Operation path planning and control method of automatic pond aquatic plant cleaning ship

Abstract

The invention discloses an operation path planning and control method of an automatic pond aquatic plant cleaning ship. The method comprises the following steps that 1, under the condition that a pondaquatic plant growth area is distributed in a rectangular shape, a homocentric-squares-shaped path is planned, and an operation boundary, the number of turns and the homocentric-squares-shaped path are obtained; secondly, based on the fact that the diagonal length of the rectangle is larger than any side length, fork-shaped path planning is conducted on an operation blind area located on a diagonal, and all operation paths are obtained; 3, the position information is received in real time by using a GPS / BD navigation system, and calculation is performed to obtain a midpoint position of a cutting knife; 4, a target point of linear navigation of a cleaning ship is calculated by utilizing a real-time interpolation algorithm; 5, a target point and a target course during turning are determinedaccording to the turning path of the midpoint of the cutting knife; sixthly, the workboat is controlled according to comparison of a current motion state of a workboat with the target point and the target path. The method is advantaged in that mowing efficiency can be remarkably improved, accurate control over the workboat is achieved, and a guarantee is provided for efficient operation of the workboat.

Description

technical field [0001] The invention relates to the field of path planning and automatic navigation path control, in particular to the path planning and navigation tracking control of an automatic cleaning ship for waterweed harvesting. Background technique [0002] my country's shrimp and crab aquaculture industry ranks first in the world. At present, shrimp and crab aquaculture faces a major problem in water weed cleaning, and its operation efficiency and quality are relatively low. With the gradual expansion of the breeding scale and the change of the agricultural labor structure, there is a serious shortage of agricultural labor. Therefore, how to improve the automation and intelligence of shrimp and crab breeding has become an urgent problem to be solved. The key to realizing the intelligent and efficient operation of the aquatic weed cleaning boat is to avoid the occurrence of missed cutting and precise control of the aquatic weed cleaning boat. SUMMARY OF THE INVENT...

AI Technical Summary

Problems solved by technology

[0003] Therefore, the present invention proposes a method based on the fork-shaped operation path planning based on the conventional back-shaped operation path planning, thereby solving the problem of the phenomenon of missing cuts in turns, and at the same time, the insertion point algorithm is performed based on the GPS / BD navigation system for Realize the efficient operation control of straight-line navigation of the operation ship. For the control of turning operations, according to the turning trajectory, the forward point on the arc (path) is used to determine the tracking target point and target heading

[0004] The purpose of the present invention is to solve the problem of missed cutting of aquatic plants in the existing path planning operation mode, and to make up for the deficiency of low control precision of the operation boat

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