Online automatic control method for dual direction-changing side paddles of lake and reservoir workboat

Abstract

The invention discloses an online automatic control method for dual direction-changing side paddles of a lake and reservoir workboat. The workboat mainly comprises a boat body, side paddles, a propeller and a monitoring system. The monitoring system comprises a control unit, a navigation unit, an obstacle avoidance unit, a wind-wave monitoring unit, a wireless communication module and a power supply system. The method comprises the steps of setting a sailing path of the workboat; detecting the working state of the workboat; controlling the moving state of the workboat; performing adjustment on deviation of the workboat from the sailing path; performing adjustment on obstacle avoidance of the workboat; and keeping a stable state of the workboat at a target point. According to the invention, the propeller and dual side paddles capable of adjusting the speed in direction changing are used, and the control unit is utilized to control the direction and the rotating speed, so that efficient sailing of the workboat in various moving modes is realized. Meanwhile, the working state of the workboat is monitored by using a sensor, so that the flexibility of motion control for the workboat is enhanced, influences imposed on the workboat by wind and water flow are effectively resisted, and the workboat is enabled to keep stable at the target point under interference of wind and waves.

Description

technical field [0001] The invention belongs to the field of lake environment monitoring, and in particular relates to an online automatic control method for dual direction-changing side propellers of a lake and reservoir operation vessel. Background technique [0002] Workboats play an important role in water environment monitoring and sampling activities in lakes, reservoirs and other places. With the development of online water environment monitoring and other technologies and the requirements for in-situ sample collection, the requirements for motion control of work boats are also constantly improving. Using workboats to operate on the water surface can improve the efficiency of water environment monitoring and sampling, so as to obtain real and effective information. [0003] The current general method of water environment monitoring and sampling activities is that staff drive ordinary operation vessels to the pre-determined target point, use water quality monitoring e...

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