CN108375978A - A kind of control method and system of wireless remote console keyboard nest ship - Google Patents
A kind of control method and system of wireless remote console keyboard nest ship Download PDFInfo
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- CN108375978A CN108375978A CN201810108478.4A CN201810108478A CN108375978A CN 108375978 A CN108375978 A CN 108375978A CN 201810108478 A CN201810108478 A CN 201810108478A CN 108375978 A CN108375978 A CN 108375978A
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000010009 beating Methods 0.000 claims abstract description 44
- 241000251468 Actinopterygii Species 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims description 16
- 238000007664 blowing Methods 0.000 claims description 7
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 241000276420 Lophius piscatorius Species 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000021050 feed intake Nutrition 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention relates to a kind of control methods and system of wireless remote console keyboard nest ship.This method includes：It makes nest ship and obtains initial position, record start position；It makes nest ship and is moved to target location, open feed bin and record target location；Nest ship is made after feeding intake automatically returns to initial position from target location；It beats automatic cruising after nest ship hangs up fish hook and puts down fish hook automatically to target location；It puts and makes nest ship after hook and automatically return to initial position from target location.By implementing the present invention, after once beating nest and determining initial position and target location, makes nest ship and can be automatically performed and make a return voyage automatically, automatic pit making, put the sequence of operations such as hook automatically, it is no longer necessary to which rodman's whole process manually controls, the time of rodman is greatlyd save, and improves and beats nest efficiency.
Description
Technical field
The present invention relates to nest bateau neck domain is beaten, a kind of control method more specifically to wireless remote console keyboard nest ship and it is
System.
Background technology
Tradition makes nest ship and remote controler whole process is needed to manually control, for example, control makes nest ship and is moved to target location, needs first
It manually controls dozen nest ship and is moved to target location, the instruction that opens a position then is issued by remote controler, make nest ship and refer to further according to opening a position
It enables and opens feed bin.In another example control makes nest ship and fish hook is thrown to target location, it is necessary first to manually control dozen nest ship and be moved to
Target location makes nest ship further according to hook instruction is put and discharges fish hook then by providing hook instruction under remote controler.In the process of making a return voyage
In, it is also desirable to whole process manually controls.So the existing operation for making nest ship needs whole process to manually control, it is a large amount of to waste rodman's
Time.
Beat nest in addition, manually controlling and making nest ship, when beating nest ship return feeding, when leading to beat nest again because that can not mark without
Method accurately determines that last time beats nest position, causes to beat nest inefficiency.
Invention content
The technical problem to be solved in the present invention is that above-mentioned for the prior art needs rodman to manually control and beat
The low defect of nest efficiency provides a kind of control method and system of wireless remote console keyboard nest ship.
The technical solution adopted by the present invention to solve the technical problems is：Construct a kind of controlling party of wireless remote console keyboard nest ship
Method includes the following steps：
It makes nest ship and is moved to target location, record the target location；
The nest ship of beating obtains position of making a return voyage, and the position of making a return voyage is automatically returned to from the target location.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, it is described to be returned automatically from the target location
Being back to the position of making a return voyage further includes later：
It is described to beat automatic cruising after nest ship loads onto fish hook or bait and put down fish hook or bait automatically to the target location；
The nest ship of beating obtains position of making a return voyage, and the position of making a return voyage is automatically returned to from the target location.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, the nest ship of beating load onto fish hook or bait
Afterwards in automatic cruising to the target location processes or the nest ship of beating automatically returns to the position of making a return voyage from the target location
Include during setting：
Nest ship current location is beaten if the nest ship of beating detects there is barrier in navigation route, described in basis to plan again
Route.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, it is described to record the target location and include：
It opens a position and records the target location after blowing, or
The target location is recorded after putting hook.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, the target location include at least two
Target point, then it is described to record the target location and include：It opens a position and records the target location of each target point after blowing respectively；
Or
Put the target location for recording each target point after hook respectively.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, the nest ship of beating includes at least two material
Storehouse, it is described to record the target location and include：
The target location of feed bin number and each target point that each target point is opened is recorded after opening a position.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, the nest ship of beating obtain the position packet that makes a return voyage
It includes：
The nest ship of beating receives the remote controller position that remote controler is sent, wherein the remote controller position passes through the remote controler
On locating module obtain；Or
The nest ship of beating receives the initial position that remote controler is sent, wherein the initial position is beaten by described on nest ship
Locating module obtains；Or
The initial position made nest ship and read storage, wherein the initial position passes through the positioning mould beaten on nest ship
Block obtains.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, the locating module includes big-dipper satellite
One or more of locating module, GPS satellite locating module, Galilean satellite locating module, base station location module.
Preferably, the control method of wireless remote console keyboard nest ship of the present invention, the nest ship of beating obtain the position packet that makes a return voyage
It includes：The nest ship of beating receives the remote controller position that remote controler is sent, wherein the remote controller position passes through on the remote controler
Locating module obtains；
Automatically returning to the position of making a return voyage from the target location described in then includes：From the target location auto-returned
To the corresponding bank of the remote controller position.
In addition, the present invention also provides a kind of wireless remote console keyboard nest boat systems, including nest ship and remote controler are beaten, it is described to play nest ship packet
Include processor and memory, wherein
The memory is for storing pre-set programs；
The processor executes the control method of above-mentioned wireless remote console keyboard nest ship according to the pre-set programs.
The control method and system for implementing a kind of wireless remote console keyboard nest ship of the present invention, have the advantages that：The party
Method includes：It makes nest ship and obtains initial position, record start position；It makes nest ship and is moved to target location, open feed bin and record mesh
Cursor position；Nest ship is made after feeding intake automatically returns to initial position from target location；It makes nest ship and hangs up after fish hook automatic cruising to mesh
Cursor position puts down fish hook automatically；It puts and makes nest ship after hook and automatically return to initial position from target location.By applying the present invention,
After once beating nest and determining initial position and target location, makes nest ship and can be automatically performed and make a return voyage, automatic pit making, put automatically automatically
The sequence of operations such as hook, it is no longer necessary to which rodman's whole process manually controls, and greatlys save the time of rodman, and improves and beat nest effect
Rate.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is a kind of flow chart of the control method first embodiment of wireless remote console keyboard nest ship of the present invention；
Fig. 2 is a kind of flow chart of the control method second embodiment of wireless remote console keyboard nest ship of the present invention；
Fig. 3 is a kind of flow chart of the control method 3rd embodiment of wireless remote console keyboard nest ship of the present invention.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific implementation mode of the present invention.
Fig. 1 is a kind of flow chart of the control method first embodiment of wireless remote console keyboard nest ship of the present invention.
Specifically, the control method of the wireless remote console keyboard nest ship of the present embodiment, includes the following steps：
S01, it makes nest ship and is moved to target location, record target location.
Specifically, after nest ship is made in startup, first have to obtain the initial position for making nest ship, and obtaining location information for the first time needs
Certain time is wanted, manually opened positioning function may be selected, or setting beats after nest ship starts and obtains location information automatically.Nest ship is made to open
The automatic initial position that obtains needs certain time after dynamic, and nest ship can be made by remote controller operation and moves pre-determined distance, example on bank
Such as 10 meters, and then initial position is obtained by locating module.Or nest ship is beaten when bank movement is default by remote control control
Between, such as 10 seconds, and then initial position is obtained by locating module.Initial position is coordinate information, will behind acquisition initial position
Initial position, which is stored in, to be beaten on nest ship and/or remote controler, is used for subsequent operation；If initial position needs to be stored in remote controler
On, then need dozen nest ship that initial position is wirelessly sent to remote controler.
Alternatively, record target location includes：It opens a position and records target location after blowing.
Alternatively, record target location includes：Target location is recorded after putting hook.
That is, for the first time record target location when, bait or fish hook can not be discharged, only will beat nest foot to target
Position.Certainly, also bait or fish hook can be discharged, and then record target location after travelling to target location, it can be according to need
Adjust embodiment.
Target location includes at least two target points in the control method of the wireless remote console keyboard nest ship of the present embodiment, then records
Target location includes：It opens a position and records the target location of each target point after blowing respectively, aiming spot, which is storable in, makes nest ship
And/or on remote controler, used for subsequent operation.Or
The target location for recording each target point after hook respectively is put, aiming spot, which is storable in, plays nest ship and/or remote control
On device, used for subsequent operation.
Preferably, the nest ship of beating of the present embodiment includes at least two feed bins, then recording target location includes：It is recorded after opening a position
The target location of feed bin number and each target point that each target point is opened, during subsequently feeding intake, in corresponding target point
Open corresponding feed bin.For example, each target point corresponds to a feed bin, corresponding feed bin is opened in each target point.Making nest ship
When first arrival first object position, makes nest ship and receive the instruction unpack No.1 storehouse that opens a position that remote controler is sent out, then record the first mesh
Cursor position corresponds to No.1 storehouse.When beating nest shipping agency and proceeding to the second target location, makes nest ship and receive the instruction that opens a position that remote controler is sent out
No. two storehouses are opened, then records the target location and corresponds to No. two storehouses；When beating nest shipping agency and proceeding to third target location, the reception of nest ship is played
What remote controler was sent out open a position No. three storehouses of instruction unpack, then record the target location and correspond to No. three storehouses；I.e. each target point corresponds to one
A feed bin opens corresponding feed bin in each target point, and records the mesh of feed bin and each target point that each target point is opened
Cursor position.In another example a target location corresponds to multiple feed bins, when making nest ship and reaching first object position for the first time, nest ship is made
Open a position instruction unpack No.1 storehouse and No. two storehouses that remote controler is sent out are received, then it is No.1 storehouse and two that it is corresponding, which to record the target location,
Number storehouse；Third target location corresponds to No. three storehouses.
S02, it plays the acquisition of nest ship and makes a return voyage position, position of making a return voyage is automatically returned to from target location.
Specifically, it includes a variety of to make nest ship to obtain the acquisition modes for position of making a return voyage：
Alternatively, it makes nest ship and receives the remote controller position that remote controler is sent, wherein remote controller position passes through on remote controler
Locating module obtain.
Alternatively, it makes nest ship and receives the initial position that remote controler is sent, wherein initial position is determined by beating on nest ship
Position module obtains, and initial position is wirelessly sent to remote controler after acquisition.
Alternatively, the initial position that nest ship reads storage is beaten, wherein initial position is by beating the locating module on nest ship
It obtains.
The above acquisition modes can adjust as needed, it is preferable that the preferential remote controller position sent using remote controler, if
Remote controller position has not been obtained, then uses initial position.Preferably, locating module includes but not limited to big-dipper satellite positioning mould
Block, GPS satellite locating module, Galilean satellite locating module, base station location module etc..
Alternatively, nest ship acquisition position of making a return voyage is beaten in the control method of the wireless remote console keyboard nest ship of the present embodiment includes：
It makes nest ship and receives the remote controller position that remote controler is sent, wherein remote controller position is obtained by the locating module on remote controler.Cause
Remote controler is held for user, and user be on the coast, so remote controler obtain the remote controller position of its own be also on the bank, can be with
Understand, the corresponding bank of remote controller position can be driven to by beating nest ship, i.e., automatically return to position of making a return voyage from target location and include：
The corresponding bank of remote controller position is automatically returned to from target location.Corresponding bank is interpreted as nearest apart from remote controller position
Bank, with facilitate rodman take ship or load cargo.
Target location is being obtained, and is being beaten after nest ship is back to bank, rodman can be selected again to playing den release bait
Material or fish hook, you can execute following step repeatedly：
S03, it beats automatic cruising after nest ship loads onto fish hook or bait and puts down fish hook or bait automatically to target location.
S04, it plays the acquisition of nest ship and makes a return voyage position, position of making a return voyage is automatically returned to from target location.
Preferably, it makes nest ship to load onto after fish hook or bait in automatic cruising to target location processes, or makes nest ship from target
Position includes during automatically returning to position of making a return voyage：If making nest ship detects there is barrier in navigation route, basis beats nest
Ship current location programme path again.
Fig. 2 is a kind of flow chart of the control method second embodiment of wireless remote console keyboard nest ship of the present invention.
Specifically, the present embodiment is illustrated using the initial position for playing the acquisition of nest ship as position of making a return voyage.In the present embodiment
Beat nest ship be wireless remote console keyboard nest ship, need use matching remote controler, wireless remote console keyboard nest ship further include power dress
Set, communication device, control device, feed bin etc., can refer to it is existing make nest ship, details are not described herein for the present embodiment.Further, this reality
It is only one to apply middle target location, that is, plays nest ship needs and beat nest a position and/or put hook.The wireless remote console keyboard nest ship
Control method includes the following steps：
S1, nest ship acquisition initial position, record start position are beaten.
Specifically, this dozen of nest ships include the locating module for obtaining location information, locating module includes but not limited to north
Struggle against satellite positioning module, GPS satellite locating module, Galilean satellite locating module, base station location module etc..Nest ship is made starting
Afterwards, it first has to obtain the initial position for making nest ship, and obtains location information for the first time and need certain time, it is manually opened fixed to may be selected
Bit function, or setting beat after nest ship starts and obtain location information automatically.It beats after nest ship starts and obtains initial position needs one automatically
It fixes time, nest ship can be made by remote controller operation and moves pre-determined distance, such as 10 meters on bank, and then is obtained by locating module
Initial position.Or nest ship is beaten by remote control control and moves preset time, such as 10 seconds on bank, and then pass through locating module
Obtain initial position.Initial position is coordinate information, is stored in initial position behind acquisition initial position and plays nest ship and/or remote control
On device, used for subsequent operation.It alternatively, also can module be sent to server by radio communication by initial position.
S2, it makes nest ship and is moved to target location, open feed bin and simultaneously record target location.
Specifically, rodman chooses after beating den, making nest ship using remote control control is moved to dozen den, i.e. target position
It sets.After being moved to target location, remote controler transmission opens a position instruction to nest ship is made, and makes nest ship and opens feed bin release bait.So beating
Nest ship is moved to target location：It makes nest ship and receives the control instruction that remote controler is sent, target is moved to according to control instruction
Position.Opening feed bin includes：It makes nest ship and receives the instruction that opens a position that remote controler is sent, according to the instruction unpack feed bin that opens a position.In target
Before location determination, it is required for rodman to be manually controlled either manually or by remote controler and makes nest ship.
It makes nest ship and opens a position and illustrate that den is beaten in the position for what rodman selected, make nest ship and this dozen of nests are obtained by locating module
The target location of point, target location is the coordinate information for beating den.It is appreciated that the location information that nest ship is made in acquisition can also opened
It is obtained before storehouse, also belongs to protection scope of the present invention.Locating module includes but not limited to that big-dipper satellite locating module, GPS are defended
Star locating module, Galilean satellite locating module, base station location module etc..Obtain target location after store it in beat nest ship or
In remote controler, in conjunction with the initial position obtained in step S1, it can be obtained between initial position and target location by preset algorithm
Route.Beaten on nest ship if initial position and target location are stored in, beat nest ship according to initial position and target location it
Between plan travelling route, be moved to target location from initial position, or initial position is moved to from target location.If initial position
It is stored on remote controler with target location, then wirelessly sends initial position and target location firstly the need of making nest ship
To remote controler, remote controler plans travelling route according to initial position and target location, and then sends out control instruction to nest ship is made, and beats
Nest ship is moved to target location according to control instruction from initial position, or is moved to initial position from target location.
Alternatively, floating material or barrier are frequently present of in some places of fishing, water, therefore in the first hand of rodman
Dynamic control is beaten during nest ship is moved to target location from initial position, and selection is often available path or optimal path,
Using the path as the follow-up mobile route for making nest ship.So making nest ship and being moved to target location and further include：Record beats nest
Ship is moved to the mobile route of target location from initial position.After obtaining the mobile route, stores it in and play nest ship or remote control
On device.It is beaten on nest ship if mobile route is stored in, makes nest ship and traveling is automatically controlled according to the mobile route, moved from initial position
It moves to target location, or initial position is moved to from target location.If mobile route storage is on a remote control, firstly the need of beating
Nest ship has wirelessly sent the mobile route to remote controler, and then sends out control instruction according to the mobile route and extremely beat nest
Ship, makes nest ship and is advanced along mobile route according to the control instruction, is moved to target location from initial position, or move from target location
It moves to initial position.
S3, nest ship is made after feeding intake automatically return to initial position from target location.
Specifically, through the above steps, having obtained and having stored the initial position and target location of making nest ship, then after feeding intake
It makes nest ship and automatically returns to initial position from target location.During auto-returned initial position, need to return along a fixed line
It returns, the present embodiment provides two lines：Mobile route or programme path, wherein mobile route is that record makes nest ship from start bit
Set the mobile route for being moved to target location.After obtaining the mobile route, stores it in and beat on nest ship or remote controler.If mobile
Route, which is stored in, to be beaten on nest ship, then makes nest ship and automatically control traveling according to the mobile route, start bit is moved to from target location
It sets.If mobile route stores on a remote control, remote controler sends out control instruction to nest ship is made according to the mobile route, makes nest ship
It is advanced along mobile route according to the control instruction, initial position is moved to from target location.
In addition, programme path is the route planned according to preset algorithm according to initial position and target location.
It is beaten on nest ship if initial position and target location are stored in, beats pre-stored map information, initial position and target location on nest ship
For two points on map, the two points are handled using preset algorithm, programme path is obtained in conjunction with information in map, then makes nest ship
It advances along programme path, initial position is moved to from target location.If initial position and target location are stored in remote controler
On, pre-stored map information on remote controler, initial position and target location are two points on map, this is handled using preset algorithm
Two points, obtain programme path, then remote controler sends out control instruction to nest ship is made according to programme path, makes nest ship and is referred to according to control
It enables from target location and is moved to initial position.Alternatively, to reduce the cost for beating nest ship and remote controler, programme path can be by taking
Business device carries out, it is desirable that beating has wireless communication module on nest ship and/or remote controler, initial position and target location are sent to clothes
It is engaged in device, pre-stored map information and corresponding algorithm on server handle the two points using preset algorithm and obtain programme path, and will
Programme path, which is sent to, beats nest ship and/or remote controler, makes nest ship and is moved to initial position from target location along programme path.Similarly
It can plan the route between remote controller position and target location, details are not described herein.
During making nest ship and automatically returning to initial position from target location, if making nest ship detects in navigation route have
Barrier, then according to beating nest ship current location programme path again.Alternatively, it makes nest ship and can bypass the barrier, return again
Onto programme path.Again the method for programme path can refer to above, and details are not described herein.Preferably, it includes being used for make nest ship
Detect the ultrasonic wave detector of barrier, or the image detector etc. for detecting barrier.
S4, it beats automatic cruising after nest ship hangs up fish hook and puts down fish hook automatically to target location.
Specifically, after fish hook is suspended on dozen nest ship by rodman on bank, nest ship will be made and be placed into water, plays the reception of nest ship
The cruise instruction that remote controler is sent, according to the automatic programme path in initial position and target location, and is moved automatically according to programme path
It moves to target location, the above-mentioned planning process of programme path parameter, details are not described herein.After beating nest ship arrival target location, automatically
Control fish hook release.Discharging fish hook instruction can be generated by playing nest ship oneself triggering, or receive dozen nest ship arrival by remote controler
It is sent automatically behind target location.Can be seen that rodman only from aforesaid operations process needs fish hook being suspended on dozen nest ship, beats
Nest ship can march to target location from bank automatically, and discharge fish hook automatically, and make a return voyage automatically, greatly reduce the behaviour of rodman
Make the time, and accurately fish hook can be placed on and beat den.
Alternatively, beating that nest ship hangs up after fish hook can be along mobile route or programme path automatic cruising to target location；It moves
Dynamic route or programme path can refer to above, and details are not described herein.
It is navigated by water automatically into target location processes from initial position making nest ship, if making nest ship detects in navigation route have
Barrier, then according to beating nest ship current location programme path again.Alternatively, it makes nest ship and can bypass the barrier, return again
Onto programme path.Again the method for programme path can refer to above, and details are not described herein.Preferably, it includes being used for make nest ship
Detect the ultrasonic wave detector of barrier, or the image detector etc. for detecting barrier.
S5, it puts and makes nest ship after hook and automatically return to initial position from target location.
Specifically, making nest ship after putting hook and automatically returning to initial position from target location and include：Put beat after hook nest ship according to
The automatic programme path in initial position and target location, and initial position is automatically returned to according to programme path；Or beat nest ship edge
The mobile route above stored is back to initial position.
During making nest ship and automatically returning to initial position from target location, if making nest ship detects in navigation route have
Barrier, then according to beating nest ship current location programme path again.Alternatively, it makes nest ship and can bypass the barrier, return again
Onto programme path.Again the method for programme path can refer to above, and details are not described herein.Preferably, it includes being used for make nest ship
Detect the ultrasonic wave detector of barrier, or the image detector for detecting barrier.
After beating nest for the first time and determining initial position and target location, initial position and target can be travelled to and fro between automatically by making nest ship
Between position.Bait throwing in may be repeated as selection, in whiffing process and put hook operation, so beaten after putting hook nest ship from
Target location further includes after automatically returning to initial position：
It makes nest ship to hang up after fish hook automatic cruising to target location and put down fish hook automatically, nest ship is made from target position after putting hook
It sets and automatically returns to initial position；Or
It beats automatic cruising after nest ship loads bait and to target location and automatically opens feed bin, nest ship is made after blowing from target position
It sets and automatically returns to initial position.
It is above-mentioned to beat nest and put hook process and execute repeatedly, until end of fishing, in addition to beating nest for the first time and needing manual control,
There is dozen nest ship to be automatically performed cruise and return afterwards, it is no longer necessary to manual control.After once fishing, if rodman wants to replace
Den is beaten, can be cancelled by remote controler and currently beat den, then be beaten nest again using method provided in this embodiment.
Fig. 3 is a kind of flow chart of the control method 3rd embodiment of wireless remote console keyboard nest ship of the present invention.
Specifically, with second embodiment, difference lies in be revised as the step S2 of second embodiment the step of the present embodiment
Rapid S21, make nest ship and be moved to target location, open feed bin and simultaneously record the feed bin of each target point opening and each target point
Target location.That is target location at least two makes nest ship and needs to beat nest at least two positions.When target location includes
At least two target points then need the target location for recording each target point respectively, it should be noted that with second embodiment phase
Together, nest bow is beaten to be moved in target location processes from initial position, need to manually control beat nest shipping agency into.Obtain target position
It postpones to store it in and beat in nest ship or remote controler, in conjunction with the initial position obtained in above-mentioned steps, if initial position and target
Position, which is stored in, to be beaten on nest ship, then makes nest ship and plan travelling route according to initial position and target location, moved from initial position
It moves to target location, or initial position is moved to from target location.If initial position and target location are stored on remote controler,
It then makes nest ship and wirelessly sends initial position and target location to remote controler, remote controler is according to initial position and target position
Planning travelling route is set, control instruction is sent out to nest ship is made, makes nest ship and target position is moved to from initial position according to control instruction
It sets, or initial position is moved to from target location.It alternatively, also can module be sent to clothes by radio communication by initial position
Business device.
Because have in the present embodiment it is multiple beat den, i.e., multiple target locations then need selection to beat the travelling route of nest ship,
Selection is exactly needed to beat den.Nest ship is made from initial position to target location, it can be there are many travelling route：
The first travelling route：It makes nest ship and is respectively moved to each target point from initial position, that is, make nest ship from start bit
It sets and sets out, march to one of them selected target point, initial position is automatically returned to after feeding intake or putting hook, then again into luggage
Then material or hook march to another target point further according to instruction selection.For example, making nest ship, only there are one feed bins, and fish
Person is selecting two to beat den, then after feed bin loads bait, the selection instruction sent according to remote controler selection is needed to beat den,
Then selected target location is marched to automatically.
Second of travelling route：It beats after nest ship is moved to one of target point from initial position, continuously moves to other
Target point.It includes that at least two feed bins make nest ship then when making nest ship and reaching first object position for the first time that the embodiment, which makes nest ship,
The instruction unpack No.1 storehouse that opens a position that remote controler is sent out is received, then records first object position and corresponds to No.1 storehouse.When beat nest shipping agency into
When to the second target location, makes nest ship and receive No. two storehouses of instruction unpack that open a position that remote controler is sent out, then record the target location pair
Answer No. two storehouses；When beating nest shipping agency and proceeding to third target location, makes nest ship and receive the instruction unpack three that opens a position that remote controler is sent out
Storehouse then records the target location and corresponds to No. three storehouses.I.e. each target point corresponds to a feed bin, and corresponding material is opened in each target point
Storehouse, and record the target location of feed bin and each target point that each target point is opened.It alternatively, also can a target
Position corresponds to multiple feed bins, for example, when making nest ship and reaching first object position for the first time, that beats that nest ship receives that remote controler sends out opens
Storehouse instruction unpack No.1 storehouse and No. two storehouses, then it is No.1 storehouse and No. two storehouses that it is corresponding, which to record the target location,；Third target location
Corresponding No. three storehouses.
When selecting each target point to correspond to a feed bin, nest ship is made after loading bait, marches to one of mesh automatically
Cursor position opens corresponding feed bin；Then other target locations are marched to again, open corresponding feed bin.It so feeds intake successively, directly
It launches to the bait for completing all target locations, then makes a return voyage automatically.It puts hook process and can refer to the process of feeding intake, it is no longer superfluous herein
It states.
When selecting a target location to correspond to multiple feed bins, nest ship is made after loading bait, marches to wherein one automatically
Corresponding multiple feed bins are opened in a target location；Then other target locations are marched to again, open corresponding feed bin；So according to
It is secondary to feed intake, until the bait for completing all target locations is launched, then make a return voyage automatically.It puts hook process and can refer to the process of feeding intake,
This is repeated no more.
The third travelling route：The combination of above two travelling route can be selected as needed.
In addition, the present invention also provides a kind of wireless remote console keyboard nest boat systems, including nest ship and remote controler are beaten, telecar includes place
Manage device and memory, wherein
Memory is for storing pre-set programs；
Processor executes the control method of above-mentioned wireless remote-vehicle according to pre-set programs.
By applying the present invention, after once beating nest and determining initial position and target location, making nest ship can be automatically performed
Automatically it makes a return voyage, automatic pit making, put the sequence of operations such as hook automatically, it is no longer necessary to which rodman's whole process manually controls, and greatlys save vertical
The time of angler, and improve and beat nest efficiency.
Above example only technical concepts and features to illustrate the invention, its object is to allow person skilled in the art
Scholar can understand present disclosure and implement accordingly, can not limit the scope of the invention.It is all to be wanted with right of the present invention
The equivalent changes and modifications that range is done are sought, the covering scope of the claims in the present invention should all be belonged to.
Claims (10)
1. a kind of control method of wireless remote console keyboard nest ship, which is characterized in that include the following steps：
It makes nest ship and is moved to target location, record the target location；
The nest ship of beating obtains position of making a return voyage, and the position of making a return voyage is automatically returned to from the target location.
2. the control method of wireless remote console keyboard nest ship according to claim 1, which is characterized in that described from the target position
It sets after automatically returning to the position of making a return voyage and further includes：
It is described to beat automatic cruising after nest ship loads onto fish hook or bait and put down fish hook or bait automatically to the target location；
The nest ship of beating obtains position of making a return voyage, and the position of making a return voyage is automatically returned to from the target location.
3. the control method of wireless remote console keyboard nest ship according to claim 2, which is characterized in that the nest ship of beating loads onto fish
After hook or bait in automatic cruising to the target location processes or the nest ship of beating automatically returns to institute from the target location
Stating position of making a return voyage includes in the process：
Nest ship current location, which is beaten, if the nest ship of beating detects there is barrier in navigation route, described in basis plans road again
Line.
4. the control method of wireless remote console keyboard nest ship according to claim 1, which is characterized in that described to record the target
Position includes：
It opens a position and records the target location after blowing, or
The target location is recorded after putting hook.
5. the control method of wireless remote console keyboard nest ship according to claim 1, which is characterized in that the target location includes
At least two target points, then it is described to record the target location and include：It opens a position and records each target point after blowing respectively
Target location；Or
Put the target location for recording each target point after hook respectively.
6. the control method of wireless remote console keyboard nest ship according to claim 5, which is characterized in that the nest ship of beating includes extremely
Few two feed bins, it is described to record the target location and include：
The target location of feed bin number and each target point that each target point is opened is recorded after opening a position.
7. the control method of wireless remote console keyboard nest ship according to claim 1, which is characterized in that it is described beat nest ship acquisition return
Boat position includes：
The nest ship of beating receives the remote controller position that remote controler is sent, wherein the remote controller position passes through on the remote controler
Locating module obtains；Or
The nest ship of beating receives the initial position that remote controler is sent, wherein the initial position passes through the positioning beaten on nest ship
Module obtains；Or
The initial position made nest ship and read storage, wherein the locating module that the initial position is beaten described on nest ship obtains
It takes.
8. the control method of wireless remote console keyboard nest ship according to claim 7, which is characterized in that the locating module includes
Big-dipper satellite locating module, GPS satellite locating module, Galilean satellite locating module, base station location mould are in the block a kind of or several
Kind.
9. the control method of wireless remote console keyboard nest ship according to claim 1, which is characterized in that it is described beat nest ship acquisition return
Boat position includes：It is described beat nest ship receive remote controler send remote controller position, wherein the remote controller position pass through it is described distant
The locating module controlled on device obtains；
Automatically returning to the position of making a return voyage from the target location described in then includes：Institute is automatically returned to from the target location
State the corresponding bank of remote controller position.
10. a kind of wireless remote console keyboard nest boat system, including beat nest ship and remote controler, which is characterized in that the nest ship of beating includes place
Manage device and memory, wherein
The memory is for storing pre-set programs；
The processor requires the control of 1-9 any one of them wireless remote console keyboard nest ships according to the pre-set programs perform claim
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810108478.4A CN108375978A (en) | 2018-02-02 | 2018-02-02 | A kind of control method and system of wireless remote console keyboard nest ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810108478.4A CN108375978A (en) | 2018-02-02 | 2018-02-02 | A kind of control method and system of wireless remote console keyboard nest ship |
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| CN108375978A true CN108375978A (en) | 2018-08-07 |
Family
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| CN201810108478.4A Pending CN108375978A (en) | 2018-02-02 | 2018-02-02 | A kind of control method and system of wireless remote console keyboard nest ship |
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