Aquaculture intelligent unmanned ship and use method

Abstract

The application discloses an intelligent unmanned ship for aquaculture and a use method thereof. An industrial camera is arranged at a ship head to collect images of fish group distribution, quantity, body shape and feeding behavior on a water surface. A sensor interface is connected with dissolved oxygen, temperature, PH and various detection sensors to collect water quality parameters in real time. The existing intelligent control module is used to analyze the above data in real time, so that feeding, medicine application and dead fish recovery can be accurately controlled, operation efficiency is improved, feed waste and medicine abuse are reduced, pollution caused by uneven distribution of feed and medicine and uneven growth of fish groups are avoided and the like. In addition, a protection device is arranged to protect the impeller, so that damage of a power system caused by water grass winding is avoided.

Description

Technical Field

[0001] This application relates to the field of aquaculture technology, and in particular to an intelligent unmanned vessel for aquaculture and its usage method. Background Technology

[0002] As aquaculture develops towards large-scale, facility-based, and intelligent operations, traditional management methods relying on manual pond patrols, experience-based feeding, and manual medication are no longer sufficient to meet the requirements of high-density aquaculture for precise and uniform feeding, water quality control, and disease early warning. The existing aquaculture management mainly suffers from the following problems:

[0003] Limited information perception: Most feeding boats or inspection equipment rely on a single water quality parameter or manual judgment, lacking comprehensive perception of fish population size, feeding behavior, and uneaten feed.

[0004] Functional fragmentation: Feeding, medication, and dead fish removal operations often rely on different equipment or manual operation, making it difficult to achieve integrated and coordinated operations;

[0005] Low level of automation and intelligence: Existing equipment is mostly timed and quantitative control, which cannot dynamically adjust feeding and medication strategies according to the real-time breeding status.

[0006] Insufficient operational efficiency and safety: manual pond patrols and dead fish retrieval are labor-intensive, and the power system is susceptible to safety risks due to entanglement with aquatic plants;

[0007] Therefore, there is an urgent need for an integrated intelligent unmanned vessel for aquaculture that can integrate multi-source sensing information to achieve autonomous navigation, precise feeding, intelligent drug administration, safety protection, and dead fish recovery. Summary of the Invention

[0008] This application proposes an intelligent unmanned vessel for aquaculture and its usage method, which has the advantages of real-time monitoring of fish data, intelligent control of fixed-point feeding, uniform feeding, and avoidance of aquatic weed entanglement. It is used to solve the problems of existing aquaculture management methods such as single method, uneven feeding, large obstruction by aquatic weeds, and low degree of automation.

[0009] To achieve the above objectives, this application adopts the following technical solution: an intelligent unmanned vessel for aquaculture, comprising a floating vessel, a detection module, a power module, and an intelligent module mounted on the floating vessel; symmetrical power motors are mounted at the top of the floating vessel, and an impeller with blades is mounted at the output end of the power motors; a water-repellent baffle is mounted above the impeller, and a protective device is mounted below the impeller on the side near the bow; the protective device includes a guide plate at the bottom, a side baffle mounted on the side of the guide plate, and a guide plate mounted at the end of the guide plate; the guide plate and the side baffle are provided with dense holes; a circumferentially distributed cleaning device is mounted on the side of the impeller facing the side baffle; the cleaning device includes a piston tube mounted on the impeller, a piston rod mounted inside the piston tube, a spring mounted on one end of the piston rod, a transverse brush mounted on the other end of the piston rod, and a vertical brush mounted on the side of the transverse brush away from the piston tube.

[0010] Preferably, the top of the floating vessel is provided with a mounting frame, on which two material boxes are provided; the bottom of each material box is provided with a connecting conveying pipe, and an auger is provided at the connection between the conveying pipe and the material box. One end of the auger shaft movably passes through the conveying pipe and is provided with a pushing motor; the stern of the floating vessel is provided with two sets of vertically distributed limiting covers, the top of each limiting cover is open and is provided with a material cover connected to the conveying pipe, and one side of each limiting cover is open; a centrifugal motor is provided below each limiting cover, and a centrifugal base plate located inside the limiting cover is provided on the output shaft of the centrifugal motor. The top of the centrifugal base plate is provided with circumferentially distributed material-pushing plates. The cross-section of the limiting cover is circular, the opening angle is not greater than 140 degrees, and limiting side plates are provided on both sides of the opening. The material-pushing plates are inclined to the center of the centrifugal base plate, and the inclination angle is not greater than 45 degrees.

[0011] Preferably, the floating vessel has a sealed compartment on its outer top, a sensor interface on its top, an intelligent control module and a sensor module, and a salvage device on its bow. The salvage device includes a hydraulic cylinder on the top of the bow, a hydraulic rod inside the hydraulic cylinder, a transmission linkage I on one end of the hydraulic rod, a transmission linkage II hinged to the transmission linkage I on one side of the bow, a fishing net on the top of the transmission linkage II, and a recovery box on the top of the bow.

[0012] Preferably, the water-repellent baffle is arc-shaped, and its center coincides with the center of the impeller. The guide plate is arc-shaped, and its center is closer to the bow than the center of the impeller. The top of the guide plate on the side away from the bow is higher than the bottom of the guide plate, and this end forms a 60-degree angle with the same end of the water-repellent baffle. The two ends of the guide plate are respectively connected to the sides of the guide plate and the water-repellent baffle away from the bow.

[0013] Preferably, the portion of the guide plate that is not in direct contact with the floating vessel is provided with a sealing plate that fits against the outer wall of the floating vessel.

[0014] Preferably, a piston chamber is formed inside the piston tube, and the end of the spring away from the piston rod is connected to the bottom of the piston chamber.

[0015] Preferably, the guide plate is provided with circumferentially distributed magnets I, and the transverse brush is provided with magnets II that repel magnets I.

[0016] Preferably, a pneumatic ring cylinder is provided at the center of the side of the impeller facing the side baffle, the side of the pneumatic ring cylinder facing the side baffle is open and provided with a reciprocating ring plug, and the pneumatic ring cylinder has a hole that communicates with the piston chamber.

[0017] Preferably, symmetrical transmission rods are provided between the reciprocating ring plug and the opposite side of the side baffle, and circumferentially distributed insertion rods are provided at the bottom of the side baffle facing the guide plate, which can be movably inserted into the guide plate.

[0018] A method for using an intelligent unmanned vessel in aquaculture includes the following steps:

[0019] S1. When the floating vessel is running on the water surface, it will use the onboard intelligent module and detection module to detect the distribution of fish and the water quality in real time.

[0020] S2. Based on the collected data, the intelligent module controls the salvage device to salvage dead fish from the water surface.

[0021] S3. Based on the collected data, the intelligent module starts the feeding motor, which drives the auger to rotate and inputs feed and fish medicine into the two limit covers respectively.

[0022] S4. Start the centrifuge motor to drive the centrifuge base plate to rotate rapidly, so that the feed and fish medicine that fall on the centrifuge base plate can be scattered around under centrifugal force;

[0023] S5. When the floating vessel moves forward, the protective device blocks and guides the aquatic plants and debris in the direction of movement, and the water flow thrown out by the impeller is used to guide the aquatic plants behind.

[0024] S6. The impeller rotation drives the cleaning device to clean the protective device, and after the cleaning device leaves the protective device, the water flow thrown out by the impeller will rinse the cleaning device.

[0025] This application provides an intelligent unmanned vessel for aquaculture. By installing an industrial camera at the bow, it collects images of the distribution, quantity, size, and feeding behavior of fish on the water surface. It also connects to dissolved oxygen, temperature, pH, and other sensors via sensor interfaces to collect water quality parameters in real time. The data is then analyzed in real time by an existing intelligent control module, thereby precisely controlling feeding, medication, and the recovery of dead fish. This improves operational efficiency, reduces feed waste and drug abuse, and avoids pollution caused by uneven distribution of feed and drugs, as well as problems such as uneven growth of fish.

[0026] At the same time, by starting the auger, the feed or medicine is pushed onto the centrifugal bottom plate. At this time, the centrifugal motor drives the centrifugal bottom plate to rotate continuously, so that the medicine or feed can enter the adjacent feeding plates more evenly and be thrown out under centrifugal force, spreading to the surrounding area, completing a more even spreading and further improving the spreading range of medicine or feed.

[0027] Meanwhile, by installing a protective device with dense holes on the outside of the impeller, the device can prevent water plants and debris from approaching the blades without obstructing the water flow when the floating vessel moves forward. The water plants will also be pressed down by the arc-shaped guide plate, preventing the blades from directly contacting the water plants and debris when rotating, which would cause the water plants to get tangled on the blades and shaft, thus hindering the normal operation of the blades.

[0028] Simultaneously, as the impeller rotates, it drives the cleaning device to rotate synchronously. When the cleaning device rotates to the water-avoiding baffle, the horizontal brush is squeezed by the baffle, causing the spring to be further compressed. When the cleaning device rotates away from the water-avoiding baffle and reaches the guide plate, it suddenly loses the squeezing of the water-avoiding baffle. This causes the compressed spring, combined with centrifugal force, to push the horizontal brush to hit the guide plate. At this time, the cleaning device continues to rotate, which will drive the horizontal brush to brush the guide plate and the vertical brush to brush the side baffle. As the guide plate gradually approaches the center of the impeller in the direction of the horizontal brush's movement, the horizontal brush is forced to move towards the center of the impeller. At this time, the spring is still in a compressed state, causing the horizontal brush to always press tightly against the guide plate for pressure brushing, ensuring the cleanliness of the protective device and avoiding water flow obstruction caused by blockage.

[0029] Simultaneously, as the horizontal brush passes the guide plate circumferentially, it intermittently approaches the circumferentially distributed magnets I on the guide plate. This causes magnets II and I within the horizontal brush to intermittently repel each other, resulting in the horizontal brush moving intermittently towards the impeller center under the repulsive force. At this time, the spring is compressed. As the horizontal brush gradually leaves the area of ​​magnet I, the compressed spring will quickly push the horizontal brush to impact the guide plate, causing the bristles on the horizontal brush to impact the holes in the guide plate for impact cleaning, thus improving the cleaning effect. In addition, during this process, the reciprocating motion of the horizontal brush will drive the vertical brush to move synchronously, transforming the brushing action of the vertical brush against the side baffle into a multi-directional brushing action of circumferential rotation and linear reciprocating motion, further improving the cleaning effect. Attached Figure Description

[0030] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles disclosed in this application.

[0031] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0032] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the internal structure distribution of the present invention;

[0034] Figure 3 This is a schematic diagram of the salvage device of the present invention;

[0035] Figure 4 This is a schematic diagram showing the positional relationship between the material conveying pipe and the limiting cover of the present invention;

[0036] Figure 5 This is a schematic diagram of the internal structure of the limiting cover of the present invention;

[0037] Figure 6 This is a schematic diagram showing the structural location of the protective device of the present invention;

[0038] Figure 7 This is a schematic diagram of the structure distribution around the impeller of the present invention;

[0039] Figure 8 This is a schematic diagram of the protective device structure of the present invention;

[0040] Figure 9 This is a schematic diagram showing the position of the plug-in rod structure of the present invention;

[0041] Figure 10 This is a schematic diagram showing the distribution of the cleaning device of the present invention;

[0042] Figure 11 This is a schematic diagram showing the location of the pneumatic ring cylinder structure of the present invention;

[0043] Figure 12 This is a schematic diagram of the cleaning device structure of the present invention;

[0044] Figure 13 This is a schematic diagram of the internal structure of the piston tube of the present invention.

[0045] The components are as follows: 1. Floating vessel; 2. Sealed chamber; 21. Sensor interface; 22. Water-repellent baffle; 3. Hydraulic cylinder; 31. Transmission linkage group I; 32. Transmission linkage group II; 33. Fishing net; 34. Recovery box; 4. Material box; 41. Conveying pipe; 42. Material cover; 43. Pushing motor; 44. Screwdriver; 5. Limiting cover; 51. Limiting side plate; 6. Centrifugal motor; 61. Centrifugal bottom plate; 62. Feeding plate; 7. Power motor; 71. Impeller; 72. Pneumatic ring cylinder; 73. Reciprocating ring plug; 74. Transmission rod; 8. Guide plate; 81. Sealing plate; 82. Magnet I; 83. Side baffle; 84. Insertion rod; 85. Guide plate; 9. Piston tube; 91. Piston chamber; 92. Piston rod; 93. Spring; 94. Horizontal brush; 95. Vertical brush; 96. Magnet II. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0047] Example 1

[0048] Please see Figures 1 to 2 A smart unmanned vessel for aquaculture includes a floating vessel 1. A sealed chamber 2 is fixedly connected to the outer side of the top of the floating vessel 1. The top of the floating vessel 1 is equipped with various practical modules such as a control module, a power module, an industrial camera module, an intelligent module, and an oxygen detection sensor module, according to detection and practical needs (not shown in the attached figure).

[0049] This allows the floating vessel 1 to carry multiple modules to collect images of fish distribution, quantity, size, and feeding behavior on the water surface, based on actual environmental needs. It can also connect to dissolved oxygen, temperature, pH, and other sensors via sensor interfaces to collect water quality parameters in real time. The existing intelligent control module can then analyze the data in real time to precisely control functions such as feeding and medication, thereby improving the effective range and efficiency of operations.

[0050] A sensor interface 21 is fixedly connected to the top of the floating vessel 1.

[0051] A symmetrical power motor 7 is fixedly connected to the top of the floating vessel 1. The output end of the power motor 7 is fixedly connected to an impeller 71 with blades, so that the power motor 7, under intelligent control, controls the impeller 71 with blades to rotate, thereby driving the floating vessel to run on the water surface.

[0052] See Figures 1 to 3 A hydraulic cylinder 3 is hinged to the top of the bow of the floating vessel 1. A hydraulic rod is installed inside the hydraulic cylinder 3. A transmission linkage group I 31 is hinged to the end of the hydraulic rod away from the hydraulic cylinder 3. The transmission linkage group I 31 is composed of multiple hinged linkages.

[0053] A transmission link assembly II 32 is hinged to one side of the bow. The transmission link assembly II 32 consists of multiple hinged links. The two links of the transmission link assembly I 31 and the transmission link assembly II 32 that are close to each other are hinged together.

[0054] A fishing net 33 is fixedly connected to the top of the transmission linkage group II 32, and a recovery box 34 is fixedly connected to the top of the bow.

[0055] Under intelligent control, the hydraulic cylinder 3 can drive the fishing net 33 to move through the hinged transmission linkage group I 31 and transmission linkage group II 32 after starting, so as to scoop up dead fish on the water surface and put them into the recycling box 34 for temporary storage to prevent pollution of the aquaculture water.

[0056] See Figures 1 to 2 , Figure 4 The top of the floating vessel 1 is bolted to a mounting bracket, and two material boxes 4 are bolted to the mounting bracket.

[0057] Feed or fish medicine can be placed in feed bin 4 according to actual needs.

[0058] The bottom opening of the material box 4 is fixedly connected to the top opening of the conveying pipe 41. The bottom opening of the material box 4 is connected to the top opening of the conveying pipe 41, so that the raw material in the material box 4 can fall into the conveying pipe 41 under its own weight through the bottom opening. When the raw material in the conveying pipe 41 is discharged, the raw material in the conveying pipe 41 becomes less and the space becomes larger, and the raw material in the material box 4 can replenish the conveying pipe 41 through the bottom opening.

[0059] A screw conveyor 44 is movably connected to the top opening of the conveying pipe 41.

[0060] The shaft of the auger 44 moves through the center of the same end of the conveying pipe 41 near the end of the material box 4.

[0061] The mounting bracket is bolted to a pusher motor 43, and the output end of the pusher motor 43 is fixedly connected to one end of the auger 44 that passes through the conveying pipe 41.

[0062] When feed or fish medicine needs to be transported, the pusher motor 43 can be started, driving the auger 44 to rotate continuously, causing the auger to convey the raw material that is close to it to move towards the feed hood 42, pushing the raw material in the feed pipe 41 to be discharged from the feed hood 42.

[0063] See Figure 2 , Figures 4 to 5 The stern of the floating vessel 1 is fixedly connected with two vertically distributed limiting covers 5 by bolts. The top of the limiting cover 5 is open, and a material cover 42 is fixedly connected to the top opening by bolts. The bottom opening of the material cover 42 is connected to the top opening of the limiting cover 5, so that the raw material in the material cover 42 can be constrained and guided by the material cover 42 and can only fall into the limiting cover 5.

[0064] The end of the conveying pipe 41 away from the material box 4 is fixedly inserted through the material cover 42 into the inner cavity of the material cover 42, and this end of the conveying pipe 41 is open, so that when the raw material in the conveying pipe 41 is driven by external force, it can be discharged from the conveying pipe 41 through this opening, and can be blocked and guided by the material cover 42, and will only fall into the limiting cover 5.

[0065] The limiting cover 5 has a circular cross-section. The limiting cover 5 has an opening on the side away from the material box 4, with an opening angle of no more than 140 degrees. Limiting side plates 51 are provided on both sides of the opening, so that the raw materials falling into the limiting cover 5 can be spilled out through the opening on the side wall. The setting of the opening angle determines the coverage area of ​​the raw materials when they are spilled out at one time.

[0066] Two centrifugal motors 6 are fixedly connected by bolts on the side of the mounting bracket near the limiting cover 5. Each centrifugal motor 6 is located directly below a single limiting cover 5. The top of the output shaft of the centrifugal motor 6 moves through the bottom center of the limiting cover 5 into the limiting cover 5.

[0067] A centrifugal base plate 61 is fixedly sleeved on the output shaft of the centrifugal motor 6. The centrifugal base plate 61 is located inside the limiting cover 5. The top of the centrifugal base plate 61 is fixedly connected to circumferentially distributed material feeding plates 62, so that the raw materials falling from above into the limiting cover 5 can fall onto the centrifugal base plate 61 and roll between adjacent material feeding plates 62.

[0068] The material feeding plate 62 is inclined at the center of the centrifugal base plate 61, with an inclination angle of no more than 45 degrees. This allows the centrifugal motor 6 to drive the centrifugal base plate 61 to rotate rapidly after starting, and simultaneously drive the material feeding plate 62 to rotate rapidly. At this time, the centrifugal force of the rapidly rotating centrifugal base plate 61 will cause the raw material on the centrifugal base plate 61 to be thrown outwards. The material feeding plate 62 will then guide the nearby raw material to be thrown out at a certain angle, increasing the coverage area of ​​the thrown raw material.

[0069] Example 2

[0070] Please see Figures 6 to 7Based on Embodiment 1, a water-avoiding baffle 22 is provided above the impeller 71, and the side of the water-avoiding baffle 22 near the sealed chamber 2 is fixedly connected to the sealed chamber 2 by welding.

[0071] The water-avoiding baffle 22 is arc-shaped, and its center coincides with the center of the impeller 71. This allows the water carried up by the impeller blades to be blocked by the water-avoiding baffle 22 when the impeller 71 is rotating, preventing the water from spreading out without being blocked.

[0072] A protective device is installed on the side of the impeller 71 near the bow.

[0073] See Figures 6 to 9 The protective device includes a guide plate 8 with dense holes at the bottom, a side baffle 83 with dense holes on the side of the guide plate 8, and a guide plate 85 fixedly connected to the end of the guide plate 8.

[0074] The diameter of the holes opened on the deflector plate 8 and the side baffle plate 83 is no more than one centimeter.

[0075] The guide plate 8 is fixedly connected to the float 1 by bolts on the side near the float 1. A sealing plate 81 is welded to the part of the guide plate 8 that is not in direct contact with the float 1. The side of the sealing plate 81 near the float 1 is in contact with the outer wall of the float 1, so that the side of the guide plate 8 and the sealing plate 81 near the float 1 can be in contact with the side wall of the float 1. As the float 1 moves forward, the guide plate 8 and the sealing plate 81 can squeeze the water plants in the direction of movement, preventing the water plants from getting close to the impeller 71. In addition, because the guide plate 8 has dense small-diameter holes, while blocking the water plants, the water flow can still get close to the impeller 71 through the dense holes, so that the blades on the impeller 71 contact the water flow when rotating, propelling the float 1 forward.

[0076] The guide vane 8 is arc-shaped, with the center of the impeller 71 as the quadrant point. The center of the arc of the guide vane 8 is located in the third quadrant, which makes the center of the guide vane 8 and the center of the water-repellent baffle 22 eccentric. The closer the guide vane 8 is to the bow, the further away it is from the impeller 71. However, the further the guide vane 8 is from the bow, the closer it will be to the impeller 71.

[0077] The top of the guide vane 8 on the side closest to the bow is close to the bottom of the same side of the water-repellent baffle 22, and the top of this side of the guide vane 8 is closer to the bow than the bottom of the same side of the water-repellent baffle 22, resulting in a positional difference between this side of the guide vane 8 and the water-repellent baffle 22.

[0078] The top of the guide plate 8 on the side away from the bow is higher than the bottom of the guide plate 8. The angle between the end of the guide plate 8 away from the bow and the same end of the water-repellent baffle 22 is 60 degrees. The existence of the empty angle provides space for the water flow to be thrown out, ensuring the normal operation of the impeller 71.

[0079] Furthermore, as the floating boat 1 moves forward, the water plants pressed down by the guide plate 8 will be guided to the bottom of the guide plate 8. At this time, the guide plate 8 continues to move forward, and the water plants pressed to the bottom are still in a suppressed state because the side of the guide plate 8 away from the bow has not completely left. When the guide plate 8 continues to move forward and the water plants reach the empty angle between the guide plate 8 and the water-avoiding baffle 22, the propeller blades rotate and push the water flow towards the stern. In other words, the water flow thrown out by the propeller blades from the empty angle will impact the water plants, preventing them from getting close to the impeller 71.

[0080] The blades do not extend beyond the width of the water-avoiding baffle 22, allowing the water flow carried by the blades to be completely blocked by the water-avoiding baffle 22. The width of the guide plate 8 is more than twice the width of the water-avoiding baffle 22, increasing the range of water weed compression and preventing water weeds from getting close. The width of the guide plate 85 is less than the width of the water-avoiding baffle 22, increasing the empty range of the included angle and increasing the discharge space of the water flow.

[0081] Example 3

[0082] Please see Figures 6 to 7 , Figures 10 to 11 Based on Embodiment 2, a circumferentially distributed cleaning device is bolted to one side of the impeller 71 opposite the side baffle 83.

[0083] See Figures 10 to 12 The cleaning device includes a piston tube 9 fixed to the impeller 71, a piston rod 92 movably sleeved inside the piston tube 9, a spring 93 fixedly connected to one end of the piston rod 92, a transverse brush 94 fixedly connected to the other end of the piston rod 92, and a vertical brush 95 fixedly connected to the side of the transverse brush 94 away from the piston tube 9.

[0084] See Figure 13 The piston tube 9 has a piston chamber 91, and the piston rod 92 is movably sleeved in the piston chamber 91. A sealing ring is provided on the piston rod 92, so that the piston rod 92 can perform axial reciprocating linear motion in the piston chamber 91. During the movement, the presence of the sealing ring can also prevent water from entering and gas from leaking.

[0085] The end of the spring 93 away from the piston rod 92 is fixedly connected to the bottom of the piston chamber 91, so that when the piston rod 92 moves toward the center of the impeller 71, it can squeeze the spring 93, causing the spring 93 to compress and store energy. When the pressure toward the center of the impeller 71 disappears, the compressed spring 93 can push the piston rod 92 to move in the opposite direction.

[0086] See Figure 12The horizontal brush 94 and the vertical brush 95 are constructed of rigid carriers and bristles, which cause the impeller 71 to rotate synchronously with the cleaning device when it rotates. When the cleaning device rotates to the water-avoiding baffle 22, the horizontal brush 94 is squeezed by the water-avoiding baffle 22, causing the spring 93 to be further compressed. When the cleaning device rotates away from the water-avoiding baffle 22 and reaches the guide plate 8, it will suddenly lose the squeezing of the water-avoiding baffle 22 due to the positional difference between the guide plate 8 and the water-avoiding baffle 22. As a result, the compressed spring 93, in conjunction with the centrifugal force, pushes the horizontal brush 94 to hit the guide plate 8. At this time, the cleaning device continues to rotate, which will drive the horizontal brush 94 to brush the guide plate and the vertical brush 95 to brush the side baffle 83.

[0087] As the guide plate 8 gradually approaches the center of the impeller 71 in the forward direction of the transverse brush 94, the transverse brush 94 is forced to move towards the center of the impeller 71. At this time, the spring 93 is still in a compressed state, so the transverse brush 94 always presses the guide plate 8 tightly to perform pressurized brushing, ensuring the cleanliness of the protective device and avoiding the problem of poor water flow caused by blockage.

[0088] The bristles are flexible and deformable hard bristles, which allow the bristles to bend and deform and penetrate deep into the dense holes when pressed against the guide plate 8 and the side baffle 83, effectively cleaning the holes.

[0089] See Figures 6 to 7 The bottom end of the guide plate 85 is fixedly connected to the side of the guide plate 8 away from the bow, and the top end of the guide plate 85 is fixedly connected to the bottom end of the side of the water-repellent baffle 22 away from the bow. This allows the transverse brush 94, which rotates away from the guide plate 8, to reach the guide plate 85 and be blocked, so that the transverse brush 94 can only continue to rotate in a restricted manner until it is guided by the guide plate 85 to the water-repellent baffle 22.

[0090] It is important to note that when the horizontal brush 94 and the vertical brush 95 pass the guide plate 85, the water flow thrown out by the paddles will impact the horizontal brush 94 and the vertical brush 95, preventing aquatic plants from getting close to the horizontal brush 94 and the vertical brush 95. The impact of the water flow will also clean the bristles. When the horizontal brush 94 reaches the water-avoiding baffle 22, the water flow that is carried by the paddles and impacts the water-avoiding baffle 22 will form a turbulent flow at the water-avoiding baffle 22, which will rinse the horizontal brush 94 a second time, ensuring the cleanliness of the horizontal brush 94 and the vertical brush 95.

[0091] Example 4

[0092] Please see Figures 7 to 8 Based on Example 3, a circumferentially distributed magnet I82 is fixedly sleeved on the guide plate 8.

[0093] Magnet II 96 is fixedly sleeved inside the carrier of the horizontal brush 94.

[0094] Magnet II 96 and Magnet I 82 repel each other.

[0095] As the horizontal brush 94 passes the guide plate 8 in the circumferential direction, it intermittently approaches the circumferentially distributed magnets I 82 on the guide plate 8. This causes the magnets II 96 and I 82 inside the horizontal brush 94 to repel each other intermittently. Under the repulsive force, the horizontal brush 94 moves intermittently towards the center of the impeller 71. At this time, the spring 93 is compressed. As the horizontal brush 94 gradually leaves the area of ​​magnets I 82, the compressed spring 93 will quickly push the horizontal brush 94 to impact the guide plate 8. This causes the bristles on the horizontal brush 94 to impact the holes in the guide plate 8, performing impact cleaning and improving the cleaning effect. In this process, the reciprocating motion of the horizontal brush 94 will drive the vertical brush 95 to move synchronously. This transforms the brushing action of the vertical brush 95 against the side baffle 83 into a multi-directional brushing action of circumferential rotation and linear reciprocating motion, further improving the brushing effect.

[0096] See Figures 6 to 7 , Figures 10 to 11 The impeller 71 is fixedly connected to the center of the side baffle 83 on one side, and the pneumatic ring cylinder 72 with an inner cavity is fixedly connected to the end of the piston tube 9 away from the transverse brush 94. The pneumatic ring cylinder 72 has a hole that communicates with the piston cavity 91. When the piston rod 92 moves away from the center of the impeller 71, it can draw the gas in the pneumatic ring cylinder 72 into the piston cavity 91, causing the gas pressure in the pneumatic ring cylinder 72 to decrease. When the piston rod 92 moves closer to the center of the impeller 71, it can push the gas in the piston cavity 91 into the pneumatic ring cylinder 72, causing the gas pressure in the pneumatic ring cylinder 72 to increase.

[0097] The pneumatic ring cylinder 72 has an opening on one side facing the side baffle 83, and a reciprocating ring plug 73 is movably fitted at the opening. A sealing rubber ring is provided on the side wall of the reciprocating ring plug 73, so that when the air pressure inside the pneumatic ring cylinder 72 increases, it can push the reciprocating ring plug 73 to one side of the side baffle 83. When the air pressure inside the pneumatic ring cylinder 72 decreases, it can push the reciprocating ring plug 73 to move into the pneumatic ring cylinder 72 under the pressure difference between the inside and outside. The presence of the sealing rubber ring prevents a large amount of water from entering the pneumatic ring cylinder 72 and a large amount of gas from leaking out.

[0098] A symmetrical transmission rod 74 is fixedly connected between the reciprocating ring piston 73 and the side baffle 83 on opposite sides, so that when the reciprocating ring piston 73 is reciprocating, it can drive the side baffle 83 to move synchronously through the transmission rod 74. When the reciprocating ring piston 73 moves away from the air pressure ring cylinder 72, it can drive the side baffle 83 to move away synchronously. When the reciprocating ring piston 73 moves in the opposite direction towards the air pressure ring cylinder 72, it can drive the side baffle 83 to move closer synchronously.

[0099] When the side baffle 83 moves away, a certain gap will open at the contact point between the side baffle 83 and the guide plate 8. Since the single movement distance of the piston rod 92 is limited, the gas pressed into the air pressure ring cylinder 72 from the piston chamber 91 is dispersed in a larger space, resulting in a limited reciprocating movement distance of the reciprocating ring plug 73. This limits the size of the gap opened at the contact point between the side baffle 83 and the guide plate 8, making it difficult for aquatic plants to enter from here. However, it will increase the flow rate of water and push the aquatic plants on the outside to the outside. When the side baffle 83 moves towards the impeller 71, it will collide with the vertical brush 95, causing the brush bristles to impact the holes on the side baffle 83 for impact cleaning.

[0100] The side baffle 83 is fixedly connected to the bottom of the side facing the guide plate 8 with circumferentially distributed plug rods 84. The plug rods 84 are movably inserted into the guide plate 8, so that the plug rods 84 cooperate with the guide plate 8 to maintain the stability of the side baffle 83. Even when the side baffle 83 reciprocates with the reciprocating ring plug 73, the plug rods 84 move synchronously with the side baffle 83 and will not detach from the guide plate 8.

Claims

1. An intelligent unmanned vessel for aquaculture, characterized in that, Includes a floating vessel (1), and a detection module, a power module, and an intelligent module installed on the floating vessel (1); The top of the floating vessel (1) is equipped with a symmetrical power motor (7), the output end of the power motor (7) is equipped with an impeller (71) with blades, a water-avoiding baffle (22) is provided above the impeller (71), and a protective device is provided on the side of the impeller (71) near the bow. The protective device includes a lower guide plate (8), a side baffle (83) disposed on the side of the guide plate (8), and a guide plate (85) disposed at the end of the guide plate (8). The guide plate (8) and the side baffle (83) are provided with dense holes; The impeller (71) is provided with a circumferentially distributed cleaning device on the side opposite to the side baffle (83); The cleaning device includes a piston tube (9) disposed on the impeller (71), a piston rod (92) disposed inside the piston tube (9), a spring (93) disposed on one end of the piston rod (92), a transverse brush (94) disposed on the other end of the piston rod (92), and a vertical brush (95) disposed on the side of the transverse brush (94) away from the piston tube (9). The top of the floating vessel (1) is provided with an installation frame, and two material boxes (4) are provided on the installation frame. The bottom end of the material box (4) is provided with a connecting conveying pipe (41), and an auger (44) is provided at the connection between the conveying pipe (41) and the material box (4). One end of the shaft of the auger (44) passes through the conveying pipe (41) and is provided with a pusher motor (43). The stern of the floating vessel (1) is provided with two sets of vertically distributed limiting covers (5). The top of the limiting cover (5) is open and is provided with a material cover (42) connected to the material conveying pipe (41). The limiting cover (5) is open on one side. The cross-section of the limiting cover (5) is circular and the opening angle is no more than 140 degrees. Limiting side plates (51) are provided on both sides of the opening. A centrifugal motor (6) is provided below the limiting cover (5). A centrifugal base plate (61) located inside the limiting cover (5) is provided on the output shaft of the centrifugal motor (6). A circumferentially distributed material-pushing plate (62) is provided at the top of the centrifugal base plate (61). The material-pushing plate (62) is inclined to the center of the centrifugal base plate (61) with an inclination angle of no more than 45 degrees. The top of the floating vessel (1) is provided with a sealed compartment (2), the top of the floating vessel (1) is provided with a sensor interface (21), the floating vessel (1) is provided with an intelligent control module and a sensor module, and the bow of the floating vessel (1) is provided with a salvage device. The salvage device includes a hydraulic cylinder (3) installed at the top of the bow, a hydraulic rod installed inside the hydraulic cylinder (3), a transmission linkage group I (31) installed at one end of the hydraulic rod, a transmission linkage group II (32) installed on one side of the bow and hinged to the transmission linkage group I (31), a fishing net (33) installed at the top of the transmission linkage group II (32), and a recovery box (34) installed at the top of the bow. The water-repellent baffle (22) is arc-shaped, and its center coincides with the center of the impeller (71). The guide plate (8) is arc-shaped, and its center is closer to the bow than the center of the impeller (71). The top of the guide plate (8) on the side away from the bow is higher than the bottom of the guide plate (8), and this end forms a 60-degree angle with the same end of the water-repellent baffle (22). The two ends of the guide plate (85) are connected to the two sides of the guide plate (8) and the water-repellent baffle (22) away from the bow, respectively.

2. The intelligent unmanned vessel for aquaculture according to claim 1, characterized in that, The part of the guide plate (8) that is not in direct contact with the floating vessel (1) is provided with a sealing plate (81) that fits against the outer wall of the floating vessel (1).

3. The intelligent unmanned vessel for aquaculture according to claim 2, characterized in that, The piston tube (9) has a piston chamber (91) inside, and the end of the spring (93) away from the piston rod (92) is connected to the bottom of the piston chamber (91).

4. The intelligent unmanned vessel for aquaculture according to claim 3, characterized in that, The guide plate (8) is provided with circumferentially distributed magnets I (82), and the transverse brush (94) is provided with magnets II (96) and magnets I (82) repulsing each other.

5. The intelligent unmanned vessel for aquaculture according to claim 4, characterized in that, A pneumatic ring cylinder (72) is provided at the center of one side of the impeller (71) opposite to the side baffle (83). The pneumatic ring cylinder (72) has an opening on one side of the side baffle (83) and is provided with a reciprocating ring plug (73). A hole is provided on the pneumatic ring cylinder (72) to connect with the piston chamber (91).

6. The intelligent unmanned vessel for aquaculture according to claim 5, characterized in that, Symmetrical transmission rods (74) are provided between the reciprocating ring plug (73) and the side baffle (83) on opposite sides. The bottom of the side baffle (83) facing the guide plate (8) is provided with circumferentially distributed insertion rods (84) that can be inserted into the guide plate (8).

7. A method of using an intelligent unmanned vessel for aquaculture, applicable to the method of using the intelligent unmanned vessel for aquaculture as described in claim 6, characterized in that, Including the following usage methods: S1. When the floating vessel (1) is running on the water surface, it will detect the distribution of fish and the water quality in real time through the intelligent module and detection module it is equipped with. S2. Based on the collected data, the intelligent module controls the salvage device to salvage dead fish from the water surface. S3. Based on the collected data, the intelligent module starts the feeding motor (43), which drives the auger (44) to rotate and feed and fish medicine into the two limit covers (5) respectively. S4. Start the centrifugal motor (6) to drive the centrifugal base plate (61) to rotate rapidly, so that the feed and fish medicine that fall on the centrifugal base plate (61) can be scattered around under centrifugal force; S5. When the floating boat (1) moves forward, it uses a protective device to block and guide the water plants and debris in the direction of movement, and the water flow thrown out by the impeller (71) is guided to the water plants behind it. S6. The impeller (71) rotates to drive the cleaning device to clean the protective device. After the cleaning device leaves the protective device, the water flow thrown out by the impeller (71) will rinse the cleaning device.

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