Complete-covering automatic and even feeding track planning method for aquaculture pond

Abstract

The invention discloses a complete-covering automatic and even feeding track planning method for an aquaculture pond. The method includes the following steps that 1, the coordinate system of a pond area is built; 2, an automatic feeding working area is determined; 3, the shape regularity condition of the automatic feeding working area is judged; for the pond in the regular shape, an inner-screw-traversal-mode pond complete-covering automatic feeding track planning method is adopted; for the pond in the irregular shape, a comb-reciprocating-traversal-mode pond complete-covering automatic feeding track planning method is adopted; coordinates of characteristic points are automatically calculated, and the pond complete-covering automatic feeding track is generated. The track planning method for river-crab-breeding whole-pond automatic and even feeding and pond-following or whole-pond automatic and even feeding in other kinds of aquaculture is provided, the even feeding path and track method can be directly calculated through the vertex coordinates of the pond, accurate and even feeding is achieved, working efficiency is improved, production cost is reduced, and the healthy development of the aquaculture industry is promoted.

Description

technical field [0001] The invention relates to a full-coverage automatic uniform feeding trajectory planning method, in particular to a full-coverage automatic uniform feeding trajectory planning method for aquaculture ponds. Background technique [0002] River crab farming formed an industrial scale in the early 1990s, and has now become the fastest-growing and most potential pillar industry in China's fishery production. Feeding bait and feeding is a heavy and critical task in river crab farming, because the feed The cost accounts for more than 50% of the entire investment cost. Whether the feeding technology is reasonable or not is the most important factor affecting the effect of aquaculture and environmental ecological benefits. Because river crabs cannot move in a large range, they can only look for food in the vicinity of themselves. Therefore, when feeding, the bait should be evenly distributed on the water surface of the entire pond. For waters with excessive bait ...

AI Technical Summary

Problems solved by technology

Because river crabs cannot move in a large range, they can only look for food in the vicinity of themselves. Therefore, when feeding, the bait should be evenly distributed on the entire pond water surface. For waters with excessive bait density, feed will be wasted and the remaining feed will deteriorate the breeding environment. ; and for waters where the bait density is too low, it will affect the food intake of river crabs, and it is easy to cause river crabs to be injured due to food grabbing and fighting, and then cause diseases, leading to the consequences of death of river crabs

[0003] At present, there are generally three methods of baiting and feeding for domestic river crab culture: one is to rely on artificial punting to bait and feed, one person punting, one person baiting, only relying on manual experience, the work efficiency is low, the labor intensity is high, and the feeding cannot be guaranteed. the uniformity of the bait; the second is to rely on the bait feeding machine to feed the bait. Although this method can be manually operated at a fixed time and quantity to save labor, it can only be fixed at the same place for bait, and the bait is distributed in a small area on the shore. In the water area, other water areas, especially the middle water area, cannot be covered, and the uniformity of bait feeding cannot be guaranteed; the third is to feed the bait feeder on board, drive the boat through a gasoline engine or diesel engine, and then throw the bait to the In ponds, since the route of the boat is determined randomly by hand, the randomness is strong, and it is difficult to ensure the uniformity of feeding

[0004] With the development of agricultural electrification and automation technology, some automatic bait feeding equipment has appeared, such as the patent "remote control automatic bait feeding boat" with application No. , the navigation route is highly random, and the work effect is poor; the patent "aquaculture robot" with the application number 201310155373.1 can control the feeding rate in real time according to the real-time voyage, speed, and material quantity parameters, so that the feeding is uniform, but there is no monitoring of the feeding process. Modeling and quantitative analysis cannot guarantee the actual distribution uniformity of bait falling on the water surface; the patent application number 201410138938.X "an intelligent feeding and pesticide application system and device based on GPS navigation" can receive human-computer interaction subsystem Input tasks and instructions, and control the feeding subsystem to perform feeding actions to achieve precise feed feeding and uniform drug spraying, and no quantitative analysis is given, which makes it difficult to ensure the uniformity of bait distribution; the patent application number 201410243137. A wind-driven automatic bait feeding system and a uniform bait feeding method", using the modeling of the bait throwing machine, the modeling of the oblique throwing movement of feed particles, the modeling of the cumulative density distribution of bait on the water surface, and the uniform bait feeding of the automatic bait feeding system Steps such as solving the optimal operating parameters of the automatic bait throwing device automatically determine the feeding amount of the automatic bait throwing device feeder per unit time, the speed of the throwing plate, the throwing fan angle of the bait throwing machine, the driving speed of the wind-driven boat, and two adjacent bait throwing in the path planning. The optimal operating parameters of the automatic bait feeding system, such as the width of the stroke, use the Beidou satellite navigation system to realize path tracking through the Beidou navigation device, and complete the automatic uniform bait feeding operation, but the specific principles and methods of path planning are not given

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