CN205027907U - Feed shrimp machine based on radar and GPS location - Google Patents
Feed shrimp machine based on radar and GPS location Download PDFInfo
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- CN205027907U CN205027907U CN201520721626.1U CN201520721626U CN205027907U CN 205027907 U CN205027907 U CN 205027907U CN 201520721626 U CN201520721626 U CN 201520721626U CN 205027907 U CN205027907 U CN 205027907U
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Abstract
The utility model relates to a feed shrimp machine based on radar and GPS location, including the hull, install in hull on the hull move ahead controller, hull steering controller and orientation module, orientation module includes GPS receiver, radar sensor, controller and memory, the hull move ahead controller and hull steering controller respectively with orientation module's controller is connected, GPS receiver and radar sensor and the controller is connected, memory storage has predetermined working map of feeding the shrimp environment, the controller is according to coming from the signal of GPS receiver with the positional information that radar sensor detected matches the working map acquires feed the positional information of shrimp machine. The utility model discloses utilize the GPS receiver to realize the location in the working map, location in can the present working map of supplementary lower excess at radar sensor under the condition that signal intensity is not enough of GPS receiver to can effectively provide the positioning accuracy and the reliability of feeding the shrimp ship.
Description
Technical field
The utility model relates to a kind of hello shrimp machine of locating based on radar and GPS.
Background technology
In recent decades, the shrimp culture industry development of countries in the world is swift and violent, and " supporting shrimp heat " have swepts the globe.In the breeding process of prawn, shrimp bait is thrown something and fed and river basin cruises etc. is in important work, needs to carry out cruising or operation in the river basin of foster shrimp.
In the plant that some are larger, the raising area of shrimp is very extensive.Shrimp machine is fed on the existing remote control shrimp pool can utilize integrated circuit, by electronic telecontrol technology, realize patrolling the process of the pool and spreading, but there is following shortcoming in this device for feeding fish bait: under having wind or other can change the condition of ship motion track, easily de-orbit, affect effect of throwing something and feeding; Feed intake although not employment is rowed the boat, still be unable to do without the straighforward operation of people.In addition, also have some to feed shrimp machines in the river basin of broadness, utilize GPS location technology to realize location and carry out feeding shrimp or cruise, but due to the instability of gps signal, feed shrimp ship easy lossing signal in operation process, cannot positioning function be realized.When unit (only having one to feed shrimp ship in particular range) operation, GPS locate failure needs wait again to obtain gps signal, and the operating efficiency of shrimp machine is fed in impact; More seriously, multimachine (having many to feed shrimp ship under specific circumstances), then very serious collision accident is likely caused.
Utility model content
The purpose of this utility model is to provide a kind of hello shrimp machine of locating based on radar and GPS, utilizes GPS and radar to realize feeding accurately the location of shrimp machine.
For this reason, the technical solution adopted in the utility model is as follows:
A kind of hello shrimp machine of locating based on radar and GPS, line control unit, hull steering controller and locating module before the hull comprise hull, being installed on described hull, described locating module comprises GPS, radar sensor, controller and storer, before described hull, line control unit is connected with the controller of described locating module respectively with hull steering controller, and described GPS is connected with described controller with radar sensor; Described storer stores the default working map of feeding shrimp environment, and the positional information that described controller detects according to signal and the described radar sensor from described GPS mates described working map, obtains described positional information of feeding shrimp machine.
Preferably, also comprise the signal receiver for receiving other positional informations of gps receivers acquisition of feeding shrimp machine and the numbering of working map, described signal receiver is connected with described controller.
Preferably, the speed of each object in multiple objects that described controller obtains according to described radar sensor, the basal rate preset with one carries out contrasting described object is divided into static state or dynamic object, and the ratio according to described static object and described dynamic object judges that the mode type of work at present is as multimachine pattern or single cpu mode.
Preferably, under multimachine pattern, described controller determines positional information based on the positional information of hello a shrimp machine according to multiple hello positional information of shrimp machine and the positional information of described radar sensor, and the differential position information between that obtain according to described radar sensor and described base position information adjusts at least described positional information of feeding shrimp machine.
Preferably, in a stand-alone mode, described controller adjusts at least described positional information of feeding shrimp machine according to the positional information of described radar sensor and described static object.
Preferably, the positional information that described controller obtains according to described locating module and described signal receiver obtain other feed the positional information of shrimp machines, described working map mates, generates navigation information.
For feeding the localization method based on radar sensor and GPS on shrimp machine, comprising:
Obtain the positional information of the detection of described GPS, and the positional information that the object obtaining radar sensor detection is relevant;
Working map according to the Signal Matching from described GPS, obtains described positional information of feeding shrimp machine.
Preferably, also comprise:
Receive other positional information of gps receivers acquisition of feeding shrimp machine and numberings of working map.
Preferably, also comprise:
According to the speed of each object in multiple objects that described radar sensor obtains, the basal rate preset with carries out contrasting described object is divided into static state or dynamic object;
Ratio according to described static object and described dynamic object judges that the mode type of work at present is as multimachine pattern or single cpu mode.
Preferably, also comprise:
The speed of each object in multiple objects that described controller obtains according to described radar sensor, the basal rate preset with one carries out contrasting described object is divided into static state or dynamic object, and the ratio according to described static object and described dynamic object judges that the mode type of work at present is as multimachine pattern or single cpu mode;
If multimachine pattern, then determine positional information based on a positional information of feeding shrimp machine according to the multiple positional information of shrimp machine and positional information of described radar sensor of feeding, the differential position information between that obtain according to described radar sensor and described base position information adjusts at least described positional information of feeding shrimp machine;
If single cpu mode, then adjust at least described positional information of feeding shrimp machine according to the positional information of described radar sensor and described static object.
Compared with prior art, the feeding shrimp machine and localization method GPS can be utilized to realize the location in working map based on radar and GPS location that the utility model embodiment provides, the location in working map can be realized at the auxiliary lower of radar sensor when the signal intensity deficiency of GPS, thus the positioning precision and reliability of feeding shrimp ship can be effectively provided.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of feeding shrimp machine of locating based on radar and GPS that the utility model embodiment provides;
Fig. 2 is a kind of process flow diagram for feeding based on the localization method of radar sensor and GPS on shrimp machine that the utility model one embodiment provides;
Fig. 3 is a kind of process flow diagram for feeding based on the localization method of radar sensor and GPS on shrimp machine that another embodiment of the utility model provides.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.
That a kind of that the utility model embodiment provides feeds the structural representation of shrimp machine based on radar and GPS location see Fig. 1, Fig. 1.In the embodiment shown in Fig. 1, the shrimp machine of feeding based on radar and GPS location of this structure comprises hull, be installed on described hull hull before line control unit 10, hull steering controller 20 and locating module 30.As shown in the figure, described locating module 30 comprises GPS 31, radar sensor 34, controller 33 and storer 32.Before described hull, line control unit 10 and hull steering controller 20 are connected with the controller 33 of described locating module 30 respectively, and described GPS 31 is connected with described controller 33 with radar sensor 34; Described storer 32 stores the default working map of feeding shrimp environment, and the positional information that described controller 33 detects according to signal and the described radar sensor 34 from described GPS 31 mates described working map, obtains described positional information of feeding shrimp machine.
In addition, in some embodiments, also comprise the signal receiver for receiving other positional informations of gps receivers 31 acquisition of feeding shrimp machine and the numbering of working map, described signal receiver is connected with described controller 33.
In the course of the work, the speed of each object in multiple objects that described controller 33 obtains according to described radar sensor 34, the basal rate preset with one carries out contrasting described object is divided into static state or dynamic object, and the ratio according to described static object and described dynamic object judges that the mode type of work at present is as multimachine pattern or single cpu mode.
If be judged as multimachine pattern, described controller 33 determines positional information based on the positional information of hello a shrimp machine according to multiple hello positional information of shrimp machine and the positional information of described radar sensor 34, and that obtain according to described radar sensor 34 and between described base position information differential position information adjusts at least described positional information of feeding shrimp machine.
If be judged as single cpu mode, described controller 33 adjusts at least described positional information of feeding shrimp machine according to the positional information of described radar sensor 34 and described static object.
In some embodiments, the positional information that described controller 33 obtains according to described locating module 30 and described signal receiver obtain other feed the positional information of shrimp machines, described working map mates, generates navigation information.
A kind of process flow diagram for feeding based on the localization method of radar sensor and GPS on shrimp machine that the utility model one embodiment provides see Fig. 2, Fig. 2.In the embodiment shown in Fig. 2, this, for feeding the localization method based on radar sensor and GPS on shrimp machine, comprising:
S201: the positional information obtaining the detection of described GPS, and the positional information that the object obtaining radar sensor detection is relevant;
S202: working map according to the Signal Matching from described GPS, obtains described positional information of feeding shrimp machine.
Under normal circumstances, the positional information of feeding shrimp machine can be determined by GPS.When the jitter of GPS causes positional information error larger, the positional information of feeding shrimp machine can be obtained by radar sensor, the positional information obtained in conjunction with GPS is revised, thus can obtain more accurate and reliable positional information.
In addition, the step receiving other positional informations of gps receivers acquisition of feeding shrimp machine and the numbering of working map is also comprised.In this embodiment, feed shrimp machine and can receive other hello the GPS position information of shrimp machine and numberings of working map.Therefore, feed shrimp machine can according to other feed the GPS position information of shrimp machines and radar record this feed shrimp machine and radar the relative position information of feeding between shrimp machine, transfer corresponding map according to the numbering of working map, combining cartographic information calculates the positional information of feeding shrimp machine.Therefore, even if when feeding GPS inefficacy on shrimp machine, the relative position information that hello the shrimp machine that is somebody's turn to do also can record according to the GPS position information of other hello shrimp machines and radar sensor obtains feeding the positional information of shrimp machine.
A kind of process flow diagram for feeding based on the localization method of radar sensor and GPS on shrimp machine that another embodiment of the utility model provides see Fig. 3, Fig. 3.In the embodiment illustrated in fig. 3, the method comprises S301-308, and wherein, step 301-302 is identical with step S201-202, repeats no more herein.
In step S303, receive other positional information of gps receivers acquisition of feeding shrimp machine and numberings of working map.
In step s 304, according to the speed of each object in multiple objects that described radar sensor obtains, the basal rate preset with carries out contrasting described object is divided into static state or dynamic object.
In step S305, the ratio according to described static object and described dynamic object judges that the mode type of work at present is as multimachine pattern or single cpu mode.Multimachine pattern refers within the scope of operations specific, to have multiple stage mobile object (being generally that other feed shrimp machines), in multimachine pattern, focuses on avoiding feeding the collision between shrimp machine.Single cpu mode refers to that within the scope of operations specific, have a small amount of (being generally 1-2) platform feeds shrimp machine, and concrete volume cost those skilled in the art can determine according to actual conditions, and the utility model does not limit this.
In step S306, if multimachine pattern, then determine positional information based on a positional information of feeding shrimp machine according to the multiple positional information of shrimp machine and positional information of described radar sensor of feeding;
In step S307, the differential position information between that obtain according to described radar sensor and described base position information adjusts at least described positional information of feeding shrimp machine.
As can be seen from step S306 and S307, by mutually verifying from multiple relative position informations of feeding between shrimp machine of multiple positional information and radar sensor scanning of feeding shrimp machine, thus the positional information that can obtain at least one hello shrimp machine is correct.Therefore, can from checking positional information select one feed shrimp machine positional information based on positional information, the relative position information of feeding shrimp machine between corresponding with this base position information utilizing this base position information and radar sensor to detect adjusts the positional information that this feeds shrimp machine, or, can verify that this feeds the positional information of shrimp machine.
In step S308, if single cpu mode, then adjust at least described positional information of feeding shrimp machine according to the positional information of described radar sensor and described static object.
For single cpu mode, owing to feeding the negligible amounts of shrimp machine, the positional information be difficult to feeding shrimp machine is verified mutually, can adjust the positional information of hello shrimp machine according to radar sensor and the positional information of the static object on ground.Such as, the demarcation thing on ground can be used to carry out verifying or correct the positional information of feeding shrimp machine.
As can be seen from embodiment above, the feeding shrimp machine and localization method GPS can be utilized to realize the location in working map based on radar and GPS location that the utility model embodiment provides, the location in working map can be realized at the auxiliary lower of radar sensor when the signal intensity deficiency of GPS, thus the positioning precision and reliability of feeding shrimp ship can be effectively provided.
Should be appreciated that, the utility model is not limited to above-mentioned embodiment, every spirit and scope of the present utility model are not departed to various change of the present utility model or modification, if these are changed and modification belongs within claim of the present utility model and equivalent technologies scope, then the utility model also means that comprising these changes and modification.
Claims (6)
1. hello a shrimp machine of locating based on radar and GPS, it is characterized in that, line control unit, hull steering controller and locating module before the hull comprise hull, being installed on described hull, described locating module comprises GPS, radar sensor, controller and storer, before described hull, line control unit is connected with the controller of described locating module respectively with hull steering controller, and described GPS is connected with described controller with radar sensor; Described storer stores the default working map of feeding shrimp environment, and the positional information that described controller detects according to signal and the described radar sensor from described GPS mates described working map, obtains described positional information of feeding shrimp machine.
2. a kind of hello shrimp machine of locating based on radar and GPS according to claim 1, it is characterized in that, also comprise the signal receiver for receiving other positional informations of gps receivers acquisition of feeding shrimp machine and the numbering of working map, described signal receiver is connected with described controller.
3. a kind of hello shrimp machine of locating based on radar and GPS according to claim 2, it is characterized in that, the speed of each object in multiple objects that described controller obtains according to described radar sensor, the basal rate preset with one carries out contrasting described object is divided into static state or dynamic object, and the ratio according to described static object and described dynamic object judges that the mode type of work at present is as multimachine pattern or single cpu mode.
4. a kind of hello shrimp machine of locating based on radar and GPS according to claim 3, it is characterized in that, under multimachine pattern, described controller determines positional information based on the positional information of hello a shrimp machine according to multiple hello positional information of shrimp machine and the positional information of described radar sensor, and the differential position information between that obtain according to described radar sensor and described base position information adjusts at least described positional information of feeding shrimp machine.
5. a kind of hello shrimp machine of locating based on radar and GPS according to claim 4, is characterized in that, in a stand-alone mode, described controller adjusts at least described positional information of feeding shrimp machine according to the positional information of described radar sensor and described static object.
6. a kind of hello the shrimp machine of locating based on radar and GPS according to claim 4 or 5, it is characterized in that, the positional information that described controller obtains according to described locating module and described signal receiver obtain other feed the positional information of shrimp machines, described working map mates, generates navigation information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520721626.1U CN205027907U (en) | 2015-09-16 | 2015-09-16 | Feed shrimp machine based on radar and GPS location |
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| CN201520721626.1U CN205027907U (en) | 2015-09-16 | 2015-09-16 | Feed shrimp machine based on radar and GPS location |
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| CN205027907U true CN205027907U (en) | 2016-02-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629976A (en) * | 2016-02-22 | 2016-06-01 | 江苏大学 | Automatic navigation path tracking method for aquaculture workboat |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629976A (en) * | 2016-02-22 | 2016-06-01 | 江苏大学 | Automatic navigation path tracking method for aquaculture workboat |
| CN105629976B (en) * | 2016-02-22 | 2018-06-01 | 江苏大学 | A kind of aquaculture operation ship self-navigation path following method |
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Granted publication date: 20160210 Termination date: 20180916 |
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