本发明提供了一种多功能莼菜无人作业船及其导航控制方法,包括视觉传感器、激光雷达、组合导航设备、控制系统、作业执行机构安装平台、浮漂装置、电源供电系统和动力系统,电气控制系统启动后,选择进入自主导航模式,自主导航模式包括水岸边界探测模式、工作模式和自主避障模式,工作模式包括施药模式、施肥模式、除草模式和采摘模式,水岸边界探测模式生成水岸边界地图,工作模式以所述地图为基础展开作业,遇到障碍物时所述电气控制系统控制工作模式切换到自主避障模式,避障完成后,返回之前的模式工作。本发明能显著提高莼菜施肥、施药、采摘和除草作业的效率,促进莼菜种植业的发展。

    The invention provides a multifunctional brasenia schreberi unmanned workboat and a navigation control method thereof. The multifunctional brasenia schreberi unmanned workboat comprises a visual sensor, a laser radar, integrated navigation equipment, a control system, an operation execution mechanism mounting platform, a floating device, a power supply system and a power system; after an electrical control system is started, an autonomous navigation mode is adopted and entered, wherein the autonomous navigation mode comprises a water bank boundary detection mode, a working mode and an autonomous obstacle avoidance mode; the working mode comprises a pesticide application mode, a fertilization mode, a weeding mode and a picking mode; the water bank boundary detection mode generates a water bank boundary map; the working mode is operated on the basis of the map; and the electrical control system controls the working mode to be switched to the autonomous obstacle avoidance mode when encountering an obstacle, and returns to the previous mode to work after obstacle avoidance is completed. The efficiency of brasenia schreberi fertilization, pesticide application, picking and weeding operation can be remarkably improved, and development of the brasenia schreberi planting industry is promoted.


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    Title :

    一种多功能莼菜无人作业船及其导航控制方法


    Publication date :

    2024-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01C Pflanzen , PLANTING / A01D Ernten , HARVESTING / A01M Tierfang, Tierfallen oder Abschreckvorrichtungen für Tiere , CATCHING, TRAPPING OR SCARING OF ANIMALS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS