CN-121970708-A - Deep sea net cage culture environment monitoring and intelligent feeding unmanned ship system

CN121970708ACN 121970708 ACN121970708 ACN 121970708ACN-121970708-A

Abstract

The application discloses a deep sea cage culture environment monitoring and intelligent feeding unmanned ship system which comprises a shore-based control center, a cloud server and an unmanned ship body, wherein the unmanned ship body comprises a ship body, a power propulsion unit, a high-precision navigation positioning module, a main controller, an energy unit, an environment sensing integrated module, an intelligent feeding module and a wireless communication module, the main controller of the unmanned ship body is used for controlling the power propulsion unit to execute autonomous navigation and controlling the intelligent feeding module to execute feeding operation at a designated position according to an intelligent feeding decision instruction, and the shore-based control center is used for providing a system monitoring and man-machine interaction interface. According to the application, through cooperation of the unmanned ship, the cloud server and the shore-based control center, complete closed loop from automatic acquisition of environmental data, intelligent analysis decision to accurate feeding execution is realized, the manual dependence and labor intensity are obviously reduced, and the management efficiency and the operation safety are improved.

Inventors

NIU LIJUAN
MA ZHEXUAN

Assignees

中环低碳节能技术(北京)有限公司

Dates

Publication Date: 20260505
Application Date: 20260210

Claims (10)

1. Deep sea box with a net breed environmental monitoring and intelligent unmanned ship system of feeding, its characterized in that includes: the unmanned ship comprises a shore-based control center, a cloud server and an unmanned ship body; the unmanned ship body comprises a ship body, a power propulsion unit, a high-precision navigation positioning module, a main controller, an energy unit, an environment sensing integrated module, an intelligent feeding module and a wireless communication module; The cloud server is used for receiving and analyzing the data uploaded by the environment-aware integrated module, generating an intelligent feeding decision instruction and issuing the intelligent feeding decision instruction to the unmanned ship body; The main controller of the unmanned ship body is used for controlling the power propulsion unit to execute autonomous navigation according to the intelligent feeding decision instruction and controlling the intelligent feeding module to execute feeding operation at a designated position; The shore-based control center is used for providing a system monitoring and man-machine interaction interface.
2. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system according to claim 1, wherein the high-precision navigation positioning module comprises a dual-frequency multimode GNSS receiver, a satellite positioning signal receiving module and a satellite positioning signal receiving module; An RTK differential signal receiving unit for receiving differential correction data; an inertial measurement unit that measures an angular velocity and a linear acceleration of the hull; and the data fusion unit fuses the data of the GNSS receiver, the RTK differential signal receiving unit and the inertial measurement unit through a Kalman filter and outputs the fused position, speed and attitude information.
3. The deep sea cage farming environment monitoring and intelligent feeding unmanned ship system of claim 1, wherein the master controller operates with an adaptive fuzzy PID controller configured to: Dynamically adjusting PID control parameters according to the heading deviation angle of the real-time heading and the target heading of the unmanned ship and the transverse position deviation of the real-time position and the target course line; And calculating a rudder angle instruction based on the adjusted PID parameters, and controlling the power propulsion unit to realize accurate track tracking of the flight path.
4. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system according to claim 1, wherein the environment sensing integrated module comprises an on-water unit and an underwater unit; The water unit is integrated with a small weather station for measuring wind speed, wind direction, air temperature and humidity and illumination intensity; The underwater unit comprises a liftable sensor cabin, and a multi-parameter water quality monitor and/or an underwater camera are integrated in the sensor cabin.
5. The deep sea cage farming environment monitoring and intelligent feeding unmanned ship system of claim 4, wherein the lifting mechanism of the liftable sensor pod comprises: Waterproof electric winch set on the hull; the bearing cable is wound and unwound by the electric winch and is an armored coaxial cable or a multi-core waterproof cable; the sensor cabin body is connected with the tail end of the bearing cable; and the pressure sensor is arranged on the sensor cabin body and is used for detecting the water depth of the cabin body.
6. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system according to claim 1, wherein the intelligent feeding module comprises a storage bin; The precise screw feeder is connected with the discharge port of the storage bin and driven by a stepping motor; a spreading mechanism for spreading the feed; The local microcontroller is used for receiving the feeding instruction and controlling the actions of the stepping motor and the throwing mechanism; the corresponding relation model established by calibration is arranged between the driving pulse frequency and the feeding amount of the precise spiral feeder.
7. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system of claim 1, wherein the cloud server is deployed with an intelligent feeding decision algorithm comprising: The expert system based on rules judges whether feeding is allowed or not according to the threshold values of the water quality and the environmental parameters; calculating a basic theoretical ingestion rate according to water temperature and fish weight parameters based on a statistical regression model; based on an image analysis model of machine learning, analyzing the fish swarm concentration degree and the feeding intensity according to a fish swarm activity video, and outputting a real-time gain coefficient for the basic theoretical feeding rate; And the intelligent feeding decision algorithm synthesizes the outputs of the expert system, the regression model and the image analysis model to generate a feeding strategy instruction comprising feeding quantity and feeding points.
8. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system according to claim 1, wherein the wireless communication module adopts a multimode redundancy design and comprises a 4G/5G cellular communication module serving as a main link and a remote data transmission station serving as a standby link.
9. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system according to claim 1, wherein the main controller is further configured with an emergency decision mechanism, and when the communication interruption with the cloud server exceeds a preset time limit and reaches a preset feeding time window, the locally stored emergency feeding model is started to generate and execute an emergency feeding task.
10. The deep sea cage culture environment monitoring and intelligent feeding unmanned ship system of claim 1, wherein the software interface of the shore-based control center comprises: The electronic chart and situation display area is used for displaying the position, the track and the net cage boundary of the unmanned ship in real time; The data instrument panel is used for dynamically displaying the ship body posture, the power supply state and the water quality parameters; The task planning area is used for receiving the cruising path point and the monitoring area set by the operator; And the feeding management panel is used for displaying the feeding strategy issued by the cloud and providing interaction options of approval, fine adjustment or rejection.

Description

Deep sea net cage culture environment monitoring and intelligent feeding unmanned ship system Technical Field The application belongs to the technical field of deep sea cultivation, and particularly relates to a deep sea net cage cultivation environment monitoring and intelligent unmanned ship feeding system. Background With the rapid development of ocean economy and the approaching saturation of land culture space, deep sea cage culture has become an important direction for expanding the aquaculture productivity and guaranteeing the high-quality protein supply. However, the problems of complex deep sea cultivation operation environment, low automation degree, extensive management and the like restrict the large-scale and intelligent development of the deep sea cultivation operation environment for a long time. Specifically, the prior art mainly has the following disadvantages: The environment monitoring means is behind and one-sided, the traditional cage culture is mostly dependent on manual ship taking fixed-point sampling or small amount of fixed sensors are deployed, the data acquisition is discontinuous, the space coverage is limited, the time-space change of key environmental factors such as water temperature, salinity, dissolved oxygen, ocean currents and the like inside and outside the cage is difficult to timely and comprehensively grasp, particularly, the underwater profile information and the real-time behavior of the fish shoal cannot be effectively acquired, the environment early warning is delayed, and the data support cannot be provided for fine management. The feeding operation is highly dependent on manual work and is extensive and inefficient, namely, the feeding operation is generally carried out by a worker driving a feeding ship according to experience, the labor intensity is high, the safety risk is high, and the feeding amount, the feeding position and the feeding time are difficult to accurately control. Is easily influenced by weather, sea conditions and personnel states, often causes excessive or insufficient feed feeding, causes serious feed waste, water pollution (eutrophication caused by residual baits) and uneven fish growth, and directly influences the economic benefit and ecological sustainability of cultivation. Therefore, there is a need for a comprehensive management system for deep sea cage culture, which can realize full-process automation and intellectualization, has high-precision autonomous operation, multidimensional environment perception, intelligent decision making and accurate execution capability, and can adapt to severe sea conditions and communication environments. Disclosure of Invention The application provides a deep sea cage culture environment monitoring and intelligent feeding unmanned ship system, and aims to solve the problems that environmental monitoring means are behind, one-sided and feeding operations are highly dependent on manual work, and rough and low-efficiency in the prior art. Deep sea box with a net breed environmental monitoring and intelligent unmanned ship system of feeding includes: the unmanned ship comprises a shore-based control center, a cloud server and an unmanned ship body; the unmanned ship body comprises a ship body, a power propulsion unit, a high-precision navigation positioning module, a main controller, an energy unit, an environment sensing integrated module, an intelligent feeding module and a wireless communication module; The cloud server is used for receiving and analyzing the data uploaded by the environment-aware integrated module, generating an intelligent feeding decision instruction and issuing the intelligent feeding decision instruction to the unmanned ship body; The main controller of the unmanned ship body is used for controlling the power propulsion unit to execute autonomous navigation according to the intelligent feeding decision instruction and controlling the intelligent feeding module to execute feeding operation at a designated position; The shore-based control center is used for providing a system monitoring and man-machine interaction interface. Optionally, the high-precision navigation positioning module comprises a dual-frequency multimode GNSS receiver, a satellite positioning module and a positioning module, wherein the dual-frequency multimode GNSS receiver is used for receiving satellite positioning signals; An RTK differential signal receiving unit for receiving differential correction data; an inertial measurement unit that measures an angular velocity and a linear acceleration of the hull; and the data fusion unit fuses the data of the GNSS receiver, the RTK differential signal receiving unit and the inertial measurement unit through a Kalman filter and outputs the fused position, speed and attitude information. Optionally, the master controller is operated with an adaptive fuzzy PID controller configured to: Dynamically adjusting PID control parameters according to the heading deviation ang