Unmanned aerial vehicle for aquaculture

Abstract

The invention discloses a multipurpose unmanned aerial vehicle for aquaculture, which belongs to the technical field of unmanned aerial vehicles and comprises a body, arms, a clamping component, rotors, a feeding component, a discharge pipe and a support frame. The clamping assembly is composed of a clamping base plate, three swing pieces, a spring, an extension plate and a storage box, the supporting frame is composed of three rod bodies and a buoy, and the discharging pipe is connected with the storage box and is controlled by an electromagnetic valve to be opened and closed to discharge feed. According to the unmanned aerial vehicle for aquaculture, the labor cost can be reduced by combining the feed throwing machine with the multi-rotor aircraft, and the automatic fixed-point feed throwing can be automatically carried out by combining the self-rotating functions of the clamping assembly frame and the feeding assembly, so that the feed waste can be reduced, and the fish feeding efficiency can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an aquaculture unmanned aerial vehicle. Background Art

[0002] In the fish farming industry, large-scale fish farming requires the input of large quantities of feed, and constant attention must be paid to the growth of fish and changes in the fish pond environment.

[0003] Existing feed delivery methods are mostly manual delivery and feed delivery by feed delivery machine. The manual delivery method is to deliver feed on the shore or load the feed on a boat for mobile delivery. Workers throw the fish feed out little by little, which has high labor intensity, low delivery efficiency, and uneven feed delivery, which is easy to cause waste. The feed delivery machine method can automatically feed, has high feed delivery efficiency, and greatly reduces labor intensity. However, these feed delivery machines are fixed on the shore or in a certain position in the water and cannot be moved. The feeding range is limited, and the feed delivery machine uses an electric motor as a drive, which has safety hazards such as leakage; oil engine drive often leaks oil, which is easy to pollute the water area; using a boat to deliver feed is easy to scare fish and shrimp, especially fish and shrimp in the spawning period.

[0004] For this purpose, a drone device capable of delivering materials at a fixed point is needed. The existing public technology KR1020240138702A is a training drone that can be used to deliver objects at a fixed point, but there is still room for improvement in terms of the impact on the biological environment and the use of the water surface environment. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned shortcomings of traditional fish farming methods and invent an aquaculture drone that can stably feed the drone in the air with a controllable feeding range and can also stably move on the water surface. The present invention specifically provides the following technical solutions: A drone for aquaculture, the present invention provides a drone for aquaculture, the device comprises: a fuselage, a clamping assembly and a support frame are arranged below the fuselage, the fuselage comprises a fuselage main body, the fuselage main body is connected to a rotor and a support frame through a fuselage arm, The main body of the drone is equipped with a drone control system, including a flight control system, a GPS navigation system, a barometric altimeter, and a sensor. The main body of the drone is connected to an arm, and a rotor is provided above the end of the arm to provide lift for the entire drone, and a support frame is connected below the arm. Feed is placed in the feeding assembly, and the aquaculture feed used is scattered from the feeding assembly, and the feeding assembly is connected below the clamping assembly. In the present invention, the clamping assembly includes a clamping base plate, and an extension plate is provided on one side of the clamping base plate. A first swinging member with one end that can swing is provided on the side of the clamping base plate, and the swinging end of the first swinging member is connected to a second swinging member through a first spring, and the second swinging member is connected to a third swinging member with a connecting pin, and the end of the third swinging member has a roller, and the roller is connected to the outer wall of the feeding assembly, and one side of the third swinging member is connected to the clamping base plate through a second spring.

[0006] The feeding assembly may shake during operation, which may reduce the stability of the drone in the air or even cause it to crash. Therefore, a clamping assembly is needed to dissipate the shaking force. The shaking force is transmitted to the third swinging member through the roller. The third swinging member transmits part of the force to the second spring to dissipate energy, and transmits part of the force to the second swinging member. The second swinging member finally transmits the force to the first spring to dissipate energy, and finally consumes the shaking force to stabilize the fuselage.

[0007] In addition, the feeding assembly is relatively heavy in the loaded state and relatively light in the empty state. The first swing member, the second swing member and the third swing member can control the relative position and relative tilt angle of the feeding assembly on the device.

[0008] Furthermore, the design of the third swing member, the second swing member, and the first swing member can increase the counterweight at the bottom center of the drone, thereby stabilizing the drone's posture in the air. The contact of the third swing member, the second swing member, and the first swing member with the outside of the feeding assembly can eliminate the shaking of the feeding assembly while also reducing the probability of the feed inside the feeding assembly adhering to the wall surface by contacting the side wall of the feeding assembly.

[0009] In the present invention, the support frame has a first rod body vertically connected to the fuselage, and the bottom of the first rod body is coaxially connected to the third rod body. The first rod body is a hydraulic rod, so that the hydraulic rod and the bottom plate can cooperate to act as a buffer when the drone lands on the ground or water surface, thereby preventing the drone from tipping over during landing and damaging the rotor of the drone.

[0010] In the present invention, a float is provided at the bottom of the third rod body, the end of the third rod body is arranged inside the float and can move up and down relative to the float, the bottom end of the third rod body located in the float has a limit block, and a rubber spring is sleeved on the third rod body in the float.

[0011] The spring structure of the third rod can improve the buffering effect. A second rod is provided on both sides of the buoy. The second rod is connected to the middle section of the third rod, and the end is a bent arc. In this way, when the buoy contacts the ground, the end of the second rod first contacts the ground to consume the force to deform the third rod and transfer part of the force to the third rod, thereby further improving the landing buffering effect. In this way, the landing angle of the third rod relative to the ground can be corrected to avoid the problem of the drone tilting and tipping due to excessive buffering during landing. The two ends of the second rod first contact the ground and then deform, and then the buoy is contacted with the ground, thus forming multiple points of contact, and the buoy can be clamped by the two second rods to prevent the buoy from swinging relative to the third rod.

[0012] If the UAV is parked on the water surface, for example, due to a UAV failure or feeding directly above the water surface, the float can provide buoyancy support. At the same time, the second rod body is arranged on the side of the float so that the water flowing around the float can pass through the second rod body and the bending structure at its bottom, thereby consuming the impact energy of the water flow around the float and reducing the fluctuation of the float, so as to further reduce the shaking of the UAV when it is parked on the water surface.

[0013] In the present invention, the feeding assembly includes a box body with a through bottom, and a storage box is provided at the through port of the box body. The storage box is a barrel-shaped structure and one end is connected to a central rotating shaft coaxial with the storage box. The central rotating shaft is installed on a support frame, and a large gear coaxial with the storage box is provided above the central rotating shaft. The support frame is fixed inside the storage box, and a small gear meshing with the large gear and a motor driving the small gear to rotate are provided inside the box body. During the feeding process, the drone flies to the feeding area with two feeding assemblies. When feeding is needed, the motor is controlled to drive the small gear and the central rotating shaft of the large gear to rotate, thereby driving the storage box to rotate to form centrifugal force to throw the feed in the storage box out.

[0014] In the present invention, the end of the box body has a threaded hole, and the box body is detachably connected to the extension plate through a fastener and the threaded hole. When the drone is used only for cruising, the box body can be disassembled to reduce the weight of the drone, so as to achieve the purpose of fast cruising.

[0015] In the present invention, a cover plate is provided at the bottom of the storage box, and when feed needs to be put in, the bottom cover plate can be opened to store the feed in advance.

[0016] In the present invention, a discharge pipe is connected to the bottom side of the storage box in a surrounding manner, and the discharge pipe is communicated with the storage box. When the storage box rotates, the feed in the storage box can flow out along the discharge pipe.

[0017] In the present invention, a solenoid valve is provided inside the discharge pipe, and an opening and closing plate is provided at the discharge port of the discharge pipe, and the opening and closing plate of the outer shell is rotatably connected to the discharge pipe through a pin shaft. During the feeding process, the drone flies to the feeding area with two feeding components. When the motor starts to drive the large and small gears to drive the storage box to rotate, the solenoid valve provided in the discharge part opens to discharge the feed. During the discharge process, the feed moves outward under the action of centrifugal force and then pushes the opening and closing plate to discharge the feed. In this way, the opening and closing plate of the discharge port is relatively swung up and down to open and close the discharge port, thereby controlling the discharge speed and ejection range of the feed. The opening time of the solenoid valve and the motor speed can be controlled, which is convenient for controlling the ejection distance and discharge time of the feed. An elastic ball spring is arranged on the inner side of the opening and closing plate. The ball and the spring can increase the counterweight of the opening and closing plate to control the feed ejection speed. At the same time, the ball and the spring can relatively squeeze the ejected feed in the opposite direction, and can relatively promote the accumulation of part of the feed to increase the feed falling speed while controlling the ejection speed and range, so as to avoid excessive dispersion of the feed, resulting in the scattering of fine materials or powder in the feed and causing feed waste.

[0018] The beneficial effects of the drone for aquaculture of the present invention are as follows: by combining the feeding component with the multi-rotor drone, the function of adding buoys and levers to the support frame of the drone is improved, the function of the drone operating on water for cruising and feeding is effectively realized, the distribution of fish schools can be accurately located for feed delivery, and the feed can be delivered without affecting the habits of the fish schools, thereby saving labor costs and aquaculture efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0020] Figure 1 The present invention is a schematic structural diagram of a drone for aquaculture.

[0021] Figure 2 It is a front view schematic diagram of a support frame for aquaculture of the present invention.

[0022] Figure 3 It is a front view schematic diagram of a clamping assembly for aquaculture according to the present invention.

[0023] Figure 4 The present invention is a cross-sectional view of a feeding assembly of a drone for aquaculture.

[0024] Figure 5 This is a schematic structural diagram of a discharge pipe of a drone for aquaculture according to the present invention.

[0025] Figure 6 This is a schematic diagram of a drone control system for aquaculture according to the present invention.

[0026] Explanation of the reference numerals: 1-fuselage, 11-rotor, 12-arm, 13-fuselage body, 2-clamping assembly, 21-clamping base plate, 22-first swinging member, 23-first spring, 24-second swinging member, 25-connecting pin, 26-third swinging member, 27-second spring, 28-roller, 29-extension plate, 3-support frame, 31-first rod body, 32-third rod body, 33-second rod body, 34-float, 4-feeding assembly, 41-large gear, 42-center shaft, 43-threaded hole, 44-small gear, 45-motor, 46-bearing, 47-storage box, 48-cover plate, 49-box, 410-support frame, 411-partition, 5-discharge pipe, 51-solenoid valve, 52-elastic ball, 53-spring, 54-connecting pin, 55-opening and closing plate. DETAILED DESCRIPTION

[0027] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0028] Embodiment 1: Reference Figure 1 As shown in ,3,6, the present invention provides a drone for aquaculture, the device comprising: a fuselage 1, a clamping assembly 2 and a support frame 3 are provided below the fuselage 1, the fuselage 1 comprises a fuselage body 13, and the fuselage body 13 is connected to a rotor 11 via an arm 12.

[0029] In actual work, the drone fuselage body 13 is equipped with a drone control system, including a flight control system, a GPS navigation system, a barometric altimeter, and sensors. The cloud server on the ground will receive signals from the drone control system on the drone fuselage body 13, and the operator can control the flight of the drone according to the transmitted drone control system signals to achieve accurate feed delivery. The fuselage body 13 is connected to the arm 12, and a rotor 11 is provided above the end of the arm 12 to provide lift for the entire drone, and a support frame 3 is connected below the arm 12. Feed is placed in the feeding assembly 4, and the aquaculture feed used is scattered from the feeding assembly 4, and the feeding assembly 4 is fastened with screws below the extension plate 29 of the clamping assembly 2.

[0030] In the present invention, the clamping assembly 2 includes a clamping base plate 21, and the two sides of the clamping base plate 21 are symmetrical structures, and both sides are provided with extension plates 29. A first swinging member 22 that can swing left and right around a fixed axis is fixed by a connecting pin on the side of the clamping base plate 21, and the swinging end of the first swinging member 22 is connected to the second swinging member 24 through a first spring 23, and the second swinging member 24 is connected to the third swinging member 26 by a connecting pin 25, and the end of the third swinging member 26 is fixed with a roller 28 by a pin, and the roller 28 is close to the outer wall of the feeding assembly 4, and one side of the third swinging member 26 is connected to the clamping base plate 21 by a second spring 27.

[0031] The feeding component 4 may shake during operation. If the feeding component 4 shakes, the aerial stability of the UAV may be reduced or even crash. Therefore, the clamping component 2 is required to dissipate the shaking force. The shaking force is transmitted to the third swing member 26 through the roller 28. The third swing member 26 dissipates part of the force through the second spring 27, and transmits part of the force to the second swing member 24. The second swing member 24 finally transmits the force to the first spring 23, and dissipates energy by virtue of the physical property of the spring's own expansion and contraction. Finally, the shaking force is consumed to achieve the purpose of stabilizing the fuselage 1.

[0032] In addition, the feeding assembly 4 is relatively heavy in the loaded state and relatively light in the empty state. The first swing member 22, the second swing member 24, and the third swing member 26 are capable of swinging around a fixed axis, so that the entire clamping assembly can flexibly control the relative position and relative inclination angle of the feeding assembly 4 on the device.

[0033] Furthermore, the third swing member 26, the second swing member 24, and the first swing member 22 can stabilize the posture of the drone in the air by increasing the counterweight at the bottom center of the drone. The contact of the third swing member 26, the second swing member 24, and the first swing member 22 with the outside of the feeding assembly 4 not only eliminates the shaking of the feeding assembly 4, but also helps to reduce the probability of the internal feed adhering to the wall surface by contacting the side wall of the feeding assembly 4.

[0034] Reference Figure 4As shown, the feeding assembly 4 includes a box body 49 with a bottom through-hole, and a storage box 47 is provided at a through port of the box body 49. The storage box 47 is a barrel-shaped structure and one end is connected to a central rotating shaft 42 coaxial with it. The central rotating shaft 42 is mounted on a support frame 410, and a large gear 41 coaxial with it is provided above the central rotating shaft 42. The support frame 410 is fixed inside the storage box 47, and a small gear 44 meshing with the large gear 41 and a motor 45 driving the small gear 44 to rotate are provided in the area above the box body 49. The large gear 41, the small gear 44, the central rotating shaft 42, and the motor 45 form a transmission device. During the feeding process, the drone flies to the feeding area with two feeding assemblies 4. When feeding is needed, the motor 45 is controlled to drive the small gear 44 and the central rotating shaft 42 of the large gear 41 to rotate, thereby driving the storage box 47 to rotate to form a centrifugal force, and finally achieving the purpose of throwing the feed in the storage box 47 out.

[0035] In the present invention, the end of the box 49 has a threaded hole 43, and the box 49 is detachably connected to the extension plate 29 through a fastener and the threaded hole 43. When the drone is used only for cruising, the box 49 can be removed to reduce the weight of the drone, thereby achieving the purpose of fast cruising.

[0036] In the present invention, a cover plate 48 is connected to the bottom of the storage box 47 by a connecting pin. When feed needs to be put in, the bottom cover plate 48 can be opened to store the feed in advance.

[0037] In the present invention, a discharge pipe 5 is connected to the bottom side of the storage box 47 in a surrounding manner. The discharge pipe 5 is communicated with the storage box 47. When the storage box 47 rotates, the feed in the storage box 47 can flow out along the discharge pipe 5.

[0038] Reference Figure 5As shown, there is a solenoid valve 51 inside the discharge pipe 5, and the discharge port of the discharge pipe 5 is provided with an opening and closing plate 55, and the outer shell opening and closing plate 55 is rotatably connected to the discharge pipe 5 through a pin shaft 54. During the feeding process, the drone flies to the feeding area with two feeding components 4. When the motor 45 starts to drive the large and small gears to drive the storage box 47 to rotate, the solenoid valve 51 provided in the discharge member 5 is opened to discharge the feed. During the discharge process, the feed moves outward under the action of centrifugal force and then pushes the opening and closing plate 55 to discharge the feed. In this way, the opening and closing plate 55 of the discharge port is relatively swung up and down to open and close the discharge port, thereby controlling the discharge speed and ejection range of the feed. The opening time of the solenoid valve 51 and the speed of the motor 45 can be controlled, which is convenient for controlling the throwing distance and discharge time of the feed. The inner bottom of the opening and closing plate 55 is evenly distributed with springs 53 of elastic balls 52. The balls 52 and springs 53 can increase the counterweight of the opening and closing plate 55 to control the feed ejection speed. At the same time, the balls 52 and springs 53 can relatively squeeze the ejected feed in the opposite direction, and while controlling the ejection speed and range, they can relatively promote the accumulation of part of the feed to increase the feed falling speed, and avoid excessive dispersion of the feed, which may cause the fine materials or powder in the feed to fly away and cause feed waste.

[0039] Embodiment 2: Reference Figure 1 , as shown in FIG. 2 , the support frame 3 has a first rod 31 vertically connected to the fuselage 1, and the bottom of the first rod 31 is coaxially connected to the third rod 32. By designing the first rod 31 as a hydraulic rod, the first rod 31 and the bottom plate can cooperate, so as to achieve the purpose of buffering when the drone lands on the ground or water surface, and avoid the drone from tipping over during landing and damaging the drone rotor 11.

[0040] In the present invention, a float 34 is provided at the bottom of the third rod body 32, the end of the third rod body 32 is arranged inside the float 34 and can move up and down relative to the float 34, the bottom end of the third rod body 32 located in the float 34 has a limit block, and a rubber spring is sleeved on the third rod body 32 in the float 34.

[0041] The spring structure of the third rod 32 can enhance the buffering effect. A second rod 33 is provided on both sides of the buoy 34. The second rod 33 is connected to the middle section of the third rod 32, and the end is a bent arc. In this way, when the buoy 34 contacts the ground, the end of the second rod 33 contacts the ground first to consume the force to deform the third rod 32 and transfer part of the force to the third rod 32, thereby further enhancing the landing buffering effect, and using this method to correct the landing angle of the third rod 32 relative to the ground, so as to avoid the problem of the drone tilting and tipping due to excessive buffering during landing. The two ends of the second rod 33 contact the ground first and then deform, and then the buoy 34 contacts the ground, thus forming multiple points of contact, and the buoy 34 can be clamped by the two second rods 33 to avoid the buoy 34 swinging relative to the third rod 32.

[0042] If the UAV is parked on the water surface, for example, in the event of a UAV failure or feeding directly above the water surface, the float 34 can provide buoyancy support. At the same time, the second rod 33 disposed on the side of the float 34 can allow the water flowing around the float 34 to pass through the second rod 33 and the bending structure at its bottom, thereby consuming the impact energy of the water flow around the float 34 and reducing the fluctuation of the float 34, thereby further reducing the shaking of the UAV when it is parked on the water surface.

[0043] The embodiments and / or implementation methods described above are only used to illustrate the preferred embodiments and / or implementation methods for realizing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any form. Any technical personnel in this field may make slight changes or modifications to other equivalent embodiments without departing from the scope of the technical means disclosed in the content of the present invention, but they should still be regarded as technologies or embodiments that are essentially the same as the present invention.

[0044] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. An aquaculture drone, comprising a fuselage (1), a clamping assembly (2) and a support frame (3) being provided below the fuselage (1), the fuselage (1) comprising a fuselage body (13), the fuselage body (13) being connected to a rotor (11) via an arm (12), characterized in that: The clamping assembly (2) comprises a clamping base plate (21), one side of the clamping base plate (21) is provided with an extension plate (29), and a feeding assembly (4) is detachably connected below the extension plate (29). A first swinging member (22) capable of swinging is provided on the side of the clamping base plate (21); a swinging end of the first swinging member (22) is connected to a second swinging member (24) via a first spring (23); the second swinging member (24) is connected to a third swinging member (26) via a connecting pin (25); an end of the third swinging member (26) has a roller (28); the roller (28) is connected to the outer wall of the feeding assembly (40); one side of the third swinging member (26) is connected to the clamping base plate (21) via a second spring (27).

2. The aquaculture drone according to claim 1, characterized in that The support frame (3) comprises a first rod (31) vertically connected to the fuselage (1), and the bottom of the first rod (31) is coaxially connected to a third rod (32).

3. The aquaculture drone according to claim 2, characterized in that A buoy (34) is provided at the bottom of the third rod body (32); the end of the third rod body (32) is arranged inside the buoy (34) and can move up and down relative to the buoy (34); a limit block is provided at the bottom end of the third rod body (32) inside the buoy (34); and a rubber spring is sleeved on the third rod body (32) inside the buoy (34).

4. The aquaculture drone according to claim 1, characterized in that The feeding assembly (4) comprises a box body (49) with a through bottom, a material storage box (47) is provided at a through port of the box body (49), the material storage box (47) is a barrel-shaped structure and one end of the material storage box is connected to a central rotating shaft (42) coaxial with the central rotating shaft, the central rotating shaft (42) is mounted on a support frame (410), and a large gear (41) coaxial with the central rotating shaft (42) is provided above the central rotating shaft (42), the support frame (410) is fixed inside the material storage box (47), a small gear (44) meshing with the large gear (41) and a motor (45) driving the small gear (44) to rotate are provided inside the material storage box (47).

5. The aquaculture drone according to claim 4, characterized in that The end of the box body (49) has a threaded hole (43), and the box body (49) is detachably connected to the extension plate (29) via a fastener and the threaded hole (43).

6. The aquaculture drone according to claim 4, characterized in that : A cover plate (48) is provided at the bottom of the storage box (47).

7. The aquaculture drone according to claim 4, characterized in that The bottom side of the storage box (47) is connected with a discharge pipe (5) in a surrounding manner.

8. The aquaculture drone according to claim 7, characterized in that The discharge pipe (5) has a solenoid valve (51) inside, and the discharge port of the discharge pipe (5) is provided with an opening and closing plate (55), and the outer shell opening and closing plate (55) is rotatably connected to the discharge pipe (5) through a pin shaft (54).

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