Planning method of weeding operation path and automatic grass thinning ship thereof

Abstract

The invention belongs to the technical field of aquaculture unmanned operation equipment, and particularly relates to a planning method of a weeding operation path and an automatic weed thinning ship thereof. The method comprises the steps that a pond is divided into at least one rectangular area without obstacles inside, and the boundary of an operation area is set; setting a grass thinning ship parking point A and a grass unloading point O along the bank; setting an operation path in the operation area; the grass thinning boat moves to the starting point of the operation path from the parking point A and alternately works forwards and backwards in sequence along the starting point of the operation path so as to harvest the aquatic plants in the operation area; moving the grass thinning boat to a grass unloading point O, and unloading the harvested water grass; and the weed thinning boat returns to the operation area to continuously harvest the waterweeds until harvesting of the waterweeds in the operation area is completed. According to the working width of the grass thinning boat, the working paths arranged in parallel are planned in the working area, so that the grass thinning boat can carry out grass thinning by alternately working forwards and backwards, the turning angle is reduced to a great extent, and the difficulty of turning around is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aquaculture operation equipment, and particularly relates to a weeding operation path planning method and an automatic weeding boat. Background Art

[0002] An automated weed grooming boat automatically plans a weeding path. Using satellite navigation, it accurately tracks its path and operates in two modes: forward and backward. Due to its large size, turning and reversing are difficult, requiring frequent round trips between the work area and the unloading point. Furthermore, due to the impact of pond obstacles, its path planning is far more complex than that of an automated baiting boat.

[0003] Therefore, it is urgent to design a planning method for weeding operation paths to solve the technical problems of the difficulty of turning and reversing of the above-mentioned weeding boats, the need to frequently travel back and forth between the operation area and the unloading point, and the complexity of operation path planning.

[0004] It should be noted that the above information disclosed in this Background section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute prior art. Summary of the Invention

[0005] The embodiments of the present disclosure at least provide a method for planning a weeding operation path and an automatic weed-grooming boat thereof.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for planning a weeding operation path, comprising:

[0007] Step S1: Divide the pond into at least one rectangular area with no internal obstacles, and set the initial boundary coordinates B, C', J', and K of the working area within any rectangular area based on the GPS / BD navigation system;

[0008] Step S2: setting a mooring point A and a weed unloading point O for the weed-grooming boat along the coast;

[0009] Step S3: The weed grooming boat operates along line BC'. When the load of the weed grooming boat reaches 1 / 4 of the set amount, if it exceeds 1 / 2 of the BC' straight line segment, the position of the weed grooming boat at this time is marked as C. Otherwise, the position of the weed grooming boat is marked as C until the load of the weed grooming boat reaches half of the set amount.

[0010] Step S4: Construct a parallel line through point C in the direction of BK. The parallel line intersects with line KJ' at point J, and the corrected boundary coordinates B, C, J, and K of the working area are set.

[0011] Step S5: setting a plurality of forward paths and reverse paths alternately arranged in sequence within the working area to cover the working area, setting a return path between the starting end of the forward path and the unloading point O, and setting an unloading path between the end of the reverse path and the unloading point O;

[0012] Step S6: the weed grooming boat moves from the berth A to the starting end of the nearest forward path;

[0013] Step S7: the grooming boat operates in a forward direction along the forward path until it reaches the end of the forward path, then moves to the starting end of the next reverse path, and operates in a reverse direction along the reverse path until it reaches the end of the reverse path;

[0014] Step S8: If the boat deck is almost full of aquatic plants, the boat will follow the unloading path to the unloading point O to unload the harvested aquatic plants, and then follow the return path to the starting point of the next forward path.

[0015] If the boat is not nearly full of waterweed at this point, the weed-clearing boat moves to the starting point of the next forward path;

[0016] Step S9: repeat steps S7 and S8 until all forward paths and reverse paths are traversed.

[0017] In an optional embodiment, a transition path is provided between the forward path and the reverse path, the transition path comprising a forward deflection segment and a reverse deflection segment, the angle between the forward deflection segment and the reverse deflection segment being θ, the forward deflection segment being connected to an end of the forward path, the forward deflection segment being connected to a starting end of the reverse deflection segment, and the reverse deflection segment being connected to a starting point of the reverse path;

[0018] Furthermore, the weed-grooming boat passes through the forward deflection section at the end of the forward path to reach the top of the transition path, adjusts its posture, moves backward, passes through the reverse deflection section to reach the starting end of the next reverse path.

[0019] In an optional embodiment, any forward path and any reverse path are parallel to each other;

[0020] The weed-grooming boat has a weed-grooming mechanism, the width of the weed-grooming mechanism is W, and the distance between two adjacent operation paths is W-10 cm.

[0021] In an optional embodiment, a posture adjustment point S is set between the unloading point O and the working area;

[0022] The weed grooming boat passes through the attitude adjustment point S and arrives at the unloading point O to unload the weeds.

[0023] In a second aspect, the present disclosure also provides a method for planning a weeding operation path, including:

[0024] Step S1: Divide the pond into at least one rectangular area with no internal obstacles, and set the initial boundary coordinates B, C', J', and K of the working area within any rectangular area based on the GPS / BD navigation system;

[0025] Step S2: setting a mooring point A and a weed unloading point O for the weed-grooming boat along the coast;

[0026] Step S3: The weed grooming boat operates along line BC'. When the load of the weed grooming boat reaches 1 / 4 of the set amount, if it exceeds 1 / 2 of the BC' straight line segment travel, the position of the weed grooming boat at this time is marked as C. Otherwise, until the load of the weed grooming boat reaches half of the set amount, the position of the weed grooming boat is marked as C. Through point C, a parallel line is constructed parallel to the direction of BK. The parallel line intersects line KJ' at point J, and the corrected boundary coordinates of the operation area are set as B, C, J, and K.

[0027] Step S4, setting a continuous zigzag straight line operation path inside the operation area to cover the operation area;

[0028] Step S5: The weed-grooming boat moves from the anchoring point A to the starting end of the operation path, and alternately operates forward and backward along the operation path until it reaches the end of the operation path, harvesting the aquatic plants in the operation area until the boat cabin is full, and then moves along the unloading path to the unloading point O to unload the weeds;

[0029] Step S6: the weed grooming boat arrives at the starting end of the next operation path along the return path;

[0030] Step S7: traverse all operation paths to complete the weeding work.

[0031] In an optional embodiment, there is a transition path between two adjacent operation paths;

[0032] The transition path includes a forward deflection section and a reverse deflection section, and the lengths of the forward deflection section and the reverse deflection section are substantially equal to the length of the hull;

[0033] In addition, the weed-grooming boat passes through the forward deflection section in sequence along the end of the operation path, adjusts its posture, moves backward, and then passes through the reverse deflection section to reach the starting end of the next operation path.

[0034] In a third aspect, an embodiment of the present disclosure further provides an automatic weed-grooming boat, which is used to execute the above-mentioned weeding operation path planning method, and the weed-grooming boat includes:

[0035] a hull having a bow and a stern at each end;

[0036] A weed grooming mechanism is installed at the bow of the ship, and comprises a conveyor belt and a plurality of spring hooks installed on the conveyor belt;

[0037] The grass-grooming depth adjustment mechanism comprises a bracket and an electric push rod. The middle part of the grass-grooming mechanism is rotatably connected to the bracket, and the tail part of the grass-grooming mechanism is connected to the movable end of the electric push rod.

[0038] In an optional embodiment, the automatic weed grooming boat further comprises: a paving mechanism mounted on the upper surface of the hull, the paving mechanism comprising a guide rail, a tractor and a plurality of carrier plates, the carrier plates being connected to the traction end of the tractor;

[0039] The tractor is suitable for driving the carrier plate to fold or unfold along the guide rail;

[0040] Paddle wheels are respectively installed on both sides of the stern of the hull.

[0041] In an optional embodiment, an underwater propeller is provided between the bow and the front end of the grass-grooming mechanism;

[0042] The hull is equipped with a GPS / BD navigation antenna;

[0043] The hull is also equipped with a control module, and the grass-grooming mechanism, electric push rod, paddle wheel motor, underwater propeller and GPS / BD navigation antenna are all electrically connected to the control module.

[0044] The beneficial effect of the present invention is that the present invention defines a rectangular working area in the pond through the GPS / BD navigation system, and plans parallel working paths in the working area according to the working width of the weeding boat, so that the weeding boat can weed by alternating forward and backward operations, which greatly reduces the turning angle and avoids the difficulty of turning around. Conventional weeding path planning methods have a large number of corners and U-turns, and there will be dead corners or missed cutting at the corners and U-turns of the weeding boat. Therefore, the path planning is relatively complicated, and a secondary path planning is required to remove the dead corners or missed cutting of the aquatic plants in the previous mowing process. However, since the present solution reduces the turning angles and U-turns, the weeding path is more regular, and there are no dead corners in the working area.

[0045] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A schematic diagram of a first planning method for an automatic weed grooming boat operation path provided by an embodiment of the present disclosure;

[0049] Figure 2 A schematic diagram of a second planning method for an automatic weed grooming boat operation path provided by an embodiment of the present disclosure;

[0050] Figure 3 A physical design drawing of a weed-grooming boat provided in an embodiment of the present disclosure;

[0051] Figure 4 A schematic structural diagram of a weed-grooming boat provided in an embodiment of the present disclosure;

[0052] Figure 5 A schematic diagram of the position of an underwater propeller provided in an embodiment of the present disclosure;

[0053] Figure 6 A flowchart of a method for planning a weeding operation path provided in an embodiment of the present disclosure.

[0054] In the picture:

[0055] 1. Hull; 11. Paddle wheel; 12. Underwater propeller; 13. GPS / BD navigation antenna;

[0056] 2. Grass-grooming mechanism; 3. Electric mower; 4. Control module. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0058] Research has found that due to the large size of weed-clearing boats, turning and U-turning are difficult, and they frequently need to travel back and forth between the work area and the unloading point during operation. Furthermore, due to the influence of obstacles in the pond, the complexity of their operation path planning is far greater than that of automatic bait-feeding boats. Therefore, it is urgent to design a weed-clearing operation path planning method to address the technical problems of weed-clearing boats' difficulty in turning and U-turning, the frequent travel back and forth between the work area and the unloading point, and the complexity of operation path planning.

[0059] The defects in the above solutions are the results obtained by the inventors after practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by this disclosure for the above problems below should be the contributions made by the inventors to this disclosure during the disclosure process.

[0060] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. The following embodiments and features thereof may be combined with one another unless they conflict. Furthermore, in the accompanying drawings, the thickness of components may be exaggerated or reduced to effectively illustrate the technical content.

[0061] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0062] Based on the above research, Figure 1 , an embodiment of the present disclosure provides a method for planning a weeding operation path, comprising: step S1, dividing a pond into at least one rectangular area without internal obstacles, and setting initial boundary coordinates B, C', J', and K of the operation area within any rectangular area based on a GPS / BD navigation system;

[0063] Step S2: setting a mooring point A and a weed unloading point O for the weed-grooming boat along the coast;

[0064] Step S3: The weed grooming boat operates along line BC'. When the load of the weed grooming boat reaches 1 / 4 of the set amount, if it exceeds 1 / 2 of the BC' straight line segment, the position of the weed grooming boat at this time is marked as C. Otherwise, the position of the weed grooming boat is marked as C until the load of the weed grooming boat reaches half of the set amount.

[0065] Step S4: Construct a parallel line through point C in the direction of BK. The parallel line intersects with line KJ' at point J, and the corrected boundary coordinates B, C, J, and K of the working area are set.

[0066] Step S5: setting a plurality of forward paths and reverse paths alternately arranged in sequence within the working area to cover the working area, setting a return path between the starting end of the forward path and the unloading point O, and setting an unloading path between the end of the reverse path and the unloading point O;

[0067] Step S6: the weed grooming boat moves from the berth A to the starting end of the nearest forward path;

[0068] Step S7: the grooming boat operates in a forward direction along the forward path until it reaches the end of the forward path, then moves to the starting end of the next reverse path, and operates in a reverse direction along the reverse path until it reaches the end of the reverse path;

[0069] Step S8: If the boat deck is almost full of aquatic plants, the boat will follow the unloading path to the unloading point O to unload the harvested aquatic plants, and then follow the return path to the starting point of the next forward path.

[0070] If the boat is not nearly full of waterweed at this point, the weed-clearing boat moves to the starting point of the next forward path;

[0071] Step S9: repeat steps S7 and S8 until all forward paths and reverse paths are traversed.

[0072] Reference Figure 1 In at least one embodiment, the rectangular regions divided in step S1 should be based on the specific shape and size of the pond, and should be divided to cover as much of the pond area as possible. Furthermore, when dividing the rectangular regions, obstacles within the regions should also be considered to determine whether they will affect the operation of the weed-grooming boat. For large obstacles that cannot be easily cleared, such as the aeration pipe in the center of the pond, the pond can be divided into multiple rectangular regions using the obstacle as a boundary, thereby planning a rectangular region with no obstacles within.

[0073] Reference Figure 1 In at least one embodiment, during the specific execution of step S1, the largest rectangular area within the pond can be defined using the GPS / BD navigation system. This area is then divided into multiple smaller rectangular areas based on the distribution of obstacles within the rectangular area. Initial boundary coordinates B, C', J', and K of the work area are then set for each smaller rectangular area. For example, a rectangular pond can be divided into two along the central aeration pipe. Each area can then be further divided along the center line to form four rectangular areas.

[0074] Reference Figure 1In at least one embodiment, since the density of aquatic plants in the pond cannot be directly determined, it is necessary to preliminarily select the initial boundary coordinates B, C', J', and K of the operation area. Based on this, the weed-grooming boat is operated, that is, the weed-grooming boat operates along the line BC' until the weed-grooming boat's load reaches half of the set amount. At this point, the weed-grooming boat should return to unload the weeds to avoid unnecessary problems caused by weed overload. Therefore, the weed-grooming boat reaches the farthest range it can travel within a weeding cycle. The position of the weed-grooming boat is marked as point C. Through point C, a parallel line is constructed parallel to the direction BK. The parallel line intersects the line KJ' at point J, thus obtaining the revised boundary coordinates B, C, J, and K of the operation area.

[0075] On the other hand, there is also the possibility that the initial boundary coordinates B, C', J', and K of the operating area are set too small, resulting in the position of the grooming boat exceeding the 1 / 2BC' straight line segment stroke when the loading capacity of the grooming boat reaches 1 / 4 of the set capacity. At this time, the position of the grooming boat can be marked as C, and then subsequent steps can be executed.

[0076] Through the above method, it is possible to cope with the situation of uncertain aquatic plant density in the pond by pre-setting a larger area, and then through actual operation, using the set amount of the weeding boat loading as the standard, measuring the distance the weeding boat can move forward in a single weeding, thereby correcting the pre-set range and obtaining an optimized final operating area.

[0077] It should be noted that, referring to Figure 1 In at least one embodiment, the operation path planning generally includes most of the space in the pond, while for areas outside the operation area, such as some small areas along the shore, manual harvesting can be used for weeding.

[0078] Reference Figure 1 In at least one embodiment, in step S2, the mooring point A and unloading point O for the grooming boat can be set at different locations on the shore near the operation area. When considering the location of mooring point A, the shoreline near the starting point of the operation path should be considered. When determining the location of unloading point O, the direction of the operation path and the shoreline near the end point of the operation path should be considered.

[0079] Reference Figure 1 In at least one embodiment, in step S3, each operation path is set in parallel, preferably, Figure 1 For example, the operation paths are parallel to the BC side and the JK side, and the two outermost operation paths coincide with the BC line and the JK line respectively. Figure 1In the figure, the weed-grooming boat is replaced by a pentagonal block located on the operation path. The acute angle represents the bow, which is simply marked. The weed-grooming boat is on the BC line and operates forward along the f1 direction. After reaching the end of the BC line, it runs to the DE line and operates backward along the f2 direction with the stern facing forward.

[0080] Reference Figure 1 In at least one embodiment, a grass grooming boat can move from one operating path to the next operating path without turning around, and a transition path is provided between the end and the starting end of two adjacent operating paths. The transition path includes a forward deflection section and a reverse deflection section, the angle between the forward deflection section and the reverse deflection section is θ, the forward deflection section is connected to the end of the adjacent operating path, and the reverse deflection section is connected to the starting end of the adjacent operating path. Figure 1 For example, the transition path between lines BC and DE is CC1D, with the forward deflection segment being CC1 and the reverse deflection segment being C1D. When changing the operating path, the groomer reaches the end of line BC and deflects rightward along CC1 by θ / 2 to the outside of the operating path. The groomer then deflects leftward by θ to align itself with line C1D, continuing back along C1D to the starting point of line DE. The groomer then deflects rightward by θ / 2 to align itself with line DE, maintaining a backward-facing position and moving backward along line DE to complete the weeding. Upon reaching point E, if the deck is nearly full of weeds, the groomer proceeds to unloading point O to unload. After unloading, the groomer returns to the starting point F of the next operating path and continues grooming. Otherwise, the groomer moves along the transition path to point F and continues grooming. This process repeats until all operating paths have been traversed and the end point K of line JK has been reached. Furthermore, by setting the angle θ based on the pond space, the length of each side of the transition path CC1D can be determined. A larger angle θ increases the angle the weed-grooming boat must turn to navigate the transition path, while reducing the total length of the transition path. Conversely, a smaller angle θ reduces the angle the weed-grooming boat must turn to navigate the transition path, while increasing the total length of the transition path. Through a limited number of experiments and statistical analysis, an optimal range of θ angles can be determined to ensure both the efficiency and stability of the weed-grooming boat.

[0081] Reference Figure 1 In at least one embodiment, in step S3, the width of the weed-grooming boat is set to W, and the spacing between two adjacent operation paths is W minus 10 cm. This means that the weed-grooming areas covered by two adjacent operation paths overlap, ensuring that all aquatic weeds within the planned operation area are removed. Furthermore, to ensure this, the weed-grooming boat should be equipped with high-precision positioning equipment, coupled with a GPS / BD navigation system, to maintain navigation accuracy within 10 cm.

[0082] Reference Figure 1In at least one embodiment, in step S5, when the weed grooming boat moves toward the unloading point O, it should also maintain a vertical posture with the shore where the unloading point O is located to ensure accurate docking. Therefore, a posture adjustment point S is set between the unloading point O and the nearest side of the working area, and the weed grooming boat reaches the unloading point O through the posture adjustment point S to unload the weeds. Figure 1 For example, if line SO is perpendicular to the shoreline, the groomer reaches point E and turns left to adjust its attitude to be parallel to line ES. After reaching attitude adjustment point S, the groomer turns right to adjust its attitude to be parallel to line SO and then moves backward to unloading point O to unload. In other words, the groomer's unloading path in this section is ESO, and its return path is OF.

[0083] It should be noted that, referring to Figure 1 In at least one embodiment, if there is aquatic plants in the space between the BK line and the O point, manual removal should be considered.

[0084] Reference Figure 1 and Figure 6 , the embodiment of the present disclosure also provides a weeding operation path planning method, comprising: step S1, dividing the pond into at least one rectangular area without internal obstacles, and setting the initial boundary coordinates B, C', J', and K of the operation area within any rectangular area based on the GPS / BD navigation system;

[0085] Step S2: setting a mooring point A and a weed unloading point O for the weed-grooming boat along the coast;

[0086] Step S3: The weed grooming boat operates along line BC'. When the load of the weed grooming boat reaches 1 / 4 of the set amount, if it exceeds 1 / 2 of the BC' straight line segment travel, the position of the weed grooming boat at this time is marked as C. Otherwise, until the load of the weed grooming boat reaches half of the set amount, the position of the weed grooming boat is marked as C. Through point C, a parallel line is constructed parallel to the direction of BK. The parallel line intersects line KJ' at point J, and the corrected boundary coordinates of the operation area are set as B, C, J, and K.

[0087] Step S4, setting a continuous zigzag straight line operation path inside the operation area to cover the operation area;

[0088] Step S5: The weed-grooming boat moves from the anchoring point A to the starting end of the operation path, and alternately operates forward and backward along the operation path until it reaches the end of the operation path, harvesting the aquatic plants in the operation area until the boat cabin is full, and then moves along the unloading path to the unloading point O to unload the weeds;

[0089] Step S6: the weed grooming boat arrives at the starting end of the next operation path along the return path;

[0090] Step S7: traverse all operation paths to complete the weeding work.

[0091] Reference Figure 2 In at least one embodiment, the grooming boat is replaced by a pentagonal block located on the operation path. The grooming boat is on the BC line and operates forward along the f1 direction. After running to the end of the BC line, it runs to the DE line and operates backward along the f2 direction while keeping the bow facing forward.

[0092] Reference Figure 2 In at least one embodiment, the weed-grooming boat can move from the working path to the next working path without turning around. There is a transition path between two adjacent working paths. The transition path includes a forward deflection section and a reverse deflection section. And, the weed-grooming boat passes through the forward deflection section in sequence along the end of the working path, adjusts its posture, moves backward, and then passes through the reverse deflection section to reach the starting end of the next working path. Figure 2 For example, the transition path between lines BC and DE is CC1D, with the forward deflection segment being CC1 and the reverse deflection segment being C1D. To change the work path, the groomer reaches the end of line BC and deflects rightward along CC1 by θ / 2 to the outside of the work path. The groomer then deflects leftward by θ to adjust its attitude to be parallel with line C1D, continues back along C1D to the starting point of line DE, and then deflects rightward by θ / 2 to adjust its attitude to be parallel with line DE. This allows the groomer to maintain its bow facing forward and proceed backward along line DE to complete the weeding along DE. Similarly, the transition path between line DE and line FG is EE1F, and the transition path between line FG and line HI is GG1H. This process is repeated until all work paths, forward deflection segments, and reverse deflection segments within the work area have been traversed, and the groomer then reaches unloading point O for unloading.

[0093] The present disclosure also provides an automatic grass-grooming boat, referring to Figure 3 and Figure 4The weeding boat is used to implement the weeding path planning method described above. The weeding boat comprises: a hull 1 having a bow and a stern at each end. A weeding mechanism 2 is mounted on the bow and comprises a conveyor belt and a plurality of spring hooks mounted on the conveyor belt. The spring hooks grab the weeds, tear them off, and transport them to the boat to perform the weeding function. An adjustment mechanism comprises a bracket and an electric push rod. The middle portion of the weeding mechanism is rotatably connected to the bracket, and the tail portion of the weeding mechanism is transmission-connected to the movable end of the electric push rod. The submersion depth of the front end of the weeding mechanism can be adjusted by adjusting the extension length of the two electric push rods. A spreading mechanism is mounted on the upper surface of the hull and comprises guide rails, a tractor, and a plurality of carrier plates. The carrier plates are connected to the traction end of the tractor. The tractor is adapted to drive the carrier plates to fold or unfold along the guide rails to fully utilize the weeding boat's carrying capacity. The weeds dropped from the conveyor belt onto the hull are evenly spread on the boat's deck by the spreading system mounted on the deck to fully utilize the boat's carrying capacity. Initially, the carriers are stacked. A height sensor detects when the grass falling from the conveyor belt reaches a certain height. The tractor activates and pulls the upper carrier a certain distance (approximately 30 cm) toward the stern, creating space for the grass. Once the upper carrier is fully stacked, the lower carrier collects the grass until the top layer reaches the stern, completely covering the boat's deck. The sensor can detect when the top layer is fully stacked, at the stern, or somewhere in between.

[0094] Reference Figure 4 Paddle wheels 11 are mounted on either side of the rear of the hull 1. The hull 1 has corresponding paddle motors to drive the two paddle wheels 11. A control module 4 is mounted on the hull 1, and the paddle motors are electrically connected to the control module 4. The control module 4 activates the paddle motors to drive the paddle wheels 11 in either forward or reverse direction, thereby moving the weed-grooming boat forward or backward. Furthermore, when the weed-grooming boat moves forward, the control module 4 activates the weed-grooming mechanism 2 to enable the weed-grooming boat to move forward. Conversely, when the weed-grooming boat moves backward, the control module 4 activates the weed-grooming mechanism 2 to enable the weed-grooming boat to move forward.

[0095] Reference Figure 5 In at least one embodiment, the hull 1 is equipped with two GPS / BD navigation antennas 13, one located at the bow and one at the stern of the hull 1. When planning the mowing boat's operating trajectory, the operating area primarily considers the area covered by the front end of the grooming mechanism 2. During mowing operations, the midpoint of the front end of the grooming mechanism 2 must be accurately positioned, while the positioning of the unloading point requires the precise positioning of the midpoint of the stern of the mowing boat. That is, when the mowing boat is operating forward, the midpoint Q of the bow coincides with the operating path; when the mowing boat is operating backward, the midpoint P of the stern coincides with the operating path.

[0096] There is a fixed conversion relationship between the midpoint Q of the mowing head and the midpoint P of the mowing boat stern, the antenna position of the GPS / BD navigation system, and the heading of the aquatic weed clearing boat.

[0097] The GPS / BD navigation system can obtain the two antenna positions K1(x1, y1) and K2(x2, y2). The midpoint position K(x0, y0) of the two antennas is located on the central axis of the hull, and the current heading angle is The GPS / BD antenna midpoint is at a distance H1 from the grooming head midpoint Q and H2 from the mowing boat stern midpoint P.

[0098] In step 3.2, since the midpoint of the installed GPS / BD antenna, the midpoint Q of the grooming head, and the midpoint P of the mowing boat stern are all located on the central axis, the midpoint Q of the grooming head can be obtained as q(x, y) according to the formula:

[0099]

[0100] Similarly, the midpoint P of the mowing boat's stern is p(x, y), and the calculation formula is:

[0101]

[0102] On the other hand, refer to Figure 5 Because the hull 1 is long, the corrective force generated by the two side paddle wheels 11 is relatively small when sailing forward. Ponds, such as aquaculture farms, are generally located in open areas with strong winds. In such cases, relying solely on the two paddle wheels 11 to drive the hull 1 is difficult to overcome the drift of the hull 1. Therefore, an underwater propeller 12 is provided between the bow and the front end of the weed grooming mechanism 2. The underwater propeller 12 and the GPS / BD navigation antenna 13 are both electrically connected to the control module 4. The GPS / BD navigation antenna 13 can accurately monitor the position of the hull 1 in real time and adjust the position of the hull 1 through the underwater propeller 12 if the hull 1 deviates, ensuring that the hull 1 always stays on the planned route.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. With the above-mentioned ideal embodiment of the present invention as inspiration, through the above-mentioned description, relevant staff can make various changes and modifications without departing from the scope of the technical idea of ​​the disclosed embodiment. The technical scope of the disclosed embodiment is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A method for planning a weeding operation path, characterized in that: include: Step S1: Divide the pond into at least one rectangular area with no internal obstacles, and set the initial boundary coordinates B, C', J', and K of the working area within any rectangular area based on the GPS / BD navigation system; Step S2: setting a mooring point A and a weed unloading point O for the weed-grooming boat along the coast; Step S3: The weed grooming boat operates along line BC'. When the load of the weed grooming boat reaches 1 / 4 of the set amount, if it exceeds 1 / 2 of the BC' straight line segment, the position of the weed grooming boat at this time is marked as C. Otherwise, the position of the weed grooming boat is marked as C until the load of the weed grooming boat reaches half of the set amount. Step S4: Construct a parallel line through point C in the direction of BK. The parallel line intersects with line KJ' at point J, and the corrected boundary coordinates B, C, J, and K of the working area are set. Step S5: setting a plurality of forward paths and reverse paths alternately arranged in sequence within the working area to cover the working area, setting a return path between the starting end of the forward path and the unloading point O, and setting an unloading path between the end of the reverse path and the unloading point O; Step S6: the weed grooming boat moves from the berth A to the starting end of the nearest forward path; Step S7: the grooming boat operates in a forward direction along the forward path until it reaches the end of the forward path, then moves to the starting end of the next reverse path, and operates in a reverse direction along the reverse path until it reaches the end of the reverse path; Step S8: If the boat deck is almost full of aquatic plants, the boat will follow the unloading path to the unloading point O to unload the harvested aquatic plants, and then follow the return path to the starting point of the next forward path. If the boat is not nearly full of waterweed at this point, the weed-clearing boat moves to the starting point of the next forward path; Step S9: repeat steps S7 and S8 until all forward paths and reverse paths are traversed.

2. The weeding operation path planning method according to claim 1, characterized in that: A transition path is provided between the forward path and the reverse path, the transition path comprising a forward deflection segment and a reverse deflection segment, the angle between the forward deflection segment and the reverse deflection segment being θ, the forward deflection segment being connected to an end of the forward path, the forward deflection segment being connected to a starting end of the reverse deflection segment, and the reverse deflection segment being connected to a starting point of the reverse path; Furthermore, the weed-grooming boat passes through the forward deflection section at the end of the forward path to reach the top of the transition path, adjusts its posture, moves backward, passes through the reverse deflection section to reach the starting end of the next reverse path.

3. The weeding operation path planning method according to claim 1, characterized in that: Any forward path and reverse path are parallel to each other; The weed-grooming boat has a weed-grooming mechanism, the width of the weed-grooming mechanism is W, and the distance between two adjacent operation paths is W-10 cm.

4. The weeding operation path planning method according to claim 1, characterized in that: A posture adjustment point S is set between the unloading point O and the working area; The weed grooming boat passes through the attitude adjustment point S and arrives at the unloading point O to unload the weeds.

5. A method for planning a weeding operation path, characterized in that: include: Step S1: Divide the pond into at least one rectangular area with no internal obstacles, and set the initial boundary coordinates B, C', J', and K of the working area within any rectangular area based on the GPS / BD navigation system; Step S2: setting a mooring point A and a weed unloading point O for the weed-grooming boat along the coast; Step S3: The weed grooming boat operates along line BC'. When the load of the weed grooming boat reaches 1 / 4 of the set amount, if it exceeds 1 / 2 of the BC' straight line segment travel, the position of the weed grooming boat at this time is marked as C. Otherwise, until the load of the weed grooming boat reaches half of the set amount, the position of the weed grooming boat is marked as C. Through point C, a parallel line is constructed parallel to the direction of BK. The parallel line intersects line KJ' at point J, and the corrected boundary coordinates of the operation area are set as B, C, J, and K. Step S4, setting a continuous zigzag straight line operation path inside the operation area to cover the operation area; Step S5: The weed-grooming boat moves from the anchoring point A to the starting end of the operation path, and alternately operates forward and backward along the operation path until it reaches the end of the operation path to harvest the aquatic plants in the operation area. After the boat is full, it moves along the unloading path to the unloading point O to unload the weeds. Step S6: the weed grooming boat arrives at the starting end of the next operation path along the return path; Step S7: traverse all operation paths to complete the weeding work.

6. The weeding operation path planning method according to claim 5, characterized in that: There is a transition path between two adjacent operation paths; The transition path includes a forward deflection section and a reverse deflection section, and the lengths of the forward deflection section and the reverse deflection section are substantially equal to the length of the hull; In addition, the weed-grooming boat passes through the forward deflection section in sequence along the end of the operation path, adjusts its posture, moves backward, and then passes through the reverse deflection section to reach the starting end of the next operation path.

7. An automatic weed-clearing boat, characterized in that: The automatic weed-grooming boat is used to execute the weed-grooming operation path planning method according to any one of claims 1 to 6, and the automatic weed-grooming boat includes: A hull (1) having a bow and a stern at each end; A weeding mechanism (2) is installed at the bow of the ship, and the weeding mechanism (2) includes a conveyor belt and a plurality of spring hooks installed on the conveyor belt; The weeding depth adjustment mechanism comprises a bracket and an electric push rod. The middle part of the weeding mechanism is rotatably connected to the bracket, and the tail part of the weeding mechanism is connected to the movable end of the electric push rod.

8. The automatic weed grooming boat according to claim 7, characterized in that: The automatic weed grooming boat further comprises: a spreading mechanism mounted on the upper surface of the boat body, the spreading mechanism comprising a guide rail, a tractor and a plurality of carrier plates, the carrier plates being connected to the traction end of the tractor; The tractor is suitable for driving the carrier plate to fold or unfold along the guide rail; Paddle wheels (11) are respectively installed on both sides of the tail of the hull (1).

9. The automatic weed grooming boat according to claim 8, characterized in that: An underwater propeller (12) is installed between the bow and the front end of the weed-grooming mechanism (2); The hull (1) is equipped with a GPS / BD navigation antenna (13); The hull (1) is also equipped with a control module (4), and the grass-grooming mechanism (2), the electric push rod, the paddle wheel motor, the underwater propeller (12) and the GPS / BD navigation antenna (13) are all electrically connected to the control module (4).

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