CN117546809A - Unmanned material ship of throwing of large-scale intelligence of trimaran structure - Google Patents
Unmanned material ship of throwing of large-scale intelligence of trimaran structure Download PDFInfo
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Abstract
The invention discloses a large intelligent unmanned feeding ship with a trimaran structure, which comprises a ship body and two floating bodies fixed on two sides of the ship body through fixing frames; the front part of the ship body is provided with a diesel generator, the rear part of the ship body is provided with a material scattering structure, and propeller propelling mechanisms are symmetrically arranged on two sides close to the rear part; the fixed frame is provided with a bin with a weight sensor above the spreading structure; the lower opening of the feed bin conveys the bait to reach the material scattering structure; an electric control cabin is arranged in the middle of the ship body, and a main control chip, a positioning module and the like are arranged in the electric control cabin; the server receives the position information of the positioning module, calculates and generates a path plan, utilizes an improved ILOS algorithm to enable the ship to execute tasks along the path, and calculates the optimal running speed and the scattering speed of the ship by combining the data of the weight sensor; and sending the calculation result to a main control chip, and controlling the running state of each motor to realize uniform material scattering according to path planning. The invention can intelligently complete the uniform feeding operation of daily change of feeding amount.
Description
Technical Field
The invention belongs to the technical field of feeding boats, and particularly relates to a large intelligent unmanned feeding boat with a trimaran structure.
Background
At present, fishery aquaculture in China still relies on manual labor to a higher degree, and the defects of low efficiency, heavy task, incapability of timely relieving water pollution and the like exist, namely, manual feed throwing or shore-based fixed-point feeding devices are involved. The unmanned ship is thrown and fed on the water surface to perform fishery cultivation, and the traditional manual labor is replaced.
In the existing intelligent feed feeding technology in the field of aquaculture, the first type of unmanned aerial vehicle is used for carrying a feeding device for carrying out aquaculture work, for example, chinese patent literature with the publication number of CN110447584A discloses a feeding device and a feeding method for aquaculture, and automatic feeding of a feeding machine is realized through an unmanned aerial vehicle. However, the amount of feed carried in this way is small, the requirement for large-scale aquaculture is difficult to meet, and the cost and energy consumption are extremely high.
The second type works by using an unmanned feeding ship and is driven by an open wheel. The Chinese patent literature with publication number of CN211167319U discloses a novel unmanned boat for aquaculture, which uses a double-paddle wheel structure, has flexible action, can realize cruising feeding in a pond, enlarges the feeding range, but still hardly meets the environment with higher requirements on feeding amount.
Disclosure of Invention
The invention provides a large intelligent unmanned feeding ship with a trimaran structure, which can automatically determine feeding speed and running speed according to an autonomously planned track and intelligently complete uniform feeding operation of daily change of feeding amount.
A large intelligent unmanned feeding ship with a trimaran structure comprises a ship body and two floating bodies fixed on two sides of the ship body through fixing frames;
the front part of the ship body is provided with a diesel generator, the rear part of the ship body is provided with a material scattering structure, and propeller propelling mechanisms are symmetrically arranged on two sides close to the rear part; the diesel engine is provided with a GPS antenna and a radar;
the fixed frame is provided with a bin above the spreading structure, and a weight sensor is arranged in the bin; the lower opening of the feed bin conveys baits to a spreading structure through a stranding cage mechanism;
the middle part of the ship body is provided with an electric control cabin, and a battery, a main control chip, a communication module, a positioning module and a driving module are arranged in the electric control cabin; the positioning module receives satellite signals through a GPS antenna and determines the current position and orientation information of the ship body; the communication module is used for realizing message intercommunication between the mobile phone app and the server and between the unmanned bait casting ship;
the server receives the position information of the positioning module through the communication module, calculates and generates a path plan, utilizes an improved ILOS algorithm to enable the ship to execute tasks along the path, and calculates the optimal running speed and the optimal spreading speed of the ship in real time by combining the data of the weight sensor; and meanwhile, the calculation result is sent to a main control chip, the main control chip outputs a pwm signal to a driving module, and uniform material scattering according to path planning is realized by controlling the running states of motors on the propeller propelling mechanism, the stranding cage mechanism and the material scattering structure.
Further, the front part of the diesel engine and the rear part of the storage bin are respectively provided with a camera for monitoring the front and rear conditions of the unmanned feeding ship in real time.
Further, the upper part of the diesel engine is provided with a warning lamp for warning the position of the ship, and the diesel engine strobes when the ship is in a problem, so as to warn the problem of the ship.
Further, the bin is of a sealed reverse cone structure, and four corners of the lower portion of the bin are provided with weight sensors.
Further, calculating the generated path plan includes generating a coastal travel path and an intra-zone coverage cruise path; the process of generating the coastal travel path is as follows:
dotting on the mobile phone app to obtain four landing points in longitude and latitude forms, and connecting the four landing points to obtain a working area;
converting four coasts in longitude and latitude form into a rectangular coordinate system, taking a first coast P1 as an origin, and calculating four-side linear equations as four sides;
calculating four linear equations which are parallel to the bank and have a distance d from the bank and are arranged on the inner side of the working area, wherein the intersection point of two adjacent straight lines is the required path point;
and converting the obtained four path points from rectangular coordinates to longitudes and latitudes, and adding the return points to the tail end of the converted path to obtain the coastal travel path.
The process of generating the coverage cruise path in the area is as follows:
in the determined rectangular coordinate system, setting the minimum distance d1 between the ship and the shore in the running process, and setting the distance d2 between two adjacent parallel path sections;
four new boundary lines from the shore d1 are obtained by adopting a method for generating a coastal travel path to form a boundary G ', boundary points are C1, C2, C3 and C4, and the boundary G' is a working area for covering a cruising path;
selecting the longest boundary line as the initial edge, calculating the distance between each boundary point and the initial edge, and taking the maximum value of the four distances as D max Calculating the number of path segments parallel to the starting edge in the covered cruise pathn is an integer;
calculating a linear equation l of an n-segment path parallel to the start edge in the working area i The distance between two adjacent paths is d2;
find l i An intersection point with each boundary line of the boundary G 'and judging whether the intersection point is within the boundary G' or on the boundary;
and 2n intersection points in the G' and on the boundary are taken, after being sequenced according to the arch shape, two end points of the initial edge are added at the beginning to obtain a covered cruising path under a rectangular coordinate system, the covered cruising path is converted into longitude and latitude, and a return point is added at the tail end of the path to obtain the covered cruising path in the area.
In the modified ILOS algorithm, the ILOS guidance law is formulated as follows:
wherein χ represents the heading angle, and α represents the angle y between the forward direction and the vertical direction of the ship e Representing the distance between the centre of the vessel and the target course, representing the deviation of the current vessel in the forward direction, y int The integral term introduced in the ILOS algorithm is the accumulation of the deviation of the ship in the forward direction, delta represents the forward looking distance of the ship tracked along a given path, and is the distance between the expected heading point and the projection point of the current position of the controlled ship on the expected track, and the ship length is generally 2-5 times. The parameter k satisfies the following condition:
wherein k is 1 And k 2 Intermediate parameters required for determining parameter k, where k 1 To fix the parameters k 2 U as a variable parameter related to ship deviation d To further improve the integration effect for the desired navigational speed, the following variable parameter k is taken 2 :
Wherein k is max And k min Respectively k 2 Maximum and minimum of (2); ρ is the convergence rate; when the lateral deviation y e When larger, k 2 Smaller, weaker integration; when the lateral deviation y e Smaller, k 2 The integration effect is stronger.
The specific process of calculating the optimal running speed and the optimal spreading speed of the ship in real time is as follows:
step 1, converting the path from longitude and latitude into coordinates in rectangular coordinate system, converting the path into [ [ x ] 1 ,y 1 ],[x 2 ,y 2 ],......[x n ,y n ]]；
Step 2, obtaining a sheet Zhou Lucheng needing to be scattered
Step 3, calculating the required material scattering mass per meter for the ship to completely scatter the material just after the path running is finished
The ship speed defaults to maximum speed v=v max Multiplying the two materials to obtain the spreading mass q per second s ＝q m *v；
Step 4: calculating the minimum number of turns n and total distance s of the ship required to travel for completing the task
s＝s 1 *n
Step 5, recalculate the scattering material quality per meterAnd the spreading mass q per second s 'q'm v, if q s ′<q max Then the ship speed is determined to be v=v max Step 7, entering a step; if q s >q max Step 6 is entered;
step 6: the ship speed is reduced by Deltav; let the ship speed after the reduction be v, calculate the spreading mass q per second at this time s If q s <q max &q s >q min Determining the ship speed v, otherwise repeating the step 6 until q s <q max ；
Step 7, calculating the forward speed of the ship; recording the forward direction of ship travel as theta 1 The forward direction of the ship speed is theta 2 The ship speed v, the forward speed
v heading ＝v*cos(θ 2 -θ 1 )
Step 8, recording the blanking quantity per second as q s The duty ratio of the blanking motor is DR, and then the relation between the blanking motor and the blanking motor is: dr=a×q s Wherein a is a constant coefficient related to structure; at this time, the liquid crystal display device,
q s ＝v heading *q m
DR＝a*v heading *q m
obtaining the duty ratio DR of the spreading motor, and outputting the DR;
step 9: updating the coefficient a in step 8 every 10 seconds by reading and recording the data of the quality sensor; the mass difference read by the mass sensor within 10 seconds is recorded as delta m, and the theoretical spreading mass of the past 10 seconds is recorded as m 1 Record dm=m 1 -Δm,The past coefficient is recorded as a 0 The updated coefficient is a 1 Then a 1 ＝a 0 +da；
Step 10: the ship speed and the material scattering speed of the remaining path are updated every 20 seconds; calculating the total distance S from the current position to the terminal point of the ship, reading the mass of the residual feed to be m' through a mass sensor, entering the steps 5 to 6, and after obtaining the ship advancing speed and the material scattering mass per second of the residual distance, skipping the steps 7 to 10, and entering the step 11;
step 11: and (5) repeating the steps 7 to 11 by using the ship speed and the material scattering speed calculated in the step 10 until the material scattering task is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has two working modes, namely, one is to use a corresponding remote controller to control the ship, including the modes of controlling the front, back, left and right running directions of the ship, starting a throwing disc, feeding materials and automatically starting a built-in route to work, and the other is to use a mode of remotely controlling the ship to generate a dotting generation path in running in a working water area or automatically generating a coasting running route or an area to cover a cruising route and work along the route.
2. The invention enables a boat to perform tasks along a route using a modified ILOS algorithm after the route of travel has been determined.
3. The invention has the function of automatically adjusting the running speed and the feeding speed, the dynamic calculation method is used, the running route and the weight of the bait to be fed can be combined, the ship speed required for completing the task at intervals is recalculated, the subsequent feeding speed is determined by calculating the residual working distance and the residual feed quantity in the storage bin, the current real-time running speed of the ship is combined, the duty ratio of the motor for sowing the feed is automatically adjusted, and the calculation can be performed in real time according to the distance which has been travelled in the running process and the amount of the feed which is sowed.
Drawings
FIG. 1 is a block diagram of a large intelligent unmanned feeding vessel of a trimaran structure according to the invention;
FIG. 2 is a front view of a large intelligent unmanned feeding vessel of a trimaran structure according to the invention;
FIG. 3 is a rear view of a large intelligent unmanned feeding vessel of a trimaran structure according to the invention;
FIG. 4 is a side view of a large intelligent unmanned feeding vessel of a trimaran structure according to the invention;
FIG. 5 is a top view of a large intelligent unmanned feeding vessel of a trimaran structure according to the invention;
FIG. 6 is a schematic diagram of a dotting determination work area when generating a coastal travel path;
FIG. 7 is a schematic diagram of calculating two parallel lines on the shore for generating a coastal travel path;
FIG. 8 is a schematic diagram of determining a desired straight line from two parallel lines when generating a coastal travel path;
FIG. 9 is a schematic diagram of the resulting waypoints when generating a coastal travel path;
FIG. 10 is a schematic diagram of a selected path boundary and a starting edge when a cruise path is covered in a generation region;
FIG. 11 is a schematic diagram of a path taken when the cruise path is covered within the generation region;
fig. 12 is a schematic diagram of the LOS guidance law for a straight path.
Detailed Description
The invention will be described in further detail with reference to the drawings and examples, it being noted that the examples described below are intended to facilitate the understanding of the invention and are not intended to limit the invention in any way.
As shown in fig. 1 to 5, a large intelligent unmanned feeding ship of a trimaran structure includes a hull 1 and two floating bodies 2 fixed to both sides of the hull 1 by fixing frames 12. This construction provides superior stability and balance, making the boat more stable and rapid while traveling. Its waterline design enables better control of hull attitude at high speeds of movement and is able to remain stationary under any water depth and wave conditions. The rigid structure is such that it does not destabilize even when subjected to a strong impact.
The front part of the ship body 1 is provided with a diesel generator 11, the rear part is provided with a spreading structure 3, and two sides close to the rear part are symmetrically provided with propeller propulsion mechanisms 10; the diesel engine 11 is provided with a GPS antenna 6 and a radar 7.
The fixed frame 12 is provided with a bin 4 above the material scattering structure 3, and a weight sensor is arranged in the bin 4; the bin 4 is of a sealed reverse cone structure, and the upper part of the bin is provided with a cover, so that the feed can be prevented from being polluted by rainwater and the like, and the bin is opened to be more convenient for discharging; the lower opening is connected with a twisting cage mechanism, and is driven by a twisting cage shaft motor to rotate, so that the fodder is conveyed to reach the sprinkling structure 3; the four corners below the bin 4 are provided with weight sensors for detecting the weight of the feed in the bin 4, so as to determine real-time data of the feed.
The material scattering structure 3 is positioned at the rear of the ship body and below the stranding cage mechanism, consists of a motor and a double-gun spray head and uniformly sprays feed to the rear area of the ship by utilizing centrifugal force. Simple structure, flexible operation, high spraying precision, and can be widely used for spraying baits with various sizes of different crops.
The diesel generator 11 is positioned in front of the ship body, can ensure stable output voltage for 10 hours, and is cooperated with a propeller propulsion structure to provide stable and efficient power so as to meet the cruising requirement of the ship.
The propeller propulsion mechanisms are symmetrically located on both sides of the central hull, behind the fixed frame 12. The propeller is an important component of the propulsion device of the ship. The structure of the propeller consists of propeller blades and a propeller shaft. When the diesel generator 11 is operated, the rotation shaft is transmitted to the propeller shaft, and the propeller blades form a small vortex in the water to push the hull forward.
The middle part of the ship body 1 is provided with an electric control cabin 5, and a battery, a main control chip, a communication module, a positioning module and a driving module are arranged in the electric control cabin 8; the positioning module receives satellite signals through the GPS antenna 9 and determines the current position and orientation information of the ship body; the communication module is used for realizing message intercommunication between the mobile phone app and the server and between the unmanned bait casting ship; the control chip is used for receiving the sensing information and controlling the movement of the ship body and the bait casting operation.
In the embodiment of the invention, the GPS antenna 9 is fixed at the side angle position above the diesel generator 11 and is used for receiving GPS satellite signals; the radar 7 is fixed above the diesel generator 11 and below the camera 8 and is used for detecting the obstacle in front to avoid collision with the ship body; the cameras 8 are located one above the radar 7 and the other behind the bin 4, so that a user can conveniently observe the situation of the ship body on the app.
The warning lamp is located the radar top, in the middle of the GPS antenna, mainly alerts the ship position under the weather condition that the visibility is not high to stroboscopic when the ship takes place the problem alerts the ship problem.
Before feeding operation is carried out by using the invention, a path planning is carried out by using manual amplitude values. The ship is controlled to four corner points of the culture pond through the remote controller or the mobile terminal APP (if the ship is irregularly shaped, all corner points of the shape can be sequentially determined), and then the running track of the ship is automatically generated according to the spreading width and the requirement of full coverage of the pond surface, and the track is not changed in the later operation process unless the spreading width or the pond surface is changed.
When a worker works, the worker needs to manually pour feed into the inverted cone-shaped feed bin, and one-key starting is performed on a remote controller or a mobile phone app. At the moment, after the communication module of the intelligent unmanned bait casting boat receives the control instruction, the speed of sailing and the speed of baiting are determined according to the volume of the baits in the bin, so that after all tracks are completed, the baits are just sprayed. According to the required sailing speed, the main control board sends instructions to the propeller propellers at two sides so as to control the ship body to move forwards. When steering is needed, the main control chip can control the two propellers through differential control.
In the running process of the ship, the feed in the feed bin 4 can be transported to the feed scattering structure 3 by the winch mechanism, meanwhile, the feed scattering structure 3 starts to rotate, the feeding distance can be controlled through the rotating speed of the throwing disc, and the feeding quantity is controlled through the rotating speed of the winch mechanism. The bait scattering structure 3 can realize the purpose of uniformly scattering the bait in the pond by scattering the bait to the water surface in a fan shape. In the operation process, the propeller propellers advance the ship body, the material scattering structure 3 and the cage twisting mechanism work together, feed is evenly scattered along a planned route, and the ship speed and the material scattering speed are adjusted in real time according to the detection data of the residual material volume, so that when the track is finished, the bait is scattered completely.
After the scheduled route is completed, the invention returns to the specified place on the shore, and sends a message of completing the operation through the communication module to wait for the next operation.
The algorithm adopted in the process of generating the path plan, calculating the optimal running speed and the optimal spreading speed of the ship in real time is introduced.
Calculating the generation path plan includes generating a coastal travel path and an in-area coverage cruise path.
The process of generating the coastal travel path is as follows:
step 1, determining a working area.
And (3) dotting on the app to obtain a series of land points in the form of longitude and latitude, and connecting the points to obtain a working area. As shown in fig. 6, P1 to P4 are four land points that are punched out.
The coasts in longitude and latitude form are converted into a rectangular coordinate system, the first coast P1 is taken as an original point, the positive east direction is the positive half axis direction of the x axis, and the positive north direction is the positive half axis direction of the y axis, so that the subsequent calculation is convenient.
The conversion method is that the earth radius R=6371000m is set, the latitude of a point to be converted is N, the longitude is E, the longitude and latitude of the point set as an origin is used as a reference longitude and latitude, the reference latitude is refN, and the reference longitude is refE.
d lon ＝cos(E rad -refE rad ) #(5)
arg＝sin(refN rad )*sin(N rad )+cos(refN rad )*cos(N rad )*d lon #(6)
c＝cos -1 arg,c>0 #(7)
x＝k*(cosrefN rad *sinN rad -sinrefN rad *cosN rad *d lon )*R #(9)
y＝k*cosN rad *sin(E rad -refE rad )*R #(10)
At this time, the obtained x and y are the coordinates of the point to be converted in the current rectangular coordinate system.
And 2, converting longitude and latitude of the land point into rectangular coordinates, and reordering the land point in a counterclockwise direction to facilitate subsequent calculation, wherein the sequence of the land point is [ P1, P4, P3, P2].
And 3, calculating a general linear equation of each side according to the rectangular coordinates of each shore point converted into the rectangular coordinate system, wherein P1P4 is taken as a first side, P2P1 is taken as a last side, and the next side of P2P1 is taken as P1P4.
Solving a general linear equation method: two points (x) 1 ,y 1 )，(x 2 ,y 2 )
a＝x 1 -x 2 #(11)
b＝y 2 -y 1 #(12)
c＝x 1 *y 2 -x 2 *y 1 #(13)
Linear equation: ax+by+c=0# (14)
And 4, calculating a general linear equation which corresponds to each bank and is parallel to the bank and has a distance d from the bank.
Taking the straight line where the first edge P1P4 is located as an example: let the general equation of the straight line where P1P4 is located be
ax+by+c＝0 #(15)
The two linear equations parallel to the straight line and with a distance d are respectively
l 1 :ax+by+m1＝0 #(16)
l 2 :ax+by+m2＝0 #(17)
Wherein,in step 5 shown in fig. 7, it is determined which straight line is the desired straight line.
Setting the straight line of the next bank to intersect with the two straight lines obtained in the step 4 to form two points Q1 and Q2, wherein the end points of the Q1, Q2 and the current side and the start point of the current side respectively form three vectors, namelyCalculate->And->Of the two vectors obtained, the direction along the negative direction of the z axis is the one required. Continuing with the P1P4 side as an example, as shown in figure 8,
is positive along the z-axis, +.>Is negative along the z-axis, thus straight line l 2 Is the straight line.
And 6, calculating correct straight lines corresponding to all the shoreside according to the steps 4 and 5, and then obtaining the intersection point of two adjacent straight lines, wherein the intersection point is the obtained path point, as shown in fig. 9, C1-C4 are the obtained path points, and the paths are C1-C4-C3-C2.
And 7, converting the path point obtained in the step 6 from rectangular coordinates to longitudes and latitudes, and adding the return point to the tail end of the converted path to obtain the required path. Let the return point be P return The path is C1→C4→C3→C2→C1→P return 。
The rectangular coordinate conversion longitude and latitude method is as follows:
let the earth radius be r=6371000m, the abscissa of the point to be converted be x, the ordinate be y, and the reference longitude and latitude be refE and refN.
At this time, the obtained latitude N and longitude E are the longitude and latitude after the task route point conversion.
Determination of return points: the APP is provided with a button for determining the return point, and the current position of the ship is recorded after being pressed, and the current position is taken as the return point.
The process of generating the coverage cruise path in the area is as follows:
s01, setting the minimum distance d1 between the ship and the shore in the running process in the determined rectangular coordinate system, and setting the distance d2 between two adjacent parallel path sections.
S02, according to the shorelines P1, P2, P3 and P4 and the minimum distance d1 to the shoreside, generating a new boundary C1C2C3C4 which is a working area covering the cruising path according to the steps 1-6 in the generating coasting path, and recording the boundary as G' and the shoreline P1P2P3P4 as G, as shown in figure 10.
S03, calculating the side lengths of the boundary G ', and calculating a general equation of a straight line where each side of the boundary G' is located. In order to achieve the aim of reducing the turning times of the ship as much as possible in the process of executing the task, the longest edge of the G ' is selected as a starting edge, the blue line is defined as a bank edge, the yellow-green line C1C2C3C4 is used as a boundary G ' covering the cruising path, and the longest edge of the G ' is C4C3, namely, the ship starts to execute the task from the C4C 3.
S04, obtaining the distance D between each vertex of the boundary G' and the initial edge, and obtaining the maximum value D in the D max Calculating the number of path segments parallel to the starting edge in the covered cruise pathn is an integer.
S05, according to the method of the step 4 and the step 5 in the generation of the coastal path, obtaining a straight line equation of a first section path parallel to the initial edge in the boundary G', and recording as l 1 :ax+by+m 1 =0, and the linear equation of the starting edge is recorded as l: ax+by+c=0, so as to obtain the rest n-1 linear equations
l i ：ax+by+m i ＝0,i＝2,3,......n#(30)
Wherein m is i Is determined by the following means: m is m i ＝c+i*(m 1 -c),i＝2,3,......n
S06, find l i Intersection points with straight lines of the sides of G ' are determined by a ray method to determine whether the intersection points are in the G ' (the intersection points are also considered to be in the G ' on the boundary).
And (3) ray method: and (3) leading out a ray from the point to the right side, and judging the number of intersecting points with the polygon. If the number of the intersection points is odd, the point is positioned in the polygon, otherwise, the point is positioned outside.
S07, taking 2n points in the interior in the step S06, sorting according to the bow shape, adding two end points of a starting edge at the beginning to obtain a covered cruising path under a rectangular coordinate system, converting the covered cruising path into longitude and latitude according to the method in the step 7 of generating a coastal path, and adding return points at the tail of the path to obtain a complete path shown in FIG. 11.
The invention enables a boat to perform tasks along a route using a modified ILOS algorithm after the route of travel has been determined. In use, the conventional LOS algorithm causes a fixed deviation in the transverse direction of the ship due to the problems of large environmental waves and the like, and the deviation can be improved by utilizing the integral action.
The improved ILOS guidance law principle is as follows:
as shown in fig. 12, the right hand coordinate system X pp Y pp X of (2) pp The axis coincides with the straight trajectory and follows the direction of advance of the straight path, (X) p ,Y p ) Is a coordinate system X pp Y pp The origin, (x, y) is the origin of the hull coordinate system.
In the coordinate system X pp Y pp The position of the vessel can be expressed as
Due to the coordinate system X pp Y pp Origin (X) p ,Y p ) On a straight line trajectory, thus
Wherein arctan2 is a generalized form of arctan function, and alpha is E (-pi, pi)
Formula (31) is rewritten as follows:
0＝(x-x p )cosα+(y-y p )sinα #(33)
the kinematic equation of a ship can be expressed as:
deriving the formula (34), and substituting the formulas (32), (33), (35), (36) into the formula
In the formula (37), χ=ψ+β is a heading angle;and β=arctan 2 (u, v) is the drift angle. In general, heading angle can be taken as
Substituting formula (38) into formula (37)
To eliminate the effect of drift angle, the integration operation can be directly added into the course angle, and the more direct ILOS guidance law can be written as
χ＝α-arctan(k p y e +k i y int )#(40)
In the formula (40), k p And k i Greater than zero, and k i Is selected appropriately to avoid excessive integration operation causing large overshoot and long convergence time.
In order to make the selection of ILOS guidance law parameters easier and more flexible, the following ILOS guidance laws are proposed
In the formula (43), the parameter k satisfies the following condition:
in formula (44), U d To further improve the integration effect and avoid a large overshoot for the desired navigational speed, the following time-varying parameter k is preferably used 2 :
k 2 (y e )＝(k max -k min )e -ρ|ye| +k min #(45)
In the formula (45), k max And k min Respectively k 2 Maximum and minimum of (2); ρ is the convergence rate. When the lateral deviation y e When larger, k 2 Smaller, weaker integration; when the lateral deviation y e Smaller, k 2 The integration effect is stronger.
The invention has the route storage function, after the working area is defined for the first time, the route in the record can be directly selected when the feeding task is carried out again subsequently, multiple times of setting are not needed, and the burden and the operation complexity are greatly reduced. The invention can automatically store various information of the last execution task in the main engine in the ship, and when a user does not need to change the route and the quality of feeding feeds, the remote controller can be selected to be started by one key.
The invention has the function of automatically adjusting the running speed and the feeding speed, the dynamic calculation method is used, the running route and the weight of the bait to be fed can be combined, the ship speed required for completing the task at intervals is recalculated, the subsequent feeding speed is determined by calculating the residual working distance and the residual feed quantity in the storage bin, the current real-time running speed of the ship is combined, the duty ratio of the motor for sowing the feed is automatically adjusted, and the calculation can be performed in real time according to the distance which has been travelled in the running process and the amount of the feed which is sowed. Because the invention can carry a large amount of feeds, in order to ensure that all feeds are uniformly sown, the route may have a condition of running for a plurality of weeks, and the calculation method can take the conditions into consideration, and the specific implementation principle is as follows:
in order to achieve the purpose of just completing the feed and completing the task as soon as possible at the end of the path execution, the maximum travel speed of the ship is set to v max The maximum feeding speed is q max The amount of the material is m, the task path is [ P1, P2. ], pn]The format is [ [ lat, lon ]],[lat,lon]......[lat,lon]]Wherein P1, P2, once again. The optimum travel speed (in m/s) and the optimum feed speed (in g/s) of the ship were calculated by the following steps.
Step one: converting the path from longitude and latitude to coordinates in a rectangular coordinate system, wherein the converted path is [ [ x ] according to the formulas (1) - (10) 1 ,y 1 ],[x 2 ,y 2 ],......[x n ,y n ]]。
Step two: finding out the sheet Zhou Lucheng to be sprinkled
Step three: calculating the required material scattering mass per meter for the ship to completely scatter the material just after the path running
The ship speed defaults to maximum speed v=v max Multiplying the two materials to obtain the spreading mass q per second s ＝q m *v。
Step four: the minimum number of turns the watercraft needs to travel to complete the mission is calculated.
Total distance s=s 1 *n。
Step five: recalculate the mass of scattered material per meterAnd the spreading mass q 'per second' s ＝q′ m * v, if q' s <q max Then the ship speed is determined to be v=v max Step seven is entered. If q s >q max Step six is entered.
Step six: the ship speed is reduced by Δv. Let the ship speed after the reduction be v, calculate the spreading mass q per second at this time s If q s <q max &q s >q min Determining the ship speed v, otherwise repeating the step six until q s <q max 。
Step seven: the forward speed of the ship is calculated. Recording the forward direction of ship travel as theta 1 The forward direction of the ship speed is theta 2 The ship speed v, the forward speed
v headi ＝v*cos(θ 2 -θ 1 ) #(43)
Step eight: the blanking amount per second is recorded as q s The duty ratio of the blanking motor is DR, and then the relation between the blanking motor and the blanking motor is: dr=a×q s Where a is a constant coefficient related to structure. At this time, the liquid crystal display device,
q s ＝v heading *q m #(44)
DR＝a*v heading *q m #(45)
and obtaining the duty ratio DR of the spreading motor, and outputting the DR.
Step nine: updating the coefficient a in step 8 every 10 seconds by reading and recording the data of the quality sensor; the mass difference read by the mass sensor within 10 seconds is recorded as delta m, and the theoretical spreading mass of the past 10 seconds is recorded as m 1 Record dm=m 1 -Δm,The past coefficient is recorded as a 0 The updated coefficient is a 1 Then a 1 ＝a 0 +da。
Step ten: the ship speed and the spreading speed of the remaining journey are updated every 20 seconds. Calculating the total distance S from the current position to the terminal point of the ship, reading the mass of the residual feed as m' through a mass sensor, entering the fifth to sixth steps, obtaining the advancing speed of the ship on the residual distance and the mass of the spread material per second, skipping the seventh to tenth steps, and entering the eleventh step.
Step eleven: and (3) repeating the seventh to eleventh steps by using the ship speed and the material scattering speed calculated in the tenth step until the material scattering task is completed.
When the invention is used for working, a user only needs to pour the feed into the bin and input the mass of the feed to be sown into the APP, the invention can automatically calculate the corresponding feeding speed, if the feed poured into the bin is more than the input feed to be fed, the redundant feed can be left in the bin to wait for the next operation, and if the feed poured into the bin is less than the input feed to be fed into the APP, the invention can automatically broadcast all the feeds in the bin. In addition, the invention has the function of detecting the residual bait, can detect the quality of the residual bait in the storage bin in real time, feeds back the residual bait in the APP, and is convenient for a user to check the working condition of the ship. And the structural design of the trimaran is adopted, so that the ultra-strong stability and balance are provided, and the artificial efficient bait casting is truly and intelligently and reliably replaced.
The foregoing embodiments have described in detail the technical solution and the advantages of the present invention, it should be understood that the foregoing embodiments are merely illustrative of the present invention and are not intended to limit the invention, and any modifications, additions and equivalents made within the scope of the principles of the present invention should be included in the scope of the invention.
Claims (8)
1. The large intelligent unmanned feeding ship with the triple-hulled ship structure is characterized by comprising a ship body (1) and two floating bodies (2) which are fixed on two sides of the ship body (1) through fixing frames (12);
the front part of the ship body (1) is provided with a diesel generator (11), the rear part of the ship body is provided with a spreading structure (3), and propeller propelling mechanisms (10) are symmetrically arranged on two sides close to the rear part; the diesel engine (11) is provided with a GPS antenna (6) and a radar (7);
the fixed frame (12) is provided with a bin (4) above the spreading structure (3), and a weight sensor is arranged in the bin (4); the lower opening of the feed bin (4) conveys baits to the material scattering structure (3) through the stranding cage mechanism;
an electric control bin (5) is arranged in the middle of the ship body (1), and a battery, a main control chip, a communication module, a positioning module and a driving module are arranged in the electric control bin (8); the positioning module receives satellite signals through a GPS antenna (9) and determines the current position and orientation information of the ship body; the communication module is used for realizing message intercommunication between the mobile phone app and the server and between the unmanned bait casting ship;
the server receives the position information of the positioning module through the communication module, calculates and generates a path plan, utilizes an improved ILOS algorithm to enable the ship to execute tasks along the path, and calculates the optimal running speed and the optimal spreading speed of the ship in real time by combining the data of the weight sensor; and meanwhile, the calculation result is sent to a main control chip, the main control chip outputs a pwm signal to a driving module, and uniform material scattering according to path planning is realized by controlling the running states of motors on a propeller propulsion mechanism (10), a stranding cage mechanism and a material scattering structure (3).
2. The large intelligent unmanned feeding ship with the trimaran structure according to claim 1, wherein the front part of the diesel engine and the rear part of the storage bin are provided with a camera for monitoring the front and rear conditions of the unmanned feeding ship in real time.
3. The large intelligent unmanned feeding ship of the trimaran structure according to claim 1, wherein the diesel engine is provided with a warning lamp at the upper part thereof for warning the position of the ship, and strobing when the ship is in trouble, warning the ship trouble.
4. The large intelligent unmanned feeding ship of the trimaran structure according to claim 1, wherein the storage bin (4) is a sealed inverted cone structure, and four corners of the lower part of the storage bin (4) are provided with weight sensors.
5. The large intelligent unmanned jetscraft of trimaran structure of claim 1, wherein calculating a generated path plan includes generating a coastal travel path and an in-area coverage cruise path; the process of generating the coastal travel path is as follows:
dotting on the mobile phone app to obtain four landing points in longitude and latitude forms, and connecting the four landing points to obtain a working area;
converting four coasts in longitude and latitude form into a rectangular coordinate system, taking a first coast P1 as an origin, and calculating four-side linear equations as four sides;
calculating four linear equations which are parallel to the bank and have a distance d from the bank and are arranged on the inner side of the working area, wherein the intersection point of two adjacent straight lines is the required path point;
and converting the obtained four path points from rectangular coordinates to longitudes and latitudes, and adding the return points to the tail end of the converted path to obtain the coastal travel path.
6. The large intelligent unmanned feeding vessel of trimaran structure according to claim 5, wherein the process of creating the covered cruising path in the area is as follows:
in the determined rectangular coordinate system, setting the minimum distance d1 between the ship and the shore in the running process, and setting the distance d2 between two adjacent parallel path sections;
four new boundary lines from the shore d1 are obtained by adopting a method for generating a coastal travel path to form a boundary G ', boundary points are C1, C2, C3 and C4, and the boundary G' is a working area for covering a cruising path;
selecting the longest boundary line as the initial edge, calculating the distance between each boundary point and the initial edge, and taking the maximum value of the four distances as D max Calculating the number of path segments parallel to the starting edge in the covered cruise pathn is an integer;
calculating a linear equation l of an n-segment path parallel to the start edge in the working area i The distance between two adjacent paths is d2;
find l i An intersection point with each boundary line of the boundary G 'and judging whether the intersection point is within the boundary G' or on the boundary;
and 2n intersection points in the G' and on the boundary are taken, after being sequenced according to the arch shape, two end points of the initial edge are added at the beginning to obtain a covered cruising path under a rectangular coordinate system, the covered cruising path is converted into longitude and latitude, and a return point is added at the tail end of the path to obtain the covered cruising path in the area.
7. The large intelligent unmanned feeding vessel of trimaran structure according to claim 5, wherein the formula of the ILOS guidance law in the modified ILOS algorithm is as follows:
wherein x represents a course angle, and alpha represents an included angle between the advancing direction of the ship and the vertical direction; y is e Representing the distance between the centre of the vessel and the target course, representing the deviation of the current vessel in the forward direction; y is int The integral term introduced in the ILOS algorithm is the accumulation of the deviation of the ship in the forward direction; delta represents the forward looking distance of the vessel tracked along a given path, which is the distance between the desired heading point and the projected point of the current position of the vessel being controlled on the desired course; the parameter k satisfies the following condition:
wherein k is 1 And k 2 To determine the parameter kRequired intermediate parameters, where k 1 To fix the parameters k 2 U as a variable parameter related to ship deviation d To further improve the integration effect for the desired navigational speed, the following variable parameter k is taken 2 :
Wherein k is mas And k min Respectively k 2 Maximum and minimum of (2); ρ is the convergence rate; when the lateral deviation y e When larger, k 2 Smaller, weaker integration; when the lateral deviation y e Smaller, k 2 The integration effect is stronger.
8. The large intelligent unmanned feeding ship of the trimaran structure according to claim 5, wherein the specific process of calculating the optimal running speed and the optimal spreading speed of the ship in real time is as follows:
step 1, converting the path from longitude and latitude into coordinates in rectangular coordinate system, converting the path into [ [ x ] 1 ,y 1 ],[x 2 ,y 2 ],......[x n ,y n ]]；
Step 2, obtaining a sheet Zhou Lucheng needing to be scattered
Step 3, calculating the required material scattering mass per meter for the ship to completely scatter the material just after the path running is finished
The ship speed defaults to maximum speed v=v max Multiplying the two materials to obtain the spreading mass q per second s ＝q m *v；
Step 4: calculating the minimum number of turns n and total distance s of the ship required to travel for completing the task
s＝s 1 *n
Step 5, recalculate the scattering material quality per meterAnd the spreading mass q 'per second' s ＝q′ m * v, if q' s <q max Then the ship speed is determined to be v=v max Step 7, entering a step; if q s >q max Step 6 is entered;
step 6: the ship speed is reduced by Deltav; let the ship speed after the reduction be v, calculate the spreading mass q per second at this time s If q s <q max &q s >q min Determining the ship speed v, otherwise repeating the step 6 until q s <q max ；
Step 7, calculating the forward speed of the ship; recording the forward direction of ship travel as theta 1 The forward direction of the ship speed is theta 2 The ship speed v, the forward speed
v headi ＝v*cos(θ 2 -θ 1 )
Step 8, recording the blanking quantity per second as q s The duty ratio of the blanking motor is DR, and then the relation between the blanking motor and the blanking motor is: dr=a×q s Wherein a is a constant coefficient related to structure; at this time, the liquid crystal display device,
q s ＝vh eading *q m
DR＝a*v heading *q m
obtaining the duty ratio DR of the spreading motor, and outputting the DR;
step 9: updating the coefficient a in step 8 every 10 seconds by reading and recording the data of the quality sensor; the mass difference read by the mass sensor within 10 seconds is recorded as delta m, and the theoretical spreading mass of the past 10 seconds is recorded as m 1 Record dm=m 1 -Δm,The past coefficient is recorded as a 0 The updated coefficient is a 1 Then a 1 ＝a 0 +da；
Step 10: the ship speed and the material scattering speed of the remaining path are updated every 20 seconds; calculating the total distance S from the current position to the destination of the ship, and reading the residual feed mass as m through a mass sensor ′ Step 5 to step 6 are carried out, after the ship advancing speed and the material scattering quality per second of the remaining journey are obtained, step 7 to step 10 are skipped, and step 11 is carried out;
step 11: and (5) repeating the steps 7 to 11 by using the ship speed and the material scattering speed calculated in the step 10 until the material scattering task is completed.
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