CN108445883A - A kind of unmanned information acquisition system of sea water culture environment and method - Google Patents
A kind of unmanned information acquisition system of sea water culture environment and method Download PDFInfo
- Publication number
- CN108445883A CN108445883A CN201810314716.7A CN201810314716A CN108445883A CN 108445883 A CN108445883 A CN 108445883A CN 201810314716 A CN201810314716 A CN 201810314716A CN 108445883 A CN108445883 A CN 108445883A
- Authority
- CN
- China
- Prior art keywords
- hull
- sea water
- water culture
- culture environment
- acquisition system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000013535 sea water Substances 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 210000000349 chromosome Anatomy 0.000 claims description 31
- 238000007689 inspection Methods 0.000 claims description 15
- 108090000623 proteins and genes Proteins 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 8
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 7
- 230000035772 mutation Effects 0.000 claims description 7
- 229910052710 silicon Inorganic materials 0.000 claims description 7
- 239000010703 silicon Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000002068 genetic effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000002411 adverse Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 7
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 6
- 229910052760 oxygen Inorganic materials 0.000 description 6
- 239000001301 oxygen Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009313 farming Methods 0.000 description 3
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 241000251511 Holothuroidea Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000008151 electrolyte solution Substances 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
-
- 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
Abstract
The invention discloses a kind of unmanned information acquisition system of sea water culture environment and methods, and in particular to sea water culture environment monitoring technical field.The unmanned information acquisition system of the sea water culture environment includes acquisition terminal, high in the clouds and client, acquisition terminal includes hull, it (includes GPS antenna that hull, which is equipped with signal receiver, information transmission modular antenna), the both sides of hull are respectively equipped with buoyant device, the upper surface of hull is equipped with motor, solar attachment and air velocity transducer, the device leading portion of hull is equipped with anticollision ultrasonic wave module, the center of hull is equipped with equipment compartment, sensor cabin and draining cabin, the tail portion of hull is equipped with propulsion device, several electronic equipments are equipped in equipment compartment, sensor cabin is equipped with openable and closable shutter, it is internally provided with folding stand and sensor assembly, folding stand drives sensor assembly flexible under the driving of motor.
Description
Technical field
The present invention relates to sea water culture environment monitoring technical fields, and in particular to a kind of unmanned information of sea water culture environment is adopted
Collecting system and method.
Background technology
In recent years, the sea-farmings such as sea cucumber, abalone industry increasingly scale and intensive, in order to pursue economic benefit,
The type and density of cultivation are also more and more, directly result in the deterioration of sea-farming aquatic environment, have influenced material culture
Growth and development, disease happen occasionally, and raiser's economic benefit is impaired, and culturing area needs personnel to garrison for a long time, wastes a large amount of people
Power physical resources and financial resources are based on this, the research of sea-farming Automatic monitoring systems cause scholar and researcher's note that with
The development of sensor technology and embedded system technology, for the progress such as sea water culture environment parameter such as pH value, temperature, oxygen content
It is automatically-monitored to provide possibility.But the existing system based on sensor technology realizes the breeding environment number of data substantially
According to automatic collection processing, but that there is wired detection wirings is complicated, monitoring point is not easily shifted, message transmission rate is slow, CS framves
The problems such as structure apparatus value is higher, collection point is excessively single.
Invention content
The purpose of the present invention is against the above deficiency, it is proposed that one kind is based on mobile B/S framework, by the data storage of acquisition
To high in the clouds, terminal user can inquire the monitoring data of observation farm by browser, easy-to-use, and dynamic acquisition is more
Point information, makes the unmanned information acquisition system of the sea water culture environment that monitoring more refines and method.
The present invention specifically adopts the following technical scheme that：
A kind of unmanned information acquisition system of sea water culture environment, including acquisition terminal, high in the clouds and client,
The acquisition terminal includes hull, and hull is equipped with signal receiver, and the both sides of hull are respectively equipped with buoyancy dress
It sets, the upper surface of hull is equipped with motor, solar attachment and air velocity transducer, and the leading portion of hull is equipped with anticollision ultrasonic wave
The center of module, hull is equipped with equipment compartment, sensor cabin and draining cabin, and the tail portion of hull is equipped with propulsion device, is set in equipment compartment
There are several electronic equipments, sensor cabin to be equipped with openable and closable shutter, be internally provided with folding stand and sensor assembly, folding stand
Drive sensor assembly flexible under the driving of motor.
Preferably, the buoyant device is made of cross bar and two montants, and the central shaft of cross bar and hull is arranged in parallel, and is erected
Bar and the perpendicular setting of cross bar, cross bar and montant are all made of buoyant material and are made.
Preferably, the equipment compartment be closed bin, built-in GPS module, information transmission modular, single chip control module and
Clock module, the cabin carry out signal transmission by internal pipeline and signal receiver.
Preferably, the sensor assembly is in cuboid, and several sensors, each face of cuboid are equipped in cuboid
It is equipped with through-hole, is stretched by motor Foldable frame, shutter is opened, and sensor is stretched out, when the measurement is finished, sensor
It withdraws, seawater enters draining storehouse by the through-hole of cuboid, and shutter is closed and drained by sliding block.
Preferably, the draining storehouse is in strip, and bulkhead is smooth, is set in storehouse there are one the sliding block being seamlessly connected with bulkhead,
Bulkhead end is provided with drainage door, and when sensor is transferred, sliding block receives the left side, and seawater enters draining cabin, when sensor cabin is recycled,
Lower end shutter is closed, and the sliding block right side is drawn, and seawater is discharged by drainage door, and drainage door is closed after discharge.
Preferably, the solar attachment includes silicon tabula rasa, electronic compass compass module, clock module and electricity
Machine；When work, electronic compass compass module acquires current hull angle by north, is divided by the time in season according to current time
Sun angle, adjust automatically motor make motor drive silicon tabula rasa to face sun angle.
A kind of unmanned information collecting method of sea water culture environment, is adopted using the unmanned information of sea water culture environment as described above
Collecting system, specifically：
Collection point coordinate information is provided by high in the clouds or client；
The unmanned information acquisition system of sea water culture environment is according to the collection point coordinate information provided, automatic path planning；From
Dynamic planning path uses genetic algorithm, is extra large surface with the working environment of the unmanned information acquisition system of sea water culture environment, establishes
Discrete Grid space under two dimension dimension cartesian coordinate system (x, y), △ x, △ y are respectively the size of x, y-axis direction grid, in grid
Any point q is defined as
Q=q (i, j), 0≤i<m,0≦j<n (1)
Wherein m, n are respectively x, the maximum grid number in y-axis direction；
Two dimensional surface space is subjected to rasterizing processing, each grid is square, and the coordinate of any one collection point is
(xi,yi), problem of establishing is from the unmanned information acquisition system anchor point of sea water culture environment, by all collection points, acquisition
The model of the shortest path of anchor point is returned to after information；A distance is defined to indicate that actual range between the two, distance are fixed
Justice is：
Wherein, L is the distance between 2 points, xi,yiFor the coordinate of collection point, to each individual path evaluation, using path
Distance is used as fitness, i.e., calculates the distance for the test point that every route successively passes through, and add up, as this
The fitness function in path, specifically includes following steps：
Step 1：The unmanned information acquisition system of sea water culture environment waits for host computer or the inspection coordinate of bank base PC machine, and will
Inspection coordinate is stored with array form；
Step 2：Initialization of population, the individual in population randomly generate, the corresponding alternative road of each individual
Diameter, the individual sequence for being produced as each collection point and passing through, is planned automatically for the unmanned information acquisition system of sea water culture environment
The characteristics of path, forms chromosome using the node serial number of each demand point as gene, often using decimal coded scheme
There is sequencing in the inspection point that is encoded to of item chromosome；
Step 3：Selection opertor selects high-quality individual, eliminates the individual of fitness difference；
Step 4：Crossover operator, crossover operation refer to the parent chromosome that two are mutually paired and are exchanged with each other in a manner
Its portion gene generates two new child chromosomes；
Step 5：Mutation operator randomly selects chromosome any two position, is interchangeable operation according to mutation probability；
Step 6：Judge whether iterations reach setting value, if not up to, going to step 1, if reaching, proceeding by step
Rapid 7；
Step 7：Start inspection according to the obtained path of optimization, when navigating by water between points, according to air velocity transducer and
Water flow rate sensor dynamic in sensor cabin determines the power of propulsion device, that is, reduces power automatically when being in fair current with the wind,
Energy saving, when contrary wind adverse current, increases power, and straight-line travelling reduces distance.
In step 4, in order to keep the diversity of population, using partial intersection scheme, when crossover operator is applied to parent
When body X1 and X2, first from parent individuality X1 and X2 random selection exchange section I to J, then will be in X1 behind I before J
The gene of corresponding position intersects by turn in gene and V2, since the path all the points must all be passed through, for avoid the occurrence of leak source and
Point is repeated, must will become the data being swapped out with exchanging the equal position of element come in original chromosome after exchange, hand over
It changes completion and forms two new chromosomes, finally detect chromosome legitimacy, it is legal if chromosome does not conform to rule and carries out step 3
Then carry out step 5.
After the completion of information collection, hull is uploaded to high in the clouds by 4G networks, and the reception and storage of information are completed in high in the clouds,
Confirmation message is sent to hull simultaneously, ensures to transmit the reliability of information by shaking hands.
After the completion of information collection, information is reached live PC machine by hull by Lora communications, if PC machine exists
Information is uploaded to high in the clouds by Internet road by the software mounted on PC machine.
The present invention has the advantages that：
Pass through equipment compartment and the cooperation of draining cabin so that sensor can be taken in inside equipment compartment when not needed, avoid
Sensor long period of soaking in the seawater, improves the service life and stability of sensor, and sensor is packed up, and reduces seawater resistance
Power；
The system realizes nobody autonomous inspection of sea water culture environment, coordinates high in the clouds and the ends PC software, realizes acquisition
The teletransmission of information is far controlled, without complicated wiring and hull can contexture by self path, improve detection efficiency, which can be
Other cultivation industries provide reference, easy-to-use, have very wide application prospect and good economic benefit；
The system provides power by the device of solar generating of the traceable sunlight above hull, passes through two
Step path planning algorithm reduces to the greatest extent energy saving, and energy conservation and environmental protection greatly improves capacity usage ratio.
Description of the drawings
Fig. 1 is Ship Structure schematic diagram；
Fig. 2 is hull side view；
Fig. 3 is solar attachment circuit diagram；
Fig. 4 is automatic path planning flow chart；
Fig. 5 is the unmanned information acquisition system work flow diagram of sea water culture environment；
Fig. 6 is automatic path planning emulation testing optimization process figure；
Fig. 7 is by emulating the optimal automatic path planning obtained.
Wherein, 1 is hull, and 2 be signal receiver, and 3 be equipment compartment, and 4 be sensor cabin, 5 draining cabins, and 6 be montant, 7
It is propulsion device for cross bar, 8.
Specific implementation mode
The specific implementation mode of the present invention is described further in the following with reference to the drawings and specific embodiments：
As depicted in figs. 1 and 2, the unmanned information acquisition system of a kind of sea water culture environment, including acquisition terminal, high in the clouds and visitor
Family end, acquisition terminal include hull 1, and it (includes GPS antenna, information transmission modular day that hull 1, which is equipped with signal receiver 2,
Line), the both sides of hull 1 are respectively equipped with buoyant device, and the upper surface of hull is equipped with motor, solar attachment and wind speed sensing
The leading portion of device, hull is equipped with anticollision ultrasonic wave module, and the center of hull is equipped with equipment compartment 3, sensor cabin 4 and draining cabin 5, ship
The tail portion of body is equipped with propulsion device 8, and several electronic equipments are equipped in equipment compartment, and sensor cabin is equipped with openable and closable shutter,
It is internally provided with folding stand and sensor assembly, folding stand drives sensor assembly flexible under the driving of motor.
Buoyant device is made of cross bar 7 and two montants 6, and cross bar 7 and the central shaft of hull are arranged in parallel, montant 6 and cross
7 perpendicular setting of bar, cross bar and montant are all made of buoyant material and are made.
Equipment compartment is closed bin, built-in GPS module, information transmission modular, single chip control module and clock module, should
Cabin carries out signal transmission by internal pipeline and signal receiver.
The sensor assembly is in cuboid, is equipped with several sensors in cuboid, each face of cuboid is equipped with
Through-hole is stretched by motor Foldable frame, and shutter is opened, and sensor is stretched out, and when the measurement is finished, sensor is withdrawn,
Seawater enters draining storehouse by the through-hole of cuboid, and shutter is closed and drained by sliding block.
It is in strip to drain storehouse, and bulkhead is smooth, is set in storehouse there are one the sliding block being seamlessly connected with bulkhead, bulkhead end is arranged
There is drainage door, when sensor is transferred, sliding block receives the left side, and seawater enters draining cabin, and when sensor cabin is recycled, lower end shutter closes
It closes, the sliding block right side is drawn, and seawater is discharged by drainage door, and drainage door is closed after discharge.
Solar attachment includes silicon tabula rasa, electronic compass compass module, clock module and motor；When work, electricity
Sub- compass compass module acquires current hull angle by north, and the sun angle of time in season division is pressed according to current time, from
Dynamic adjustment motor makes click drive silicon tabula rasa to face sun angle, obtains energy to greatest extent.
In view of the position at the sun a certain moment daily has deviation, if need to further finely control, can be used such as Fig. 3 electricity
Road
After determining basic orientation using the time, divided with photo resistance using fixed value resistance in 5 degree of ranges of deflection,
Enter first order amplifying circuit after letter after partial pressure, gain amplifier can be adjusted by R4, and subsequent result enters the second stage gain, letter
Number process is amplified and reversed twice, obtains the signal for being suitble to Chip Microcomputer A/D acquisition input, microcontroller is according to signal deciding silicon tabula rasa
Determination angle.
The control core of the unmanned information acquisition system of sea water culture environment is STM32F103ZET6 microcontrollers, the micro-control
Device processed is the data storage of program storage, 64KB with 256K by 32 bit processor of one kind in STM32 series, complete
It disclosure satisfy that this secondary design needs entirely.Temperature sensor selects water proofing property digital temperature sensor 18B20, the sensor to use one
Line system communicates, and provides digital temperature signal, and in addition to energization pins, data pin DQ need to be only connected to any I/O of controller
Mouthful.PH sensor uses PH combination electrode E-201-C, the sensor that 5V voltages, operating current 5-10MA, pH value is used to detect model
It encloses for 0-14, can be at -10 DEG C --+50 DEG C of work, output are analog voltage amount, have good linear, therefore its output needs
It is connected to STM32 itself and carries AD, the result of acquisition is calculated with formula Y=-5.9647+22.255.
Dissolved oxygen sensor uses detection technique of fluorescence using the online fluorescence dissolved oxygen sensor of LDO industry, the sensor,
Dissolved oxygen value is detected by fluorescence intensity and service life, compared with traditional electrochemical sensor, which was testing
Oxygen is not consumed in journey, do not stir with coutroi velocity process, do not need electrolyte solution, need not demarcate yet, it is easy to use.
For the sensor guard grade up to IP68, it is Width funtion 5-16V to make voltage, and output signal is 4-20MA current signals or 0-5V electricity
It is that 0-5V voltage signals are used in 0.01mg/L this secondary design to press signal, resolving power, the self-contained AD of signal output access STM32
Conversion circuit.
As shown in Figure 4 and Figure 5, the unmanned information collecting method of a kind of sea water culture environment is supported using seawater as described above
The unmanned information acquisition system of environment is grown, specifically：
Collection point coordinate information is provided by high in the clouds or client；
The unmanned information acquisition system of sea water culture environment is according to the collection point coordinate information provided, automatic path planning；From
Dynamic planning path uses genetic algorithm, is extra large surface with the working environment of the unmanned information acquisition system of sea water culture environment, establishes
Discrete Grid space under two dimension dimension cartesian coordinate system (x, y), △ x, △ y are respectively the size of x, y-axis direction grid, in grid
Any point q is defined as
Q=q (i, j), 0≤i<m,0≦j<n (1)
Wherein m, n are respectively x, the maximum grid number in y-axis direction；
Two dimensional surface space is subjected to rasterizing processing, each grid is square in (the desirable length of side is 1km), any one
The coordinate of collection point is (xi,yi), problem of establishing is to pass through from the unmanned information acquisition system anchor point of sea water culture environment
All collection points, acquire information after return to anchor point shortest path model；A distance is defined to indicate between the two
Actual range, distance definition are：
Wherein, L is the distance between 2 points, xi,yiFor the coordinate of collection point, to each individual path evaluation, using path
Distance is used as fitness, i.e., calculates the distance for the test point that every route successively passes through, and add up, as this
The fitness function in path, specifically includes following steps：
Step 1：The unmanned information acquisition system of sea water culture environment waits for host computer or the inspection coordinate of bank base PC machine, and will
Inspection coordinate is stored with array form, and the information of sea water culture environment acquisition generally has temperature, pH value, dissolved oxygen etc..
Step 2：Initialization of population, the individual in population randomly generate, the corresponding alternative road of each individual
Diameter, the individual sequence for being produced as each collection point and passing through, is planned automatically for the unmanned information acquisition system of sea water culture environment
The characteristics of path, forms chromosome using the node serial number of each demand point as gene, often using decimal coded scheme
There is sequencing in the inspection point that is encoded to of item chromosome；
Such as chromosome:
X:[1 6 3 4 5 2 7 8 20 9……………16]
Then unmanned boat first passes through first test point, then to the 6th test point, finally reach the 16th inspection from origin
Measuring point is then return to origin, while calculating fitness (distance value).
Step 3：Selection opertor selects high-quality individual, eliminates the individual of fitness difference；
Step 4：Crossover operator, crossover operation refer to the parent chromosome that two are mutually paired and are exchanged with each other in a manner
Its portion gene generates two new child chromosomes；
In order to keep the diversity of population, using partial intersection scheme, when crossover operator is applied to parent individuality X1 and X2
When, random selection exchange section I to the J first from parent individuality X1 and X2, then by the gene and V2 in X1 behind I before J
The gene of middle corresponding position intersects by turn, since the path all the points must all be passed through, to avoid the occurrence of leak source and repeating point, hands over
It must will become the data being swapped out with exchanging the equal position of element come in original chromosome after changing, exchange and complete to be formed
Two new chromosomes finally detect chromosome legitimacy, legal to carry out step if chromosome does not conform to rule and carries out step 3
5。
Step 5：Mutation operator randomly selects chromosome any two position, is interchangeable operation according to mutation probability；
Step 6：Judge whether iterations reach setting value, if not up to, going to step 1, if reaching, carrying out step 7；
Step 7：Start inspection according to the obtained path of optimization, when navigating by water between points, according to air velocity transducer and
Water flow rate sensor dynamic in sensor cabin determines the power of propulsion device, that is, reduces power automatically when being in fair current with the wind,
Energy saving, when contrary wind adverse current, increases power, and straight-line travelling reduces distance.
In step 4, in order to keep the diversity of population, using partial intersection scheme, when crossover operator is applied to parent
When body X1 and X2, first from parent individuality X1 and X2 random selection exchange section I to J, then will be in X1 behind I before J
The gene of corresponding position intersects by turn in gene and V2, since the path all the points must all be passed through, for avoid the occurrence of leak source and
Point is repeated, must will become the data being swapped out with exchanging the equal position of element come in original chromosome after exchange, hand over
It changes completion and forms two new chromosomes, finally detect chromosome legitimacy, it is legal if chromosome does not conform to rule and carries out step 3
Then carry out step 5.
After the completion of information collection, hull is uploaded to high in the clouds by 4G networks, and the reception and storage of information are completed in high in the clouds,
Confirmation message is sent to hull simultaneously, ensures to transmit the reliability of information by shaking hands.Or after the completion of information collection, hull is logical
It crosses Lora communications and information is reached into live PC machine, if there are Internet roads for PC machine, by mounted on PC machine
Information is uploaded to high in the clouds by software.Entire communication system is by controller, 4G modules and Lora module compositions.4G modules are responsible for information
Remote transmission, use the USR-LTE-7S4 modules of someone's science and technology in design, which supports 5 mould, 12 frequency mobile UNICOM electricity
Believe that 4G high-peed connections, embedded Linux system development, the reliability with height support RNDIS remote network driver interfaces,
Computer can be connected the equipment by USB and access internet, allowed 4 network connections online simultaneously, supported TCP and UDP, per road
Connection can cache 10KB serial datas, and wide-voltage range 5-16V, band sim card slot is supported to support serial ports AT instructions.The equipment connects
It is connected to the first serial of STM32 controllers.Lora modules use the USR-L100-C modules of someone's science and technology, the module working frequency
For 398-525Mhz, representative value 470M, transmission range can pass through AMS1117 up to 4700 meters, operating voltage 1.8V-3.6V
Required voltage is exported, which communicate through a serial port, is connected to the second string of controller with STM32 embedded controllers
Mouthful.
Automatic path planning has carried out emulation testing, in emulation experiment setting breeding spaces two-dimensional grid size be 1km ×
1km, inspection point generate 20 at random, and genetic algorithm initialization population selects 100 individuals, crossover probability 0.9, mutation probability
It is 0.4, unmanned boat Origin And Destination coordinate is a (0,0), and in 500 generation of iterations, optimization process is as shown in fig. 6, can from Fig. 6
To find out, after about 150 iteration, optimal value gradually tends towards stability, and optimum path planning is as shown in Figure 7, wherein dog leg path
For the path of planning, traveling total distance is 400 kms or so, the path optimal value 900 generated at random when starting compared with optimization
More kms, greatly improve efficiency.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made in the essential scope of the present invention should also belong to the present invention's
Protection domain.
Claims (10)
1. a kind of unmanned information acquisition system of sea water culture environment, including acquisition terminal, high in the clouds and client, which is characterized in that
The acquisition terminal includes hull, and hull is equipped with signal receiver, and the both sides of hull are respectively equipped with buoyant device, hull
Upper surface is equipped with motor, solar attachment and air velocity transducer, and the leading portion of hull is equipped with anticollision ultrasonic wave module, hull
Center be equipped with equipment compartment, sensor cabin and draining cabin, the tail portion of hull is equipped with propulsion device, several electronics is equipped in equipment compartment
Equipment, sensor cabin are equipped with openable and closable shutter, are internally provided with folding stand and sensor assembly, drive of the folding stand in motor
Dynamic lower drive sensor assembly is flexible.
2. a kind of unmanned information acquisition system of sea water culture environment as described in claim 1, which is characterized in that the buoyancy dress
Set and be made of cross bar and two montants, the central shaft of cross bar and hull is arranged in parallel, montant and the perpendicular setting of cross bar, cross bar and
Montant is all made of buoyant material and is made.
3. a kind of unmanned information acquisition system of sea water culture environment as described in claim 1, which is characterized in that the equipment compartment
For closed bin, built-in GPS module, information transmission modular, single chip control module and clock module, the cabin by internal pipeline with
Signal receiver carries out signal transmission.
4. a kind of unmanned information acquisition system of sea water culture environment as described in claim 1, which is characterized in that the sensor
Module is in cuboid, and several sensors are equipped in cuboid, and each face of cuboid is equipped with through-hole, is driven and rolled over by motor
Superimposed stretches, and shutter is opened, and sensor is stretched out, and when the measurement is finished, sensor is withdrawn, the through-hole that seawater passes through cuboid
Into draining storehouse, shutter is closed and is drained by sliding block.
5. a kind of unmanned information acquisition system of sea water culture environment as described in claim 1, which is characterized in that the draining storehouse
In strip, bulkhead is smooth, is set in storehouse there are one the sliding block being seamlessly connected with bulkhead, and bulkhead end is provided with drainage door, senses
When device is transferred, sliding block receives the left side, and seawater enters draining cabin, and when sensor cabin is recycled, lower end shutter is closed, and the sliding block right side is drawn,
Seawater is discharged by drainage door, drainage door is closed after discharge.
6. a kind of unmanned information acquisition system of sea water culture environment as described in claim 1, which is characterized in that the solar energy
Reception device includes silicon tabula rasa, electronic compass compass module, clock module and motor；When work, electronic compass compass mould
Block acquires current hull angle by north, and the sun angle of time in season division is pressed according to current time, and adjust automatically motor makes electricity
Machine drives silicon tabula rasa to face sun angle.
7. a kind of unmanned information collecting method of sea water culture environment is supported using seawater as claimed in any one of claims 1 to 6
Grow the unmanned information acquisition system of environment, which is characterized in that specific：
Collection point coordinate information is provided by high in the clouds or client；
The unmanned information acquisition system of sea water culture environment is according to the collection point coordinate information provided, automatic path planning；Automatic rule
It draws path and uses genetic algorithm, be extra large surface with the working environment of the unmanned information acquisition system of sea water culture environment, establish two dimension
Tie up Discrete Grid space under cartesian coordinate system (x, y), △ x, △ y are respectively the size of x, y-axis direction grid, any in grid
Point q is defined as
Q=q (i, j), 0≤i<m,0≦j<n (1)
Wherein m, n are respectively x, the maximum grid number in y-axis direction；
Two dimensional surface space is subjected to rasterizing processing, each grid is square, and the coordinate of any one collection point is (xi,
yi), problem of establishing is from the unmanned information acquisition system anchor point of sea water culture environment, by all collection points, acquisition letter
The model of the shortest path of anchor point is returned to after breath；A distance is defined to indicate actual range between the two, distance definition
For：
Wherein, L is the distance between 2 points, xi,yiFor the coordinate of collection point, to each individual path evaluation, using path distance
As fitness, i.e., the distance for the test point that every route successively passes through is calculated, and add up, as the paths
Fitness function, specifically include following steps：
Step 1：The unmanned information acquisition system of sea water culture environment waits for host computer or the inspection coordinate of bank base PC machine, and by inspection
Coordinate is stored with array form；
Step 2：Initialization of population, the individual in population randomly generate, the corresponding alternative path of each individual, a
The sequence for being produced as each collection point and passing through of body, for the unmanned information acquisition system automatic path planning of sea water culture environment
Feature forms chromosome, each dye using the node serial number of each demand point as gene using decimal coded scheme
There is sequencing in the inspection point that is encoded to of colour solid；
Step 3：Selection opertor selects high-quality individual, eliminates the individual of fitness difference；
Step 4：Crossover operator, crossover operation refer to the parent chromosome that two are mutually paired and are exchanged with each other its portion in a manner
Divide gene, generates two new child chromosomes；
Step 5：Mutation operator randomly selects chromosome any two position, is interchangeable operation according to mutation probability；
Step 6：Judge whether iterations reach setting value, if not up to, going to step 1, if reaching, proceeding by step
7；
Step 7：The path obtained according to optimization starts inspection, when navigating by water between points, according to air velocity transducer and sensing
Water flow rate sensor dynamic in device cabin determines the power of propulsion device, that is, reduces power when being in fair current with the wind automatically, save
The energy, when contrary wind adverse current, increase power, and straight-line travelling reduces distance.
8. a kind of unmanned information collecting method of sea water culture environment as claimed in claim 7, which is characterized in that the step 4
In, it is first when crossover operator is applied to parent individuality X1 and X2 using partial intersection scheme in order to keep the diversity of population
First random selection exchanges section I to J from parent individuality X1 and X2, then will be corresponding in the gene and V2 in X1 behind I before J
The gene of position intersects by turn,, must after exchange to avoid the occurrence of leak source and repeating point since the path all the points must all be passed through
Must by the data being swapped out are become with exchanging the equal position of element come in original chromosome, exchange complete to be formed two it is new
Chromosome, finally detect chromosome legitimacy, if chromosome do not conform to rule carry out step 3, it is legal to carry out step 5.
9. a kind of unmanned information collecting method of sea water culture environment as claimed in claim 7, which is characterized in that information collection is complete
Cheng Hou, hull are uploaded to high in the clouds by 4G networks, and the reception and storage of information are completed in high in the clouds, while sending and confirming to hull
Information ensures to transmit the reliability of information by shaking hands.
10. a kind of unmanned information collecting method of sea water culture environment as claimed in claim 7, which is characterized in that information collection
After the completion, information is reached live PC machine by hull by Lora communications, if PC machine passes through there are Internet road
Information is uploaded to high in the clouds by the software mounted on PC machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314716.7A CN108445883B (en) | 2018-04-10 | 2018-04-10 | Unmanned information acquisition system and method for mariculture environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810314716.7A CN108445883B (en) | 2018-04-10 | 2018-04-10 | Unmanned information acquisition system and method for mariculture environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108445883A true CN108445883A (en) | 2018-08-24 |
| CN108445883B CN108445883B (en) | 2024-02-23 |
Family
ID=63199497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810314716.7A Active CN108445883B (en) | 2018-04-10 | 2018-04-10 | Unmanned information acquisition system and method for mariculture environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108445883B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501970A (en) * | 2018-11-12 | 2019-03-22 | 浙江海洋大学 | A kind of hydrometeorological real-time monitoring of collection and Culture pure seine automatic checkout system |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| CN114371268A (en) * | 2022-01-10 | 2022-04-19 | 江苏大学 | Suspension type self-balancing self-cruising water quality on-line monitoring device and monitoring and evaluating method |
| CN114371268B (en) * | 2022-01-10 | 2024-05-14 | 江苏大学 | Suspension type self-balancing self-cruising water quality on-line monitoring device, monitoring and evaluating method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201919445U (en) * | 2010-10-29 | 2011-08-10 | 大连海事大学 | Onboard ecological system |
| CN103507938A (en) * | 2013-09-12 | 2014-01-15 | 南通明德重工有限公司 | Power positioning system of platform supply ship |
| CN104765333A (en) * | 2015-01-26 | 2015-07-08 | 常州大学 | Aquaculture intelligent ship monitoring system based on GPRS |
| CN104914226A (en) * | 2015-06-07 | 2015-09-16 | 电子科技大学 | Waterborne intelligent robot based on DSP |
| CN204989163U (en) * | 2015-09-09 | 2016-01-20 | 广州睿航电子科技有限公司 | Unmanned automatic navigation water quality monitoring ship |
| CN105890933A (en) * | 2016-06-13 | 2016-08-24 | 天津大学 | Intelligent automatic water sample collector |
| CN206885285U (en) * | 2017-06-26 | 2018-01-16 | 中国水产科学研究院淡水渔业研究中心 | The automatic monitoring ship of cultivation water |
-
2018
- 2018-04-10 CN CN201810314716.7A patent/CN108445883B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201919445U (en) * | 2010-10-29 | 2011-08-10 | 大连海事大学 | Onboard ecological system |
| CN103507938A (en) * | 2013-09-12 | 2014-01-15 | 南通明德重工有限公司 | Power positioning system of platform supply ship |
| CN104765333A (en) * | 2015-01-26 | 2015-07-08 | 常州大学 | Aquaculture intelligent ship monitoring system based on GPRS |
| CN104914226A (en) * | 2015-06-07 | 2015-09-16 | 电子科技大学 | Waterborne intelligent robot based on DSP |
| CN204989163U (en) * | 2015-09-09 | 2016-01-20 | 广州睿航电子科技有限公司 | Unmanned automatic navigation water quality monitoring ship |
| CN105890933A (en) * | 2016-06-13 | 2016-08-24 | 天津大学 | Intelligent automatic water sample collector |
| CN206885285U (en) * | 2017-06-26 | 2018-01-16 | 中国水产科学研究院淡水渔业研究中心 | The automatic monitoring ship of cultivation water |
Non-Patent Citations (1)
| Title |
|---|
| 张玉奎: "水面无人艇路径规划技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501970A (en) * | 2018-11-12 | 2019-03-22 | 浙江海洋大学 | A kind of hydrometeorological real-time monitoring of collection and Culture pure seine automatic checkout system |
| CN113277049A (en) * | 2021-06-25 | 2021-08-20 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| CN113277049B (en) * | 2021-06-25 | 2022-09-23 | 贵州大学明德学院 | Multifunctional bionic robot fish for water quality monitoring |
| CN114371268A (en) * | 2022-01-10 | 2022-04-19 | 江苏大学 | Suspension type self-balancing self-cruising water quality on-line monitoring device and monitoring and evaluating method |
| CN114371268B (en) * | 2022-01-10 | 2024-05-14 | 江苏大学 | Suspension type self-balancing self-cruising water quality on-line monitoring device, monitoring and evaluating method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108445883B (en) | 2024-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108287018B (en) | Marine environment noise measuring device based on wave glider | |
| CN105371896B (en) | A kind of self study track navigation cruise-type multi-parameter water-quality remote monitoring system and method | |
| CN206339228U (en) | Ocean platform Integrated Observation System | |
| CN102052923B (en) | Small-sized underwater robot combined navigation system and navigation method | |
| CN105842412A (en) | Water environment vertical distribution comprehensive on-line monitoring buoy and monitoring system | |
| CN103287549A (en) | Intelligent water quality monitoring and water surface cleaning ship | |
| CN105235826A (en) | Multifunctional marine environment monitoring platform | |
| CN206394823U (en) | A kind of hydrometeorological multi-parameter observation buoy | |
| CN108445883A (en) | A kind of unmanned information acquisition system of sea water culture environment and method | |
| CN105937921A (en) | Floating type system for simultaneously monitoring water currents and water quality | |
| CN102307399A (en) | Sea environment quality monitoring system based on Phidgets sensing control | |
| CN110745213B (en) | Anchoring system performance on-site monitoring system suitable for deep sea buoy elastic looseness formula | |
| CN109540213A (en) | Coastal waters water front marine eco-environment information collection and processing system | |
| CN206362346U (en) | Floating hydrology visualizer | |
| Chen et al. | The mobile water quality monitoring system based on low-power wide area network and unmanned surface vehicle | |
| CN105701066A (en) | Estuary-tidal-range fast prediction method | |
| CN114814990B (en) | Device for forecasting and monitoring tidal volume of bay and working method thereof | |
| CN106628003A (en) | Floating marine hydrological observation instrument | |
| CN111291520A (en) | Intelligent ocean anchoring buoy station location site selection method for optimizing space efficiency | |
| CN110146184A (en) | Anti-surging floating body, water temperature measuring device and Integrated Measurement System | |
| CN215727476U (en) | Real-time detection device for soil moisture content | |
| CN115061482A (en) | Wave glider global path planning method and system | |
| CN206394821U (en) | Floating marine hydrological observation device | |
| Zheng et al. | Optimization of water microbial concentration monitoring system based on internet of things | |
| CN103812509A (en) | Marine linear sensor array data compression method based on discrete cosine transformation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |