An automatic unmanned feeding system with trajectory planning based on the dissolved oxygen content in the pond

Abstract

The present invention relates to the technical field of unmanned feeding in fish ponds, and in particular, to an automatic unmanned feeding system that performs trajectory planning according to the dissolved oxygen content in the pond. It comprises a path planning unit, a feed delivery unit and a feed supplementation unit. The present invention collects the oxygen content in the pond through the path planning unit, and integrates the collected oxygen content data to obtain the distribution of the oxygen content in the pond. Then the feed delivery unit converts the oxygen content data into force data values, and merges the points in each area to obtain the points for feeding in each area, so as to ensure that the delivered feed is biased towards the center of the regional oxygen content, so that the fish in each area can eat the feed. At the same time, the method of point-to-point feeding is used to deliver the feed, so that the feed in each area is gathered together, so as to avoid a large amount of feed not being discovered by the fish school after eating the feed, resulting in feed waste.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned feeding in fish ponds, in particular to an automatic unmanned feeding system which performs trajectory planning according to the dissolved oxygen content in a pond. Background Art

[0002] With the rapid development of global intelligent digital technology and applications, the traditional aquaculture industry, which simply relies on manual primitive operations, is also facing the same challenges of upgrading digital industrial equipment and innovating large-scale intelligent ecological farming models. How to most effectively integrate and optimize the existing mature unmanned digital terminal technologies and equipment to achieve unmanned intelligent ecological farming in a fine three-dimensional environment is the future development direction of the aquaculture industry.

[0003] At present, when feeding in ponds, most of the feed is released over a large area so that the fish can eat it. However, the large-scale release will cause part of the feed to be not eaten by the fish and covered by the mud at the bottom of the pond, which will cause feed waste. At the same time, when the fish are in the pond, they will have different distributions according to different oxygen contents. If a large-scale release is adopted, the corresponding fish will not be able to eat enough feed, and some fish will have too much feed and cannot finish it. In order to ensure that each fish can eat feed according to the distribution of the fish and avoid feed waste, the present invention provides an automatic unmanned feeding system for trajectory planning according to the dissolved oxygen content in the pond. Summary of the invention

[0004] The object of the present invention is to provide an automatic unmanned feeding system that performs trajectory planning according to the dissolved oxygen content in the pond, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, an automatic unmanned feeding system for trajectory planning according to the dissolved oxygen content of a pond is provided, comprising a path planning unit, a feed delivery unit and a feed supplementation unit; The path planning unit plans the navigation trajectory of the ship according to the pond data, and controls the ship to navigate in the pond according to the planned trajectory, and detects the oxygen distribution in the pond through the oxygen content detector during the navigation of the ship, and combines the model of the oxygen content distribution in the pond according to the oxygen content detection situation; The feed delivery unit analyzes the feed delivery ratios in the areas with different oxygen contents in the pond according to the oxygen content distribution in the path planning unit, and processes the feeds to be delivered in batches, and then plans the feed delivery ratios according to the batch processing conditions, and feeds back to the path planning unit after the planning is completed, so that the path planning unit plans the navigation track of the ship and delivers the feed for the first time; The feed supplement unit feeds back to the path planning unit, so that the path planning unit controls the ship to navigate in the pond. During the navigation of the ship, the feed supplement unit detects the fish school in the pond by means of sonar, obtains the distribution of the fish school in the pond, and analyzes the fish school according to the terrain of the pond. At the same time, the feed supplement unit combines the results of the fish school analysis, the proportion data of the feed delivery unit, and the feed batching to deliver targeted feed.

[0006] As a further improvement of the technical solution, the path planning unit includes a pond trajectory planning module, an oxygen content detection module and an oxygen content distribution combination module; The pond trajectory planning module is used to receive pond data, divide the pond into multiple areas according to the pond data, and plan the navigation trajectory of the ship according to the terrain data of the pond, and after the trajectory planning is completed, control the ship to navigate along the planned trajectory; The oxygen content detection module controls the oxygen content detector to detect the oxygen content of water at different positions in the pond, and at the same time obtains the data of the oxygen content of water near the bottom of each area on the ship's track through the oxygen content detector during the ship's navigation; The oxygen content distribution combination module combines the oxygen content data detected by the oxygen content detection module and the ship's navigation trajectory planned by the pond trajectory planning module to form a distribution map of the oxygen content at the bottom of the pond.

[0007] As a further improvement of the technical solution, the method steps for the oxygen content distribution combination module to form a distribution map of the oxygen content at the bottom of the pond are as follows: S1, draw a three-dimensional model of the pond according to the data of the pond, and import the navigation trajectory of the ship planned by the pond trajectory planning module into the three-dimensional model of the pond; S2. Importing the oxygen content data collected by the oxygen content detection module on the ship's navigation track into the three-dimensional model, and displaying the data in color, the display shape is a dot; S3. Diffuse the circular area according to the color concentration of the dots, and after the circular area is diffused, merge the diffused circular areas to form a distribution map of oxygen content at the bottom of the pond.

[0008] As a further improvement of the technical solution, the feed delivery unit includes a feed delivery analysis module, a feed batching module and a delivery point planning module; The feed delivery analysis module receives information of the oxygen content distribution map at the bottom of the pond formed by the oxygen content distribution combination module, and analyzes the feed delivery ratio for each area of ​​the pond according to the information of the oxygen content distribution map at the bottom of the pond; The feed batching module receives the analysis result of the feed delivery ratio in the feed delivery analysis module, and differentiates the delivered feed into experimental portions of feed for the experiment, and then plans the amount of feed delivered in each area for the experimental portions of feed according to the analysis result of the feed delivery ratio, and receives the track of the ship track transmitted by the pond track planning module; The delivery point planning module receives the amount of feed delivery in each area planned by the feed batching module, and then determines the feed delivery point according to the feed delivery data. After the delivery point is determined, a signal is sent to the pond trajectory planning module to make the ship move according to the ship navigation trajectory set by the pond trajectory planning module, and deliver the feed when it reaches the feed delivery point.

[0009] As a further improvement of the technical solution, the method by which the feed delivery analysis module analyzes the feed delivery ratio in each area of ​​the pond is as follows: S1. Count the number of regions divided into the pond, and count the number of different point-shaped color concentrations in each region in the three-dimensional model of the pond; S2. After obtaining the number of different dot-shaped color concentrations in each area, obtain the corresponding points according to each area, and then calculate the feed release ratio of each area according to the points obtained in each area.

[0010] As a further improvement of the technical solution, the method for determining the feed delivery point by the delivery point planning module is: S1. First, set the midpoint of each area, and then mark the color concentration and position of the dots around the midpoint; S2. According to the color concentration and position of the dots, the offset direction of the midpoint is set. After the midpoint is offset, the midpoint is rotated to a position that is closest to the ship's navigation track as the feed placement point.

[0011] As a further improvement of the technical solution, in S2 of the method for determining the feed delivery point by the delivery point planning module, the method for setting the offset direction of the midpoint is: ① Use the dividing line to divide each area into multiple sector-shaped areas with the center as the center of the circle according to the position of the midpoint, and use the line from the point to the midpoint as the direction of the force. The direction of the force is away from the midpoint. The value of the force is the value of the oxygen content, and the offset value is divided; ② Combine the directions of the forces in each sector area and form a direction and value of the resultant force; ③. Combine the resultant forces in multiple sectors to form a final force direction and value. The position of the midpoint is offset according to the direction of the force, and the value of the resultant force of the offset distance is at the corresponding position of the offset value.

[0012] As a further improvement of the technical solution, the feed supplementation unit includes a fish school detection and analysis module and a distributed feeding module; The fish school detection and analysis module feeds back to the pond trajectory planning module after the pond trajectory planning module controls the ship to release the feed, so that the pond trajectory planning module controls the ship to sail along the ship's navigation trajectory again, and when the ship is sailing, the fish school detection and analysis module detects the fish school in the pond through sonar to determine the position of the fish school in the pond, and analyzes the number of fish schools at each feed release point according to the results of the sonar detection; The distributed feeding module plans the next feed delivery in combination with the delivery points planned by the delivery point planning module, the amount of feed delivered in the next time planned by the feed batching module, and the distribution of oxygen content in the oxygen content distribution combination module. After planning, the module feeds back to the pond trajectory planning module so that the pond trajectory planning module controls the navigation of the ship.

[0013] As a further improvement of the technical solution, the method for the distributed feeding module to plan the next feed delivery is: S1. Count the number of fish at each feed delivery point obtained by the fish detection and analysis module, and arrange the locations of the delivery points with a large number of fish; S2. Then, based on the amount of oxygen, determine the oxygen content in which the fish like to move, and then determine the amount of feed to be put in the location with the most fish based on the number of fish.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the automatic unmanned feeding system that performs trajectory planning based on the dissolved oxygen content in the pond, the path planning unit collects the oxygen content in the pond, and integrates the collected oxygen content data to obtain the distribution of the oxygen content in the pond. Then the feed delivery unit converts the oxygen content data into force data values, and merges the points in each area to obtain the points for delivering feed in each area, so as to ensure that the delivered feed is biased towards the center of the regional oxygen content, so that the fish in each area can eat the feed. At the same time, the method of point-to-point delivery of feed is adopted to deliver feed, so that the feed in each area is gathered together, avoiding the waste of feed caused by a large amount of feed not being discovered by the fish after eating the feed.

[0015] 2. In the automatic unmanned feeding system that plans trajectories based on the dissolved oxygen content in the pond, the feed replenishment unit uses sonar to detect the fish eating in the pond to obtain the position of the fish in the pond, and combines the planning data of the feed delivery unit on the delivery point, the distribution of oxygen content and the batching of feed to enable the feed replenishment unit to deliver subsequent feed in a targeted manner according to the gathering of fish at the delivery point, so as to achieve accurate delivery of feed, further reduce feed waste, and at the same time enable different fish to eat feed to ensure the normal growth of fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic block diagram of the overall structure of the present invention; Figure 2 It is a schematic block diagram of the detailed structure of the overall framework of the present invention; Figure 3 A schematic diagram of the navigation trajectory of a ship of the present invention; Figure 4 A schematic diagram of forming a distribution diagram of oxygen content at the bottom of a pond according to the present invention; Figure 5 It is a schematic diagram of finding the midpoint offset of the present invention.

[0017] The meaning of each number in the figure is: 1. Path planning unit; 11. Pond trajectory planning module; 12. Oxygen content detection module; 13. Oxygen content distribution combination module; 2. Feed delivery unit; 21. Feed delivery analysis module; 22. Feed batching module; 23. Delivery point planning module; 3. Feed supplement unit; 31. Fish school detection and analysis module; 32. Distributed feeding module. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In order to accurately feed the fish, ensure the normal growth of the fish, and avoid wasting feed, please refer to Figure 1-Figure 2 As shown, the present invention provides an automatic unmanned feeding system for trajectory planning according to the dissolved oxygen content of the pond, including a path planning unit 1, a feed delivery unit 2 and a feed supplementation unit 3; The path planning unit 1 plans the navigation trajectory of the ship according to the pond data, and controls the ship to navigate in the pond according to the planned trajectory, and detects the oxygen distribution in the pond through the oxygen content detector during the navigation of the ship, and combines the model of the oxygen content distribution in the pond according to the oxygen content detection situation; The path planning unit 1 includes a pond trajectory planning module 11, an oxygen content detection module 12 and an oxygen content distribution combination module 13; The pond trajectory planning module 11 is used to receive pond data, wherein the pond data includes the shape of the pond's water surface, the pond's bottom terrain and the pond's water depth. Through the pond data, the bottom terrain of the pond can be obtained, and the depth of the pond's water can also be obtained. By obtaining the pond data, a three-dimensional model of the pond can be constructed, and the pond can be divided into multiple areas according to the pond data. The multiple areas can be divided into multiple areas according to the following methods: Figure 3 The pond is divided in the matrix manner shown, and then the navigation trajectory of the ship is planned according to the terrain data of the pond. The planned trajectory can make the ship pass through the entire surface of the pond and pass through each area divided in the pond. After the trajectory planning is completed, the ship is controlled to navigate along the planned trajectory. The oxygen content detection module 12 controls the oxygen content detector to detect the oxygen content of water at different positions in the pond. The oxygen content detector is installed on the bottom of the ship. There are multiple oxygen content detectors. By moving the multiple oxygen content detectors at the same time, the oxygen content detection of the oxygen content at different positions of the pond by the oxygen content detector can be increased, and the accuracy of the oxygen content detection in the pond can be improved. At the same time, during the navigation of the ship, the oxygen content data of the water near the bottom of each area on the ship's track can be obtained through the oxygen content detector; The oxygen content distribution combination module 13 combines the oxygen content data detected by the oxygen content detection module 12 and the trajectory of the ship's navigation planned by the pond trajectory planning module 11 to form a distribution map of the oxygen content at the bottom of the pond; The oxygen content distribution combination module 13 forms a distribution map of the oxygen content at the bottom of the pond in the following steps: S1, draw a three-dimensional model of the pond according to the data of the pond, make the three-dimensional model of the pond using the data of the pond, and import the trajectory of the ship navigation planned by the pond trajectory planning module 11 into the three-dimensional model of the pond, so as to obtain Figure 3 The graphics shown; S2, import the oxygen content data collected by the oxygen content detection module 12 on the ship's navigation track into the three-dimensional model, and display the data in color, such as Figure 4 As shown, the displayed shape is a dot. The larger the value, the richer the color of the dot. Figure 4 The color is not displayed in Figure 4 The number of dots in the figure is for display purposes only, not the actual number of dots. The oxygen detector continuously detects the oxygen content in the pond while moving, so the actual number of dots is greater. S3. Reference Figure 4 The circular area is diffused according to the color concentration of the points. The maximum size of the circular area diffusion is the vertical distance between two similar trajectories. After the circular area diffuses, several diffused circular areas are merged to form the oxygen content distribution map of the pond bottom.

[0020] The feed delivery unit 2 analyzes the feed delivery ratio of the areas with different oxygen contents in the pond according to the oxygen content distribution in the path planning unit 1, and processes the feed to be delivered in batches, and then plans the feed delivery ratio according to the batch processing situation, and feeds back to the path planning unit 1 after the planning is completed, so that the path planning unit 1 plans the navigation track of the ship and delivers the feed for the first time; The feed delivery unit 2 includes a feed delivery analysis module 21, a feed batching module 22 and a delivery point planning module 23; The feed delivery analysis module 21 receives the information of the oxygen content distribution map of the pond bottom formed by the oxygen content distribution combination module 13, and analyzes the feed delivery ratio of each area of ​​the pond according to the information of the oxygen content distribution map of the pond bottom; The method for the feed delivery analysis module 21 to analyze the feed delivery ratio in each area of ​​the pond is as follows: S1. Count the number of regions divided into the pond, and count the number of different point-shaped color concentrations in each region in the three-dimensional model of the pond; S2. After obtaining the number of different dot-shaped color concentrations in each area, obtain the corresponding integral according to each area, where the integral value is the value of the oxygen content, and then calculate the feed delivery ratio of each area according to the integral obtained in each area; The calculation algorithm for the proportion of delivery is: ; A represents the area The feed ratio, For Region The sum of all the oxygen content values ​​at the point, For Region The sum of all the oxygen content values ​​at the point, For Region The sum of all point-like oxygen content values; The feed batching module 22 receives the analysis result of the feed delivery ratio in the feed delivery analysis module 21, and differentiates the delivered feed into experimental portions for the experiment. The experimental portion is a test of the first delivery of feed. At the same time, when the feed batching module 22 differentiates, it will differentiate into multiple portions. Then, according to the analysis result of the feed delivery ratio, the feed delivery amount of each area of ​​the experimental portion is planned, and the track of the ship track transmitted by the pond track planning module 11 is received; The delivery point planning module 23 receives the amount of feed delivered in each area planned by the feed batching module 22, and then determines the feed delivery point according to the feed delivery data. The feed delivery point is located on the navigation track of the ship. After the delivery point is determined, a signal is sent to the pond trajectory planning module 11, so that the ship moves according to the navigation track set by the pond trajectory planning module 11, and delivers the feed when it reaches the feed delivery point; The method for determining the feed delivery point by the delivery point planning module 23 is: S1. First, set the midpoint of each area, and then mark the color concentration and position of the dots around the midpoint; S2. According to the color density and position of the dots, the offset direction of the midpoint is set, and after the midpoint is offset, the midpoint is rotated to the position closest to the ship's navigation track as the feed placement point; In S2 of the method for determining the feed delivery point by the delivery point planning module 23, reference is made to Figure 5 As shown, the method for setting the offset direction of the midpoint is: ① Use the dividing line to divide each area into multiple fan-shaped areas with the center as the center according to the position of the midpoint, and use the line from the point to the midpoint as the direction of the force. The direction of the force is away from the midpoint. The value of the force is the value of the oxygen content. Divide the offset value, such as the offset distance of the value range of 0-10, the offset distance of the value of 10-20, and so on; ② Combine the directions of the forces in each sector area and form a direction and value of the resultant force; ③. Combine the resultant forces in multiple sectors to form a final force direction and value. The position of the midpoint is offset according to the direction of the force, and the value of the resultant force of the offset distance is at the corresponding position of the offset value.

[0021] The feed supplement unit 3 feeds back to the path planning unit 1, so that the path planning unit 1 controls the ship to navigate in the pond. During the navigation of the ship, the feed supplement unit 3 detects the fish school in the pond by means of sonar, obtains the distribution of the fish school in the pond, and analyzes the fish school according to the terrain of the pond. At the same time, the feed supplement unit 3 combines the results of the fish school analysis, the proportion data of the feed delivery unit 2, and the feed batching to deliver targeted feed.

[0022] The feed supplementation unit 3 includes a fish school detection and analysis module 31 and a distributed feeding module 32; After the pond trajectory planning module 11 controls the ship to release the feed, the fish school detection and analysis module 31 feeds back to the pond trajectory planning module 11, so that the pond trajectory planning module 11 controls the ship to sail along the ship's navigation track again. When the ship is sailing, the fish school detection and analysis module 31 detects the fish school in the pond through sonar to determine the position of the fish school in the pond, and analyzes the number of fish schools at each feed release point according to the results of the sonar detection; The distribution feeding module 32 plans the next feed delivery in combination with the delivery point planned by the delivery point planning module 23, the delivery amount of the next feed planned by the feed batching module 22, and the distribution of oxygen content by the oxygen content distribution combination module 13, and after planning, feeds back to the pond trajectory planning module 11, so that the pond trajectory planning module 11 controls the navigation of the ship; The method for the distribution feeding module 32 to plan the next feed delivery is: S1, counting the number of fish at each feed delivery point obtained by the fish detection and analysis module 31, and arranging the positions of delivery points with a large number of fish; a large number of fish is judged as 10, and a point with more than 10 fish is a point with a large number; S2. Then, based on the amount of oxygen, determine the location with the oxygen content that the fish like to move in. Then, based on the number of fish, determine the amount of feed to be put in the location with more fish. Put more feed in the location with more fish, and put less feed in the location with fewer fish.

[0023] The path planning unit 1 collects the oxygen content in the pond and integrates the collected oxygen content data to obtain the distribution of the oxygen content in the pond. Then the feed delivery unit 2 converts the oxygen content data into force data values ​​and merges the points in each area to obtain the points for delivering feed in each area, so as to ensure that the delivered feed is biased towards the center of the regional oxygen content, so that the fish in each area can eat the feed. At the same time, the method of delivering feed at points is adopted to deliver feed, so that the feed in each area is gathered together to avoid a large amount of feed not being eaten by the fish after eating the feed. The fish school finds the waste of feed. At the same time, after the feed is put in once, the fish school eating in the pond is detected by the feed replenishment unit 3 using sonar to obtain the position of the fish school in the pond, and combined with the planning data of the feed delivery point, the distribution of oxygen content and the batching of feed by the feed delivery unit 2, the feed replenishment unit 3 can carry out targeted delivery of subsequent feed according to the gathering of fish schools at the delivery point, so as to achieve accurate delivery of feed, further reduce feed waste, and at the same time enable different fish to eat feed, thereby ensuring the normal growth of fish schools.

[0024] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic unmanned feeding system that performs trajectory planning based on the dissolved oxygen content of a pond, characterized in that: It includes a path planning unit (1), a feed delivery unit (2) and a feed supplementation unit (3); The path planning unit (1) plans the navigation trajectory of the ship according to the pond data, and controls the ship to navigate in the pond according to the planned trajectory, and detects the oxygen distribution in the pond through an oxygen content detector during the navigation of the ship, and combines the model of the oxygen content distribution in the pond according to the oxygen content detection situation; The feed delivery unit (2) analyzes the feed delivery ratios in the areas with different oxygen contents in the pond according to the oxygen content distribution in the path planning unit (1), and processes the feed to be delivered in batches, and then plans the feed delivery ratio according to the batch processing conditions, and feeds back to the path planning unit (1) after the planning is completed, so that the path planning unit (1) plans the navigation track of the ship and delivers the feed for the first time; The feed supplement unit (3) feeds back to the path planning unit (1), so that the path planning unit (1) controls the ship to navigate in the pond. During the navigation of the ship, the feed supplement unit (3) detects the fish school in the pond by means of sonar, obtains the distribution of the fish school in the pond, and analyzes the fish school according to the topography of the pond. At the same time, the feed supplement unit (3) combines the results of the fish school analysis, the feed delivery ratio data of the feed delivery unit (2), and the feed batching situation to deliver feed in a targeted manner.

2. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 1 is characterized in that: The path planning unit (1) comprises a pond trajectory planning module (11), an oxygen content detection module (12) and an oxygen content distribution combination module (13); The pond trajectory planning module (11) is used to receive pond data, divide the pond into multiple areas according to the pond data, and plan the navigation trajectory of the ship according to the topographic data of the pond, and after the trajectory planning is completed, control the ship to navigate along the planned trajectory; The oxygen content detection module (12) controls the oxygen content detector to detect the oxygen content of water at different positions in the pond, and at the same time, during the navigation of the ship, the oxygen content detector is used to obtain data on the oxygen content of water near the bottom of the water in each area on the ship's track; The oxygen content distribution combination module (13) combines the oxygen content data detected by the oxygen content detection module (12) and the navigation track of the ship planned by the pond track planning module (11) to form a distribution map of the oxygen content at the bottom of the pond.

3. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 2 is characterized in that: The oxygen content distribution combination module (13) forms a distribution map of the oxygen content at the bottom of the pond in the following steps: S1, drawing a three-dimensional model of the pond according to the pond data, and importing the navigation trajectory of the ship planned by the pond trajectory planning module (11) into the three-dimensional model of the pond; S2, importing the oxygen content data collected by the oxygen content detection module (12) on the ship's navigation track into the three-dimensional model, and displaying the data in color, with the display shape being a dot; S3. Diffuse the circular area according to the color concentration of the dots, and after the circular area is diffused, merge the diffused circular areas to form a distribution map of oxygen content at the bottom of the pond.

4. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 3 is characterized in that: The feed delivery unit (2) comprises a feed delivery analysis module (21), a feed batching module (22) and a delivery point planning module (23); The feed placement analysis module (21) receives information on the oxygen content distribution map of the pond bottom formed by the oxygen content distribution combination module (13), and analyzes the feed placement ratio for each area of ​​the pond based on the information on the oxygen content distribution map of the pond bottom; The feed batching module (22) receives the analysis result of the feed delivery ratio in the feed delivery analysis module (21), and differentiates the delivered feed into experimental portions of feed for the experiment, and then plans the amount of feed delivered to each area of ​​the experimental portions of feed according to the analysis result of the feed delivery ratio, and receives the track of the ship's track transmitted by the pond track planning module (11); The delivery point planning module (23) receives the amount of feed delivered in each area planned by the feed batching module (22), and then determines the feed delivery point according to the feed delivery data. After the delivery point is determined, a signal is sent to the pond trajectory planning module (11), so that the ship moves according to the navigation track set by the pond trajectory planning module (11), and delivers the feed when it reaches the feed delivery point.

5. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 4 is characterized in that: The method for the feed placement analysis module (21) to analyze the feed placement ratio in each area of ​​the pond is as follows: S1. Count the number of regions divided into the pond, and count the number of different point-shaped color concentrations in each region in the three-dimensional model of the pond; S2. After obtaining the number of different dot-shaped color concentrations in each area, obtain the corresponding points according to each area, and then calculate the feed release ratio of each area according to the points obtained in each area.

6. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 5 is characterized in that: The method for determining the feed delivery point by the delivery point planning module (23) is: S1. First, set the midpoint of each area, and then mark the color concentration and position of the dots around the midpoint; S2. According to the color concentration and position of the dots, the offset direction of the midpoint is set. After the midpoint is offset, the midpoint is rotated to a position that is closest to the ship's navigation track as the feed placement point.

7. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 6 is characterized in that: In S2 of the method for determining the feed placement point by the placement point planning module (23), the method for setting the offset direction of the midpoint is: ① Use the dividing line to divide each area into multiple sector-shaped areas with the center as the center of the circle according to the position of the midpoint, and use the line from the point to the midpoint as the direction of the force. The direction of the force is away from the midpoint. The value of the force is the value of the oxygen content, and the offset value is divided; ② Combine the directions of the forces in each sector area and form a direction and value of the resultant force; ③. Combine the resultant forces in multiple sectors to form a final force direction and value. The position of the midpoint is offset according to the direction of the force, and the value of the resultant force of the offset distance is at the corresponding position of the offset value.

8. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 7 is characterized in that: The feed supplementation unit (3) comprises a fish school detection and analysis module (31) and a distributed feeding module (32); After the pond trajectory planning module (11) controls the ship to release feed, the fish school detection and analysis module (31) feeds back to the pond trajectory planning module (11), so that the pond trajectory planning module (11) controls the ship to sail again along the ship's navigation trajectory. When the ship is sailing, the fish school detection and analysis module (31) detects fish schools in the pond through sonar to determine the position of the fish schools in the pond, and analyzes the number of fish schools at each feed release point according to the results of the sonar detection. The distributed feeding module (32) plans the next feed delivery in combination with the delivery point planned by the delivery point planning module (23), the next feed delivery quantity planned by the feed batching module (22), and the distribution of oxygen content by the oxygen content distribution combination module (13), and after the planning is completed, it feeds back to the pond trajectory planning module (11), so that the pond trajectory planning module (11) controls the navigation of the ship.

9. The automatic unmanned feeding system for trajectory planning based on the dissolved oxygen content in the pond according to claim 8, characterized in that: The method for the distributed feeding module (32) to plan the next feed delivery is: S1, counting the number of fish at each feed placement point obtained by the fish detection and analysis module (31), and arranging the positions of the placement points with a large number of fish; S2. Then, based on the amount of oxygen, determine the oxygen content in which the fish like to move, and then determine the amount of feed to be put in the location with the most fish based on the number of fish.

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