A navigation guide-based intelligent feeding system and method

Abstract

The application discloses a kind of intelligent feeding system and method based on navigation guidance, belong to the technical field of water feeding. Including the following steps: obtaining feeding area, and demarcating reference line on the feeding area, the reference line divides the feeding area into first area and second area;At the outer edge of the first area, the initial position is specified, and the terminal position is specified at the outer edge of the second area, to generate the feeding path;Feeding device advances along the feeding path, and feeds according to the pre-set feeding parameter in the process of advancing, so that the feeding area covers the area of the feeding area.The application generates the feeding path according to the feeding area in advance, and the generated feeding path realizes comprehensive coverage feeding in combination with the feeding device developed by the application, and the initial position and terminal position of the feeding device are both set at the edge, that is, there is no phenomenon of repeated feeding or repeated path.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of water feeding, and particularly relates to an intelligent feeding system and method based on navigation guidance. BACKGROUND

[0002] With the continuous improvement of people's quality of life, the aquatic product market occupies an increasingly important position in the entire food market. Among them, feed is one of the most common aquatic products and has become an indispensable food on the dining table. In order to increase the breeding amount to meet market demand, an intelligent feeding system is in operation. However, the existing aquatic breeding feeding method can only replace the main action of feeding, although it has the functions of timing, quantification, remote control, etc., improves the feeding efficiency and eliminates the instability caused by human factors.

[0003] However, remote control is still controlled by human beings, that is, the feeding path is still controlled by the breeding personnel. Not only is the technical requirement of the breeding personnel high, but also the breeding personnel needs to be familiar with the fed area and the unfed area to avoid the phenomenon of repeated feeding in some areas or no feeding in some areas, which not only increases the feeding cost but also leads to uneven feeding and fails to meet the expected breeding requirements. SUMMARY

[0004] The application provides an intelligent feeding system and method based on navigation guidance to solve the technical problems in the background.

[0005] The application adopts the following technical scheme: an intelligent feeding method based on navigation guidance, at least comprising the following steps:

[0006] A feeding area is obtained, and a reference line is calibrated on the feeding area, the reference line dividing the feeding area into a first area and a second area;

[0007] An initial position is specified at the outer edge of the first area, and an end position is specified at the outer edge of the second area, and a feeding path is generated;

[0008] The feeding device advances along the feeding path and feeds according to the pre-set feeding parameters in the process of advancing, so that the feeding area covers the area of the feeding area;

[0009] Before reaching the end position, if the food in the feeding device is insufficient, the current position is obtained, the shortest path is generated based on the current position and the initial position, the feeding device returns to the initial position along the shortest path to complete feeding and returns to the current position along the shortest path, and feeding is continued according to the remaining feeding path.

[0010] In a further embodiment, the feeding path comprises at least N parallel forward routes in the first area, N parallel reverse routes in the second area, and a plurality of first and second switching routes for switching the feeding device between the forward routes and the reverse routes;

[0011] The feeding device advances along the feeding path / shortest path in the following order: the forward routes, the first switching routes, the reverse routes and the second switching routes.

[0012] In a further embodiment, when the end position is selected at the outer edge of the second area and away from the reference line, the feeding device has the same priority order for the forward routes in the first area and the reverse routes in the second area, and the feeding device advances in a reciprocating manner.

[0013] In a further embodiment, when the end position is selected at the outer edge of the second area and close to the reference line, the feeding device has opposite priority order for the forward routes in the first area and the reverse routes in the second area, and the feeding device advances in a back-and-forth manner.

[0014] In a further embodiment, when the feeding device advances along the feeding path / shortest path, the method further comprises the following steps:

[0015] Obtaining the real-time condition of the water surface, and if there is an obstacle on the current route, determining the state of the obstacle by calculating the real-time distance between the feeding device and the obstacle; if the obstacle is in a stationary state, the feeding device temporarily deviates from the current route, and after bypassing the obstacle, returns to the current route to advance according to the plan;

[0016] If the obstacle is in a moving state, determining whether the feeding device needs to slow down based on the moving speed of the feeding device, and the drift speed and direction of the obstacle.

[0017] A feeding system for implementing the intelligent feeding method described above, comprising: a feeding device configured to store and dispense food; the feeding device is provided with a camera and a distance sensor, the camera is configured to obtain the real-time condition of the water surface, and the distance sensor is configured to obtain the distance between the obstacle and the feeding device;

[0018] A control device arranged in a control room; the control device is communicatively connected to the feeding device; the control device comprises at least a first module, a second module and a third module;

[0019] The first module is configured to obtain the feeding area and mark a reference line on the feeding area, and the reference line divides the feeding area into a first area and a second area.

[0020] The second module is configured to specify an initial position at the outer edge of the first area, specify an end position at the outer edge of the second area or on the reference line, and generate a feeding path;

[0021] The third module is configured to, if the food in the feeding device is insufficient before reaching the end position, obtain a current position, generate a shortest path based on the current position and the initial position, and return the feeding device to the initial position along the shortest path to complete feeding and return the feeding device to the current position along the shortest path to continue feeding according to the remaining feeding path.

[0022] In further embodiments, the feeding device comprises:

[0023] A hull having a containing cavity inside; a fixing frame is installed in the containing cavity;

[0024] A barrel body is obliquely and rotatably placed on the fixing frame; at least one group of feeding ports is provided at the edge of the front end surface of the barrel body, and the feeding ports are circumferentially opened with a predetermined length;

[0025] A guide plate is circumferentially and obliquely fixed to one end of the feeding port and located in the barrel body;

[0026] When the barrel body is in a rotating state and the connecting part of the guide plate and the feeding port is located below, the corresponding feeding port is in a feeding state, and the rotating direction of the barrel body and the extending direction of the guide plate are opposite.

[0027] In further embodiments, when the feeding ports are two groups, the two groups of feeding ports are radially symmetrically arranged; and the guide plates corresponding to the feeding ports are oppositely arranged.

[0028] In further embodiments, the feeding assembly further comprises:

[0029] A cover plate is rotatably installed on the front end surface of the barrel body; the cover plate makes a reciprocating movement circumferentially on the feeding port to control the actual feeding area of the feeding port; and the rotating direction of the cover plate and the extending direction of the guide plate are opposite.

[0030] In further embodiments, the distance between adjacent forward routes in the first area is defined as L1, the distance between adjacent reverse routes in the second area is defined as L2, and the distance between the reference line and the outer edge of the first area is defined as L3. L 2 , and L 1 , and L 2 have the same change trend: from the outer edge of the corresponding area to the reference line, the initial value is d , and the value decreases according to an arithmetic progression to d • sin a ; wherein, d is the inner diameter of the barrel body, αis the arc of the feeding opening; the distance between the positive route and the reverse route on both sides of the reference line is L3, L3≤ d • sin a ;

[0031] Correspondingly, the actual feeding area of the discharging opening has the following change trend based on the route: from the outer edge of the corresponding area to the reference line, the actual feeding area of the discharging opening is S • cos b , and the initial value is increased to S in equal difference; wherein β is the included angle between the guide plate and the front end face of the barrel, and S is the actual hollow area of the discharging opening;

[0032] The rotation speed of the barrel has the following change trend based on the route: from the outer edge of the corresponding area to the reference line, the rotation speed of the barrel is v 0 , and the initial value is increased to v 0 ; v 0 The initial rotation speed of the barrel.

[0033] The beneficial effects of the present application are: the present application generates a feeding path in advance according to the feeding area, and the generated feeding path realizes comprehensive coverage feeding in combination with the feeding device developed by the present application, and the initial position and the terminal position of the feeding device are both arranged at the edge, that is, there is no phenomenon of repeated feeding or repeated path.

[0034] The feeding device of the present application moves the food from the discharging opening to the discharging opening by gravity, and continuously guides the material outward under the action of the guide plate; the barrel rotates to realize the turning of the food in the barrel to avoid coagulation into blocks. At the same time, the guide plate not only can control the size of the discharge amount, be adapted to the path, and realize comprehensive coverage, but also can scrape the front end face of the barrel when necessary, and completely discharge the food in the process of scraping. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is the feeding path schematic view of the feeding area of example 1.

[0036] Figure 2 is the feeding path schematic view of the feeding area of example 2.

[0037] Figure 3 is the front view of the feeding device used in example 3.

[0038] Figure 4 is the structure schematic view of Figure 3 the front end face of the middle barrel.

[0039] Figures 1 to 4The labels in the figure are: first region 1, second region 2, reference line 3, barrel 4, discharge port 5, guide plate 6, cover plate 7, first forward route 101, second forward route 102, third forward route 103, first reverse route 201, second reverse route 202, and third reverse route 203. DETAILED DESCRIPTION

[0040] The water surface feeding in the prior art uses unmanned ships, but the unmanned ships generally use remote control or follow a pre-set S-shaped path / mosquito-shaped path to complete the water surface feeding. However, there are some problems that need to be solved urgently: although the remote control has high flexibility, the probability of repeated feeding or not feeding is also high, mainly depending on the experience or state of the operator.

[0041] Although the pre-set S-shaped path has certain regularity, the angle is large and the space is limited when changing direction each time, which is not suitable for water operation and increases the risk of rollover of the feeding device. Although the mosquito-shaped path has a small repeated path, the end point of the feeding device is at the middle position of the feeding area, so the feeding device needs to be transferred to the ground again after feeding is completed.

[0042] Embodiment 1

[0043] In order to solve the above technical problems, the applicant provides an intelligent feeding method based on navigation guidance, comprising the following steps:

[0044] A feeding area is obtained, and a reference line 3 is marked on the feeding area, which divides the feeding area into a first region 1 and a second region 2; as shown in the figure, the region to the left of the reference line 3 is the first region 1, and the region to the right is the second region 2. Figure 1

[0045] An initial position is specified at the outer edge of the first region 1, and an end position is specified at the outer edge of the second region 2, and a feeding path is generated; and a corresponding route is generated in each region, the feeding path at least includes: N parallel forward routes in the first region 1, N parallel reverse routes in the second region 2, and a plurality of first switching routes and second switching routes; the first switching route and the second switching route are used to switch the feeding device between the forward route and the reverse route; the forward route of the feeding device is: the forward route, the first switching route, the reverse route and the second switching route are repeatedly overlapped in the following order, wherein N is an integer greater than or equal to 2.

[0046] The feeding device advances along the feeding path and feeds according to the predetermined feeding parameters in the process of advancing, so that the feeding area covers the area of the feeding area; in this embodiment, the feeding parameters are: the rotating speed of the barrel 4 and the actual area of the discharge port 5.​

[0047] If the food is insufficient in the feeding device before reaching the end position, the current position is obtained, the shortest path is generated based on the current position and the initial position, the feeding device returns to the initial position along the shortest path to complete feeding and returns to the current position along the shortest path, and continues to complete feeding according to the remaining feeding path. That is, the time required for feeding is shortened, and the feeding efficiency is improved.

[0048] In this embodiment, the initial position is located at the edge of the first area 1 and away from the reference line 3, and the end position is selected at the outer edge of the second area 2 and away from the reference line 3, the priority of the forward route in the first area 1 and the priority of the reverse route in the second area 2 are the same, that is, in the area unit, it is preferred to move on the left route, and gradually move to the right.

[0049] As shown in Figure 1 N is 3. Then the first area 1 includes the first forward route 101, the second forward route 102 and the third forward route 103 distributed in sequence from left to right; the second area 2 includes the first reverse route 201, the second reverse route 202 and the third reverse route 203 distributed in sequence from left to right.

[0050] In combination Figure 1 , the advancing route of the feeding device: starting from the initial position, first moving on the first forward route 101, moving to the first reverse route 201 through the first reversing route, moving to the second forward route 102 through the second reversing route, and so on until landing on the third reverse route 203.

[0051] Because there are occasionally floating objects or other obstacles on the water surface, the feeding process and the return route for feeding will be affected to some extent. Therefore, real-time analysis of the road conditions on the water surface is needed, and the path is adjusted accordingly based on the road conditions on the water surface.

[0052] Therefore, when the feeding device advances along the feeding path or the shortest path, the following steps are further included:

[0053] The real-time condition of the water surface is obtained by the camera, and if there is an obstacle on the current route, the state of the obstacle is determined by calculating the real-time distance between the feeding device and the obstacle; if the obstacle is in a stationary state, the feeding device temporarily deviates from the current route, and returns to the current route after bypassing the obstacle to advance according to the plan;

[0054] If the obstacle is in a moving state, it is determined whether the feeding device needs to slow down based on the moving speed of the feeding device, and the drift speed and direction of the obstacle.

[0055] In a further embodiment, the specific process of judging whether the obstacle is stationary is as follows: when the camera captures the presence of an obstacle on the route, then the distance sensor is used to obtain the distances D1 and D2 at at least two time nodes t1 and t2, the moving distance D = v1 x (t2-t1) in the time period is calculated based on the forward speed v1 of the current feeding device (considering the speed after considering the wind direction), if D ≈ D1-D2, the obstacle is stationary, the feeding device temporarily deviates from the current route, and after bypassing the obstacle, it returns to the current route and proceeds according to the plan.

[0056] If D is significantly smaller than D1-D2, the obstacle and the feeding device are approaching each other, and the feeding device is controlled to slow down or bypass, and if it is bypassed, it returns to the current route and proceeds according to the plan after bypassing the obstacle.

[0057] If D is greater than D1-D2, the obstacle and the feeding device are moving in the same direction, and the current speed and route are maintained.

[0058] Embodiment 2

[0059] This embodiment discloses another embodiment, which is different from embodiment 1 in that the end position is selected at the outer edge of the second area 2 and close to the position of the reference line 3, as shown in Figure 2 Based on the end position in this embodiment, the priority order of the forward route in the first area 1 and the priority order of the reverse route in the second area 2 are opposite, and the forward route of the feeding device is a return type.

[0060] Similarly, taking N=3 as an example, the first area 1 includes the first forward route 101, the second forward route 102 and the third forward route 103 distributed in order from left to right; the second area 2 includes the first reverse route 201, the second reverse route 202 and the third reverse route 203 distributed in order from left to right.

[0061] In combination with Figure 2 , the forward route of the feeding device: starting from the initial position, first moving on the first forward route 101, moving to the third reverse route 203 through the first reversing route, moving to the second forward route 102 through the second reversing route, and so on until landing on the first reverse route 201.

[0062] Based on the routes in embodiment 1 and embodiment 2, both achieve comprehensive feeding and smooth turning requirements, and there is no repeated route. And meet the requirements of smooth and safe operation on the water surface (the first reversing route and the second reversing route both have a certain length, without sharp turning).

[0063] Embodiment 3

[0064] In order to realize the method described in embodiment 1 and embodiment 2, the embodiment discloses a feeding system of the intelligent feeding method, comprising: a feeding device configured to store and feed food; a camera device and a distance sensor are installed on the feeding device, the camera device is configured to obtain real-time conditions of the water surface, and the distance sensor is configured to obtain the distance between the obstacle and the feeding device;

[0065] a control device arranged in the control room; the control device is in communication connection with the feeding device; the control device at least comprises: a first module, a second module and a third module;

[0066] The first module is configured to obtain the feeding area and mark a reference line 3 on the feeding area, and the reference line 3 divides the feeding area into a first area 1 and a second area 2.

[0067] The second module is configured to specify an initial position at the outer edge of the first area 1, specify an end position at the outer edge of the second area 2 or on the reference line 3, and generate a feeding path.

[0068] The third module is configured to obtain a current position if the food in the feeding device is insufficient before reaching the end position, generate a shortest path based on the current position and the initial position, and return the feeding device to the initial position along the shortest path to complete feeding and return to the current position along the shortest path, and continue to complete feeding according to the remaining feeding path.

[0069] The feeding device used in the prior art can completely discharge the food in its interior if it is discharged from the bottom, but the feeding area is small, and more routes are needed in the same feeding area.

[0070] Therefore, in order to increase the feeding area, a throwing type feeding device is generally used, but such a device has a defect that the food in its interior is accumulated and cannot be completely discharged, which will affect the subsequent food after a long time.

[0071] The feeding device used in the embodiment comprises a hollow ship body, a fixed frame placed in the hollow structure, and an inclined surface on the upper surface of the fixed frame. A cylinder 4 is rotatably installed on the fixed frame, and the cylinder 4 is inclined relative to the horizontal plane. Further, a connecting shaft is arranged at the rear end surface of the cylinder 4, and the connecting shaft is rotatably installed on the fixed frame through a bearing. In order to increase the stability of the cylinder 4 during rotation and reduce the friction during rotation, two groups of front end rollers and two groups of rear end rollers are arranged on the fixed frame, wherein the two groups of front end rollers are symmetrically installed at the front end of the fixed frame, the two groups of rear end rollers are symmetrically installed at the rear end of the fixed frame, and the cylinder 4 simultaneously contacts the rolling surfaces of the front end rollers and the rear end rollers. The front end rollers and the rear end rollers provide the required stability of the cylinder 4 during rotation and reduce the friction.

[0072] At least one group of feeding ports is arranged at the edge of the front end surface of the cylinder 4, and the feeding ports are circumferentially opened for a predetermined length, as shown in Figure 4 and Figure 3 In order to ensure that the food can be smoothly discharged, a guide plate 6 is further arranged, which is circumferentially inclined and fixed to one end of the feeding port and located in the cylinder 4. During feeding, the cylinder 4 is in a state of rotation and the rotation direction is opposite to the extension direction of the guide plate 6. In other words, assuming that the guide plate 6 extends clockwise, the opening formed between the guide plate 6 and the front end surface is counterclockwise, and when the cylinder 4 rotates counterclockwise, the food in the cylinder 4 is then thrown counterclockwise into the opening and thrown out. Based on the above description, the same feeding port is not in the feeding state at every angle, as long as the connection between the guide plate 6 and the feeding port is located below, which is the left area in Figure 3 .

[0073] When there are two groups of feeding ports, the two groups of feeding ports are arranged symmetrically along the radial direction, and the guide plates 6 corresponding to the feeding ports are oppositely arranged, that is, the extension directions of the guide plates 6 are consistent.

[0074] At this time, the cylinder 4 rotates counterclockwise (the extension direction of the guide plate 6 in the figure is opposite), and the corresponding Figure 3 feeding port located on the left side (the connection between the guide plate 6 and the feeding port is located below) is in the feeding state, and vice versa, because the food is thrown to the left side and guided by the guide plate 6, the feeding port located on the right side is in the state of temporarily suspending feeding.

[0075] Therefore, in the embodiment, the actual feeding of the feeding device is unilateral feeding, which is different from the bilateral feeding in the prior art. Therefore, when the feeding device advances and feeds on the corresponding route, feeding is performed on the outer side. Therefore, using the reciprocating advancing route in embodiment 1 or the back-and-forth route in embodiment 2 can achieve maximum area and no repeated coverage, but when the feeding device advances on the route directly connected to the terminal position, a dead angle area on both sides of the reference line will appear. Therefore, in order to ensure that the dead angle area can also be fed, the embodiment adjusts the distance between adjacent routes in combination with the feeding device itself: the distance between adjacent forward routes in the first area is defined as L 1 , the distance between adjacent reverse routes in the second area is L 2 , and L 1 and L 2 have the same change trend: from the outer edge of the corresponding area to the reference line, the initial value is d , and decreases in equal difference to d • sin a ; wherein, d is the inner diameter of the barrel, α is the arc of the feeding port; the distance between the forward route and the reverse route located on both sides of the reference line is L 3 , L 3 ≤ d • sin a . For example, in the embodiment, the distance between the first forward route and the second forward route is d , the distance between the first reverse route and the second reverse route is d ; the distance between the second forward route and the third forward route is d • sin a , the distance between the second reverse route and the third reverse route is d • sin a , and the distance between the third forward route and the third reverse route is d • sin a . When the route is greater than or equal to 3, the distance is shortened in the equal difference decreasing trend.

[0076] At the same time, the distance between adjacent routes is in a gradually shortened trend, and if the feeding amount remains unchanged, the unit area feeding amount in the early stage will be less than the unit area feeding amount in the later stage, although the coverage is comprehensive, the feeding is uneven.

[0077] Therefore, the feeding assembly of the embodiment further comprises a cover plate 7 rotatably mounted on the front end surface of the barrel; the cover plate reciprocates along the circumference of the feeding opening to control the actual feeding area of the feeding opening; the rotation direction of the cover plate is opposite to the extension direction of the guide plate. The center position of the cover plate is drivingly connected to the output shaft of the driving motor fixed on the barrel to realize the forward and reverse rotation of the cover plate.

[0078] Correspondingly, the actual feeding area of the discharging opening varies along the route as follows: from the outer edge of the corresponding area to the reference line, the actual feeding area of the discharging opening increases by S • cos b , which is the initial value, to S , which is the final value, in equal difference. β , wherein S is the included angle between the guide plate and the front end surface of the barrel, and is the actual hollow area of the discharging opening, so as to realize the consistency of the feeding amount throughout the whole process. In other words, the size control of the actual feeding area of the discharging opening depends on the distance between the current route and the reference line, and is irrelevant to the selected route form. Therefore, whether the reciprocating type in embodiment 1 or the rotary type in embodiment 2 is selected, the actual feeding area of the discharging opening increases according to the following trend:

[0079] When the feeding device is on the first forward route and the first reverse route, the actual feeding area of the discharging opening is S• cos b ; when the feeding device is on the second forward route and the second reverse route, the actual feeding area of the discharging opening is S • cos b+ Δ1, Δ1 is the equal difference; when the feeding device is on the third forward route and the third reverse route, the actual feeding area of the discharging opening is S .

[0080] The rotation speed of the barrel varies along the route as follows: from the outer edge of the corresponding area to the reference line, the rotation speed of the barrel increases by v 0 , which is the initial value, to v 0 ; v 0 The initial rotation speed of the barrel, i.e. when the feeding device is on the first forward route and the first reverse route, the rotation speed of the barrel is v 0 ; when the feeding device is on the second forward route and the second reverse route, the rotation speed of the barrel is v 0 + Δ2, Δ2 is the equal difference; when the feeding device is on the third forward route and the third reverse route, the rotation speed of the barrel is v 0 .

[0081] The above-mentioned adjustment of the discharge area and the barrel rotation speed in accordance with the route is adopted to complete the missing of the reference line.

Claims

1. A navigation-guided intelligent feeding method, and a feeding system based on the intelligent feeding method, characterized in that, The feeding system of the intelligent feeding method includes: The feeding device is configured to store and dispense food; the feeding device is equipped with a camera and a distance sensor, the camera is configured to acquire real-time water surface conditions, and the distance sensor is configured to acquire the distance between obstacles and the feeding device; A control device is located in the control room; the control device is communicatively connected to the feeding device; the control device includes at least: a first module, a second module, and a third module; The first module is configured to acquire a feeding area and mark a reference line on the feeding area, the reference line dividing the feeding area into a first area and a second area. The second module is configured to specify an initial position at the outer edge of the first region and an end position at the outer edge of the second region or on a reference line to generate a feeding path; The third module is configured to, before reaching the endpoint, if there is insufficient feed in the feeding device, obtain the current position, generate the shortest path based on the current position and the initial position, and the feeding device returns to the initial position along the shortest path to complete feeding and then returns to the current position along the shortest path to continue feeding according to the remaining feeding path. The feeding device includes: The hull has an internal cavity; a fixing frame is installed inside the cavity. The cylinder is placed on the fixed frame at an angle and can be rotated; at least one set of feeding ports is provided at the edge of the front end face of the cylinder, and the feeding ports are opened to a predetermined length in the circumferential direction; A guide plate is fixed at one end of the feeding port at an incline along the circumference and is located inside the cylinder; When the cylinder is rotating and the connection between the guide plate and the feeding port is located below, the corresponding feeding port is in the feeding state, and the rotation direction of the cylinder is opposite to the extension direction of the guide plate. The intelligent feeding method includes the following steps: Obtain a feeding area and mark a reference line on the feeding area, the reference line dividing the feeding area into a first area and a second area; An initial position is specified at the outer edge of the first region, and an end position is specified at the outer edge of the second region to generate a feeding path; The feeding device moves along the feeding path and feeds materials according to the preset feeding parameters during the process, so that the feeding area covers the area of ​​the feeding region. If there is insufficient feed in the feeding device before reaching the destination, the current position is obtained, and the shortest path is generated based on the current position and the initial position. The feeding device returns to the initial position along the shortest path to complete feeding and then returns to the current position along the same shortest path to continue feeding according to the remaining feeding path.

2. The intelligent feeding method based on navigation guidance according to claim 1, characterized in that, The feeding path includes at least: N parallel forward routes in the first area, N parallel reverse routes in the second area, and several first reversing routes and second reversing routes; the first reversing routes and second reversing routes are used to enable the feeding device to switch between the forward routes and the reverse routes. The forward path of the feeding device is as follows: the forward path, the first reversing path, the reverse path, and the second reversing path are repeated and overlapped in the following order.

3. The intelligent feeding method based on navigation guidance according to claim 2, characterized in that, When the endpoint is selected at the outer edge of the second area and far from the reference line, the priority order of the forward route of the feeding device in the first area is the same as the priority order of the reverse route in the second area, and the forward route of the feeding device is reciprocating.

4. The intelligent feeding method based on navigation guidance according to claim 2, characterized in that, When the endpoint is selected at the outer edge of the second area and close to the reference line, the priority order of the forward route of the feeding device in the first area is reversed, and the forward route of the feeding device is a backtracking type.

5. The intelligent feeding method based on navigation guidance according to claim 1, characterized in that, When the feeding device moves along the feeding path / shortest path, the following steps are also included: The system obtains real-time information about the water surface. If there are obstacles on the current route, the system determines the state of the obstacles by calculating the real-time distance between the feeding device and the obstacles. If the obstacles are stationary, the feeding device temporarily leaves the current route and returns to the current route after bypassing the obstacles, proceeding according to the plan. If the obstacle is in motion, the decision on whether the feeding device needs to decelerate is based on the moving speed of the feeding device and the drift speed and drift direction of the obstacle.

6. The intelligent feeding method based on navigation guidance according to claim 1, characterized in that, When there are two sets of feeding ports, the two sets of feeding ports are arranged symmetrically in the radial direction; the guide plates at the corresponding feeding ports are arranged opposite to each other.

7. The intelligent feeding method based on navigation guidance according to claim 1, characterized in that, The feeding assembly also includes: A cover plate is rotatably mounted on the front end face of the cylinder; the cover plate moves back and forth along the circumference over the feeding port to control the actual feeding area of ​​the feeding port; the rotation direction of the cover plate is opposite to the extension direction of the guide plate.

8. The intelligent feeding method based on navigation guidance according to claim 1, characterized in that, Let L1 be the distance between adjacent forward routes in the first region, and L2 be the distance between adjacent reverse routes in the second region. L 2 ,and L 1 and L 2 The trend of change is the same: from the outer edge of the corresponding area to the reference line, with... d Starting with the initial value, decrease in arithmetic progression to... d• sinα ;in, d The inner diameter of the cylinder. α The radius of the feed inlet is L3; the distance between the forward and reverse routes on either side of the reference line is L3, where L3 ≤ d•sinα ; Correspondingly, the actual feeding area at the discharge port varies according to the following trend based on the route: from the outer edge of the corresponding area to the reference line, with... S•cosβ Starting with the initial value, incrementing arithmetically to... S ;in β The angle between the guide plate and the front end face of the cylinder is S, and the actual hollow area of ​​the discharge port is S. The rotational speed of the cylinder varies according to the following trend based on its path: from the outer edge of the corresponding area to the reference line, at... v 0 Starting with the initial value, incrementing arithmetically to... v 0 ; v 0 The initial rotational speed of the cylinder.

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