CN103491148A - Mobile deep sea cultivation monitoring system - Google Patents
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Abstract
The invention discloses a mobile deep sea cultivation monitoring system. The mobile deep sea cultivation monitoring system comprises a main control circuit terminal, an underwater acoustic communication module, a remote main monitoring center terminal, a remoter 3G mobile phone monitoring terminal, an underwater wireless sensor network positioning module and an underwater mobile monitoring terminal. According to the mobile deep sea cultivation monitoring system, the characteristics of an underwater vehicle are adopted, mobile dynamic monitoring of environmental parameters can be achieved, and the defect that fixed point monitoring in a fixed point area can only be achieved in a traditional mode is overcome. The mobile deep sea cultivation monitoring system not only can achieve environmental parameter monitoring in a seawater upper surface but also can achieve environmental parameter monitoring in a deep sea area of a cultivation area through an underwater mobile monitoring platform. The 3G communication technology and the UWSN technology are combined, and the data transmission problem between a seaborne remote monitoring terminal and the underwater mobile monitoring platform is solved. An automatic way-finding function of the underwater vehicle uses the positioning function of a UWSN, and the underwater mobile monitoring platform can be accurately positioned.
Description
Technical field
The present invention relates to a kind of fishery cultivating supervisory control system, relate in particular to a kind of portable deep-sea breeding supervisory control system based on 3G communication and UWSN technology.
Background technology
China is an ocean big country, and boundless ocean area and very long coastline are arranged, and extremely is applicable to development Deep sea net cage cultural technique.Early, advanced technology, have a set of perfect production manage system to the starting of external deep-sea breeding, and deep-sea breeding is also to the future development of intensive, scale, industrialization.Because the water quality parameter in deep-sea breeding waters directly affects halobiontic existence, yet the diversity of marine environment, polytropy have been brought difficulty to the deep-sea breeding technology, therefore, the monitoring of deep-sea breeding environmental parameter have been become to a kind of problem of being badly in need of research.Because China's deep-sea breeding is started late, backward in technique, still rely on to a great extent the artificial monitoring that realizes, the monitoring environment parameter, will inevitably cause industrial loss in real time, wastes time and energy simultaneously, increases aquaculture cost.Therefore, a kind of supervisory control system of can the Real-Time Monitoring breeding environment and being controlled has become exigence.
Underwater wireless sensor network (UWSN) is to use the random cloth of Node to be put into the target waters, the self-organizing network of the multi-hop that node forms by the underwater sound communication mode, the information of object send to the recipient in perception, acquisition and processing network's coverage area.The net cage remote monitoring system proposed in patent documentation " CN102866678A " only relates to the regional environmental monitoring of fixing a point for the sea farming district, can not realize the mobile dynamic monitoring to environment in culturing area, and only realized the environmental parameter monitoring of seawater surface area, can not monitor bathypelagic environment.Due to the complexity of marine environment, the environment of different depth waters seawater differs greatly, so, to ocean different depth water environment in real time, accurately monitoring can provide safeguard for the deep-sea three-dimensional culture.If the technology based on UWSN is improved existing method, by UWSN, mobile monitoring platform is under water carried out to dynamic track and localization, determining the mobile monitoring platform accurate location in zone under water, will be a kind of portable deep-sea breeding supervisory control system that application prospect is arranged greatly thereby obtain this regional environmental parameter.
Summary of the invention
The object of the present invention is to provide a kind of portable deep-sea breeding supervisory control system, except realizing the environmental parameter monitoring of seawater surface area, can also be by mobile monitoring platform realization under water to bathypelagic environmental parameter monitoring in culturing area.
Purpose of the present invention is achieved by the following technical programs:
A kind of portable deep-sea breeding supervisory control system, comprise main control circuit terminal 1, underwater sound communication module 2, long-range main Surveillance center terminal 3, long-range 3G mobile monitor terminal 4, underwater wireless sensor network locating module 5 and mobile monitoring terminal 6 under water, described main control circuit terminal 1 comprises main control circuit module 11, video monitoring module 12,3G communication module 13 and actuator module 14, the RS232 serial communication end of described main control circuit module 11 is connected to the RS232 serial communication end of video monitoring module 12, the RS232 serial communication end of described main control circuit module 11 is connected to the RS232 serial communication end of 3G communication module 13, and the RS232 serial communication end of described main control circuit module 11 is connected to the RS232 serial communication end of actuator module 14, described underwater sound communication module 2 is a underwater acoustic communication set, and the RS232 serial ports of described underwater sound communication module 2 is connected to the RS232 serial ports end of the main control circuit module 11 of main control circuit terminal 1, 3G communication module 13 in described main control circuit terminal 1 is connected by the mode of 3G network with long-range main Surveillance center terminal 3, long-range 3G mobile monitor terminal 4, described underwater wireless sensor network locating module 5 is comprised of a plurality of underwater wireless sensor network nodes, and the serial ports output of the host node 51 of underwater wireless sensor network locating module 5 is connected to the RS232 serial ports end of underwater sound communication module 2, the described terminal of mobile monitoring under water 6 comprises sensor assembly 61, data acquisition module 62, data storage module 63, modem module 64 under water, controller module 65, power module 66 and submarine navigation device actuator module 67, the output of described sensor assembly 61 is connected to the input of data acquisition module 62, the output of data acquisition module 62 is connected with the input of data storage module 63, described controller module 65 respectively with data acquisition module 62, data storage module 63, modem module 64 under water, power module 66, the port of actuator module 67 is connected, the described terminal of mobile monitoring under water 6 is integrated in the submarine navigation device of free running under water, and each node in described underwater wireless sensor network locating module 5 is realized communicating by letter with adopting the underwater wireless communication technology under water between mobile monitoring terminal 6.
Compared with prior art, the invention has the beneficial effects as follows: utilize the characteristics of submarine navigation device, realize the portable dynamic monitoring to environmental parameter, solve in traditional approach the deficiency of the regional fixed point monitoring of can only fixing a point; The present invention, can also be by mobile monitoring platform realization under water to bathypelagic environmental parameter monitoring in culturing area except realizing the environmental parameter monitoring of seawater surface area; The present invention, by the 3G communication technology is combined with the UWSN technology, has well solved the data transmission problems between the lower mobile monitoring platform in maritime remote monitor terminal and sea; The automatic pathfinding function of aircraft has mainly been utilized the positioning function of UWSN, to being loaded into the registration of the mobile monitoring platform in submarine navigation device.
The accompanying drawing explanation
Fig. 1 is the entire block diagram of supervisory control system of the present invention;
Fig. 2 is mobile monitoring module frame chart under water;
Fig. 3 is main control circuit terminal structure composition diagram;
Fig. 4 is system monitoring terminal function interface figure;
Fig. 5 is working-flow figure.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Be the whole schematic block diagram of deep-sea breeding supervisory control system of the present invention as shown in Figure 1, supervisory control system totally is divided into two parts: monitor portion and marine monitor portion are descended in sea.
Portable deep-sea breeding supervisory control system comprises main control circuit terminal 1, underwater sound communication module 2, long-range main Surveillance center terminal 3, long-range 3G mobile monitor terminal 4, underwater wireless sensor network locating module 5 and mobile monitoring terminal 6 under water; As shown in Figure 3, described main control circuit terminal 1 comprises main control circuit module 11, video monitoring module 12,3G communication module 13 and actuator module 14, the RS232 serial communication end of described main control circuit module 11 is connected to the RS232 serial communication end of video monitoring module 12, the RS232 serial communication end of described main control circuit module 11 is connected to the RS232 serial communication end of 3G communication module 13, and the RS232 serial communication end of described main control circuit module 11 is connected to the RS232 serial communication end of actuator module 14; Described underwater sound communication module 2 is an efficient underwater acoustic communication set, adopt acoustics bandwidth spread spectrum, can effectively solve the problem of the low reliability, low rate and the high power consumption that extensively exist in the communications field under water, the RS232 serial ports of described underwater sound communication module 2 is connected to the RS232 serial ports end of the main control circuit module 11 of main control circuit terminal 1; 3G communication module 13 in described main control circuit terminal 1 is connected by the mode of 3G network with long-range main Surveillance center terminal 3, long-range 3G mobile monitor terminal 4; Described underwater wireless sensor network locating module 5 is comprised of a plurality of underwater wireless sensor network nodes, and the serial ports output of the host node 51 of underwater wireless sensor network locating module 5 is connected to the RS232 serial ports end of underwater sound communication module 2; As shown in Figure 2, the described terminal of mobile monitoring under water 6 comprises sensor assembly 61, data acquisition module 62, data storage module 63, modem module 64, controller module 65, power module 66 and submarine navigation device actuator module 67 under water, sensor assembly 61 comprises that the transducers such as ocean temperature, pH value and dissolved oxygen form, and complete obtaining culture zone breeding environment parameter; Data acquisition module 62 completes the collection of monitoring parameter, and data storage module 63 completes the preservation of data; The send and receive under water of modem module 64 main settling signals under water; Power module 66 provides electric weight; Submarine navigation device actuator module 67 realizes the underwater navigation effect of aircraft; 65 execution of coordinating all modules of controller module; The output of described sensor assembly 61 is connected to the input of data acquisition module 62, the output of data acquisition module 62 is connected with the input of data storage module 63, and described controller module 65 is respectively with data acquisition module 62, data storage module 63, the port of modem module 64, power module 66, actuator module 67 is connected under water; The described terminal of mobile monitoring under water 6 is integrated in the submarine navigation device of free running under water, and each node in described underwater wireless sensor network locating module 5 is realized communicating by letter with adopting the underwater wireless communication technology under water between mobile monitoring terminal 6.
The present invention to the employing of the described terminal of mobile monitoring under water innovation initiatively and automatic two kinds of patterns realize the movable type monitoring to the culture zone environment.Under aggressive mode, remote monitoring terminal can send the direction of motion that sailing command is controlled aircraft by artificial, thereby realizes the active control of aircraft; Under automatic mode, remote monitoring terminal only need send the location parameter of monitored area to aircraft, and aircraft is utilized existing pathfinding algorithm, realizes the function of automatic pathfinding.The automatic pathfinding function of aircraft has mainly been utilized the positioning function of UWSN, and underwater wireless sensor network (UWSN) locating module 5 mainly is comprised of several child nodes and an aggregation node (host node); The aggregation node of underwater wireless sensor network locating module 5 obtains mobile monitoring terminal 6 records parameter and each child node under water to the azimuth information of mobile monitoring terminal 6 under water, and send to main control circuit terminal 1 by underwater sound communication module 2, utilize existing location algorithm can realize the accurate location to the mobile monitoring platform.UWSN completes to the positioning action of aircraft and by its location parameter and sends to processing module, by the location parameter by current location parameter and monitor terminal setting relatively, constantly adjust the direction of motion, thereby realize the process of the automatic pathfinding of aircraft, the automatic mode of aircraft can complete motion more accurately when alleviating manpower.
In the present invention, at underwater wireless sensor network locating module 5 as above, realize during mobile monitoring module 6 is carried out pinpoint process under water, by having proposed a kind of new target localization algorithm on the basis at existing location algorithm: a kind of population Newton iterative based on DOA, the first step utilizes particle cluster algorithm to find data the most accurately in all data groups by the angle on target direction parameter by recording; Utilize the further optimum position data of Newton iterative on the basis of the optimization data that second step section obtains in the first step, obtain optimal result.
Described main control circuit module 11 is nucleus modules of supervisory control system of the present invention, the present invention has selected the ARM11 core processor based on S3C6410, and built-in Linux operating system has been installed, then mixes necessary peripheral interface circuit and just can complete processing capacity.3G communication module 13, actuator module 14 are connected on main control circuit module 11 with video monitoring module 12, by video monitoring module 12, can realize the Real-Time Monitoring to site environment; Remote monitoring terminal is controlled actuator module 14 and is changed the parameters such as pH value in the seawater of culture zone, dissolved oxygen; The 3G communication module realizes and being connected of long-range main Surveillance center terminal 3, long-range 3G mobile monitor terminal 4 by the 3G communication network; The information that underwater sound communication module 2 is sent is processed, calculate the azimuth information of mobile monitoring terminal 6 under water, then by 3G network, send to remote monitoring terminal to show, main control circuit terminal 1 is accepted the instruction that remote monitoring terminal sends by network simultaneously, realizes the control to each module in supervisory control system; In the present invention, utilized the function of buoy for the mounting means of main control circuit terminal, it is arranged on buoy, both facilitating also can be cost-saving.
Deficiency due to wire transmission mode, the subsurface communication mode of supervisory control system is selected the communication based on underwater sound communication, the present invention adopts UWM2000H type underwater acoustic communication set, communication equipment above water, underwater portion are adopted to RS232 serial communication mode with underwater wireless sensor network locating module 5 and main control circuit terminal 1 respectively, and adopt sonar communication between communication equipment above water, underwater portion.
Be illustrated in figure 4 the display interface of system monitoring terminal, video display window shows the cultivation site environment in real time, regulates the camera angle controller and can realize comprehensive monitoring function; Mobile monitoring platform locating and displaying window can accurately be located and the underwater position of display platform, and the aircraft controller can be controlled the direction of motion of aircraft simultaneously; Information display window shows the breeding environment parameter that transducer obtains in real time; The information send window is realized the control to actuator module such as motors; Monitor terminal has used database, and the breeding environment parameter of acquisition is kept in database, for the user provides the query function of historical data, and can grasp by historical data analysis the environmental aspect in this waters; Monitor terminal has increased the function of warning and note prompting simultaneously, when the breeding environment parameter obtained from transducer exceeds the bound of system setting, will send warning, and by the short message mode reminding user.
In content of the present invention, supervisory control system is controlled the communication of each intermodule, form corresponding transmission command frame by the processing to accepting instruction, data, the frame format that sends instruction has comprised frame head, segments of instruction data, crc field, reserved field and postamble, the content that provides each field of agreement as shown in table 1, and each zone adopt low order front, high significance bit after form; Described frame head is start of frame delimiter, the beginning that indicates a frame, adopt 8 bit positions 10111111, segments of instruction data mainly comprises to be selected the control of relevant control module, as to video monitoring module 12, actuator module 14 and the control of mobile monitoring terminal 6 under water; Described CRC is error detection mechanism, checks the error of transmission of data, adopts heavy remaining detection of circulation of 16; Described reserved field is to add use for giving over to other function, leaves 2 bytes; Described postamble, as the sign that finishes a frame, adopts 8 bit positions 11111101.In the present invention, mainly segments of instruction data is introduced, as shown in table 2.
Table 1
Table 2
As shown in Figure 5, be the flow chart of system normal operation of the present invention, at first complete the initial work of each module software and hardware, be that system is in a stable operating state.The main control circuit module completes data sampling and processing and the demonstration of cultivation parameter by the command information that obtains monitor terminal; And control respective execution mechanisms collaborative work.
The present invention mainly is aimed at a kind of monitor mode that the deficiency of deep-sea breeding supervisory control system technology proposes, except good use being arranged aspect the deep-sea breeding monitoring, can also apply it in the monitoring of marine environment, by utilizing the active monitoring performance of mobile monitoring platform, can be real-time, long-range the environmental aspect in acquisition fixed point marine site.
In addition to the implementation, the present invention can also have other execution modes, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop in the protection range of requirement of the present invention.
Claims (1)
1. a portable deep-sea breeding supervisory control system, it is characterized in that, comprise main control circuit terminal (1), underwater sound communication module (2), long-range main Surveillance center terminal (3), long-range 3G mobile monitor terminal (4), underwater wireless sensor network locating module (5) and mobile monitoring terminal (6) under water, described main control circuit terminal (1) comprises main control circuit module (11), video monitoring module (12), 3G communication module (13) and actuator module (14), the RS232 serial communication end of described main control circuit module (11) is connected to the RS232 serial communication end of video monitoring module (12), the RS232 serial communication end of described main control circuit module (11) is connected to the RS232 serial communication end of 3G communication module (13), and the RS232 serial communication end of described main control circuit module (11) is connected to the RS232 serial communication end of actuator module (14), described underwater sound communication module (2) is a underwater acoustic communication set, and the RS232 serial ports of described underwater sound communication module (2) is connected to the RS232 serial ports end of the main control circuit module (11) of main control circuit terminal (1), 3G communication module (13) in described main control circuit terminal (1) is connected by the mode of 3G network with long-range main Surveillance center terminal (3), long-range 3G mobile monitor terminal (4), described underwater wireless sensor network locating module (5) is comprised of a plurality of underwater wireless sensor network nodes, and the serial ports output of the host node (51) of underwater wireless sensor network locating module (5) is connected to the RS232 serial ports end of underwater sound communication module (2), the described terminal of mobile monitoring under water (6) comprises sensor assembly (61), data acquisition module (62), data storage module (63), modem module (64) under water, controller module (65), power module (66) and submarine navigation device actuator module (67), the output of described sensor assembly (61) is connected to the input of data acquisition module (62), the output of data acquisition module (62) is connected with the input of data storage module (63), described controller module (65) respectively with data acquisition module (62), data storage module (63), modem module (64) under water, power module (66), the port of actuator module (67) is connected, the described terminal of mobile monitoring under water (6) is integrated in the submarine navigation device of free running under water, and each node in described underwater wireless sensor network locating module (5) is realized communicating by letter with adopting the underwater wireless communication technology under water between mobile monitoring terminal (6).
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Cited By (18)
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| CN104301675A (en) * | 2014-09-30 | 2015-01-21 | 杭州电子科技大学 | Gray level image transmission method based on underwater acoustic communication |
| CN104918263A (en) * | 2015-06-08 | 2015-09-16 | 浙江理工大学 | Mobile auxiliary networking device based on underwater acoustic sensor network, and networking method thereof |
| CN104936194A (en) * | 2015-06-08 | 2015-09-23 | 浙江理工大学 | Underwater acoustic sensor networks and node deployment and networking method thereof |
| CN105118202A (en) * | 2015-09-01 | 2015-12-02 | 青岛森科特智能仪器有限公司 | Alarming and monitoring system and method for sea cucumber culture farm with artificial reefs |
| CN105704213A (en) * | 2016-01-08 | 2016-06-22 | 彭郑 | Wireless network buoy system used for environment monitoring |
| CN106231609A (en) * | 2016-09-22 | 2016-12-14 | 北京工商大学 | A kind of underwater sensor network Optimization deployment method based on highest priority region |
| CN106780094A (en) * | 2017-01-23 | 2017-05-31 | 安徽大尺度网络传媒有限公司 | A kind of fishing animal husbandry long distance service system |
| TWI586166B (en) * | 2014-10-24 | 2017-06-01 | Papago Inc | Mobile indoor monitoring device |
| CN107132580A (en) * | 2017-04-28 | 2017-09-05 | 任勇 | The detection system of submarine target |
| CN107173286A (en) * | 2017-05-25 | 2017-09-19 | 上海海洋大学 | The method of abalone sea-farming platform and monitoring abalone culture process |
| CN108459527A (en) * | 2018-04-12 | 2018-08-28 | 澳门培正中学 | A kind of web-based underwater detectoscope control method and system |
| CN108918806A (en) * | 2018-07-11 | 2018-11-30 | 海南大学 | A kind of underwater environment monitoring system based on ROV |
| CN109601436A (en) * | 2019-01-24 | 2019-04-12 | 上海孚实船舶科技有限公司 | A kind of deep-sea breeding method based on environmental monitoring |
| CN110794107A (en) * | 2019-11-12 | 2020-02-14 | 山东交通学院 | Automatic inspection intelligent fishery monitoring device and monitoring method |
| CN111474315A (en) * | 2020-05-26 | 2020-07-31 | 扬州大学 | Water quality monitoring and early warning system and monitoring and early warning method based on static on-duty and dynamic inspection |
| CN112314509A (en) * | 2020-12-17 | 2021-02-05 | 中国科学院深海科学与工程研究所 | Deep sea macrobiology fidelity culture device and culture method |
| CN113055440A (en) * | 2021-02-08 | 2021-06-29 | 汕头大学 | Underwater monitoring control method and system based on sensor network |
| CN114097679A (en) * | 2021-11-29 | 2022-03-01 | 江苏科技大学 | Marine ranching net cage |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104301675A (en) * | 2014-09-30 | 2015-01-21 | 杭州电子科技大学 | Gray level image transmission method based on underwater acoustic communication |
| CN104301675B (en) * | 2014-09-30 | 2017-07-21 | 杭州电子科技大学 | Gray level image transmission method based on underwater sound communication |
| TWI586166B (en) * | 2014-10-24 | 2017-06-01 | Papago Inc | Mobile indoor monitoring device |
| CN104918263B (en) * | 2015-06-08 | 2018-08-21 | 浙江理工大学 | A kind of mobile auxiliary network device and its network-building method based on underwater sound sensor net |
| CN104918263A (en) * | 2015-06-08 | 2015-09-16 | 浙江理工大学 | Mobile auxiliary networking device based on underwater acoustic sensor network, and networking method thereof |
| CN104936194A (en) * | 2015-06-08 | 2015-09-23 | 浙江理工大学 | Underwater acoustic sensor networks and node deployment and networking method thereof |
| CN104936194B (en) * | 2015-06-08 | 2018-08-21 | 浙江理工大学 | A kind of water sound sensor network and its node deployment and network-building method |
| CN105118202A (en) * | 2015-09-01 | 2015-12-02 | 青岛森科特智能仪器有限公司 | Alarming and monitoring system and method for sea cucumber culture farm with artificial reefs |
| CN105704213A (en) * | 2016-01-08 | 2016-06-22 | 彭郑 | Wireless network buoy system used for environment monitoring |
| CN106231609A (en) * | 2016-09-22 | 2016-12-14 | 北京工商大学 | A kind of underwater sensor network Optimization deployment method based on highest priority region |
| CN106231609B (en) * | 2016-09-22 | 2019-06-21 | 北京工商大学 | A kind of underwater sensor network Optimization deployment method based on highest priority region |
| CN106780094A (en) * | 2017-01-23 | 2017-05-31 | 安徽大尺度网络传媒有限公司 | A kind of fishing animal husbandry long distance service system |
| CN107132580A (en) * | 2017-04-28 | 2017-09-05 | 任勇 | The detection system of submarine target |
| CN107173286B (en) * | 2017-05-25 | 2019-12-17 | 上海海洋大学 | Abalone mariculture platform and method for monitoring abalone culture process |
| CN107173286A (en) * | 2017-05-25 | 2017-09-19 | 上海海洋大学 | The method of abalone sea-farming platform and monitoring abalone culture process |
| CN108459527A (en) * | 2018-04-12 | 2018-08-28 | 澳门培正中学 | A kind of web-based underwater detectoscope control method and system |
| CN108918806A (en) * | 2018-07-11 | 2018-11-30 | 海南大学 | A kind of underwater environment monitoring system based on ROV |
| CN109601436B (en) * | 2019-01-24 | 2021-11-30 | 上海孚实船舶科技有限公司 | Deep sea culture method based on environmental monitoring |
| CN109601436A (en) * | 2019-01-24 | 2019-04-12 | 上海孚实船舶科技有限公司 | A kind of deep-sea breeding method based on environmental monitoring |
| CN110794107A (en) * | 2019-11-12 | 2020-02-14 | 山东交通学院 | Automatic inspection intelligent fishery monitoring device and monitoring method |
| CN111474315A (en) * | 2020-05-26 | 2020-07-31 | 扬州大学 | Water quality monitoring and early warning system and monitoring and early warning method based on static on-duty and dynamic inspection |
| CN112314509A (en) * | 2020-12-17 | 2021-02-05 | 中国科学院深海科学与工程研究所 | Deep sea macrobiology fidelity culture device and culture method |
| CN112314509B (en) * | 2020-12-17 | 2024-05-28 | 中国科学院深海科学与工程研究所 | Deep sea macro organism fidelity culture device and culture method |
| CN113055440A (en) * | 2021-02-08 | 2021-06-29 | 汕头大学 | Underwater monitoring control method and system based on sensor network |
| CN114097679A (en) * | 2021-11-29 | 2022-03-01 | 江苏科技大学 | Marine ranching net cage |
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Application publication date: 20140101 |