CN115462338A - Aquaculture precision feeding boat for complex water areas and control method thereof - Google Patents
Aquaculture precision feeding boat for complex water areas and control method thereof Download PDFInfo
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- CN115462338A CN115462338A CN202211120107.0A CN202211120107A CN115462338A CN 115462338 A CN115462338 A CN 115462338A CN 202211120107 A CN202211120107 A CN 202211120107A CN 115462338 A CN115462338 A CN 115462338A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000009360 aquaculture Methods 0.000 title claims abstract description 32
- 244000144974 aquaculture Species 0.000 title claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 23
- 238000005266 casting Methods 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 17
- 230000009467 reduction Effects 0.000 claims description 15
- 239000003643 water by type Substances 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000007664 blowing Methods 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 238000005286 illumination Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 4
- 238000005498 polishing Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 8
- 241000251468 Actinopterygii Species 0.000 description 6
- 229910000851 Alloy steel Inorganic materials 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000007773 negative electrode material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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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
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
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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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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Fluid Mechanics (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The application relates to a precision bait casting boat for aquaculture in complex water areas and a control method thereof, belonging to the field of aquaculture. The system comprises a hull structure, a shell structure, a GPS positioning system, a transmission mechanism, a vibration blanking and throwing mechanism, a solar energy supply system and a remote control system. Compared with the prior art, the beneficial effects of this application are: accurate bait feeding, high feeding efficiency and strong adaptability. The application is a novel aquaculture feeding technology with market and application prospects.
Description
Technical Field
The application relates to a aquaculture precision bait casting boat for a complex water area and a control method thereof, belonging to the field of aquaculture.
Background
The aquatic culture is artificially controlled to breed and cultivate so as to harvest aquatic animals and plants, and the aquatic culture has become a main force for promoting the rapid and stable development of fishery in China. In 2019, the total output of aquaculture in China exceeds 5000 ten thousand tons, which accounts for more than 60% of the total amount of aquaculture in the world (Wangying, forest Bin, chenlianfei, and the like, the development status and application suggestion of aquaculture equipment in Guangdong province [ J ] modern agricultural equipment, 2021,42 (04): 86-89).
At present, the most common method in China is to manually feed the feed, the method mainly adopts a spade, a shovel, a basin and other manual tools to carry out the range type throwing of the feed, and the amount of the feed required by each feeding of the cultured fishes is judged only by naked eyes according to the experience of farmers. In general, it is difficult to accurately grasp the optimum amount of feed for aquaculture by manually throwing the feed using the aquaculture experience of the farmer. In addition, the bait feeding is time-consuming and labor-consuming, and the bait feeding is uneven; the existing bait feeding machine can not realize the requirements of accurate, timing, quantitative and intelligent feeding. Therefore, a bait casting boat which is accurate in bait casting, high in casting efficiency and strong in adaptability is needed.
Disclosure of Invention
The application aims to provide an aquaculture precision bait casting boat for a complex water area and a control method thereof, so as to solve a plurality of problems in the traditional aquaculture feeding. The precision bait casting boat for aquaculture in the complex water areas and the control method thereof have the advantages of accurate bait casting, high casting efficiency, strong adaptability and the like.
In order to achieve the above purpose, the present application provides the following technical solutions:
a precision bait casting boat for aquaculture in complex waters comprises a boat body structure, a shell structure, a GPS positioning system, a transmission mechanism, a vibration blanking and throwing mechanism, a solar energy supply system and a remote control system;
the ship body structure comprises a deck, a cabin and a work indicator light; a deck is arranged above the cabin, and a working indicator lamp is arranged at the rear part of the deck;
the shell structure comprises a handle, a feed box cover, an upper feed box, a feed box connecting piece, a lower feed box, a feed box supporting plate and a rib plate; the deck is arranged on two sides of the ship body structure, a feed box supporting plate is arranged on the deck, the lower feed box is arranged on the feed box supporting plate, and the left side and the right side of the lower feed box are respectively fixed by three rib plates; an upper bait box is arranged above the lower bait box, and the lower bait box and the upper bait box are fixedly connected by the bait box connecting piece; the handles are arranged on the left side and the right side of the material box cover; the feed box cover is arranged at the top of the upper bait box;
the GPS positioning system comprises a GPS positioning device which is arranged at the front part of one side of the bait casting boat;
the transmission mechanism comprises a driving motor, a motor supporting frame, a transmission shaft, a planetary reducer, a connecting flange, a propeller shaft and a propeller; the motor support frame is provided with a driving motor, the generated power is transmitted to the planetary reducer through the transmission shaft, and the power is output to the propeller shaft after being reduced by the planetary reducer, and the propeller shaft drives the propeller to move; the propeller shaft is fixedly connected with the planetary speed reducer through the connecting flange; the motor support frame and the planetary reducer are arranged in the cabin;
the solar energy supply system comprises a photosensitive sensor, a solar panel fixing flange, a solar panel driving motor, a solar panel supporting shaft, a solar panel supporting rod fixing flange and a solar panel supporting rod shell; the solar panel supporting rod is arranged in a hole of the solar panel supporting rod shell and is fixedly connected with the solar panel supporting rod through a flange; the solar panel supporting shaft is connected with the solar panel supporting rod, the solar panel driving motor is installed on the solar panel supporting shaft, and the solar panel driving motor and the solar panel are fixed through a solar panel fixing flange; the photosensitive sensor is arranged at the top behind the solar panel, and the solar panel supporting shell is arranged on decks on two sides of the bait casting boat so as to form a solar energy supply system;
the vibration blanking and throwing mechanism comprises a blanking funnel, a vibration blanking box supporting mechanism, a blanking collecting funnel, a collecting funnel middle supporting frame, a collecting funnel bottom supporting frame, a storage battery, a throwing port, a pneumatic conveying pipeline, a vibration blanking system supporting frame, a pneumatic conveying pipeline supporting frame, an air blower support, an air blowing device, a vibration blanking system supporting plate, a vibration blanking device damping system, a vibration motor, a rear vibration plate, a front vibration plate and a blanking butterfly valve;
the blanking hopper is arranged in the upper bait box, and a blanking butterfly valve is arranged at a blanking port at the bottom of the blanking hopper; the bottom of the lower bait box is provided with a storage battery, the bottom of the lower bait box is provided with an air blower bracket and a pneumatic conveying pipeline supporting frame, and the air blower device is arranged on the air blower bracket; the pneumatic conveying pipeline is arranged at the airflow outlet, the middle part of the pneumatic conveying pipeline is supported by a pneumatic conveying pipeline supporting frame, and the tail part of the pneumatic conveying pipeline is provided with a polishing port; a blanking collecting funnel is arranged at an opening of the pneumatic conveying pipeline and is supported by a collecting funnel middle supporting frame and a collecting funnel bottom supporting frame; a vibration blanking system supporting frame is arranged at the bottom of the baiting box, a vibration blanking system supporting plate is arranged at the top of the vibration blanking system supporting frame, a vibration blanking device vibration damping system is arranged on the vibration blanking system supporting plate, and a vibration motor is arranged on the vibration blanking device vibration damping system; the vibrating mechanism is characterized in that a rear vibrating plate and a front vibrating plate are arranged in front of and behind the vibrating motor respectively, a vibrating blanking box supporting mechanism is arranged on the rear vibrating plate and the front vibrating plate, and the vibrating blanking system supporting mechanism is arranged below the vibrating blanking box.
Preferably, the driving motor in the transmission mechanism is powered by the storage battery to output torque, the output torque is transmitted to the planetary reducer through the transmission shaft, and is transmitted to the propeller shaft after being reduced by the planetary reducer, so that the propeller is driven to move, and driving power is provided for the bait casting boat.
Preferably, the solar panel driving motor and the solar panel are fixed through a solar panel fixing flange, and the photosensitive sensor is mounted at the top of the rear surface of the solar panel; the photosensitive sensor is used for measuring the light intensity and determining the angle with the maximum illumination intensity, and the solar panel driving motor drives the solar panel to enable the solar panel to be perpendicular to the direction with the maximum illumination intensity.
Preferably, the blanking butterfly valve can control the blanking speed; the bait falls into the vibration blanking box through a blanking butterfly valve; the vibrating motor drives the rear vibrating plate and the front vibrating plate to vibrate, so that bait falls into the blanking collecting hopper from the vibrating blanking box; the air blowing device generates air flow to drive the bait in the pneumatic conveying pipeline to move, so that the bait is thrown out through the throwing port and falls into a target feeding water area.
Preferably, the vibration reduction system of the vibration blanking device is air pressure vibration reduction, so as to reduce the vibration of the feeding boat in the working process.
Preferably, the remote control system comprises a display screen, a remote controller body, an emergency stop button, a wind speed reduction button, a wind power increase button, a deceleration bait casting button, an acceleration running button, a deceleration running button and an autonomous running control button; the display screen can display the working state of the bait casting boat; the emergency stop button can stop the ship body in an emergency; the wind speed reducing button and the wind power increasing button are used for controlling the size of wind power generated by the blowing device so as to control the bait throwing range; the deceleration bait casting button and the acceleration bait casting button are used for controlling the falling amount of the baits at the blanking butterfly valve, so that the bait casting amount is controlled; the acceleration running button and the deceleration running button control the running speed of the bait casting boat, so that the bait casting density is controlled; the autonomous driving control button is used for controlling the driving state of the bait casting boat.
Preferably, the hull material is an aluminum alloy. The aluminum alloy has lower density and strong corrosion resistance. In addition, the strength of the alloy steel is close to that of high alloy steel, the rigidity of the alloy steel exceeds that of steel, and the alloy steel has good casting performance, good plastic processing performance, good electric conduction performance and heat conduction performance, and good corrosion resistance and weldability.
Preferably, the energy source of the energy supply system of the feeding boat is a ternary lithium battery. The ternary lithium battery adopts graphite which is higher in stability and cheaper than other electrodes as a negative electrode material, so that the ternary lithium battery has the advantage of price, is relatively higher in economic benefit, is more suitable for aquaculture farmers paying attention to cost, and is beneficial to creating income for the aquaculture farmers. The energy and power provided by the ternary lithium battery in the batteries with the same volume and weight are larger, the output voltage is relatively stable, and the stable output of the power can be ensured.
The application also provides a control method of the aquaculture precise feeding boat for the complex water areas, which comprises a feeding boat positioning method and a feeding boat driving state control method.
Preferably, the bait casting boat positioning method comprises positioning the bait casting boat by using a GPS positioning device, and calculating the coordinates of a GPS satellite and the precise coordinates of a reference station to obtain the actual distance S between the GPS satellite and the reference station at any time j (ii) a Pseudoranges resolved using GPS receivers at base stations
Obtain pseudorange correction data of
Thereby obtaining the rate of change
The GPS receiver receiving transmissions from a reference station
And d ρ j And correcting the pseudo range:
in the formula:
resolving the corrected pseudo range value;
as an unprocessed value.
Preferably, the method for controlling the driving state of the feeding boat comprises controlling the driving state of the feeding boat by using a control model
In the formula: alpha is a nonlinear coefficient; theta is the course angle of the bait casting boat; t is a time constant; j is the control gain of the feeding boat; and delta is an uncertain interference term.
Preferably, the Gaussian-gram projection is selected, and the projection method has the advantages that when small-area mapping is carried out, the influence of the curvature of the earth on calculation is not considered, points on the ground are directly projected onto a horizontal plane along a plumb line, the positions of the projection points are directly represented by the points under the rectangular coordinate system, and the projection calculation process can be simplified.
Preferably, a 'return' shaped path planning method is selected, so that more uniform and accurate bait feeding can be realized, and uniform bait feeding without repetition and omission can be ensured in a to-be-fed area in the driving process.
Preferably, a static full-coverage area planning path method is selected, and the autonomous driving path of the bait casting ship is preset in an algorithm of the programmed control board card.
Preferably, an ultrasonic sensor module and a visual navigation module are arranged to measure and calculate the obstacle information in the operating environment in real time, and the static and dynamic obstacles in the water area can be reasonably and skillfully avoided on the basis of planning by a static full-coverage area planning path method; the longitude and latitude information and the shape and size of the obstacle in the water area are measured by using a GPS, the obstacle is marked when the path is planned in the water area, and then the path is planned for the feeding area from the feeding area as a whole, so that the obstacle avoiding effect is improved.
Preferably, the system also comprises a control algorithm for self-adaptive feeding of the navigational speed during feeding; and comparing the instantaneous speed with the speed for realizing the preset bait casting path, transmitting the signal to a speed control system, and sending an instruction for adjusting the feeding speed by the speed control system according to the feedback information to finish intelligent control. Wherein, the speed of the ship and the feeding speed are in a proportional relation, and when the speed of the ship is reduced due to external reasons, the bait throwing speed is reduced; conversely, the speed of the ship is increased by the external influence, and the bait throwing speed is also increased proportionally.
Compared with the prior art, the aquatic product culture precision feeding boat for the complex water areas and the control method thereof have the following advantages:
1. the bait casting boat is designed into a vibration blanking pneumatic conveying throwing mode, the propeller is used as a driving device to drive, the propulsion efficiency of the propeller, the propulsion coefficient and the drive efficiency of the propeller are high, and the propulsion efficiency of the propeller of the automatic fish bait casting boat can be improved to a great extent. Compared with other propelling devices, the propelling device with the propeller as the propeller under the condition of providing the same propelling force is lighter in weight, so that the load of the whole bait casting operation boat can be effectively reduced, the boat body can bear more baits, and the bait filling frequency is reduced.
2. The double-propeller structure is adopted as a driving mode, and stable steering operation can be realized by utilizing the speed difference of the driving motors on the two sides; the propelling efficiency of the propeller can be improved, and the energy loss is reduced; the bait casting operation boat has the advantages that the forward and backward functions of the bait casting operation boat can be realized, and the boat body can move more freely; can ensure the stability of the bait casting operation boat during cruising and avoid the occurrence of side turning phenomenon.
3. The boat body structure is a catamaran, and compared with the common monohull boat, the boat body structure is simpler and convenient to process, and the manufacturing cost of the bait casting boat is greatly reduced; secondly, the hull of the application is more wave-tolerant, has a particular hydrodynamic and hydrodynamic structure, and when baiting is performed in waters with waves, the catamaran hull experiences much less disturbance from the water waves than the monohull under the same water conditions, because and the catamaran hull has a longer roll period than the monohull, i.e. the time taken to roll around a complete roll is shorter than for the monohull when the catamaran is rocking in still water.
4. The solar panel is used as auxiliary energy, so that clean and renewable energy can be more fully utilized, and the carbon emission of the feeding boat is reduced; meanwhile, the solar energy is utilized to reduce the times of the farmers for charging the storage battery to a certain extent, reduce the labor cost of the farmers and reduce the workload of the farmers.
5. The bait storage bin is structurally characterized in that a square upper cylinder is combined with a trapezoid lower cone; the cross section of the upper cylinder is designed to be rectangular, so that bait can be stored as much as possible, the operation of repeatedly adding fish feed by farmers is reduced, the labor intensity of workers is reduced, and the operation efficiency is improved; the lower cone is in a trapezoidal cone design shape, and due to the design, the fish feed can fall conveniently, and the fish feed is prevented from being blocked and damaged. In addition, can be convenient for rationally lay other functional unit to increase the bait storage capacity of workbin as far as, still help improving the convenience of the course of working of bait storage box, the stability of assembling process.
6. At bait bin below installation blanking butterfly valve in this application, can control the speed of bait whereabouts more effectively for the raiser can be according to the actual conditions that bait was put in, to the better control of the whereabouts of bait, has avoided bait extravagant or bait to put in not enough. Vibration blanking system in this application can further control the falling speed of bait, and the homogeneity and the accuracy of blanking speed can be guaranteed to the vibration blanking, can avoid bait to receive mechanical extrusion by the breakage at to a great extent, improves the accuracy that bait was thrown something and fed.
7. Vibration motor bottom installation damping device in this application has alleviateed because the vibration of vibration blanking box leads to whole hull to vibrate thereupon, has increased the overall stability of operation ship of feeding. This application adopts the air-blast device to shed the bait of whereabouts, and the bait that collects the funnel with the blanking blows off to treating the waters of throwing bait, adopts the air-blast device can avoid bait to receive the mechanical force at the in-process of shedding and is extruded the bits of broken glass, can also be according to the regulation bait shed scope to air-blast device wind-force size to realize more even, controllable bait feeding.
8. The inner structure in this application is planetary reducer, and compact structure is convenient for install in comparatively narrow and small throwing something and feeding mechanism, avoids because load and the stationarity of too big influence hull of volume to and save sufficient space for other drive mechanism. The planetary reducer has small return clearance and higher precision, can ensure the stability of output rotating speed and torque, and can ensure the stability of bait casting clearance and bait casting amount when automatic bait casting operation is carried out in the using process; the service life of the planetary reducer is long, the replacement frequency of the components is reduced, the time for replacing accessories is reduced, and the cost for replacing the accessories by farmers is also reduced.
9. The work pilot lamp in this application for show the operating condition of automatic fish operation ship of feeding, the staff of being convenient for in time knows the real-time condition of operation ship of feeding, according to the strategy of the signal adjustment feeding of pilot lamp, and can judge whether the operation ship breaks down ashore, so that in time maintain the operation ship of feeding. The bait casting ship selects the GPS as the positioning system of the bait casting ship, can provide continuous and accurate three-dimensional position information, speed information and time information for any local and near space of the world, sea, land and air, and has the advantages of all weather, high precision, automation, high benefit and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present application.
Fig. 2 is a right side schematic view of the feeding boat of the present application.
Fig. 3 is a schematic view of a vibrating blanking and throwing mechanism in the present application.
Fig. 4 is a schematic view of the transmission mechanism in the present application.
Fig. 5 is a schematic top view of the bait casting boat of the present application.
Fig. 6 is a schematic diagram of a solar energy supply system in the present application.
Fig. 7 is a schematic diagram of a remote control system according to the present application.
Fig. 8 is a schematic diagram of a local button of the remote control system according to the present application.
In the figure, 001-handle; 002-a storage box cover; 003-feeding a bait box; 004-a bin connection; 005-baiting box; 006-GPS positioning device; 007-deck; 008-a cabin; 009-a work light; 010-bin support plates; 011-rib plates; 101-a drive motor; 102-a motor support; 103-a drive shaft; 104-planetary reducer; 105-a connecting flange; 106-propeller shaft; 107-propeller; 201-a photosensitive sensor; 202-a solar panel; 203-solar panel fixing flange; 204-solar panel driving motor; 205-solar panel support shaft; 206-solar panel support rods; 207-solar panel support bar fixing flange; 208-solar panel support rod housing; 301-a blanking funnel; 302-vibrating the blanking box; 303-a vibration blanking box supporting mechanism; 304-a blanking collection funnel; 305-collecting the middle support frame of the funnel; 306-collection funnel bottom support shelf; 307-a storage battery; 308-a material throwing port; 309-pneumatic conveying pipelines; 310-vibration blanking system support frame; 311-pneumatic conveying pipeline supporting frame; 312-a blower mount; 313-a blower device; 314-vibration blanking system support plate; 315-vibration damping system of vibration blanking device; 316-vibration motor; 317-a rear vibrating plate; 318-front vibrating plate; 319-blanking butterfly valve; 401-display screen; 402-a remote controller body; 403-emergency stop button; 404-wind speed reduction button; 405-wind power up button; 406-deceleration bait casting button; 407-accelerated bait casting button; 408-acceleration travel button; 409-deceleration driving button; 410-autonomous travel control button.
Detailed Description
As shown in fig. 1-8, an aquaculture precision bait casting boat for complex waters comprises a boat body structure, a shell structure, a GPS positioning system, a transmission mechanism, a vibration blanking and throwing mechanism, a solar energy supply system and a remote control system;
the hull structure comprises a deck 007, a cabin 008 and a work indicator light 009; a deck 007 is arranged above the cabin 008, and a work indicator lamp 009 is arranged at the rear part of the deck 007; the shell structure comprises a handle 001, a feed box cover 002, an upper feed box 003, a feed box connecting piece 004, a lower feed box 005, a feed box supporting plate 010 and a rib plate 011; the deck 007 is arranged on two sides of the hull structure, a feed box supporting plate 010 is arranged on the deck 007, the lower feed box 005 is arranged on the feed box supporting plate 010, and the left side and the right side of the lower feed box 005 are respectively fixed by three rib plates 011; an upper bait box 003 is arranged above the lower bait box 005, and the lower bait box 005 and the upper bait box 003 are fixedly connected by a box connecting piece 004; the handles 001 are arranged on the left side and the right side of the material box cover 002; the feed box cover 002 is arranged on the top of the upper feed box 003; the GPS positioning system comprises a GPS positioning device 006, the GPS positioning device 006 is installed at a front portion of one side of the feeding boat; the transmission mechanism comprises a driving motor 101, a motor support frame 102, a transmission shaft 103, a planetary reducer 104, a connecting flange 105, a propeller shaft 106 and a propeller 107; the motor support frame 102 is provided with a driving motor 101, the generated power is transmitted to a planetary reducer 104 through a transmission shaft 103, the power is output to a propeller shaft 106 after being reduced by the planetary reducer 104, and the propeller shaft 106 drives the propeller 107 to move; the propeller shaft 106 is fixedly connected with the planetary reducer 104 through the connecting flange 105; the motor support frame 102 and the planetary reducer 104 are installed inside the cabin 008; the solar energy supply system comprises a photosensitive sensor 201, a solar panel 202, a solar panel fixing flange 203, a solar panel driving motor 204, a solar panel supporting shaft 205, a solar panel supporting rod 206, a solar panel supporting rod fixing flange 207 and a solar panel supporting rod shell 208; the solar panel support rod 206 is mounted in a hole of the solar panel support rod housing 208 and connected by the solar support rod fixing flange 207; the solar panel supporting shaft 205 is connected with the solar panel supporting shaft 206, the solar panel driving motor 204 is installed on the solar panel supporting shaft 205, and the solar panel driving motor 204 and the solar panel 202 are fixed through a solar panel fixing flange 203; the photosensitive sensor 201 is arranged on the top of the back of the solar panel 202, and the solar panel supporting shell 208 is arranged on decks on two sides of the bait casting boat, so that a solar energy supply system is formed; the vibrating blanking and throwing mechanism comprises a blanking funnel 301, a vibrating blanking box 302, a vibrating blanking box supporting mechanism 303, a blanking collecting funnel 304, a collecting funnel middle supporting frame 305, a collecting funnel bottom supporting frame 306, a storage battery 307, a material throwing port 308, a pneumatic conveying pipeline 309, a vibrating blanking system supporting frame 310, a pneumatic conveying pipeline supporting frame 311, an air blower support 312, an air blowing device 313, a vibrating blanking system supporting plate 314, a vibrating blanking device damping system 315, a vibrating motor 316, a rear vibrating plate 317, a front vibrating plate 318 and a blanking butterfly valve 319; the blanking funnel 301 is arranged in the upper bait box 003, and a blanking butterfly valve 319 is arranged at a blanking port at the bottom of the blanking funnel 301; the bottom of the lower bait box 005 is provided with a storage battery 307, the bottom of the lower bait box 005 is provided with a blower bracket 312 and a pneumatic conveying pipeline support bracket 311, and the blowing device 313 is arranged on the blower bracket 312; the pneumatic conveying pipeline 309 is arranged at an airflow outlet, the middle part of the pneumatic conveying pipeline 309 is supported by a pneumatic conveying pipeline supporting frame 311, and the tail part of the pneumatic conveying pipeline 309 is provided with a polishing port 308; a blanking collecting funnel 304 is arranged at the opening of the pneumatic conveying pipeline 309, and the blanking collecting funnel 304 is supported by a collecting funnel middle supporting frame 305 and a collecting funnel bottom supporting frame 306; the bottom of the feeding box 005 is provided with a vibration blanking system support frame 310, the top of the vibration blanking system support frame 310 is provided with a vibration blanking system support plate 314, the vibration blanking system support plate 314 is provided with a vibration blanking device vibration reduction system 315, and the vibration blanking device vibration reduction system 315 is provided with a vibration motor 316; a rear vibrating plate 317 and a front vibrating plate 318 are respectively arranged in front of and behind the vibrating motor 316, a vibrating and blanking box supporting mechanism 303 is arranged on the front vibrating plate 317 and the rear vibrating plate 318, and the vibrating and blanking system supporting mechanism 303 is arranged below the vibrating and blanking box 302.
The application also provides a control method of the aquaculture precise feeding boat for the complex water areas, which comprises a feeding boat positioning method and a feeding boat driving state control method.
Preferably, the bait casting boat positioning method includes positioning the bait casting boat using the GPS positioning device 006 to obtain the actual distance S between the GPS satellite coordinates and the reference station coordinates by calculating the GPS satellite coordinates and the precise reference station coordinates at any time j (ii) a Pseudoranges resolved using GPS receivers at base stations
Obtain pseudorange correction data of
Thereby obtaining the rate of change
The GPS receiver receiving transmissions from a reference station
And d ρ j And correcting the pseudo range:
in the formula:
resolving the corrected pseudo range value;
as an unprocessed value.
Preferably, the method for controlling the driving state of the feeding boat comprises controlling the driving state of the feeding boat by using a control model
In the formula: alpha is a nonlinear coefficient; theta is the course angle of the bait casting boat; t is a time constant; j is the control gain of the feeding boat; Δ is the uncertain disturbance term.
The following are some specific examples of the present application to further illustrate the present application, but the present application is not limited to these examples.
Example 1
A precise bait casting boat for aquaculture in complex waters comprises a boat body structure, a shell structure, a GPS positioning system, a transmission mechanism, a vibration blanking and throwing mechanism, a solar energy supply system and a remote control system;
the hull structure comprises a deck 007, a cabin 008 and a work indicator light 009; a deck 007 is arranged above the cabin 008, and a working indicator light 009 is arranged at the rear part of the deck 007; the shell structure comprises a handle 001, a feed box cover 002, an upper feed box 003, a feed box connecting piece 004, a lower feed box 005, a feed box supporting plate 010 and rib plates 011; the deck 007 is arranged on two sides of the hull structure, a feed box supporting plate 010 is arranged on the deck 007, the lower feed box 005 is arranged on the feed box supporting plate 010, and the left side and the right side of the lower feed box 005 are respectively fixed by three rib plates 011; an upper bait box 003 is arranged above the lower bait box 005, and the lower bait box 005 and the upper bait box 003 are fixedly connected by a box connecting piece 004; the handles 001 are arranged on the left side and the right side of the material box cover 002; the feed box cover 002 is arranged at the top of the upper feed box 003; the GPS positioning system comprises a GPS positioning device 006, the GPS positioning device 006 is installed at the front of one side of the baiting boat; the transmission mechanism comprises a driving motor 101, a motor support frame 102, a transmission shaft 103, a planetary reducer 104, a connecting flange 105, a propeller shaft 106 and a propeller 107; the motor support frame 102 is provided with a driving motor 101, the generated power is transmitted to the planetary reducer 104 through the transmission shaft 103, the power is output to the propeller shaft 106 after being reduced by the planetary reducer 104, and the propeller shaft 106 drives the propeller 107 to move; the propeller shaft 106 is fixedly connected with the planetary reducer 104 through the connecting flange 105; the motor support frame 102 and the planetary reducer 104 are installed inside the cabin 008; the solar energy supply system comprises a photosensitive sensor 201, a solar panel 202, a solar panel fixing flange 203, a solar panel driving motor 204, a solar panel supporting shaft 205, a solar panel supporting rod 206, a solar panel supporting rod fixing flange 207 and a solar panel supporting rod shell 208; the solar panel support rod 206 is mounted in a hole of the solar panel support rod housing 208 and connected by the solar support rod fixing flange 207; the solar panel supporting shaft 205 is connected with the solar panel supporting shaft 206, the solar panel driving motor 204 is installed on the solar panel supporting shaft 205, and the solar panel driving motor 204 and the solar panel 202 are fixed through a solar panel fixing flange 203; the photosensitive sensor 201 is arranged on the top behind the solar panel 202, and the solar panel supporting shell 208 is arranged on decks on two sides of the feeding boat, so that a solar energy supply system is formed; the vibrating blanking and throwing mechanism comprises a blanking funnel 301, a vibrating blanking box 302, a vibrating blanking box supporting mechanism 303, a blanking collecting funnel 304, a collecting funnel middle supporting frame 305, a collecting funnel bottom supporting frame 306, a storage battery 307, a material throwing port 308, a pneumatic conveying pipeline 309, a vibrating blanking system supporting frame 310, a pneumatic conveying pipeline supporting frame 311, an air blower support 312, an air blowing device 313, a vibrating blanking system supporting plate 314, a vibrating blanking device damping system 315, a vibrating motor 316, a rear vibrating plate 317, a front vibrating plate 318 and a blanking butterfly valve 319; the blanking funnel 301 is arranged in the upper feeding box 003, and a blanking butterfly valve 319 is arranged at a blanking port at the bottom of the blanking funnel 301; the bottom of the lower bait box 005 is provided with a storage battery 307, the bottom of the lower bait box 005 is provided with an air blower bracket 312 and an air conveying pipeline supporting frame 311, and the air blower device 313 is arranged on the air blower bracket 312; the pneumatic conveying pipeline 309 is arranged at an airflow outlet, the middle part of the pneumatic conveying pipeline 309 is supported by a pneumatic conveying pipeline supporting frame 311, and the tail part of the pneumatic conveying pipeline 309 is provided with a polishing port 308; a blanking collecting funnel 304 is arranged at the opening of the pneumatic conveying pipeline 309, and the blanking collecting funnel 304 is supported by a collecting funnel middle supporting frame 305 and a collecting funnel bottom supporting frame 306; a vibration blanking system supporting frame 310 is arranged at the bottom of the lower feeding box 005, a vibration blanking system supporting plate 314 is arranged at the top of the vibration blanking system supporting frame 310, a vibration blanking device vibration reduction system 315 is arranged on the vibration blanking system supporting plate 314, and a vibration motor 316 is arranged on the vibration blanking device vibration reduction system 315; a rear vibrating plate 317 and a front vibrating plate 318 are respectively arranged in front of and behind the vibrating motor 316, a vibrating and blanking box supporting mechanism 303 is arranged on the rear vibrating plate 317 and the front vibrating plate 318, and the vibrating and blanking system supporting mechanism 303 is arranged below the vibrating and blanking box 302.
Preferably, the driving motor 101 in the transmission mechanism is powered by the storage battery 307 to output torque, the output torque is transmitted to the planetary reducer 104 through the transmission shaft 103, and is transmitted to the propeller shaft 106 after being decelerated by the planetary reducer 104, so as to drive the propeller 107 to move, and provide driving power for the bait casting boat.
Preferably, the solar panel driving motor 204 and the solar panel 202 are fixed by a solar panel fixing flange 203, and the photosensitive sensor 201 is mounted on the top of the rear of the solar panel 202; the photosensitive sensor 201 measures the light intensity and determines the angle with the maximum illumination intensity, and the solar panel driving motor 204 drives the solar panel 202 to be perpendicular to the direction with the maximum illumination intensity.
Preferably, the blanking butterfly valve 319 can control the blanking speed; bait falls into the vibrating blanking box 302 through a blanking butterfly valve 319; the vibration motor 316 drives the rear vibration plate 317 and the front vibration plate 318 to vibrate, so that the bait falls into the blanking collection funnel 304 from the vibration blanking box 302; the air blowing device 313 generates air flow to drive the bait in the pneumatic conveying pipeline 309 to move, so that the bait is thrown out through the throwing port 308 and falls into a target feeding water area.
Preferably, the vibration damping system 315 of the vibration blanking device is an air pressure vibration damping system for reducing the vibration of the feeding boat during the operation.
Preferably, the remote control system comprises a display 401, a remote controller body 402, an emergency stop button 403, a wind speed reduction button 404, a wind power increase button 405, a deceleration bait casting button 406, an acceleration bait casting button 407, an acceleration running button 408, a deceleration running button 409 and an autonomous running control button 410; the display screen 401 can display the working state of the bait casting boat; the emergency stop button 403 can stop the movement of the ship hull in case of emergency; the wind speed reduction button 404 and the wind power increase button 405 are used for controlling the wind power generated by the blowing device 313, so that the bait throwing range is controlled; the deceleration bait feeding button 406 and the acceleration bait feeding button 407 are used for controlling the falling amount of the baits at the blanking butterfly valve, so that the bait feeding amount is controlled; the acceleration running button 408 and the deceleration running button 409 control the running speed of the bait casting boat, so as to control the bait casting density; the autonomous driving control button 410 is used to control the driving state of the feeding boat.
The application also provides a control method of the aquaculture precision bait casting boat for the complex water areas, which comprises the following steps: comprises a method for positioning a feeding boat and a method for controlling the running state of the feeding boat.
Preferably, the bait casting boat positioning method includes positioning the bait casting boat using the GPS positioning device 006 to obtain the actual distance S between the GPS satellite coordinates and the reference station coordinates by calculating the GPS satellite coordinates and the precise reference station coordinates at any time j (ii) a Pseudoranges resolved using GPS receivers at base stations
Obtain pseudorange correction data of
Thereby obtaining the rate of change
The GPS receiver receiving transmissions from a reference station
And d ρ j And correcting the pseudo range:
in the formula:
resolving the corrected pseudo range value;
as an unprocessed value.
Preferably, the method for controlling the traveling state of the feeding boat includes controlling the traveling state of the feeding boat using a control model
In the formula: alpha is a nonlinear coefficient; theta is the course angle of the bait casting boat; t is a time constant; j is the control gain of the feeding boat; and delta is an uncertain interference term.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a smart volume feeding ship of aquaculture for complicated waters which characterized in that: the device comprises a hull structure, a shell structure, a GPS positioning system, a transmission mechanism, a vibration blanking and throwing mechanism, a solar energy supply system and a remote control system;
the hull structure comprises a deck (007), a cabin (008) and a work indicator light (009); a deck (007) is arranged above the cabin (008), and a working indicator lamp (009) is arranged at the rear part of the deck (007);
the shell structure comprises a handle (001), a feed box cover (002), an upper feed box (003), a feed box connecting piece (004), a lower feed box (005), a feed box supporting plate (010) and a rib plate (011); the deck (007) is installed on two sides of the ship body structure, a feed box supporting plate (010) is installed on the deck (007), the lower feed box (005) is installed on the feed box supporting plate (010), and the left side and the right side of the lower feed box (005) are fixed through three rib plates (011) respectively; an upper bait box (003) is arranged above the lower bait box (005), and the lower bait box (005) and the upper bait box (003) are fixedly connected through the bait box connecting piece (004); the handles (001) are arranged on the left side and the right side of the material box cover (002); the feed box cover (002) is arranged at the top of the upper feed box (003);
the GPS positioning system comprises a GPS positioning device (006), the GPS positioning device (006) is arranged at the front part of one side of the bait casting boat;
the transmission mechanism comprises a driving motor (101), a motor support frame (102), a transmission shaft (103), a planetary reducer (104), a connecting flange (105), a propeller shaft (106) and a propeller (107); the motor support frame (102) is provided with a driving motor (101), the generated power is transmitted to the planetary reducer (104) through the transmission shaft (103), the power is output to the propeller shaft (106) after being reduced by the planetary reducer (104), and the propeller shaft (106) drives the propeller (107) to move; the propeller shaft (106) is fixedly connected with the planetary reducer (104) through the connecting flange (105); the motor support frame (102) and the planetary reducer (104) are arranged inside a cabin (008);
the solar energy supply system comprises a photosensitive sensor (201), a solar panel (202), a solar panel fixing flange (203), a solar panel driving motor (204), a solar panel supporting shaft (205), a solar panel supporting rod (206), a solar panel supporting rod fixing flange (207) and a solar panel supporting rod shell (208); the solar panel supporting rod (206) is arranged in a hole of a solar panel supporting rod shell (208) and is connected with the solar panel supporting rod through a solar supporting rod fixing flange (207); the solar panel supporting shaft (205) is connected with the solar panel supporting rod (206), the solar panel driving motor (204) is installed on the solar panel supporting shaft (205), and the solar panel driving motor (204) is fixed with the solar panel (202) through a solar panel fixing flange (203); the photosensitive sensor (201) is arranged at the top behind the solar panel (202), and the solar panel supporting shell (208) is arranged on decks on two sides of the feeding boat, so that a solar energy supply system is formed;
the vibrating blanking and throwing mechanism comprises a blanking funnel (301), a vibrating blanking box (302), a vibrating blanking box supporting mechanism (303), a blanking collecting funnel (304), a collecting funnel middle supporting frame (305), a collecting funnel bottom supporting frame (306), a storage battery (307), a throwing port (308), a pneumatic conveying pipeline (309), a vibrating blanking system supporting frame (310), a pneumatic conveying pipeline supporting frame (311), an air blower bracket (312), an air blowing device (313), a vibrating blanking system supporting plate (314), a vibrating blanking device damping system (315), a vibrating motor (316), a rear vibrating plate (317), a front vibrating plate (318) and a blanking butterfly valve (319);
the blanking funnel (301) is arranged in the upper bait box (003), and a blanking butterfly valve (319) is arranged at a blanking port at the bottom of the blanking funnel (301); the bottom of the lower bait box (005) is provided with a storage battery (307), the bottom of the lower bait box (005) is provided with an air blower bracket (312) and a pneumatic conveying pipeline support frame (311), and the air blower device (313) is arranged on the air blower bracket (312); the pneumatic conveying pipeline (309) is arranged at the airflow outlet, the middle part of the pneumatic conveying pipeline (309) is supported by a pneumatic conveying pipeline supporting frame (311), and the tail part of the pneumatic conveying pipeline (309) is provided with a polishing port (308); a blanking collecting funnel (304) is arranged at an opening of the pneumatic conveying pipeline (309), and the blanking collecting funnel (304) is supported by a collecting funnel middle supporting frame (305) and a collecting funnel bottom supporting frame (306); a vibration blanking system supporting frame (310) is installed at the bottom of the baiting box (005), a vibration blanking system supporting plate (314) is installed at the top of the vibration blanking system supporting frame (310), a vibration blanking device vibration reduction system (315) is installed on the vibration blanking system supporting plate (314), and a vibration motor (316) is installed on the vibration blanking device vibration reduction system (315); the vibrating mechanism is characterized in that a rear vibrating plate (317) and a front vibrating plate (318) are respectively arranged in front of and behind the vibrating motor (316), a vibrating blanking box supporting mechanism (303) is arranged on the rear vibrating plate (317) and the front vibrating plate (318), and the vibrating blanking system supporting mechanism (303) is arranged below the vibrating blanking box (302).
2. The precision bait casting boat for aquaculture in complex waters according to claim 1, wherein: the driving motor (101) in the transmission mechanism is powered by the storage battery (307) to output torque, the output torque is transmitted to the planetary reducer (104) through the transmission shaft (103), and is transmitted to the propeller shaft (106) after being reduced in speed through the planetary reducer (104), so that the propeller (107) is driven to move, and driving power is provided for the bait casting boat.
3. The precision bait casting boat for aquaculture in complex waters according to claim 1, wherein: the solar panel driving motor (204) and the solar panel (202) are fixed through a solar panel fixing flange (203), and the photosensitive sensor (201) is installed at the top of the rear surface of the solar panel (202); the photosensitive sensor (201) is through measuring light intensity and confirming the biggest angle of illumination intensity, solar panel driving motor (204) drive solar panel (202) make its direction of perpendicular to illumination intensity biggest.
4. The aquaculture precision feeding boat for the complex waters according to claim 1, characterized in that: the blanking butterfly valve (319) can control the blanking speed; bait falls into the vibrating blanking box (302) through a blanking butterfly valve (319); the vibrating motor (316) drives the rear vibrating plate (317) and the front vibrating plate (318) to vibrate, so that the bait falls into the blanking collecting hopper (304) from the vibrating blanking box (302); the air blowing device (313) generates air flow to drive the bait in the pneumatic conveying pipeline (309) to move, so that the bait is thrown out through the throwing port (308) and falls into a target feeding water area.
5. The aquaculture precision feeding boat for the complex waters according to claim 1, characterized in that: the vibration reduction system (315) of the vibration blanking device is used for reducing vibration of the feeding boat in the working process by air pressure.
6. The precision bait casting boat for aquaculture in complex waters according to claim 1, wherein: the remote control system comprises a display screen (401), a remote controller body (402), an emergency stop button (403), a wind speed reduction button (404), a wind power increase button (405), a deceleration bait casting button (406), an acceleration bait casting button (407), an acceleration running button (408), a deceleration running button (409) and an autonomous running control button (410); the display screen (401) can display the working state of the bait casting boat; the emergency stop button (403) can stop the ship body in an emergency; the wind speed reduction button (404) and the wind power increase button (405) are used for controlling the size of wind power generated by the blowing device (313) so as to control the bait throwing range; the deceleration bait casting button (406) and the acceleration bait casting button (407) are used for controlling the falling amount of the baits at the blanking butterfly valve, so that the bait casting amount is controlled; the acceleration running button (408) and the deceleration running button (409) control the running speed of the bait casting boat so as to control the bait casting density; the autonomous driving control button (410) is used for controlling the driving state of the feeding boat.
7. The method for controlling the precision bait casting boat for aquaculture of water in complex waters according to any of claims 1 to 6, comprising a method for positioning the bait casting boat and a method for controlling the driving state of the bait casting boat.
8. The method for controlling a precision bait casting boat for aquaculture of water in complex waters as claimed in claim 7, wherein the method for positioning the bait casting boat comprises the steps of providing positioning for the bait casting boat by using a GPS positioning device (006), and calculating the coordinates of a GPS satellite and the precise coordinates of a reference station to obtain the actual distance S between the GPS satellite and the reference station at any time j (ii) a Pseudoranges resolved using GPS receivers at base stations
Obtain pseudorange correction data as
Thereby obtaining the rate of change
The GPS receiver receiving transmissions from a reference station
And d ρ j And correcting the pseudo range:
in the formula:
resolving the corrected pseudo range value;
as an unprocessed value.
9. The method for controlling a precision feeding boat for aquaculture of water in a complex water area as claimed in claim 7, wherein the method for controlling the driving state of the feeding boat comprises controlling the driving state of the feeding boat by using a control model
In the formula: alpha is a nonlinear coefficient; theta is the course angle of the bait casting boat; t is a time constant; j is the control gain of the feeding boat; and delta is an uncertain interference term.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211120107.0A CN115462338A (en) | 2022-09-15 | 2022-09-15 | Aquaculture precision feeding boat for complex water areas and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211120107.0A CN115462338A (en) | 2022-09-15 | 2022-09-15 | Aquaculture precision feeding boat for complex water areas and control method thereof |
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| CN115462338A true CN115462338A (en) | 2022-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211120107.0A Pending CN115462338A (en) | 2022-09-15 | 2022-09-15 | Aquaculture precision feeding boat for complex water areas and control method thereof |
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| CN (1) | CN115462338A (en) |
Cited By (1)
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| CN116171907A (en) * | 2022-12-21 | 2023-05-30 | 云南省渔业科学研究院 | Pond is bred with automatic bait casting and dispensing equipment |
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