CN112674010A - Operation method for cultivating unmanned ship - Google Patents

Operation method for cultivating unmanned ship Download PDF

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Publication number
CN112674010A
CN112674010A CN202011497401.4A CN202011497401A CN112674010A CN 112674010 A CN112674010 A CN 112674010A CN 202011497401 A CN202011497401 A CN 202011497401A CN 112674010 A CN112674010 A CN 112674010A
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unmanned
path
point
operation area
boat
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CN112674010B (en
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吴飞
罗米
王烁
徐涛
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Wuxi Kalman Navigation Technology Co ltd
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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

Abstract

An operation method for cultivating an unmanned ship comprises the following steps: setting positioning points of an unmanned boat culture operation area, wherein the positioning points comprise operation area boundary points and operation path points, and positioning information of the positioning points is represented by longitude, latitude and elevation; setting an operation path of the unmanned culture boat according to the boundary point and the operation path point of the operation area; and starting the unmanned culture boat to start operation, and controlling the feeding speed of the feeding motor according to the length of the residual path, the weight of the residual bait and the real-time speed of the unmanned culture boat. The operation method for cultivating the unmanned ship has high automation degree, can save manpower and greatly improve the material scattering operation efficiency in aquaculture; the operation positioning point and the advancing path of the unmanned boat are accurate and controllable, so that the material scattering is more uniform, and the problem of pollution caused by nonuniform material scattering is solved.

Description

Operation method for cultivating unmanned ship
Technical Field
The invention relates to the field of unmanned ship control methods, in particular to an operation method for cultivating an unmanned ship.
Background
Aquaculture is the industry that grows fastest in the food field worldwide, and has become one of the important components of agriculture in China and the main growing points of the current rural economy. The aquaculture in China also has various problems, and the infrastructure of the aquaculture industry is crude and old, has low mechanization and automation degrees, and lacks of material conditions and comprehensive management scale necessary for modernized and high-level aquaculture production. The artificial breeding operation efficiency is low. Uneven material spreading is easy to cause pollution.
Disclosure of Invention
[ problem ] to
The technical problem of the invention is as follows: the existing aquaculture industry equipment has low mechanization and automation degree, adopts manual operation mostly, has low efficiency, and is easy to cause pollution due to uneven material scattering.
[ solution ]
The invention aims to provide an operation method for cultivating an unmanned ship, which solves the problems of low efficiency, uneven material scattering and the like of the existing aquaculture industry through a highly automated operation mode for cultivating the unmanned ship.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides an operation method of breeding unmanned ship, breeds unmanned ship and includes hull, automatic spreader and controller, and the hull afterbody has the propeller, and automatic spreader includes feed bin, material loading motor and material spreading motor, and the feed bin bottom has weighing sensor, and propeller, weighing sensor, material loading motor, material spreading motor are connected with the controller respectively, the operation method includes following step:
s1: setting positioning points of an operation area of the unmanned culture boat, wherein the positioning points comprise operation area boundary points and operation path points, and positioning information of the positioning points is represented by longitude, latitude and elevation;
s2: setting an operation path of the unmanned culture boat according to the boundary point and the operation path point of the operation area;
s3: and starting the unmanned culture boat to start operation, and controlling the feeding speed of the feeding motor according to the length of the residual path, the weight of the residual bait and the real-time speed of the unmanned culture boat.
In an embodiment of the present invention, an ultraviolet lamp is further fixed on an upper portion of an inner wall of the storage bin, and the ultraviolet lamp is connected to the controller, and the operation method further includes step S4: after the operation of the unmanned boat for cultivation is completed, the ultraviolet lamp is turned on to sterilize the storage bin.
In an embodiment of the present invention, the method for setting the anchor point in step S1 is one of the following methods:
the method comprises the following steps: dotting the operation area through the integrated mobile reference station to generate a locating point of the operation area;
the method 2 comprises the following steps: dotting the operation area through a remote control cultivation unmanned boat to generate a locating point of the operation area;
the method 3 comprises the following steps: generating an aerial photography map of the operation area through the unmanned aerial vehicle, and dotting the aerial photography map to generate a positioning point of the operation area;
the method 4 comprises the following steps: and dotting the boundary of the operation area through the integrated mobile reference station to generate the boundary point of the operation area, and dotting the unmanned remote culture boat in the operation area to generate the operation path point.
In one embodiment of the present invention, the step S2 includes: when the positioning point is a boundary point, respectively carrying out concave hull segmentation, convex hull detection and initial edge detection on the operation area according to the concave-convex property of the operation area, and forming a reciprocating operation path according to a preset material spreading radius; when the positioning point is an operation path point, the operation path is a plurality of line segments which are connected end to end in sequence by the positioning point.
In one embodiment of the present invention, the step S3 includes: calibrating a relation curve between the voltage duty ratio of the material scattering motor and the material scattering radius of the automatic material scattering machine, and controlling the voltage duty ratio of the material scattering motor according to the material scattering radius; when the bait is dry feed, controlling the feeding speed according to the length of the remaining path, the weight of the remaining bait and the real-time speed of the unmanned boat; when the bait is fresh and icy, the material scattering time duty ratio is controlled according to the relation between the driving path of the unmanned boat in unit time and the material scattering amount of the automatic material scattering machine.
In an embodiment of the present invention, the starting in step S3 is started by remote communication.
[ advantageous effects ]
The operation method for cultivating the unmanned ship has high automation degree, can save manpower and greatly improve the material scattering operation efficiency in aquaculture; the operation positioning point and the advancing path of the unmanned boat are accurate and controllable, so that the material scattering is more uniform, and the problem of pollution caused by uneven material scattering is solved.
Drawings
FIG. 1 is a front view of the unmanned farming boat of the present invention;
FIG. 2 is a top view of the unmanned boat for cultivation according to the present invention;
FIG. 3 is a schematic diagram of a job path planning according to the present invention;
FIG. 4 is a flow chart of the method of operation of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
The following description will further describe a specific method of the present invention by taking an unmanned crab breeding boat as an example, with reference to the accompanying drawings.
As shown in fig. 1, the main view of an unmanned ship for cultivation, wherein 1 is a storage bin responsible for storing bait, 2 is a weighing sensor for weighing the weight of the feed in the storage bin, 3 is an unmanned ship main controller (NCU), 4 is a propeller responsible for driving the unmanned ship to move, 5 is a stirring motor for driving a stirring mechanism in the storage bin to stir the feed, 6 is a stirring motor for distributing the feed, 7 is a feeding motor responsible for controlling the output speed of the feed, 8 is a ship body, 9 is a scattering disk, 10 is a scattering motor for controlling the scattering radius, 11 is a lighting lamp, 12 is an ultraviolet lamp responsible for disinfection of the storage bin, and 13 is a GNSS antenna. The outer side of the bin is provided with a mounting bracket for mounting a universal controller and a controller, the bottom of the bin is connected with a weighing mechanism, the upper part of the weighing mechanism is provided with three weighing sensors which are uniformly distributed on the circumference, the upper part of the bin is connected with a hatch cover through hinges, the front part of the bin is provided with a lighting lamp, and the closing part of the hatch cover is provided with a microswitch for detecting whether the hatch cover is closed or not; the lower part of the feed bin is provided with a feeding fan blade, a transmission shaft, a gear reduction mechanism and a direct current reduction motor, the transmission shaft is hollow, the middle part of the feeding fan blade is provided with a small hole for self cleaning inside the feed bin, and a feed opening at the lower part of the feed bin is connected with a feed opening of the metering and distributing mechanism through a screw; the inside branch material scraper blade that has of measurement feed mechanism, divide the material scraper blade to pass through plastic coupling joint with measurement feed mechanism, divide the material scraper blade by having brush gear motor drive, divide material scraper blade rotational speed to feed back to the controller by micro-gap switch, divide material scraper blade lower part to be screw conveyer mechanism, screw conveyer mechanism is by having brush gear motor drive, and the rotational speed is fed back to the controller by micro-gap switch, screw conveyer one end has chain drive structure, is connected with secondary feed mechanism, secondary feed mechanism passes through plastic coupling joint with the material scattering plate, the material scattering plate is by having brush motor drive, there is brush motor rotational speed to feed back to the controller by hall switch.
As shown in fig. 4, the workflow includes the following steps:
step 1: generating a work area location point
Positioning points can be generated for an operation area in three modes, the first mode is that the operation area is manually checked through a handheld integrated mobile reference station, APP is communicated with the handheld integrated mobile reference station through Bluetooth to obtain differential positioning information of the APP, a user can perform a point checking operation on an APP interface, and the mode is generally used for the operation area boundary point checking; secondly, dotting an operation area through an APP remote control unmanned ship, wherein the APP communicates with the unmanned ship through WIFI, the unmanned ship is controlled in real time, and differential positioning data are obtained through a plate-mounted GNSS module and a GNSS antenna 13 in an unmanned ship NCU module 3, and the mode is usually used for dotting an operation path; and the third mode is that an aerial photography map of the operation area is generated through the unmanned aerial vehicle, and then points can be printed on the aerial photography map, and the mode can be used for printing points on the boundary of the operation area and printing points on the operation path. The positioning information of the positioning points obtained in the above way is represented by longitude, latitude and elevation, and the boundary points of the working area are recorded as
Figure BDA0002842589000000031
The operation path point is recorded as
Figure BDA0002842589000000032
The method comprises the following steps: job path planning
As shown in fig. 3, where the symbol "X" represents a boundary point, a solid line of a polygon outline represents a work boundary, a dashed line inside a polygon represents a work path, a solid line inside a polygon represents a return path, and a solid circle represents a work start point. The method can generate an operation path according to the properties of the positioning points, and when the positioning points are boundary points of an operation area, if convex hull detection is set, a first point in one boundary point is selected as a reference point
Figure RE-GDA0002959050660000033
Then the boundary points are
Figure RE-GDA0002959050660000034
Conversion to northeast coordinates
Figure RE-GDA0002959050660000035
Then will be
Figure RE-GDA0002959050660000036
Inputting the data into a convex hull detection function to finally obtain convex hull boundary points
Figure RE-GDA0002959050660000037
The detailed steps are as follows:
Figure BDA0002842589000000038
while i＜N，do
Figure BDA0002842589000000041
Figure BDA0002842589000000042
Figure BDA0002842589000000043
i＝i+1，done
Figure BDA0002842589000000044
wherein the function
Figure BDA0002842589000000045
Is shown in
Figure BDA0002842589000000046
As a reference point, solving
Figure BDA0002842589000000047
The northeast coordinates of (a); cross (v)ab，vbc) The function represents a cross-product of the vector,
Figure BDA0002842589000000048
represent a point of will
Figure BDA0002842589000000049
Set of slave points
Figure BDA00028425890000000410
The last remaining points are convex hull boundary points.
Obtaining convex hull boundary points
Figure RE-GDA00029590506600000411
Then, the reciprocating path can be determined according to the spreading radius r, and since the connecting line between any two points in the convex hull does not exceed the boundary, the return path for ending the work can be set as a line segment from the work end point to the work start point, as shown in fig. 3 (a).
If the packet segmentation is set, first, initial edge detection is performed, and reciprocating paths are established respectively with each boundary line as a baseline, and if all the reciprocating paths only intersect with the boundary at two points, the current reciprocating path is directly taken as a working path, as shown in fig. 3 (b). If the boundary line of the previous step is not met, the concavity and the convexity can be judged line by line, if the boundary line is a concave hull, the line segment is extended to be intersected with the other boundary to form two polygons, and the steps are repeated on the two generated polygons until all the generated polygons are convex hulls. And establishing a graph G according to the communication relation among the convex polygons, and generating a work path and a return path by using a graph traversal algorithm, as shown in FIG. 3 (c).
If the positioning point is an operation path point, the operation path is a plurality of line segments which are connected end to end in sequence by the positioning point, and the return-ending path returns to the original path in the opposite direction of the operation path.
And step 3: remote start and material spreading operation
Remote start: NCU module 3 in the unmanned ship is through 4G and backstage real-time interaction, and the user can use APP to send the start instruction to unmanned ship through the backstage, and after unmanned ship received the start instruction, automatic disconnection and fill the connection between the electric pile, then begin the operation according to the operation orbit that generates in operation path planning module.
Material spreading control: the stirring motor 5 and the material stirring motor 6 are responsible for uniformly conveying the feed in the feed bin to the feeding device, and a fixed voltage duty ratio of the stirring motor and a fixed voltage duty ratio of the material stirring motor are usually used in the operation process; the material spreading motor 10 controls the material spreading radius in operation, and the voltage duty ratio D of the material spreading motor can be obtained through calibrationsCurve D for the relationship with the spreading radius rsF (r), and then controlling the voltage duty ratio D of the spreading motor according to the spreading radius f set by a users(ii) a The feeding motor 7 controls the feeding speed v of the bait during operationlWhen the bait is dry feed, the voltage space ratio D of the feeding motor can be obtained by calibrationlAnd a feeding speed vlCurve D of the relationship betweenl＝f(vl) In the actual operation process, the length L of the residual path can be obtained by subtracting the path which has already been taken from the planned path in advanceresThe weight W of the residual bait can be obtained according to the weighing sensor 2resThe real-time speed v of the unmanned ship can be calculated according to the plate-mounted GNSS module in the NCU module 3 and the GPS antenna 13nowThe expected feeding speed v can be obtained by combining the threeeThereby forming a closed loop control, as detailed below:
Dl＝f(vl)
Figure BDA0002842589000000051
De＝f(ve)
wherein DeIs the desired duty cycle of the charge motor.
When the baits are fresh baits, because a relation curve between the voltage duty ratio of a feeding motor and the feeding speed is difficult to calibrate, a material spreading control method for controlling the duty ratio of the spreading time according to the relation between a running path and the spreading amount in unit time is used, firstly, parameters such as a feeding mark flag, a starting feeding time start _ time, a starting feeding residual path start _ dis, a starting feeding residual bait weight start _ weight, a loading period residual path last _ dis, a loading period residual bait weight last _ weight and the like are initialized, the duty ratio duty _ cycle of the feeding time in a feeding period is correspondingly improved or reduced by calculating and comparing the consumption speed of the baits and the running speed of the path, and when the duty _ cycle is more than or less than a certain threshold value, the duty ratio D of the feeding motor is correspondingly improved or reducedeThe detailed description is as follows:
St.flag＝False，start_time＝None，start_dis＝None，
start_weight＝None，last_dis＝None，last_weight＝None
if flag＝＝Fasle
start_time＝Time(now)，flag＝True，
start_dis＝Dis(now)，start_weight＝Weight(now)
if last_dis＝＝Fasle
duty_cycle＝0.5
Figure BDA0002842589000000052
Figure BDA0002842589000000061
if ratio_dis＞ratio_weight，duty_cycle-＝d
else duty_cycle+＝d，fi
if duty_cycle＞0.9，duty_cycle＝0.5，De+＝l
else if duty_cycle≤0.1，duty_cycle＝0.5，De-＝l fi fi
else
if Time(now)-start_time≤Tcycle
Dl＝De
else Dl＝0.05，flag＝False，
last_dis＝start_dis，last_weight＝start_weight，fi fi
wherein, time (now) is to obtain the current time, Dis (now) is to obtain the current remaining path, weight (now) is to obtain the current remaining bait weight, d and l are respectively the preset duty ratio step length of the feeding time and the duty ratio step length of the feeding motor, and TcycleIs the preset length of the feeding period.
And 4, step 4: cleaning: on the way of filling electric pile is returned to spilling the material end, use the suction pump to wash feed bin and hull, use purple light lamp 12 to shine 1 key position in feed bin when charging, prevent to spill the pollution of material device.
The scope of the present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements and the like which can be made by those skilled in the art within the spirit and principle of the inventive concept should be included in the scope of the present invention.

Claims (6)

1. The utility model provides a method for operation of breeding unmanned ship, breeds unmanned ship and includes hull, automatic spreader and controller, and the hull afterbody has the propeller, and automatic spreader includes feed bin, material loading motor and material spreading motor, and the feed bin bottom has weighing sensor, and propeller, weighing sensor, material loading motor, material spreading motor link to each other with the controller respectively, its characterized in that, the method for operation includes following step:
s1: setting positioning points of an unmanned boat culture operation area, wherein the positioning points comprise operation area boundary points and operation path points, and positioning information of the positioning points is represented by longitude, latitude and elevation;
s2: setting an operation path of the unmanned culture boat according to the boundary point and the operation path point of the operation area;
s3: and starting the unmanned culture boat to start operation, and controlling the feeding speed of the feeding motor according to the length of the residual path, the weight of the residual bait and the real-time speed of the unmanned culture boat.
2. The operation method according to claim 1, wherein an ultraviolet lamp is further fixed on an upper portion of an inner wall of the storage bin, and the ultraviolet lamp is connected to the controller, and the operation method further comprises step S4: after the operation of the unmanned boat for cultivation is completed, the ultraviolet lamp is turned on to sterilize the storage bin.
3. The method according to claim 1 or 2, wherein the method for setting the anchor point in step S1 is one of the following methods:
the method comprises the following steps: dotting the operation area through the integrated mobile reference station to generate a locating point of the operation area;
the method 2 comprises the following steps: dotting the operation area through a remote control cultivation unmanned boat to generate a locating point of the operation area;
the method 3 comprises the following steps: generating an aerial photography map of the operation area through the unmanned aerial vehicle, and dotting the aerial photography map to generate positioning points of the operation area;
the method 4 comprises the following steps: and dotting the boundary of the operation area through the integrated mobile reference station to generate the boundary point of the operation area, and dotting the unmanned remote culture boat in the operation area to generate the operation path point.
4. The working method according to claim 1 or 2, wherein the step S2 includes: when the positioning point is a boundary point, respectively carrying out concave hull segmentation, convex hull detection and initial edge detection on the operation area according to the concave-convex property of the operation area, and forming a reciprocating operation path according to a preset material spreading radius; when the positioning point is an operation path point, the operation path is a plurality of line segments which are connected end to end in sequence by the positioning point.
5. The working method according to claim 1 or 2, wherein the step S3 includes: calibrating a relation curve between the voltage duty ratio of the material scattering motor and the material scattering radius of the automatic material scattering machine, and controlling the voltage duty ratio of the material scattering motor according to the material scattering radius; when the bait is dry feed, controlling the feeding speed according to the length of the remaining path, the weight of the remaining bait and the real-time speed of the unmanned boat; when the bait is fresh and icy, the material scattering time duty ratio is controlled according to the relation between the running path of the unmanned boat in unit time and the material scattering amount of the automatic material scattering machine.
6. The method according to claim 1 or 2, wherein the starting in step S3 is started by means of remote communication.
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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN113589808A (en) * 2021-07-23 2021-11-02 浙江工业大学 Global path planning method based on island bridge model
CN115344054A (en) * 2022-10-18 2022-11-15 常州慧而达智能装备有限公司 Automatic bait casting boat bait casting method based on GPS/Beidou and auger corner feedback

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