The invention discloses an operation path planning and control method of a mobile aerator. A low-precision GPS/BD navigation system and azimuth sensor information fused aquaculture water area autonomous mobile oxygenation mode is used for realizing uniform oxygenation of the whole pond and upper and lower layer flowing of water. Through water quality detection of the water quality detection ship,the water quality condition of the pond is obtained in real time, according to the water quality condition of the pond, the gradient map distribution condition of dissolved oxygen in the water area isanalyzed, points with low dissolved oxygen concentration are obtained, and the aeration path of the mobile aerator is planned through the GIS system. A low-precision GPS/BD navigation system and an azimuth sensor are used for jointly determining a current course angle and a target navigation angle of the mobile aerator, and control information is provided for the mobile aerator to track a plannedoperation path. According to the movable aerator, the dissolved oxygen concentration of the whole pond can be increased, the overall water quality condition of a culture water area is improved, the vitality of aquatic organisms is improved, the fishery culture yield is increased, and higher economic benefits are generated.

    本发明公开了一种移动式增氧机的作业路径规划及控制方法。利用低精度GPS/BD导航系统与方位传感器信息融合的养殖水域自主移动式增氧方式,用于实现全池塘的均匀增氧以及水体的上下层流动。通过水质检测船的水质检测,实时的获得池塘的水质状况,根据池塘的水质状况,分析该水域溶解氧的梯度图分布状况并得知溶解氧浓度低的点,通过GIS系统规划移动式增氧机增氧的路径,利用低精度GPS/BD导航系统和方位传感器共同确定移动式增氧机的当前航向角和目标航行角,为移动式增氧机跟踪规划好的作业路径提供控制信息。本发明移动式增氧机可提升全池塘溶解氧浓度,改善养殖水域的整体水质状况,从而提高水产生物的活力,提高渔业养殖产量,产生更高的经济效益。


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    Titel :

    Operation path planning and control method of mobile aerator


    Weitere Titelangaben:

    一种移动式增氧机的作业路径规划及控制方法


    Beteiligte:
    ZHAO DE'AN (Autor:in) / SHENG LIANG (Autor:in) / QIN YUN (Autor:in) / SUN YUEPING (Autor:in) / SHI ZIJIAN (Autor:in) / QI HAO (Autor:in) / ZHENG HAOCHONG (Autor:in)

    Erscheinungsdatum :

    2021-01-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01K ANIMAL HUSBANDRY , Tierzucht / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / C02F Behandlung von Wasser, Schmutzwasser, Abwasser oder von Abwasserschlamm , TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE



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