CN107197806A - Spring louvers formula fixed point Autoamtic bait putting method based on unmanned boat - Google Patents
Spring louvers formula fixed point Autoamtic bait putting method based on unmanned boat Download PDFInfo
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- CN107197806A CN107197806A CN201710347396.0A CN201710347396A CN107197806A CN 107197806 A CN107197806 A CN 107197806A CN 201710347396 A CN201710347396 A CN 201710347396A CN 107197806 A CN107197806 A CN 107197806A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 230000004888 barrier function Effects 0.000 claims description 20
- 238000009318 large scale farming Methods 0.000 abstract description 3
- 239000003643 water by type Substances 0.000 abstract description 3
- 241000251468 Actinopterygii Species 0.000 description 15
- 238000009360 aquaculture Methods 0.000 description 4
- 244000144974 aquaculture Species 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 241000192700 Cyanobacteria Species 0.000 description 1
- 230000018199 S phase Effects 0.000 description 1
- YUWBVKYVJWNVLE-UHFFFAOYSA-N [N].[P] Chemical compound [N].[P] YUWBVKYVJWNVLE-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004387 environmental modeling Methods 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 244000059217 heterotrophic organism Species 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/80—Feeding devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
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- Biodiversity & Conservation Biology (AREA)
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Abstract
Autoamtic bait putting method is pinpointed the present invention relates to a kind of spring louvers formula based on unmanned boat, this method includes 1, delimitation theoretical contour and tries to achieve outer bait throwing in theoretical contour and interior bait throwing in theoretical contour；2nd, unmanned boat navigation starting point and terminal are determined according to bait throwing in operation actual geographic condition in the range of inside and outside bait throwing in theoretical contour is constituted；3rd, with the square bait throwing in grid of delimitation in the range of inside and outside bait throwing in theoretical contour is constituted；Bait throwing in point is used as per lattice central point using square bait throwing in grid；4th, determine elasticity subdivision square grid, 5, according to navigation starting point, terminal and optional bait throwing in point, perform global path algorithm generation flight path；This bait throwing in operation is completed after traveling through all bait throwing in points.The present invention can realize the uniform fixed point Autoamtic bait putting in large-scale farming waters.
Description
Technical field
The present invention relates to airmanship applied technical field, and in particular to a kind of spring louvers formula fixed point based on unmanned boat
Autoamtic bait putting method.
Background technology
Aquaculture kind is generally heterotrophic organism, and it grows must take in nutrition from external environment, exogenous bait throwing in into
The important channel of energy and protein is obtained for aquaculture organisms.Have suitable for traditional bait-throwing method of pond culture：Manually
Pole a boat bait throwing in, device for feeding fish bait fixed point bait throwing in and boat-carrying device for feeding fish bait bait throwing in.In recent years, the aquaculture industry development of China is rapid,
As various regions cultivate the continuous increase of scale, traditional artificial dispensing bait method is no longer appropriate for large-scale aquatic products and supported already
Grow.Current device for feeding fish bait obtains market and generally approved, it lays in pond periphery, the bait throwing in of fixed place and time into pond, to a certain degree
On reduce labour input.But in large area seining cultivation, traditional device for feeding fish bait is limited by riding position and bait throwing in has
Imitate the limitation of distance, it is impossible to accomplish uniform bait throwing in；And when water surface area is excessive, generally require many device for feeding fish bait cooperatings.
According to data, every 20 mu of waters need a traditional device for feeding fish bait, and the water surface area of large-scale farming often reaches hundreds of mus
Or even thousands of mus.Building many traditional device for feeding fish bait cooperating systems needs construction of line net, there is electric wire and sets up complexity height
The drawbacks of power consumption is high, greatly improves device for feeding fish bait cooperating cost.
The unreasonable arrangement that bait throwing in is selected causes bait to be difficult to by cultured fishes reasonable consumption：The few bait of many fishes in subregion, nothing
Method meets fry growth needs；The few fish of many baits in subregion, causes bait to waste.Bait excessive residual will also cause water body nitrogen phosphorus
Content increase, eutrophication aggravation, causes breeding water body blue-green algae to be spread unchecked, and the growth of influence fish causes yield to decline.And due to
Traditional device for feeding fish bait pinpoints bait throwing in using bank, and the bait behavior that becomes is unfavorable for water field of big area money so that fish distribution concentrates on bank
The utilization in source.And the course of boat-carrying device for feeding fish bait is generally artificial determination at this stage, randomness is strong, it is difficult to rationally spread all over large area
Cultivated water.
The content of the invention
Autoamtic bait putting method, this method are pinpointed it is an object of the invention to provide a kind of spring louvers formula based on unmanned boat
The uniform fixed point Autoamtic bait putting in large-scale farming waters can be realized.
In order to solve the above technical problems, the fixed point of the spring louvers formula based on the unmanned boat Autoamtic bait putting side designed by the present invention
Method, it is characterised in that it comprises the following steps：
Step 1：Using the positional information of map, the coordinate and rectangle of the rectangular profile of rectangle Cultivated water position are drawn
The geographical position coordinates of barrier profile in the rectangular profile of Cultivated water position；
Step 2：Outer bait throwing in rectangle theoretical contour is obtained in the rectangular profile of rectangle Cultivated water position, the outer bait throwing in
Rectangle theoretical contour and the rectangular profile of rectangle Cultivated water position have same central point, in addition, outer bait throwing in rectangle is managed
By contour line it is long in corresponding long with the rectangular profile of rectangle Cultivated water position it is parallel, and at a distance of pre-determined distance A, together
When, the short side of outer bait throwing in rectangle theoretical contour is parallel with the corresponding short side of the rectangular profile of rectangle Cultivated water position, and phase
Away from pre-determined distance A；
Step 3：, should respectively by the minimum rectangle simplification that use can be comprising the barrier profile on map of each barrier profile
The minimum rectangle of barrier profile is interior bait throwing in theoretical contour；
Step 4：In the range of being surrounded inside outer bait throwing in rectangle theoretical contour and outside interior bait throwing in theoretical contour
Unmanned boat navigation starting point and terminal are determined according to the actual demand of bait throwing in operation；
Step 5：In the range of being surrounded inside outer bait throwing in rectangle theoretical contour and outside interior bait throwing in theoretical contour
Square bait throwing in grid delimited in units of preset area B, optional bait throwing in point is used as using the central point of square bait throwing in grid；
Step 6：Do in elasticity subdivision square grid, elasticity subdivision square grid and outer in square bait throwing in grid
The position of bait throwing in rectangle theoretical profile linear contact lay is two double precision square grid regions in elasticity subdivision square grid, bullet
Property subdivision square grid and interior bait throwing in theoretical profile linear contact lay position be also twice of essence in elasticity subdivision square grid
It is algnment accuracy square grid region to spend remaining region in square grid region, elasticity subdivision square grid；
Step 7：The unmanned boat navigation starting point and terminal determined according to step 4, and the optional bait throwing in point that step 5 is determined,
Global path algorithm generation flight path is performed by step 7.1~step 7.3；
Step 7.1：Using the bait throwing in point nearest apart from ship current point as next bait throwing in point, deserve in an initial condition
Preceding point is starting point；
Step 7.2：Judge that current point, with whether there is barrier on next bait throwing in point straight line path, is performed if in the absence of if
Step 7.2.1, otherwise performs step 7.2.2；
Step 7.2.1：It is minimal cost path, generation bait throwing in navigation to take the straight line path between current point and next bait throwing in point
Flight path；
Step 7.2.2：By each two double precisions square grid region in elasticity subdivision square grid and each mark
The central point in quasi- precision square grid region is set to optional guidance path point, by between current point and target point each optional lead
Bit path point, execution A* algorithms (bibliography A*Pathfinding for Beginners, By Patrick Lester,
Updated July18,2005) current point is obtained to the minimal cost path of next bait throwing in point, travel through each target point and correspondingly
Minimal cost path generation bait throwing in navigation flight path；
Step 7.3：Whether judge current point is navigation terminal point：If so, being then stopped；If it is not, then return to step
7.1。
Beneficial effects of the present invention：
1st, the fixed point Autoamtic bait putting method of the spring louvers formula based on unmanned boat that this patent is illustrated can be efficiently reduced greatly
The manpower and materials input of area aquaculture bait throwing in work, uniform bait throwing in point improves bait utilization；
2nd, this method can set up the different spring louvers of precision according to geographical environment, thus can efficiently reduce global path
Algorithm amount of calculation simultaneously avoids unmanned boat from being to avoid barrier and the undue situation away from barrier during navigating by water；
3rd, fixed point Autoamtic bait putting method is clear, and algorithm is simple, the unmanned boat of carrying Autoamtic bait putting machine is adopted
Flight path is planned with minimal cost path, fixed point Autoamtic bait putting operation is efficiently completed.
Brief description of the drawings
Fig. 1 is the flow chart that the spring louvers formula based on unmanned boat pinpoints Autoamtic bait putting method；
Fig. 2 is the flow chart of global path algorithm；
Fig. 3 is grid division schematic diagram；
Wherein, the rectangular profile of 1-rectangle Cultivated water position, 2-barrier profile, 3-outer bait throwing in rectangle theory wheel
Profile, 4-interior bait throwing in theoretical contour, 5-square bait throwing in grid, 6-elasticity subdivision square grid, 6.1-twice essence
Spend square grid region, 6.2-algnment accuracy square grid region.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
A kind of spring louvers formula fixed point Autoamtic bait putting method based on unmanned boat, as shown in figs. 1 and 3, it includes following step
Suddenly：
Step 1：Using the positional information of map, the coordinate and square of the rectangular profile 1 of rectangle Cultivated water position are drawn
The geographical position coordinates of barrier profile 2 in the rectangular profile 1 of shape Cultivated water position；
Step 2：To avoid unmanned boat offshore stranded, outer bait throwing in is obtained in the rectangular profile 1 of rectangle Cultivated water position
The rectangular profile 1 of rectangle theoretical contour 3, the outer bait throwing in rectangle theoretical contour 3 and rectangle Cultivated water position has same
Individual central point, in addition, the long side of outer bait throwing in rectangle theoretical contour 3 is corresponding with the rectangular profile 1 of rectangle Cultivated water position
Long side is parallel, and at a distance of pre-determined distance A, meanwhile, short side and the rectangle Cultivated water position of outer bait throwing in rectangle theoretical contour 3
The corresponding short side of rectangular profile 1 is parallel, and at a distance of pre-determined distance A；
Step 3：Respectively by the minimum rectangle simplification that use can be comprising the barrier profile 2 on map of each barrier profile 2,
The minimum rectangle of the barrier profile 2 is interior bait throwing in theoretical contour 4；
Step 4：The scope surrounded in the outer inside of bait throwing in rectangle theoretical contour 3 and the outside of interior bait throwing in theoretical contour 4
The interior actual demand according to bait throwing in operation determines unmanned boat navigation starting point and terminal；
Step 5：The scope surrounded in the outer inside of bait throwing in rectangle theoretical contour 3 and the outside of interior bait throwing in theoretical contour 4
Square bait throwing in grid 5 delimited in units of the interior B by preset area, optional throwing is used as using the central point of square bait throwing in grid 5
Bait point；
Step 6：Done in square bait throwing in grid 5 in elasticity subdivision square grid 6, elasticity subdivision square grid 6
The position contacted with outer bait throwing in rectangle theoretical contour 3 is two double precision square grids in elasticity subdivision square grid 6
Region 6.1, the position that elasticity subdivision square grid 6 is contacted with interior bait throwing in theoretical contour 4 is also the square grid of elasticity subdivision
Two double precision square grid regions 6.1 in lattice 6, elasticity subdivision square grid 6 in remaining region be algnment accuracy just
Square grid region 6.2；
Step 7：The unmanned boat navigation starting point and terminal determined according to step 4, and the optional bait throwing in point that step 5 is determined,
Global path algorithm generation flight path is performed by step 7.1~step 7.3, as shown in Figure 2；
Step 7.1：Using the bait throwing in point nearest apart from ship current point as next bait throwing in point, deserve in an initial condition
Preceding point is starting point；
Step 7.2：Judge that current point, with whether there is barrier on next bait throwing in point straight line path, is performed if in the absence of if
Step 7.2.1, otherwise performs step 7.2.2；
Step 7.2.1：It is minimal cost path, generation bait throwing in navigation to take the straight line path between current point and next bait throwing in point
Flight path；
Step 7.2.2：By each two double precisions square grid region 6.1 in elasticity subdivision square grid 6 and often
The central point in individual algnment accuracy square grid region 6.2 is set to optional guidance path point, will be each between current point and target point
Individual optional guidance path point, performs A* algorithms and obtains current point to the minimal cost path of next bait throwing in point, travel through each target
Point and corresponding minimal cost path generation bait throwing in navigation flight path；
Step 7.3：Whether judge current point is navigation terminal point：If so, being then stopped；If it is not, then return to step
7.1。
In above-mentioned technical proposal, the resolution ratio in the algnment accuracy square grid region 6.2 is square bait throwing in grid 5
11 times, the resolution ratio in the two double precisions square grid region 6.1 is the two of algnment accuracy square grid region 6.2
Times.
In above-mentioned technical proposal, the preset area B of the square bait throwing in grid 5 is 20 mu.The pre-determined distance A is
10m。
In above-mentioned technical proposal, the length of side of the square bait throwing in grid 5 is 110m, the algnment accuracy square grid
The length of side in region 6.2 is 10m, and the length of side in the two double precisions square grid region 6.1 is 10m.
In above-mentioned technical proposal, elasticity subdivision square grid 6 divides thought and is, by near barrier and outer bait throwing in rectangle
The region grid of theoretical contour 3 is finely divided (i.e. two double precision square grid regions 6.1), region description can be made more clear
It is clear；, can using former precision grid (i.e. algnment accuracy square grid region 6.2) for the free space in the absence of barrier
To improve the efficiency of environmental modeling.The subdivision of grid that this method is related to refer to by grid that script precision is a unit length according to
Demand is subdivided into 1/2 unit length.
The specific implementation method of the step 7.2.2 is if that, by barrier in step 7.2, A* algorithms are started working,
Cost function is introduced, cost function is f (n)=g (n)+h (n), and g (n) represents the optimal path length from starting point to current point, h
(n) represent that current point arrives the estimation optimal path length of target point, the central point of each grid is (each twice of the node that navigates
The central point in precision square grid region 6.1 and each algnment accuracy square grid region 6.2 is set to optional guidance path
Point), store in the form of a file, calculate the minimal cost path of avoiding obstacles.
Algorithm idea：A* algorithms are one kind of heuristic search algorithm, for finding optimal path, and its core is
Select present node next desire expanding node when introduce cost function f (n)=g (n)+h (n), g (n) represent from starting point to
The optimal path length of current point, h (n) represents current point to the estimation optimal path length of target point.
Algorithm steps：(1) by starting point S added to list is opened, the f values for putting starting point are 0.(2) the adjacent institute of starting point S-phase is found
There is accessibility grid, its central point is added to as node and " opens list.(3) the starting point S opened in list is deleted, and
Add it to " closing list ".(4) using next bait throwing in point as target point, respectively using each above-mentioned central point as current point, meter
The f values of operator node.(5) the minimum node of f values in selection " unlatching list ", is handled as follows to the node chosen：(5.1) will
The node is deleted from " unlatching list ", added in closing list；(5.2) finds adjacent all accessibility of the node
Grid, " unlatching list " is added to using its central point as node.Repeat step (4)~(5), until target point is added into
" closing list ", at this moment optimal path is found.
" unlatching list " is substantially the list of node to be checked, and " closing list ", which is substantially, need not check again for node
List, both at the data structure of memory node.
The content that this specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (5)
1. a kind of spring louvers formula fixed point Autoamtic bait putting method based on unmanned boat, it is characterised in that it comprises the following steps：
Step 1：Using the positional information of map, the coordinate and rectangle of the rectangular profile (1) of rectangle Cultivated water position are drawn
The geographical position coordinates of the interior barrier profile (2) of rectangular profile (1) of Cultivated water position；
Step 2：Outer bait throwing in rectangle theoretical contour (3) is obtained in the rectangular profile (1) of rectangle Cultivated water position, the outer throwing
Bait rectangle theoretical contour (3) and the rectangular profile (1) of rectangle Cultivated water position have same central point, in addition, outer throw
Bait rectangle theoretical contour (3) it is long parallel in corresponding long with the rectangular profile (1) of rectangle Cultivated water position, and apart
Pre-determined distance A, meanwhile, the short side of outer bait throwing in rectangle theoretical contour (3) and the rectangular profile (1) of rectangle Cultivated water position
Correspondence short side is parallel, and at a distance of pre-determined distance A；
Step 3：Respectively by the minimum rectangle simplification that use can be comprising the barrier profile (2) on map of each barrier profile (2),
The minimum rectangle of the barrier profile (2) is interior bait throwing in theoretical contour (4)；
Step 4：The scope surrounded outside outer bait throwing in rectangle theoretical contour (3) inside and interior bait throwing in theoretical contour (4)
The interior actual demand according to bait throwing in operation determines unmanned boat navigation starting point and terminal；
Step 5：The scope surrounded outside outer bait throwing in rectangle theoretical contour (3) inside and interior bait throwing in theoretical contour (4)
Square bait throwing in grid (5) delimited in units of the interior B by preset area, using the central point of square bait throwing in grid (5) as optional
Bait throwing in point；
Step 6：Elasticity subdivision square grid (6), elasticity subdivision square grid (6) are done in square bait throwing in grid (5)
In the position that is contacted with outer bait throwing in rectangle theoretical contour (3) it is square for two double precisions in elasticity subdivision square grid (6)
Shape grid region (6.1), the position that elasticity subdivision square grid (6) is contacted with interior bait throwing in theoretical contour (4) is also elasticity
Segment remaining in two double precision square grid regions (6.1) in square grid (6), elasticity subdivision square grid (6)
Region be algnment accuracy square grid region (6.2)；
Step 7：The unmanned boat navigation starting point and terminal determined according to step 4, and the optional bait throwing in point that step 5 is determined, by step
Rapid 7.1~step 7.3 performs global path algorithm generation flight path；
Step 7.1：Using the bait throwing in point nearest apart from ship current point as next bait throwing in point, the current point in an initial condition
As starting point；
Step 7.2：Judge that current point, with whether there is barrier on next bait throwing in point straight line path, step is performed if being not present
7.2.1, step 7.2.2 is otherwise performed；
Step 7.2.1：It is minimal cost path, generation bait throwing in navigation boat to take the straight line path between current point and next bait throwing in point
Mark；
Step 7.2.2：By each two double precisions square grid region (6.1) in elasticity subdivision square grid (6) and often
The central point of individual algnment accuracy square grid region (6.2) is set to optional guidance path point, by between current point and target point
Each optional guidance path point, performs A* algorithms and obtains current point to the minimal cost path of next bait throwing in point, travel through each mesh
Punctuate and corresponding minimal cost path generation bait throwing in navigation flight path；
Step 7.3：Whether judge current point is navigation terminal point：If so, being then stopped；If it is not, then return to step 7.1.
2. the spring louvers formula fixed point Autoamtic bait putting method according to claim 1 based on unmanned boat, it is characterised in that：Institute
The resolution ratio for stating algnment accuracy square grid region (6.2) is 11 times of square bait throwing in grid (5), and two double precision is just
The resolution ratio in square grid region (6.1) is twice of algnment accuracy square grid region (6.2).
3. the spring louvers formula fixed point Autoamtic bait putting method according to claim 1 based on unmanned boat, it is characterised in that：Institute
The preset area B for stating square bait throwing in grid (5) is 20 mu.
4. the spring louvers formula fixed point Autoamtic bait putting method according to claim 1 based on unmanned boat, it is characterised in that：Institute
Pre-determined distance A is stated for 10m.
5. the spring louvers formula fixed point Autoamtic bait putting method according to claim 2 based on unmanned boat, it is characterised in that：Institute
The length of side for stating square bait throwing in grid (5) is 110m, and the length of side of the algnment accuracy square grid region (6.2) is 10m, institute
The length of side for stating two double precision square grid regions (6.1) is 10m.
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