Elastic grid type fixed point automatic bait casting method based on unmanned ship

Abstract

The invention relates to an elastic grid type fixed point automatic bait casting method based on an unmanned ship. The method includes: 1, demarcating theoretical contour lines to acquire an outer bait casting theoretical contour line and an inner bait casting theoretical contour line; 2, determining a starting point and a finishing point for sailing of the unmanned ship within a range formed by the inner and outer bait casting theoretical contour lines according to actual geological conditions of bait casting operation; 3, demarcating a square bait casting grid within the inner and outer bait casting theoretical contour lines, and taking each central point of the square bait casting grid as a bait casting point; 4, determining an elastic subdivision square grid; 5, executing a global path algorithm according to the starting point and the finishing point for sailing and the bait casting points for selection to generate sailing track; traversing all bait casting points to complete the bait casting operation. The method can realize uniform-distribution fixed-point automatic bait casting in large-scale breeding water areas.

Description

technical field [0001] The invention relates to the technical field of navigation technology application, in particular to an elastic grid-type fixed-point automatic bait throwing method based on an unmanned boat. Background technique [0002] Most aquaculture species are heterotrophs, and their growth must take in nutrients from the external environment. Exogenous feeding has become an important channel for aquaculture organisms to obtain energy and protein. The traditional baiting methods suitable for pond farming include: manual punting, fixed-point baiting by baiting machines, and baiting by boat-borne baiting machines. In recent years, my country's aquaculture industry has developed rapidly. With the continuous increase of the scale of aquaculture in various places, the traditional method of manually feeding bait is no longer suitable for large-scale aquaculture. At present, the bait feeding machine has been generally recognized by the market. It is placed on the perip...

AI Technical Summary

Problems solved by technology

Building a cooperative operating system of multiple traditional bait feeding machines requires the establishment of a line network, which has the disadvantages of high complexity of wire erection and high power consumption, which greatly increases the cost of cooperative operation of bait feeding machines

[0003] The unreasonable arrangement of feeding points makes it difficult for the bait to be reasonably consumed by farmed fish: in some areas, there are too many fish and little bait, which cannot meet the growth needs of fry; in some areas, there are too many baits and few fish, resulting in waste of bait

Excessive bait residues will also increase the nitrogen and phosphorus content of the water body, aggravate the eutrophication, cause the blooming of blue-green algae in the aquaculture water body, affect the growth of fish and lead to a decrease in production

And because the traditional bait feeding machine uses fixed-point baiting on the shore, the bait behavior makes the fish distribution concentrated on the shore, which is not conducive to the utilization of large-area water resources.

However, at the present stage, the travel routes of ship-borne bait feeders are mostly determined manually, with strong randomness, and it is difficult to reasonably spread them in large-scale aquaculture waters

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