Automatic navigation path tracking method for aquaculture workboat

A path tracking and automatic navigation technology, applied in non-electric variable control, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve problems such as unsatisfactory path tracking effect and complicated methods

Active Publication Date: 2016-06-01
常州慧而达智能装备有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problems that the existing agricultural machinery navigation control method is complex and the path tracking effect is not ideal, so that the workboat can accurately follow the set path, improve the efficiency of aquatic weed cleaning and the uniformity of feeding

Method used

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  • Automatic navigation path tracking method for aquaculture workboat
  • Automatic navigation path tracking method for aquaculture workboat
  • Automatic navigation path tracking method for aquaculture workboat

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specific Embodiment

[0123] In the above step 1 of planning the target route and speed of the operation vessel, the target operation area of ​​the aquaculture operation vessel is set as image 3 For the irregular shape shown, set 4 corner points that can reflect the outline of the target operating area according to the shape characteristics of the target operating area {J 0 , J 1 , J 2 , J 3}, decomposing the original curved path into Figure 4 The longitude and latitude coordinates of these corner points collected by the high-precision GPS system are (119.51700896, 32.19759716), (119.51744361, 32.19757820), (119.51740220, 32.19784642), (119.51698746, 31.197) Store it in the main controller in the form of a two-dimensional array. Next, the formula for calculating the distance between two points from the known latitude and longitude of the two points:

[0124] L = 2 × 6378137 × arcsin ( ...

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Abstract

The invention discloses an automatic navigation path tracking method for an aquaculture workboat. The method comprises the following steps: 1, collecting the position information of corners reflecting the contour of a work region, and obtaining the target navigation lien and speed of the workboat through track planning; 2, collecting the real-time position, navigation and speed of the workboat, setting the navigation speed of the workboat, and judging whether a target path needs to be switched or not; 3, calculating a tracking target point of the workboat through employing a method of real-time point insertion; 4, enabling the attitude and movement state data of the workboat to be compared with a tracking target point and a target path, obtaining the navigation direction and speed deviation, obtaining the navigation direction and speed control amount through employing the PD and PI algorithms, and finally obtaining the control amounts of left and right paddle wheels; 5, carrying out the real-time navigation control of the workboat according to the final control amounts. The method can remarkably improve the effect of automatic navigation path tracking, and provides guarantee for the high-efficiency completion of aquatic plant cleaning and uniform bait casting.

Description

technical field [0001] The invention relates to the field of automatic navigation path tracking, in particular to the automatic navigation path tracking of an aquaculture operation ship for river crab cultivation. Background technique [0002] my country is a big country in the cultivation of river crabs, and there are two major problems in the process of river crab cultivation: cleaning of aquatic plants and uniform baiting. Aquatic plants are the bait that river crabs like to eat, and they are also the habitat of river crabs. Aquatic plants can increase oxygen through photosynthesis, and can also absorb nutrients in water, improve water quality, and prevent water eutrophication. However, if the aquatic plants are not cleaned in time, the aquatic plants exposed to the water will prevent the oxygen in the air from entering the water body, and the rotten aquatic plants will consume too much dissolved oxygen in the water, resulting in the deterioration of the pond bottom and w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206G05D1/02
Inventor 赵德安罗吉孙月平洪剑青
Owner 常州慧而达智能装备有限公司
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