A method for water depth detection and control that adaptively adjusts mowing depth based on underwater topography

Abstract

This application provides a water depth detection and control method for adaptively adjusting mowing depth based on underwater topography. The method comprises: S1, setting a working route for an unmanned mowing vessel in the area to be worked on the water surface; S2, setting several points along the working route described in step S1 and recording data for each point, including the coordinates and water depth of the point; S3, at the first point on the working route, controlling the unmanned mowing vessel's cutter to descend to a preset initial harvesting depth, and simultaneously recording the height of the cutter's descent; S4, starting the harvesting device to begin mowing operations. As the unmanned mowing vessel travels along the preset path to the next point, the height of the cutter is continuously adjusted, and the unmanned mowing vessel is controlled to descend from point P... n To the next point P n+1 The forward speed v causes the cutter to reach the next point P. n+1 It can adjust the height of △h and record the height of the cutter's descent at the next point, thus enabling adaptive adjustment of the harvesting depth based on the water depth.

Description

Technical Field

[0001] This application relates to the field of water management technology, specifically to a water depth detection and control method that adaptively adjusts the mowing depth based on underwater topography. Background Technology

[0002] Aquatic plants have significant value in aquaculture, ecology, and landscaping, providing food for herbivorous fish, purifying water, supplying oxygen, and beautifying the landscape. However, if left unmanaged, their uncontrolled growth and decay can deteriorate water quality, necessitating remediation measures. Common remediation methods include ecological, chemical, and physical methods, with mechanical mowing of aquatic plants having the least environmental impact among physical methods.

[0003] Inadequacies of existing lawn mowing equipment and methods

[0004] 1. Manual Salvage vs. Mechanical Harvesting: Traditional manual salvage and mechanical harvesting methods are inefficient and pose safety risks. For example, manual harvesting requires multiple people to work together, which is inefficient and makes it difficult to guarantee personal safety; although mechanical harvesting is more efficient, the cutting depth is fixed and cannot adapt to different water depths and terrains.

[0005] 2. Limitations of Cutting Depth Adjustment: Traditional cutting depth adjustment methods are divided into manual adjustment and mechanically assisted adjustment, but these methods have many problems. Manual adjustment is cumbersome and cannot be infinitely adjusted; although mechanically assisted adjustment can be infinitely adjusted, in actual operation, once the cutting depth is adjusted, it remains fixed and cannot adapt to changes in water depth.

[0006] 3. Multiple factors affect mowing results: In actual mowing operations, different water depths, different types of aquatic plants, seasonal changes, harvesting shallow aquatic plants, the weight and center of gravity of the mowing boat when it is empty or fully loaded, water depth changes, and safety issues can all affect the mowing results.

[0007] To overcome the shortcomings of traditional mowing equipment and methods, and to improve mowing efficiency while maintaining the consistency of harvested aquatic grass length, a water depth detection and control method that can adaptively adjust the mowing depth according to underwater topography is needed. Summary of the Invention

[0008] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a water depth detection and control method that can adaptively adjust the mowing depth according to the underwater topography, so as to ensure the consistency of the length of the harvested aquatic plants and improve the harvesting efficiency, thereby solving the problems in the prior art.

[0009] The technical solution of this invention is:

[0010] This invention provides a method for water depth detection and control that adaptively adjusts mowing depth based on underwater topography, comprising the following steps:

[0011] S1. Set up the operation route for the unmanned grass-cutting boat in the waiting area on the water surface;

[0012] S2. Set up several points on the operation route described in step S1, and record the data of each point. The data of the point includes the coordinates of the point and the water depth value.

[0013] S3. At the first point on the work path, control the unmanned mowing boat to lower the cutter blade to the preset starting harvesting depth, and record the height of the cutter descent.

[0014] S4. Start the harvesting device to begin the aquatic weed harvesting operation. As the unmanned mower travels along the preset path to the next location, continuously adjust the height of the cutter blades and control the unmanned mower to move from this location P. n To the next point P n+1 The forward speed v causes the cutter to reach the next point P. n+1 It can adjust the height of △h and record the height of the cutter's descent at the next point, thereby enabling adaptive adjustment of the harvesting depth based on the water depth.

[0015] in,

[0016] d represents point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth is s, and the cutting speed is set.

[0017] △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is in a certain position, it rises.

[0018] n is an integer.

[0019] In any embodiment of the present invention, in step S1, the operation route is circular or grid-shaped.

[0020] In any embodiment of the present invention, in step S2, the distance between adjacent points is 5 to 20 m.

[0021] In any embodiment of the present invention, in step S2, the unmanned mowing boat sequentially reaches each point on the operation route, and measures and records the water depth values ​​at all points on the operation route.

[0022] In any embodiment of the present invention, in step S2, the unmanned mowing boat is driven by an unmanned or manual operator to the first point of the operation route described in step S1.

[0023] In any embodiment of the present invention, in step S2, the water depth value at each point is measured using a depth measuring instrument.

[0024] In any embodiment of the present invention, in step S3, the cutter is controlled to descend by the shipboard control module, and the height of the cutter's descent is recorded by the displacement sensor on the harvesting device.

[0025] In any embodiment of the present invention, in step S3, the harvesting depth refers to the distance from the cutting blade to the water surface.

[0026] In any embodiment of the present invention, in step S4,

[0027] Among them, P n (lat n lat n+1 ),P n+1 (lon n lon n+1 ) are the latitude and longitude coordinates of the two points, respectively; n is an integer.

[0028] Another aspect of the present invention provides a water depth detection and control system that adaptively adjusts the mowing depth according to underwater topography, comprising:

[0029] The operation route preset module is used to set the operation route of the unmanned grass mower in the area to be operated on the water surface;

[0030] The operation route point setting and recording module is used to set several points on the operation route and record the data of each point, including the coordinates and water depth of the point.

[0031] The cutter height setting module is used to preset the initial harvesting depth and record the height the cutter descends at each point.

[0032] The unmanned lawn mower speed and cutter height control module is used to control the speed of the unmanned lawn mower as it travels along the preset path of the work route to the next location, as well as the height △h of the cutter continuously adjusted.

[0033] in,

[0034] d represents point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point Pn+1 The water depth is s, and the cutting speed is set.

[0035] △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is in a certain position, it rises.

[0036] n is an integer.

[0037] In any embodiment of the present invention, the work route preset module has a circular or grid-shaped work route.

[0038] In any embodiment of the present invention, the distance between adjacent points in the operation route point setting and recording module is 5 to 20 meters.

[0039] In any embodiment of the present invention, the operation route point setting and recording module measures and records the water depth values ​​at all points along the operation route. Optionally, the operation route point setting and recording module uses a depth measuring instrument to measure the water depth values ​​at each point.

[0040] In any embodiment of the present invention, in the cutter height setting module, the cutter is controlled to descend by the shipborne control module, and the descent height of the cutter is recorded by the displacement sensor on the harvesting device.

[0041] In any embodiment of the present invention, in the cutter height setting module, the harvesting depth refers to the distance from the cutter to the water surface;

[0042] In the unmanned grass mower speed and cutter height control module, Among them, P n (lat n lat n+1 ),P n+1 (lon n lon n+1 ) are the latitude and longitude coordinates of the two points, respectively; n is an integer.

[0043] Another aspect of the present invention provides a water depth detection and control device for adaptively adjusting the mowing depth according to underwater topography. The device includes: a memory and a processor; the memory stores a computer program thereon; the processor is used to execute the computer program stored in the memory, which, when executed, implements the method described in the present invention.

[0044] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the present invention.

[0045] By adopting the aforementioned technical solution, the beneficial effects of this invention are as follows: by accurately measuring and locating the water depth and distribution of aquatic plants to be harvested, the optimal path for harvesting aquatic plants is planned, and the unmanned mowing boat is further controlled to operate unmanned according to the planned aquatic plant harvesting path. At the same time, according to the depth of aquatic plants in different areas, the harvesting device is controlled to automatically rise and fall according to the depth of aquatic plants, thereby achieving accurate control of the depth of aquatic plant harvesting and uniformity of aquatic plant length, ensuring the consistency of aquatic plant production. The above process reduces the intensity and unevenness of manual labor and improves the efficiency of operation.

[0046] 1. Adaptive Adjustment of Mowing Depth: This invention takes into account the irregularity of underwater topography. By pre-obtaining the water depth values ​​of all points in the actual operation area, a realistic underwater topographic map is obtained. The measured water depth difference between two points is calculated, and then the forward speed of the unmanned mowing boat from the current point to the next point is calculated based on the cutter's lifting speed. When reaching the next point, the cutter can reach a preset height, realizing adaptive adjustment of mowing depth according to water depth. This ensures that the harvested aquatic grass retains a consistent length and prevents poor results or malfunctions due to excessively deep or shallow mowing depth.

[0047] 2. The data format has the advantage of latitude and longitude time tags. Latitude and longitude are used to calculate the distance between operation points and plan the path. At the same time, the unmanned mowing boat needs to match and calibrate the path according to the current real-time latitude and longitude data and the measured latitude and longitude. The time tag is used to automatically calculate whether the harvesting area has been completed.

[0048] 3. Prevent the cutter and hull from hitting the bottom: By monitoring water depth and terrain in real time, the cutter height is automatically adjusted or the hull is controlled to avoid obstacles, reducing the risk of hitting the bottom.

[0049] 4. Automated operation: Enables unmanned automated control, pre-set parameters, and automatically completes lawn mowing operations, improving work efficiency and safety. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating the water depth detection and control method for adaptively adjusting mowing depth based on underwater topography, as described in this application.

[0051] Figure 2 This is a schematic diagram showing that the operation route of this application is in the form of a ring or grid.

[0052] Figure 3 A schematic diagram illustrating the principle of calculating the forward speed of the unmanned vessel from the current point to the next point for this application.

[0053] Figure 4 This is a schematic diagram of the unmanned lawn mowing device of this application.

[0054] Component designation

[0055] 1. Unmanned grass-cutting boat

[0056] 2 Conveyor Belt

[0057] 3 Harvesting device

[0058] 4. Push rod

[0059] 5 Displacement Sensors

[0060] 6. Shipborne Control Module

[0061] 7. Water depth measuring instrument

[0062] 8. Shipborne navigation module Detailed Implementation

[0063] The following describes in detail the implementation of the water depth detection and control method for adaptively adjusting mowing depth based on underwater topography provided by the present invention.

[0064] To make the inventive objectives, technical solutions, and beneficial effects of this invention clearer, the invention is further described in detail below with reference to embodiments. However, it should be understood that the embodiments of this invention are merely for illustrative purposes and not for limiting the invention, and the embodiments are not limited to those given in the specification. Unless otherwise specified, specific experimental or operational conditions in the embodiments were prepared under conventional conditions or according to the conditions recommended by the material supplier.

[0065] Furthermore, it should be understood that the existence of other method steps before or after the combined steps, or the insertion of other method steps between these explicitly mentioned steps, does not preclude the existence of other method steps before or after the combined steps, or the insertion of other method steps between these explicitly mentioned steps, unless otherwise stated. It should also be understood that the combined connection relationship between one or more devices / apparatus mentioned in this invention does not preclude the existence of other devices / apparatus before or after the combined devices / apparatus, or the insertion of other devices / apparatus between these explicitly mentioned devices / apparatus, unless otherwise stated. Moreover, unless otherwise stated, the numbering of each method step is merely a convenient tool for identifying each method step, and not for limiting the order of the method steps or limiting the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0066] A method for adaptively adjusting mowing depth based on underwater topography: water depth detection and control

[0067] like Figure 1 This application provides a method for water depth detection and control that adaptively adjusts mowing depth based on underwater topography, comprising the following steps:

[0068] S1. Set up the operation route for the unmanned grass-cutting boat in the waiting area on the water surface;

[0069] S2. Set up several points on the operation route described in step S1, and record the data of each point. The data of the point includes the coordinates of the point and the water depth value.

[0070] S3. At the first point on the work path, control the unmanned mowing boat to lower the cutter blade to the preset starting harvesting depth, and record the height of the cutter descent.

[0071] S4. Start the harvesting device to begin the aquatic weed harvesting operation. As the unmanned mower travels along the preset path to the next location, continuously adjust the height of the cutter blades and control the unmanned mower to move from this location P. n To the next point P n+1 The forward speed v causes the cutter to reach the next point P. n+1 It can adjust the height of △h and record the height of the cutter's descent at the next point, thereby enabling adaptive adjustment of the harvesting depth based on the water depth.

[0072] in,

[0073] d represents point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth is s, and the cutting speed is set.

[0074] △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is in a certain position, it rises.

[0075] n is an integer.

[0076] In the water depth detection and control method for adaptively adjusting mowing depth based on underwater topography provided in this embodiment of the invention, step S1 involves setting the operation route of the unmanned mowing vessel in the area to be operated on the water surface. Specifically, typically, the operation route is set on an electronic map using a software platform, and then the set data is sent to the onboard control module of the unmanned mowing vessel via commands. The unmanned mowing vessel then operates according to the operation route. The software platform is a surface robot control and management system with registered software copyright 2019SR1152438. The software platform connects to the unmanned mowing vessel via a wireless network and also has a human-machine interface for operators to control and manage the unmanned vessel by setting commands.

[0077] In step S1 of the present invention, as follows Figure 2 The operation route can be, for example, a ring or a grid. The advantage of setting it to a ring or grid is that it ensures that the set route will not miss or repeat the operation area, and at the same time ensures that the unmanned vessel operation route is the shortest and most efficient.

[0078] In the water depth detection and control method for adaptively adjusting mowing depth based on underwater topography provided in this embodiment of the invention, step S2 involves setting up several points on the operation route described in step S1 and recording the data of each point. The data of the point includes the coordinates and water depth value of the point.

[0079] In step S2 of this invention, when setting points at equal intervals on the electronic map of the software platform, the distance between adjacent points is typically 5–20 m. It can be 5–10 m or 10–20 m. If the interval is too small, the points are too close together, resulting in slow operation; if the interval is too large, the consistency of the length of the harvested aquatic plants will be poor.

[0080] In step S2 of this invention, the latitude and longitude coordinates and elevation of each point can be obtained through pre-measured data. The measured latitude and longitude coordinates and elevation are then formatted into a data format with latitude and longitude labels using the following procedure. For example:

[0081] The task route or path is sent from the host computer to the slave computer. The task route sending command with n points is designed as follows:

[0082] *dstID,srcID,SPATH;n;LAT1;LON1;LAT2;LON2;….;LATn;LONn,CHK#

[0083] The meaning of the relevant data is explained as follows:

[0084] *: Represents the command start character;

[0085] dstID: Represents the target address of the lower-level machine.

[0086] srcID: Represents the host computer source address

[0087] SPATH: Represents the command control category, sending lawn mowing path commands;

[0088] n: represents the number of points in the path;

[0089] LAT1; LON1: Represents the latitude and longitude coordinates of the first point in the path;

[0090] LAT2; LON2: Represents the latitude and longitude coordinates of the second point in the path;

[0091] ...

[0092] LATn; LONn: Represents the latitude and longitude coordinates of the nth point in the path;

[0093] CHK: Represents CRC check code

[0094] #: Represents the end-of-command character.

[0095] In step S2 of this invention, the water depth is obtained by the unmanned mowing boat sequentially reaching each point on the work route, measuring and recording the water depth at each point. Optionally, a depth gauge is used to measure the water depth at each point. Specifically: the unmanned mowing boat is driven to the first point on the work route described in step S1, the water depth at the first point is measured using a depth gauge, and then the boat is driven sequentially to the other points on the work route, recording the water depth at all points on the work route. Here, the water depth refers to the depth from the water surface to the bottom mud.

[0096] In step S2 of this invention, the unmanned mowing boat sequentially reaches each point on the work route described in step S1, either unmanned or manually, and records the water depth value at each point using a depth measuring instrument. This data is then used to create a fitting curve, thereby obtaining a complete underwater topographic map. This invention provides a true underwater topographic map. This invention overcomes the influence of factors such as varying water depth, different types of aquatic plants, seasonal changes, harvesting shallow aquatic plants, the empty and full load weight of the mowing boat, changes in the center of gravity, and variations in water depth on the mowing effect in actual mowing operations. The reason this application does not use cloud-based maps is that existing cloud-based underwater topographic maps are historical data. With the deposition of silt and changes in underwater topography, water depth values ​​vary greatly, and there is an error between the actual measured values ​​of the boat's position coordinates and the cloud map. Without a network in the field, data cannot be updated in real time.

[0097] In the water depth detection and control method for adaptively adjusting mowing depth based on underwater terrain provided in this embodiment of the invention, step S3 involves controlling the unmanned mowing vessel's cutter blade to descend to a preset initial harvesting depth at the first point on the work path, while simultaneously recording the height of the cutter's descent. Specifically, before the unmanned mowing vessel begins harvesting aquatic plants, the cutter blade is raised to its highest point. Then, the unmanned mowing vessel is driven autonomously to the first point on the work path, and the cutter blade is lowered via the onboard control module. Simultaneously, the height of the cutter's descent is automatically recorded by the displacement sensor on the harvesting device.

[0098] In step S3 of the present invention, under normal circumstances, such as Figure 4The conveyor belt is arranged at an angle, with its side hinged to the hull. The rear end of the conveyor belt is connected to the hull via a push rod. The push rod is hinged to both the conveyor belt and the hull, allowing it to rotate. The onboard control module controls the extension and retraction length of the push rod, which in turn controls the angle between the conveyor belt and the hull, thus raising and lowering the end of the conveyor belt closest to the harvesting device and the harvesting device itself, thereby controlling the raising and lowering of the cutter.

[0099] In step S3 of this invention, the harvesting depth refers to the distance from the cutting blade to the water surface.

[0100] In the water depth detection and control method for adaptively adjusting mowing depth based on underwater topography provided in this embodiment of the invention, step S4 is to start the harvesting device to begin the aquatic weed harvesting operation. During the unmanned mowing vessel's journey along the preset path to the next location, the height of the cutter blades is continuously adjusted, and the unmanned mowing vessel is controlled to move from the current location P... n To the next point P n+1 The forward speed v causes the cutter to reach the next point P. n+1 This device can adjust the height of Δh and record the descent height of the cutter at the next point, thereby adaptively adjusting the harvesting depth according to the water depth. This ensures the consistency of the length of aquatic plants retained after harvesting and prevents poor results or malfunctions due to excessively deep or shallow harvesting depths. This application takes into account the irregularity of underwater terrain and adaptively adjusts the cutter depth according to the irregular terrain.

[0101] In step S4 of this invention, at the first point, the aquatic plant harvesting depth is preset. When the cutter descends to the preset harvesting depth, it automatically stops and the harvesting device is started to begin the aquatic plant harvesting operation. The unmanned mowing boat calculates the latitude and longitude in real time according to the onboard navigation module and controls the unmanned mowing boat to move forward according to the preset path based on the latitude and longitude.

[0102] The invention pre-sets the aquatic plant harvesting depth, which refers to the distance from the cutter blade to the water surface. The harvesting depth is calculated as: harvesting depth = water depth - reserved aquatic plant length. For example, if the water depth is 3 meters and the reserved length of harvested aquatic plants is 1 meter, the cutter will automatically stop at 2 meters below the water surface. In this invention, the pre-setting of the aquatic plant harvesting depth, the automatic stop when the cutter descends to the preset harvesting depth, and the initiation of the harvesting operation are all controlled by the shipborne control module, a central control system.

[0103] In step S4 of this invention, although the latitude and longitude of each point have been obtained as a reference in step S2, for dynamic environmental adaptation, the unmanned surface vessel (USV) uses its onboard navigation system and depth gauge to calculate latitude and longitude in real time, combined with underwater terrain data. This allows it to detect underwater obstacles in advance and adjust its course in a timely manner to avoid them. The USV obtains latitude and longitude in real time through its onboard navigation module, and combined with a preset route and underwater terrain data, it can achieve autonomous navigation, obstacle avoidance, and target tracking.

[0104] In step S4 of this invention, the unmanned mowing boat departs from point P. n To the next point P n+1 The forward velocity v is:

[0105]

[0106] Where d is point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth value, such as Figure 3 s is the set cutting speed, and n is an integer.

[0107] The velocity is the same from point P1 to point P2, but when moving from point P2 to point P3, the velocity is different from the velocity from P1 to point P2 because the difference between h2 and h3 is different. And so on.

[0108] Based on the latitude and longitude measured between two adjacent points, obtain the latitude and longitude of the two adjacent points P. n and P n+1 The straight-line distance d between the two points; the positions of the two points P n and P n+1 The model for the straight-line distance d between them is as follows:

[0109]

[0110] Among them, P n (lat n lat n+1 ),P n+1 (lon n lon n+1 These are the latitude and longitude coordinates of the two points.

[0111] In step S4 of this invention, the unmanned mowing boat calculates the harvesting depth at the next point as it moves forward, ensuring that the cutter reaches the next point P. n+1 It can adjust the height of △h and record the cutting height at the next point. △h=|h n -hn+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is not, it rises.

[0112] Repeat step S4 until the unmanned mowing boat completes all operations according to the designated points on the work route.

[0113] It should be noted that this invention primarily protects the water depth detection and control method for adaptively adjusting mowing depth based on underwater terrain. The implementation principle of unmanned mowing boats is existing, and includes at least: 1) a perception system with multi-sensor fusion: real-time scanning of the environment using cameras, lidar, millimeter-wave radar, etc., to identify obstacles (such as reefs and vessels) and operational boundaries. High-precision integrated navigation and positioning: achieving centimeter-level positioning accuracy through positioning systems such as BeiDou and GPS, combined with sensor data, ensuring the mowing boat navigates precisely along the planned path in the water. 2) Communication and monitoring, remote control: data transmission via 4G / 5G or LoRa wireless networks, supporting real-time monitoring and task adjustment on mobile phones / computers. Data management: cloud-based recording of operational trajectory, mowing area, energy consumption, and other data, generating visualized reports.

[0114] like Figure 4 The unmanned mowing device used in the method of the present invention includes an unmanned mowing boat 1 and a conveyor belt 2. One end of the conveyor belt 2 is hinged to the hull of the unmanned mowing boat 1, and the conveyor belt 2 is inclined relative to the side wall of the hull of the unmanned mowing boat 1. The other end of the conveyor belt 2 is provided with a harvesting device 3. It also includes a push rod 4, the two ends of which are respectively hinged to the hull of the unmanned mowing boat 1 and the conveyor belt 2. It also includes a displacement sensor 5 for recording the lifting height of the cutter on the harvesting device 3. The unmanned mowing boat 1 is also provided with a water depth measuring instrument 7 for measuring the water depth and a shipborne navigation module 8 for measuring the latitude, longitude coordinates and elevation of the unmanned mowing boat. It also includes a shipborne control module 6, which is electrically connected to the push rod 4, the displacement sensor 5, the shipborne navigation module 6, and the water depth measuring instrument 7.

[0115] In the unmanned lawn mowing device provided by this invention, the depth measuring instrument 7 is mounted on the hull, preferably near the bottom of the hull. The depth measuring instrument 7 includes an acoustic sensor. The acoustic sensor is arranged in the water and faces vertically to the bottom, and is used to measure the water depth.

[0116] In the unmanned mowing device provided by this invention, during use, one end of the conveyor belt 2 extends into the water, and the other end is hinged to the hull of the unmanned mowing boat 1, and is arranged at an angle on the hull. Preferably, the push rod 4 is hinged to the end of the conveyor belt 2 near the harvesting device 3. The push rod 4 is an electric push rod or a hydraulic push rod.

[0117] In the unmanned mowing device provided by the present invention, the harvesting device 3 can be, for example, a cutting blade.

[0118] A depth detection and control system that adaptively adjusts mowing depth based on underwater topography.

[0119] This invention also provides a water depth detection and control system that adaptively adjusts mowing depth based on underwater topography, comprising:

[0120] The operation route preset module is used to set the operation route of the unmanned grass mower in the area to be operated on the water surface;

[0121] The operation route point setting and recording module is used to set several points on the operation route and record the data of each point, including the coordinates and water depth of the point.

[0122] The cutter height setting module is used to preset the initial harvesting depth and record the height the cutter descends at each point.

[0123] The unmanned lawn mower speed and cutter height control module is used to control the speed of the unmanned lawn mower as it travels along the preset path of the work route to the next location, as well as the height △h of the cutter continuously adjusted.

[0124] in,

[0125] d represents point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth is s, and the cutting speed is set.

[0126] △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is in a certain position, it rises.

[0127] n is an integer.

[0128] In the system provided by this invention, the operation route preset module is used to set the operation route of the unmanned grass-cutting vessel in the area to be worked on the water surface. Specifically, typically, the operation route is set on an electronic map through a software platform, and then the set data is sent to the onboard control module of the unmanned grass-cutting vessel via commands. The unmanned grass-cutting vessel then performs operations according to the operation route. The software platform is a surface robot control and management system with registered software copyright 2019SR1152438. The software platform connects to the unmanned grass-cutting vessel via a wireless network and also has a human-machine interface for operators to control and manage the unmanned vessel by setting commands.

[0129] In the operation route preset module of this invention, such as Figure 2 The operation route can be, for example, a ring or a grid. The advantage of setting it to a ring or grid is that it ensures that the set route will not miss or repeat the operation area, and at the same time ensures that the unmanned vessel operation route is the shortest and most efficient.

[0130] In the system provided by this embodiment of the invention, the work route point setting and recording module is used to set several points on the work route and record the data of each point. The data of the point includes the coordinates and water depth of the point. Specifically:

[0131] In the operation route point setting and recording module of this invention, under normal circumstances, when setting points at equal intervals on the electronic map of the software platform, the distance between adjacent points is 5-20m. It can be selected as 5-10m or 10-20m. If the interval is too small, the points are too close together, and the operation is too slow; if the interval is too large, the consistency of the length of aquatic plants retained after harvesting is poor.

[0132] In the operation route point setting and recording module of this invention, the latitude and longitude coordinates and elevation of each point can be obtained through pre-measured data. The measured latitude and longitude coordinates and elevation are then formatted into a data format with latitude and longitude labels using the following procedure. For example:

[0133] The task route or path is sent from the host computer to the slave computer. The task route sending command with n points is designed as follows:

[0134] *dstID,srcID,SPATH;n;LAT1;LON1;LAT2;LON2;….;LATn;LONn,CHK#

[0135] The meaning of the relevant data is explained as follows:

[0136] *: Represents the command start character;

[0137] dstID: Represents the target address of the lower-level machine.

[0138] srcID: Represents the host computer source address

[0139] SPATH: Represents the command control category, sending lawn mowing path commands;

[0140] n: represents the number of points in the path;

[0141] LAT1; LON1: Represents the latitude and longitude coordinates of the first point in the path;

[0142] LAT2; LON2: Represents the latitude and longitude coordinates of the second point in the path;

[0143] ...

[0144] LATn; LONn: Represents the latitude and longitude coordinates of the nth point in the path;

[0145] CHK: Represents CRC check code

[0146] #: Represents the end-of-command character.

[0147] In the operation route location setting and recording module of this invention, the water depth value is obtained by the unmanned mowing boat sequentially reaching each location on the operation route, measuring and recording the water depth value at each location. Optionally, a depth gauge is used to measure the water depth value at each location. Specifically: the unmanned mowing boat is driven to the first location on the operation route, the water depth value at the first location is measured using a depth gauge, and then the boat is driven to the other locations on the operation route in sequence, recording the water depth value at all locations on the operation route. Here, the water depth value refers to the depth from the water surface to the bottom mud.

[0148] In the operation route point setting and recording module of this invention, the unmanned mowing boat sequentially reaches each point on the operation route, either unmanned or manually, and records the water depth value at each point using a depth measuring instrument. This data is then used to create a fitted curve, thereby obtaining a complete underwater topographic map. This invention provides a true underwater topographic map. This invention overcomes the influence of factors such as varying water depth, different types of aquatic plants, seasonal changes, harvesting shallow aquatic plants, the empty and full load weight of the mowing boat, changes in the center of gravity, and water depth variations on the mowing effect in actual mowing operations. This application does not use cloud-based maps because existing cloud-based underwater topographic maps are historical data. With the deposition of silt and changes in underwater topography, water depth values ​​vary greatly, and there is an error between the actual measured values ​​of the boat's position coordinates and the cloud map. Without a network in the field, real-time data updates are impossible.

[0149] In the system provided by this invention, the cutter height setting module is used to preset the initial harvesting depth and record the height at which the cutter descends at each point. Specifically, before the unmanned mowing boat performs aquatic weed harvesting operations, the cutter is raised to its highest point. Then, the unmanned mowing boat is driven autonomously to the first point on the work path, and the cutter is lowered by the onboard control module. At the same time, the height at which the cutter descends is automatically recorded by the displacement sensor on the harvesting device.

[0150] In the cutting blade height setting module of this invention, under normal circumstances, such as Figure 4The conveyor belt is arranged at an angle, with its side hinged to the hull. The rear end of the conveyor belt is connected to the hull via a push rod. The push rod is hinged to both the conveyor belt and the hull, allowing it to rotate. The onboard control module controls the extension and retraction length of the push rod, which in turn controls the angle between the conveyor belt and the hull, thus raising and lowering the end of the conveyor belt closest to the harvesting device and the harvesting device itself, thereby controlling the raising and lowering of the cutter.

[0151] In the cutting blade height setting module of this invention, the harvesting depth refers to the distance from the cutting blade to the water surface.

[0152] In the system provided by this invention, the unmanned mower speed and cutter height control module is used to control the speed of the unmanned mower as it travels along a preset path to the next location, and the height Δh of the cutter continuously adjusted. Specifically: the harvesting device is started to begin the aquatic weed harvesting operation. During the unmanned mower's journey along the preset path to the next location, the height of the cutter is continuously adjusted, and the unmanned mower is controlled to move from the current location P... n To the next point P n+1 The forward speed v causes the cutter to reach the next point P. n+1 This device can adjust the height of Δh and record the descent height of the cutter at the next point, thereby adaptively adjusting the harvesting depth according to the water depth. This ensures the consistency of the length of aquatic plants retained after harvesting and prevents poor results or malfunctions due to excessively deep or shallow harvesting depths. This application takes into account the irregularity of underwater terrain and adaptively adjusts the cutter depth according to the irregular terrain.

[0153] In the unmanned grass-cutting boat speed and cutter height control module of this invention, the grass-cutting depth is preset at the first point. When the cutter descends to the preset cutting depth, it automatically stops and the harvesting device is started to begin grass-cutting operations. The unmanned grass-cutting boat calculates latitude and longitude in real time according to the onboard navigation module and controls the unmanned grass-cutting boat to move forward according to the preset path based on the latitude and longitude.

[0154] The invention pre-sets the aquatic plant harvesting depth, which refers to the distance from the cutter blade to the water surface. The harvesting depth is calculated as: harvesting depth = water depth - reserved aquatic plant length. For example, if the water depth is 3 meters and the reserved length of harvested aquatic plants is 1 meter, the cutter will automatically stop at 2 meters below the water surface. In this invention, the pre-setting of the aquatic plant harvesting depth, the automatic stop when the cutter descends to the preset harvesting depth, and the initiation of the harvesting operation are all controlled by the shipborne control module, a central control system.

[0155] In the unmanned grass-cutting boat speed and cutter height control module of this invention, although the latitude and longitude of each point is already obtained as a reference in the operation route point setting and recording module, for dynamic environmental adaptation, the unmanned boat uses an onboard navigation system and depth gauge to calculate latitude and longitude in real time, combined with underwater terrain data. This allows it to detect underwater obstacles in advance and adjust its course in time to avoid them. The unmanned boat obtains latitude and longitude in real time through its onboard navigation module, and combined with preset routes and underwater terrain data, it can achieve autonomous navigation, obstacle avoidance, and target tracking.

[0156] In the unmanned grass mower speed and cutter height control module, the unmanned grass mower starts from point P. n To the next point P n+1 The forward velocity v is:

[0157]

[0158] Where d is point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth is s, the cutter lifting speed is set, and n is an integer.

[0159] The velocity is the same from point P1 to the next point P2. However, when moving from point P2 to point P3, the velocity is different from the velocity from P1 to P2 because the difference between h2 and h3 is different. And so on.

[0160] Based on the adjacent two points P n and P n+1 Measure the latitude and longitude to obtain the positions P of two adjacent points. n and P n+1 The straight-line distance d between the two points; the positions of the two points P n and P n+1 The model for the straight-line distance d between them is as follows:

[0161]

[0162] Among them, P n (lat n lat n+1 ),P n+1 (lon n lon n+1 These are the latitude and longitude coordinates of the two points.

[0163] Typically, unmanned mowing boats calculate the harvesting depth at the next point as they move forward, ensuring the cutter reaches the next point P precisely. n+1It can adjust the height of △h and record the cutting height at the next point. △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is not, it rises.

[0164] Computer-readable storage media

[0165] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the water depth detection and control method for adaptively adjusting mowing depth based on underwater topography as described in this invention.

[0166] As will be understood by those skilled in the art, all or part of the steps of the above-described method embodiments can be implemented using computer program-related hardware. The aforementioned computer program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0167] [Depth detection and control equipment that adaptively adjusts mowing depth based on underwater topography]

[0168] This invention also provides a water depth detection and control device that adaptively adjusts mowing depth based on underwater topography. The device includes: a memory and a processor; the memory stores a computer program; the processor executes the computer program stored in the memory, and when the program is executed, it implements the water depth detection and control method of adaptively adjusting mowing depth based on underwater topography described in this invention.

[0169] The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0170] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0171] In summary, the method and system provided by this invention are as follows:

[0172] By accurately measuring and locating the water depth and distribution of aquatic plants to be harvested, the optimal harvesting path is planned. Furthermore, the unmanned harvesting vessel operates according to the planned path, enabling unmanned operation. Simultaneously, based on the depth of aquatic plants in different areas, the harvesting device automatically adjusts its height, thus achieving accurate control of the harvesting depth and uniformity of plant length, ensuring consistent aquatic plant production. This process reduces the intensity and inconsistency of manual labor, and improves operational efficiency.

[0173] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0174] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the method of the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention. Any modifications, alterations, and equivalent changes made by those skilled in the art based on the above-disclosed technical content without departing from the spirit and scope of the present invention are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, and evolutions made to the above embodiments based on the essential technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for water depth detection and control that adaptively adjusts mowing depth based on underwater topography, characterized in that, Includes the following steps: S1. Set up the operation route for the unmanned grass-cutting boat in the waiting area on the water surface; S2. Set up several points on the operation route described in step S1, and record the data of each point. The data of the point includes the coordinates of the point and the water depth value. S3. At the first point on the work path, control the unmanned mowing boat to lower the cutter blade to the preset starting harvesting depth, and record the height of the cutter descent. S4. Start the harvesting device to begin the aquatic weed harvesting operation. As the unmanned mower travels along the preset path to the next location, continuously adjust the height of the cutter blades and control the unmanned mower to move from this location P. n To the next point P n+1 The forward speed v causes the cutter to reach the next point P. n+1 It can adjust the height of △h and record the height of the cutter's descent at the next point, thereby enabling adaptive adjustment of the harvesting depth based on the water depth. in, d represents point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth is s, and the cutting speed is set. △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is in a certain position, it rises. n is an integer.

2. The water depth detection and control method for adaptively adjusting mowing depth based on underwater topography as described in claim 1, characterized in that, It also includes one or more of the following conditions: A1) In step S1, the work route is either circular or grid-shaped; A2) In step S2, the distance between adjacent points is 5 to 20 meters; In step S2 (A3), the unmanned mowing boat sequentially reaches each point on the operation route, and measures and records the water depth at each point on the operation route.

3. The water depth detection and control method for adaptively adjusting mowing depth based on underwater topography as described in claim 2, characterized in that, It also includes one or more of the following conditions: A31) In step S2, the unmanned mowing boat arrives at each point of the operation route described in step S1 in sequence, either unmanned or manually. In step S2 (A32), the water depth at each point is measured using a depth measuring instrument.

4. The water depth detection and control method for adaptively adjusting mowing depth based on underwater topography as described in claim 1, characterized in that, It also includes one or more of the following conditions: B1) In step S3, the cutter is lowered by the shipboard control module, and the height of the cutter's descent is recorded by the displacement sensor on the harvesting device. B2) In step S3, the harvesting depth refers to the distance from the cutting blade to the water surface; In step S4 of B3) Among them, P n (lat n lat n+1 ),P n+1 (lon n lon n+1 ) are the latitude and longitude coordinates of the two points, respectively; n is an integer.

5. A water depth detection and control system that adaptively adjusts mowing depth based on underwater topography, characterized in that, include: The operation route preset module is used to set the operation route of the unmanned grass mower in the area to be operated on the water surface; The operation route point setting and recording module is used to set several points on the operation route and record the data of each point, including the coordinates and water depth of the point. The cutter height setting module is used to preset the initial harvesting depth and record the height the cutter descends at each point. The unmanned lawn mower speed and cutter height control module is used to control the speed of the unmanned lawn mower as it travels along the preset path of the work route to the next location, as well as the height △h of the cutter continuously adjusted. in, d represents point P n to point P n+1 The straight-line distance, h n Point P n water depth, h n+1 Point P n+1 The water depth is s, and the cutting speed is set. △h=|h n -h n+1 |;When h n+1 Greater than h n When the cutting blade is in a certain position, it descends; conversely, when it is in a certain position, it rises. n is an integer.

6. The water depth detection and control system for adaptively adjusting mowing depth based on underwater topography as described in claim 5, characterized in that, It also includes one or more of the following conditions: In the C1) Operation route preset module, the operation route is either circular or grid-shaped; In the C2) Operation route location setting and recording module, the distance between adjacent locations is 5-20m; In the C3) Operation route point setting and recording module, the water depth values ​​of all points on the operation route are measured and recorded respectively.

7. The water depth detection and control system for adaptively adjusting mowing depth based on underwater topography as described in claim 5, characterized in that, In feature C3, the operation route location setting and recording module uses a depth measuring instrument to measure the water depth value at each location.

8. The water depth detection and control system for adaptively adjusting mowing depth based on underwater topography as described in claim 5, characterized in that, It also includes one or more of the following conditions: In the D1) cutter height setting module, the cutter is lowered by the shipboard control module, and the height of the cutter descent is recorded by the displacement sensor on the harvesting device. In the D2) cutter height setting module, the harvesting depth refers to the distance from the cutter to the water surface; In the D3) unmanned grass-cutting boat speed and cutter height control module Among them, P n (lat n lat n+1 ),P n+1 (lon n lon n+1 ) are the latitude and longitude coordinates of the two points, respectively; n is an integer.

9. A water depth detection and control device that adaptively adjusts mowing depth based on underwater topography, characterized in that, The device includes: a memory and a processor; the memory stores a computer program thereon; the processor is configured to execute the computer program stored in the memory, wherein the program, when executed, implements the method as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 4.

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