Patent ID: 11892833
Assignee: JIANGSU UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC B  G  A  Y | IPC A  B  G

Claim 7:
8. A method for controlling the agricultural amphibious bait feeding boat capable of moving between ponds according to claim 6, comprising the following steps:
step 1, turning on a main power switch to power on the motor and the main control board;
step 2, adjusting a throttle value on a remote controller to a minimum value, and controlling the motor to have a basic rotation speed by the main control board through a respective one of the electronic speed controllers;
step 3, taking a microprocessor on the main control board of the propulsion device as a host by default, and taking the microprocessor on a main control board of the bait feeding device as a slave by default;
step 4, solving the attitude of the boat body and transmitting data to the microprocessor as the host by an inertial measurement unit (IMU) based attitude estimation module on the host, and displaying the data on a serial port screen by the microprocessor as the host;
step 5, analyzing and processing the transmitted data by the microprocessor as the host to adjust and control a rotation speed of the motor by proportion integration differentiation (PID), so as to make the boat body smoothly move forwards in a whole; wherein
when the boat body smoothly moves forwards, turning and bait feeding are fulfilled by the remote controller;
step 6, sending commands for the turning and the bait feeding by the remote controller;
step 7, receiving data and transmitting the data to the main control board having the host by a remote controller receiving module; and
step 8, adjusting, according to the commands, an attitude expectation of the boat body by the main control board having the host, and sending a command by the main control board having the host to the slave to control the motor or the bait feeding mechanism.