WO2020232579A1 - Underwater monitoring apparatus capable of automatically adapting to direction of sunlight, and method - Google Patents

Underwater monitoring apparatus capable of automatically adapting to direction of sunlight, and method Download PDF

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Publication number
WO2020232579A1
WO2020232579A1 PCT/CN2019/087441 CN2019087441W WO2020232579A1 WO 2020232579 A1 WO2020232579 A1 WO 2020232579A1 CN 2019087441 W CN2019087441 W CN 2019087441W WO 2020232579 A1 WO2020232579 A1 WO 2020232579A1
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WIPO (PCT)
Prior art keywords
module
solar power
main body
sunlight
power module
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PCT/CN2019/087441
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French (fr)
Chinese (zh)
Inventor
刘浩源
郑玉军
郑瑞云
孙立晶
田丙奇
Original Assignee
唐山哈船科技有限公司
唐山圣因海洋科技有限公司
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Application filed by 唐山哈船科技有限公司, 唐山圣因海洋科技有限公司 filed Critical 唐山哈船科技有限公司
Priority to PCT/CN2019/087441 priority Critical patent/WO2020232579A1/en
Publication of WO2020232579A1 publication Critical patent/WO2020232579A1/en

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00—Supporting structures for PV modules
    • H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
    • H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the field of aquaculture, in particular to an underwater monitoring device and method automatically adapted to the direction of sunlight.
  • Aquatic organisms are rich in resources and contain a large amount of aquatic organisms that can be used as human food. Research on aquatic organisms can bring a lot of help to aquaculture. Therefore, it is very necessary to monitor aquatic organisms. There has been an incident in which shells farmed by a listed company ran away, causing huge economic losses. However, if the aquatic organisms are continuously monitored, the power supply of the monitoring device is a problem.
  • the present invention proposes an underwater monitoring device and method that automatically adapts to the direction of sunlight, which can continuously monitor aquatic organisms, record the life process and growth process of aquatic organisms, and discover problems in aquaculture in time.
  • an underwater monitoring device that automatically adapts to the direction of sunlight, the device including a main body, and:
  • a monitoring module the monitoring module is located on the upper part of the main body, facing the front, and is used to monitor the aquatic life information ahead;
  • a solar power module can be movably arranged on the upper part of the main body, can move along the horizontal ring on the main body to face the direction of sunlight, and is used to convert light energy into electric energy to supply power to the device;
  • a calculation module which is located inside the main body, and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life;
  • a steering module which is located in the middle of the main body, and is used to drive the main body to turn based on the predicted motion trajectory of the device;
  • a propulsion module where the propulsion module is located on the main body, and is used for propelling the main body to move based on the predicted movement trajectory of the device.
  • the solar power generation module includes a light sensor for detecting the direction of sunlight, and the calculation module calculates the moving angle of the solar power generation module according to the direction of the sunlight and the position of the solar power generation module, so that the The solar power generation module faces the sunlight direction.
  • the device includes a motor that drives the solar power module to move, and calculates the angle of movement of the solar power module based on the illumination information, so that the solar power module is moved to face the direction of sunlight.
  • the solar power module there is an annular concave track above the main body, and a convex part matching the concave track is provided on the solar power module.
  • the cross-sections of the concave part rail and the convex part are trapezoidal.
  • the device is waterproof.
  • the monitoring module includes a camera device.
  • the device further includes a rechargeable battery for storing the electrical energy of the solar power generation module, and when the solar power generation module is not generating power or generating power is insufficient, powering the device is provided.
  • a rechargeable battery for storing the electrical energy of the solar power generation module, and when the solar power generation module is not generating power or generating power is insufficient, powering the device is provided.
  • the propulsion module is fixedly connected to the bottom of the main body to push the device forward.
  • steering modules Preferably, there are two steering modules to adjust the main body to turn clockwise and counterclockwise respectively.
  • the device further includes a wireless communication module for transmitting the aquatic biological information to a data center, such as a cloud center.
  • a wireless communication module for transmitting the aquatic biological information to a data center, such as a cloud center.
  • the wireless communication module includes a Wi-Fi module or a mobile network module.
  • the aquatic creature information includes the angle, distance, movement direction, and movement speed of the aquatic creature and the device.
  • the device of the first aspect of the present invention including the monitoring module, the solar power generation module, the calculation module, and the steering module And the propulsion module, the solar power generation module supplies power to the device, and the method includes:
  • the solar power generation module includes a light sensor, and the light sensor is used to detect the direction of sunlight;
  • the calculation module calculates the movement angle of the solar power module according to the direction of the sunlight and the position of the solar power module, so that the solar power module faces the direction of the sunlight;
  • the device includes a motor that drives the solar power generation module to move, and the solar power generation module is moved by the motor.
  • the aquatic biological information is monitored by a camera device.
  • the monitoring module includes a camera device.
  • the aquatic creature information includes an image of aquatic creature, and further includes recognizing the image of aquatic creature.
  • the pushing module is fixedly connected to the bottom of the main body to push the device forward.
  • the method further includes (8), transmitting the aquatic biological information to a data center, such as a cloud center, through wireless communication.
  • a data center such as a cloud center
  • the wireless communication includes via Wi-Fi or a mobile network.
  • the aquatic creature information includes the angle, distance, movement direction, and movement speed of the aquatic creature and the device.
  • the underwater monitoring device and method automatically adapted to the sunlight direction of the present invention realizes long-term uninterrupted monitoring of the life process and growth process of aquatic organisms through continuous and real-time monitoring of aquatic organism information, and timely detection of aquatic organisms’ running events.
  • Fig. 1 is a schematic structural diagram of an embodiment of a water bottom monitoring device automatically adapted to the direction of sunlight according to the present invention
  • FIG. 2 is a schematic structural diagram of a top view of an embodiment of the underwater monitoring device that automatically adapts to the direction of sunlight according to the present invention
  • FIG. 3 is a schematic diagram of the connection of solar power modules in an embodiment of the underwater monitoring device that automatically adapts to the direction of sunlight according to the present invention
  • Fig. 4 is a schematic flow chart of an embodiment of the underwater monitoring method that automatically adapts the direction of sunlight according to the present invention.
  • the directional indication is only used to explain that it is in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.
  • Fig. 1 shows a schematic structural diagram of an embodiment of an underwater monitoring device that automatically adapts to the direction of sunlight.
  • the device includes a main body 1, a solar power generation module 2, a monitoring module 3, a steering module 6, a propulsion module 8 and a calculation module 9.
  • the main body 1 is a waterproof sealing body to prevent internal components from being damaged by water.
  • the main body 1 has an upper part and a lower part, and the working state in the water is the upper part upward and the lower part downward.
  • the main body 1 is divided into front and rear, the monitoring module 3 faces the front, the steering module 6 turns the front of the main body to face the living creature, and the propulsion module 8 pushes the main body to move forward. This can be conveniently achieved by properly arranging the components of the main body.
  • the monitoring module 3 is located on the upper part of the main body 1, facing forward, and is used for monitoring water biological information and light information.
  • the monitoring module 3 may be one or more.
  • the monitoring module 3 includes a camera device, which is used to monitor biological information in the water.
  • the information of the aquatic creatures includes the angle, distance, direction of movement, and speed of movement from the device.
  • the aquatic creature information includes images of aquatic creatures, and further includes recognizing the images of aquatic creatures. Therefore, the monitoring module 3 can be configured to perform image recognition.
  • Image recognition can be used to identify the characteristics of monitored aquatic organisms, such as identifying the stripe characteristics or size and quantity characteristics of one or more fish in the aquatic organisms, thereby reducing the possibility of monitoring miscellaneous aquatic organisms.
  • one or more fish in the aquatic life may be marked on their bodies to facilitate identification.
  • one or more fish can be marked with special patterns, or the fish can be fluorescent.
  • the solar power module 2 can be movably arranged on the upper part of the main body 1, and can move along the horizontal ring on the main body 1 to face the direction of sunlight, and is used to convert light energy into electric energy. Power on.
  • the solar battery is only installed in the upper half or third of the main body 1.
  • the solar power generation panels of the solar power generation module 2 are not continuous, and are divided into two or three parts.
  • the device further includes a rechargeable battery 7 for storing electric energy of the solar power generation module 2 and supplying power to the device when the solar power generation module 2 is not generating power or is not generating enough power.
  • the solar power module 2 includes a light sensor 10 for detecting the direction of sunlight, and the calculation module 9 calculates the solar power module according to the direction of the sunlight and the position of the solar power module 2 2 The angle of movement so that the solar power generation module 2 faces the direction of sunlight.
  • 2 is a schematic structural view of a top view of an embodiment of the underwater monitoring device that automatically adapts to the sunlight direction of the present invention
  • FIG. 3 is the connection structure of the solar power module 2 of an embodiment of the underwater monitoring device that automatically adapts the sunlight direction of the present invention Schematic diagram, where FIG. 3A shows a horizontal annular concave track 4 above the main body 1, and FIG. 3B shows that the solar power module 2 is provided with a convex portion matching the concave track 4.
  • the device includes a motor that drives the solar power module 2 to move.
  • the main body 1 has an annular concave track 4 (FIG. 2 and FIG. 3A) above the main body 1, and the solar power module 2 is provided with a convex portion matching the concave track 4 (FIG. 3B).
  • the cross-section of the concave part track and the convex part is trapezoidal (FIG. 3A, FIG. 3B).
  • the ring-shaped concave track 4 may be provided with a steel wire rope, the steel wire rope is connected to the convex portion, and the motor drives the steel wire rope to drive the solar power module 2 to move.
  • the calculation module 9 is located inside the main body 1 and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life.
  • Aquatic creatures are moving.
  • the device needs to move with the movement of the aquatic creatures.
  • the calculation module 9 uses the information of the aquatic creatures, such as the angle, distance and direction of movement from the device, Movement speed. Through these, the steering angle and movement speed of the main body 1 can be adjusted to maintain a proper distance from the aquatic life.
  • the calculation module 9 also calculates the angle of movement of the solar power generation module 2 based on the illumination information, so that the solar power generation module 2 faces the direction of sunlight.
  • the illumination information includes the direction of sunlight, and the direction of sunlight can be acquired by a light sensor.
  • the direction of sunlight can be determined more accurately by two or more light sensors to adjust the orientation of the solar power module 2. Make the solar power generation module 2 face the direction of sunlight.
  • the steering module 6 is located in the middle of the main body 1 and is used to drive the main body 1 to steer based on the movement track of the device.
  • the steering module 6 may adopt a paddle, which generates power through the rotation of the paddle.
  • the propulsion module 8 is located on the main body 1 and is used for propelling the main body 1 to move based on the predicted movement trajectory of the device.
  • the propulsion module 8 may be one or more, for example, two as shown in the figure.
  • the propulsion module 8 may adopt a paddle, which generates power through the rotation of the paddle.
  • the propulsion module 8 is rotatably arranged at the bottom of the main body 1.
  • the connecting rod 81 between the propulsion module 8 and the main body 1 is a fixed connecting rod.
  • the device further includes a wireless communication module 5 located inside the main body 1 for transmitting the aquatic biological information to a data center, such as a cloud center.
  • the wireless communication module includes a Wi-Fi module or a mobile network module.
  • FIG. 4 is a schematic flowchart of an embodiment of the underwater bottom monitoring method S100 that automatically adapts the sunlight direction of the present invention.
  • the underwater monitoring method S100 for automatically adapting the sunlight direction can be implemented by the underwater monitoring device for automatically adapting the sunlight direction shown in FIG. 1.
  • the underwater bottom monitoring method S100 that automatically adapts the sunlight direction includes: (S110) real-time monitoring and tracking of aquatic organism information through the monitoring module; (S120) real-time calculation of the device based on the aquatic organism information through the calculation module Predict the motion trajectory to monitor the aquatic life; (S130) Drive the steering module based on the motion trajectory of the device to realize the steering of the device through the steering module; (S140) Based on the predicted motion trajectory of the device Drive the propulsion module to advance the movement of the device through the propulsion module; (S150) the solar power module includes a light sensor, and the light sensor is used to detect the direction of sunlight; (S160) the calculation module is based on the The direction of the sunlight and the position of the solar power module, calculate the angle of movement of the solar power module, so that the solar power module faces the direction of the sunlight; (S170) calculate the movement of the solar power module based on the light information The angle of the solar power module moves, facing the direction of sunlight.
  • the monitoring module 3 may be one or more.
  • the monitoring module 3 includes a camera device, which is used to monitor biological information in the water.
  • the information of the aquatic creatures includes the angle, distance, direction of movement, and speed of movement from the device.
  • the aquatic creature information includes images of aquatic creatures, and further includes recognizing the images of aquatic creatures. Therefore, the monitoring module 3 can be configured to perform image recognition.
  • Image recognition can be used to identify the characteristics of monitored aquatic organisms, such as identifying the stripe characteristics or size and quantity characteristics of one or more fish in the aquatic organisms, thereby reducing the possibility of monitoring miscellaneous aquatic organisms.
  • one or more fish in the aquatic life may be marked on their bodies to facilitate identification.
  • one or more fish can be marked with special patterns, or the fish can be fluorescent.
  • the calculation module 9 is located inside the main body 1, and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life.
  • Aquatic creatures are in motion.
  • the device needs to move with the movement of the aquatic creatures.
  • the calculation module 9 uses the information of the aquatic creatures, such as the angle, distance and direction of movement from the device, Movement speed. Through these, the steering angle and movement speed of the main body 1 can be adjusted to maintain a proper distance from the aquatic creatures.
  • the steering module 6 is located in the middle of the main body 1, and is used to drive the main body 1 to steer based on the movement trajectory of the device.
  • the steering module 6 may adopt a paddle, which generates power through the rotation of the paddle.
  • the propulsion module 8 is located on the main body 1, and is used for propelling the main body 1 to move based on the predicted movement trajectory of the device.
  • the propulsion module 8 may be one or more, for example, two as shown in the figure.
  • the propulsion module 8 may adopt a paddle, which generates power through the rotation of the paddle.
  • the propulsion module 8 is rotatably arranged at the bottom of the main body 1.
  • the connecting rod 81 between the propulsion module 8 and the main body 1 is a fixed connecting rod.
  • the solar power module 2 includes a light sensor 10 for detecting the direction of sunlight.
  • the illumination information includes the direction of sunlight, and the direction of sunlight can be acquired by a light sensor.
  • the direction of sunlight can be determined more accurately by two or more light sensors to adjust the orientation of the solar power module 2. Make the solar power generation module 2 face the direction of sunlight.
  • the calculation module 9 calculates the angle of movement of the solar power generation module 2 based on the illumination information, so that the solar power generation module 2 faces the direction of sunlight.
  • the illumination information includes the direction of sunlight, and the direction of sunlight can be acquired by a light sensor.
  • the direction of sunlight can be determined more accurately by two or more light sensors to adjust the orientation of the solar power module 2. Make the solar power generation module 2 face the direction of sunlight.
  • FIG. 2 is a schematic structural diagram of a top view of an embodiment of the underwater monitoring device that automatically adapts to the sunlight direction of the present invention
  • FIG. 3 is a solar power module of an embodiment of the underwater monitoring device that automatically adapts the sunlight direction of the present invention 2
  • Schematic diagram of the connection structure wherein FIG. 3A shows that the main body 1 has an annular concave track 4, and FIG. 3B shows that the solar power module 2 is provided with a convex portion matching the concave track 4.
  • the device includes a motor that drives the solar power module 2 to move.
  • the main body 1 has an annular concave track 4 (FIG. 2 and FIG.
  • the solar power module 2 is provided with a convex portion matching the concave track 4 (FIG. 3B).
  • the cross-section of the concave part track and the convex part is trapezoidal (FIG. 3A, FIG. 3B).
  • the ring-shaped concave track 4 may be provided with a steel wire rope, the steel wire rope is connected to the convex portion, and the motor drives the steel wire rope to drive the solar power module 2 to move.
  • the device further includes a wireless communication module 5 located inside the main body 1 for transmitting the aquatic biological information to a data center, such as a cloud center.
  • the wireless communication module includes a Wi-Fi module or a mobile network module.
  • the method further includes transmitting the aquatic biological information to a data center, such as a cloud center, through wireless communication.
  • the wireless communication may include Wi-Fi or mobile network.

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Abstract

Disclosed in the present invention are an underwater monitoring apparatus capable of automatically adapting to the direction of sunlight, and a method. The apparatus comprises a main body; a monitoring module, used for monitoring information of aquatic organisms in front; a solar energy power generating module, used for converting optical energy into electrical energy in order to power the apparatus; a calculation module, used for calculating in real time the predicted movement trajectory of the apparatus on the basis of the information of the aquatic organisms, in order to monitor the aquatic organisms; a steering module, used for driving the steering of the main body on the basis of the predicted movement trajectory of the apparatus; and a propulsion module, used for propelling the main body to move on the basis of the predicted movement trajectory of the apparatus. The underwater monitoring apparatus capable of automatically adapting to the direction of sunlight and the method of the present invention can implement long-term continuous monitoring of aquatic organisms.

Description

一种自动适用阳光方向的水底监测装置和方法Water bottom monitoring device and method automatically adapted to sunlight direction 技术领域Technical field
本发明涉及水产养殖领域，尤其是一种自动适用阳光方向的水底监测装置和方法。The invention relates to the field of aquaculture, in particular to an underwater monitoring device and method automatically adapted to the direction of sunlight.
背景技术Background technique
水中生物资源丰富，含有大量水中生物可以作为人类的食物，对水中生物的研究，能为水产养殖带来很多的帮助，因此对水中生物进行监测，是非常必要的。之前就出现过某上市公司养殖的贝壳跑路的事件，造成了巨大经济损失。但是，如果持续对水中生物进行监测，监测装置的电力供应是个问题。Aquatic organisms are rich in resources and contain a large amount of aquatic organisms that can be used as human food. Research on aquatic organisms can bring a lot of help to aquaculture. Therefore, it is very necessary to monitor aquatic organisms. There has been an incident in which shells farmed by a listed company ran away, causing huge economic losses. However, if the aquatic organisms are continuously monitored, the power supply of the monitoring device is a problem.
因此，需要一种持续水底监测装置和方法。Therefore, there is a need for a continuous water bottom monitoring device and method.
发明内容Summary of the invention
本发明针对现有技术的不足，提出一种自动适用阳光方向的水底监测装置和方法，能持续监测水中生物，记录水中生物的生活过程和生长过程，及时发现水产养殖中的问题。Aiming at the shortcomings of the prior art, the present invention proposes an underwater monitoring device and method that automatically adapts to the direction of sunlight, which can continuously monitor aquatic organisms, record the life process and growth process of aquatic organisms, and discover problems in aquaculture in time.
因此，在本发明的第一方面，提供了一种自动适用阳光方向的水底监测装置，所述装置包括主体，以及：Therefore, in the first aspect of the present invention, there is provided an underwater monitoring device that automatically adapts to the direction of sunlight, the device including a main body, and:
监测模块，所述监测模块位于所述主体上部，朝向前方，用于监测前方的水中生物信息；A monitoring module, the monitoring module is located on the upper part of the main body, facing the front, and is used to monitor the aquatic life information ahead;
太阳能发电模块，所述太阳能发电模块可移动设置在所述主体上部，可沿所述主体上水平环移动以朝向太阳光方向，用于将光能转换成电能，为所述装置进行供电；A solar power module, the solar power module can be movably arranged on the upper part of the main body, can move along the horizontal ring on the main body to face the direction of sunlight, and is used to convert light energy into electric energy to supply power to the device;
计算模块，所述计算模块位于所述主体内部，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监测所述水中生物；A calculation module, which is located inside the main body, and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life;
转向模块，所述转向模块位于所述主体中部，用于基于所述装置的预测运动轨迹驱动所述主体转向；A steering module, which is located in the middle of the main body, and is used to drive the main body to turn based on the predicted motion trajectory of the device;
推进模块，所述推进模块位于所述主体上，用于基于所述装置的预测运动轨迹推进所述主体运动。A propulsion module, where the propulsion module is located on the main body, and is used for propelling the main body to move based on the predicted movement trajectory of the device.
优选地，太阳能发电模块包括光传感器，用于探测太阳光的方向，所述计算模块根据所述太阳光的方向和所述太阳能发电模块的位置，计算太阳能发电模块移动的角度，以使得所述太阳能发电模块对着所述太阳光方向。Preferably, the solar power generation module includes a light sensor for detecting the direction of sunlight, and the calculation module calculates the moving angle of the solar power generation module according to the direction of the sunlight and the position of the solar power generation module, so that the The solar power generation module faces the sunlight direction.
优选地，所述装置包括驱动所述太阳能发电模块移动的电机，基于所述光照信息计算太阳能发电模块移动的角度，使所述太阳能发电模块移动，对着太阳光方向。Preferably, the device includes a motor that drives the solar power module to move, and calculates the angle of movement of the solar power module based on the illumination information, so that the solar power module is moved to face the direction of sunlight.
优选地，所述主体上方有环形凹部轨道，所述太阳能发电模块上设有与所述凹部轨道匹配的凸部部分。Preferably, there is an annular concave track above the main body, and a convex part matching the concave track is provided on the solar power module.
优选地，所述凹部轨道和所述凸部部分的横截面是梯形。Preferably, the cross-sections of the concave part rail and the convex part are trapezoidal.
优选地，所述装置是防水的。Preferably, the device is waterproof.
优选地，所述监测模块包括摄像装置。Preferably, the monitoring module includes a camera device.
优选地，所述装置还包括可充电电池，用于存储所述太阳能发电模块的电能，并在所述太阳能发电模块不发电或发电不足时，为所述装置供电。Preferably, the device further includes a rechargeable battery for storing the electrical energy of the solar power generation module, and when the solar power generation module is not generating power or generating power is insufficient, powering the device is provided.
优选地，所述推进模块以固定连接设置在所述主体底部，推动所述装置向前运动。Preferably, the propulsion module is fixedly connected to the bottom of the main body to push the device forward.
优选地，所述转向模块有两个，分别调整所述主体顺时针转向和逆时针转向。Preferably, there are two steering modules to adjust the main body to turn clockwise and counterclockwise respectively.
优选地，所述装置还包括无线通讯模块，用于将所述水中生物信息传输至数据中心，例如云中心。Preferably, the device further includes a wireless communication module for transmitting the aquatic biological information to a data center, such as a cloud center.
优选地，所述无线通讯模块包括Wi-Fi模块或移动网络模块。Preferably, the wireless communication module includes a Wi-Fi module or a mobile network module.
优选地，所述水中生物信息包括所述水中生物与所述装置的角度、距离、运动方向，运动速度。Preferably, the aquatic creature information includes the angle, distance, movement direction, and movement speed of the aquatic creature and the device.
在本发明的第二方面，提供了一种使用本发明第一方面的装置监测水中生物的方法，所述装置包括所述监测模块、所述太阳能发电模块、所述计算模块、所述转向模块和所述推进模块，所述太阳能发电模块为所述装置供电，所述方法包括：In the second aspect of the present invention, there is provided a method for monitoring aquatic organisms using the device of the first aspect of the present invention, the device including the monitoring module, the solar power generation module, the calculation module, and the steering module And the propulsion module, the solar power generation module supplies power to the device, and the method includes:
(1)通过所述监测模块实时监测追踪的水中生物信息；(1) Real-time monitoring and tracking of aquatic biological information through the monitoring module;
(2)通过所述计算模块，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监测所述水中生物；(2) Through the calculation module, calculate the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life;
(3)基于所述装置的运动轨迹驱动所述转向模块，以通过所述转向模块实现所述装置的转向；(3) Drive the steering module based on the motion trajectory of the device to realize the steering of the device through the steering module;
(4)基于所述装置的预测运动轨迹驱动所述推进模块，以通过所述推进模块推进所述装置运动；(4) Drive the propulsion module based on the predicted motion trajectory of the device to advance the motion of the device through the propulsion module;
(5)所述太阳能发电模块包括光传感器，使用所述光传感器探测太阳光的方向；(5) The solar power generation module includes a light sensor, and the light sensor is used to detect the direction of sunlight;
(6)所述计算模块根据所述太阳光的方向和所述太阳能发电模块的位置，计算太阳能发电模块移动的角度，以使得所述太阳能发电模块对着所述太阳光方向；(6) The calculation module calculates the movement angle of the solar power module according to the direction of the sunlight and the position of the solar power module, so that the solar power module faces the direction of the sunlight;
(7)基于所述光照信息计算太阳能发电模块移动的角度，使所述太阳能发电模块移动，对着太阳光方向。(7) Calculate the moving angle of the solar power module based on the light information, and move the solar power module to face the direction of sunlight.
优选地，在(7)中，所述装置包括驱动所述太阳能发电模块移动的电机，通过所述电机使所述太阳能发电模块移动。Preferably, in (7), the device includes a motor that drives the solar power generation module to move, and the solar power generation module is moved by the motor.
优选地，在(1)中，所述水中生物信息通过摄像装置监测。Preferably, in (1), the aquatic biological information is monitored by a camera device.
优选地，在(1)中，所述监测模块包括摄像装置。Preferably, in (1), the monitoring module includes a camera device.
优选地，在(1)中，所述水中生物信息包括水中生物的图像，还包括对所述水中生物的图像进行识别。Preferably, in (1), the aquatic creature information includes an image of aquatic creature, and further includes recognizing the image of aquatic creature.
优选地，在(4)中，所述推进模块以固定连接设置在所述主体底部，推动所述装置向前运动。Preferably, in (4), the pushing module is fixedly connected to the bottom of the main body to push the device forward.
优选地，在(3)中，所述转向模块有两个，分别调整所述主体顺时针转向和逆时针转向。Preferably, in (3), there are two steering modules to adjust the main body to turn clockwise and counterclockwise respectively.
优选地，所述方法还包括(8)，通过无线通讯，将所述水中生物信息传输至数据中心，例如云中心。Preferably, the method further includes (8), transmitting the aquatic biological information to a data center, such as a cloud center, through wireless communication.
优选地，所述无线通讯包括通过Wi-Fi或移动网络进行。Preferably, the wireless communication includes via Wi-Fi or a mobile network.
优选地，在(1)中，所述水中生物信息包括所述水中生物与所述装置的角度、距离、运动方向，运动速度。Preferably, in (1), the aquatic creature information includes the angle, distance, movement direction, and movement speed of the aquatic creature and the device.
本发明的自动适用阳光方向的水底监测装置和方法通过连续实时监测水中生物信息，实现长期不间断监测水中生物的生活过程和生长过程，及时发现水中生物的跑路事件。The underwater monitoring device and method automatically adapted to the sunlight direction of the present invention realizes long-term uninterrupted monitoring of the life process and growth process of aquatic organisms through continuous and real-time monitoring of aquatic organism information, and timely detection of aquatic organisms’ running events.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付 出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structures shown in these drawings.
图1为本发明的自动适用阳光方向的水底监测装置的一个实施例的结构示意图；Fig. 1 is a schematic structural diagram of an embodiment of a water bottom monitoring device automatically adapted to the direction of sunlight according to the present invention;
图2为本发明的自动适用阳光方向的水底监测装置的一个实施例的俯视图的结构示意图；2 is a schematic structural diagram of a top view of an embodiment of the underwater monitoring device that automatically adapts to the direction of sunlight according to the present invention;
图3为本发明的自动适用阳光方向的水底监测装置的一个实施例的太阳能发电模块连接的结构示意图；3 is a schematic diagram of the connection of solar power modules in an embodiment of the underwater monitoring device that automatically adapts to the direction of sunlight according to the present invention;
图4为本发明的自动适用阳光方向的水底监测方法的一个实施例的流程示意图。Fig. 4 is a schematic flow chart of an embodiment of the underwater monitoring method that automatically adapts the direction of sunlight according to the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain that it is in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.
另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the protection scope of the present invention.
图1示出了一种自动适用阳光方向的水底监测装置的一个实施例的结构示 意图。如图1所示，所述装置包括主体1、太阳能发电模块2、监测模块3、转向模块6、推进模块8和计算模块9。Fig. 1 shows a schematic structural diagram of an embodiment of an underwater monitoring device that automatically adapts to the direction of sunlight. As shown in Figure 1, the device includes a main body 1, a solar power generation module 2, a monitoring module 3, a steering module 6, a propulsion module 8 and a calculation module 9.
在图1中，所述主体1是防水的密封体，以避免内部器件被水破坏。所述主体1具有上部和下部，在水中的工作状态是上部向上，下部向下。所述主体1具有前后之分，监测模块3面向前方，转向模块6使得所述主体的前方转向面对所述生生生物，推进模块8推动所述主体向前方运动。这可以通过适当安排主体的部件排布方便地实现。In Fig. 1, the main body 1 is a waterproof sealing body to prevent internal components from being damaged by water. The main body 1 has an upper part and a lower part, and the working state in the water is the upper part upward and the lower part downward. The main body 1 is divided into front and rear, the monitoring module 3 faces the front, the steering module 6 turns the front of the main body to face the living creature, and the propulsion module 8 pushes the main body to move forward. This can be conveniently achieved by properly arranging the components of the main body.
在图1中，所述监测模块3位于所述主体1上部，朝向前方，用于监测水中生物信息和光照信息。所述监测模块3可以是一个或多个。例如，所述监测模块3包括摄像装置，摄像装置用于监测水中生物信息。所述水中生物的信息包括与所述装置的角度、距离和运动方向，运动速度。在一个实例中，所述水中生物信息包括水中生物的图像，还包括对所述水中生物的图像进行识别。因此，所述监测模块3可以被配置进行图像识别。通过图像识别可以对监测水中生物进行特征识别，例如识别水中生物中某一个或多个鱼的条纹特征或大小、数量特征，从而减少监测错水中生物的可能性。在一个优选的实例中，所述水中生物中的一个或多个鱼身上可以带有标记，以方便进行识别。例如，对于特定水中生物的研究，如果有条件可以在一个或多个鱼身上做特殊的图案标记，或者使鱼带有荧光。摄像装置也可以有三个或更多个，分布在所述主体1上部，以实现水中生物的各个运动方向变换都可以对水中生物进行监测。例如水中生物与太阳的位置相向或相对。In Fig. 1, the monitoring module 3 is located on the upper part of the main body 1, facing forward, and is used for monitoring water biological information and light information. The monitoring module 3 may be one or more. For example, the monitoring module 3 includes a camera device, which is used to monitor biological information in the water. The information of the aquatic creatures includes the angle, distance, direction of movement, and speed of movement from the device. In an example, the aquatic creature information includes images of aquatic creatures, and further includes recognizing the images of aquatic creatures. Therefore, the monitoring module 3 can be configured to perform image recognition. Image recognition can be used to identify the characteristics of monitored aquatic organisms, such as identifying the stripe characteristics or size and quantity characteristics of one or more fish in the aquatic organisms, thereby reducing the possibility of monitoring miscellaneous aquatic organisms. In a preferred example, one or more fish in the aquatic life may be marked on their bodies to facilitate identification. For example, for the research of specific aquatic organisms, if conditions permit, one or more fish can be marked with special patterns, or the fish can be fluorescent. There may also be three or more camera devices, which are distributed on the upper part of the main body 1, so as to realize that the various movement directions of the aquatic creatures can be changed to monitor the aquatic creatures. For example, the position of aquatic creatures facing or facing the sun.
在图1中，所述太阳能发电模块2可移动设置在所述主体1上部，可沿所述主体1上水平环移动以朝向太阳光方向，用于将光能转换成电能，为所述装置进行供电。通常，为了减少成本并且为所述监测模块3腾出空间，所述太阳 能电池仅安装在主体1上部的二分之一或三分之一部分。在一个实例中，所述太阳能发电模块2的太阳能发电板不是连续的，分成两部分或三部分。在一个实例中，所述装置还包括可充电电池7，用于存储所述太阳能发电模块2的电能，并在所述太阳能发电模块2不发电或发电不足时，为所述装置供电。In Figure 1, the solar power module 2 can be movably arranged on the upper part of the main body 1, and can move along the horizontal ring on the main body 1 to face the direction of sunlight, and is used to convert light energy into electric energy. Power on. Generally, in order to reduce costs and make room for the monitoring module 3, the solar battery is only installed in the upper half or third of the main body 1. In an example, the solar power generation panels of the solar power generation module 2 are not continuous, and are divided into two or three parts. In an example, the device further includes a rechargeable battery 7 for storing electric energy of the solar power generation module 2 and supplying power to the device when the solar power generation module 2 is not generating power or is not generating enough power.
在一个实例中，所述太阳能发电模块2包括光传感器10，用于探测太阳光的方向，所述计算模块9根据所述太阳光的方向和所述太阳能发电模块2的位置，计算太阳能发电模块2移动的角度，以使得所述太阳能发电模块2对着所述太阳光方向。图2为本发明的自动适用阳光方向的水底监测装置的一个实施例的俯视图的结构示意图；图3为本发明的自动适用阳光方向的水底监测装置的一个实施例的太阳能发电模块2连接的结构示意图，其中图3A示出了所述主体1上方有水平的环形凹部轨道4，图3B示出了所述太阳能发电模块2上设有与所述凹部轨道4匹配的凸部部分。在一个实例中，所述装置包括驱动所述太阳能发电模块2移动的电机。在一个实例中，所述主体1上方有环形凹部轨道4(图2、图3A)，所述太阳能发电模块2上设有与所述凹部轨道4匹配的凸部部分(图3B)。在一个实例中，所述凹部轨道和所述凸部部分的横截面是梯形(图3A、图3B)。在一个实例中，所述环形凹部轨道4可以设置钢丝绳，所述钢丝绳连接所述凸部部分，通过所述电机驱动所述钢丝绳驱动所述太阳能发电模块2移动。In an example, the solar power module 2 includes a light sensor 10 for detecting the direction of sunlight, and the calculation module 9 calculates the solar power module according to the direction of the sunlight and the position of the solar power module 2 2 The angle of movement so that the solar power generation module 2 faces the direction of sunlight. 2 is a schematic structural view of a top view of an embodiment of the underwater monitoring device that automatically adapts to the sunlight direction of the present invention; FIG. 3 is the connection structure of the solar power module 2 of an embodiment of the underwater monitoring device that automatically adapts the sunlight direction of the present invention Schematic diagram, where FIG. 3A shows a horizontal annular concave track 4 above the main body 1, and FIG. 3B shows that the solar power module 2 is provided with a convex portion matching the concave track 4. In an example, the device includes a motor that drives the solar power module 2 to move. In an example, the main body 1 has an annular concave track 4 (FIG. 2 and FIG. 3A) above the main body 1, and the solar power module 2 is provided with a convex portion matching the concave track 4 (FIG. 3B). In one example, the cross-section of the concave part track and the convex part is trapezoidal (FIG. 3A, FIG. 3B). In an example, the ring-shaped concave track 4 may be provided with a steel wire rope, the steel wire rope is connected to the convex portion, and the motor drives the steel wire rope to drive the solar power module 2 to move.
在图1中，所述计算模块9位于所述主体1内部，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监测所述水中生物。水中生物是运动的，为了监测所述水中生物，所述装置需要随着水中生物的运动而运动，计算模块9根据所述水中生物的信息，例如与所述装置的角度、距离和运动方向，运动速度。通过这些可以调整所述主体1的转向角度和运动速度，以与所述水中生物 保持合适的距离。In FIG. 1, the calculation module 9 is located inside the main body 1 and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life. Aquatic creatures are moving. In order to monitor the aquatic creatures, the device needs to move with the movement of the aquatic creatures. The calculation module 9 uses the information of the aquatic creatures, such as the angle, distance and direction of movement from the device, Movement speed. Through these, the steering angle and movement speed of the main body 1 can be adjusted to maintain a proper distance from the aquatic life.
在一个实施方案中，所述计算模块9还基于所述光照信息计算所述太阳能发电模块2的移动的角度，以使所述太阳能发电模块2对着太阳光方向。所述光照信息包括太阳光的方向，太阳光的方向可以通过光传感器获取，通过两个或多个光传感器能够更为准确的确定太阳光的方向，以调整所述太阳能发电模块2的朝向，使得所述太阳能发电模块2对着太阳光方向。In one embodiment, the calculation module 9 also calculates the angle of movement of the solar power generation module 2 based on the illumination information, so that the solar power generation module 2 faces the direction of sunlight. The illumination information includes the direction of sunlight, and the direction of sunlight can be acquired by a light sensor. The direction of sunlight can be determined more accurately by two or more light sensors to adjust the orientation of the solar power module 2. Make the solar power generation module 2 face the direction of sunlight.
在图1中，所述转向模块6位于所述主体1中部，用于基于所述装置的运动轨迹驱动所述主体1转向。在优选的实例中，所述转向模块6有两个，分别调整所述主体1顺时针转向和逆时针转向。所述转向模块6可以采用桨，通过浆的转动产生动力。In FIG. 1, the steering module 6 is located in the middle of the main body 1 and is used to drive the main body 1 to steer based on the movement track of the device. In a preferred example, there are two steering modules 6 to adjust the main body 1 to turn clockwise and counterclockwise respectively. The steering module 6 may adopt a paddle, which generates power through the rotation of the paddle.
在图1中，所述推进模块8位于所述主体1上，用于基于所述装置的预测运动轨迹推进所述主体1运动。所述推进模块8可以是一个或多个，例如如图中所示的2个。所述推进模块8可以采用桨，通过浆的转动产生动力。所述推进模块8可转动地设置在所述主体1底部。在一个实例中，所述推进模块8与主体1的连接杆81是固定连接杆。In FIG. 1, the propulsion module 8 is located on the main body 1 and is used for propelling the main body 1 to move based on the predicted movement trajectory of the device. The propulsion module 8 may be one or more, for example, two as shown in the figure. The propulsion module 8 may adopt a paddle, which generates power through the rotation of the paddle. The propulsion module 8 is rotatably arranged at the bottom of the main body 1. In an example, the connecting rod 81 between the propulsion module 8 and the main body 1 is a fixed connecting rod.
在优选的实例中，所述装置还包括无线通讯模块5，位于所述主体1内部，用于将所述水中生物信息传输至数据中心，例如云中心。在一个实例中，所述无线通讯模块包括Wi-Fi模块或移动网络模块。In a preferred example, the device further includes a wireless communication module 5 located inside the main body 1 for transmitting the aquatic biological information to a data center, such as a cloud center. In an example, the wireless communication module includes a Wi-Fi module or a mobile network module.
图4为本发明的自动适用阳光方向的水底监测方法S100的一个实施例的流程示意图。自动适用阳光方向的水底监测方法S100可以通过图1示出的自动适用阳光方向的水底监测装置实现。所述自动适用阳光方向的水底监测方法S100包括：(S110)通过所述监测模块实时监测追踪的水中生物信息；(S120)通过所述计算模块，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监 测所述水中生物；(S130)基于所述装置的运动轨迹驱动所述转向模块，以通过所述转向模块实现所述装置的转向；(S140)基于所述装置的预测运动轨迹驱动所述推进模块，以通过所述推进模块推进所述装置运动；(S150)所述太阳能发电模块包括光传感器，使用所述光传感器探测太阳光的方向；(S160)所述计算模块根据所述太阳光的方向和所述太阳能发电模块的位置，计算太阳能发电模块移动的角度，以使得所述太阳能发电模块对着所述太阳光方向；(S170)基于所述光照信息计算太阳能发电模块移动的角度，使所述太阳能发电模块移动，对着太阳光方向。FIG. 4 is a schematic flowchart of an embodiment of the underwater bottom monitoring method S100 that automatically adapts the sunlight direction of the present invention. The underwater monitoring method S100 for automatically adapting the sunlight direction can be implemented by the underwater monitoring device for automatically adapting the sunlight direction shown in FIG. 1. The underwater bottom monitoring method S100 that automatically adapts the sunlight direction includes: (S110) real-time monitoring and tracking of aquatic organism information through the monitoring module; (S120) real-time calculation of the device based on the aquatic organism information through the calculation module Predict the motion trajectory to monitor the aquatic life; (S130) Drive the steering module based on the motion trajectory of the device to realize the steering of the device through the steering module; (S140) Based on the predicted motion trajectory of the device Drive the propulsion module to advance the movement of the device through the propulsion module; (S150) the solar power module includes a light sensor, and the light sensor is used to detect the direction of sunlight; (S160) the calculation module is based on the The direction of the sunlight and the position of the solar power module, calculate the angle of movement of the solar power module, so that the solar power module faces the direction of the sunlight; (S170) calculate the movement of the solar power module based on the light information The angle of the solar power module moves, facing the direction of sunlight.
在S110中，所述监测模块3可以是一个或多个。例如，所述监测模块3包括摄像装置，摄像装置用于监测水中生物信息。所述水中生物的信息包括与所述装置的角度、距离和运动方向，运动速度。在一个实例中，所述水中生物信息包括水中生物的图像，还包括对所述水中生物的图像进行识别。因此，所述监测模块3可以被配置进行图像识别。通过图像识别可以对监测水中生物进行特征识别，例如识别水中生物中某一个或多个鱼的条纹特征或大小、数量特征，从而减少监测错水中生物的可能性。在一个优选的实例中，所述水中生物中的一个或多个鱼身上可以带有标记，以方便进行识别。例如，对于特定水中生物的研究，如果有条件可以在一个或多个鱼身上做特殊的图案标记，或者使鱼带有荧光。摄像装置也可以有三个或更多个，分布在所述主体1上部，以实现水中生物的各个运动方向变换都可以对水中生物进行监测。例如水中生物与太阳的位置相向或相对。In S110, the monitoring module 3 may be one or more. For example, the monitoring module 3 includes a camera device, which is used to monitor biological information in the water. The information of the aquatic creatures includes the angle, distance, direction of movement, and speed of movement from the device. In an example, the aquatic creature information includes images of aquatic creatures, and further includes recognizing the images of aquatic creatures. Therefore, the monitoring module 3 can be configured to perform image recognition. Image recognition can be used to identify the characteristics of monitored aquatic organisms, such as identifying the stripe characteristics or size and quantity characteristics of one or more fish in the aquatic organisms, thereby reducing the possibility of monitoring miscellaneous aquatic organisms. In a preferred example, one or more fish in the aquatic life may be marked on their bodies to facilitate identification. For example, for the research of specific aquatic organisms, if conditions permit, one or more fish can be marked with special patterns, or the fish can be fluorescent. There may also be three or more camera devices, which are distributed on the upper part of the main body 1, so as to realize that the various movement directions of the aquatic creatures can be changed to monitor the aquatic creatures. For example, the position of aquatic creatures facing or facing the sun.
在S120中，所述计算模块9位于所述主体1内部，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监测所述水中生物。水中生物是运动的，为了监测所述水中生物，所述装置需要随着水中生物的运动而运动，计算模块9 根据所述水中生物的信息，例如与所述装置的角度、距离和运动方向，运动速度。通过这些可以调整所述主体1的转向角度和运动速度，以与所述水中生物保持合适的距离。In S120, the calculation module 9 is located inside the main body 1, and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life. Aquatic creatures are in motion. In order to monitor the aquatic creatures, the device needs to move with the movement of the aquatic creatures. The calculation module 9 uses the information of the aquatic creatures, such as the angle, distance and direction of movement from the device, Movement speed. Through these, the steering angle and movement speed of the main body 1 can be adjusted to maintain a proper distance from the aquatic creatures.
在S130中，所述转向模块6位于所述主体1中部，用于基于所述装置的运动轨迹驱动所述主体1转向。在优选的实例中，所述转向模块6有两个，分别调整所述主体1顺时针转向和逆时针转向。所述转向模块6可以采用桨，通过浆的转动产生动力。In S130, the steering module 6 is located in the middle of the main body 1, and is used to drive the main body 1 to steer based on the movement trajectory of the device. In a preferred example, there are two steering modules 6 to adjust the main body 1 to turn clockwise and counterclockwise respectively. The steering module 6 may adopt a paddle, which generates power through the rotation of the paddle.
在S140中，所述推进模块8位于所述主体1上，用于基于所述装置的预测运动轨迹推进所述主体1运动。所述推进模块8可以是一个或多个，例如如图中所示的2个。所述推进模块8可以采用桨，通过浆的转动产生动力。所述推进模块8可转动地设置在所述主体1底部。在一个实例中，所述推进模块8与主体1的连接杆81是固定连接杆。In S140, the propulsion module 8 is located on the main body 1, and is used for propelling the main body 1 to move based on the predicted movement trajectory of the device. The propulsion module 8 may be one or more, for example, two as shown in the figure. The propulsion module 8 may adopt a paddle, which generates power through the rotation of the paddle. The propulsion module 8 is rotatably arranged at the bottom of the main body 1. In an example, the connecting rod 81 between the propulsion module 8 and the main body 1 is a fixed connecting rod.
在S150中，所述太阳能发电模块2包括光传感器10，用于探测太阳光的方向。所述光照信息包括太阳光的方向，太阳光的方向可以通过光传感器获取，通过两个或多个光传感器能够更为准确的确定太阳光的方向，以调整所述太阳能发电模块2的朝向，使得所述太阳能发电模块2对着太阳光方向。In S150, the solar power module 2 includes a light sensor 10 for detecting the direction of sunlight. The illumination information includes the direction of sunlight, and the direction of sunlight can be acquired by a light sensor. The direction of sunlight can be determined more accurately by two or more light sensors to adjust the orientation of the solar power module 2. Make the solar power generation module 2 face the direction of sunlight.
在S160中，所述计算模块9基于所述光照信息计算所述太阳能发电模块2的移动的角度，以使所述太阳能发电模块2对着太阳光方向。所述光照信息包括太阳光的方向，太阳光的方向可以通过光传感器获取，通过两个或多个光传感器能够更为准确的确定太阳光的方向，以调整所述太阳能发电模块2的朝向，使得所述太阳能发电模块2对着太阳光方向。In S160, the calculation module 9 calculates the angle of movement of the solar power generation module 2 based on the illumination information, so that the solar power generation module 2 faces the direction of sunlight. The illumination information includes the direction of sunlight, and the direction of sunlight can be acquired by a light sensor. The direction of sunlight can be determined more accurately by two or more light sensors to adjust the orientation of the solar power module 2. Make the solar power generation module 2 face the direction of sunlight.
在S170中，图2为本发明的自动适用阳光方向的水底监测装置的一个实施例的俯视图的结构示意图；图3为本发明的自动适用阳光方向的水底监测装置 的一个实施例的太阳能发电模块2连接的结构示意图，其中图3A示出了所述主体1上方有环形凹部轨道4，图3B示出了所述太阳能发电模块2上设有与所述凹部轨道4匹配的凸部部分。在一个实例中，所述装置包括驱动所述太阳能发电模块2移动的电机。在一个实例中，所述主体1上方有环形凹部轨道4(图2、图3A)，所述太阳能发电模块2上设有与所述凹部轨道4匹配的凸部部分(图3B)。在一个实例中，所述凹部轨道和所述凸部部分的横截面是梯形(图3A、图3B)。在一个实例中，所述环形凹部轨道4可以设置钢丝绳，所述钢丝绳连接所述凸部部分，通过所述电机驱动所述钢丝绳驱动所述太阳能发电模块2移动。In S170, FIG. 2 is a schematic structural diagram of a top view of an embodiment of the underwater monitoring device that automatically adapts to the sunlight direction of the present invention; FIG. 3 is a solar power module of an embodiment of the underwater monitoring device that automatically adapts the sunlight direction of the present invention 2 Schematic diagram of the connection structure, wherein FIG. 3A shows that the main body 1 has an annular concave track 4, and FIG. 3B shows that the solar power module 2 is provided with a convex portion matching the concave track 4. In an example, the device includes a motor that drives the solar power module 2 to move. In an example, the main body 1 has an annular concave track 4 (FIG. 2 and FIG. 3A) above the main body 1, and the solar power module 2 is provided with a convex portion matching the concave track 4 (FIG. 3B). In one example, the cross-section of the concave part track and the convex part is trapezoidal (FIG. 3A, FIG. 3B). In an example, the ring-shaped concave track 4 may be provided with a steel wire rope, the steel wire rope is connected to the convex portion, and the motor drives the steel wire rope to drive the solar power module 2 to move.
在优选的实例中，所述装置还包括无线通讯模块5，位于所述主体1内部，用于将所述水中生物信息传输至数据中心，例如云中心。在一个实例中，所述无线通讯模块包括Wi-Fi模块或移动网络模块。In a preferred example, the device further includes a wireless communication module 5 located inside the main body 1 for transmitting the aquatic biological information to a data center, such as a cloud center. In an example, the wireless communication module includes a Wi-Fi module or a mobile network module.
在优选的实例中，所述方法还包括通过无线通讯，将所述水中生物信息传输至数据中心，例如云中心。所述无线通讯可以包括通过Wi-Fi或移动网络进行。In a preferred example, the method further includes transmitting the aquatic biological information to a data center, such as a cloud center, through wireless communication. The wireless communication may include Wi-Fi or mobile network.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (10)

  1. 一种自动适用阳光方向的水底监测装置，其特征在于：所述装置包括主体，以及：A water bottom monitoring device automatically adapted to the direction of sunlight, characterized in that the device includes a main body, and:
    监测模块，所述监测模块位于所述主体上部，朝向前方，用于监测前方的水中生物信息；A monitoring module, the monitoring module is located on the upper part of the main body, facing the front, and is used to monitor the aquatic life information ahead;
    太阳能发电模块，所述太阳能发电模块可移动设置在所述主体上部，可沿所述主体上水平环移动以朝向太阳光方向，用于将光能转换成电能，为所述装置进行供电；A solar power module, the solar power module can be movably arranged on the upper part of the main body, can move along the horizontal ring on the main body to face the direction of sunlight, and is used to convert light energy into electric energy to supply power to the device;
    计算模块，所述计算模块位于所述主体内部，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监测所述水中生物；A calculation module, which is located inside the main body, and calculates the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life;
    转向模块，所述转向模块位于所述主体中部，用于基于所述装置的预测运动轨迹驱动所述主体转向；A steering module, which is located in the middle of the main body, and is used to drive the main body to turn based on the predicted motion trajectory of the device;
    推进模块，所述推进模块位于所述主体上，用于基于所述装置的预测运动轨迹推进所述主体运动。A propulsion module, where the propulsion module is located on the main body, and is used for propelling the main body to move based on the predicted movement trajectory of the device.
  2. 如权利要求1所述的装置，其特征在于：所述太阳能发电模块包括光传感器，用于探测太阳光的方向，所述计算模块根据所述太阳光的方向和所述太阳能发电模块的位置，计算太阳能发电模块移动的角度，以使得所述太阳能发电模块对着所述太阳光方向。7. The device of claim 1, wherein the solar power module includes a light sensor for detecting the direction of sunlight, and the calculation module is based on the direction of the sunlight and the position of the solar power module, Calculate the moving angle of the solar power module so that the solar power module faces the direction of sunlight.
  3. 如权利要求1或2所述的装置，其特征在于：所述装置包括驱动所述太阳能发电模块移动的电机，按照所计算的太阳能发电模块移动的角度移动所述太阳能发电模块，以使得所述太阳能发电模块对着所述太阳光方向。The device of claim 1 or 2, wherein the device comprises a motor that drives the solar power module to move, and moves the solar power module according to the calculated movement angle of the solar power module, so that the The solar power generation module faces the sunlight direction.
  4. 如权利要求1或2所述的装置，其特征在于：所述主体上方有环形凹部轨道，所述太阳能发电模块上设有与所述凹部轨道匹配的凸部部分。The device according to claim 1 or 2, characterized in that there is an annular concave track above the main body, and a convex part matching the concave track is provided on the solar power module.
  5. 如权利要求1或2所述的装置，其特征在于：所述装置还包括可充电电池，用于存储所述太阳能发电模块的电能，并在所述太阳能发电模块不发电或发电不足时，为所述装置供电。The device according to claim 1 or 2, characterized in that: the device further comprises a rechargeable battery for storing the electric energy of the solar power module, and when the solar power module is not generating power or is not generating enough power, it is The device is powered.
  6. 如权利要求1或2所述的装置，其特征在于：所述推进模块以固定连接设置在所述主体底部。The device according to claim 1 or 2, wherein the pushing module is fixedly connected to the bottom of the main body.
  7. 如权利要求1或2所述的装置，其特征在于：所述转向模块有两个，分别调整所述主体顺时针转向和逆时针转向。The device according to claim 1 or 2, characterized in that there are two steering modules, which adjust the main body to turn clockwise and counterclockwise respectively.
  8. 如权利要求1或2所述的装置，其特征在于：所述装置还包括无线通讯模块，用于将所述水中生物信息传输至数据中心，例如云中心；所述无线通讯模块优选包括Wi-Fi模块或移动网络模块。The device according to claim 1 or 2, wherein the device further comprises a wireless communication module for transmitting the aquatic biological information to a data center, such as a cloud center; the wireless communication module preferably includes Wi-Fi Fi module or mobile network module.
  9. 如权利要求1或2所述的装置，其特征在于：所述水中生物信息包括所述水中生物与所述装置的角度、距离、运动方向，运动速度。The device according to claim 1 or 2, wherein the aquatic creature information includes the angle, distance, movement direction, and movement speed of the aquatic creature and the device.
  10. 一种使用根据权利要求1-9任一项的装置监测水中生物的方法，其特征在于：所述方法包括：A method for monitoring aquatic organisms using the device according to any one of claims 1-9, characterized in that: the method comprises:
    (1)通过所述监测模块实时监测追踪的水中生物信息；(1) Real-time monitoring and tracking of aquatic biological information through the monitoring module;
    (2)通过所述计算模块，基于所述水中生物信息实时计算所述装置的预测运动轨迹以监测所述水中生物；(2) Through the calculation module, calculate the predicted motion trajectory of the device in real time based on the aquatic life information to monitor the aquatic life;
    (3)基于所述装置的运动轨迹驱动所述转向模块，以通过所述转向模块实现所述装置的转向；(3) Drive the steering module based on the motion trajectory of the device to realize the steering of the device through the steering module;
    (4)基于所述装置的预测运动轨迹驱动所述推进模块，以通过所述推进模块推进所述装置运动；(4) Drive the propulsion module based on the predicted motion trajectory of the device to advance the motion of the device through the propulsion module;
    (5)所述太阳能发电模块包括光传感器，使用所述光传感器探测太阳光的方向；(5) The solar power module includes a light sensor, and the light sensor is used to detect the direction of sunlight;
    (6)所述计算模块根据所述太阳光的方向和所述太阳能发电模块的位置，计算太阳能发电模块移动的角度，以使得所述太阳能发电模块对着所述太阳光方向；(6) The calculation module calculates the moving angle of the solar power module according to the direction of the sunlight and the position of the solar power module, so that the solar power module faces the direction of the sunlight;
    (7)基于所述光照信息计算太阳能发电模块移动的角度，使所述太阳能发电模块移动，对着太阳光方向。(7) Calculate the moving angle of the solar power module based on the light information, and move the solar power module to face the direction of sunlight.
PCT/CN2019/087441 2019-05-17 2019-05-17 Underwater monitoring apparatus capable of automatically adapting to direction of sunlight, and method WO2020232579A1 (en)

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