CN118295428A - Control system and control assembly for unmanned automatic feeding ship - Google Patents
Control system and control assembly for unmanned automatic feeding ship Download PDFInfo
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- 238000009395 breeding Methods 0.000 claims abstract description 26
- 230000001488 breeding effect Effects 0.000 claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims description 81
- 238000004891 communication Methods 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 18
- 238000007726 management method Methods 0.000 claims description 13
- 238000013500 data storage Methods 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000009331 sowing Methods 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000009360 aquaculture Methods 0.000 abstract description 7
- 244000144974 aquaculture Species 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D1/43—Control of position or course in two dimensions
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Abstract
The application relates to the field of automatic marine aquatic product feeding technology, in particular to a control system and a control assembly for an unmanned automatic feeding ship, which comprise positioning beacons, wherein the positioning beacons are arranged at the edge of a breeding area or inside the breeding area, the number of the positioning beacons is not less than three, and a plurality of the positioning beacons are provided with distance measuring devices for positioning the feeding ship in the breeding area; when the positioning navigation marks are arranged in the cultivation area, a plurality of navigation areas of the feeding ship are formed among the positioning navigation marks. The application has the effects of improving the feeding efficiency of aquaculture and reducing the feeding cost of aquaculture feed.
Description
Technical Field
The application relates to the field of automatic marine aquatic product feeding technology, in particular to a control system and a control assembly for an unmanned automatic feeding ship.
Background
Along with aquaculture's development, traditional breed form can not satisfy aquaculture and to scientific management and the demand of refining, and artifical material ship of throwing relies on the repeated operation of breed workman, and not only the staff burden is heavy, and the volume of throwing something and feeding the position and be difficult to control, cause the waste of fodder easily, and traditional material ship of throwing can not real-time supervision and record the key parameter of throwing something and feeding time.
Therefore, in recent years, the feeding ship tends to develop automatically, an automatic feeding device is provided, a feeding scheme is preset in the automatic feeding device, the feeding ship automatically sails and feeds the feed to a specified aquaculture area at fixed time and fixed quantity, but a simple mechanical or electrical control system is adopted, the function is single, accurate positioning, intelligent scheduling and remote control cannot be realized, and a large amount of manual intervention is still needed in the use process. In addition, the navigation positioning of the existing automatic feeding ship technical scheme and the precision of the feed feeding system are prioritized, the feed feeding precision is still insufficient, and the use cost of the feed is increased.
Aiming at the related technology, the advanced positioning navigation technology and the automatic control technology can be applied to unmanned, remote control and automatic feeding of the feeding ship, so that the feeding efficiency is improved, and the feeding cost of the feeding feed is reduced.
Disclosure of Invention
In order to improve the feeding efficiency of aquaculture and reduce the feeding cost of aquaculture feed, the application provides a control system and a control assembly for an unmanned automatic feeding ship.
In one aspect, the application provides a control assembly for an unmanned automatic feeding vessel, which adopts the following technical scheme:
a control assembly for an unmanned automatic feeding vessel, comprising:
The positioning navigation marks are arranged at the edge of the cultivation area or inside the cultivation area, the number of the positioning navigation marks is not less than three, and a plurality of the positioning navigation marks are provided with distance measuring devices for positioning feeding ships in the cultivation area;
when the positioning navigation marks are arranged in the cultivation area, a plurality of navigation areas of the feeding ship are formed among the positioning navigation marks.
By adopting the technical scheme, the positioning navigation mark is a positioning foundation for automatic navigation of the feeding boat, the feeding boat is positioned in the region by receiving and transmitting signals through the ranging device arranged on the positioning navigation mark and the corresponding signal receiving device on the feeding boat, and the positioning navigation mark is arranged in the region based on the functions of the positioning navigation mark;
Firstly, when the positioning navigation marks are arranged at the edge of a cultivation area, the number of the positioning navigation marks is not less than three, three positioning navigation marks are usually arranged, a round area formed by the three positioning navigation marks comprises the whole cultivation area, the distance between the feeding ship and the three positioning navigation marks is positioned in real time according to the principle of triangular positioning, and the position of the ship is judged through three groups of distance values; the method is suitable for the conditions of small culture area and fine feeding;
Secondly, when the positioning beacons are arranged in the breeding area of the feeding boat, the number of the positioning beacons is not less than three, and the positioning beacons are specifically determined according to the situation of the breeding area, the positioning beacons are arranged at the corners of the route of the feeding boat in the breeding area, so that the positioning beacons play a role in identification, change direction when the feeding boat runs to a certain distance close to the positioning beacons, and navigate towards the positioning beacons at the next corners; the method is suitable for the condition of large cultivation area.
On the other hand, based on the control assembly for the unmanned automatic feeding ship, the application provides a control system for the unmanned automatic feeding ship, which adopts the following technical scheme:
the control system for the unmanned automatic feeding ship comprises a navigation mark monitoring module, a navigation control module, an automatic feeding module and a central control module;
The navigation mark monitoring module is arranged on the positioning navigation mark, monitors environmental data in a breeding area in real time and performs real-time positioning communication with the feeding ship, uploads the monitored data to the central control module, and the central control module judges environmental information of the breeding area in real time according to the monitored and positioned data and positions the accurate azimuth of the feeding ship;
A feeding route in a breeding area is preset in the navigation control module, and a feeding ship is controlled to advance according to the preset route; the navigation control module receives the control instruction of the central control module and adjusts the advancing route, speed and direction in real time;
A feeding scheme is preset in the automatic feeding module, and the automatic feeding module is matched with the navigation control module, and after the feeding boat navigates to a preset position, the feeding boat quantitatively spreads the feed; the automatic feeding module receives the instant command of the central control module, and the feed is sowed or stopped to be sowed in real time.
By adopting the technical scheme, two setting modes of the positioning navigation mark are connected, so that the automatic navigation of the ship is realized, and a related technician needs to preset a change node in a navigation control module of the ship in advance, namely, a navigation node of the feeding ship;
Firstly, when the positioning navigation marks are arranged at the edge of a cultivation area, for example, three groups of positioning navigation marks are respectively replaced by a1, a2 and a3, starting points are taken as starting points of feeding vessels of the cultivation area, the starting points are generally a1 and a2 connecting line midpoints, a plane coordinate system which is convenient to set values is established by taking the starting points as the original points, the starting points can be (x 10, 0), (x 20, 0), (x 30 and y 30), the starting points are navigation nodes, then the next navigation node of the vessel is set to be (x 11, 0), (x 21, 0) and (x 31 and y 30), the feeding vessels are enabled to move to the navigation nodes in parallel along the connecting line midpoints of a1 and a2, after the feeding vessels are moved to the navigation nodes, an automatic feeding module starts to feed, and can also set a discharging speed, the automatic feeding module continuously discharges in the whole feeding process of the feeding vessels, and the navigation end points set according to the method need to coincide with the navigation starting points so as to ensure feeding in the whole cultivation area;
Secondly, when the positioning navigation mark is arranged in the breeding area, the marking effect is achieved, when the feeding boat sails between two navigation nodes, only one position change amount is usually provided, if the starting point of the feeding boat sails between two adjacent navigation nodes is (x 10, y 10), the x10 in the section of the navigation line is the change amount or the y10 is the change amount, namely the feeding boat advances according to a straight line, and the S-shaped direct navigation line formed by multiple sections covers the whole breeding area; therefore, when the related technicians set the plane coordinate system, the x and y axes of the preset S-shaped straight navigation line vertical coordinate system should be ensured; in the setting mode of the positioning navigation mark, the automatic feeding module should continuously discharge in the whole feeding process of the feeding ship so as to adapt to the coverage of the feed in a large-scale feeding area, therefore, related technicians should set the discharge speed, namely, the discharge area of the discharge gate is controlled;
in any setting mode, when a technician sets a feeding scheme, the feeding time length or the feeding node is ensured to be matched with a navigation node;
In addition, because the feeding ship cannot avoid the fluctuation of wind waves when sailing, the position data of each sailing node has a numerical fluctuation range, and the numerical information of the position of the feeding ship is in the fluctuation range under the condition of the fluctuation of sea waves or wind speed in normal weather.
Optionally, the navigation mark monitoring module comprises an area monitoring unit and an infrared ranging unit;
The area monitoring unit is arranged on the positioning navigation mark, monitors environmental data of wind speed, humidity and temperature in the cultivation area in real time, and sends the monitoring data to the central control module;
The infrared ranging unit comprises a plurality of infrared ranging sensors arranged on the positioning navigation marks and the feeding boat, different ends of the infrared ranging sensors are respectively arranged on the feeding boat and the positioning navigation marks, distance data of the feeding boat and each positioning navigation mark are measured through the infrared ranging sensors, each group of distance data are sent to the central control module in real time by the infrared ranging unit, and the central control module judges the position of the feeding boat according to the distance data of the feeding boat.
By adopting the technical scheme, the environmental data such as wind speed, humidity, temperature and the like monitored by the area monitoring unit influence the storage and throwing of the feed, a normal value range is set for the wind speed, the humidity, the temperature and the like in the central control module, and each group of data is in the normal value range and represents that the feed can be thrown normally; excessive moisture, the fresh cannot be effectively maintained in the long-time feeding process; extreme hot weather with too high temperature and extreme cold weather with too low temperature all influence the floating feeding of organisms;
The measurement of wind speed, humidity and temperature adopts the form of sensors, such as propeller type wind speed sensors, temperature sensors, humidity sensors and the like, and the sensors can be arranged on any positioning navigation marks;
Further, land management companies can set small weather monitoring platforms in the breeding areas to predict weather in the airlines so as to arrange each feeding under normal weather and avoid extreme weather;
In addition, the infrared ranging unit also adopts the form of a sensor, the positioning navigation mark is the transmitting end of the infrared ranging sensor, the feeding boat is provided with the receiving end of the infrared ranging sensor, and the receiving view field of the infrared ranging sensor arranged on the feeding boat is in a 360-degree ring shape to receive the transmitting signal of the infrared ranging sensor at any angle in a plane in real time, so that the real-time positioning of the feeding boat in the navigation process is ensured.
Optionally, further comprising;
The MESH wireless unit is arranged on the feeding boat and the positioning navigation marks and is used for transmitting real-time signals and instructions of the area monitoring unit, the infrared ranging units and the feeding boat.
Through adopting above-mentioned technical scheme, considering the material, the thickness of the jettisoning ship hull probably lead to signal shielding, to the signal that the location navigation mark that the distance is farther sent, the control module of the central control unit who sets up in the hull can't effectively receive the signal, and the signal is weaker, data receiving and dispatching delay is higher promptly, consequently, all set up MESH wireless unit 11 in jettisoning ship's cabin outside, cabin and on every location navigation mark for infrared distance measuring sensor, regional monitoring unit's real-time data receive and dispatch, jettisoning ship cabin outside, the close-range signal receiving and dispatching in cabin can overcome signal shielding problem.
Optionally, further comprising;
the monitoring camera unit comprises monitoring cameras arranged at two sides of the feeding boat, and is connected with the central control module and used for receiving instructions of the central control module to monitor a target area;
the intelligent identification unit is used for calling the monitoring picture of the monitoring camera unit in real time, intelligently identifying objects and organisms in the monitoring picture and sending the identification result to the central control module.
Through adopting above-mentioned technical scheme, the surveillance camera head in the surveillance camera unit sets up in throwing the feeding boat hull both sides, can 360 take the peripheral live of hull, and intelligent identification unit can carry out real-time identification to the picture that surveillance camera head took, gathers the image information in the breed area in real time, discerns object, biology etc. in the picture, and in the recognition result was uploaded central control module, the corresponding instruction of generation by central control module.
Optionally, further comprising;
The data storage module is connected with the central control module, the intelligent monitoring module is used for storing historical instructions of the central control module and monitoring pictures of the intelligent monitoring module;
and the wireless communication module provides a plurality of network communication channels for receiving and transmitting data, information and instructions between the feeding ship and the shore-based and land management companies.
By adopting the technical scheme, after the picture information acquired by the monitoring camera unit and the identification result of the intelligent identification unit are uploaded to the central control module, the central control module generates a corresponding instruction according to the identification result, and then the picture information is uploaded to the data storage module, and the data storage module performs storage backup for calling by a control personnel;
In addition, a wireless communication module is arranged in the feeding ship and can communicate with a control terminal in a shore-based feeding ship management company in real time, and management personnel of the feeding ship can call internal information and environment monitoring information of the feeding ship on land in real time, such as monitoring pictures around the feeding ship, which are shot by a monitoring camera, such as information of the fed amount, the to-be-fed amount and the feeding speed of an automatic feeding module, such as the accurate position of the feeding ship body, which is detected by an infrared ranging sensor; the information is sent to a man-machine interaction module in the shore-based and the feeding ship management company by the data storage module or the central control module and is displayed to the feeding ship management company or a manager on the shore-based, and the manager inputs an instruction through the man-machine interaction module to control the operation of the feeding ship in real time.
Optionally, the intelligent recognition unit is connected with the infrared ranging unit, and an intelligent deviation rectifying unit is arranged between the intelligent recognition unit and the infrared ranging unit;
The intelligent recognition unit recognizes the positioning navigation mark in the monitoring picture, detects the position of the infrared ranging sensor on the positioning navigation mark and judges whether one end of the infrared ranging sensor on the positioning navigation mark is aligned with one end of the infrared ranging sensor on the feeding ship, if not, the intelligent recognition unit sends deviation correcting signals and deviation angles at two ends of the infrared ranging sensor to the intelligent deviation correcting unit, and after receiving the deviation correcting signals, the intelligent deviation correcting unit invokes the angle of the intelligent recognition unit for monitoring the deviation at two ends of the infrared ranging sensor to send corresponding deviation correcting instructions to the infrared ranging unit.
By adopting the technical scheme, when the feeding ship is feeding, the ship body shakes due to the bumping of sea waves, and when the ship body shakes to a larger extent, the receiving end of the infrared ranging sensor on the feeding ship cannot receive the infrared ranging light emitted by the emitting end, so that an intelligent deviation rectifying unit is required to be arranged to perform angle compensation on the receiving end of the infrared ranging sensor on the ship body, and the real-time receiving of signals is ensured;
The intelligent deviation rectifying unit can be a gyroscope, the gyroscope is arranged at the receiving end of the infrared ranging sensor of the feeding ship, the visual field of the receiving end of the infrared ranging sensor is controlled to rotate, the intelligent deviation rectifying unit is matched with the intelligent recognition unit, a mark is arranged on the positioning navigation mark in practical application, when the ship body bumps, the positioning navigation mark is aligned to the positioning navigation mark through the monitoring camera unit to shoot, the intelligent recognition unit recognizes the mark, the deviation angle is calculated, a deviation rectifying signal is sent to the intelligent deviation rectifying unit, the intelligent deviation rectifying unit controls the gyroscope to enable the receiving end visual field of the infrared ranging sensor to rotate by a corresponding angle according to the deviation rectifying signal, and the receiving end of the infrared ranging sensor is controlled to be at the transmitting end of Ji Gong.
Optionally, the device also comprises an acoustic prompt unit and an optical alarm unit;
The sound prompting unit is connected with the central control module and receives the instruction of the central control module, the central control module invokes the recognition result of the intelligent recognition unit, and if other ships exist in the picture, the sound prompting unit prompts the ship to be far away from the preset route of the feeding ship; the central control module receives the environmental data information of the area monitoring unit, judges the environment in the cultivation area, and sends out a prompt by the sound prompt unit if the current environment is not suitable for feeding;
the light alarm unit is matched with the sound prompt unit to give an alarm.
By adopting the technical scheme, the sound prompting unit and the light alarming unit are mainly used for sending out sound and light alarms to other ships when other ships appear on the feeder ship route, so as to prompt the other ships to be far away from the breeding area;
After the intelligent recognition unit recognizes other ships in the monitoring camera unit, the intelligent recognition unit sends recognition information to the central control module, the central control module calculates and analyzes whether the navigation route of the other ships coincides with the navigation route of the feeding ship, the navigation of the feeding ship is blocked, and if the navigation of the feeding ship is blocked, the sound prompting unit sends a prompt;
The light alarm unit is mainly used for feeding at night, and for ships which obstruct the navigation to the feeding ship, the light alarm unit can draw attention of other ship drivers and prompt the position of the feeding ship.
Compared with the prior art, the application has the beneficial effects that:
1. and the MESH technology is adopted to carry out wireless ad hoc network, so that the cable installation, wiring and ship weight are reduced. Since unmanned ship inspection may face various complex environmental and weather conditions, traditional wired communications may be limited, and if cabling is used, the risk of failure of the system is increased, while wireless ad hoc networks may provide greater reliability and security.
2. The ship is made of steel plates, the shielding performance is high, and the wireless ad hoc network technology adopts a unique signal transceiver to overcome the problem of the shielding performance of the ship. The unmanned system adopts a unique algorithm, can perform self-adaptive unmanned remote control, automatically identify and avoid obstacles, and utilizes the ranging device on the positioning buoy to measure and calculate the position of the ship in real time, so that the ship can navigate according to a preset navigation path, the unmanned ship is ensured not to deviate, the unmanned ship is realized, the safety and the reliability of equipment are improved, and the personnel operation is reduced.
3. Automatic throw the material, equipment automation level is high, need not manual intervention, and possesses powerful throwing ability, has effectively reduced the cost of labor of breeding.
Drawings
FIG. 1 is a system logic block diagram of an embodiment of the present application.
FIG. 2 is a schematic view of the structure of the present application for highlighting the course of a feeder vessel.
FIG. 3 is a schematic view of another route for highlighting a feeder vessel in an embodiment of the present application.
Reference numerals illustrate: 1. positioning a navigation mark; 11. a MESH wireless unit; 2. a central control module; 21. a data storage module; 3. an automatic feeding module; 31. a feeding execution unit; 32. a feeding data unit; 4. a navigation control module; 5. a navigation mark monitoring module; 51. a region monitoring unit; 52. an infrared ranging unit; 6. an intelligent monitoring module; 61. an intelligent recognition unit; 62. a monitoring camera unit; 7. an alarm prompting module; 71. an acoustic prompting unit; 72. an optical alarm unit; 8. a wireless communication module; 9. and an intelligent deviation rectifying unit.
Detailed Description
The application is described in further detail below with reference to fig. 1-3.
The embodiment of the application discloses a control assembly for an unmanned automatic feeding ship. Referring to fig. 1 and 2, a control assembly for an unmanned automatic feeding ship comprises a plurality of positioning beacons 1 arranged in a cultivation area, wherein a distance measuring device for positioning a ship is arranged on each positioning beacon 1, so that the positioning beacons 1 play a role in marking and piloting in ship navigation, and the positions of the ship in the cultivation area can be measured according to the distance between the ship and each positioning beacon 1.
In this embodiment, the positioning navigation mark 1 has two setting modes, one of which is that the positioning navigation mark 1 is arranged at the edge of the cultivation area; secondly, the positioning navigation mark 1 is arranged inside and at the edge of the cultivation area.
Referring to fig. 1, when the positioning beacons 1 are disposed at the edges of the cultivation area, the number of the positioning beacons 1 is not less than three, the positioning beacons 1 are uniformly distributed on the same circumference, the positioning beacons 1 are distributed at the vertices of the regular polygon to form a circular area, in actual situations, the cultivation area is in an irregular shape, and the area of the circular area formed by the positioning beacons 1 is not less than the area of the cultivation area. In this embodiment three positioning beacons 1 are illustrated.
Referring to fig. 1, in three positioning beacons 1, a midpoint of a connecting line between two positioning beacons 1 is a navigation starting point of a feeding boat, a plane coordinate system is set by taking the navigation starting point as an origin, and for convenience of numerical value setting, a side line where the starting point is located is generally taken as an axis. After the plane coordinate system is set, a manager of the feeding boat sets navigation nodes, namely coordinate values in the plane coordinate system, and a plurality of navigation nodes are sequentially connected to form a route of the feeding boat in the breeding area, so that automatic navigation is realized. The method is suitable for the condition of small area of the culture area and fine feeding.
Similarly, when more than three positioning navigation marks 1 exist, the middle point of the connecting line between two adjacent positioning navigation marks 1 is still used as the navigation starting point of the feeding ship.
Referring to fig. 2, when the positioning beacons 1 are disposed at the edges of and inside the cultivation area, the positioning beacons 1 are orderly arranged in a plurality of columns or rows, and the plurality of columns or rows of positioning beacons 1 are disposed in parallel to form the course of the feeding boat. In this way, the positioning buoy 1 should be provided with at least one at each corner point of the feeder vessel's course, i.e. the heading should be changed when the feeder vessel is driven to the positioning buoy 1.
In practical application, in order to facilitate numerical value setting, it is recommended that a midpoint of a connecting line between two positioning beacons 1 at the same ends of two adjacent columns at the extreme edge of one side of a cultivation area is used as a route starting point, a direction parallel to multiple rows or multiple columns of positioning beacons 1 is used as an x-axis and a y-axis to establish a plane rectangular coordinate system, and a feeding ship starts from the route starting point, goes to the positioning beacons 1 at the extreme end of one column, goes into the opposite navigation of the other two adjacent columns, forms a linear S-shaped track, and completes navigation in the whole cultivation area. This approach accommodates larger feeding areas.
On the other hand, aiming at the control component of the unmanned automatic feeding vessel, the embodiment of the application also discloses a control system for the unmanned automatic feeding vessel. Referring to fig. 3, a control system for an unmanned automatic feeding vessel comprises a central control module 2, an automatic feeding module 3, a navigation control module 4, a navigation mark monitoring module 5, an intelligent monitoring module 6, an alarm prompting module 7, a data storage module 21 and a wireless communication module 8.
Referring to fig. 3, the central control module 2 is composed of a Digital Signal Processor (DSP) and a Central Processing Unit (CPU), the digital signal processor is integrated on the central processing unit to assist the central processing unit in processing signals, and the central processing unit makes instructions according to the processed signals.
Referring to fig. 1 and 3, the navigation control module 4 is used for route presetting of a manager, and sets a coordinate value of each navigation node according to the plane coordinate system in the two positioning navigation mark 1 setting modes, so that the feeding ship runs according to the coordinate values; a1, a2 and a3 are used for respectively replacing three positioning navigation marks 1 to illustrate a first positioning navigation mark 1 setting mode, a midpoint between the a1 and the a2 is used as a navigation starting point, a plane coordinate system which takes the navigation starting point as an original point, a connecting line between the a1 and the a2 is used as an x axis, a connecting line between the original point and the a3 is used as a y axis is established, related personnel set the coordinate value of the navigation starting point as (x 0, 0), the coordinate value of a first navigation node is set as (x 1, y 1), a second navigation node is used as a positioning navigation mark 1a1, then the feeding ship runs from the navigation starting point to the (x 1, y 1) at first during navigation, and after the feeding ship runs to the point, the feeding ship continues to run towards the a 1; therefore, the ship manager sequentially sets each navigation node (x 2, y 2), (x 3, y 3), (x 4, y 4), (x 5, y 5) … … and so on to the complete slice cultivation area of the feeding ship.
It should be noted that, in practical application, in order to avoid omission of the feeding area, the navigation nodes in the positioning navigation mark 1 should be distributed more densely, and in order to make the route of the feeding ship cover the whole cultivation area, the navigation end point should coincide with the navigation start point, that is, the navigation end point is the origin point (x 0, 0).
Referring to fig. 2 and 3, a second positioning navigation mark 1 setting mode is illustrated by taking a1 and a2 … … as each row of positioning navigation marks 1, in this mode, the positioning navigation marks 1 in each row are a10 and a11 … … respectively, and so on, taking the midpoint of the connecting line of the positioning navigation marks 1 at the same ends of a1 and a2 as a navigation starting point, taking the navigation starting point as an origin, taking the parallel direction of a1 and a2 as an x axis, and taking the vertical direction of a1 and a2 as a y axis, and establishing a plane coordinate system. After the feeding boat sails from the sailing starting point, sailing along the parallel direction of the a1 row and the a2 row, and the feeding boat can calibrate the direction through the positioning device on the feeding boat through the a11 and the a22 in the sailing process due to the large area of the cultivation area, so that the feeding boat is prevented from deviating from a preset route; after the feeding boat sails to the position of the a23 positioning navigation mark 1, the feeding boat continues to travel to the position between a2 and a3 after exceeding a23 and travels in the direction opposite to the heading direction between a1 row and a2 row, so that the route of the feeding boat covers the whole feeding area through S-shaped forward and reverse travel.
In the running process, a manager can set coordinate values of a plurality of groups of navigation nodes between every two adjacent positioning navigation marks 1, and the offset in the running process of the feeding ship can be effectively reduced by increasing the number of the navigation nodes distributed on a straight line of the feeding ship.
Referring to fig. 3, the navigation node coordinate values set by the manager are stored in the navigation control module 4, and the navigation control module 4 reads the coordinate value information set by the manager and controls the feeding boat to navigate according to the predetermined route.
Referring to fig. 3, the automatic feeding module 3 is used for controlling automatic feeding of the feeding ship, and cooperates with the navigation control module 4, when the feeding ship runs to a target area, feeding is performed, and the automatic feeding module comprises a feeding execution unit 31 and a feeding data unit 32, and the feeding data unit 32 and the feeding execution unit 31 are integrally designed and are in data communication. The feeding data unit 32 is written with a feeding program set by a manager, stores data generated in the feeding process, and the feeding execution unit 31 controls the gate size of a feeding bin of the feeding ship to control the feeding speed, and the feeding execution unit 31 operates according to the feeding program.
There are two feeding modes, namely fixed-point feeding and quantitative feeding. The fixed-point feeding is that the feeding boat runs to each navigation node in the breeding area, specifically, a ship manager defines a round range of not more than ten meters near each navigation node, and as a feeding area, when the navigation control module 4 controls the feeding boat to run into the feeding area of each navigation node, the navigation control module 4 sends a signal to the central control module 2, and the central control unit sends a feeding instruction to the feeding execution unit 31 according to the signal to control feeding of the feeding boat; the quantitative feeding means that the total feeding amount is fixed each time, the feeding speed is controlled, so that under the mode that the feeding boat continuously feeds in the cultivation area, and the quantitative feeding mode, the navigation control module 4 is matched with the feeding execution unit 31, when the feeding boat starts from the navigation starting point, the central control unit sends a control instruction to the feeding execution unit 31, the gate is opened, meanwhile, the program in the feeding data unit 32 controls the opening size of the gate, the opening time of the gate, the fed amount, the amount to be fed and the feeding speed are recorded, and after the feeding boat runs into the whole cultivation area, the feeding execution unit 31 controls the feeding boat to stop feeding.
The first positioning navigation mark 1 is configured in a fixed-point feeding and quantitative feeding manner, the second positioning navigation mark 1 is configured in a fixed-point feeding manner, and in the second positioning navigation mark 1, it should be additionally noted that, because the passing region of the feeding vessel may be located outside the breeding region, when the feeding vessel travels into the non-breeding region, for example, when the feeding vessel travels through a23 and turns toward a33, the feeding vessel is located in the non-breeding region, and the feeding vessel should stop feeding.
Referring to fig. 3, the beacon monitoring module 5 is configured to monitor weather information in a cultivation area, such as wind speed, humidity, temperature, etc., and environmental data that can affect the storage and delivery of fodder, and the beacon monitoring module 5 is disposed on the positioning beacons 1, and includes an area detection unit disposed on one positioning beacon 1 or a plurality of positioning beacons 1 and an infrared ranging unit 52 disposed on all positioning beacons 1.
The area monitoring unit 51 comprises a wind speed sensor for monitoring wind speed, a humidity sensor for monitoring humidity and a temperature sensor for monitoring temperature, wherein the sensors can be distributed on one positioning navigation mark 1 or a plurality of positioning navigation marks 1. The area monitoring unit 51 sends the data detected by the sensors to the digital signal processor of the central control module 2, and a group of normal data ranges are set in the central control module 2 corresponding to the wind speed, the humidity and the temperature, and the feeding process can be started only when the wind speed, the humidity and the temperature are in the normal data ranges. When the wind speed is too high, the feeding boat swings in the sailing process, so that the operation of equipment is affected, and the feeding cannot be effectively and continuously performed; when the humidity is too high, the feed cannot be kept fresh in a long-time feeding period; when the cultivation living things are in extremely cold or extremely cold weather, the cultivation living things can not float upwards to eat.
The infrared ranging unit 52 is used for measuring the distance in the automatic sailing process of the feeding boat, and comprises infrared ranging sensors, an infrared transmitting end of each infrared ranging sensor is arranged on each positioning navigation mark 1, a view field receiving end of each infrared ranging sensor is arranged on the feeding boat, the view field receiving ends of the feeding boat are in a 360-ring-shaped arrangement, multiple groups of infrared signals in the horizontal plane can be simultaneously received, the distance between the feeding boat and the multiple groups of positioning navigation marks 1 is measured, the infrared ranging unit 52 transmits the distance measurement value to the central control unit, and the central control unit calculates the position of the feeding boat in the cultivation area according to the multiple groups of example data. For example, in the first positioning navigation mark 1 setting mode, the feeding ship keeps infrared ranging with three positioning navigation marks 1 in real time, and according to a three-point positioning principle, real-time position data of the ship can be calculated according to three groups of distance data; in the second positioning navigation mark 1 setting mode, because the route direction of the feeding boat is single, the feeding boat can keep real-time distance measurement with the two nearest positioning navigation marks 1 in real time, specifically, for example, when the feeding boat sails between a10 and a21, the feeding boat only keeps the distance measurement between a10 and a 21.
And carrying out real-time positioning on the feeding boat according to the infrared ranging principle.
Referring to fig. 3, in this embodiment, the communication between the data measured by the area monitoring unit 51 and the infrared ranging unit 52 on the positioning navigation mark 1 and the feeding ship is realized by means of the MESH wireless unit 11, therefore, the MESH wireless communication module 8 is set on each positioning navigation mark 1, the MESH wireless network is set up in the breeding area, and the MESH communication modules are correspondingly set up outside and inside the feeding ship, so that the wireless communication module 8 outside the feeding ship cabin is used for real-time communication between the feeding ship and the positioning navigation mark 1, and the wireless communication module 8 inside the feeding ship cabin is used for real-time communication with the wireless communication module 8 outside the feeding ship cabin, so that the signal shielding problem caused by the feeding ship hull material and the hull thickness is overcome by a short-distance wireless transmission mode.
Referring to fig. 3, after each set of monitoring information of the area monitoring unit 51 and the positioning information of the feeder boat of the infrared ranging unit 52 are sent to the central control module 2 through the MESH wireless unit 11, the information is stored and backed up by the data storage unit, so that the information is convenient for a subsequent manager to read.
Referring to fig. 3, the intelligent monitoring module 6 includes a monitoring camera unit 62 and an intelligent recognition unit 61, the monitoring camera unit 62 includes a plurality of monitoring cameras disposed at two sides of the hull of the feeding boat, the plurality of monitoring cameras perform monitoring image photographing at two sides of the periphery of the hull, and the intelligent recognition unit 61 recognizes objects and living things in the monitoring image, and can recognize farmed living things, fishing vessels, people and the like. The intelligent monitoring module 6 sends the identification result to the central control module 2, and the data storage module 21 stores the monitoring picture and the identification result.
Referring to fig. 3, an intelligent monitoring module 6 on a feeding vessel is connected with a navigation mark detection module, specifically, an intelligent recognition unit 61 is directly connected with a visual field receiving end of an infrared ranging sensor arranged on the feeding vessel, an intelligent deviation rectifying unit 9 is arranged between the intelligent recognition unit 61 and the infrared ranging unit 52, and the intelligent deviation rectifying unit 9 comprises a small-sized processor and is integrally arranged in the intelligent recognition unit 61; the ship body of the feeding ship is provided with a gyroscope aiming at the receiving end of the infrared ranging sensor, a control line of the gyroscope is connected with an intelligent deviation rectifying unit 9, the intelligent deviation rectifying unit is arranged at the bottom end of the infrared ranging sensor and is controlled by the intelligent deviation rectifying unit 9, and the gyroscope operates and rotates to change the inclination angle of the receiving end of the infrared ranging sensor.
When the feeding ship sails, the monitoring camera in the monitoring camera unit 62 recognizes the position of the infrared transmitting end of each positioning navigation mark 1 in the monitoring picture, the horizontal angle deviation of the infrared transmitting end on each positioning navigation mark 1 in the picture is analyzed and calculated in real time through the position of the positioning navigation mark 1 in the capturing picture, when the feeding ship body tilts in the vertical plane due to wind and waves, the field receiving end of the infrared ranging sensor can not receive infrared ranging light rays from the positioning navigation mark 1, the central control module 2 sends a control command to the intelligent recognition unit 61 and the intelligent deviation rectifying unit 9, the intelligent deviation rectifying unit 9 enters a waiting state, the intelligent recognition unit 61 sends a deviation rectifying signal obtained by angle calculation to the intelligent deviation rectifying unit 9 according to the control command, the intelligent deviation rectifying unit 9 controls the operation of the gyroscope according to the deviation rectifying signal, and the gyroscope drives the field receiving end of the infrared ranging sensor to reversely rotate the deflection angle of the feeding ship body;
It should be noted that the rotation compensation function of the gyroscope is performed in real time but not continuously, and after the gyroscope is compensated for single rotation, the angle is maintained at the receiving end of the field of view of the infrared ranging sensor in a short time, and after the next time the hull is again unable to receive the infrared ranging signal, the gyroscope is again adjusted according to the identification signal of the intelligent identification unit 61; the single discrete adjustment reduces the operational cost of the feeder vessel by reducing the operational frequency of the gyroscope on the feeder vessel.
Referring to fig. 3, the alarm prompting module 7 plays a role in alarming and prompting other vessels in the breeding area on the unmanned feeding vessel, when the other vessels voyage to the breeding area to obstruct voyage of the feeding vessel and enter into a shooting picture of a monitoring camera on the feeding vessel, the intelligent recognition unit 61 recognizes the vessels, the recognition result, the ship course analysis result and the two-vessel distance measurement result are sent to the central control module 2, the central control module 2 analyzes the ship course and the distance measurement result of the intelligent recognition unit 61 to judge whether the voyages of the other vessels coincide, and the central control module 2 judges whether the voyage of the feeding vessel is influenced by the real-time voyage condition of the feeding vessel, if so, the central control module 2 sends an alarm instruction to the alarm prompting module 7. The specific principle can be as follows:
1. After capturing a ship with a relatively close distance, the intelligent recognition unit 61 recognizes the model on the ship body, sends a recognition result to a console of a shore-based or land ship management company, and a network manager at the console manually acquires a preset route of the ship from a maritime network of a feeding area according to the recognition result, or can automatically surf the internet to acquire the route by adopting a mode that the console receives the recognition result, and displays the route to the network manager at the console; after the network manager knows the preset route of the ship, judging whether the preset route coincides with the navigation route of the feeding ship, and if so, sending an avoidance alarm to the ship through the feeding ship;
2. The intelligent recognition unit 61 recognizes the navigation direction, navigation speed and distance between the intelligent recognition unit 61 and the ship body of the feeding ship after capturing the ship which is close to the picture, and the intelligent recognition unit 61 recognizes the position information of the ship according to the self course of the feeding ship and the position of the ship in the picture, the recognition result is sent to the central control module 2 in real time, the central control module 2 calculates the positioning coordinates of the ship according to the position information of the ship and the distance difference between the ship and the feeding ship, after obtaining the positioning coordinates of the ship, the central control module 2 predicts whether the coordinate change of the ship is about to fall in a cultivation area or not according to the real-time information uploaded by the intelligent recognition unit 61, and if the ship falls in the cultivation area, the central control module 2 sends an avoidance alarm to the ship through the feeding ship;
the second method is suggested in the embodiment, so that manual operation can be further separated, automation is improved, and the risk of damage to the feeding ship caused by unmanned operation at the control console is avoided.
Referring to fig. 3, the alarm prompting module 7 includes an acoustic prompting unit 71 and an optical alarming unit 72, the acoustic prompting unit 71 sends out an acoustic alarm after receiving an alarm instruction of the central control module 2, when sea fog or night vision is poor, the optical alarming unit 72 sends out strong light, so that drivers on other ships observe the position of the feeding ship and correctly keep away from the cultivation area.
Referring to fig. 3, considering the variability of the offshore environment, the feeding vessel needs to keep in contact with the shore-based and land-based management companies, and a wireless communication module 8 is disposed on the hull of the feeding vessel to provide a network communication channel between the feeding vessel and the land-based management companies, and the wireless communication module 8 in this embodiment includes a 4/5G mobile communication network provided by a global system for mobile communications (GSM) and further includes an Automatic Identification System (AIS) for vessels. The AIS system provides real-time data transmission between the feeding boat and a shore base; a man-machine interaction module is integrated in a console and a display screen in the shore-based or feeder management company, and a manager remotely controls the feeder through a wireless communication module 8.
Referring to fig. 3, the data storage module 21 is disposed inside the ship, and is capable of storing not only the monitoring image, but also the regional environment information measured by the navigation mark detection module and the distance information of the feeding ship, and when the feeding period is finished, the relevant technician can key in an instruction through the man-machine interaction module at any time, call the monitoring information in the data storage module 21, and change the route and feeding condition of the feeding ship.
The implementation principle of the control system for the unmanned automatic feeding ship provided by the embodiment of the application is as follows: in the embodiment, the unmanned feeding boat mainly runs automatically according to a program, adopts the MESH wireless communication technology and a 4/5G network communication channel to carry out information transmission and communication between equipment and equipment in a breeding area and between the feeding boat and a shore, and carries out automatic feeding of the boat by taking remote control of management personnel as an auxiliary means.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (8)
1. A control assembly for an unmanned automatic feeding vessel, comprising:
The positioning navigation marks (1) are arranged at the edge of the cultivation area or inside the cultivation area, the number of the positioning navigation marks (1) is not less than three, and a distance measuring device is arranged on each of the positioning navigation marks (1) and used for positioning a feeding ship in the cultivation area;
when the positioning navigation marks (1) are arranged in the cultivation area, a plurality of positioning navigation marks (1) form a navigation area of the feeding ship.
2. A control system for an unmanned automatic feeder vessel, using the method of claim 1, comprising, a navigational control module (4), an automatic feeder module (3), a central control module (2);
the navigation mark monitoring module (5) is arranged on the positioning navigation mark (1), the navigation mark monitoring module (5) monitors environmental data in a breeding area in real time and performs real-time positioning communication with the feeding ship, the navigation mark monitoring module (5) uploads the monitoring data to the central control module (2), and the central control module (2) judges environmental information of the breeding area in real time according to the monitoring and positioning data and positions the accurate azimuth of the feeding ship;
A feeding route in a breeding area is preset in the navigation control module (4), and a feeding ship is controlled to advance according to the preset route; the navigation control module (4) receives the control instruction of the central control module (2) and adjusts the advancing route, speed and direction in real time;
a feeding scheme is preset in the automatic feeding module (3), the automatic feeding module (3) is matched with the navigation control module (4), and after a feeding boat navigates to a preset position, feed is quantitatively sowed; the automatic feeding module (3) receives the instant instruction of the central control module (2) and can be used for sowing or stopping sowing the feed in real time.
3. A control system for an unmanned automatic feeding vessel according to claim 2, wherein: the navigation mark monitoring module (5) comprises an area monitoring unit (51) and an infrared ranging unit (52);
The area monitoring unit (51) is arranged on the positioning navigation mark (1) and is used for monitoring the environmental data of wind speed, humidity and temperature in the cultivation area in real time and sending the monitoring data to the central control module (2);
The infrared ranging unit (52) comprises a plurality of infrared ranging sensors arranged on the positioning navigation marks (1) and the feeding boat, different ends of the infrared ranging sensors are respectively arranged on the feeding boat and the positioning navigation marks (1), distance data of the feeding boat and each positioning navigation mark (1) are measured through the infrared ranging sensors, each group of distance data is sent to the central control module (2) in real time by the infrared ranging unit (52), and the position of the feeding boat is judged by the central control module (2) according to the distance data of the feeding boat.
4. A control system for an unmanned automatic feeding vessel according to claim 3, wherein: also comprises;
The MESH wireless unit (11) is arranged on the feeding boat and the positioning navigation marks (1) and is used for transmitting real-time signals and instructions of the area monitoring unit (51), the infrared ranging units (52) and the feeding boat.
5. A control system for an unmanned automatic feeding vessel according to claim 4, wherein: also comprises;
the monitoring camera unit (62) comprises monitoring cameras arranged at two sides of the feeding boat, the monitoring camera unit (62) is connected with the central control module (2) and receives an instruction of the central control module (2) to monitor a target area;
The intelligent identification unit (61), the intelligent identification unit (61) retrieves the monitoring picture of the monitoring camera unit (62) in real time, and the intelligent identification unit identifies objects and organisms in the monitoring picture and sends the identification result to the central control module (2).
6. A control system for an unmanned automatic feeding vessel according to claim 5, wherein: also comprises;
The data storage module (21) is connected with the central control module (2) and the intelligent monitoring module (6) for storing historical instructions of the central control module (2) and monitoring pictures of the intelligent monitoring module (6);
And the wireless communication module (8) provides a plurality of network communication channels for receiving and transmitting data, information and instructions between the feeding ship and the shore-based and land management companies.
7. A control system for an unmanned automatic feeding vessel according to claim 4, wherein: the intelligent recognition unit (61) is connected with the infrared ranging unit (52), and an intelligent deviation rectifying unit (9) is arranged between the intelligent recognition unit (61) and the infrared ranging unit (52);
The intelligent recognition unit (61) recognizes the positioning navigation mark (1) in the monitoring picture, detects the position of the infrared ranging sensor on the positioning navigation mark (1) and judges whether one end of the infrared ranging sensor on the positioning navigation mark (1) is aligned with one end of the infrared ranging sensor on the feeding ship, if not, the intelligent recognition unit (61) sends a deviation correcting signal and two ends of the infrared ranging sensor to the intelligent deviation correcting unit (9), and the intelligent deviation correcting unit (9) receives the deviation correcting signal and then invokes the angle of the deviation at two ends of the infrared ranging sensor monitored by the intelligent recognition unit (61) to send a corresponding deviation correcting instruction to the infrared ranging unit (52).
8. A control system for an unmanned automatic feeding vessel according to claim 2, wherein: the device also comprises an acoustic prompt unit (71) and an optical alarm unit (72);
The sound prompting unit (71) is connected with the central control module (2) and receives an instruction of the central control module (2), the central control module (2) invokes the recognition result of the intelligent recognition unit (61), and if other ships exist in a picture, the sound prompting unit (71) prompts the ships to be far away from a preset route of the feeding ship; the central control module (2) receives the environment data information of the area monitoring unit (51), judges the environment in the cultivation area, and the sound prompting unit (71) sends out a prompt if the current environment is not suitable for feeding;
the light alarm unit (72) is matched with the sound prompt unit (71) to give an alarm.
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| JP4047369B1 (en) * | 2007-07-17 | 2008-02-13 | 国土交通省国土技術政策総合研究所長 | Ship motion estimation method and system |
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