A catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel

Abstract

The present invention discloses a catamaran intelligent unmanned baitcasting boat propelled by a stern paddle wheel. The boat comprises two buoys and a hull frame. Two paddle wheels are provided at the stern of the hull frame, and a feeding structure is provided at the front. A silo is provided above the feeding structure, and an electric control compartment is provided above the paddle wheels. The lower end discharge port of the silo is connected to the feeding structure via a feeder, and a weight sensor is provided in the silo. The electric control compartment is equipped with a battery, a main control chip, a communication module, a positioning module, and a drive module. A server receives position information from the positioning module via the communication module, calculates and generates a path plan, and calculates the boat's travel speed and feeding speed in real time based on the data from the weight sensor. The calculation results are sent to the main control chip. The drive module controls the operation of motors on the paddle wheels, the feeder, and the feeding structure to uniformly spread the bait according to the path plan. The present invention enables the unmanned boat to automatically determine the feeding speed and travel speed according to the trajectory, intelligently completing the uniform feeding operation.

Description

Technical Field

[0001] The invention belongs to the technical field of bait-casting boats, and in particular relates to a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel. Background Art

[0002] Shrimp and crab farming typically requires manual feeding by manned boats traversing the ponds, but this method is inefficient and labor-intensive. In recent years, with the development of unmanned boat technology, equipped with sensors, positioning systems, and control systems, the location and amount of feed can be precisely controlled. Unmanned feeding boats are gradually replacing manual feeding. Compared to manual feeding, unmanned feeding boats can address safety issues in water operations, improve efficiency, and reduce aquaculture costs. They also free up labor, reduce environmental pollution, and make farm management more convenient.

[0003] For example, the Chinese patent document with publication number CN112841104A discloses a new type of intelligent bait-feeding unmanned boat device, which is driven by a propeller. The rudder and propeller are both located at the stern of the boat. The bait box consists of two upper and lower boxes. The upper half of the box is a funnel-shaped structure, which controls the bait to leak evenly from the hole, and the leaked bait automatically enters the lower half of the box.

[0004] Chinese patent publication CN114557307A discloses a multifunctional automatic bait-throwing boat. It includes a hull and a material tank. The boat has an electrical control cabin at the front and a drive cabin at the rear bottom. The electrical control cabin houses a battery pack and control circuitry. The drive cabin houses a paddle wheel drive assembly and a spraying assembly. The paddle wheel drive assembly includes a paddle wheel drive motor and paddle wheel. The spraying assembly includes a diaphragm pump and a spray nozzle. The spraying mechanism includes a spraying motor and a spraying impeller.

[0005] Existing unmanned boats use either propellers or paddle engines. These are prone to entanglement during feeding operations due to the abundance of aquatic plants in aquaculture sites, leading to power loss. Paddlewheel-based feeding boats, on the other hand, are often placed on either side, making them prone to collisions and grounding damage. Furthermore, the buoyancy unit must be placed inboard of the paddlewheel, resulting in a smaller buoyancy and poorer stability.

[0006] Bait management and spreading control are key to the effectiveness of unmanned bait-casting boats. During the growth of aquaculture organisms, the amount of bait released gradually increases. The existing fixed bait spreading speed and fixed boat speed easily lead to problems such as leftover bait or premature spreading after the trip. Summary of the Invention

[0007] The present invention provides a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel. Through the residual material sensing and autonomous driving functions, the unmanned boat can automatically determine the material spreading speed and driving speed according to the trajectory, and intelligently complete the uniform material spreading operation with daily changes in the material spreading amount.

[0008] A catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel comprises two buoys arranged at intervals and a hull frame fixed to the two buoys. Two paddle wheels are symmetrically provided at the stern of the hull frame between the two buoys; a feeding structure is provided at the front of the hull frame between the two buoys.

[0009] The hull frame is provided with a silo above the material spreading structure, and an electric control silo is provided above the paddle wheel; the lower end discharge port of the silo is connected to the material spreading structure through a feeder; a weight sensor is provided inside the silo, and a GPS antenna is provided above the electric control silo;

[0010] The electronic control compartment is equipped with a battery, a main control chip, a communication module, a positioning module and a drive module; wherein the positioning module receives satellite signals through a GPS antenna to determine the current position and orientation of the hull; the communication module is used to realize the message exchange between the mobile phone app, the server and the unmanned bait throwing boat;

[0011] The server receives the position information of the positioning module through the communication module, calculates and generates the path planning, and calculates the optimal driving speed and optimal spreading speed of the ship in real time based on the data of the weight sensor; at the same time, the calculation results are sent to the main control chip, and the main control chip outputs the PWM signal to the drive module, which controls the running status of the motors on the paddle wheel, feeder and spreading structure to achieve uniform spreading according to the path planning.

[0012] Furthermore, a three-color light is provided above the electric control compartment. The green light is always on when the unmanned bait throwing boat is operating normally, the red light is on when the power is insufficient, and the yellow light is on when the operation is abnormal due to reasons other than insufficient power.

[0013] Furthermore, a camera is provided in front of the silo, and a mobile phone app is connected to the camera through a communication module for real-time monitoring of the situation in front of the unmanned material spreading ship.

[0014] Furthermore, a paddle wheel baffle is provided on the outside of the paddle wheel; the blades on the paddle wheel maintain a distance of 5-20 mm from both sides of the hull frame, and a distance of 10-30 mm from the front and back; the center of the paddle wheel is more than 50 mm and less than 200 mm from the waterline.

[0015] Furthermore, a motor for controlling the material discharge is provided on one side of the feeder, and an adjustment knob for controlling the material discharge speed is provided on the other side.

[0016] Furthermore, the scattering structure includes a spinning disc and a motor for controlling the rotation of the spinning disc, and the bait is thrown to the front or side of the boat through the spinning disc.

[0017] Furthermore, the calculation and generation of the path planning includes generating a coastal driving path and a cruising path covering the area; wherein the process of generating the coastal driving path is as follows:

[0018] Mark the points on the mobile app to get the four shore points in the form of longitude and latitude, and connect the four shore points to get the working area;

[0019] Convert the four shore points in the form of longitude and latitude into a rectangular coordinate system, take the first shore point P1 as the origin, and calculate the straight line equations of the four sides as the four shore edges;

[0020] Calculate the equations of four straight lines inside the work area, parallel to the shore and at a distance d from the shore. The intersection of two adjacent straight lines is the desired path point;

[0021] The four obtained path points are converted from rectangular coordinates to longitude and latitude, and the return point is added to the end of the converted path to obtain the coastal driving path.

[0022] The process of generating a coverage cruise path within an area is as follows:

[0023] In the determined rectangular coordinate system, let the minimum distance between the ship and the shore during the journey be d1, and let the distance between two adjacent parallel path segments be d2;

[0024] By using the method of generating a coastal driving path, four new boundary lines d1 away from the shore are obtained to form the boundary G'. The boundary points are C1, C2, C3, and C4. The boundary G' is the working area covering the cruising path;

[0025] Select the longest boundary line as the starting edge, and calculate the distance from each boundary point to the starting edge, and take the maximum value of the four distances as D max , calculate the number of path segments parallel to the starting edge in the covered cruise path n is an integer;

[0026] Calculate the equation of the straight line l of the n-segment path parallel to the starting edge in the working area i , the distance between two adjacent paths is d2;

[0027] Find l i The intersection point with each boundary line of the boundary G' and whether the intersection point is inside G' or on the boundary;

[0028] Take the 2n intersection points inside and on the boundary of G', sort them in a bow shape, add the two endpoints of the starting edge at the beginning to obtain the coverage cruise path in the rectangular coordinate system, convert it into longitude and latitude, and add the return point at the end of the path to obtain the coverage cruise path in the area.

[0029] Furthermore, when calculating the optimal driving speed and optimal feeding speed of the ship in real time, a dynamic calculation method is used to combine the driving route and the weight of bait to be dropped. The subsequent ship speed required to complete the task is recalculated at regular intervals. The subsequent feeding speed is determined by calculating the remaining driving distance and the remaining amount of feed in the silo, and the motor duty cycle of the feeding structure is automatically adjusted in combination with the current real-time driving speed of the ship.

[0030] Specifically, the optimal ship speed and optimal material spreading speed are calculated in real time through the following steps:

[0031] Step 1: Convert the path from longitude and latitude to rectangular coordinates. The converted path is [[x1,y1],[x2,y2],…[x n ,y n ]];

[0032] Step 2: Calculate the total distance required to spread the material

[0033]

[0034] Step 3: Calculate the mass per meter of material required to spread the material just after the ship has finished traveling the path.

[0035] The default speed of the ship is the maximum speed v=v max , mass of material spread per second q s =q m *v, if q s max , then the ship speed is determined to be v = v max , go to step 5; if q s >q max , then go to step 4;

[0036] Step 4: Reduce the ship speed by 0.1 m / s. Let the ship speed after the reduction be v, and calculate the mass of material spread per second q at this time. s , if q s max &q s >q min , then determine the ship speed v, otherwise repeat step 4 until q s max ; If v = v min When q s >q max , then v=v​​​min ;

[0037] Step 5: Let the forward direction of the ship be θ1, the forward direction of the ship's speed be θ2, and the ship's speed be v, then calculate the forward speed of the ship

[0038] v heading =v*cos(θ2-θ1)

[0039] Step 6: record the amount of material discharged per second as q s , the duty cycle of the blanking motor is DR, then the relationship between the two is: DR=a*q s , where a is a constant coefficient related to the spreading structure. At this time,

[0040] q s =v heading *q m

[0041] DR=a*v heading *q m

[0042] Get the duty cycle of the spreading motor and output DR;

[0043] Step 7: Update the coefficient a in step 6 every 10 seconds by reading and recording the data from the mass sensor. The mass difference read by the mass sensor within 10 seconds is recorded as Δm, and the theoretical mass of the material spread in the past 10 seconds is m1. dm = m1 - Δm. The past coefficient is recorded as a0, and the updated coefficient is recorded as a1, a1=a0+da;

[0044] Step 8: Update the ship speed and feed spreading speed for the remaining distance every 20 seconds; calculate the total distance S from the current position to the end point, read the remaining feed mass m' through the mass sensor, proceed to step 3 to step 4, obtain the ship's forward speed for the remaining distance and the feed spreading mass per second, and then directly proceed to step 9.

[0045] Step 9: Using the ship speed and material spreading speed calculated in step 8, repeat steps 5 to 9 until the material spreading task is completed.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. The present invention adopts a paddle wheel to avoid the problem of waterweed entanglement of conventional propellers; and the paddle wheel is placed inside the hull to avoid damage to the outside of the paddle wheel due to collision; the structure of the float on the outermost side ensures that greater stability can be provided under the same width.

[0048] 2. The hull of the present invention reads the weighing sensor value during automatic driving, cooperates with the path planning generated by the positioning function, automatically calculates the material unloading speed, and sends the calculation results to the main control board to control the electric regulation to achieve uniform material spreading along the entire path. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the overall structure of a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel according to the present invention;

[0050] Figure 2 This is a front view of a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel according to the present invention;

[0051] Figure 3 This is a rear view of a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel according to the present invention;

[0052] Figure 4 This is a side view of a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel according to the present invention;

[0053] Figure 5 This is a top view of a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel according to the present invention;

[0054] Figure 6 Marking points to determine the schematic diagram of the working area when generating the driving route along the coast;

[0055] Figure 7 Calculate the schematic diagram of two parallel lines along the shore when generating the driving path along the shore;

[0056] Figure 8 A schematic diagram showing the required straight line from two parallel lines when generating a coastal driving path;

[0057] Figure 9 A schematic diagram of the path points obtained when generating a coastal driving path;

[0058] Figure 10 Schematic diagram for selecting path boundaries and starting edges when generating covered cruise paths in the area;

[0059] Figure 11 This is a schematic diagram of the path obtained when generating a covered cruise path within the area. DETAILED DESCRIPTION

[0060] The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be noted that the following examples are intended to facilitate understanding of the present invention and do not have any limiting effect on the present invention.

[0061] like Figures 1 to 5As shown, a catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel comprises two buoys 1 arranged at intervals and a hull frame 2 fixed on the two buoys 1, two paddle wheels 3 are symmetrically provided at the stern of the hull frame 2 between the two buoys; a material spreading structure 5 is provided at the front of the hull frame 2 between the two buoys 1; and a paddle wheel baffle 4 is provided on the outside of the paddle wheel 3.

[0062] The hull frame 2 is provided with a silo 7 above the material spreading structure 5 and an electric control silo 8 above the paddle wheel 3; the lower end discharge port of the silo 7 is connected to the material spreading structure 5 through a feeder 6; a weight sensor is provided inside the silo 7, and a GPS antenna 9 is provided above the electric control silo 8.

[0063] The electronic control compartment 8 is located at the rear of the hull, above the paddle wheel and behind the silo. It contains a battery, main control chip, communication module, positioning module, and drive module. The battery provides power for the entire vessel; the main control chip integrates multiple functions and is responsible for controlling the hull's operating status. The communication section includes a host and router. The host is the core of communication, communicating between the app, server, and local area via the MQTT protocol, while the router provides network connectivity for the host. The positioning module receives GPS satellite signals to determine the hull's current position and heading. This module, combined with the IMU chip integrated on the main control board, forms a closed loop and is a key component in achieving autonomous driving. The drive section includes brushless and variable-speed ESCs, each of which outputs a PWM signal through the main control board to control the motor's operating status. External sensors include weighing sensors. During autonomous driving, the hull reads the weighing sensor values ​​and, in conjunction with the path planning generated by the positioning function, automatically calculates the material discharge speed. The calculated results are sent to the main control board, which controls the ESCs to ensure uniform material distribution along the entire path.

[0064] In this invention, two paddle wheels 3 form the vessel's propulsion system. Using paddle wheels avoids the weed entanglement problem of conventional propellers. Positioning the paddle wheels 3 inside the hull protects them from external collision damage. The outermost buoy 1 ensures greater stability for a given width. The vessel's steering is achieved by the differential speed of the two paddle wheels.

[0065] The silo 7 is a sealed inverted cone structure with an opening at the bottom connected to the feeder 6 and a cover at the top that can be opened for discharging. Weight sensors are provided at the four corners below the silo 7 to detect the weight of the feed in the silo and determine the real-time data of the feed.

[0066] The feeder 6 is open at both ends, one end is connected to the bottom of the silo 7 upward, and the other end is located at the front of the hull downward, above the material spreading structure 5. There is an adjustment knob on the side to control the material spreading speed, and a motor on the other side.

[0067] The spreading structure 5 is located in front of the hull and below the feeder 7. It consists of a motor and a throwing plate. The throwing plate throws the feed to the front or side of the ship to achieve the spreading operation.

[0068] The three-color light 10 is located above the electric control bin 8 and behind the silo 7. The green light is always on during normal operation, the yellow light is on when the power is insufficient, and the red light is on when abnormal operation is caused by other reasons.

[0069] The camera 11 is located in front of the silo 7, which is convenient for real-time monitoring of the situation in front of the unmanned material spreading ship on the mobile phone app.

[0070] In an embodiment of the present invention, the paddle wheel 3 uses a large and small disc structure to fix the paddle wheel blades, and the size of the blades gradually decreases towards the central blade surface to reduce the weight of the equipment. The center of the paddle wheel 3 is more than 50 mm and less than 200 mm away from the waterline to ensure that the center of the paddle wheel is above the water surface and maintains the best propulsion posture. The paddle wheel blades maintain a distance of 5-20 mm from both sides of the fixed frame, and a distance of 10-30 mm from the front and back. Using 6 evenly distributed paddle wheel blades, the structure is relatively simple. The paddle wheel 3 runs very smoothly, with low noise and vibration resistance, and the blades are easy to replace, with low maintenance costs. The paddle wheel motor has the advantages of small size, light weight, high power, and long life. It has excellent starting performance, no hysteresis damping to lose kinetic energy, high efficiency, low power consumption, and no need to replace carbon brushes. The motor has excellent waterproof performance and can be used even if it is slightly submerged in water.

[0071] The battery is fixed in the electric control compartment and can be removed and charged. At the same time, a charging interface is installed on the outside of the electric control compartment so that charging can be done without removing the battery.

[0072] The buoy 1 is made of EPS particle foam compressed and fixed to other structures of the ship through a fixed frame. The fixed frame is a structural member connecting various structures and has a simple structure.

[0073] Before using the present invention to carry out feeding operations, manual path planning is required. Use a remote control or mobile APP to control the boat to the four corner points of the aquaculture pond (if it is an irregular shape, all the corner points of the shape can be determined in turn), and then according to the user's requirements for the area in the aquaculture pond where the material needs to be spread, whether it is along the edge of the pond or in the entire pond, the boat's running track can be automatically generated, and this track can be saved for future use. If the working environment is more complicated, you can also manually remotely control the boat to the specified position and mark it, or manually select a point on the map in the APP, and finally save the path. After the path is formed, if you need to fine-tune the position of a certain point, you can enter the editing page, long press the point to drag, and confirm that it has been saved to successfully modify it.

[0074] When working, workers need to manually pour feed into the inverted cone-shaped silo. They can manually control the movement and spreading of the invention through the remote control, or start it with one click after selecting the pre-generated trajectory in the app. If the subsequent tasks do not require changes to the working route and the quality of the feed to be spread, you can directly press and hold the corresponding button on the remote control, and the boat will work according to the last state (including the route and the quality of the feed to be spread). At this time, after the communication module of the intelligent unmanned bait casting boat receives the control instruction, it determines the sailing speed and the feeding speed according to the quality of the bait in the silo, so that the bait is just sprayed after completing all the trajectories. According to the required sailing speed, the main control board sends instructions to the paddle wheels on both sides to control the forward movement of the hull. When turning is required, the main control board will control the two paddle wheels through differential control.

[0075] During the operation of the boat, the feeding structure will transport the feed in the hopper to the spreading structure, and the spreading structure will start to rotate at the same time. The spreading distance can be controlled by the rotation speed of the spinning disc, and the amount of feeding can be controlled by the speed of the feeding structure. The spreading structure of the present invention can achieve the purpose of evenly spreading bait in the pond by spreading the bait in a fan shape on the water surface. During this operation, the paddle wheel propels the boat forward, and the spreading structure and the feeding structure work together to evenly spread the feed along the planned route. The boat's speed and the spreading speed are adjusted in real time according to the detection data of the remaining material quality, so that when the trajectory is completed, the bait is also spread.

[0076] After completing the scheduled route, the present invention will return to the designated location on the shore and send a message of completion of the operation through the communication module, waiting for the next operation.

[0077] The following describes the algorithm used by the present invention to generate path planning and calculate the optimal traveling speed and optimal spreading speed of the ship in real time.

[0078] The calculation and generation of path planning includes generating coastal driving paths and regional coverage cruising paths.

[0079] The process of generating a coastal driving path is as follows:

[0080] Step 1: Determine the work area.

[0081] Mark points on the app to get a string of shore points in the form of longitude and latitude, and connect these points to get the working area. Figure 6 As shown, P1 to P4 are the four shore points.

[0082] Convert these shore points in the form of latitude and longitude into a rectangular coordinate system, with the first shore point P1 as the origin, the due east direction as the positive half-axis direction of the x-axis, and the due north direction as the positive half-axis direction of the y-axis, to facilitate subsequent calculations.

[0083] Conversion method: Assume that the radius of the earth is R = 6371000m, the latitude of the point to be converted is N, the longitude is E, and the latitude and longitude of the point set as the origin are the reference latitude and longitude, the reference latitude is refN, and the reference longitude is refE.

[0084]

[0085] d lon =cos(E rad -refE rad ) (5)

[0086] arg=sin(refN rad )*sin(N rad )+cos(refN rad )*cos(N rad )*d lon #(6)

[0087] c=cos -1 arg,c>0 (7)

[0088]

[0089] x=k*(cosrefN rad *sinN rad -sinrefN rad *cosN rad *d lon )*R #(9)

[0090] y=k*cosN rad *sin(E rad -refE rad )*R (10)

[0091] At this time, the obtained x and y are the coordinates of the point to be converted in the current rectangular coordinate system.

[0092] Step 2: Convert the shore points from longitude and latitude to rectangular coordinates, and reorder the shore points in a counterclockwise direction to facilitate subsequent calculations. At this time, the order of the shore points is [P1, P4, P3, P2].

[0093] Step 3: Based on the rectangular coordinates of each shore point converted into a rectangular coordinate system, calculate the general straight line equation of each side, with P1P4 as the first side, P2P1 as the last side, and the next side of P2P1 as P1P4.

[0094] The general method for finding the equation of a straight line: Let two points (x1, y1), (x2, y2)

[0095] a=x1-x2 (11)

[0096] b=y2-y1 (12)

[0097] c=d1*y2-x2*y1 (13)

[0098] Equation of a line: ax+by+c=0 (14)

[0099] Step 4, calculate the general straight line equation corresponding to each bank, which is parallel to the bank and at a distance d from the bank.

[0100] Take the line where the first side P1P4 is located as an example: Let the general equation of the line where P1P4 is located be

[0101] ax+by+c=0 (15)

[0102] The equations of the two lines parallel to this line and at a distance d from each other are

[0103] l1:ax+by+m1=0 (16)

[0104] and

[0105] l2:ax+by+m2=0 (17)

[0106] in, like Figure 7 shown

[0107] Step 5: Determine which straight line is the desired straight line.

[0108] Suppose that the straight line of the next bank intersects the two straight lines found in step 4 at points Q1 and Q2. Q1, Q2 and the end point of the current edge and the starting point of the current edge form three vectors, which are calculate and Of the two vectors obtained, the one with the direction along the negative z-axis is the one we are looking for. Continuing with the example of the P1P4 edge, Figure 8 As shown,

[0109]

[0110]

[0111] The direction is along the positive z-axis, The direction is along the negative z-axis, so the straight line l2 is the required straight line.

[0112] Step 6: After calculating the correct straight lines corresponding to all the shores according to steps 4 and 5, find the intersection of two adjacent straight lines. The intersection is the path point you are looking for, such as Figure 9 As shown, C1~C4 are the desired path points, and the path is C1→C4→C3→C2.

[0113] Step 7: Convert the path points obtained in step 6 from rectangular coordinates to longitude and latitude, and add the return point to the end of the converted path to obtain the desired path. Let the return point be P return , then the path is C1→C4→C3→C2→C1→P return .

[0114] The method of converting longitude and latitude from rectangular coordinates is as follows:

[0115] Assume that the radius of the earth is R = 6371000m, the horizontal coordinate of the point to be converted is x, the vertical coordinate is y, and the reference longitude and latitude are refE and refN.

[0116]

[0117] At this time, the obtained latitude N and longitude E are the converted longitude and latitude of the mission path point.

[0118] Determination of the return point: There is a button to determine the return point on the APP. Press it to record the current position of the ship and use it as the return point.

[0119] The process of generating a coverage cruise path within an area is as follows:

[0120] S01, in the determined rectangular coordinate system, let the minimum distance from the ship to the shore during the journey be d1, and let the distance between two adjacent parallel path segments be d2.

[0121] S02, based on the shore points P1, P2, P3, P4 and the minimum distance to the shore d1, follow steps 1 to 6 in generating the coastal path to generate a new boundary C1C2C3C4. This is the working area covering the cruise path. This boundary is denoted as G', and the shore P1P2P3P4 is denoted as G. Figure 10 shown.

[0122] S03: Calculate the lengths of each side of boundary G' and the general equations of the lines on which each side of G' lies. To minimize the number of turns during the ship's mission, the longest side of G' is selected as the starting edge. The blue line demarcates the shore, and the yellow-green lines C1C2C3C4 are the boundary G' covering the cruising path. The longest side of G' is C4C3, meaning the ship begins its mission at C4C3.

[0123] S04, find the distance D from each vertex of the boundary G' to the starting edge, and take the maximum value D in D max , calculate the number of path segments parallel to the starting edge in the covered cruise path n is an integer.

[0124] S05: Follow the method of steps 4 and 5 in generating the coastal path to obtain the equation of the first straight line within the boundary G' that is parallel to the starting edge, denoted as l1:ax+by+m1=0. The equation of the straight line of the starting edge is denoted as l:ax+by+c=0, and the equations of the remaining n-1 straight lines are obtained.

[0125] l i :ax+by+m i =0,i=2,3,……n (30)

[0126] Where m i Determined by: m i =c+i*(m1-c),i=2,3,……n

[0127] S06, find l i The intersection with the straight lines of each side of G' is determined by the ray method to determine whether the intersection is inside G' (it is also considered to be inside if it is on the boundary of G')

[0128] Ray method: Draw a ray from the point to the right and determine the number of intersections with the polygon. If the number of intersections is odd, the point is inside the polygon, otherwise it is outside.

[0129] S07, take the 2n points in the interior in step S06, sort them in the bow shape, add the two endpoints of the starting edge at the beginning, and obtain the covered cruise path in the rectangular coordinate system. Convert it to longitude and latitude according to the method in step 7 of generating the coastal path, and add the return point at the end of the path to obtain the following: Figure 11 The full path shown.

[0130] The system features a route storage function. After initially defining the work area, subsequent feeding tasks can be performed directly from the recorded route, eliminating the need for multiple setups and significantly reducing operational burdens and complexity. The system automatically saves all information from the previous task in the onboard main engine. When the user does not need to change the route or feed quality, they can simply activate the system with a single click using the remote control.

[0131] The present invention has the function of automatically adjusting the driving speed and feeding speed. It uses a dynamic calculation method to combine the driving route and the weight of bait to be dropped. It recalculates the speed required to complete the task at regular intervals. It determines the subsequent feeding speed by calculating the remaining working distance and the amount of feed remaining in the silo. It also automatically adjusts the duty cycle of the feed spreading motor based on the current real-time travel speed of the ship. It can also perform real-time calculations based on the distance traveled and the amount of feed spread during the driving process. The specific implementation principle is as follows:

[0132] In order to achieve the goal of spreading the feed just at the end of the path execution and completing the task as quickly as possible, the maximum speed of the ship is set to v max , the maximum feeding speed is q max , the feeding amount is m, and the path with the return point is [P1, P2, ..., Pn], in the format of [[lat, lon], [lat, lon] ... [lat, lon]], where P1, P2, ... Pn are path points. The optimal speed of the ship (in m / s) and the optimal feeding rate (in g / s) are calculated by the following steps:

[0133] Step 1: Convert the path from longitude and latitude to rectangular coordinates. According to equations (1) to (10), the converted path is [[x1, y1], [x2, y2], ... [x n ,y n ]]

[0134] Step 2: Find the total distance required to spread the material

[0135]

[0136] Step 3: Calculate the mass per meter of material required to spread the material just after the boat has finished traveling the path

[0137]

[0138] The default speed of the ship is the maximum speed v=v max , multiplying the two together gives the mass of material spread per second q s =q m *v, if q s max , then the ship speed is determined to be v = v max , go to step 5. If q s >q max , then go to step 4.

[0139] Step 4: Reduce the ship speed by 0.1 m / s. Let the ship speed after the reduction be v, and calculate the mass of material spread per second q at this time. s , if q s max &q s >q min , then determine the ship speed v, otherwise repeat step 4 until q s max If v=v min When q s >q max , then v=v min .

[0140] ​​​Step 5: Calculate the forward speed of the ship. Let the forward direction of the ship be θ1, the forward direction of the ship's speed be θ2, and the ship's speed be v. Then the forward speed is

[0141] v heading =v*cos(θ2-θ1) (33)

[0142] Step 6: Record the amount of material discharged per second as q s , the duty cycle of the blanking motor is DR, then the relationship between the two is: DR=k*q s , where k is a constant coefficient related to the spreading structure.

[0143] q s =v heading *q m (34)

[0144] DR=k*v heading *q m (35)

[0145] Get the duty cycle of the spreading motor and output DR.

[0146] Step 7: Update the coefficient a in step 6 every 10 seconds by reading and recording the data from the mass sensor. The mass difference read by the mass sensor within 10 seconds is recorded as Δm, and the theoretical mass of the material spread in the past 10 seconds is m1. dm = m1 - Δm. The past coefficient is recorded as a0, and the updated coefficient is recorded as a1, a1=a0+da.

[0147] Step 8: Update the ship speed and feed spreading speed for the remaining distance every 20 seconds; calculate the total distance S from the current position to the end point, read the remaining feed mass m' through the mass sensor, proceed to steps 3 to 4, obtain the ship's forward speed for the remaining distance and the feed spreading mass per second, and then proceed to step 9.

[0148] Step 9: Using the ship speed and material spreading speed calculated in step 8, repeat steps 5 to 9 until the material spreading task is completed.

[0149] When using the present invention to work, the user only needs to pour the feed into the bin and input the mass of feed to be spread in the APP. The present invention can automatically calculate the corresponding feeding speed. If the feed poured into the silo is more than the required feeding amount input, the excess feed will remain in the silo and wait for the next operation. If the feed poured into the silo is less than the required feeding amount input in the APP, the present invention will automatically spread all the feed in the silo. In addition, the present invention has a residual material detection function, which can detect the mass of the remaining bait in the silo in real time and feedback it in the APP, so that the user can check the working status of the ship. And the design of the inner paddle wheel at the rear avoids the damage of the paddle wheel running aground and increases the stability of the hull, which truly replaces manual work intelligently and reliably to achieve autonomous and efficient baiting.

[0150] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel, characterized in that: The invention comprises two buoys (1) arranged at intervals and a hull frame (2) fixed on the two buoys (1); the stern of the hull frame (2) is symmetrically provided with two paddle wheels (3) between the two buoys; the front of the hull frame is provided with a material spreading structure (5) between the two buoys; The hull frame (2) is provided with a silo (7) above the material spreading structure (5), and an electric control silo (8) above the paddle wheel (3); the lower end discharge port of the silo (7) is connected to the material spreading structure (5) through a feeder (6); a weight sensor is provided inside the silo (7), and a GPS antenna (9) is provided above the electric control silo (8); The electric control compartment (8) is provided with a battery, a main control chip, a communication module, a positioning module and a driving module; wherein the positioning module receives satellite signals through a GPS antenna (9) to determine the current position and orientation information of the hull; the communication module is used to realize message communication between a mobile phone app, a server and an unmanned bait-casting boat; The server receives the position information of the positioning module through the communication module, calculates and generates the path plan, and calculates the optimal driving speed of the ship and the optimal spreading speed in real time based on the data of the weight sensor. At the same time, the calculation results are sent to the main control chip, which outputs a PWM signal to the drive module. By controlling the operating status of the motors on the paddle wheel, feeder and spreading structure, the material is spread evenly according to the path plan. When calculating the optimal speed of the ship and the optimal feeding speed in real time, a dynamic calculation method is used to combine the driving route and the weight of bait to be dropped. The ship speed required to complete the task is recalculated at regular intervals. The subsequent feeding speed is determined by calculating the remaining driving distance and the remaining feed amount in the silo. The motor duty cycle of the feeding mechanism is automatically adjusted based on the current real-time driving speed of the ship. The optimal ship speed and optimal spreading speed are calculated in real time through the following steps: Step 1: Convert the path from longitude and latitude to rectangular coordinates. The converted path is [[x1,y1],[x2,y2],…[x n ,y n ]]; Step 2: Calculate the total distance required to spread the material Step 3: Calculate the mass per meter of material required to spread the material just after the ship has finished traveling the path. The default speed of the ship is the maximum speed v=v max , mass of material spread per second q s =q m *v, if q s max , then the ship speed is determined to be v = v max , go to step 5; if q s >q max , then go to step 4;​ Step 4: Reduce the ship speed by 0.1 m / s. Let the ship speed after the reduction be v, and calculate the mass of material spread per second q at this time. s , if q s max &q s >q min , then determine the ship speed v, otherwise repeat step 4 until q s max ; If v = v min When q s >q max , then v=v min ;​​ Step 5: Let the forward direction of the ship be θ1, the forward direction of the ship's speed be θ2, and the ship's speed be v, then calculate the forward speed of the ship v heading =v*cos(θ2-θ1) Step 6: record the amount of material discharged per second as q s , the duty cycle of the blanking motor is DR, then the relationship between the two is: DR=a*q s , where a is a constant coefficient related to the spreading structure. At this time, q s =v heading *q m DR=a*v heading *q m Get the duty cycle of the spreading motor and output DR; Step 7, by reading the data of the mass sensor and recording it, update the coefficient a in step 6 every 10 seconds; record the mass difference read by the mass sensor within 10 seconds as Δm, the theoretical spreading mass in the past 10 seconds as m1, record dm = m1-Δm, Let the previous coefficient be a0 and the updated coefficient be a1, then a1=a0+da; Step 8: Update the ship speed and feed spreading speed for the remaining distance every 20 seconds; calculate the total distance S from the current position to the destination, read the remaining feed mass m' through the mass sensor, proceed to Step 3 and Step 4, and after obtaining the ship's forward speed for the remaining distance and the feed spreading mass per second, skip Steps 5 to 8 and proceed to Step 9; Step 9: Using the ship speed and material spreading speed calculated in step 8, repeat steps 5 to 9 until the material spreading task is completed.

2. The paddle wheel-propelled catamaran intelligent unmanned bait-casting boat according to claim 1, characterized in that: A three-color light (10) is provided above the electric control compartment (8), wherein the green light is always on when the unmanned bait throwing boat is operating normally, the red light is on when the battery is insufficient, and the yellow light is on when the operation is abnormal due to reasons other than insufficient battery.

3. The catamaran intelligent unmanned bait-casting boat propelled by a stern paddle wheel according to claim 1, characterized in that: A camera (11) is provided in front of the silo (7), and a mobile phone app is connected to the camera (11) via a communication module for real-time monitoring of the situation in front of the unmanned material spreading ship.

4. The paddle wheel-propelled catamaran intelligent unmanned bait-casting boat according to claim 1, characterized in that: A paddle wheel baffle (4) is provided on the outer side of the paddle wheel (3); the blades on the paddle wheel (3) maintain a distance of 5-20 mm from both sides of the hull frame (2), and a distance of 10-30 mm from front to back; the center of the paddle wheel (3) is at least 50 mm and at most 200 mm from the waterline.

5. The paddle wheel-propelled catamaran intelligent unmanned bait-casting boat according to claim 1, characterized in that: One side of the feeder (6) is provided with a motor for controlling the feeder, and the other side is provided with an adjusting knob for controlling the feeder speed.

6. The paddle wheel-propelled catamaran intelligent unmanned bait-casting boat according to claim 1, characterized in that: The material spreading structure (5) comprises a spinning disc and a motor for controlling the rotation of the spinning disc, and the bait is thrown to the front or side of the boat through the spinning disc.

7. The paddle wheel-propelled catamaran intelligent unmanned bait-casting boat according to claim 1, characterized in that: The calculation and generation of path planning includes generating a coastal driving path and a cruising path covering the area. The process of generating a coastal driving path is as follows: Mark the points on the mobile app to get the four shore points in the form of longitude and latitude, and connect the four shore points to get the working area; Convert the four shore points in the form of longitude and latitude into a rectangular coordinate system, take the first shore point P1 as the origin, and calculate the straight line equations of the four sides as the four shore edges; Calculate the equations of four straight lines inside the work area, parallel to the shore and at a distance d from the shore. The intersection of two adjacent straight lines is the desired path point; The four obtained path points are converted from rectangular coordinates to longitude and latitude, and the return point is added to the end of the converted path to obtain the coastal driving path.

8. The paddle wheel-propelled catamaran intelligent unmanned bait-casting boat according to claim 7, characterized in that: The process of generating a coverage cruise path within an area is as follows: In the determined rectangular coordinate system, let the minimum distance between the ship and the shore during the journey be d1, and let the distance between two adjacent parallel path segments be d2; By using the method of generating a coastal driving path, four new boundary lines d1 away from the shore are obtained to form the boundary G'. The boundary points are C1, C2, C3, and C4. The boundary G' is the working area covering the cruising path; Select the longest boundary line as the starting edge, and calculate the distance from each boundary point to the starting edge, and take the maximum value of the four distances as D max , calculate the number of path segments parallel to the starting edge in the covered cruise path n is an integer; Calculate the equation of the straight line l of the n-segment path parallel to the starting edge in the working area i , the distance between two adjacent paths is d2; Find l i The intersection point with each boundary line of the boundary G' and whether the intersection point is inside G' or on the boundary; Take the 2n intersection points inside and on the boundary of G', sort them in a bow shape, add the two endpoints of the starting edge at the beginning to obtain the coverage cruise path in the rectangular coordinate system, convert it into longitude and latitude, and add the return point at the end of the path to obtain the coverage cruise path in the area.

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