The invention discloses an automatic pond transferring system of an aquaculture workboat and a pose adjusting method, and belongs to the field of automatic control, mechanical structures and machine vision. The system comprises an aquaculture workboat and a pond transferring frame. When the aquaculture workboat carries out pond transferring operation, initial positioning is achieved through the shipborne GPS/BEIDOU positioning system, the relative pose of the aquaculture workboat and the pond transferring frame is detected through the shipborne vision module, then the advancing direction of the workboat is adjusted according to the detection result, and then the aquaculture workboat is automatically in butt joint with the pond transferring frame (the gear is aligned with the rack, and the rollers are aligned with the guide rails). In order to facilitate butt joint, a trumpet-shaped baffle is installed on the outer side of the gear for pond transferring to assist in butt joint of the shipway, and the difficulty needed by butt joint of the shipway during pond transferring is reduced. During pond transferring, the uphill stage gear motor is in an electric state, and the downhill stage gear motor is in a power generation braking state, so that the workboat stably crosses the embankment bank. The utilization rate of the aquaculture workboat can be increased, and the aquaculture workboat has high practical significance in the field of aquaculture.

    本发明公开了一种水产养殖作业船自动转塘系统及位姿调整方法,属于自动控制、机械结构和机器视觉领域。包括水产养殖作业船和转塘架。水产养殖作业船进行转塘作业时,先通过船载GPS/BEIDOU定位系统实现初定位,通过船载视觉模块检测水产养殖作业船与转塘架的相对位姿,然后根据检测结果调整作业船行进方向,进而使水产养殖作业船自动对接转塘架(齿轮对准齿条,滚轮对准导轨)。为方便对接,在转塘用齿轮外侧安装喇叭形挡板,辅助船架对接,降低转塘时船架对接所需的难度。转塘时,上坡阶段齿轮电机处于电动状态,下坡阶段齿轮电机处于发电制动状态,使作业船平稳跨越堤埂。本发明能够提高水产养殖作业船的利用率,在水产养殖领域具有较强的实用意义。


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    Title :

    Automatic pond transferring system for aquaculture workboat and pose adjusting method


    Additional title:

    一种水产养殖作业船自动转塘系统及位姿调整方法


    Contributors:
    ZHAO DE'AN (author) / ZHU ZENGGUI (author)

    Publication date :

    2021-09-21


    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 / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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