Unmanned precise bait casting machine

Abstract

The utility model discloses an unmanned precise bait casting machine which comprises a catamaran, a bait casting mechanism is installed on the catamaran, paddle wheels of the catamaran are driven by a driving device, the bait casting mechanism comprises a support, a stock bin is installed on the top of the support, a stirring mechanism is installed in the stock bin, and a bait casting mechanism is installed on the stirring mechanism. Baits in the stock bin enter the spiral conveying device from the discharge port, and the spiral conveying device conveys the baits to the throwing disc for throwing the baits; the visual detection device is installed on the support, the visual detection device and the sonar detection device detect the number of fish schools in a target water area, and compared with traditional manual feeding and shoreside mechanical feeding, self-cruising unmanned feeding greatly reduces the breeding cost and labor intensity of farmers; the visual detection device and the sonar detection device are combined, so that the accuracy of fish school recognition is improved, the bait casting amount is calculated in real time after detected fish school information is processed through the control system, bait waste and water eutrophication can be effectively avoided, bait waste is reduced to the maximum extent, the bait casting efficiency is improved, and the purpose of accurate bait casting is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of bait feeding, and in particular relates to an unmanned precise bait feeding machine. Background Art

[0002] Feeding is an important part of aquaculture. However, as the scale of aquaculture has grown in recent years, the shortcomings of artificial feeding have gradually become apparent, such as high labor intensity, feeding techniques that vary from person to person, and uneven feeding points. This has led to problems such as excessive bait residue in local waters and deterioration of the water environment. This not only affects the normal growth of the aquaculture objects, but also increases the cost of aquaculture.

[0003] At present, the most widely used feeding machine in domestic aquaculture is the simple mechanical feeding machine, such as patent publication number CN 103875578 A, which is an automatic feeding machine, which can replace manual feeding. The feeding is done at a fixed time and range, but the feeding machines are all on the shore and cannot be moved. Some locations in the breeding area cannot be thrown. The existing feeding machines also basically have many shortcomings such as inaccurate timing, low reliability, unreasonable setting of feeding and interval time, unadjustable feeding distance, high feed loss and small storage capacity. More importantly, the feeding machines are all blind and cannot determine the area where fish and shrimp are located, resulting in inaccurate feeding and substandard local feeding. Therefore, there is an urgent need for an intelligent feeding machine that can reduce feeding costs and improve feeding efficiency and feeding accuracy, so as to help aquaculture and improve the quality of aquatic product breeding. Summary of the invention

[0004] The purpose of the utility model is to design an unmanned precision feeding machine. The utility model performs unmanned feeding based on Beidou positioning and autonomous navigation. It detects the number of fish and shrimp in the target waters by combining vision and sonar, accurately calculates the amount of bait, minimizes bait waste, improves feeding efficiency, reduces bait waste, and achieves precise feeding.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] An unmanned precision bait-casting machine, the bait-casting machine comprises a catamaran, a bait-casting mechanism is installed on the catamaran, a control system, a Beidou navigation signal receiver, and a sonar detection device are installed on the catamaran, the paddle wheel of the catamaran is driven by a driving device, the bait-casting mechanism comprises a bracket, a silo is installed on the top of the bracket, a stirring mechanism is installed in the silo, the bait in the silo enters a spiral conveying device from a discharge port, the spiral conveying device conveys the bait to a throwing plate for throwing the bait; a visual detection device is installed on the bracket, the visual detection device and the sonar detection device detect the number of fish schools in the target waters, and a power supply supplies power to the above-mentioned devices.

[0007] Furthermore, the input end of the control system is connected to a Beidou navigation signal receiver, a sonar detection device and a visual detection device, and the output end controls the driving device and the unloading driving mechanism through a driver.

[0008] Furthermore, an electromagnetic vibrator is added at the discharge port of the silo.

[0009] Furthermore, the unloading drive motor provides power for the stirring mechanism, the screw conveying device and the throwing plate, and the drive device is used to drive the paddle wheel to rotate.

[0010] Furthermore, the battery, sonar detection device and driving device are installed at the bottom of the hull.

[0011] Furthermore, the catamaran is provided with a deck, and the deck is butted with a bracket of the bait casting mechanism by means of bolts.

[0012] The following beneficial effects can be obtained through the above technical solution:

[0013] Compared with traditional manual feeding and mechanical feeding on the shore, self-cruising unmanned feeding greatly reduces the breeding costs and labor intensity of farmers; the combination of visual detection devices and sonar detection devices improves the accuracy of fish school identification, and the control system processes the detected fish school information and calculates the amount of feed in real time, which can effectively avoid bait waste and water eutrophication, minimize bait waste, improve feeding efficiency, and achieve the purpose of accurate feeding; full-pond mobile covering feeding can effectively avoid the death of aquatic organisms due to competition for bait, and can also integrate water quality monitoring and pesticide application functions in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the inside of a baitcasting machine.

[0015] Figure 2 This is a top view of the baitcasting machine.

[0016] Figure 3 This is the left side view of the baitcaster.

[0017] In the figure:

[0018] In the figure: 1. silo; 2. visual inspection device; 3. electromagnetic vibrator; 4. Beidou navigation signal receiver; 5. control system; 6. catamaran; 7. sonar detection device; 8. power supply; 9. driving device; 10. deck; 11. screw conveying device; 12. stirring mechanism; 13. bracket; 14. paddle wheel; 15. throwing tray; 16. unloading driving mechanism. DETAILED DESCRIPTION

[0019] The utility model is further described below in conjunction with the accompanying drawings:

[0020] like Figure 1-3 As shown, an unmanned precision bait throwing machine includes a catamaran 6, which has a shorter rolling period than a monohull, and can effectively improve the carrying capacity of the bait throwing boat and the driving stability in harsh environments; a bait throwing mechanism is installed on the catamaran, and a Siemens S7 series control system 5, a Trimble R12i / M300 Beidou navigation signal receiver 4, and a BANGYES SM-5 series sonar detection device 7, the catamaran is driven by a driving device 9 to drive the paddle wheels 14 on both sides to rotate, the feeding mechanism includes a bracket 13, a silo 1 is installed on the top of the bracket, a stirring mechanism 12 is installed in the silo, the bait in the silo enters the screw conveyor 11 from the discharge port, and an electromagnetic vibrator 3 is added at the discharge port of the silo. The electromagnetic vibrator 3 can ensure that the bait can be evenly transported to the screw conveyor 11, thereby achieving uniform feeding, which can effectively reduce the breakage rate of the bait and improve the transportation efficiency. The screw conveyor transports the bait to the throwing plate 15 for bait throwing; the visual detection device 2 is installed on the bracket, and the visual detection device and the sonar detection device 7 detect the number of fish schools in the target waters. The power supply 8 supplies power to the control system 5, the Beidou navigation signal receiver 4, the sonar detection device 7, the driving device 9 and the feeding drive motor. The catamaran is provided with a deck 10, and the deck is connected to the bracket of the feeding mechanism by bolts.

[0021] In the above embodiment, a circular silo is used. Compared with silos of other shapes, this type of silo is less likely to form a bait accumulation angle. The bait stirring mechanism 12 in the circular silo can also effectively solve the problem of bait accumulation.

[0022] In the above embodiment, the driving device 9 can effectively avoid problems such as entanglement in water plants and inflexible steering. The specific structure is that the battery, the driving motor and the chain drive drive the paddle wheel 14 to rotate.

[0023] In the above embodiment: Hikvision MVL series visual detection device 2 and BANGYES SM-5 series sonar detection device 7 essentially constitute a fish and shrimp detection system, which can detect the number of fish and shrimp in the target waters in real time during operation. According to the number of underwater biological communities, the control system calculates and analyzes the required amount of bait, and converts the amount of bait into a rotation speed, which is transmitted to the feeding drive mechanism 16 to control the rotation speed of the feeding drive motor, thereby controlling the bait delivery amount and achieving precise feeding.

[0024] The positioning information of the Beidou satellite module is obtained through the Beidou navigation signal receiver 4, and the control system 5 uses its own navigation path algorithm for processing. According to the calculation and analysis results, the power system (paddle wheel drive device) and the bait feeding system (unloading drive motor) are controlled to start, so as to control the navigation and bait feeding of the catamaran 6; the communication module of the control system 5 receives instructions from the upper aircraft position, and can also upload the position and heading information of the catamaran 6 to the upper aircraft position.

[0025] Specific application method: When feeding, the bait is added to the silo 1 manually. If remote feeding is selected, the route can be controlled manually. After the visual detection device 2 and the sonar detection device 7 detect the number of fish in the target water area, they will feed back the data to the control system 5, which will then control the electromagnetic vibrator 3 and the screw conveyor 11 after processing.

[0026] If autonomous navigation and bait feeding operations are performed, after the coordinates of the four vertices of the pond are input according to the Beidou navigation, the control system 5 calculates the travel trajectory by itself, and the control system 5 obtains the positioning information of the Beidou satellite module through the Beidou navigation signal receiver 4, and uses the existing conventional navigation algorithm for processing, and calls the drive module and the output module according to the detection results to control the paddle wheel drive device 9 and the bait feeding device, and the communication module receives instructions from the upper machine position, and can also upload the hull position and heading information to the upper machine position, ultimately achieving full coverage and precise bait feeding.

[0027] The above are all preferred implementations of the present invention. For ordinary technicians in this technical field, without departing from the principle of the present invention, various equivalent modifications to the present invention belong to the protection scope of the claims attached to this application.

Claims

1. An unmanned precision bait throwing machine, characterized in that: The bait throwing machine includes a catamaran, on which a bait throwing mechanism is installed. A control system, a Beidou navigation signal receiver, and a sonar detection device are installed on the catamaran. The paddle wheel of the catamaran is driven by a driving device. The bait throwing mechanism includes a bracket, a silo is installed on the top of the bracket, and a stirring mechanism is installed in the silo. The bait in the silo enters a spiral conveying device from a discharge port, and the spiral conveying device conveys the bait to a throwing tray for scattering the bait. A visual detection device is installed on the bracket, and the visual detection device and the sonar detection device detect the number of fish schools in the target waters, and a power supply supplies power to the above-mentioned devices.

2. The unmanned precision bait throwing machine according to claim 1, characterized in that: The input end of the control system is connected to a Beidou navigation signal receiver, a sonar detection device and a visual detection device, and the output end controls the driving device and the unloading driving mechanism through a driver.

3. The unmanned precision bait throwing machine according to claim 1, characterized in that: An electromagnetic vibrator is added at the discharge port of the silo.

4. The unmanned precise bait throwing machine according to claim 1 or 2, characterized in that: The unloading drive motor provides power for the stirring mechanism, the screw conveying device and the throwing plate, and the drive device is used to drive the paddle wheel to rotate.

5. The unmanned precision bait throwing machine according to claim 1, characterized in that: The battery, sonar detection device and drive device are installed on the bottom of the hull.

6. The unmanned precision bait throwing machine according to claim 1, characterized in that: The catamaran is provided with a deck, and the deck is butted with a bracket of the bait throwing mechanism by means of bolts.

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