An operation path planning and control method for an automatic pond water weed cleaning ship

Abstract

The invention discloses an operation path planning and control method of a pond water and grass automatic cleaning boat. The method includes the following steps: the first step: under the condition that the pond water and grass growing area is in a rectangular distribution, through the back-shaped path planning, the operation boundary, the number of turns and the back-shaped path are obtained; the second step: based on the rectangular diagonal length greater than any arbitrary The length of the side, the cross-shaped path planning is carried out on the operation blind area located on the diagonal, and all the operation paths are obtained; the third step: use the GPS / BD navigation system to receive the position information in real time, and calculate the position of the midpoint of the cutting knife; the fourth step: use The real-time interpolation algorithm calculates the target point of the straight-line navigation of the cleaning ship; the fifth step: according to the turning path of the mid-point of the cutter, determine the target point and target course when turning; the sixth step: according to the current motion state of the work boat and the target point and The target path is compared to control the work boat. The invention can significantly improve the mowing efficiency, realize the precise control of the work boat, and provide guarantee for the efficient operation of the work boat.

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 aquatic weed harvesting. Background technique [0002] my country's shrimp and crab farming industry ranks first in the world. At present, shrimp and crab farming is facing a major problem in cleaning up aquatic plants, and its operating efficiency and quality are relatively low. With the gradual expansion of farming scale and the change of agricultural labor force structure, there is a serious shortage of agricultural labor. Therefore, how to improve the automation and intelligence level of shrimp and crab farming has become an urgent problem to be solved. The key to realize the intelligent and efficient operation of the aquatic weed cleaning operation boat is to avoid the phenomenon of missed cutting and the precise control of the aquatic weed cleaning boat. C...

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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