CN216577835U

CN216577835U - Aquaculture track type inspection robot

Info

Publication number: CN216577835U
Application number: CN202123202171.7U
Authority: CN
Inventors: 沈美雄; 李敏刚; 陈华; 何群英; 黄孝良
Original assignee: Fujian Institute Of Agricultural Mechanization (fujian Academy Of Mechanical Sciences)
Current assignee: Fujian Institute Of Agricultural Mechanization (fujian Academy Of Mechanical Sciences)
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-05-24
Anticipated expiration: 2031-12-20

Abstract

The utility model discloses an aquaculture track type inspection robot, which comprises a track and an overhead rail device, wherein a rack extending along the track is arranged on the track, and the overhead rail device is suspended on the track and moves along the track; still including the robot, the mobilizable string of robot on the hanger rail device, the robot including flexible jib and battery, translation device, signal transceiver, image acquisition equipment that can stretch out and draw back from top to bottom, flexible jib bottom be provided with quality of water sensor and image acquisition equipment under water, the battery supply power for the robot, be provided with on the translation device with on the track rack matched with gear, the gear is by motor drive, quality of water sensor and image acquisition equipment pass through signal transceiver and send control system to the signal of acquisition. The utility model has the advantages of low cost, accurate detection data, long service life of the sensor and the like.

Description

Aquaculture track type inspection robot

Technical Field

The utility model relates to a robot, in particular to an aquaculture track type inspection robot.

Background

China is the largest aquaculture country in the world. The aquaculture area in the country in 2019 is 710.85 ten thousand hectares, the aquaculture yield is 5079.07 ten thousand tons, and the aquaculture area is the first place in the world. In 2019, the nationwide industrial culture area reaches 8973.2719 ten thousand cubic meters, the nationwide industrial culture yield reaches 54.228 ten thousand tons, but most culture modes are extensive, and the mechanization and informatization degrees are not high. For example, eel breeding is carried out in Fujian province, more than 2000 eel farms are shared in the whole province, wherein 1000 indoor industrial farms are provided, the water quality monitoring informatization degree of most indoor industrial farms is not high, the breeding water quality is monitored in an artificial mode, a small part of industrial farms are provided with a set of facility capable of automatically detecting dissolved oxygen and water temperature in each breeding pond, but because the mode needs to be provided with an automatic detection device in each breeding pond, the investment is large, and because a detection sensor is immersed in water for a long time, foreign matters are easy to adhere, the fault rate is high, the fault rate and the maintenance rate of the sensor are high, in addition, the sensor in each pond is influenced by factors such as datum points, precision and environmental changes, the measured value is greatly different from the actual value, so that the mode is difficult to accept by farmers, and the popularization and application are difficult.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provide the track type intelligent inspection robot for aquaculture, which can intermittently detect a plurality of culture ponds, does not need to be soaked in water for a long time by a sensor and can realize acquisition in a plurality of modes.

An aquaculture rail type intelligent inspection robot comprises a rail, wherein a rack extending along the rail is arranged on the rail; the device also comprises a hanging rail device which is suspended on the track and moves along the track; still including the robot, the mobilizable string of robot on the hanger rail device, the robot including flexible jib and battery, translation device, signal transceiver, image acquisition equipment that can stretch out and draw back from top to bottom, flexible jib bottom be provided with quality of water sensor and image acquisition equipment under water, the battery supply power for the robot, be provided with on the translation device with on the track rack matched with gear, the gear is by motor drive, quality of water sensor and image acquisition equipment pass through signal transceiver and send control system to the signal of acquisition.

The track type intelligent inspection robot for aquaculture is characterized in that a track is arranged on a culture pond, the robot is hung on a hanger rail device, the hanger rail device moves on the track to drive the robot to move, a sensor and an image acquisition device hung on the robot are used for acquiring required parameters, because the robot can move on the track and the sensors and the acquisition devices are mounted on the robot by using the telescopic boom, the operation of the robot is controlled by the control circuit, so that the required parameters can be measured and obtained at the corresponding positions according to the requirements, without arranging parameters and image obtaining equipment in all the culture ponds respectively as in the prior art, therefore, the investment cost and the maintenance and use cost of farmers are greatly saved, and meanwhile, the error of the measurement result caused by the error of the equipment due to different equipment is avoided. The telescopic suspender is adopted to hang the sensor and various image acquisition devices, the depth of the water can be adjusted according to the needs, and the use in multiple occasions is realized.

The track be I shape or the type of falling T track, the hanger rail device including the hanger rail cell body, the hanger rail cell body detain at I shape or the type of falling T track "one" word end, a inslot side of hanger rail cell body is provided with the hanger rail knock-pin, the hanger rail knock-pin supports in I shape or the orbital straight end side of type of falling T, another side is provided with a hanger rail riding wheel in the inslot of hanger rail cell body, the hanger rail riding wheel support at the orbital tank bottom of I shape or T, the translation device the gear with set up the rack looks interlock on the track.

The rack is arranged on the side face of the straight end of the track.

The robot is movably connected with the hanger rail device through a hanging screw.

The robot is movably connected with the hanger rail device, so that the robot can freely slide on the rail.

A charging device is arranged at the end of the track.

The charging device is arranged to conveniently charge the storage battery.

The turning radius RN of the track is not less than 0.5 m.

The turning radius of the rail with the specification is set to facilitate walking and turning on the rail by using a robot.

In summary, compared with the prior art, the utility model has the following advantages:

compared with the prior art, the utility model has 4 advantages, 1 and lower cost. The water quality detection sensor is more valuable in water quality detection of the culture pond, the traditional sensor cannot be moved and is always placed in each mouth of the pond, each mouth of the pond needs one set of water quality sensor, the price is not high, and the water quality detection device can finish the water quality detection work of a plurality of mouth of the culture ponds only by one set of sensor, so the total cost is low. 2. The detection data result is more accurate. Because the same set of sensor is adopted to detect different culture ponds, the data result is more reliable and accurate, and the water quality abnormity early warning can be more accurately carried out. 3. The sensor life is higher. The existing sensor is always underwater, so that impurities are easily attached, the accuracy is unstable, and the service life is short. This patent technical sensor is telescopic structure from top to bottom, only visits into the aquatic when needs detect quality of water, leaves the surface of water when detecting the end, and the sensor most time is not contacted with water, therefore the precision is more stable, and the life-span is also higher. 4. The function expansion is more convenient. By adopting the technology, the functions can be conveniently expanded, and if an underwater camera can be installed at the tail end of the telescopic rod, the intelligent identification can be carried out on fishes or dirt at the bottom of the pond in the pond water.

Drawings

Fig. 1 is a front view of the inspection robot during charging.

Fig. 2 is a side view of the inspection robot during operation.

Fig. 316 is a top view of the pool-mounted rail-mounted intelligent inspection robot.

Fig. 4 is a front view of fig. 3.

The reference number indicates 1 track, 2 fixed charging devices, 3 inspection robots, 5 heat preservation sheds, 6 culture ponds and 7 intelligent remote control systems; 11 track racks, 12 track fixing pieces, 21 charging joint A groups, 22 proximity switches, 23 electromagnetic magnetic attraction devices, 24 charging device plugs, 31 lithium battery groups, 32 translation devices, 33 hanging rail devices, 34 signal receiving and transmitting devices, 35 monitoring cameras, 36 telescopic hanging rods, 37 hanging screws, 38 charging joint B groups, 39 robot shells, 41 suspension type track fixing devices, 42 floor type track fixing devices, 51 heat preservation shed doors, 61 breeding pond walkways, 62 bait casting platforms, 63 # 8 breeding ponds and 64 fish toilets; 321 translation motor gears, 322 translation motors, 331 hanging rail machine bodies, 332 hanging rail left and right top wheels, 333 hanging rail riding wheels, 361 water quality sensors and 362 underwater cameras; the turning radius of the RN track, the charging state of the 3CD robot and the working state of the 3GZ-08 inspection robot in a No. 08 culture pond.

Detailed Description

The present invention will be described in more detail with reference to examples.

Example 1

The track type intelligent inspection robot for aquaculture specifically comprises a track 1 and a track rack 11 installed on the track 1, wherein a track fixing piece is used for connecting and fixing the track 1 and a suspension track fixing device 41 or a floor type track fixing device 42. The fixed charging device 2 is connected with a power supply through a charging device plug, is installed at the end part of the track 1 and is used for charging the lithium battery pack 31 of the inspection robot 3. The 2-group hanger rail device 33 is mounted on the rail via hanger rail left and right head wheels 332 and hanger rail support wheels 333, and can slide freely left and right on the rail. The inspection robot 3 is movably connected with the hanger rail device 33 through 2 sets of hanging screws 37, and the movable connection structure is used for connecting the inspection robot 3 conveniently through a track curve. Install working part such as lithium cell group 31, translation device 32, surveillance camera head 35, flexible jib 36 and signal transceiver 34 among the robot 3 patrols and examines, wherein lithium cell group 31 provides electric power for patrolling and examining all parts of robot 3, and translation motor gear 321 on the translation device 32 meshes with track rack 11 on the track 1, through translation motor 322. The working part telescopic suspender 36 can be vertically telescopic, and can be extended to the position below the water surface of the culture pond through a water quality sensor 361 arranged at the lower end of the suspender, so as to measure the water quality parameters of the water in the culture pond.

Track 1 and install fixed charging device 2 on track 1, patrol and examine robot 3 and breed the pond needs according to the batch production, install in the pool face top of breeding pond 6, through suspension type

track fixing device

41 and 5 top fixed connection of heat preservation canopy, or through console mode track fixing device 42 and breeding 6 ground fixed connection in pond, turning radius RN when track 1 is installed in different breeding pond tops need not be less than 0.5 meter. The thermal insulation shed 5 is generally of a steel structure or a brick-concrete structure, and is matched with a thermal insulation shed door 5 and facilities for ventilation, thermal insulation, lighting and the like. The culture pond 6 is 16 openings in the embodiment, and is matched with a culture pond walkway 61, a bait casting platform 62, a fish toilet 64 (see the patent with the patent number of 202020595818.3 for details) and facilities for water supply and drainage, pollution discharge, fish capture and the like; the intelligent remote control system 7 can be installed in the heat preservation shed 5, also can be installed in a centralized control room near the culture pond in a centralized manner, is used for setting various parameters and carrying out intelligent control on the inspection robot 3, and has the functions of parameter display, intelligent alarm, intelligent control and the like.

When the intelligent remote control system works, the inspection robot 3 receives an instruction of the intelligent remote control system 7, leaves a charging state 3CD, inspects the culture pond 6 according to the pond number 1-16, takes the inspection pond number as 8 as an example, when the inspection robot 3 drives the translation motor gear 321 to rotate by the translation motor 322 to drive the inspection robot 3 to move to the right side of the set No. 8 feeding platform 62 along the track 1, the inspection robot 3 stops moving, the telescopic boom 36 drives the water quality sensor 361 to extend underwater to start to detect water quality parameters, meanwhile, the monitoring camera 35 carries out monitoring camera shooting on the periphery of the feeding platform 62 according to requirements, detected and monitored data are transmitted to the intelligent remote control system 7 through the signal transceiver 34 to carry out data processing, generally, a detection point of each pond is selected near the feeding platform 62, on one hand, the fish frequently moves, dissolved oxygen is low, the data detected by the water quality sensor 361 are beneficial to system control, on the other hand, the monitoring camera 35 is also favorable for shooting the ingestion condition of the fish, and can be used for judging the health condition of the fish. When the detection time is up, the telescopic suspender 36 drives the water quality sensor 361 to retract, and the next cultivation pond is patrolled and examined. In the inspection process, when the system monitors that the electric quantity of the lithium battery pack 31 is insufficient, the inspection robot 3 automatically returns to the fixed charging device 2, when the inspection robot 3 is close to the fixed charging device 2, the proximity switch 22 and the electromagnetic magnetic attraction device 23 work in succession, and the fixed charging device 2 starts to stably charge the lithium battery pack 31 of the inspection robot 3.

When some breed ponds need to monitor fish activity, filth state, the fish condition of dying of illness under water, can comparatively convenient install the underwater camera additional and realize at 36 lower extremes of flexible jib, also can be used for detecting the equipment such as the sensor of environmental parameter, the thermal imaging appearance that is used for discerning vital sign, expand the application range of this patent on this system certainly.

The parts not described in the present embodiment are the same as those in the prior art.

Claims

1. The utility model provides an aquaculture rail mounted patrols and examines robot which characterized in that: the device comprises a track, wherein a rack extending along the track is arranged on the track; the device also comprises a hanging rail device which is suspended on the track and moves along the track; still including the robot, the mobilizable string of robot on the hanger rail device, the robot including flexible jib and battery, translation device, signal transceiver, image acquisition equipment that can stretch out and draw back from top to bottom, flexible jib bottom be provided with quality of water sensor and image acquisition equipment under water, the battery supply power for the robot, be provided with on the translation device with on the track rack matched with gear, the gear is by motor drive, quality of water sensor and image acquisition equipment pass through signal transceiver and send control system to the signal of acquisition.

2. The aquaculture track type inspection robot according to claim 1, characterized in that: the track be I shape or the type of falling T track, the hanger rail device including the hanger rail cell body, the hanger rail cell body detain at I shape or the type of falling T track "one" word end, a inslot side of hanger rail cell body is provided with the hanger rail knock-pin, the hanger rail knock-pin supports in I shape or the orbital straight end side of type of falling T, another side is provided with a hanger rail riding wheel in the inslot of hanger rail cell body, the hanger rail riding wheel support at the orbital tank bottom of I shape or T, the translation device the gear with set up the rack looks interlock on the track.

3. The track type inspection robot for aquaculture according to claim 2, characterized in that: the rack is arranged on the side face of the straight end of the track.

4. The track type inspection robot for aquaculture according to claim 3, wherein: the robot is movably connected with the hanger rail device through a hanging screw.

5. The track type inspection robot for aquaculture according to claim 4, wherein: a charging device is arranged at the end of the track.

6. The aquaculture track type inspection robot according to any one of claims 1 to 5, wherein: the turning radius RN of the track is not less than 0.5 m.