CN112269376A - Operation path planning and control method of movable aerator - Google Patents
Operation path planning and control method of movable aerator Download PDFInfo
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- CN112269376A CN112269376A CN202010961384.9A CN202010961384A CN112269376A CN 112269376 A CN112269376 A CN 112269376A CN 202010961384 A CN202010961384 A CN 202010961384A CN 112269376 A CN112269376 A CN 112269376A
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- dissolved oxygen
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/042—Introducing gases into the water, e.g. aerators, air pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/02—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F7/00—Aeration of stretches of water
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2201/00—Apparatus for treatment of water, waste water or sewage
- C02F2201/008—Mobile apparatus and plants, e.g. mounted on a vehicle
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2209/00—Controlling or monitoring parameters in water treatment
- C02F2209/02—Temperature
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2209/00—Controlling or monitoring parameters in water treatment
- C02F2209/06—Controlling or monitoring parameters in water treatment pH
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/10—Biological treatment of water, waste water, or sewage
Abstract
The invention discloses a method for planning and controlling an operation path of a movable aerator. The automatic moving type aeration mode of the aquaculture water area by using the information fusion of the low-precision GPS/BD navigation system and the orientation sensor is used for realizing the uniform aeration of the whole pond and the flow of the upper layer and the lower layer of the water body. The water quality condition of the pond is obtained in real time through the water quality detection of the water quality detection ship, the distribution condition of a gradient map of dissolved oxygen in the water area is analyzed and the point with low concentration of the dissolved oxygen is known according to the water quality condition of the pond, the oxygen increasing path of the mobile oxygen increasing machine is planned through a GIS system, the current course angle and the target navigation angle of the mobile oxygen increasing machine are determined by using a low-precision GPS/BD navigation system and a direction sensor together, and control information is provided for the mobile oxygen increasing machine to track the planned operation path. The movable aerator can improve the dissolved oxygen concentration of the whole pond and improve the overall water quality condition of the aquaculture water area, thereby improving the activity of aquatic organisms, improving the aquaculture yield of fishery and generating higher economic benefit.
Description
Technical Field
The invention relates to the field of path planning and automatic navigation path control, in particular to the path planning of a movable aerator and the elimination of influencing factors in the movement.
Background
Dissolved oxygen is an important factor in aquaculture, and the concentration of dissolved oxygen determines the vitality of aquatic organisms, so that the increase of the concentration of dissolved oxygen is important. In the process of river crab cultivation, if dissolved oxygen in the pond is changed, aquatic organisms are influenced. When the concentration of the dissolved oxygen in the culture water area is more than 5mg/L, the food intake of the river crabs reaches the optimal value; when the concentration of dissolved oxygen in the culture water area is reduced to 4mg/L, the food intake of the river crabs is reduced by 13 percent; when the concentration of dissolved oxygen in the culture water area is reduced to 2mg/L, the food intake of the river crabs is reduced by 54 percent, and the growth of the river crabs is stopped. Therefore, the river crab cultivation can bring great difference under the condition of different dissolved oxygen concentrations. Therefore, the concentration of dissolved oxygen at any time of a farm is not less than 3mg/L according to the fishery culture standard in China.
At present, the methods for improving the dissolved oxygen in China mainly comprise: chemical oxygenation, biological oxygenation and mechanical oxygenation. The specific method of chemical oxygenation comprises the following steps: chemical reagents such as calcium peroxide, hydrogen peroxide and the like are put into the culture water area, and the chemical reagents generate chemical action in water after meeting water to release oxygen so as to improve the content of dissolved oxygen in the water; the specific method for biological oxygenation comprises the following steps: planting some waterweeds in the culture water area or artificially increasing the planktonic biomass in the water area, absorbing carbon dioxide in the water area through the photosynthesis of the waterweeds and plankton, releasing oxygen and improving the content of dissolved oxygen in water; mechanical oxygenation is the most measure currently taken, and the specific method comprises the following steps: jet type aerator, impeller type aerator, waterwheel type aerator, and aeration type aerator. The function of promoting the dissolved oxygen in water is achieved through the function of a mechanical structure. The disadvantages of improving the dissolved oxygen of the fishpond by utilizing a chemical oxygen increasing mode are as follows: the method completely depends on manpower, the water quality of the culture water area is influenced due to high cost, the water is polluted, and the effect of the culture water area is reduced due to improper chemical reagent storage; the defect that dissolved oxygen in a fishpond is improved by utilizing a biological oxygen increasing mode is overcome, excessive nutrition in water can cause the excessive growth of aquatic weeds, influence the illuminance of the fishpond, and the aquatic weeds are rotten and float upwards to cause the deterioration of pond water, and can generate respiration in cloudy days and at night to consume air in water; the oxygen increasing machine has the advantages that the oxygen increasing machine needs to be regularly maintained by utilizing a mechanical oxygen increasing mode, the maintenance cost is high, most of the existing oxygen increasing machines are used for fixed-point oxygen increasing and limited in a certain area range, and the oxygen increasing machine belongs to single-point oxygen increasing.
Therefore, the method is of great significance in finding a convenient oxygenation mode without damaging water quality, reducing the burden of culturists, improving the pond culture rate, improving the economic efficiency and the like. The autonomous mobile aerator is an improvement on a waterwheel type aerator, the waterwheel type aerator can only carry out single-point aeration, and can not realize aeration in all ponds and in all directions, and the bilateral paddle wheel drives water in the pond to flow through the rotation of the paddle wheels, so that the aim of aeration is fulfilled.
Disclosure of Invention
The invention aims to improve the oxygenation effect of a mobile aerator and provides a method for mounting a damping plate at the bottom of the mobile aerator. The water resistance is increased, the speed of the movable aerator is reduced, and the aeration effect of the movable aerator is improved. The aeration of the whole pond and the whole water area of the movable aerator is realized by driving the paddle wheel through the motor, the water quality detection boat is used for carrying out water quality detection on a preset track, the water quality detection sensors are used for collecting the dissolved oxygen concentration, the PH value and the water temperature data of all the places of the pond, the distribution condition of a gradient diagram of the dissolved oxygen concentration of the pond is analyzed, the central point with low dissolved oxygen concentration in the gradient diagram is marked, the information is sent to the server, the server sends a signal to the movable aerator, and the movable aerator is arranged to carry out aeration. The position is determined by a low-precision GPS/BD system, and the moving direction of the autonomous mobile aerator is calculated and judged in a fusion manner through the three data of the water quality monitor, the azimuth sensor and the GPS/BD system, so that the aim of aeration is fulfilled.
The technical scheme of the invention is as follows: an operation path planning and control method of an autonomous mobile aerator is used for realizing all-around uniform aeration of a whole pond and eliminating the influence of external force.
1. The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
(a) the method comprises the following steps Firstly, performing water quality detection on a preset track by using a water quality detection ship, and acquiring the concentration of dissolved oxygen, the pH value and water temperature data of each part of a pond by using a water quality detection sensor;
(b) the method comprises the following steps Establishing a gradient graph of dissolved oxygen distribution in the pond according to the PH value of each point and the concentration of the dissolved oxygen obtained from the measurement result, analyzing to obtain some points needing the oxygenation of the mobile aerator, and marking the points on an electronic map of the pond to provide a series of operating points for the mobile aerator;
(c) the method comprises the following steps Planning an oxygen increasing path of the mobile oxygen increasing machine through a GIS system, determining a current course angle and a target course angle of the mobile oxygen increasing machine by using a low-precision GPS/BD navigation system and an orientation sensor together, and providing control information for the mobile oxygen increasing machine to track the planned operation path;
(d) the method comprises the following steps The motor of the movable aerator is used for driving the aerator paddle wheels on the two sides of the boat body to stir the water body to generate aeration effect, and meanwhile, the aerator is provided with advancing power to achieve the aim of aeration in the whole pond;
2. the detailed procedure for the step (a) is: in order to prevent the water quality detection ship and the mobile aerator from colliding with the bank of the pond, A (x) is arranged1,y1)、B(x2,y2)、C(x3,y3)、D(x4,y4) The quadrangle ADCD is the operation boundary of the water quality detecting ship and the movable aerator. The water quality detection ship carries out water quality condition measurement every 7-10 meters on a preset track, can know the distribution conditions of the concentration, the PH value and the water temperature of dissolved oxygen at each position of the pond in real time, and analyzes and obtains the dissolved oxygen gradient distribution diagram of the pond according to the known data conditions.
3. To pairThe detailed description in the step (b) is as follows: under the condition that the pond is free from other oxygen increasing sources, the dissolved oxygen distribution of the pond is in gradient distribution. In the aspect of the requirement of aquaculture on dissolved oxygen, in the river crab culture process, when the concentration of the dissolved oxygen in a culture water area is more than 5mg/L, the food intake of the river crabs reaches an optimal value; when the concentration of dissolved oxygen in the culture water area is reduced to 4mg/L, the food intake of the river crabs is reduced by 13 percent; when the concentration of dissolved oxygen in the culture water area is reduced to 2mg/L, the food intake of the river crabs is reduced by 54 percent, and the growth of the river crabs is stopped. Therefore, the river crab cultivation can bring great difference under the condition of different dissolved oxygen concentrations. Therefore, the concentration of dissolved oxygen at any time of a farm is not less than 3mg/L according to the fishery culture standard in China. Therefore, the location with the dissolved oxygen concentration lower than 3mg/L is obtained according to the distribution condition of the gradient map and marked on the electronic map, and the path M is determined0→M1→M2→M3→…→MnAnd determines path M0→M1Is a target path initiated by the mobile aerator;
4. the detailed procedure for the step (c) is: the accuracy of the detection of the GPS/BD navigation system employed this time is 2 m. The method provides a judgment basis and electronic map information for navigation information fusion of the mobile aerator, the azimuth sensor adopts a mode that the geomagnetic sensor determines a course angle, and the geomagnetic induction element is used for determining the current direction. Because the geomagnetic sensor is the key to the movement of the mobile aerator, attention must be paid to avoiding the interference of other objects in the surrounding environment when the geomagnetic sensor is installed. The accuracy of the geomagnetic data cannot be guaranteed along with the change of time, so that the culture personnel needs to carry out periodic calibration to prevent the influence of the geomagnetic data on the course angle along with the change of time;
5. the detailed procedure for said step (d) is: in the moving process of the mobile aerator, the motor is required to supply power to the paddle wheel, and the paddle wheel winds a given series of points to carry out all-around aeration in the pond. According to the mobile aerator, the aerator walks on the water surface, and only the environmental influence factor of the barrier is considered in the land path planning.
If the moving speed of the movable aerator is too fast, the problem of low aeration effect can occur. Therefore, the effective method for improving the oxygenation effect is to reduce the advancing speed of the aerator under the condition of not changing the rotating speed of the paddle wheel of the movable aerator. The method comprises the following steps: the bottom of the movable aerator is provided with a damping plate, so that the water resistance is increased. At portable oxygen-increasing machine in-process of traveling, the power that portable oxygen-increasing machine received this moment is respectively: wind resistance and water resistance. The force analysis for both forces is as follows: in the figure 4, theta refers to an included angle between the wind direction and the head part of the mobile aerator, namely a wind side angle, the angle between theta and 170 degrees is called downwind, the angle between theta and 80 degrees and theta and less than 100 degrees is called crosswind, the angle between 100 degrees and theta and less than 170 degrees is called partial downwind, and the mobile aerator is considered to be influenced by the downwind. The influence analysis calculation formula is as follows:
in the above formula, the parameter VaRefers to the relative wind speed on the day; saThe area of the windward side of the movable aerator is referred to; faRefers to wind power; h and D respectively represent the length and the freeboard height of the mobile aerator; fbRefers to the resistance in water; k is a resistance coefficient; v is the speed of the mobile oxygen increasing machine.
Carry out mechanical analysis with portable oxygen-increasing machine this moment, the resultant force of the power of horizontal direction this moment is:
therefore, the resistance on the advancing of the movable aerator in the Y direction is known, the resistance is increased in the advancing direction of the movable aerator, the running speed of the movable aerator can be reduced, and the aim of improving the aeration effect is fulfilled.
In the above formula, FxForce in the horizontal direction of the mobile aerator, FyThe vertical force of the mobile aerator, alpha is a wind power angle (usually 80-100 degrees), and beta is a water resistance angle.
The invention has the beneficial effects that: the invention is technically characterized in that the water quality detection sensor arranged on the water quality detection ship is used for determining the point needing oxygenation, the direction of travel of the mobile aerator is determined through the direction sensor, and the water resistance of the mobile aerator in water is increased through the action of the damping plate, so that the aim of improving oxygenation effect is fulfilled.
Drawings
FIG. 1 shows a schematic view of wheel mounting and a schematic view of sensor mounting locations;
FIG. 2 schematic diagram of damper plate installation of aerator
FIG. 3 is a schematic diagram of a GIS determining a place needing oxygen enrichment;
FIG. 4 is a diagram of wind and water resistance influence analysis.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
The invention combines a low-precision GPS/BD navigation system, an azimuth sensor and a water quality detection sensor to realize uniform oxygenation of the whole pond. The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
(a) the method comprises the following steps Firstly, a water quality detection experiment is carried out, and because other oxygenation sources do not exist in the pond, the distribution of dissolved oxygen in the pond is in gradient distribution, so that the distribution of the dissolved oxygen in the whole pond can be analyzed by only measuring partial points in the pond. The water quality detection ship measures the water quality every 7-10 meters on a preset track so as to obtain the dissolved oxygen, PH value and water temperature data of each point in the pond in real time. And analyzing according to the data obtained by the water quality detection sensor to obtain the distribution condition of the dissolved oxygen gradient of the pond. And setting different standard libraries for increasing the dissolved oxygen according to different weather conditions. For example, when the water temperature in the pond is higher, the food intake of the river crabs is reduced, and when the water temperature in the pond is lower, the food intake of the river crabs is also reduced, and the standard of the increase of the dissolved oxygen is adjusted according to the weather condition correspondingly. If the dissolved oxygen is increased to the same temperature as normal water, the food intake of the river crabs is reduced, and the growth of the river crabs is also affected, and at the moment, the increase of the concentration of the dissolved oxygen in the water is beneficial to the increase of the food intake of the river crabs.
(b) The method comprises the following steps Analyzing a series of places needing to be oxygenated by the mobile aerator according to the dissolved oxygen, the PH value and the water temperature data of each point, marking the places needing to be oxygenated with the lower dissolved oxygen concentration in the gradient map as shown in figure 3, providing a series of points for the mobile aerator, downloading through a serial port, and providing an oxygenation map for the mobile aerator;
(c) the method comprises the following steps And planning a target air route of the operation ship, a distance L between the target air route and the pond dike, a target point at the next position and position information of a turning point through data of the GIS system. When the operation ship runs to a relevant position, starting to turn or switch a corresponding navigation track line;
(d) the method comprises the following steps The movable aerator provides forward power for the movable aerator through the rotation of the paddle wheels on two sides, and pushes water in a water area with high dissolved oxygen concentration to a place with low dissolved oxygen concentration to achieve the aim of aeration;
(e) judging the distance OB between the current position of the mobile aerator and a target point. When the OB distance is larger, the movable aerator is far away from the target position. At the moment, a larger motor common mode current is given, and the mobile aerator selects high navigational speed to operate; when OB is smaller, the mobile aerator is closer to the target point. At the moment, a smaller motor common mode current is given, and the mobile aerator selects low navigational speed to operate.
(f) Because the mobile aerator travels on the water surface, the aeration effect of the mobile aerator can be reduced because the mobile aerator travels at an excessively high speed, so that the water resistance needs to be increased, the speed of the mobile aerator needs to be reduced, and the aeration effect is improved. The stress condition of the mobile aerator at the moment is shown in figure 4;
(g) the movable aerator makes a zigzag motion around some points with lower dissolved oxygen concentration in the pond, so that water with high dissolved oxygen concentration can be pushed to the place with low dissolved oxygen concentration, and the aim of aeration in the whole pond in all directions is fulfilled.
The position and the track course of the inflection point of the navigation track are determined by a low-precision GPS/BD system, the conditions of dissolved oxygen, PH value and water temperature of each point in the pond are determined by a water quality sensor, and the moving direction of the current mobile aerator is determined by an orientation sensor. The steering selection and control of the mobile aerator are realized through the data fusion calculation of the three sensors. The following aspects will be specifically explained: 1. navigation mode of movable aerator
The navigation mode of the mobile aerator is an internal spiral path which is sent from a certain preset starting point, moves in parallel along the embankment and is spaced at a certain distance. The path may be described by coordinates of a series of inflection points, with a flight path line between the inflection points. The mobile aerator determines an inflection point according to the detection condition of the water quality detector, and covers the place with poor water quality to the maximum extent by traversing the flight path line.
2. Mounting of paddle wheels
The automatic operation ship adopts a paddle wheel driving mode. The paddle wheels are distributed on two sides of the ship body, the horizontal positions are the same, and the specific installation positions are shown in the attached drawing 1. The balance of the movable aerator can be achieved by adopting 2 paddle wheels.
Mounting of sensors
3.1 installation of Low precision GPS
The automatic operation ship navigation system adopts low-precision navigation equipment with the precision of 2m, and can ensure that the positioning precision is within the range of 2m under the condition of lower cost. The GPS adopts a single antenna, is fixed above the stern control cabinet and is positioned on the axis of the automatic operation ship.
3.2 mounting of orientation sensor
The orientation sensor is used for obtaining the current movement direction and providing data for the calculation of the steering angle. Is arranged in the main control cabinet and is positioned on the central axis of the automatic operation ship, and the installation position is shown as the following figures 1-2.
It should be noted that the main component of the azimuth sensor is a geomagnetic sensing device, and the current direction is determined by a geomagnetic sensing element, so that the azimuth sensor is sensitive to the surrounding geomagnetic environment. Electromagnetic shielding and interference of surrounding space should be considered when the azimuth sensor is installed, and metal substances are required to be avoided from appearing around as much as possible in the installation process, so that data are prevented from being disordered, and results are prevented from being inaccurate.
In the moving process of the mobile aerator, the motor is required to supply power to the paddle wheel, and the paddle wheel winds a given series of points to carry out all-around aeration in the pond. According to the mobile aerator, the aerator walks on the water surface, and only the environmental influence factor of the barrier is considered in the land path planning.
If the moving speed of the movable aerator is too fast, the problem of low aeration effect can occur. Therefore, the effective method for improving the oxygenation effect is to reduce the advancing speed of the aerator under the condition of not changing the rotating speed of the paddle wheel of the movable aerator. The method comprises the following steps: the bottom of the movable aerator is provided with a damping plate, so that the water resistance is increased. At portable oxygen-increasing machine in-process of traveling, the power that portable oxygen-increasing machine received this moment is respectively: wind resistance and water resistance. The force analysis for both forces is as follows: in the figure 4, theta refers to an included angle between the wind direction and the head part of the mobile aerator, namely a wind side angle, the angle between theta and 170 degrees is called downwind, the angle between theta and 80 degrees and theta and less than 100 degrees is called crosswind, the angle between 100 degrees and theta and less than 170 degrees is called partial downwind, and the mobile aerator is considered to be influenced by the downwind. The influence analysis calculation formula is as follows:
in the above formula, the parameter VaRefers to the relative wind speed on the day; saThe area of the windward side of the movable aerator is referred to; faRefers to wind power; h and D respectively represent the length and the freeboard height of the mobile aerator; fbRefers to the resistance in water; k is a resistance coefficient; v is the speed of the mobile oxygen increasing machine.
Carry out mechanical analysis with portable oxygen-increasing machine this moment, the resultant force of the power of horizontal direction this moment is:
therefore, the resistance on the advancing of the movable aerator in the Y direction is known, the resistance is increased in the advancing direction of the movable aerator, the running speed of the movable aerator can be reduced, and the aim of improving the aeration effect is fulfilled.
In the above formula, FxForce in the horizontal direction of the mobile aerator, FyThe vertical force of the mobile aerator, alpha is a wind power angle (usually 80-100 degrees), and beta is a water resistance angle.
In conclusion, the autonomous mobile intelligent aerator based on the combination of the low-precision GPS, the water quality detection sensor and the orientation sensor is used for realizing automatic aeration of the crab pond. The navigation mode of the automatic aerator is that the water quality conditions of all points in the pond are judged according to the dissolved oxygen concentration measurement of the water quality detector on the pond water quality from a certain point, and a series of points which need aeration are formed. The invention determines the position of the inflection point of the navigation track and the track course through a low-precision GPS system, and determines the motion direction of the current automatic operation ship through an azimuth sensor.
According to the invention, the damping plate is additionally arranged at the bottom of the movable aerator, so that the water resistance is increased and the running speed of the movable aerator is reduced when the movable aerator moves forwards and turns. The movable aerator can improve the dissolved oxygen concentration of the whole pond and improve the overall water quality condition of the aquaculture water area, thereby improving the activity of aquatic organisms, improving the aquaculture yield and generating higher economic benefit.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A method for planning and controlling an operation path of an autonomous mobile aerator is characterized by mainly comprising the following steps:
(a) the method comprises the following steps Firstly, performing water quality detection on a preset track by using a water quality detection ship, and acquiring the concentration of dissolved oxygen, the pH value and water temperature data of each part of a pond by using a water quality detection sensor;
(b) the method comprises the following steps According to the PH value of each point and the concentration of dissolved oxygen obtained from the measurement result, a gradient graph of the dissolved oxygen distribution of the pond is established, a plurality of places needing the oxygen increasing of the mobile oxygen increasing machine are obtained through analysis, and the places are marked on an electronic map of the pond to provide a series of operation points for the mobile oxygen increasing machine;
(c) the method comprises the following steps Planning an oxygen increasing path of the mobile oxygen increasing machine through a GIS system, determining a current course angle and a target course angle of the mobile oxygen increasing machine by using a low-precision GPS/BD navigation system and an orientation sensor together, and providing control information for the mobile oxygen increasing machine to track the planned operation path;
(d) the method comprises the following steps The motor of the movable aerator is used for driving the aerator paddle wheels on the two sides of the boat body to stir the water body to generate aeration effect, and meanwhile, the aerator is provided with advancing power to achieve the aim of aeration in the whole pond.
2. The method for planning and controlling the operation path of the autonomous mobile aerator according to claim 1, wherein the detailed process of the step (a) comprises: in order to prevent the water quality detection ship and the mobile aerator from colliding with the bank of the pond, A (x) is arranged1,y1)、B(x2,y2)、C(x3,y3)、D(x4,y4) Four points, quadrilateral ADCD is the operation boundary of the water quality detecting ship and the mobile aerator, and the water quality detecting ship is arranged on each preset trackThe water quality condition is measured at intervals of 7-10 meters, the distribution conditions of the dissolved oxygen concentration, the PH value and the water temperature at each position of the pond can be known in real time, and the dissolved oxygen gradient distribution diagram of the pond is obtained through analysis according to the known data conditions.
3. The method for planning and controlling the operation path of the autonomous mobile aerator according to claim 1, wherein the detailed process of the step (b) comprises: under the condition that the pond is free of other oxygenation sources, the dissolved oxygen distribution of the pond is in gradient distribution, and in the aspect of the requirement of aquaculture on the dissolved oxygen, in the river crab culture process, when the concentration of the dissolved oxygen in a culture water area is more than 5mg/L, the food intake of river crabs reaches an optimal value; when the concentration of dissolved oxygen in the culture water area is reduced to 4mg/L, the food intake of the river crabs is reduced by 13 percent; when the concentration of dissolved oxygen in the culture water area is reduced to 2mg/L, the food intake of the river crabs is reduced by 54 percent, and the growth of the river crabs is stopped; therefore, under the condition of different dissolved oxygen concentrations, the river crab culture can bring great difference; obtaining the location with the dissolved oxygen concentration lower than 3mg/L according to the distribution condition of the gradient map, marking the location on an electronic map, and determining a path M0→M1→M2→M3→…→MnAnd determines path M0→M1Is the initial target path of the mobile aerator.
4. The method for planning and controlling the operation path of the autonomous mobile aerator according to claim 1, wherein the detailed process of the step (c) comprises: the precision of the GPS/BD navigation system adopted at this time is 2m, judgment basis and electronic map information are provided for navigation information fusion of the mobile aerator, the heading angle is determined by the geomagnetic sensor adopted by the azimuth sensor, the current direction is determined by the geomagnetic sensor, attention must be paid to avoiding interference of other objects in the surrounding environment when the geomagnetic sensor is installed, the accuracy of geomagnetic data cannot be guaranteed along with the change of time, and cultivation personnel are required to carry out periodic calibration.
5. The method for planning and controlling the operation path of the autonomous mobile aerator according to claim 1, wherein the detailed process of the step (d) comprises: in the moving process of the mobile aerator, the motor is required to supply power to the paddle wheel, the paddle wheel carries out all-around aeration in the pond around a given series of points, and the mobile aerator only needs to consider the environmental influence factor of an obstacle in the land path planning because the paddle wheel moves on the water surface; under the condition of not changing the rotating speed of the paddle wheel of the movable aerator, the method for reducing the advancing speed of the aerator is an effective method for improving the aeration effect, and the method is as follows: install the damping plate in the bottom of portable oxygen-increasing machine to this increases the water resistance, at portable oxygen-increasing machine in-process that traveles, the power that this moment portable oxygen-increasing machine received is respectively: wind resistance and water resistance, the force analysis of the two forces is as follows: theta refers to an included angle between the wind direction and the head of the mobile aerator, namely a wind side angle, the angle between theta and more than 170 degrees is called downwind, the angle between theta and more than 80 degrees and less than 100 degrees is called crosswind, the angle between theta and more than 100 degrees is called partial downwind, the influence of the mobile aerator on the downwind is considered, and the influence analysis and calculation formula is as follows:
in the above formula, the parameter VaRefers to the relative wind speed on the day; saThe area of the windward side of the movable aerator is referred to; faRefers to wind power; h and D respectively represent the length and the freeboard height of the mobile aerator; fbRefers to the resistance in water; k is a resistance coefficient; v is the speed of the mobile aerator;
carry out mechanical analysis with portable oxygen-increasing machine this moment, the resultant force of the power of horizontal direction this moment is:
therefore, the resistance of the movable aerator in the Y direction is obtained, and the resistance is increased in the advancing direction of the movable aerator, so that the running speed of the movable aerator is reduced, and the aim of improving the aeration effect is fulfilled;
in the above formula, FxForce in the horizontal direction of the mobile aerator, FyIs the vertical force of the movable aerator, alpha is a wind power angle, usually 80-100 degrees, and beta is a water resistance angle.
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