CN111248118A - Fishing ground management robot based on visual system - Google Patents
Fishing ground management robot based on visual system Download PDFInfo
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- CN111248118A CN111248118A CN202010185133.6A CN202010185133A CN111248118A CN 111248118 A CN111248118 A CN 111248118A CN 202010185133 A CN202010185133 A CN 202010185133A CN 111248118 A CN111248118 A CN 111248118A
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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
- A01K61/00—Culture of aquatic animals
- A01K61/10—Culture of aquatic animals of fish
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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
- A01K61/00—Culture of aquatic animals
- A01K61/90—Sorting, grading, counting or marking live aquatic animals, e.g. sex determination
- A01K61/95—Sorting, grading, counting or marking live aquatic animals, e.g. sex determination specially adapted for fish
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/12—Fingerprints or palmprints
- G06V40/1365—Matching; Classification
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
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- H—ELECTRICITY
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/40—Monitoring or fighting invasive species
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Abstract
The invention discloses a fishing ground management robot based on a visual system, which relates to the field of remote robots and comprises an upper layer, a middle layer and a bottom layer, wherein the upper layer comprises a left half cap and a right half cap, the middle layer consists of an I-shaped hollow column and an annular ring wrapped outside the I-shaped hollow column, the bottom layer comprises a bottom layer upper part, a bottom layer middle part and a bottom layer lower part, the bottom layer upper part is fixedly connected to the lower end of the I-shaped hollow column through a flange, the bottom layer middle part is rotatably connected with the bottom layer upper part, the bottom layer lower part is fixedly connected with the bottom layer middle part, water quality information can be detected in real time through a water quality detection ball, a drowned person can be found in the first time through camera observation, meanwhile, the facial information of a fisherman can be identified, and the facial information. Meanwhile, the robot can sink into water, the number and the types of fish schools in the fishing ground and the invasion of foreign species can be continuously observed day and night through the camera, the workload of managers is reduced, and the monitoring effect is improved.
Description
Technical Field
The invention relates to the field of remote robots, in particular to a fishing ground management robot based on a vision system.
Background
Fishing is an outdoor activity that many people like, so fishing ground and lake are always protected from stealing fishing and catching by someone. Meanwhile, people need to be prevented from swimming in violation of water, falling into water, drowning and the like. And the manual supervision is completely adopted, so that not only is a great deal of manpower wasted, but also places which are possibly unavoidable are artificially supervised.
In addition, for the fishing ground, it is very important to monitor the water quality, the number and the type of fish school, and the invasion of foreign species in real time, and these are difficult to be detected manually. Moreover, the risk of fish culture is high due to a plurality of uncontrollable factors in manual management.
Disclosure of Invention
The invention aims to provide a visual system-based fishing ground management robot, which can detect water quality information in real time through a water quality detection ball, can find drowned people at the first time through camera observation, can identify face information of fishermen at the same time, and sends the face information of the fishermen to a manager. Meanwhile, the robot can sink into water, the number and the types of fish schools in the fishing ground and the invasion of foreign species can be continuously observed day and night through the camera, the workload of managers is reduced, and the monitoring effect is improved.
A fishing ground management robot based on a vision system comprises an upper layer, a middle layer and a bottom layer, wherein the upper layer comprises a left half cap and a right half cap, the middle layer consists of an I-shaped hollow column and an annular ring wrapped outside the I-shaped hollow column, the right half cap is fixedly connected to the upper end of the I-shaped hollow column through an annular cap edge, the left half cap is rotatably connected with the right half cap through an automatic screwing mechanism, the bottom layer comprises a bottom layer upper part, a bottom layer middle part and a bottom layer lower part, the bottom layer upper part is fixedly connected to the lower end of the I-shaped hollow column through a flange, the bottom layer middle part is rotatably connected with the bottom layer upper part, and the bottom layer lower part is fixedly connected with the bottom;
be equipped with two alarm loudspeaker and three rotatory camera from top to bottom on the lateral wall of half right cap, and the top of half right cap is equipped with a horizontal rotation high definition digtal camera, the bottom fixedly connected with baffle of I-shaped hollow column, I-shaped hollow column and upper strata formation function cavity, be equipped with suction pump, drain pump, air pump and solar panel in the function cavity, be equipped with the organism motion shower nozzle on bottom lower part and the bottom middle part, still be equipped with organism adjustment stable nozzle on the lateral wall on bottom upper portion and the lower extreme of flange, the bottom of bottom lower part still rotates and is connected with the water quality testing ball.
Preferably, the automatic screwing mechanism comprises a semi-annular rack, a gear and a cap screwing motor, the left half cap and the right half cap are rotatably connected through a rotating ring arranged at the bottom of the left half cap and a rotating shaft arranged at the bottom of the right half cap, the semi-annular rack is fixedly connected to the outer side of the rotating ring through an arc-shaped plate, the cap screwing motor is fixedly connected to the I-shaped hollow column through a cap screwing motor fixing frame, the gear is connected to an output shaft of the cap screwing motor, and the gear is meshed with the semi-annular rack.
Preferably, solar panel is located half cap on the left under, and solar panel passes through push rod fixed connection on the baffle, the push rod comprises push rod motor and telescopic link, still fixed controlling means and the group battery of being equipped with on the baffle, solar panel links to each other with the group battery, and the group battery still establishes the interface that charges who circles with the annular and link to each other, and the group battery is whole equipment power supply.
Preferably, the water suction pump and the water discharge pump are communicated to the outside of the equipment through a water suction lower pipe and a water discharge lower pipe respectively, a water suction upper pipe of the water suction pump and a water discharge upper pipe of the water discharge pump are communicated to the inside of the hollow annular ring, a circle of charging protection ring is further arranged on the outer side of the annular ring, the air pump is communicated to the annular ring through a first vent pipe and is communicated to the outside of the equipment through a second vent pipe, and the air pump is further communicated with the air compression cylinder.
Preferably, a motor support is fixedly connected to the inner portion of the upper portion of the bottom layer, a rotating motor is fixedly connected to the center of the motor support, an output shaft of the rotating motor is connected with a connecting rod through a coupler, the connecting rod is fixedly connected with a connecting wheel, and the connecting wheel is further fixedly connected with the middle portion of the bottom layer.
Preferably, the two ends of the water quality detection ball are provided with rotating shafts, the rotating shaft at one end is connected with an output shaft of the spherical rotating motor, the rotating shafts are rotatably connected in shaft sleeves fixedly arranged at the lower part of the bottom layer, a water inlet through hole is formed in the bottom side of the water quality detection ball, and a water quality monitor is arranged in the water quality detection ball. The water quality monitor can use the existing products in the market, and can also find corresponding manufacturers to customize according to requirements.
Preferably, the side wall of the upper part of the bottom layer is provided with three machine body adjusting stable nozzles, the mutual interval angle of the three machine body adjusting stable nozzles is 120 degrees, the lower end of the flange is provided with two machine body adjusting stable nozzles, the mutual interval angle of the two machine body adjusting stable nozzles is 180 degrees, the lower part of the bottom layer and the middle part of the bottom layer are respectively provided with two machine body moving nozzles, and the mutual interval angles of the two machine body moving stable nozzles are all 60-90 degrees.
Preferably, the cap screwing motor fixing frame comprises a cylindrical groove, a supporting column fixedly connected to the lower end of the cylindrical groove and a base fixedly connected to the lower end of the supporting column, the cap screwing motor is fixedly connected to the inside of the cylindrical groove, and the base is fixedly connected to the partition plate.
Preferably, the vent of the first vent pipe is positioned at the top in the annular ring, and the vent of the second vent pipe is positioned at the top of the functional chamber.
Preferably, a circle of charging protection ring is fixedly arranged on the outer side of the annular ring, and three handles are fixedly connected to the upper side of the annular ring.
The invention has the advantages that: can real-time detection quality of water information through the water quality testing ball, observe through the camera, can the very first time discover drowned people, also can discern fisherman's facial information simultaneously to the manager is given to fisherman's facial information of people. Meanwhile, the robot can sink into water, the number and the types of fish schools in the fishing ground and the invasion of foreign species can be continuously observed day and night through the camera, the workload of managers is reduced, and the monitoring effect is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention;
FIG. 2 is a schematic diagram of the structure of the bottom layer of the device of the present invention;
FIG. 3 is a top view of a bottom layer of the inventive apparatus;
FIG. 4 is a schematic view of a water quality detecting ball in the device of the present invention;
FIG. 5 is a schematic diagram of the internal structure of the bottom layer of the device of the present invention;
FIG. 6 is a schematic diagram of the structure of a middle layer in the device of the present invention;
FIG. 7 is a schematic diagram of the construction of the suction pump and the drain pump portion of the apparatus of the present invention;
FIG. 8 is a schematic view of the structure of the solar panel portion of the apparatus of the present invention;
FIG. 9 is a top view of the apparatus of the present invention;
FIG. 10 is a schematic diagram of the structure of the upper layer of the apparatus of the present invention;
FIG. 11 is a schematic view of the connection structure of the left cap half and the right cap half of the device of the present invention;
FIG. 12 is a schematic view of the automatic screw-in mechanism of the apparatus of the present invention;
wherein, 1, an upper layer, 2, a middle layer, 3, a bottom layer, 4, a left half cap, 4-1, a rotary ring, 5, a right half cap, 5-1, an annular cap rim, 6, a distance sensor, 7, an alarm horn, 8, an up-down rotary camera, 9, a horizontal rotary camera, 10, an automatic screwing mechanism, 11, a rotary shaft, 12, a half-annular rack, 12-1, an arc plate, 13, a gear, 14, a cap screwing motor, 15, a cap screwing motor fixing frame, 15-1, a cylindrical groove, 15-2, a support column, 15-3, a base, 16, an annular ring, 17, a charging protection ring, 18, a handle, 19, an I-shaped hollow column, 20, a partition board, 20-1, a partition board through hole, 21, a functional chamber, 22, a water suction pump, 22-1, a lower pipe, 22-2, a water suction upper pipe, 23, a water discharge pump, 23-1, 23-, 23-2 parts of lower drain pipe, 23-3 parts of upper drain pipe, 23-3 parts of drain pump bracket, 24 parts of air pump, 24-1 parts of air compression cylinder, 24-2 parts of air pipe I, 24-3 parts of air pipe II, 25 parts of control device, 26 parts of battery pack, 27 parts of push rod, 27-1 parts of push rod motor, 27-2 parts of telescopic rod, 28 parts of solar panel, 29 parts of bottom layer upper part, 29-1 parts of flange, 30 parts of bottom layer middle part, 31 parts of bottom layer lower part, 32 parts of water quality detection ball, 32-1 parts of water inlet through hole, 33 parts of rotating shaft, 34 parts of ball body rotating motor, 35 parts of shaft sleeve, 36 parts of connecting wheel, 37 parts of connecting rod, 38 parts of shaft coupling, 39 parts of rotating motor, 40 parts of rotating motor bracket, 41 parts of body moving nozzle, 42 parts of.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 12, a visual system-based fishery management robot comprises an upper layer 1, a middle layer 2 and a bottom layer 3, wherein the upper layer 1 comprises a left half cap 4 and a right half cap 5, the middle layer 2 consists of an i-shaped hollow column 19 and an annular ring 16 wrapped outside the i-shaped hollow column 19, the right half cap 5 is fixedly connected to the upper end of the i-shaped hollow column 19 through an annular cap rim 5-1, the left half cap 4 is rotatably connected with the right half cap 5 through an automatic screwing mechanism 10, the bottom layer 3 comprises a bottom layer upper part 29, a bottom layer middle part 30 and a bottom layer lower part 31, the bottom layer upper part 29 is fixedly connected to the lower end of the i-shaped hollow column 19 through a flange 29-1, the bottom layer middle part 30 is rotatably connected with the bottom layer upper part 29, and the bottom layer lower part 31 is fixedly connected with the bottom layer middle part 30;
the side wall of the right half cap 5 is provided with two alarm horns 7 and three up-down rotating cameras 8, the top of the right half cap 5 is provided with a horizontal rotating high-definition camera 9, the bottom of the I-shaped hollow column 19 is fixedly connected with a partition plate 20, the I-shaped hollow column 19 and the upper layer 1 form a functional cavity 21, a water suction pump 22, a water discharge pump 23, an air pump 24 and a solar panel 28 are arranged in the functional cavity 21, the bottom layer lower part 31 and the bottom layer middle part 30 are provided with machine body movement nozzles 41, the side wall of the bottom layer upper part 29 and the lower end of the flange 29-1 are further provided with machine body adjustment stable nozzles 42, and the bottom of the bottom layer lower part 31 is further rotatably connected with a water. Can real-time detection quality of water information, can run the effect of drowned voice side bearing single life buoy to drowned people the very first time, facial discernment can discern the facial information who comes the fishing person, the people who wants to come the fishing can follow the managers reservation, the managers is in the facial information of giving the robot with the guest, whether the robot differentiates the fishing people has made an appointment or not automatically, if not make an appointment can send out the police dispatch newspaper sound and the facial information of the people who steals in the future gives the managers. Meanwhile, the robot can uninterruptedly observe the number and the types of fish schools in the fishing ground day and night, the invasion of foreign species and the like, the workload of managers is reduced, and the monitoring effect is improved.
The automatic screwing mechanism 10 comprises a semi-annular rack 12, a gear 13 and a cap screwing motor 14, the left half cap 4 and the right half cap 5 are rotatably connected through a rotating ring 4-1 arranged at the bottom of the left half cap 4 and a rotating shaft 11 arranged at the bottom of the right half cap 5, the semi-annular rack 12 is fixedly connected to the outer side of the rotating ring 4-1 through an arc-shaped plate 12-1, the cap screwing motor 14 is fixedly connected to an I-shaped hollow column 19 through a cap screwing motor fixing frame 15, the gear 13 is connected to an output shaft of the cap screwing motor 14, and the gear 13 is meshed with the semi-annular rack 12. When the robot floats on the water surface, the left half cap 4 can be opened, so that the solar power generation panel 28 in the left half cap generates power.
The water pump 22 and the drainage pump 23 are respectively communicated with the outside of the equipment through a water pumping lower pipe 22-1 and a drainage lower pipe 23-1, a water pumping upper pipe 22-2 of the water pump 22 and a drainage upper pipe 23-2 of the drainage pump 23 are communicated with the inside of the hollow annular ring 16, a ring of charging protection ring 17 is further arranged on the outer side of the annular ring 16, the air pump 24 is communicated with the annular ring 16 through a first ventilation pipe 24-2 and is communicated with the outside of the equipment through a second ventilation pipe 24-3, and the air pump 24 is further communicated with the air compression cylinder 24-1. The robot is controlled to float and sink by means of a water pump 22 and a water pump 23 and also an air pump 24.
Fixedly connected with motor support 40 in bottom upper portion 29, motor support 40 center department fixedly connected with rotating electrical machines 39, the output shaft of rotating electrical machines 39 passes through shaft coupling 38 and is connected with connecting rod 37, connecting rod 37 and fifth wheel 36 fixed connection, fifth wheel 36 still with bottom middle part 30 fixed connection. Enabling the bottom middle section 30 to rotate for ease of controlling robot motion.
The water quality detection ball 32 is provided with rotating shafts 33 at two ends, the rotating shaft 33 at one end is connected with an output shaft of a ball rotating motor 34, the rotating shaft 33 is rotatably connected in a shaft sleeve 35 fixedly arranged at the lower part 31 of the bottom layer, a water inlet through hole 32-1 is arranged at the bottom side of the water quality detection ball 32, and a water quality monitor is arranged in the water quality detection ball 32. The water quality monitor can be used for detecting water quality and controlling the robot to sink conveniently, and the water quality monitor can be made of products existing in the market and can be customized by corresponding manufacturers according to requirements.
The side wall of the upper part 29 of the bottom layer is provided with three machine body adjusting and stabilizing nozzles 42, the mutual interval angle is 120 degrees, the lower end of the flange 29-1 is provided with two machine body adjusting and stabilizing nozzles 42, the mutual interval angle is 180 degrees, the lower part 31 of the bottom layer and the middle part 30 of the bottom layer are respectively provided with two machine body moving nozzles 41, and the mutual interval angles are all between 60 degrees and 90 degrees. The robot motion can be accurately controlled.
The cap screwing motor fixing frame 15 comprises a cylindrical groove 15-1, a supporting column 15-2 fixedly connected to the lower end of the cylindrical groove 15-1 and a base 15-3 fixedly connected to the lower end of the supporting column 15-2, the cap screwing motor 14 is fixedly connected into the cylindrical groove 15-1, and the base 15-3 is fixedly connected to the partition plate 20.
The vent of the vent pipe one 24-2 is located at the top inside the annular ring 16 and the vent of the vent pipe two 24-3 is located at the top of the functional chamber 21.
The outer side of the annular ring 16 is also fixedly provided with a circle of charging protection ring 17, and the upper side of the annular ring 16 is also fixedly connected with three handles 18.
The specific implementation mode and principle are as follows:
as shown in the figure I, the fishing ground management robot comprises an upper layer 1, a middle layer 2, a bottom layer 3, wherein the upper layer 1 comprises a left half cap 4 and a right half cap 5, the right half cap 5 is provided with an up-and-down rotating high-definition camera 8 and a horizontal rotating high-definition camera 9 for monitoring the lake surface and the lake bank, the left half cap 4 can automatically screw the left half cap 5 into the right half cap through a left half cap screwing mechanism 10, so that the left half side of the upper part of the robot is opened, a solar panel 28 positioned right below the left half cap 4 can vertically extend out to charge the robot by using solar energy, the outer side of the middle layer 2 is an annular ring 16, the outer side of the annular ring 16 is a protection annular ring and a charging protection ring 17 for charging the robot in rainy days, the inner side of the annular ring 16 is an I-shaped hollow column 19 for connecting the upper layer and the bottom layer, the bottom layer comprises a bottom layer upper layer part 29, a bottom layer middle part 30 and a bottom layer lower part 31, the, the bottom layer lower part 31 is provided with a water quality first detection ball 32.
As shown in fig. two and fig. three, the bottom layer 3 is hollow and hemispherical, the middle part of the bottom layer lower part 31 is provided with a machine body moving spray head 41 for pushing the machine forward, the bottom layer middle part 30 is provided with two machine body moving spray heads 41 for pushing the machine forward, the bottom layer middle part 30 can rotate around the central shaft of the machine, two machine body adjusting and stabilizing spray heads 42 are symmetrically arranged below the flange 29-1 of the bottom layer upper part 29 connected with the I-shaped hollow column 19, when the machine floats on the water surface, the angle that can adjust the machine lets the robot see to different directions through high definition digtal camera, and bottom upper portion 29 is provided with three organism adjustment and stabilizes shower nozzle 42, and the angle of two shower nozzles is one hundred twenty degrees respectively, can be used for the robot to prevent when opening that it from taking place the spin at the surface of water when surfacing, stabilizes high definition digtal camera, makes high definition digtal camera can stably shoot.
As shown in the figure four shows the embodiment of the water quality detection ball, the bottom side of the water quality detection ball 32 is provided with a water inlet through hole 32-1, the inside of the water quality detection ball inside the water inlet through hole 32-1 is provided with a plurality of sensors, when water enters the water quality detection ball 32, the water quality detection ball can detect the water quality in real time and send information to the lake length, two ends of the water quality detection ball 32 are provided with rotating shafts 33, two ends of the rotating shafts 33 are provided with shaft sleeves 35, one end is provided with a ball rotating motor 34, and the ball rotating motor 34 drives the ball to rotate so that the water inlet through hole 32-1 of the ball rotates one hundred eighty degrees and contacts with the water surface downwards, or rotates ninety degrees so that the inner side of.
As shown in fig. five, a connecting wheel 36 connected with the bottom middle part 30 is arranged on the inner side of the bottom middle part 30, a connecting rod 37 is arranged on the center of the connecting wheel 36, a coupler 37 and a middle rotating motor 39 are arranged at the upper end of the connecting rod 37, the middle rotating motor 39 is fixed at the center of the bottom upper part 29 by a rotating motor support 40, and the rotation of the middle rotating motor 39 drives the connecting wheel 36 to rotate, so that two machine body moving nozzles 41 arranged outside the connecting wheel 36 rotate, and the robot can make a sharp turn left or right.
As shown in fig. six and seven, the periphery of the middle layer 2 is provided with an annular ring 16, the inner side of the annular ring 16 is provided with an i-shaped hollow column 19, the bottom of the i-shaped hollow column is provided with a partition plate 20, the i-shaped hollow column 19 and the upper layer 1 form a functional chamber 21, the bottom of the functional chamber 21 is provided with two partition plate through holes 20-1 which can lead the water of the bottom layer 3 to the functional chamber 21, the functional chamber 21 comprises a solar panel 28 structure, a water suction pump 22, a water discharge pump 23, an air pump 24, the solar panel 28 positioned right below the left half cap 4 and a push rod 27 at the bottom side of the solar panel 28, the battery pack 26 is also arranged at the bottom side of the partition plate 20, the electricity generated by the solar panel 28 when the sunlight exists can be stored, the annular ring 16 is hollow, the water suction pump 22 and the water discharge pump 23 are also arranged inside the functional chamber 21, the water suction pump 22 can suck the water through a water discharge lower pipe 23, then water is pumped into the annular ring 16 through the water pumping upper pipe 22-2 inserted into the annular ring 16, the water draining upper pipe 23-2 of the water draining pump 23 is inserted into the bottom of the annular ring 16 to suck up water in the annular ring 16, the water draining lower pipe 23-1 is inserted into the water through the side wall of the H-shaped hollow column 23 and the annular ring 16, the water beating pump can drain all the water in the annular ring 16 out of the robot, the air pump 24 comprises an air compression cylinder 24-1, a vent pipe one 24-2 and a vent pipe two 24-3, the opening of the vent pipe two 24-3 is positioned at the highest position of the functional chamber 21, the opening of the vent pipe one 24-2 is positioned at the hollow uppermost side of the annular ring 16, the air pump 24 can hollow the bottom layer 3 of the robot, air in the functional chamber 21 and the annular ring 16 is compressed to the surface of the air compression cylinder 24-1 in a full absorption mode, when the robot floating, the control device 25 controls the water pump 22 to suck water into the annular ring 16 to increase the weight and the water discharge of the annular ring 16, then the ball rotating motor 34 of the bottom layer controls the water quality detecting ball 32 to rotate 90 degrees, so that the through hole 32-1 of the water quality detecting ball 32 is vertical to the horizontal plane, so that the water at the bottom can enter the hollow part of the bottom layer 3 through the through hole 32-1, meanwhile, the air pump 24 is started to pump the bottom layer 3, the air in the functional chamber 21 and the annular ring 16 is gradually compressed into the air compression cylinder 24-1, the water gradually enters the functional chamber 21 through the water inlet through hole 20-1 on the partition plate under the action of atmospheric pressure, the water pump 22 is also started to pump the annular ring 16, so that most of the air in the robot is pressed into the air compression cylinder, most of the water in the machine is filled, so that the robot sinks, the control device 25 comprises a GPS positioning system for preventing the robot from being filled with water, the machine can shoot submarine fish school through the high definition digtal camera on upper strata behind the surface of water below to with information transmission module with the control group with fish school information transmission to cloud service end, judge the change of fish school through the cloud service end, estimate fish school quantity, there is not the invasion of foreign species, influence the source of lake quality of water there.
As shown in figure eight, the bottom side of the solar panel 28 is connected with a push rod 27, and the push rod 27 is composed of a push rod motor 27-1 and a telescopic rod 27-2, and is integrally positioned right below the left half cap 4.
As shown in fig. nine and fig. ten, the upper layer 1 comprises a left half cap 4 and a right half cap 5, the bottom side of the right half cap 5 is provided with an annular cap rim 5-1 fixed with an i-shaped hollow column 19, the radius of the left half cap 4 is slightly smaller than that of the right half cap 5, the left half cap 4 and the right half cap 5 can be connected through an automatic screwing mechanism 10, the robot can automatically retract the left half cap 4 into the right half cap 5 through the automatic screwing mechanism 10, so that a solar panel 28 positioned right below the left half cap 4 extends out to charge the robot by using light energy, the cap rim 5-1 is provided with eight distance sensors for detecting obstacles, the robot can go around when encountering obstacles, the middle part of the right cap 5 is provided with three up-down rotating high-definition cameras 8, one takes a picture in front of the robot, the other two pictures on both sides of the robot, the top of the right cap 5 is also provided with a horizontal rotating camera 9, used for shooting pictures behind the robot, two alarming horns 7 are arranged in front of the robot on the hat brim 5-1,
the automatic management embodiment of the fishpond: when someone wants to fish in the lake, the lake leader can make an appointment with the lake leader, the lake leader sends face information of the fisher and fishing duration information to the robot, the robot distinguishes whether the fisher has made an appointment with the lake leader or not through a vision system, if the person who has not made the appointment is close to a fish pond, the robot can shoot the face information of the person, automatically identifies whether the person steals the fish or damages the lake, sends an alarm to the person at the first time by using an alarm horn, sends information after the face identification of the person who has not made the appointment to a mobile phone of the lake leader, and says what the person has damaged the lake, the robot can monitor the lake at the center of the lake, finds that the person has not carefully caught the lake, can reach the side of the drowner at the first time through the movement of the body movement nozzle 41 of the bottom layer 3, the drowner can grasp the handle 18, and the person who has drowned can bring the robot to the lake, the function of acting as the life buoy rescues the people who drowns, and controlling means 25 is including preventing that the robot is stolen GPS positioning system, signal transmission module, and group battery 26 can be used for the robot power supply when cloudy with solar panel with the electricity storage in the weather that has sunshine, and when continuous cloudy day, the robot if the electric quantity is not enough, can swim to the lake automatically and charge for the robot through charging protection ring 17.
As shown in the eleventh and twelfth drawing, the left half cap automatic screw-in mechanism 10 comprises a rotating ring 4-1 arranged at the bottom side of a right half cap 5, a rotating ring 4-1 arranged at the forehead book of the left half cap 4, a rotating shaft 11 connected with the two rotating rings for connecting the left half cap with the right half cap through the rotating shaft 11, a semi-annular rack 12 arranged outside the rotating ring 4-1 of the left half cap 4, a semi-annular rack 12 with teeth uniformly distributed at the inner side, the semi-annular rack 12 fixedly connected with the rotating ring 4-1 and the vertical wall of the left half cap 4 through an arc plate 12-1, a gear 13 matched with the rack, a screw cap motor 14 connected with the gear, a motor fixing bracket 15 arranged in the motor fixing bracket 15, a motor fixing space 15 comprising a cylindrical groove 15-1 for accommodating the screw cap motor 14, a support pillar 15-2 extending in the downward vertical direction, and a base 15-3 for connecting the support pillar 15-2 with a hollow pillar 19, wherein when the robot is arranged at the right half cap When the sensor on the half cap 5 senses sunlight, the cap screwing motor 14 is controlled to rotate, the gear 14 on the motor drives the half-ring-shaped rack 12 to rotate, the half-ring-shaped rack 12 is fixedly connected with the vertical side wall of the left half cap 4, the left half cap 4 is screwed into the right half cap 5 under the action of centripetal force, and then the solar panel 28 positioned below the left half cap 4 can stretch out to charge the robot.
Based on the above, the invention can detect water quality information in real time, can detect water quality information in real time through the water quality detection ball, can find drowned people in the first time through camera observation, can identify face information of fishermen at the same time, and sends the face information of the fishermen to managers. Meanwhile, the robot can sink into water, the number and the types of fish schools in the fishing ground and the invasion of foreign species can be continuously observed day and night through the camera, the workload of managers is reduced, and the monitoring effect is improved.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (10)
1. A fishing ground management robot based on a visual system comprises an upper layer (1), a middle layer (2) and a bottom layer (3), wherein the upper layer (1) comprises a left half cap (4) and a right half cap (5), the middle layer (2) consists of an I-shaped hollow column (19) and an annular ring (16) wrapped outside the I-shaped hollow column (19), the right half cap (5) is fixedly connected to the upper end of the I-shaped hollow column (19) through an annular cap edge (5-1), the left half cap (4) is rotatably connected with the right half cap (5) through an automatic screwing mechanism (10), the bottom layer (3) comprises a bottom layer upper part (29), a bottom layer middle part (30) and a bottom layer lower part (31), the bottom layer upper part (29) is fixedly connected to the lower end of the I-shaped hollow column (19) through a flange (29-1), and the bottom layer middle part (30) is rotatably connected with the bottom layer upper part (29), the lower part (31) of the bottom layer is fixedly connected with the middle part (30) of the bottom layer;
the multifunctional water quality monitoring device is characterized in that two alarm loudspeakers (7) and three up-down rotating cameras (8) are arranged on the side wall of the right half cap (5), a horizontal rotating high-definition camera (9) is arranged at the top of the right half cap (5), a partition plate (20) is fixedly connected to the bottom of the I-shaped hollow column (19), the I-shaped hollow column (19) and the upper layer (1) form a functional cavity (21), a water suction pump (22), a drainage pump (23), an air pump (24) and a solar panel (28) are arranged in the functional cavity (21), machine body moving nozzles (41) are arranged on the lower portion (31) and the middle portion (30) of the bottom layer, machine body adjusting and stabilizing nozzles (42) are further arranged on the side wall of the upper portion (29) of the bottom layer and the lower end of a flange (29-1), and a water quality detection ball (32.
2. The visual system based fishery management robot according to claim 1, wherein: the automatic screwing mechanism (10) comprises a semi-annular rack (12), a gear (13) and a cap screwing motor (14), the left half cap (4) and the right half cap (5) are rotatably connected through a rotating ring (4-1) arranged at the bottom of the left half cap (4) and a rotating shaft (11) arranged at the bottom of the right half cap (5), the semi-annular rack (12) is fixedly connected to the outer side of the rotating ring (4-1) through an arc-shaped plate (12-1), the cap screwing motor (14) is fixedly connected to an I-shaped hollow column (19) through a cap screwing motor fixing frame (15), the gear (13) is connected to an output shaft of the cap screwing motor (14), and the gear (13) is meshed with the semi-annular rack (12).
3. The visual system based fishery management robot according to claim 1, wherein: solar panel (28) are located half cap (4) in a left side under, and solar panel (28) pass through push rod (27) fixed connection on baffle (20), push rod (27) comprise push rod motor (27-1) and telescopic link (27-2), still fixed controlling means (25) and group battery (26) of being equipped with on baffle (20), solar panel (28) link to each other with group battery (26), and group battery (26) still establish with the annular ring (16) on charge the interface and link to each other, group battery (26) are whole equipment power supply.
4. The visual system based fishery management robot according to claim 1, wherein: the water suction pump (22) and the water discharge pump (23) are communicated to the outside of the equipment through a water suction lower pipe (22-1) and a water discharge lower pipe (23-1) respectively, a water suction upper pipe (22-2) of the water suction pump (22) and a water discharge upper pipe (23-2) of the water discharge pump (23) are communicated to the inside of the hollow annular ring (16), a circle of charging protection ring (17) is further arranged on the outer side of the annular ring (16), the air pump (24) is communicated to the annular ring (16) through a first vent pipe (24-2) and communicated to the outside of the equipment through a second vent pipe (24-3), and the air pump (24) is further communicated with the air compression cylinder (24-1).
5. The visual system based fishery management robot according to claim 1, wherein: fixedly connected with motor support (40) in bottom upper portion (29), fixedly connected with rotating electrical machines (39) are located at motor support (40) center, the output shaft of rotating electrical machines (39) passes through shaft coupling (38) and is connected with connecting rod (37), connecting rod (37) and fifth wheel (36) fixed connection, fifth wheel (36) still with bottom middle part (30) fixed connection.
6. The visual system based fishery management robot according to claim 1, wherein: the water quality detection ball is characterized in that rotating shafts (33) are arranged at two ends of the water quality detection ball (32), the rotating shaft (33) at one end is further connected with an output shaft of a ball rotating motor (34), the rotating shaft (33) is rotatably connected in a shaft sleeve (35) fixedly arranged at the lower part (31) of the bottom layer, a water inlet through hole (32-1) is formed in the bottom side of the water quality detection ball (32), and a water quality monitoring instrument is arranged in the water quality detection ball (32).
7. The visual system based fishery management robot according to claim 1, wherein: the side wall of the upper part (29) of the bottom layer is provided with three machine body adjusting and stabilizing nozzles (42), the mutual interval angle is 120 degrees, the lower end of the flange (29-1) is provided with two machine body adjusting and stabilizing nozzles (42), the mutual interval angle is 180 degrees, the lower part (31) of the bottom layer and the middle part (30) of the bottom layer are respectively provided with two machine body moving nozzles (41), and the mutual interval angle is 60-90 degrees.
8. The visual system based fishery management robot according to claim 2, wherein: the cap screwing motor fixing frame (15) comprises a cylindrical groove (15-1), a supporting column (15-2) fixedly connected to the lower end of the cylindrical groove (15-1) and a base (15-3) fixedly connected to the lower end of the supporting column (15-2), the cap screwing motor (14) is fixedly connected into the cylindrical groove (15-1), and the base (15-3) is fixedly connected onto the partition plate (20).
9. The visual system based fishery management robot according to claim 4, wherein: the vent of the first vent pipe (24-2) is positioned at the top in the annular ring (16), and the vent of the second vent pipe (24-3) is positioned at the top of the functional chamber (21).
10. The visual system based fishery management robot according to claim 4, wherein: the outer side of the annular ring (16) is further fixedly provided with a circle of charging protection ring (17), and the upper side of the annular ring (16) is further fixedly connected with three handles (18).
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| CN113114953A (en) * | 2021-04-12 | 2021-07-13 | 遵义职业技术学院 | Pepper disease and pest specimen observation device |
| CN113920092A (en) * | 2021-10-14 | 2022-01-11 | 江阴仟亿日化包装有限公司 | Adaptive adjustment platform applying image processing |
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| CN116189679A (en) * | 2023-05-04 | 2023-05-30 | 北京水晶石数字科技股份有限公司 | Voice interaction device with environmental sound noise reduction function |
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