Full-automatic unmanned mowing system capable of adaptively adjusting depth of cutting knife according to underwater terrain

Abstract

The invention discloses a full-automatic unmanned mowing system capable of adaptively adjusting the depth of a cutting knife according to underwater topography, which comprises a mowing boat, a satellite positioning navigation system and a cloud map, and is characterized in that the body of the mowing boat is provided with the cutting knife, a conveying belt, an adaptive adjusting mechanism, a communication module, a sensor and a shipborne control system; the shipborne control system calculates the current coordinate of the cutting knife according to the ship body size data, the water depth information, the ship attitude elevation and the height from the bow to the water surface, determines the actual cutting knife depth according to the current coordinate of the cutting knife, and compares the actual cutting knife depth with the expected cutting knife depth; and the cutting knife is adjusted to the expected depth through the self-adaptive adjusting mechanism. According to the method, the depth of the cutting knife is adaptively adjusted based on parameters such as satellite positioning navigation and underwater topographic data, seasons, water depth, ship empty and full-load attitudes and other requirements of users, fixed-length harvesting of aquatic plants is completed, and customized harvesting for different aquatic plants, different seasons and different areas is achieved.

Description

Technical Field

[0001] This application relates to water area treatment equipment, and particularly to a fully automatic unmanned mowing system that can adaptively adjust the depth of a cutter according to the underwater terrain. Background Art

[0002] Mowing is the process of cutting aquatic plants that grow to the water surface. A mowing boat is a modern aquatic plant and water hyacinth harvesting equipment that integrates one or several functions such as mowing, gathering, salvaging, water filtering, conveying, and unloading.

[0003] Aquatic plants have important value in the aspects of aquaculture, ecology, and landscape. However, once the planting amount is large and there are no corresponding management measures, it will lead to the overgrowth and decay of aquatic plants, which will instead deteriorate the water quality. In order to restore the virtuous cycle of water bodies and maintain human health, certain measures must be taken to control aquatic plants. Usually, there are three treatment methods: ecological treatment, chemical treatment, and physical treatment. Among them, ecological treatment has good effects, but it is difficult, has a long cycle, and slow results; chemical treatment has quick results, but it will affect other organisms and instead deteriorate the water quality; physical treatment includes two modes: manual mowing and mechanical mowing, which have the least impact on the environment.

[0004] Currently, the proposed mowing equipment and mowing methods mainly have the following several forms:

[0005] 1. Manual salvage and manual mowing. Usually, 2 - 3 people cooperate. One person rows a boat close to the aquatic plants, and others use sickles to mow. This method is relatively backward, has low efficiency, and it is difficult to guarantee personal safety.

[0006] 2. Mechanical mowing and manual stacking and unloading of grass. This kind of mowing equipment generally consists of a cutter conveyor belt part, a flat floating body, and a propeller. After the cutter mows the grass, the conveyor belt scoops up the aquatic plants, and people stand behind the conveyor belt and use rakes to separate and stack the grass. When unloading the grass, it is done manually with a rake. Due to its simple structure and low cost, it is the most widely used mowing method.

[0007] 3. Mechanical mowing and unloading, with people for operation and auxiliary work. In addition to the above components, this kind of mowing equipment also includes a cab, a bin conveyor belt, an unloading conveyor belt, etc. The propulsion method uses a propeller or a paddle wheel for propulsion, and people sit in the cab and operate through hydraulic rods or buttons.

[0008] 4. Remote unmanned automatic operation. This kind of mowing equipment realizes unmanned control and remote control, and can autonomously plan routes for operation. It is a relatively advanced method at present, but it has not been popularized yet.

[0009] Shang Shiyou et al. from Inner Mongolia University of Technology pointed out in "Research on the Design of Submerged Plant Harvesting Machinery" that in order to solve the pollution problem of aquatic plants and take into account the actual situations in aspects such as landscape, environmental protection, and work efficiency, the treatment of aquatic plants must rely on mechanical mowing.

[0010] In the field of mechanical harvesting of aquatic plants by mowing boats, there is a key technical link - the adjustment of the cutter depth.

[0011] Traditionally, the methods for adjusting the cutter depth are generally divided into two types: manual adjustment and mechanical assisted adjustment.

[0012] During the manual adjustment operation, once the conveyor belt angle is adjusted, the cutter depth remains fixed. In addition, the conveyor belt angle is adjusted in fixed gears and cannot be adjusted steplessly.

[0013] The general steps of mechanical assisted adjustment are as follows:

[0014] The cutter is installed at the bottom of an inclined conveyor belt. One side of the conveyor belt is hinged to the hull, and the other side is fixed by an electric cylinder or a hydraulic cylinder. The electric cylinder or the hydraulic cylinder has a self-locking function, as Figure 1 shown;

[0015] Before the harvesting operation, for the hydraulic cylinder, the state of the valve in the hydraulic station is controlled by the hydraulic rod or the button to control the extension and retraction of the piston rod of the hydraulic cylinder; for the electric cylinder, the forward and reverse rotation of the motor is controlled to control the extension and retraction of the piston rod of the electric cylinder, thereby changing the inclination angle of the conveyor belt;

[0016] Measure the water depth of the cutter entering the water, and continuously adjust the stroke of the cylinder to make the input depth of the cutter reach the required value. Then start the harvesting operation;

[0017] During this operation, once the conveyor belt angle is adjusted, the cutter depth remains fixed, and the cutter depth can be adjusted steplessly;

[0018] In actual harvesting operations, there are seven influencing factors: different water depths; different types of aquatic plants; different seasons; harvesting shallow-water aquatic plants; changes in the empty and full load weights and the center-of-gravity positions of the mowing boats; water depth changes; safety issues, etc.

[0019] According to the research by Guo Kaidi from Beijing Forestry University, Zhao Defeng from Beijing University of Technology, etc., the water depth change has a significant impact on the fresh weight and total biomass of Hydrilla verticillata. In their experimental environment, the best water quality purification ability of submerged plants is at a water depth of 85 - 90 cm underwater, and a coupling relationship is formed between the water depth and the cutting depth.

[0020] Therefore, the traditional harvesting method at a fixed distance from the water surface is likely to degrade water quality. The reason is that it cannot ensure the reasonable light intensity for the roots of aquatic plants, which will die and rot. In addition, harvesting aquatic plants will damage plant cells, which will increase the algae content in the water body and thus deteriorate water quality.

[0021] Secondly, Ni Meng et al. published a paper in the journal Fisheries Science in November 2022, pointing out that different aquatic plants have different purification effects on total nitrogen, total phosphorus, ammonia nitrogen, nitrate nitrogen and chemical oxygen demand. Affected by the water depth gradient, different water-depth plants tend to grow in regions, with different optimal growth heights and competitive advantages at different water depths. The growth of aquatic plants is also seasonal. Different aquatic plants have their own lush growth seasons. The comprehensive water body treatment effects of aquatic plants in different seasons should correspond to different cutting cycles and depths.

[0022] Traditional harvesting operations often use a "one-size-fits-all" model, that is, the cutting depth is fixed before the harvesting operation, and it cannot change the cutting depth according to the growth area of aquatic plants, or does not consider the impact brought by seasonal changes, and cannot achieve the optimal harvesting effect.

[0023] In addition, the water depth is not constant. Generally, the water level of rivers changes greatly during the rainy season and the dry season, with flood seasons and dry seasons. The traditional harvesting mode cannot overcome the harvesting difficulties brought by this kind of influence. Summary of the Invention

[0024] Object of the Invention: Aiming at the problems existing in the prior art, the present application proposes a fully automatic unmanned mowing system that can adaptively adjust the depth of the cutter according to the underwater terrain.

[0025] Technical Solution: A fully automatic unmanned mowing boat that can adaptively adjust the depth of the cutter according to the underwater terrain described in the present application includes:

[0026] A mowing boat, on which a cutter, a conveyor belt, an adaptive adjustment mechanism, a communication module, a sensor and an on-board control system are provided; the cutter is arranged at the front end of the conveyor belt, the conveyor belt is arranged obliquely, and one side of the conveyor belt is hinged to the hull; the adaptive adjustment mechanism is a servo cylinder, the servo cylinder is connected to the conveyor belt, and the on-board control system controls the inclination angle of the conveyor belt by controlling the length of the extending rod of the servo cylinder, so as to control the cutter depth; the sensor is electrically connected to the on-board control system and is used to obtain the attitude elevation of the ship and the height of the bow and / or the stern from the water surface;

[0027] A satellite positioning and navigation system for obtaining the current hull position coordinates and their time information;

[0028] The cloud map is communicatively connected to the mowing boat. The cloud map stores the size of the mowing boat, queries underwater terrain data through the current hull position coordinates, and sends the underwater terrain data to the on-board control system of the mowing boat. The underwater terrain data includes water depth information;

[0029] The on-board control system calculates the current coordinates of the cutter according to the mowing boat size data, water depth information, vessel attitude elevation, and the height of the bow and stern above the water surface, determines the actual cutter depth based on the current coordinates of the cutter, compares the actual cutter depth with the desired cutter depth, and adjusts the cutter to the desired depth through the servo cylinder;

[0030] Taking the bow as the coordinate origin, the extension direction of the hull length as the x-axis, and the hull height direction as the y-axis, an xOy coordinate system is established;

[0031] Define the cutter end point coordinates as A(x A , y A ), the connection point of the servo cylinder and the conveyor belt as B(x B , y B ), the hinge point of the conveyor belt and the hull as C(x C , y C ), the connection point of the servo cylinder and the hull as D(x D , y D ), the point E(x E , y E ) is the projection point of the point A(x A , y A ) on the current water level line along the y-axis direction in the xOy coordinate system, and the point F(x F , y F ) is the projection point of the stern end point along the y-axis direction on the current water level line;

[0032] The height h of the cutter end point from the river bottom is obtained from the following system of equations:

[0033]

[0034] x A = x E

[0035]

[0036] h = H + ΔH g - |y A - y E | cosβ

[0037] where H is the water level height measured at the historical water level line, ΔH g is the change in elevation; α is ∠ABC; β is the bow angle of the vessel; h 1is the height of the bow above the water surface; x C , y C , x D , y D , L 1 , L 2 are known quantities; l is determined by the servo cylinder; the unknown quantities x A , y A , x B , y B are solved by the system of equations.

[0038] In one alternative embodiment, the sensor includes an ultrasonic sensor or a liquid level sensor, installed at the bow and / or stern of the ship, for measuring the height of the bow and / or stern above the water surface. Further, the ultrasonic sensor and / or the liquid level sensor calculates the error caused by the change in water level in real time.

[0039] In one alternative embodiment, the sensor includes an attitude sensor, for measuring the bow angle and / or stern angle of the ship. Further, the attitude sensor calculates the bow trim and / or stern trim error caused by continuous grass collection in real time.

[0040] In one alternative embodiment, the water depth information is calculated from the historical water depth and the change in elevation.

[0041] In one alternative embodiment, the harvesting range and / or depth requirement is planned on the cloud map, and the harvesting range and / or depth requirement is sent to the on-board control system of the hull through the communication module. Preferably, the communication module uses 5G communication.

[0042] The beneficial effects of this application are as follows:

[0043] 1. Adaptive adjustment of the cutter depth; the mowing boat can automatically adjust the cutter's water entry depth according to the coordinates and water depth data in the current operation area and the set height from the river bottom; ensuring the optimal growth height of the water plants and improving the water quality purification efficiency of the water plants.

[0044] 2. Regional and customized adjustment of the mowing depth; since the growth of water plants has obvious growth differences for different gradients of water depth, and the water depth gradients with the strongest competitiveness of different water plants are also different, and considering the combined planting of water plants, the same type of water plants often grow in patches and regions; the mowing boat divides the water area based on the cloud map data, sets different harvesting depths for different regions; during continuous operation when the route passes through different regions, it automatically adjusts the harvesting height; in actual operation, it avoids the situation where the user needs to adjust the cutter depth after harvesting the water plants in the same region before going to the next region for operation; thus maximizing the water quality purification efficiency of the water plants and also improving the work efficiency; such asFigure 2 The traditional adjustment mode requires the ship to stop at three points, A, B, and C, and adjust the cutting depth before entering the next area; Figure 3 As shown, for the automatically adjustable mode, the cutting depth can be automatically adjusted when the route crosses areas, thereby achieving continuous operation.

[0045] 3. Prevent the cutter and the boat from touching the bottom. The mower can automatically determine the height of the cutter, hull, propeller, current and next waypoint from the bottom of the water according to the water depth data of the current coordinates, automatically lift the cutter or automatically control the hull to turn to avoid obstacles, reduce the risk of touching the bottom and running aground, and thus reduce damage to the hull and the shore.

[0046] 4. The cutting blade depth has higher accuracy. The cutting blade depth changes caused by the weight and center of gravity changes when the mowing boat is empty, fully loaded, or unloaded can be eliminated through calculation by introducing the real-time parameters of the attitude sensor and liquid level sensor. The water level is calculated through the elevation change to ensure that the harvesting depth is always accurate.

[0047] 5. Automatic adjustment: Use unmanned automatic control, set parameters in advance, and perform operations automatically; ensure that there are no safety hazards caused by human misoperation and no risks of water operations caused by adjusting the cutting depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of a conventional mechanically assisted regulating mowing boat;

[0049] Figure 2 It is a schematic diagram of the regional operation of a traditional mowing boat with a fixed cutting blade depth;

[0050] Figure 3 This is a schematic diagram of a regional operation in which the cutting depth can be automatically adjusted according to an embodiment of the present application;

[0051] Figure 4 A schematic diagram of calculating the height of a cutting knife from a river bottom according to an embodiment of the present application;

[0052] Explanation of the reference numerals: 1: cutting knife; 2: conveyor belt; 3: conveyor belt hinge point; 4: slot plate; 5: slot hinge point; 6: hull. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually illustrative only and does not constitute any limitation to the present application and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0054] A fully automatic unmanned mowing system that adaptively adjusts the depth of the cutter according to the underwater terrain, including a mowing boat, a satellite positioning and navigation system, and a cloud map.

[0055] Among them, a cutter 1, a conveyor belt 2, an adaptive adjustment mechanism, a communication module, sensors, and a shipborne control system are provided on the hull 6 of the mowing boat; specifically, the cutter 1 is arranged at the front end of the conveyor belt 2, the conveyor belt 2 is inclined, and one side of the conveyor belt 2 is hinged to the hull 6. To ensure the communication effect, the communication module preferably uses 5G wireless communication.

[0056] The adaptive adjustment mechanism is electrically connected to the shipborne control system and is used to adjust the depth of the cutter. Specifically, the adaptive adjustment mechanism is connected to the conveyor belt 2 and adjusts the inclination under the control of the shipborne control system, so as to realize the adjustment of the depth of the end cutter. The depth of the cutter here usually refers to the height of the cutter from the river bottom.

[0057] The sensors are electrically connected to the shipborne control system and are used to obtain the attitude elevation of the ship and the height of the bow and stern of the ship from the water surface. Specifically, the sensors include attitude sensors for measuring the bow inclination angle and / or the stern inclination angle of the ship, and also include ultrasonic sensors or liquid level sensors for measuring the height of the bow and stern of the ship from the water surface. The ultrasonic sensors or liquid level sensors are installed at the bow and / or the stern. Preferably, the above sensors calculate in real time the bow and stern inclination errors caused by continuous grass collection and the errors caused by water level changes.

[0058] The cloud map is communicatively connected to the mowing boat, and the size of the mowing boat is stored on the cloud map. The system obtains the current hull position coordinates and its time information through the satellite positioning and navigation system; the mowing boat transmits the current hull position coordinates to the cloud map, and the cloud map queries the underwater terrain data at this location according to the hull position coordinates and sends the underwater terrain data to the shipborne control system of the mowing boat. Among them, the underwater terrain data includes, but is not limited to, the water depth information of the current hull position coordinates, and the water depth information can be calculated from the historical water depth, historical elevation, and current elevation. Preferably, the cloud map supports planning the harvesting range and / or depth requirements.

[0059] Such as Figure 4As shown in the figure, one end of the conveyor belt 2 extends into the water, and the other end is supported by a cylinder. It is inclined and arranged on the hull 6. The conveyor belt 2 and the cylinder are hinged. The adaptive adjustment mechanism uses a servo electric cylinder. The servo electric cylinder is fixed on the hull 6, and its driving rod is connected to the conveyor belt 2. When the driving rod extends, the conveyor belt 2 rotates clockwise around the support point, and the side where the cutter is installed is lifted; when the driving rod retracts, the conveyor belt 2 rotates counterclockwise around the support point, and the side where the cutter is installed sinks. The on-board control system receives the water depth information, the elevation of the ship's attitude, and the heights of the bow and stern of the ship above the water surface sent by the cloud map, calculates the current coordinates of the cutter (representing the actual cutter depth), compares the actual cutter depth with the expected cutter depth, and calculates the height difference between the actual cutter depth and the expected cutter depth. This height difference can be converted into the stroke of the servo electric cylinder, so as to realize the adaptive adjustment of the on-board control system for the cutter. For the bow and stern inclination of the ship, the attitude sensor can directly obtain the bow angle β of the ship. At the same time, ultrasonic sensors or liquid level sensors are respectively mounted on the bow and / or stern, and the heights of the bow and / or stern of the ship above the water surface can be obtained. Among them, the liquid level sensor is vertically installed on the hull. After the hull has a bow inclination, the sensor will also tilt at an angle.

[0060] According to Figure 1 it can be known that the bow angle of the ship is β, and the water entry depth of the cutter end point A is AA'. Then the calculation formula for the height h of the cutter end point A from the river bottom is:

[0061] h = H + ΔH g - AA'

[0062] Among them, H is the water level height measured at the historical water level line, that is, the height of the water surface from the river bottom; ΔH g is the change amount of elevation, which is used to eliminate the change of water level height. For example, if the measured value is the Huanghai Elevation and the reference system is the 1956 Huanghai Elevation System, if the water level changes, the measured elevation will also change.

[0063] When calculating the water entry depth AA' of point A, the length of AE should be calculated first. According to the principle of similar triangles and the cosine theorem, ∠EAA' = β, then AA' = AE·cosβ = |y A - y E |cosβ, that is, the water entry depth of point A is obtained. Then, combined with the current water depth H + ΔH g , the height h of the cutter from the river bottom is calculated by conversion:

[0064] h = H + ΔH g - |y A - y E |cosβ Equation (1)

[0065] According to Equation (1), it can be known that |y should be determinedA -y E |, |y A -y E The specific calculation process of the value of | is as follows:

[0066] Taking the bow of the ship as the coordinate origin O(0, 0), the length of the ship's hull as L, the extension direction of the ship's hull length as the x-axis, and the height direction of the ship's hull as the y-axis, establish the xOy coordinate system;

[0067] Define the coordinates of the cutter tip as A(x A , y A ), the connection point of the servo cylinder and the conveyor belt as B(x B , y B ), the hinge point of the conveyor belt and the hull as C(x C , y C ), the connection point of the servo cylinder and the hull as D(x D , y D ), where x C , y C , x D , y D are determined by the mechanical structure and are known quantities;

[0068] Define ∠ABC = α, and the point E(x E , y E ) is the projection point of the point A(x A , y A ) projected onto the current water level line (blue line) along the y-axis in the xOy coordinate system; the point I(x I , 0) is the intersection point of AE and the x-axis, x A = x E = x I ; the point F(x F , y F ) is the projection point of the stern end of the ship projected onto the current water level line along the y-axis; there are the following relationships:

[0069]

[0070]

[0071] Among them, after the mechanical mechanism is determined, α is determined, L 1 , L 2 , and l are all known quantities, where l is the length of BD and can be obtained in real time according to the size of the servo cylinder and the stroke of its driving rod; solve the unknowns x A , y A , x B , y B through the above system of equations (Equations (2) - (5)).

[0072] Further, define the intersection point of the extended bow along the x-axis and the current water level line as G. According to the principle of similar triangles, ∠OGF is the bow angle β of the ship. Define the intersection point of the origin O perpendicular to the current water level line as O'.

[0073] In △OGO', OO' = h 1 , that is, the height of the bow from the water surface,

[0074] In △EGI, according to the principle of similar triangles, ∠EGI = β, |EI| = |y E -y I | = |y E |. Then

[0075] Thus, it is determined Furthermore, according to Equation (1), determine the height of the cutter from the river bottom

[0076] The following combines a preferred implementation manner to elaborate on the mowing process of this application in detail:

[0077] S1. Establish a cloud map and construct local geographic information data; the cloud map includes parameters such as coordinate positions and water depths at these coordinates. The map information can also be constructed by purchasing third-party data; in particular, for underwater topographic survey data that users require to be kept confidential, it can be stored not through the public cloud but through the customer's business-proprietary cloud platform service;

[0078] S2. Input the size data of the mowing boat itself into the on-board control system;

[0079] S3. Through the hull 5G communication system, upload the size data of the mowing boat to the cloud;

[0080] S4. Start the mowing boat;

[0081] S5. Select a harvesting mode; the harvesting mode includes but is not limited to harvesting at a fixed distance from the water surface, harvesting at a fixed distance from the bottom, and according to the previously set parameters;

[0082] S6. Plan the harvesting range and depth requirements on the electronic map;

[0083] S7. Obtain the current hull position coordinates according to the satellite positioning and navigation data;

[0084] S8. Through the hull 5G communication module, upload the current hull position coordinate data to the cloud map;

[0085] S9. The cloud map queries the current underwater topographic data according to the coordinates, with a focus on the water depth at this location;

[0086] S10. Through the 5G communication module, send the planned harvesting range, depth requirements, and current underwater terrain data to the hull. The underwater terrain data includes the water depth at this location.

[0087] S11. According to the satellite positioning and navigation data, obtain the current hull time and calculate the season.

[0088] S12. The on-board control system reads the data of the attitude sensor and the liquid level sensor to obtain the ship's attitude and elevation, as well as the heights of the bow and stern from the water surface.

[0089] S13. Through the on-board control system, calculate based on the water depth information of this point sent by the cloud map and the data such as the ship's attitude elevation and the heights of the bow and stern from the water surface read, to obtain the current coordinates of the cutter.

[0090] S14. Obtain the actual cutter depth from the current coordinates of the cutter, and compare the actual cutter depth with the expected cutter depth.

[0091] S15. Obtain the difference between the actual cutter depth and the expected cutter depth through comparison, and convert this difference into the stroke of the servo cylinder. The on-board control system controls the inclination of the conveyor belt by controlling the servo cylinder, thereby controlling the cutter depth and realizing the adaptive adjustment of the cutter.

[0092] S16. Calculate in real time through the attitude sensor and the liquid level sensor the errors of the bow and stern inclination caused by continuous grass collection, as well as the errors caused by water level changes, to improve the accuracy of adaptive control.

[0093] In this embodiment, the underwater terrain data is utilized to combine the underwater terrain with waterweed harvesting. The water depth information of the current hull position coordinates is obtained through underwater terrain mapping or infrastructure drawings. At the same time, a servo cylinder is used as the adaptive adjustment mechanism, and the inclination of the conveyor belt is controlled by controlling the length of the driving rod of the cylinder. By introducing the attitude data of the mowing boat, the on-board controller calculates the cutter water depth accurately in real time, and calls and compares the data in the database, thereby adjusting the cutter water depth, so as to accurately and adaptively adjust the cutter depth of the mowing boat in real time.

[0094] Compared with the prior art, based on parameters such as satellite positioning and navigation, underwater terrain data, season, water depth, the attitude of the ship when empty or full, and other requirements of the user, this application realizes the adaptive adjustment of the cutter depth and completes the fixed-length harvesting of waterweeds; it can achieve customized harvesting for different waterweeds, different seasons, and different regions, and realize various harvesting modes such as harvesting at a fixed distance from the water surface, harvesting at a fixed distance from the bottom, and harvesting according to the previously set parameters; at the same time, it can prevent the cutter from touching the bottom and the ship from touching the bottom; the whole process is automatically adjusted without human participation, which is more reliable and overcomes the defects of the traditional cutter depth adjustment being inflexible and having low accuracy.

[0095] It should be noted that through the above embodiments, it can be found that whether the adaptive adjustment directly or indirectly controls the cutter, as long as the electromechanical transmission parameters of the adaptive adjustment mechanism are determined, a mathematical relationship can be established between the cutter depth and the electromechanical transmission parameters of the adaptive adjustment mechanism, and the adjustment of the cutter depth in water can be transformed into the stroke adjustment of the adaptive adjustment mechanism. Therefore, the adaptive adjustment mechanism can theoretically be directly connected to the cutter and directly control the depth of the cutter in water under the control of the shipborne control system. That is, the installation of the adaptive adjustment mechanism can be adaptively adjusted according to the hull structure of the mowing boat, and the specific implementation method can be achieved by those skilled in the art according to the content disclosed in this application, which will not be elaborated here.

[0096] The above embodiments only represent several implementation manners of this application, but should not be construed as a limitation on the protection scope of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application.

Claims

1. A fully automatic unmanned mowing system that adaptively adjusts the depth of the cutting blade according to the underwater terrain, characterized in that: include: A mowing boat, wherein a cutting knife, a conveyor belt, an adaptive adjustment mechanism, a communication module, a sensor and a ship-borne control system are arranged on the hull; the cutting knife is arranged at the front end of the conveyor belt, the conveyor belt is arranged obliquely, and one side of the conveyor belt is hinged to the hull; the adaptive adjustment mechanism is a servo electric cylinder, the servo electric cylinder is connected to the conveyor belt, and the ship-borne control system controls the inclination angle of the conveyor belt by controlling the length of the servo electric cylinder extension rod, thereby controlling the cutting knife depth; the sensor is electrically connected to the ship-borne control system, and is used to obtain the ship attitude elevation and the height of the bow and / or stern from the water surface; Satellite positioning and navigation system, used to obtain the current ship position coordinates and time information; A cloud map is connected to the mowing boat in communication, wherein the cloud map stores the size of the mowing boat, queries underwater terrain data through the current hull position coordinates, and sends the underwater terrain data to the onboard control system of the mowing boat, wherein the underwater terrain data includes water depth information; The ship-borne control system calculates the current coordinates of the cutter according to the size data of the mowing boat, the water depth information, the ship attitude elevation, and the height of the bow and stern from the water surface, determines the actual cutter depth according to the current coordinates of the cutter, compares the actual cutter depth with the expected cutter depth, and adjusts the cutter to the expected depth through the servo electric cylinder; An xOy coordinate system is established with the bow as the origin, the hull length extension direction as the x-axis, and the hull height direction as the y-axis; Define the coordinates of the cutter endpoint as A(x A ,y A ), the connection point between the servo cylinder and the conveyor belt is B(x B ,y B ), the hinge point between the conveyor belt and the hull is C(x C ,y C ), the connection point between the servo cylinder and the hull is D(x D ,y D ), point E(x E ,y E ) is the point A(x A ,y A ) is the projection point on the current water level along the y-axis in the xOy coordinate system. Point F(x F ,y F ) is the projection point of the stern end point along the y-axis direction onto the current water level; The height h of the cutter end point from the river bottom is obtained from the following equations: x A =x E h=H+ΔH g -|y A -y E |cosβ Among them, H is the water level measured at the historical water level, ΔH g is the change in elevation; α is ∠ABC; β is the bow inclination angle of the ship; h1 is the height of the bow from the water surface; x C ,y C 、x D ,y D , L1, L2 are known quantities; l is determined by the servo cylinder; the unknown quantity x A ,y A 、x B ,y B Solve the system of equations.

2. The fully automatic unmanned mowing system according to claim 1, characterized in that: The sensor comprises an ultrasonic sensor or a liquid level sensor, which is installed at the bow and / or the stern of the ship and is used to measure the height of the bow and / or the stern from the water surface.

3. The fully automatic unmanned mowing system according to claim 2, characterized in that: The sensor calculates the error caused by the water level change in real time.

4. The fully automatic unmanned mowing system according to claim 1, characterized in that: The sensor comprises an attitude sensor for measuring the bow inclination angle and / or stern inclination angle of the ship.

5. The fully automatic unmanned mowing system according to claim 4, characterized in that: The sensor calculates in real time the bow and / or stern errors caused by continuous mowing.

6. The fully automatic unmanned mowing system according to claim 1, characterized in that: The water depth information is calculated based on the historical water depth and elevation changes.

7. The fully automatic unmanned mowing system according to claim 1, characterized in that: The harvesting range and / or depth requirement are planned on the cloud map, and the harvesting range and / or depth requirement are sent to the shipboard control system of the hull through the communication module.

8. The fully automatic unmanned mowing system according to claim 1 or 7, characterized in that: The communication module adopts 5G communication.

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