | 中国农业大学 | Fish shoal feeding decision method and device, electronic equipment and storage medium |
| CN114237238A (en) * | 2021-12-08 | 2022-03-25 | 扬州大学 | Autonomous-navigation intelligent feeding robot and feeding method thereof |
| CN114237238B (en) * | 2021-12-08 | 2023-11-28 | 扬州大学 | Autonomous navigation intelligent feeding robot and feeding method thereof |
| CN114706399A (en) * | 2022-04-06 | 2022-07-05 | 江苏卡尔曼航天应用技术有限公司 | Internet of things-based intelligent control system and method for automatic small-shed shrimp breeding |
| CN114706399B (en) * | 2022-04-06 | 2022-12-23 | 江苏卡尔曼航天应用技术有限公司 | Internet of things-based automatic small-shed shrimp breeding intelligent control system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110352888A (en) | A kind of automatic charging machine people and its feeding method | |
| CN110476860A (en) | A kind of feeding system and feeding method based on unmanned plane | |
| AU2017311695B2 (en) | Device, system and method for harvesting and diluting using aerial drones, for orchards, plantations and green houses | |
| KR100725272B1 (en) | Control system and method of sound feeding apparatus for ocean farm | |
| CN110447584A (en) | A kind of charging device and method for aquaculture | |
| EP1300075B1 (en) | A device for automatically supplying feed to animals | |
| WO2021016955A1 (en) | Feeding device and method for aquaculture | |
| CN110199961A (en) | A kind of automatic obstacle avoiding tracks the multifunctional intellectual fisherman of identification | |
| US20220019240A1 (en) | System and method of assisted or automated grain unload synchronization | |
| CN109946702A (en) | The ultrasonic undersea detection imaging system of machine ship one | |
| CN113291420A (en) | Intelligent unmanned ship system | |
| CN110367166A (en) | A kind of proportioning station system and distribution for automatic charging machine people supply | |
| WO2020258312A1 (en) | Automatic feeding robot and feeding method thereof | |
| CN109122533A (en) | Cultivation apparatus and its control method | |
| CN110447607A (en) | A kind of fish-catching apparatus and fishing method based on image recognition | |
| CN108902068B (en) | Intelligent nest making boat and nest making method | |
| CN210299064U (en) | Intelligent bait-casting unmanned ship device | |
| JP2021136965A (en) | Aquaculture management device, aquaculture management method and feeding robot | |
| CN208021748U (en) | A kind of automatic unmanned plane for sowing material and mobile control terminal | |
| JP4673900B2 (en) | Fish shape discrimination device | |
| CN115151132B (en) | Fishing method, fishing device, fishing boat, fishing system, and readable storage medium | |
| CN116674752B (en) | Unmanned aerial vehicle for spreading materials and water feeding method thereof | |
| KR102674670B1 (en) | Smart farm management device and smart farm management system comprising the device using nueral networks | |
| US20220346349A1 (en) | Method and apparatus of using a cellular network to schedule and move material from a first location to a second location | |
| CN118077628A (en) | Intelligent fish fry bait feeding device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191022 |
|
| WW01 | Invention patent application withdrawn after publication |