Multi-water-area integrated unmanned breeding monitoring platform and control method thereof

Abstract

The invention relates to the technical field of breeding monitoring, and provides a multi-water-area integrated unmanned breeding monitoring platform and a control method thereof. The platform takes a primary-secondary machine as a basic platform, and comprises a primary machine basic frame, a feeding bin device, a main body cabin, a secondary machine recycling lifting device, an underwater balance base device, a water area parameter monitoring secondary machine device, an underwater garbage recycling secondary machine device and a water surface floating object cleaning secondary machine device, according to the multi-water-area integrated unmanned breeding monitoring platform and the control method thereof, the functions of underwater environment monitoring and maintenance, feed feeding, oxygenation, multi-water-area self-adaption and the like are integrated, and intelligent and integrated breeding is achieved by integrating various modules needed by breeding.

Description

Technical Field

[0001] The present invention belongs to the technical field of aquaculture monitoring, and in particular relates to a multi-water integrated unmanned aquaculture monitoring platform and a control method thereof. Background Art

[0002] As a common aquaculture business, fish pond and lake cage farming in rural areas has a very complex work content, involving monitoring the growth of fish, maintaining the fish pond environment, feeding, etc. However, at present, the functions of the machines and equipment used in fish pond and lake cage farming in rural areas have serious problems of single functions, and many functions still rely on manual operation to a large extent, and expose obvious deficiencies.

[0003] Specifically, first of all, in fish pond farming operations, the existing machinery and equipment have single functions. In the entire fish pond operation system, a large number of machines operate at the same time, which not only significantly increases the operating costs, but also complicates the operation process and lacks effective correlation between the machines, which undoubtedly brings many inconveniences to the management of fish ponds. Secondly, tasks such as feeding fish ponds and maintaining the fish pond environment, such as salvaging dead fish, still rely heavily on manpower. This manual dependence model results in high labor intensity and very low work efficiency. Furthermore, there is a risk of theft in rural fish ponds, but there is a lack of timely and effective preventive measures. Once a theft occurs, fish pond operators are very likely to suffer huge economic losses.

[0004] In view of the above situations, there is an urgent need for an unmanned fish pond farming monitoring system that can perform multiple tasks in the fish pond farming process and has highly integrated functions. The system aims to solve the problems of single machine function, high dependence on manual labor, and insufficient measures to prevent theft in existing rural fish pond farming, thereby improving the overall efficiency and safety of fish pond farming. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the present invention proposes a multi-water integrated unmanned aquaculture monitoring platform and a control method thereof. The technical solution designed by the present invention includes:

[0006] An integrated unmanned aquaculture monitoring platform for multiple water areas, comprising:

[0007] The mother machine basic frame, the feeding bin device, the main cabin, the sub-machine recovery lifting device 41, the underwater balance base device, the water area parameter monitoring sub-machine device 35, the underwater garbage recovery sub-machine device 43 and the surface floating object cleaning sub-machine device 38;

[0008] The mother machine basic frame includes a feeding bin top plate 1, a feeding bin supplementary cover plate 2, a life buoy 3, a feeding bin cabin 4, a main bin cabin 5, a sub-machine return baffle 6, a buoyancy bin cabin 7, an underwater balance base, a feeding hatch 14, a garbage bin hatch 15 and a sub-machine recovery hatch 16;

[0009] The feeding bin device comprises a feeding bin top plate 1, a feeding bin supplementary cover plate 2, a sub-machine recovery hatch 16, a recovery hatch rotating bracket 17, an air compressor baffle 30, an air compressor 29, an air delivery pipeline 28, a conveyor belt support frame 21, a conveyor belt 20, a rotating feed tray 18, a feed feed port 19, a feed guide plate 19, a feeding bin body 4, a feeding hatch 14, a 42 motor bracket 24, a 4234 stepping motor 25, a large rubber driving wheel 23, a small rubber driving wheel 27 and a rotating seat 22;

[0010] The main cabin includes a main compartment cabin 5, a sub-machine return baffle 6, a spur rack 45, a gear 34, a one-way valve 53, a 4248 stepper motor 43-3, a sub-machine recovery lifting device 41, a sub-machine fixing plate 50, a propeller fixing part 49, a power box 37, a power box placement compartment 6, a connecting support shaft 54, a steering gear 51, a lifting cam 52, a guide rail 55, a garbage storage bin 31, a garbage tilting trough 42, a floating object tilting trough 3, a garbage storage bin baffle 40, a support seat 32, a ball 33, a reel 46, a planetary reduction motor 57, a signal line 58, a 57 stepper motor 56, a bevel gear 48, a bevel gear transmission shaft 61, a lifting support frame 47, a lifting threaded column 59, a vertical bearing seat 60, a driving gear 62, an internal meshing gear 63, a positioning member 64 and a rubber roller 65;

[0011] The submachine recovery lifting device 41 includes a propeller fixing part 49, a mobile platform 41-14, a slider 38-8, a guide rail 55, a lifting platform disc 41-13, a screw 41-1, a nut 41-4, a lifting platform support frame 41-2, a lifting platform fixing part 41-3, a lifting scissor rod 41-12, a bearing 41-5, a forward rotation motor connecting part 41-6, a roller 41-10, a dual-axis stepping motor 41-9, a reverse rotation motor connecting part 41-11, a lifting platform base 41-8 and a rotating base 41-7;

[0012] The underwater balancing base device includes a buoyancy chamber hull 7, a hydraulic main support 8, a rotating bearing seat 9, a foot support base plate 10, a rotating bearing 11, a rotating bearing seat connecting block 12, a hydraulic driven support column 13, a main sleeve 68-12, a rack positioning plate 68-4, a motor support plate 68-6, a 28 stepping motor 68-3, a micro motor 68-5, a motor support seat 68-732, a lifting rack 68-1, a rotating rack 68-11, a propeller baffle 68-10, a propeller sleeve 68-9, a rotating cam 68-2, a propeller 66-9, a brushless waterproof motor 66-10 and a rotating gear 68-8;

[0013] The water parameter monitoring sub-machine device 35 includes a sub-machine platform, a detector mounting connector 35-1, an oxygen content detector 35-2, an ammonia nitrogen detector 35-4, a thermometer 35-3, and a pH detector 35-5. The sub-machine platform includes an upper support plate 66-1, a head flange connector 66-2, a hemispherical cover pressure plate 66-3, a camera 66-4, a hemispherical cover 66-5, a square fastener 66-6, a lower support plate 66-7, a vertical worm housing 66-8, a propeller 66-9, a brushless waterproof motor 66-10, a flat round cover 66-11, and an inclined worm housing 66-12;

[0014] The underwater garbage recycling sub-machine device 43 includes a sub-machine 66, a garbage bin recycling chamber connector 43-1, a steering gear 51, a garbage bin door 43-2, a spring, and a mechanical claw 67. The mechanical claw 67 includes a micro electric push rod 67-9, an electric push rod housing 67-11, a front waterproof gasket 67-12, an electric push rod front sealing fixing seat 67-6, an electric push rod rear end cover 67-8, a mechanical claw support frame 67-5, a left mechanical claw 67-2, a right mechanical claw 67-4, a 3mm pin 67-3, a 2mm pin 67-1, an M3 hexagon socket screw 67-7 and an M3 nut 67-10;

[0015] The water surface floating object cleaning sub-machine device 38 includes a sub-machine platform, a leakage net 38-1, a mechanical claw 67, a steering gear fixing part 38-4, a hinge switch 38-7, a torsion spring 38-5, a floating object baffle 38-6, a screw motor 38-3, a floating object push plate 38-2, a slider 38-8 and a guide rail 55.

[0016] The present application further provides a control method for a multi-water integrated unmanned aquaculture monitoring platform, which is applied to the above-mentioned multi-water integrated unmanned aquaculture monitoring platform, including:

[0017] The platform is divided into three layers, which are, from top to bottom, the feeding bin hull 4, the main bin hull 5, the buoyancy bin hull 7 and the underwater balancing base device;

[0018] The feeding bin cabin 4 is located at the top of the multi-water integrated unmanned breeding monitoring platform. The whole is in a ring shape. The inner circle completes the sub-machine recovery work. The inside of the ring is used to place various component structures to complete the feeding of water area feed, the recovery of garbage bin, the supplement of feed, the transmission of compressed air, and the rotation of the whole cabin;

[0019] The main structure of the main cabin is in a circular shape, with the outer circular wall 5D in contact with the external water area, the inner circular wall 5A connected to the inner circle channel of the feeding bin cabin 4, and the inner circular wall 5A and the outer circular wall 5D of the feeding bin cabin 4 are evenly divided into six parts, three sub-machine channels 5B and three storage cabins 5E, which complete the return and fixation of the sub-machine, the storage and placement of the garbage recovered by the sub-machine, the lifting and recovery of the garbage bin, and the retraction and release of the sub-machine signal line 58. The three sub-machines in the three sub-machine channels 5B of the main cabin are respectively an underwater garbage recovery sub-machine device 43, a water area parameter monitoring sub-machine device 35, and a surface floating The sub-machine device 38 for cleaning garbage is used to complete the collection and recovery of underwater garbage, parameter detection and data collection of the target water area, and detection of floating plants on the water surface and the water surface environment. The inner circle has a downward cylindrical space 5C, in which a sub-machine recovery lifting device 41 is installed to complete the recovery of faulty sub-machines. The buoyancy tank body 7 located below the main cabin is responsible for the buoyancy of the platform. Four pairs of hydraulic lifting support columns and eight lifting motor sets 68 are installed below the buoyancy tank body 7 for the platform to adjust the relative height and maintain a stable state in the pond and / or lake cages.

[0020] Preferably, the feeding bin top plate 1 is located at the top of the feeding bin device, and corresponding holes are provided on the feeding bin top plate 1 for installing the feeding bin replenishment cover plate 2, the sub-machine recovery hatch 16 and the garbage bin hatch 15. One end of the recovery hatch rotating bracket 17 is connected to the sub-machine recovery hatch 16, and the other end is connected to the feeding bin top plate 1. The closed hatch composed of the two garbage bin hatches 15 is connected to the two holes on the feeding bin top plate 1, and the hatch is closed and opened by rotation. Before the equipment performs feeding work, the feeding bin replenishment cover plate 2 is manually opened and feed is added therein. When the terminal in the hand of the fisherman issues an instruction to specify feeding work, since the outer plate of the feed guide plate 19 is inclined, the feed located in the feeding bin cabin body 4 will enter the feed inlet 19 under the action of gravity. When the feed enters the lowest end of the feed guide plate 19, the 4234 stepper motor 25 is driven to rotate the small rubber driving wheel 27, thereby driving the rotating seat 22 to rotate the feed The feed can enter the feed inlet 19 in time, and then the rotating feed disc 18 installed in the feed inlet 19 will send the feed to the conveyor belt 20 through rotation. The entire conveyor belt bracket 21 is in a state of high inside and low outside, one end is connected to the feed inlet 19, and the other end is connected to the feeding hatch 14. The feeding hatch 14 is an arc-shaped plate as a whole with a rectangular hole in the middle. The feed is sent to the feeding hatch 14 through the rapid movement of the conveyor belt 20. In the process of flying out obliquely upward, the feed is sent to most of the waters outside the platform. The four centrally distributed 4234 stepper motors 25 installed under the feeding bin cabin 4 will work at the same time. The small rubber driving wheel 27 installed on the stepper motor will move relative to the inner wall of the main bin cabin 5 below under the action of friction. At the same time, under the action of the three support seats 32 and the ball 33 at the top of the inner wall of the main bin cabin 5, the entire feeding bin cabin 4 rotates to achieve uniform throwing of feed in the waters.

[0021] Preferably, the platform comprises a sub-machine channel 5B switch device, a sub-machine garbage recovery device, a garbage bin recovery device and a sub-machine recovery lifting device 41;

[0022] The switch device of the sub-machine channel 5B includes: when the equipment is in daily operation, the platform connects the sub-machine switch to turn on the sub-machine, and at the same time, the 4234 stepper motor 25 of the garbage bin storage room of the main bin cabin 5 is started and drives the gear 6234 to rotate. Under the interaction of the gear 34 rack 45, the sub-machine return baffle 6 will rise upward, open the sub-machine channel 5B, connect the inside of the platform with the surrounding waters, and provide the required medium for the movement of the sub-machine. At the same time, when the sub-machine is working outside, the planetary reduction motor 57 in the garbage bin cabin will drive the reel 46 The signal line 58 is rotated to release the signal line 58, providing the necessary power and signal guidance for the operation of the sub-machine. When the sub-machine returns, the planetary reduction motor 57 rotates in the opposite direction to wind up the signal line 58. After the sub-machine enters the sub-machine channel 5B, it stops on the propeller fixing part 49. At the same time, the air compressor 29 located in the feeding bin cabin 4 is started, and the compressed air is injected into the main bin cabin 5 through the air delivery pipe 28. Under the action of pressure, the water in the main bin cabin 5 is discharged through the one-way valve 53 installed on the sub-machine return baffle 6 for subsequent garbage collection and recycling work.

[0023] The sub-machine garbage recovery and garbage bin recovery device includes: when the underwater garbage recovery sub-machine device 43 and the surface floating object cleaning sub-machine device 38 complete the underwater garbage recovery work and the surface floating object cleaning, the garbage bin door 43-2 at the rear end of the garbage bin recovery chamber connecting piece 43-1 on the underwater garbage recovery sub-machine device 43 will be opened under the drive of the steering gear 51, and at the same time, the garbage tilting groove 42 in the sub-machine channel 5B will rotate downward under the action of the steering gear 51 and connect with the garbage bin door 43-2, and the surface floating object cleaning sub-machine device 38 will be opened. The screw motor 38-3 of the device 38 moves to push the floating object pushing plate 38-2 to the other end. At the same time, the floating object tilting slot 3 located in the sub-machine channel 5B will also rotate downward under the action of the steering gear 51 and connect with the floating object baffle 38-6. Under the action of gravity, the garbage will be poured from the garbage bin recovery room into the garbage tilting slot 42, and the garbage storage bin baffle 40 will be opened. At the same time, the steering gear 51 is driven to rotate the garbage tilting slot 42, and the garbage in the garbage tilting slot 42 will enter the garbage storage bin 31. When the garbage in the garbage storage bin 31 is After the weight of the garbage reaches the set threshold, the lifting device under the garbage storage bin 31 will start, and at the same time send a reminder to the terminal in the hands of the fisherman, reminding the fisherman to recycle the garbage in the garbage storage bin 31, and the 57 stepper motor 56 of the lifting device will start, and drive the helical gear transmission shaft 61 fixed by the vertical bearing seat 60 to rotate, the helical gear transmission shaft 61 rotates under the torque input by the 57 stepper motor 56, and drives the helical gear 48 connected to it to rotate, and the two helical gears 48 located above the same helical gear transmission shaft 61 rotate at the same time, which will synchronously drive the helical gear 48 installed on the lifting threaded column 59 to rotate, and under the action of the inner circle thread of the helical gear 48, the lifting threaded column 59 will be driven to rotate, and rise or fall, and at the same time, the lifting support frame 47 will be driven to rise or fall, so as to realize the rise and fall of the garbage storage bin 31, and when the garbage storage bin 31 rises to a certain height, the fan-shaped garbage compartment is opened by rotating the garbage bin door 15, and the garbage storage bin 31 located inside the main bin body 5 is taken out;

[0024] The sub-machine recovery lifting device 41 includes: when the sub-machine fails during normal operation, the system will send a command to the sub-machine recovery lifting device 41, and the four 4248 stepper motors 43-3 installed on the inner ring below the main cabin will drive the gear 62 to rotate. At the same time, the rotation of the driving gear 62 will drive the internal gear 63 to rotate. The internal gear 63 is installed on a positioning member 64 for achieving radial and axial positioning. The rubber roller 65 on the positioning member 64 works together with the rotating base 41-7 located below the sub-machine recovery lifting device 41 under the action of friction to achieve the sub-machine recovery lifting device 4 1 overall rotation, when the guide rail 55 on the sub-machine recovery lifting device 41 is docked with the guide rail 55 on the sub-machine fixing plate 50 on the sub-machine channel 5B, the double-axis stepper motor 41-9 on the side without the slide rail is controlled to move, and the lifting scissor rod 41-12 is pushed to perform telescopic movement, raising the lifting platform disc 41-13 on one side, and at the same time, the double-axis stepper motor 41-9 on the other side is fine-tuned to dock with the slide rail on the sub-machine fixing plate 50. At this time, the steering gear 51 located below the sub-machine fixing plate 50 will drive the cam to rotate, and the sub-machine fixing plate 50 will be lowered and tilted toward the outer circle. Under the action of gravity, the sub-machine recovery lifting device 41 The upper mobile platform 41-14 and the propeller fixing part 49 will move toward the outer circle and reach the designated position, waiting for the sub-machine 66 to return to the main cabin. When the sub-machine 66 falls into the propeller fixing part 49 above the mobile platform 41-14 and is fixed, the steering gear 51 will drive the cam to rotate to lift the sub-machine fixing plate 50. At the same time, the system will send instructions to the dual-axis stepper motor 41-9 to control the movement of the dual-axis stepper motor 41-9 on one side of the slide rail to lower the lifting platform disc 41-13, and at the same time fine-tune the dual-axis stepper motor 41-9 on the other side to dock with the slide rail on the sub-machine fixing plate 50. Under the action of gravity, The mobile platform 41-14 and the propeller fixing part 49 are linked with the sub-machine 66 to move inward from the outer circle to the lifting platform disc 41-13. After that, the two dual-axis stepper motors 41-9 move at the same time, driving the forward-rotating motor connector 41-6 and the reverse-rotating motor connector 41-11 to move inward at the same time, and at the same time driving the lifting scissor rod 41-12 to achieve cross movement, gradually lifting the lifting platform disc 41-13, and transporting the faulty sub-machine 66 upward. The recovery personnel push the sub-machine recovery door 16, and with the assistance of the recovery door rotating bracket 17, the sub-machine recovery channel is opened to take out the faulty sub-machine 66.

[0025] Preferably, the submachine 66 includes an upper support plate 66-1 and a lower support plate 66-7, the upper support plate 66-1 and the lower support plate 66-7 are connected by four circular vertical worm shells 66-8, a brushless waterproof motor 66-10 and a propeller 66-9 are installed in the vertical worm shells 66-8, a cylindrical closed cabin is installed between the vertical worm shells 66-8, the closed cabin is connected to the upper support plate 66-1 and the lower support plate 66-7 by a square fastener 66-6, a flat round cover 66-11 is installed at one end of the closed cabin, and the other end is connected to the hemispherical cover 66-5 through a head flange connector 66-2 and a hemispherical cover pressure plate 66-3, and a camera 66-4 is installed in the hemispherical cover 66-5 to obtain underwater real-time information. Image data, two oblique worm shells 66-12 are installed at the front and rear ends of the sub-machine 66, and brushless waterproof motors 66-10 and propellers 66-9 are also installed in the worm shells. Four vertical worm shells 66-8 and four oblique worm shells 66-12 are connected to the electronic components in the closed cabin through flat round covers 66-11. When working, the signal line 58 will be connected first, and then the signal command will be sent to the eight brushless waterproof motors 66-10 on the sub-machine 66. The propellers 66-9 are driven to rotate by the driving motor to realize the propulsion movement in the water. When the sub-machine 66 needs to move forward, the brushless waterproof motors 66-10 in the four vertical worm shells 66-8 keep the speed and direction unchanged, so that the sub-machine 66 can be suspended in the water. The brushless waterproof motors 66-10 in the two oblique worm housings 66-12 at the front end rotate clockwise, so that the water flowing through the oblique worm housing 66-12 moves backward along the wall of the oblique worm housing 66-12, generating a forward thrust. At the same time, the brushless waterproof motors 66-10 in the two oblique worm housings 66-12 at the rear end rotate counterclockwise, so that the water flowing through the oblique worm housing 66-12 moves backward along the wall of the oblique worm housing 66-12, generating a forward thrust, thereby realizing the forward movement of the sub-machine 66. When the sub-machine 66 needs to move backward, the brushless waterproof motors 66-10 in the four vertical worm housings 66-8 maintain the same speed and direction, so that the sub-machine 66 can hover in the water. The brushless waterproof motor 66-10 rotates counterclockwise, causing the water flowing through the oblique worm housing 66-12 to move forward along the tube wall of the oblique worm housing 66-12, generating a backward thrust. At the same time, the brushless waterproof motors 66-10 in the two oblique worm housings 66-12 at the rear end rotate clockwise, causing the water flowing through the oblique worm housing 66-12 to move forward along the tube wall of the oblique worm housing 66-12, generating a backward thrust, thereby realizing the forward movement of the sub-machine 66. When the sub-machine 66 needs to realize a left turn, the brushless waterproof motors 66-10 in the four vertical worm housings 66-8 maintain the rotation speed and speed unchanged, so that the sub-machine 66 can hover in the water area. The brushless waterproof motor 66-10 in the oblique worm housing 66-12 located on the left side of the front end rotates counterclockwise.The water flow through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12 to generate a backward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the front end rotates clockwise, so that the water flow through the inclined worm housing 66-12 moves backward along the wall of the inclined worm housing 66-12 to generate a forward thrust. At the same time, the brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the left side of the rear end rotates clockwise, so that the water flow through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12 to generate a backward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the rear end rotates counterclockwise, so that the water flow through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12 to generate a backward thrust. 2, the water flows backward along the wall of the inclined worm housing 66-12, generating a forward thrust. The four inclined worm housings 66-12 generate a thrust that makes the sub-machine 66 rotate counterclockwise when viewed from top to bottom, so that the sub-machine 66 turns left. When the sub-machine 66 needs to turn right, the brushless waterproof motors 66-10 in the four vertical worm housings 66-8 keep the speed and direction unchanged, so that the sub-machine 66 can hover in the water. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the left side of the front end rotates clockwise, so that the water flows through the inclined worm housing 66-12 along the wall of the inclined worm housing 66-12, generating a forward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the front end rotates clockwise. 0 rotates counterclockwise, so that the water flowing through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12, generating a backward thrust. At the same time, the brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the left side of the rear end rotates counterclockwise, so that the water flowing through the inclined worm housing 66-12 moves backward along the wall of the inclined worm housing 66-12, generating a forward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the rear end rotates clockwise, so that the water flowing through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12, generating a backward thrust. The four inclined worm housings 66-12 generate a thrust that makes the sub-machine 66 rotate clockwise when viewed from top to bottom, thereby realizing the sub-machine 66 When the sub-machine 66 rises, the brushless waterproof motors 66-10 of the four oblique worm shells 66-12 keep the speed and direction unchanged, and the brushless waterproof motors 66-10 of the four vertical worm shells 66-8 rotate clockwise, so that the water flow through the vertical worm shell 66-8 is vertically downward, generating a vertical upward thrust, and realizing the ascending movement of the sub-machine 66. When the sub-machine 66 descends, the brushless waterproof motors 66-10 of the four oblique worm shells 66-12 keep the speed and direction unchanged, and the brushless waterproof motors 66-10 of the four vertical worm shells 66-8 rotate counterclockwise and gradually increase the speed, so that the water flow through the vertical worm shell 66-8 is vertically upward, generating a vertical downward thrust, and realizing the descending movement of the sub-machine 66.

[0026] Preferably, when the platform is working, the image information obtained by the camera 66-4 is transmitted back to the central processing system in real time through the signal line 58, and the central processing system judges the obtained image. When it is judged that garbage is found in the water area, a work instruction is sent to the steering engine 51 and the mechanical claw 67, and the micro-electric push rod 67-9 of the main body of the mechanical claw 67 extends, driving the left mechanical claw 67-2 and the right mechanical claw 67-4 to open, and the steering engine 51 moves the mechanical claw 67 close to the target clamped object, and at the same time adjusts the position of the sub-machine 66 in real time to facilitate the mechanical claw 67 to clamp the target clamped object more conveniently. When the left mechanical claw 67-2 and the right mechanical claw 67-4 wrap the target clamped object in the middle area, the micro-electric push rod 67-9 contracts to clamp the target clamped object, and then controls the steering engine 51 to move the mechanical claw 67 to rotate to the garbage bin door 43-2 located in the front and continue to rotate. Under the action of the torsion spring 38-5 and the switch hinge, the garbage bin door 43-2 will slowly rotate and open, and the target clamped object is placed in the garbage bin. When the garbage bin is in the garbage bin recovery room, the steering gear 51 moves to restore the mechanical claw 67 to its original position, and the garbage bin door 43-2 will also be closed under the action of the torsion spring 38-5. After completing the task of cleaning the underwater garbage in the target water area, the underwater garbage recovery sub-machine device 43 will return to the propeller fixing member 49 on the corresponding sub-machine channel 5B. When the air compressor 29 discharges the water in the sub-machine channel 5B, the steering gear 51 installed on the sub-machine channel 5B will move to lower the garbage tilting trough 42 close to the inner wall of the channel to be flush with the lower end of the garbage bin recovery chamber connecting member 43-1. The steering gear 51 located inside the garbage bin recovery chamber connecting member 43-1 will open the rear garbage bin door 43-2 to discharge the internal garbage into the garbage tilting trough 42. After the garbage is discharged, the steering gear 51 located inside the garbage bin storage wall will open the garbage storage bin baffle 40. At the same time, the steering gear 51 on the inner wall of the sub-machine channel 5B will slowly tilt the garbage tilting trough 42 in the vertical direction to pour the garbage into the garbage storage bin 31.

[0027] Preferably, when the platform is working, the camera 66-4 will observe the water surface environment, and the central processing system will determine whether there is garbage on the water surface. When there is garbage on the water surface, the sub-machine 66 will be controlled to go forward and repeatedly clean the water surface. The filterable characteristics of the leakage net 38-1 will be used to filter out the water entering the leakage net 38-1, and the floating objects therein will stay in the leakage net 38-1. An inclined leakage plate is provided in front of the inner cabin of the leakage net 38-1. The sub-machine 66 moves forward to introduce water flow into the cabin to flush the floating objects on the inclined leakage plate into the interior. After completing the cleaning of floating objects on the water surface, the water surface floating object cleaning sub-machine device 38 will return to the propeller fixed on the corresponding sub-machine channel 5B. On the part 49, when the air compressor 29 discharges the water in the sub-machine channel 5B, the steering gear 51 installed on the sub-machine channel 5B will move to lower the floating object inclined groove 3 close to the inner wall of the channel, flush with the lower end of the floating object baffle 38-6, and then drive the screw motor 38-3 to rotate to push the floating object push plate 38-2. The triangular strip of the floating object push plate 38-2 pushes the floating object baffle 38-6 open, so that the floating objects fall into the floating object inclined groove 3 through the hole for floating objects to enter and exit on the left side of the leakage net 38-1. The steering gear fixing part 38-4 is installed between the upper and lower support plates, and is equipped with a steering gear 51 and a mechanical claw 67, which is mainly responsible for cleaning the floating objects on the water surface and monitoring the water surface environment.

[0028] Preferably, when the platform is working, the camera 66-4 will observe the underwater environment, and at the same time, the oxygen detector 35-2, thermometer 35-3, ammonia nitrogen detector 35-4, and pH detector 35-5 installed on the detector mounting connector 35-1 will collect the water area parameters in real time, and the signal line 58 will transmit the acquired data back to the central processor, which will collect, organize and analyze the acquired data and transmit the facts back to the user.

[0029] Preferably, when the platform is placed in water, the lifting motor set 68 installed under the buoyancy chamber hull 7 will work, and the 28 stepper motor 68-3 in the lifting motor set 68 will rotate the positioning gear 68-13 installed in the rack positioning plate 68-4, and lower the propeller sleeve 68-9 to the specified position, and then drive the micro motor 68-5 to rotate the rotating cam 68-2, so that the rotating rack 68-11 performs a lifting movement, wherein the four propeller sleeves 68-9 are rotated to be parallel to the water surface, and finally the relative positions of the eight lifting motor sets 68 are the same as the relative positions of the eight worm propeller housings of the sub-machine 66, and the four lifting motor sets 68 are also located in the corners of the square and are vertically distributed, and the four lifting motor sets 68 on the periphery of the square are arranged in pairs in eights. The brushless waterproof motor 66-10 and the propeller 66-9 in the lifting motor set have the same motion control principle as the brushless waterproof motor 66-10 and the propeller 66-9 in the eight worm propeller housings of the sub-machine 66. The propeller 66-9 is driven to rotate clockwise or counterclockwise by controlling the rotation direction of the brushless waterproof motor 66-10 in the vertical or horizontal direction, thereby changing the direction of the water flow through the propeller sleeve 68-9, thereby realizing the overall lifting and lowering of the platform and the movement effects in all directions. After reaching the designated position, the four pairs of hydraulic lifting support columns will adjust the relative distance between the hydraulic main support 8 and the hydraulic driven support column 13 so that the four foot support support base plate 10 can maintain the balance of the entire platform in a reasonable position.

[0030] Beneficial effects:

[0031] 1. The present invention adopts a hierarchical modular design strategy, splitting and hierarchically designing modules with diverse functional effects. This design method not only effectively saves space and reduces weight, but also improves the convenience of storage, transportation and replacement. During the working process, inactive modules can be removed to reduce the overall load and achieve the goal of energy saving and emission reduction;

[0032] 2. This application adopts a "one mother machine, multiple machines" intelligent platform system, which separates the underwater garbage cleaning, water area parameter monitoring and collection, water surface environment monitoring and cleaning and feeding, garbage recycling, sub-machine recycling, whole machine underwater movement and balance support functions, which can realize multi-functional integrated control and precise control of individual functions;

[0033] 3. This application adopts the design of a six-degree-of-freedom sub-machine carrying different functional modules. The sub-machine can achieve flexible movement in the water without causing significant interference to the water environment. By adding different functional modules, the sub-machine can achieve different additional functions in the water, making the entire platform system more operable;

[0034] 4. This application can store a large amount of feed in the feeding silo. Through special structural design, it can effectively complete the delivery to a large area of ​​water without causing excessive feed waste. The main platform adopts a cylindrical shape plus four pairs of hydraulic lifting support columns, which can effectively resist the impact of water flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a platform schematic diagram of a preferred embodiment of the present invention.

[0036] Figure 2 The figure is a schematic diagram of the explosion of a feeding cabin according to a preferred embodiment of the present invention.

[0037] Figure 3 It is a schematic diagram of the main cabin of a preferred embodiment of the present invention.

[0038] Figure 4 It is a schematic diagram of the explosion of the main cabin of a preferred embodiment of the present invention.

[0039] Figure 5 It is a schematic diagram of an explosion of a sub-machine recovery lifting device according to a preferred embodiment of the present invention.

[0040] Figure 6 It is a schematic diagram of the internal structure of the main cabin of a preferred embodiment of the present invention.

[0041] Figure 7 It is a schematic diagram of a water area parameter monitoring sub-machine device according to a preferred embodiment of the present invention.

[0042] Figure 8 It is a schematic diagram of a water surface floating object cleaning sub-machine device according to a preferred embodiment of the present invention.

[0043] Fig. 9 It is a schematic diagram of an underwater garbage recycling sub-machine device according to a preferred embodiment of the present invention.

[0044] Fig.10 It is a schematic diagram of the explosion of a mechanical claw according to a preferred embodiment of the present invention.

[0045] Fig.11 It is a schematic diagram of the explosion of a sub-machine of a preferred embodiment of the present invention.

[0046] Fig.12 It is a schematic diagram of an underwater balancing base according to a preferred embodiment of the present invention.

[0047] Fig.13 It is a schematic diagram of an explosion of a lifting motor set according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0048] The embodiments of the present invention are described in detail below. The following embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operation processes are given, but the protection scope of the present invention is not limited to the following embodiments.

[0049] The present invention designs a multi-water integrated unmanned aquaculture monitoring platform and its control method. In view of the fact that a lot of time and manpower are needed for daily feeding, control, and maintenance of the water environment during cage aquaculture in rural fish ponds and lakes, if the corresponding aquatic monitoring equipment, feeding equipment, and oxygenation equipment are used, it will cost money to purchase and rent, and the equipment has a single function and the overall operation process is complicated. Moreover, fish ponds and lakes are also prone to risks such as theft or drowning. This platform integrates multiple modules required for aquaculture to achieve efficient control and timely response, save manpower, financial resources, and time costs, and realize intelligent and integrated aquaculture. Specifically including:

[0050] like Figure 1-13As shown, the platform equipment of the present application includes 1-feeding bin top plate, 2-feeding bin supplementary cover plate, 3-lifebuoy, 4-feeding bin cabin, 5-main bin cabin, 6-sub-machine return baffle, 7-buoyancy bin cabin, 8-hydraulic main bracket, 9-rotating bearing seat, 10-foot support bottom plate, 11-rotating bearing, 12-rotating bearing seat connecting block, 13-hydraulic driven support column, 14-feeding hatch, 15-garbage bin hatch, 16-sub-machine recovery hatch, 17-recovery hatch rotating bracket, 18-rotating feed tray, 19-feed feed port, 20-conveyor belt, 21-conveyor belt support frame, 22-rotating seat, 23-large rubber drive wheel, 24-42 motor bracket, 25-4234 stepping motor, 26-feed guide plate, 27-4234 stepping motor, 28-4234 stepping motor, 29-4234 stepping motor, 30-4234 stepping motor, 31-4234 stepping motor, 32-4234 stepping motor, 33-4234 stepping motor, 34-4234 stepping motor, 35-4234 stepping motor, 36-4234 stepping motor, 37-4234 stepping motor, 38-4234 stepping motor, 39-4234 stepping motor, 40-4234 stepping motor, 41-4234 stepping motor, 43-4234 stepping motor, 44-4234 stepping motor, 45-4234 stepping motor, 46-4234 stepping motor, 47-4234 stepping motor, 48-4234 stepping motor, 49 7- small rubber driving wheel, 28- air delivery pipeline, 29- air compressor, 30- air compressor baffle, 31- garbage storage bin, 32- support seat, 33- ball bearing, 34- gear, 35- water area parameter monitoring sub-machine device, 35-1- detector installation connector, 35-2- oxygen content detector, 35-3- thermometer, 35-4- ammonia nitrogen detector, 35-5- PH detector, 36- power box placement bin, 37- power box, 38- water surface floating object cleaning sub-machine device, 38-1- leakage net, 38-2- floating object push plate, 38-3- screw motor, 38-4- steering gear fixing part, 38-5- torsion spring, 38-6- floating object baffle, 38-7- hinge switch, 38-8- slider, 39 - floating object tilting trough, 40- garbage storage bin baffle, 41- sub-machine recovery lifting device, 41-1- screw, 41-2- lifting platform support frame, 41-3- lifting platform fixing parts, 41-4- nut, 41-5- bearing, 41-6- positive rotation motor connector, 41-7- rotating base, 41-8- lifting platform base, 41-9- dual-axis stepper motor, 41-10- roller, 41-11- reverse rotation motor connector, 41-12- lifting scissor rod, 41-13- lifting platform disc, 41-14- mobile platform, 42- garbage tilting trough, 43- underwater garbage recovery sub-machine device, 43-1- garbage bin recovery room connector, 43-2- garbage bin door, 44-4248 stepper motor, 45 - spur rack, 46- cable reel, 47- lifting support frame, 48- helical gear, 49- propeller fixing part, 50- sub-machine fixing plate, 51- servo, 52- lifting cam, 53- one-way valve, 54- connecting support shaft, 55- guide rail, 56-57 stepper motor, 57- planetary reduction motor, 58- signal line, 59- lifting thread column, 60- vertical bearing seat, 61- helical gear transmission shaft, 62- driving gear, 63- internal meshing gear, 64- positioning part, 65- rubber roller, 66- sub-machine, 66-1- upper support plate, 66-2- head flange connector, 66-3- hemispherical cover pressure plate, 66-4- camera, 66-5- hemispherical cover, 66-6- square fastener, 66-7- lower support plate,66-8-vertical worm housing, 66-9-propeller, 66-10-brushless waterproof motor, 66-11-flat round cover, 66-12-oblique worm housing, 67-mechanical claw, 67-1-2mm pin, 67-2-left mechanical claw, 67-3-3mm pin, 67-4-right mechanical claw, 67-5-mechanical claw support frame, 67-6-electric push rod front seal fixing seat, 67-7-M3 hexagon screw, 67-8-electric push rod rear end cover, 67-9-micro electric push rod, 67-10-M 3 nuts, 67-11-electric push rod housing, 67-12-front waterproof gasket, 68-lifting motor set, 68-1-lifting rack, 68-2-rotating cam, 68-3-28 stepper motor, 68-4-rack positioning plate, 68-5-micro motor, 68-6-motor support plate, 68-7-motor support seat, 68-8-rotating gear, 68-9-propeller sleeve, 68-10-propeller baffle, 68-11-rotating rack, 68-12-main sleeve, 68-13-positioning gear. ,

[0051] like Figure 1 As shown, a multi-water integrated unmanned aquaculture monitoring platform includes:

[0052] The mother machine basic frame, the feeding bin device, the main cabin, the sub-machine recovery lifting device 41, the underwater balance base device, the water area parameter monitoring sub-machine device 35, the underwater garbage recovery sub-machine device 43 and the surface floating object cleaning sub-machine device 38;

[0053] The mother machine basic frame includes a feeding bin top plate 1, a feeding bin supplementary cover plate 2, a life buoy 3, a feeding bin cabin 4, a main bin cabin 5, a sub-machine return baffle 6, a buoyancy bin cabin 7, an underwater balance base, a feeding hatch 14, a garbage bin hatch 15 and a sub-machine recovery hatch 16;

[0054] The feeding bin device comprises a feeding bin top plate 1, a feeding bin supplementary cover plate 2, a sub-machine recovery hatch 16, a recovery hatch rotating bracket 17, an air compressor baffle 30, an air compressor 29, an air delivery pipeline 28, a conveyor belt support frame 21, a conveyor belt 20, a rotating feed tray 18, a feed feed port 19, a feed guide plate 19, a feeding bin body 4, a feeding hatch 14, a 42 motor bracket 24, a 4234 stepping motor 25, a large rubber driving wheel 23, a small rubber driving wheel 27 and a rotating seat 22;

[0055] The main cabin includes a main compartment cabin 5, a sub-machine return baffle 6, a spur rack 45, a gear 34, a one-way valve 53, a 4248 stepper motor 43-3, a sub-machine recovery lifting device 41, a sub-machine fixing plate 50, a propeller fixing part 49, a power box 37, a power box placement compartment 6, a connecting support shaft 54, a steering gear 51, a lifting cam 52, a guide rail 55, a garbage storage bin 31, a garbage tilting trough 42, a floating object tilting trough 3, a garbage storage bin baffle 40, a support seat 32, a ball 33, a reel 46, a planetary reduction motor 57, a signal line 58, a 57 stepper motor 56, a bevel gear 48, a bevel gear transmission shaft 61, a lifting support frame 47, a lifting threaded column 59, a vertical bearing seat 60, a driving gear 62, an internal meshing gear 63, a positioning member 64 and a rubber roller 65;

[0056] The submachine recovery lifting device 41 includes a propeller fixing part 49, a mobile platform 41-14, a slider 38-8, a guide rail 55, a lifting platform disc 41-13, a screw 41-1, a nut 41-4, a lifting platform support frame 41-2, a lifting platform fixing part 41-3, a lifting scissor rod 41-12, a bearing 41-5, a forward rotation motor connecting part 41-6, a roller 41-10, a dual-axis stepping motor 41-9, a reverse rotation motor connecting part 41-11, a lifting platform base 41-8 and a rotating base 41-7;

[0057] The underwater balancing base device includes a buoyancy chamber hull 7, a hydraulic main support 8, a rotating bearing seat 9, a foot support base plate 10, a rotating bearing 11, a rotating bearing seat connecting block 12, a hydraulic driven support column 13, a main sleeve 68-12, a rack positioning plate 68-4, a motor support plate 68-6, a 28 stepping motor 68-3, a micro motor 68-5, a motor support seat 68-732, a lifting rack 68-1, a rotating rack 68-11, a propeller baffle 68-10, a propeller sleeve 68-9, a rotating cam 68-2, a propeller 66-9, a brushless waterproof motor 66-10 and a rotating gear 68-8;

[0058] The water parameter monitoring sub-machine device 35 includes a sub-machine platform, a detector mounting connector 35-1, an oxygen content detector 35-2, an ammonia nitrogen detector 35-4, a thermometer 35-3, and a pH detector 35-5. The sub-machine platform includes an upper support plate 66-1, a head flange connector 66-2, a hemispherical cover pressure plate 66-3, a camera 66-4, a hemispherical cover 66-5, a square fastener 66-6, a lower support plate 66-7, a vertical worm housing 66-8, a propeller 66-9, a brushless waterproof motor 66-10, a flat round cover 66-11, and an inclined worm housing 66-12;

[0059] The underwater garbage recycling sub-machine device 43 includes a sub-machine 66, a garbage bin recycling chamber connector 43-1, a steering gear 51, a garbage bin door 43-2, a spring, and a mechanical claw 67. The mechanical claw 67 includes a micro electric push rod 67-9, an electric push rod housing 67-11, a front waterproof gasket 67-12, an electric push rod front sealing fixing seat 67-6, an electric push rod rear end cover 67-8, a mechanical claw support frame 67-5, a left mechanical claw 67-2, a right mechanical claw 67-4, a 3mm pin 67-3, a 2mm pin 67-1, an M3 hexagon socket screw 67-7 and an M3 nut 67-10;

[0060] The water surface floating object cleaning sub-machine device 38 includes a sub-machine platform, a leakage net 38-1, a mechanical claw 67, a steering gear fixing part 38-4, a hinge switch 38-7, a torsion spring 38-5, a floating object baffle 38-6, a screw motor 38-3, a floating object push plate 38-2, a slider 38-8 and a guide rail 55.

[0061] The present application further provides a control method for a multi-water integrated unmanned aquaculture monitoring platform, which is applied to the above-mentioned multi-water integrated unmanned aquaculture monitoring platform, including:

[0062] The platform is divided into three layers, which are, from top to bottom, the feeding bin hull 4, the main bin hull 5, the buoyancy bin hull 7 and the underwater balancing base device;

[0063] The feeding bin cabin 4 is located at the top of the multi-water integrated unmanned breeding monitoring platform. The whole is in a ring shape. The inner circle completes the sub-machine recovery work. The inside of the ring is used to place various component structures to complete the feeding of water area feed, the recovery of garbage bin, the supplement of feed, the transmission of compressed air, and the rotation of the whole cabin;

[0064] The main structure of the main cabin is in a circular shape, with the outer circular wall 5D in contact with the external water area, the inner circular wall 5A connected to the inner circle channel of the feeding bin cabin 4, and the inner circular wall 5A and the outer circular wall 5D of the feeding bin cabin 4 are evenly divided into six parts, three sub-machine channels 5B and three storage cabins 5E, which complete the return and fixation of the sub-machine, the storage and placement of the garbage recovered by the sub-machine, the lifting and recovery of the garbage bin, and the retraction and release of the sub-machine signal line 58. The three sub-machines in the three sub-machine channels 5B of the main cabin are respectively an underwater garbage recovery sub-machine device 43, a water area parameter monitoring sub-machine device 35, and a surface floating The sub-machine device 38 for cleaning garbage is used to complete the collection and recovery of underwater garbage, parameter detection and data collection of the target water area, and detection of floating plants on the water surface and the water surface environment. The inner circle has a downward cylindrical space 5C, in which a sub-machine recovery lifting device 41 is installed to complete the recovery of faulty sub-machines. The buoyancy tank body 7 located below the main cabin is responsible for the buoyancy of the platform. Four pairs of hydraulic lifting support columns and eight lifting motor sets 68 are installed below the buoyancy tank body 7 for the platform to adjust the relative height and maintain a stable state in the pond and / or lake cages.

[0065] Preferably, if Figure 1-2The feeding bin top plate 1 is located at the top of the feeding bin device. There are corresponding holes on the feeding bin top plate 1 for installing the feeding bin replenishment cover plate 2, the sub-machine recovery hatch 16 and the garbage bin hatch 15. One end of the recovery hatch rotating bracket 17 is connected to the sub-machine recovery hatch 16, and the other end is connected to the feeding bin top plate 1. The closed hatch composed of the two garbage bin hatches 15 is connected to the two holes on the feeding bin top plate 1, and the hatch is closed and opened by rotation. Before the equipment performs feeding work, the feeding bin replenishment cover plate 2 is manually opened and feed is added therein. When the terminal in the hand of the fisherman issues an instruction to specify feeding work, since the outer plate of the feed guide plate 19 is inclined, the feed located in the feeding bin cabin 4 will enter the feed inlet 19 under the action of gravity. When the feed enters the lowest end of the feed guide plate 19, the 4234 stepper motor 25 is driven to rotate the small rubber driving wheel 27, and then the rotating seat 22 is driven to rotate so that the feed can The feed can enter the feed inlet 19 in time, and then the rotating feed disc 18 installed in the feed inlet 19 will send the feed to the conveyor belt 20 by rotation. The entire conveyor belt bracket 21 is in a state of high inside and low outside, one end is connected to the feed inlet 19, and the other end is connected to the feeding hatch 14. The feeding hatch 14 is an arc-shaped plate as a whole with a rectangular hole in the middle. The feed is sent to the feeding hatch 14 through the rapid movement of the conveyor belt 20. In the process of flying out obliquely upward, the feed is sent to most of the waters outside the platform. The four centrally distributed 4234 stepper motors 25 installed under the feeding bin cabin 4 will work at the same time. The small rubber driving wheel 27 installed on the stepper motor will move relative to the inner wall of the main bin cabin 5 below under the action of friction. At the same time, under the action of the three support seats 32 and the ball 33 at the top of the inner wall of the main bin cabin 5, the entire feeding bin cabin 4 rotates to achieve uniform throwing of feed in the waters.

[0066] Preferably, if Figure 1-4 As shown in FIG. 6 , the platform includes a switch device for the slave machine channel 5B, a slave machine garbage recovery device, a garbage bin recovery device and a slave machine recovery lifting device 41;

[0067] The switch device of the sub-machine channel 5B includes: when the equipment is in daily operation, the platform connects the sub-machine switch to turn on the sub-machine, and at the same time, the 4234 stepper motor 25 of the garbage bin storage room of the main bin cabin 5 is started and drives the gear 6234 to rotate. Under the interaction of the gear 34 rack 45, the sub-machine return baffle 6 will rise upward, open the sub-machine channel 5B, connect the inside of the platform with the surrounding waters, and provide the required medium for the movement of the sub-machine. At the same time, when the sub-machine is working outside, the planetary reduction motor 57 in the garbage bin cabin will drive the reel 46 The signal line 58 is rotated to release the signal line 58, providing the necessary power and signal guidance for the operation of the sub-machine. When the sub-machine returns, the planetary reduction motor 57 rotates in the opposite direction to wind up the signal line 58. After the sub-machine enters the sub-machine channel 5B, it stops on the propeller fixing part 49. At the same time, the air compressor 29 located in the feeding bin cabin 4 is started, and the compressed air is injected into the main bin cabin 5 through the air delivery pipe 28. Under the action of pressure, the water in the main bin cabin 5 is discharged through the one-way valve 53 installed on the sub-machine return baffle 6 for subsequent garbage collection and recycling work.

[0068] like Figure 1-4As shown in , 6, 8, and 9, the sub-machine garbage recovery and garbage bin recovery device includes, when the underwater garbage recovery sub-machine device 43 and the surface floating object cleaning sub-machine device 38 complete the underwater garbage recovery work and the surface floating object cleaning, the garbage bin door 43-2 at the rear end of the garbage bin recovery chamber connecting piece 43-1 on the underwater garbage recovery sub-machine device 43 will be opened under the drive of the steering gear 51, and at the same time, the garbage tilting groove 42 in the sub-machine channel 5B will rotate downward under the action of the steering gear 51, and connect with the garbage bin door 43-2, and the surface floating object cleaning sub-machine device 38 will be opened. The screw motor 38-3 of the garbage cleaning sub-machine device 38 moves to push the floating object pushing plate 38-2 to the other end. At the same time, the floating object inclined slot 3 located in the sub-machine channel 5B will also rotate downward under the action of the steering gear 51 and connect with the floating object baffle 38-6. Under the action of gravity, the garbage will be poured into the garbage inclined slot 42 from the garbage bin recovery chamber, and the garbage storage bin baffle 40 will be opened. At the same time, the steering gear 51 is driven to rotate the garbage inclined slot 42, and the garbage in the garbage inclined slot 42 will enter the garbage storage bin 31. After the weight of the garbage in the bin 31 reaches the set threshold, the lifting device under the garbage storage bin 31 will start, and at the same time send a reminder to the terminal in the fisherman's hand, reminding the fisherman to recycle the garbage in the garbage storage bin 31, and the 57 stepper motor 56 of the lifting device will start, and drive the helical gear transmission shaft 61 fixed by the vertical bearing seat 60 to rotate, the helical gear transmission shaft 61 rotates under the torque input by the 57 stepper motor 56, and drives the helical gear 48 connected to it to rotate, and the two helical gears 48 located above the same helical gear transmission shaft 61 rotate at the same time, which will synchronously drive the helical gear 48 installed on the lifting threaded column 59 to rotate, and under the action of the inner circle thread of the helical gear 48, the lifting threaded column 59 will be driven to rotate, and rise or fall, and at the same time, it will drive the lifting support frame 47 to rise or fall, so as to realize the rise and fall of the garbage storage bin 31, when the garbage storage bin 31 rises to a certain height, the fan-shaped garbage compartment is opened by rotating the garbage bin door 15, and the garbage storage bin 31 located inside the main bin body 5 is taken out;

[0069] like Figure 1-6As shown, the sub-machine recovery lifting device 41 includes: when the sub-machine fails during normal operation, the system will send a command to the sub-machine recovery lifting device 41, and the four 4248 stepper motors 43-3 installed on the inner ring below the main cabin will drive the gear 62 to rotate. At the same time, the rotation of the driving gear 62 will drive the internal gear 63 to rotate. The internal gear 63 is installed on a positioning member 64 for achieving radial and axial positioning. The rubber roller 65 on the positioning member 64 works together with the rotating base 41-7 located below the sub-machine recovery lifting device 41 under the action of friction to achieve the sub-machine recovery lifting device. The whole rotation of the sub-machine recovery lifting device 41, when the guide rail 55 on the sub-machine fixing plate 50 on the sub-machine channel 5B is docked, the double-axis stepper motor 41-9 on the side without the slide rail is controlled to move, and the lifting scissor rod 41-12 is pushed to perform telescopic movement, and the lifting platform disc 41-13 on one side is raised. At the same time, the double-axis stepper motor 41-9 on the other side is fine-tuned to dock with the slide rail on the sub-machine fixing plate 50. At this time, the steering gear 51 located below the sub-machine fixing plate 50 will drive the cam to rotate, and the sub-machine fixing plate 50 will be lowered and tilted toward the outer circle. Under the action of gravity, the sub-machine recovery lifting device 4 The mobile platform 41-14 and the propeller fixing part 49 above the mobile platform 41-14 will move toward the outer circle and reach the designated position, waiting for the sub-machine 66 to return to the main cabin. When the sub-machine 66 falls into the propeller fixing part 49 above the mobile platform 41-14 and is fixed, the steering gear 51 will drive the cam to rotate to lift the sub-machine fixing plate 50. At the same time, the system will send instructions to the dual-axis stepper motor 41-9 to control the movement of the dual-axis stepper motor 41-9 on one side of the slide rail to lower the lifting platform disc 41-13, and at the same time fine-tune the dual-axis stepper motor 41-9 on the other side to dock with the slide rail on the sub-machine fixing plate 50. Under the action of gravity, , the mobile platform 41-14 and the propeller fixing part 49 are linked to the sub-machine 66 to move inward from the outer circle to the lifting platform disc 41-13. After that, the two dual-axis stepper motors 41-9 move at the same time, driving the forward rotation motor connector 41-6 and the reverse rotation motor connector 41-11 to move inward at the same time, and at the same time drive the lifting scissor rod 41-12 to achieve cross movement, gradually lift the lifting platform disc 41-13, and transport the faulty sub-machine 66 upward. The recovery personnel push the sub-machine recovery door 16, and with the assistance of the recovery door rotating bracket 17, the sub-machine recovery channel is opened to take out the faulty sub-machine 66.

[0070] Preferably, if Figure 3 , 7-11, the sub-machine 66 includes, composed of an upper support plate 66-1 and a lower support plate 66-7, the upper support plate 66-1 and the lower support plate 66-7 are connected by four circular vertical worm shells 66-8, a brushless waterproof motor 66-10 and a propeller 66-9 are installed in the vertical worm shell 66-8, a cylindrical closed cabin is installed between the vertical worm shells 66-8, the closed cabin is connected to the upper support plate 66-1 and the lower support plate 66-7 by a square fastener 66-6, a flat round cover 66-11 is installed at one end of the closed cabin, and the other end is connected to the hemispherical cover 66-5 through a head flange connector 66-2 and a hemispherical cover pressure plate 66-3, and a camera 66-4 is installed in the hemispherical cover 66-5 to obtain real-time Underwater image data, two oblique worm shells 66-12 are installed at the front and rear ends of the sub-machine 66, and brushless waterproof motors 66-10 and propellers 66-9 are also installed in the worm shells. Four vertical worm shells 66-8 and four oblique worm shells 66-12 are connected to the electronic components in the sealed cabin through flat round covers 66-11. When working, the signal line 58 will be connected first, and then the signal command will be sent to the eight brushless waterproof motors 66-10 on the sub-machine 66. The propellers 66-9 are driven to rotate by the driving motor to realize the propulsion movement in the water. When the sub-machine 66 needs to move forward, the brushless waterproof motors 66-10 in the four vertical worm shells 66-8 keep the speed and direction unchanged, so that the sub-machine 66 can be realized in the water. The brushless waterproof motors 66-10 in the two oblique worm shells 66-12 at the front rotate clockwise, so that the water flowing through the oblique worm shells 66-12 moves backward along the wall of the oblique worm shells 66-12, generating a forward thrust. At the same time, the brushless waterproof motors 66-10 in the two oblique worm shells 66-12 at the rear rotate counterclockwise, so that the water flowing through the oblique worm shells 66-12 moves backward along the wall of the oblique worm shells 66-12, generating a forward thrust, thereby realizing the forward movement of the sub-machine 66. When the sub-machine 66 needs to move backward, the brushless waterproof motors 66-10 in the four vertical worm shells 66-8 maintain the same speed and direction, so that the sub-machine 66 can hover in the water. The two oblique worm shells 66-12 at the front rotate counterclockwise, so that the water flowing through the oblique worm shells 66-12 moves backward along the wall of the oblique worm shells 66-12, generating a forward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 rotates counterclockwise, so that the water flowing through the inclined worm housing 66-12 moves forward along the tube wall of the inclined worm housing 66-12, generating a backward thrust. At the same time, the brushless waterproof motors 66-10 in the two inclined worm housings 66-12 at the rear end rotate clockwise, so that the water flowing through the inclined worm housing 66-12 moves forward along the tube wall of the inclined worm housing 66-12, generating a backward thrust, thereby realizing the forward movement of the sub-machine 66. When the sub-machine 66 needs to realize a left turn, the brushless waterproof motors 66-10 in the four vertical worm housings 66-8 maintain the rotation speed and speed unchanged, so that the sub-machine 66 can hover in the water area. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 located on the left side of the front end rotates counterclockwise.The water flow through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12 to generate a backward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the front end rotates clockwise, so that the water flow through the inclined worm housing 66-12 moves backward along the wall of the inclined worm housing 66-12 to generate a forward thrust. At the same time, the brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the left side of the rear end rotates clockwise, so that the water flow through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12 to generate a backward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the rear end rotates counterclockwise, so that the water flow through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12 to generate a backward thrust. 2, the water flows backward along the wall of the inclined worm housing 66-12, generating a forward thrust. The four inclined worm housings 66-12 generate a thrust that makes the sub-machine 66 rotate counterclockwise when viewed from top to bottom, so that the sub-machine 66 turns left. When the sub-machine 66 needs to turn right, the brushless waterproof motors 66-10 in the four vertical worm housings 66-8 keep the speed and direction unchanged, so that the sub-machine 66 can hover in the water. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the left side of the front end rotates clockwise, so that the water flows through the inclined worm housing 66-12 along the wall of the inclined worm housing 66-12, generating a forward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the front end rotates clockwise. 0 rotates counterclockwise, so that the water flowing through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12, generating a backward thrust. At the same time, the brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the left side of the rear end rotates counterclockwise, so that the water flowing through the inclined worm housing 66-12 moves backward along the wall of the inclined worm housing 66-12, generating a forward thrust. The brushless waterproof motor 66-10 in the inclined worm housing 66-12 on the right side of the rear end rotates clockwise, so that the water flowing through the inclined worm housing 66-12 moves forward along the wall of the inclined worm housing 66-12, generating a backward thrust. The four inclined worm housings 66-12 generate a thrust that makes the sub-machine 66 rotate clockwise when viewed from top to bottom, thereby realizing the sub-machine 66 When the sub-machine 66 rises, the brushless waterproof motors 66-10 of the four oblique worm shells 66-12 keep the speed and direction unchanged, and the brushless waterproof motors 66-10 of the four vertical worm shells 66-8 rotate clockwise, so that the water flow through the vertical worm shell 66-8 is vertically downward, generating a vertical upward thrust, and realizing the ascending movement of the sub-machine 66. When the sub-machine 66 descends, the brushless waterproof motors 66-10 of the four oblique worm shells 66-12 keep the speed and direction unchanged, and the brushless waterproof motors 66-10 of the four vertical worm shells 66-8 rotate counterclockwise and gradually increase the speed, so that the water flow through the vertical worm shell 66-8 is vertically upward, generating a vertical downward thrust, and realizing the descending movement of the sub-machine 66.

[0071] Preferably, if Figure 3 , 9 As shown in Figure 11, when the platform is working, the image information obtained by the camera 66-4 is transmitted to the central processing system in real time through the signal line 58, and the central processing system judges the obtained image. When it is judged that there is garbage in the water area, a working instruction is sent to the steering engine 51 and the mechanical claw 67. The micro electric push rod 67-9 of the main body of the mechanical claw 67 extends, driving the left mechanical claw 67-2 and the right mechanical claw 67-4 to open, and the steering engine 51 moves the mechanical claw 67 close to the target object. The position of the sub-machine 66 is adjusted in real time to facilitate the mechanical claw 67 to clamp the target object more conveniently. When the left mechanical claw 67-2 and the right mechanical claw 67-4 wrap the target object in the middle area, the micro electric push rod 67-9 contracts to clamp the target object, and then the steering engine 51 is controlled to move the mechanical claw 67 to the garbage bin door 43-2 in front and continue to rotate. Under the action of the torsion spring 38-5 and the switch hinge, the garbage bin door 43-2 will slowly rotate and open, and the target object will be placed in. When the garbage bin is in the recycling chamber, the steering gear 51 moves to restore the mechanical claw 67 to its original position, and the garbage bin door 43-2 will also be closed under the action of the torsion spring 38-5. After completing the task of cleaning the underwater garbage in the target water area, the underwater garbage recycling sub-machine device 43 will return to the propeller fixing member 49 on the corresponding sub-machine channel 5B. When the air compressor 29 discharges the water in the sub-machine channel 5B, the steering gear 51 installed on the sub-machine channel 5B will move to lower the garbage tilting trough 42 close to the inner wall of the channel to be flush with the lower end of the garbage bin recycling chamber connecting member 43-1. The steering gear 51 located inside the garbage bin recycling chamber connecting member 43-1 will open the rear garbage bin door 43-2 to discharge the internal garbage into the garbage tilting trough 42. After the garbage is discharged, the steering gear 51 located inside the garbage bin storage wall will open the garbage storage bin baffle 40. At the same time, the steering gear 51 on the inner wall of the sub-machine channel 5B will slowly tilt the garbage tilting trough 42 in the vertical direction to pour the garbage into the garbage storage bin 31.

[0072] Preferably, if Figure 3 , 8As shown in Figures 10 and 11, when the platform is working, the camera 66-4 will observe the water surface environment, and the central processing system will determine whether there is garbage on the water surface. When there is garbage on the water surface, the sub-machine 66 will be controlled to go forward and repeatedly clean the water surface. The filterable characteristics of the leakage net 38-1 will be used to filter out the water entering the leakage net 38-1, and the floating objects therein will stay in the leakage net 38-1. An inclined leakage plate is provided in front of the inner chamber of the leakage net 38-1. The sub-machine 66 moves forward to introduce water flow into the chamber to flush the floating objects on the inclined leakage plate into the interior. After completing the cleaning of floating objects on the water surface, the sub-machine device 38 for cleaning floating objects on the water surface will return to the spiral on the corresponding sub-machine channel 5B. On the paddle fixing part 49, when the air compressor 29 discharges the water in the sub-machine channel 5B, the steering gear 51 installed on the sub-machine channel 5B will move to lower the floating object inclined groove 3 close to the inner wall of the channel, flush with the lower end of the floating object baffle 38-6, and then drive the screw motor 38-3 to rotate to push the floating object pushing plate 38-2. The triangular strip of the floating object pushing plate 38-2 pushes the floating object baffle 38-6 open, so that the floating object falls into the floating object inclined groove 3 through the hole for floating objects to enter and exit on the left side of the leakage net 38-1. The steering gear fixing part 38-4 is installed between the upper and lower support plates, and is equipped with a steering gear 51 and a mechanical claw 67, which is mainly responsible for cleaning the floating objects on the water surface and monitoring the water surface environment.

[0073] Preferably, if Figure 3 , 7 As shown in Figure 11, when the platform is working, the camera 66-4 will observe the underwater environment. At the same time, the oxygen detector 35-2, thermometer 35-3, ammonia nitrogen detector 35-4, and pH detector 35-5 installed on the detector mounting connector 35-1 will collect the parameters of the water area in real time, and the signal line 58 will transmit the acquired data back to the central processor, which will collect, organize and analyze the acquired data and transmit the facts back to the user.

[0074] Preferably, if Figure 1 , 12As shown in Figure 13, when the platform is placed in the water, the lifting motor set 68 installed under the buoyancy compartment hull 7 will work, and the 28 stepper motor 68-3 in the lifting motor set 68 will rotate the positioning gear 68-13 installed in the rack positioning plate 68-4, and the propeller sleeve 68-9 will be lowered to the specified position, and then the rotating cam 68-2 will be rotated by driving the micro motor 68-5 to make the rotating rack 68-11 perform lifting and lowering movements, wherein the four propeller sleeves 68-9 are rotated to be parallel to the water surface, and finally the relative positions of the eight lifting motor sets 68 are the same as the relative positions of the eight worm propeller housings of the sub-machine 66, and the four lifting motor sets 68 are also vertically distributed at the corners of the square, and the four lifting motor sets 68 on the periphery of the square are arranged in pairs. The brushless waterproof motor 66-10 and propeller 66-9 in the lifting motor set are arranged in opposite directions in an eight-shaped pattern. The motion control principle of the brushless waterproof motor 66-10 and the propeller 66-9 in the eight worm-propeller housings of the sub-machine 66 is the same as the motion control principle of the brushless waterproof motor 66-10 and the propeller 66-9 in the eight worm-propeller housings of the sub-machine 66. By controlling the rotation direction of the brushless waterproof motor 66-10 in the vertical or horizontal direction, the propeller 66-9 is driven to rotate clockwise or counterclockwise, thereby changing the direction of the water flow through the propeller sleeve 68-9, thereby realizing the overall lifting and lowering of the platform and the movement effects in all directions. After reaching the designated position, the four pairs of hydraulic lifting support columns will adjust the relative distance between the hydraulic main support 8 and the hydraulic driven support column 13 so that the four foot support base plates 10 can maintain the balance of the entire platform at a reasonable position.

[0075] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A multi-water integrated unmanned aquaculture monitoring platform, characterized in that: include: A mother machine basic frame, a feeding bin device, a main cabin, a sub-machine recovery and lifting device (41), an underwater balancing base device, a water area parameter monitoring sub-machine device (35), an underwater garbage recovery sub-machine device (43) and a surface floating object cleaning sub-machine device (38); The mother machine basic frame comprises a feeding bin top plate (1), a feeding bin supplementary cover plate (2), a life buoy (3), a feeding bin cabin (4), a main bin cabin (5), a sub-machine return baffle (6), a buoyancy bin cabin (7), an underwater balancing base, a feeding hatch (14), a garbage bin hatch door (15) and a sub-machine recovery hatch door (16); The feeding bin device comprises a feeding bin top plate (1), a feeding bin supplementary cover plate (2), a sub-machine recovery hatch (16), a recovery hatch rotating bracket (17), an air compressor baffle (30), an air compressor (29), an air delivery pipeline (28), a conveyor belt support frame (21), a conveyor belt (20), a rotating feed tray (18), a feed feed port (19), a feed guide tray (19), a feeding bin body (4), a feeding hatch (14), a 42 motor bracket (24), a 4234 stepping motor (25), a large rubber driving wheel (23), a small rubber driving wheel (27) and a rotating seat (22); The main cabin comprises a main cabin body (5), a sub-machine return baffle (6), a spur rack (45), a gear (34), a one-way valve (53), a 4248 stepper motor (43-3), a sub-machine recovery lifting device (41), a sub-machine fixing plate (50), a propeller fixing member (49), a power supply box (37), a power supply box placement compartment (6), a connecting support shaft (54), a steering gear (51), a lifting cam (52), a guide rail (55), a garbage storage compartment (31), and a garbage tilting chute. (42), floating object tilting trough (3), garbage storage bin baffle (40), support seat (32), ball bearing (33), reel (46), planetary reduction motor (57), signal line (58), 57 stepper motor (56), helical gear (48), helical gear transmission shaft (61), lifting support frame (47), lifting threaded column (59), vertical bearing seat (60), driving gear (62), internal gear (63), positioning member (64) and rubber roller (65); The submachine recovery lifting device (41) comprises a propeller fixing part (49), a mobile platform (41-14), a slider (38-8), a guide rail (55), a lifting platform disc (41-13), a screw (41-1), a nut (41-4), a lifting platform support frame (41-2), a lifting platform fixing part (41-3), a lifting scissor rod (41-12), a bearing (41-5), a forward-rotating motor connecting part (41-6), a roller (41-10), a dual-axis stepping motor (41-9), a reverse-rotating motor connecting part (41-11), a lifting platform base (41-8) and a rotating base (41-7); The underwater balancing base device comprises a buoyancy chamber body (7), a hydraulic main body bracket (8), a rotating bearing seat (9), a foot support base plate (10), a rotating bearing (11), a rotating bearing seat connecting block (12), a hydraulic driven support column (13), a main sleeve (68-12), a rack positioning plate (68-4), a motor support plate (68-6), a 28 stepping motor (68-3), a micro motor (68-5), a motor support seat (68-7) (32), a lifting rack (68-1), a rotating rack (68-11), a propeller baffle (68-10), a propeller sleeve (68-9), a rotating cam (68-2), a propeller (66-9), a brushless waterproof motor (66-10) and a rotating gear (68-8); The water area parameter monitoring sub-machine device (35) comprises a sub-machine platform, a detector mounting connector (35-1), an oxygen content detector (35-2), an ammonia nitrogen detector (35-4), a thermometer (35-3), and a pH detector (35-5); the sub-machine platform comprises an upper support plate (66-1), a head flange connector (66-2), a hemispherical cover pressure plate (66-3), a camera (66-4), a hemispherical cover (66-5), a square fastener (66-6), a lower support plate (66-7), a vertical worm housing (66-8), a propeller (66-9), a brushless waterproof motor (66-10), a flat round cover (66-11), and an inclined worm housing (66-12); The underwater garbage recovery sub-machine device (43) comprises a sub-machine (66), a garbage bin recovery chamber connector (43-1), a steering gear (51), a garbage bin door (43-2), a spring, and a mechanical claw (67); the mechanical claw (67) comprises a micro electric push rod (67-9), an electric push rod housing (67-11), a front waterproof gasket (67-12), an electric push rod front sealing fixing seat (67-6), an electric push rod rear end cover (67-8), a mechanical claw support frame (67-5), a left mechanical claw (67-2), a right mechanical claw (67-4), a 3mm pin (67-3), a 2mm pin (67-1), an M3 hexagon socket screw (67-7), and an M3 nut (67-10); The floating object cleaning sub-machine device (38) comprises a sub-machine platform, a leakage net (38-1), a mechanical claw (67), a steering gear fixing part (38-4), a hinge switch (38-7), a torsion spring (38-5), a floating object baffle (38-6), a screw motor (38-3), a floating object push plate (38-2), a slider (38-8) and a guide rail (55).

2. A control method for a multi-water integrated unmanned aquaculture monitoring platform, characterized in that: The method is applied to a multi-water integrated unmanned aquaculture monitoring platform as claimed in claim 1, comprising: The platform is divided into three layers, which are, from top to bottom, a feeding bin body (4), a main bin body (5), a buoyancy bin body (7) and an underwater balancing base device; The feeding bin cabin (4) is located at the top of the multi-water integrated unmanned breeding monitoring platform. The overall shape is annular. The inner circle completes the sub-machine recovery work. The inside of the ring is used to place various component structures to complete the feeding of feed in the water area, the recovery of the garbage bin, the supplement of feed, the transmission of compressed air, and the rotation of the overall cabin. The main structure of the main cabin is in a circular shape, the outer circular wall (5D) contacts the external water area, the inner circular wall (5A) is connected to the inner circle channel of the feeding bin cabin body (4), and the inner circular wall (5A) and the outer circular wall (5D) of the feeding bin cabin body (4) are evenly divided into six parts, three sub-machine channels (5B) and three storage cabins (5E), which complete the return and fixation of the sub-machine, the storage and placement of the garbage recovered by the sub-machine, the lifting and recovery of the garbage bin, and the retraction and release of the sub-machine signal line (58). The three sub-machines in the three sub-machine channels (5B) of the main cabin are respectively an underwater garbage recovery sub-machine device (43), a water area parameter monitoring sub-machine device (35 ), a sub-machine device (38) for cleaning floating objects on the water surface, respectively completing the collection and recovery of underwater garbage, parameter detection and data collection of the target water area, and detection of floating plants and the water surface environment. The inner circle has a downward cylindrical space (5C), in which a sub-machine recovery lifting device (41) is installed to complete the recovery of faulty sub-machines. The buoyancy tank body (7) located below the main cabin is responsible for the buoyancy of the platform. Four pairs of hydraulic lifting support columns and eight lifting motor sets (68) are installed below the buoyancy tank body (7) for the platform to adjust the relative height and maintain a stable state in the pond and / or lake cages.

3. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 2 is characterized in that: include: The feeding bin top plate (1) is located at the top of the feeding bin device. There are corresponding holes on the feeding bin top plate (1) for installing the feeding bin supplementary cover plate (2), the sub-machine recovery hatch (16) and the garbage bin hatch (15). One end of the recovery hatch rotating bracket (17) is connected to the sub-machine recovery hatch (16), and the other end is connected to the feeding bin top plate (1). The closed hatch composed of the two garbage bin hatches (15) is connected to the two holes on the feeding bin top plate (1). The hatch is closed and opened by rotation. When the device is in operation, Before feeding, the feeding bin replenishment cover (2) is opened manually and feed is added therein. When the terminal in the hands of the fisherman issues an instruction to start feeding, since the outer extension plate of the feed guide plate (19) is inclined, the feed in the feeding bin cabin (4) enters the feed inlet (19) under the action of gravity. When the feed enters the lowest end of the feed guide plate (19), the 4234 stepper motor (25) is driven to rotate the small rubber driving wheel (27), thereby driving the rotating seat (22) to rotate so that the feed can be The feed can enter the feed inlet (19) in time, and then the rotating feed tray (18) installed in the feed inlet (19) will send the feed to the conveyor belt (20) through rotation. The entire conveyor belt bracket (21) is in a state of high inside and low outside. One end is connected to the feed inlet (19) and the other end is connected to the feeding hatch (14). The feeding hatch (14) is an arc-shaped plate with a rectangular hole in the middle. The feed is sent to the feeding hatch (14) through the rapid movement of the conveyor belt (20). In the process of flying out obliquely upward In the process, when the feed is delivered to most of the water area outside the platform, four centrally distributed 4234 stepper motors (25) installed below the feeding bin cabin (4) will work simultaneously, and the small rubber driving wheel (27) installed on the stepper motor will move relative to the inner wall of the main bin cabin (5) below under the action of friction. At the same time, under the action of the three support seats (32) and the ball bearings (33) at the top of the inner wall of the main bin cabin (5), the entire feeding bin cabin (4) rotates to achieve uniform throwing of the feed in the water area.

4. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 3 is characterized in that: include: The platform comprises a sub-machine channel (5B) switch device, a sub-machine garbage recovery device, a garbage bin recovery device and a sub-machine recovery lifting device (41); The switch device of the sub-machine channel (5B) includes: when the equipment is in daily operation, the platform connects the sub-machine switch to turn on the sub-machine, and at the same time, the 4234 stepper motor (25) installed in the garbage bin storage room of the main bin cabin (5) will start and drive the gear (62) (34) to rotate. Under the interaction of the gear (34) and the rack (45), the sub-machine return baffle (6) will rise upward, open the sub-machine channel (5B), connect the inside of the platform with the surrounding water area, and provide the required medium for the movement of the sub-machine. At the same time, when the sub-machine is working outside, the planetary reduction motor (57) in the garbage bin cabin will drive the reel (46) to move. The sub-machine rotates to release the signal line (58) to provide the necessary power and signal guidance for the operation of the sub-machine. When the sub-machine returns, the planetary reduction motor (57) rotates in the opposite direction to reel in the signal line (58). After the sub-machine enters the sub-machine channel (5B), it stops on the propeller fixing member (49). At the same time, the air compressor (29) located in the feeding bin cabin (4) is started to inject compressed air into the main bin cabin (5) through the air delivery pipeline (28). Under the action of pressure, the water in the main bin cabin (5) is discharged through the one-way valve (53) installed on the sub-machine return baffle (6) to facilitate the subsequent garbage collection and recycling work. The sub-machine garbage recovery and garbage bin recovery device comprises: when the underwater garbage recovery sub-machine device (43) and the surface floating object cleaning sub-machine device (38) complete the underwater garbage recovery work and the surface floating object cleaning, the garbage bin door (43-2) at the rear end of the garbage bin recovery chamber connecting member (43-1) on the underwater garbage recovery sub-machine device (43) will be opened under the drive of the steering gear (51), and at the same time, the garbage tilting groove (42) in the sub-machine channel (5B) will rotate downward under the action of the steering gear (51) and connect with the garbage bin door (43-2), and the surface floating object cleaning sub-machine device ( The screw motor (38-3) of the auxiliary machine (38) moves to push the floating object push plate (38-2) to the other end, and at the same time, the floating object tilting slot (3) located in the slave machine channel (5B) will also rotate downward under the action of the steering gear (51) and connect with the floating object baffle (38-6). Under the action of gravity, the garbage will be poured from the garbage bin recovery chamber into the garbage tilting slot (42), and the garbage storage bin baffle (40) will be opened. At the same time, the steering gear (51) is driven to rotate the garbage tilting slot (42), and the garbage in the garbage tilting slot (42) will enter the garbage storage bin (31). When the garbage storage bin ( When the weight of the garbage in the garbage storage bin (31) reaches a set threshold, the lifting device located below the garbage storage bin (31) will start, and at the same time send a reminder to the terminal in the hands of the fisherman, reminding the fisherman to recycle the garbage in the garbage storage bin (31). The stepper motor (56) of the lifting device starts and drives the helical gear transmission shaft (61) fixed by the vertical bearing seat (60) to rotate. The helical gear transmission shaft (61) rotates under the torque input by the stepper motor (56) and drives the helical gear (48) connected to it to rotate. The two helical gears located above the same helical gear transmission shaft (61) rotate. The gears (48) rotate simultaneously, which will synchronously drive the bevel gear (48) installed on the lifting threaded column (59) to rotate. Under the action of the inner thread of the bevel gear (48), the lifting threaded column (59) will be driven to rotate to rise or fall, and at the same time, the lifting support frame (47) will be driven to rise or fall, thereby realizing the rise and fall of the garbage storage bin (31). When the garbage storage bin (31) rises to a certain height, the fan-shaped garbage compartment is opened by rotating the garbage bin door (15), and the garbage storage bin (31) located inside the main bin body (5) is taken out; The sub-machine recovery lifting device (41) includes: when the sub-machine fails during normal operation, the system will send a command to the sub-machine recovery lifting device (41), and four 4248 stepper motors (43-3) installed in the inner ring below the main cabin will drive the gear (62) to rotate. At the same time, due to the rotation of the driving gear (62), the internal meshing gear (63) will be driven to rotate. The internal meshing gear (63) is installed on a positioning member (64) for achieving radial and axial positioning. The rubber roller (65) on the positioning member (64) works together with the rotating base (41-7) located below the sub-machine recovery lifting device (41) under the action of friction force to achieve the sub-machine recovery lifting device (41). The whole rotates, when the guide rail (55) on the sub-machine recovery lifting device (41) is docked with the guide rail (55) on the sub-machine fixing plate (50) on the sub-machine channel (5B), the double-axis stepper motor (41-9) on the side without the slide rail is controlled to move, and the lifting scissor rod (41-12) is pushed to perform telescopic movement, and the lifting platform disc (41-13) on one side is raised, and at the same time, the double-axis stepper motor (41-9) on the other side is fine-tuned to dock with the slide rail on the sub-machine fixing plate (50). At this time, the steering gear (51) located below the sub-machine fixing plate (50) will drive the cam to rotate, and the sub-machine fixing plate (50) will be lowered and tilted toward the outer circle. Under the action of gravity, the sub-machine recovery lifting device (41 ) above the mobile platform (41-14) and the propeller fixing member (49) will move toward the outer circle and reach the designated position, waiting for the sub-machine (66) to return to the main cabin. When the sub-machine (66) falls into the propeller fixing member (49) above the mobile platform (41-14) and is fixed, the steering gear (51) will drive the cam to rotate and lift the sub-machine fixing plate (50). At the same time, the system will send instructions to the dual-axis stepper motor (41-9) to control the dual-axis stepper motor (41-9) on one side of the slide rail to move, lower the lifting platform disc (41-13), and at the same time fine-tune the dual-axis stepper motor (41-9) on the other side to dock with the slide rail on the sub-machine fixing plate (50). Under the action of gravity, , the mobile platform (41-14) and the propeller fixing member (49) are linked to the sub-machine (66) to move inward from the outer circle to the lifting platform disc (41-13), and then the two dual-axis stepper motors (41-9) move simultaneously, driving the forward-rotating motor connecting member (41-6) and the reverse-rotating motor connecting member (41-11) to move inward at the same time, and at the same time driving the lifting scissor rod (41-12) to achieve cross movement, gradually lifting the lifting platform disc (41-13), and transporting the faulty sub-machine (66) upward. The recovery personnel push the sub-machine recovery door (16), and with the assistance of the recovery door rotating bracket (17), the sub-machine recovery channel is opened to take out the faulty sub-machine (66).

5. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 4 is characterized in that: include: The submachine (66) comprises an upper support plate (66-1) and a lower support plate (66-7), wherein the upper support plate (66-1) and the lower support plate (66-7) are connected by four circular vertical worm housings (66-8), wherein a brushless waterproof motor (66-10) and a propeller (66-9) are installed in the vertical worm housings (66-8), and a cylindrical sealed cabin is installed between the vertical worm housings (66-8), wherein the sealed cabin is connected to the upper support plate (66-1) and the lower support plate (66-7) via a square fastener (66-6), wherein a flat round cover (66-11) is installed at one end of the sealed cabin, and the other end is connected to the hemispherical cover (66-5) via a head flange connector (66-2) and a hemispherical cover pressure plate (66-3). The submachine (66) is connected to the front and rear ends of the submachine (66), and a camera (66-4) is installed in the hemispherical cover (66-5) to obtain underwater image data in real time. Two oblique worm shells (66-12) are installed at the front and rear ends of the submachine (66), and brushless waterproof motors (66-10) and propellers (66-9) are also installed in the worm shells. The four vertical worm shells (66-8) and the four oblique worm shells (66-12) are connected to the electronic components in the closed cabin through the flat round cover (66-11). When working, the signal line (58) will be connected first, and then the signal command will be sent to the eight brushless waterproof motors (66-10) on the submachine (66). The propellers (66-9) are driven to rotate by the driving motor to realize the propulsion movement in the water. When the submachine (66) needs When the sub-machine (66) is to move forward, the brushless waterproof motors (66-10) in the four vertical worm housings (66-8) keep the rotation speed and direction unchanged, so that the sub-machine (66) can hover in the water area. The brushless waterproof motors (66-10) in the two oblique worm housings (66-12) at the front end rotate clockwise, so that the water flowing through the oblique worm housing (66-12) flows backward along the wall of the oblique worm housing (66-12), generating a forward thrust. At the same time, the brushless waterproof motors (66-10) in the two oblique worm housings (66-12) at the rear end rotate counterclockwise, so that the water flowing through the oblique worm housing (66-12) flows backward along the wall of the oblique worm housing (66-12), generating a forward thrust, so that the sub-machine (66) can move forward. When the sub-machine (66) When the sub-machine (66) needs to move backward, the brushless waterproof motors (66-10) in the four vertical worm housings (66-8) keep the rotation speed and direction unchanged, so that the sub-machine (66) can hover in the water area, and the brushless waterproof motors (66-10) in the two oblique worm housings (66-12) at the front end rotate counterclockwise, so that the water flowing through the oblique worm housing (66-12) moves forward along the wall of the oblique worm housing (66-12), generating a backward thrust, and at the same time, the brushless waterproof motors (66-10) in the two oblique worm housings (66-12) at the rear end rotate clockwise, so that the water flowing through the oblique worm housing (66-12) moves forward along the wall of the oblique worm housing (66-12), generating a backward thrust, so that the sub-machine (66) can move forward.When the sub-machine (66) needs to realize a left turn, the brushless waterproof motors (66-10) in the four vertical worm housings (66-8) maintain the rotation speed and speed unchanged, so that the sub-machine (66) can hover in the water area. The brushless waterproof motor (66-10) in the oblique worm housing (66-12) located on the left side of the front end rotates counterclockwise, so that the water flowing through the oblique worm housing (66-12) flows forward along the wall of the oblique worm housing (66-12) to generate a backward thrust. The brushless waterproof motor (66-10) in the oblique worm housing (66-12) located on the right side of the front end rotates clockwise, so that the water flowing through the oblique worm housing (66-12) flows backward along the wall of the oblique worm housing (66-12) to generate a forward thrust. The brushless waterproof motor (66-10) in the oblique worm housing (66-12) located on the left side of the rear end rotates clockwise, so that the water flowing through the oblique worm housing (66-12) moves forward along the tube wall of the oblique worm housing (66-12), generating a backward thrust. The brushless waterproof motor (66-10) in the oblique worm housing (66-12) located on the right side of the rear end rotates counterclockwise, so that the water flowing through the oblique worm housing (66-12) moves backward along the tube wall of the oblique worm housing (66-12), generating a forward thrust. The four oblique worm housings (66-12) as a whole generate a thrust that causes the sub-machine (66) to rotate counterclockwise when viewed from top to bottom, thereby realizing the left turn of the sub-machine (66). When the sub-machine (66) needs to realize a right turn, the four vertical worm housings rotate counterclockwise. The brushless waterproof motor (66-10) in the housing (66-8) keeps the speed and direction unchanged, so that the sub-machine (66) can hover in the water area. The brushless waterproof motor (66-10) in the oblique worm housing (66-12) on the left side of the front end rotates clockwise, so that the water flowing through the oblique worm housing (66-12) flows backward along the wall of the oblique worm housing (66-12) to generate a forward thrust. The brushless waterproof motor (66-10) in the oblique worm housing (66-12) on the right side of the front end rotates counterclockwise, so that the water flowing through the oblique worm housing (66-12) flows forward along the wall of the oblique worm housing (66-12) to generate a backward thrust. At the same time, the brushless waterproof motor (66-10) in the oblique worm housing (66-12) on the left side of the rear end rotates counterclockwise. The motor (66-10) rotates counterclockwise, causing the water flowing through the inclined worm housing (66-12) to flow backward along the tube wall of the inclined worm housing (66-12), generating a forward thrust. The brushless waterproof motor (66-10) in the inclined worm housing (66-12) located on the right side of the rear end rotates clockwise, causing the water flowing through the inclined worm housing (66-12) to flow forward along the tube wall of the inclined worm housing (66-12), generating a backward thrust. The four inclined worm housings (66-12) as a whole generate a thrust that causes the sub-machine (66) to rotate clockwise when viewed from top to bottom, thereby realizing the right turn of the sub-machine (66). When the sub-machine (66) rises, the brushless waterproof motors (66-10) of the four inclined worm housings (66-12) maintain the same rotation speed and direction.The brushless waterproof motors (66-10) of the four vertical worm housings (66-8) rotate clockwise, causing the water flowing through the vertical worm housings (66-8) to flow vertically downward, generating a vertically upward thrust, thereby realizing the ascending motion of the sub-machine (66). When the sub-machine (66) descends, the brushless waterproof motors (66-10) of the four oblique worm housings (66-12) maintain the same rotation speed and direction, and the brushless waterproof motors (66-10) of the four vertical worm housings (66-8) rotate counterclockwise and gradually increase the rotation speed, thereby causing the water flowing through the vertical worm housings (66-8) to flow vertically upward, generating a vertically downward thrust, thereby realizing the descending motion of the sub-machine (66).

6. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 5 is characterized in that: include: When the platform is working, the image information acquired by the camera (66-4) is transmitted to the central processing system in real time via the signal line (58). The central processing system judges the acquired image. When it is judged that there is garbage in the water area, a working instruction is sent to the steering engine (51) and the mechanical claw (67). The micro electric push rod (67-9) of the main body of the mechanical claw (67) extends, driving the left mechanical claw (67-2) and the right mechanical claw (67-4) to open. The steering engine (51) moves the mechanical claw (67) close to the target object, and at the same time, the sub-machine is adjusted in real time. (66) position, so that the mechanical claw (67) can more conveniently clamp the target object. When the left mechanical claw (67-2) and the right mechanical claw (67-4) wrap the target object in the middle area, the micro electric push rod (67-9) contracts to clamp the target object, and then the steering gear (51) is controlled to move the mechanical claw (67) to the garbage bin door (43-2) located in the front and continue to rotate. Under the action of the torsion spring (38-5) and the switch hinge, the garbage bin door (43-2) will slowly rotate and open, and the target object will be placed in the garbage bin recovery room. When the underwater garbage collecting sub-machine device (43) is completed, the underwater garbage collecting sub-machine device (43) will return to the propeller fixing member (49) on the corresponding sub-machine channel (5B). When the air compressor (29) discharges the water in the sub-machine channel (5B), the steering gear (51) installed on the sub-machine channel (5B) will move to tilt the garbage tilting groove close to the inner wall of the channel. (42) is lowered to be flush with the lower end of the garbage bin recovery chamber connecting piece (43-1), and the steering gear (51) located inside the garbage bin recovery chamber connecting piece (43-1) will open the rear garbage bin door (43-2) to discharge the garbage inside into the garbage tilting chute (42). After the garbage is discharged, the steering gear (51) located inside the garbage bin storage wall will open the garbage storage bin baffle (40), and at the same time, the steering gear (51) on the inner wall of the slave machine channel (5B) will slowly tilt the garbage tilting chute (42) in the vertical direction to pour the garbage into the garbage storage bin (31).

7. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 6 is characterized in that: include: When the platform is working, the camera (66-4) will observe the water surface environment, and the central processing system will determine whether there is garbage on the water surface. When there is garbage on the water surface, the sub-machine (66) will be controlled to go forward and repeatedly clean the water surface. The filterable characteristics of the leakage net (38-1) will be used to filter out the water entering the leakage net (38-1), and the floating objects in the water will stay in the leakage net (38-1). An inclined leakage plate is provided in front of the inner cabin of the leakage net (38-1). The sub-machine (66) moves forward to introduce water flow into the cabin to flush the floating objects on the inclined leakage plate into the interior. After completing the cleaning of floating objects on the water surface, the water surface floating object cleaning sub-machine device (38) will return to the propeller fixing member (49) on the corresponding sub-machine channel (5B). When the air After the air compressor (29) discharges the water in the slave channel (5B), the steering gear (51) installed on the slave channel (5B) will move to lower the floating object inclined groove (3) close to the inner wall of the channel to be flush with the lower end of the floating object baffle (38-6), and then drive the screw motor (38-3) to rotate to push the floating object push plate (38-2). The triangular strip of the floating object push plate (38-2) pushes the floating object baffle (38-6) open, so that the floating objects fall into the floating object inclined groove (3) through the hole for floating objects to enter and exit on the left side of the leakage net (38-1). The steering gear fixing part (38-4) is installed between the upper and lower support plates, and is equipped with the steering gear (51) and the mechanical claw (67), which is mainly responsible for cleaning the floating objects on the water surface and monitoring the water surface environment.

8. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 7 is characterized in that: include: When the platform is working, the camera (66-4) will observe the underwater environment, and at the same time, the oxygen content detector (35-2), thermometer (35-3), ammonia nitrogen detector (35-4), and pH detector (35-5) installed on the detector installation connector (35-1) will collect the parameters of the water area in real time, and the signal line (58) will transmit the acquired data back to the central processor, which will collect, organize and analyze the acquired data and transmit the facts back to the user.

9. The control method of a multi-water integrated unmanned aquaculture monitoring platform according to claim 8 is characterized in that: include: When the platform is placed in water, the lifting motor set (68) installed under the buoyancy chamber (7) will start working, and the 28 stepper motors (68-3) in the lifting motor set (68) will rotate the positioning gear (68-13) installed in the rack positioning plate (68-4), so as to lower the propeller sleeve (68-9) to a specified position, and then drive the micro motor (68-5) to rotate the rotating cam (68-2), so as to make the rotating rack (68-11) perform lifting and lowering motion, wherein four propeller sleeves (68-9) are rotated to be parallel to the water surface, and finally the relative positions of the eight lifting motor sets (68) are the same as the relative positions of the eight worm propeller housings of the sub-machine (66), and the four lifting motor sets 68 are also located in the corners of the square and are vertically distributed, and the four lifting motors on the periphery of the square are arranged in a vertical manner. The sets 68 are arranged in pairs in an eight-shaped arrangement in opposite directions. The motion control principle of the brushless waterproof motor 66-10 and the propeller 66-9 inside the lifting motor set is the same as the motion control principle of the brushless waterproof motor 66-10 and the propeller 66-9 inside the eight worm propeller housings of the sub-machine 66. By controlling the rotation direction of the brushless waterproof motor 66-10 in the vertical or horizontal direction, the propeller 66-9 is driven to rotate clockwise or counterclockwise, thereby changing the direction of the water flowing through the propeller sleeve 68-9, thereby achieving the overall lifting and lowering of the platform and the movement effect in all directions. After reaching the designated position, the four pairs of hydraulic lifting support columns will adjust the relative distance between the hydraulic main support (8) and the hydraulic driven support column (13) so that the four foot support base plates (10) can maintain the balance of the entire platform at a reasonable position.

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