CN108445883B - Unmanned information acquisition system and method for mariculture environment - Google Patents
Unmanned information acquisition system and method for mariculture environment Download PDFInfo
- Publication number
- CN108445883B CN108445883B CN201810314716.7A CN201810314716A CN108445883B CN 108445883 B CN108445883 B CN 108445883B CN 201810314716 A CN201810314716 A CN 201810314716A CN 108445883 B CN108445883 B CN 108445883B
- Authority
- CN
- China
- Prior art keywords
- sensor
- information acquisition
- module
- cabin
- ship body
- 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.)
- Active
Links
- 238000009364 mariculture Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 210000000349 chromosome Anatomy 0.000 claims description 38
- 238000007689 inspection Methods 0.000 claims description 14
- 108090000623 proteins and genes Proteins 0.000 claims description 14
- 239000013535 sea water Substances 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 7
- 229910052710 silicon Inorganic materials 0.000 claims description 7
- 239000010703 silicon Substances 0.000 claims description 7
- 230000035772 mutation Effects 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 5
- 230000002068 genetic effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 5
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 4
- 229910052760 oxygen Inorganic materials 0.000 description 4
- 239000001301 oxygen Substances 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 241000251511 Holothuroidea Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000012545 processing 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 an unmanned information acquisition system and method for a mariculture environment, and particularly relates to the technical field of mariculture environment monitoring. This unmanned information acquisition system of mariculture environment includes acquisition terminal, high in the clouds and customer end, acquisition terminal includes the hull, be equipped with signal receiving equipment (including GPS antenna, information transmission module antenna) on the hull, the both sides of hull are equipped with buoyancy device respectively, the upper surface of hull is equipped with the motor, solar energy receiving arrangement and wind speed sensor, the device anterior segment of hull is equipped with anticollision ultrasonic module, the central authorities of hull are equipped with equipment compartment, sensor compartment and drainage cabin, the afterbody of hull is equipped with advancing device, be equipped with a plurality of electronic equipment in the equipment compartment, be equipped with the shielding plate that can open and shut on the sensor compartment, inside is equipped with folding leg and sensor module, the folding leg drives sensor module under the drive of motor and stretches out and draws back.
Description
Technical Field
The invention relates to the technical field of mariculture environment monitoring, in particular to an unmanned information acquisition system and method for a mariculture environment.
Background
In recent years, sea cucumber and abalone mariculture industries are increasingly scaled and intensified, in order to pursue economic benefits, the variety and density of the culture are also more and more, the environment of the mariculture water quality is directly deteriorated, the growth and development of the culture are affected, diseases occur in time, the economic benefits of farmers are damaged, and the culture area needs personnel to stay for a long time, a large amount of manpower, material resources and financial resources are wasted. However, the existing sensor technology-based system basically realizes automatic acquisition and processing of data of the culture environment, but has the problems of complex wired detection wiring, difficult movement of monitoring points, low data transmission rate, higher value of CS architecture equipment, excessively single acquisition points and the like.
Disclosure of Invention
Aiming at the defects, the invention provides a mariculture environment unmanned information acquisition system and method based on a mobile BS architecture, which are capable of storing acquired data to a cloud end, and an end user can inquire and observe the monitoring data of a farm through a browser, so that the system is convenient and easy to use, and can dynamically acquire multi-point information, and the monitoring is more refined.
The invention adopts the following technical scheme:
an unmanned information acquisition system for mariculture environment comprises an acquisition terminal, a cloud end and a client end,
the acquisition terminal comprises a ship body, wherein signal receiving equipment is arranged on the ship body, buoyancy devices are respectively arranged on two sides of the ship body, a motor, a solar receiving device and a wind speed sensor are arranged on the upper surface of the ship body, an anti-collision ultrasonic module is arranged on the front section of the ship body, an equipment cabin, a sensor cabin and a drainage cabin are arranged in the center of the ship body, a propelling device is arranged at the tail part of the ship body, a plurality of electronic devices are arranged in the equipment cabin, a shielding plate capable of opening and closing is arranged on the sensor cabin, a folding frame and the sensor module are arranged inside the shielding plate, and the folding frame drives the sensor module to stretch under the driving of the motor.
Preferably, the buoyancy device comprises a cross rod and two vertical rods, the cross rod is arranged in parallel with the central shaft of the ship body, the vertical rods are arranged perpendicular to the cross rod, and the cross rod and the vertical rods are made of buoyancy materials.
Preferably, the equipment cabin is a closed cabin, a GPS module, an information transmission module, a singlechip control module and a clock module are arranged in the closed cabin, and the cabin is in signal transmission with the signal receiving equipment through an internal pipeline.
Preferably, the sensor module is cuboid, is equipped with a plurality of sensors in the cuboid, is equipped with the through-hole on each face of cuboid, and it extends to drive the folding leg through the motor, and the shielding plate is opened, stretches out the sensor, and when measuring the completion, the sensor withdraws, and the sea water gets into the drainage bin through the through-hole of cuboid, and the shielding plate is closed and is discharged through the slider.
Preferably, the drainage bin is rectangular form, and the bin wall is smooth, is equipped with a slider with bin wall seamless connection in the bin, and the bin wall end is provided with the water drainage door, and when the sensor was put down, the slider received the left side, and the sea water gets into the drainage bin, and when the sensor cabin was retrieved, the lower extreme shielding plate was closed, and the slider right was drawn, was discharged the sea water through the water drainage door, and the water drainage door was closed after the discharge.
Preferably, the solar energy receiving device comprises a silicon light plate, an electronic compass module, a clock module and a motor; when the solar energy ship is in operation, the electronic compass module collects the current south angle of the ship body, and the motor is automatically adjusted to drive the silicon light plate to be opposite to the sun angle according to the sun angle divided by the current time and the season time.
The unmanned information acquisition method for the mariculture environment adopts the unmanned information acquisition system for the mariculture environment, and is characterized in that:
the method comprises the steps of giving acquisition point coordinate information through a cloud or a client;
the unmanned information acquisition system of the mariculture environment automatically plans a path according to the given coordinate information of the acquisition points; the automatic planning path adopts a genetic algorithm, the working environment of the mariculture environment unmanned information acquisition system is taken as the sea surface, a discrete grid space under a two-dimensional Cartesian coordinate system (x, y) is established, deltax and Deltay are the sizes of grids in the x and y axes respectively, and any point q in the grids is defined as
q＝q(i，j)，0≦i<m,0≦j<n (1)
Wherein m and n are the maximum grid number in the x and y axis directions respectively;
rasterizing the two-dimensional plane space, wherein each grid is square, and the coordinates of any one acquisition point are (x) i ,y i ) The method comprises the steps of establishing a model of the shortest path from a stop point of an unmanned information acquisition system in a mariculture environment, passing through all acquisition points, acquiring information and returning to the stop point; defining a distance to represent the actual distance between the two, the distance being defined as:
wherein L is the distance between two points, x i ,y i For the coordinate of the acquisition point, each individual path is evaluated, the path distance is adopted as the fitness, namely, the distances of detection points successively passed by each route are calculated and accumulated, and the calculated distances are used as the fitness function of the path, and the method specifically comprises the following steps:
step 1: the mariculture environment unmanned information acquisition system waits for the inspection coordinates of an upper computer or a shore-based PC, and stores the inspection coordinates in an array form;
step 2: initializing a population, wherein individuals in the population are randomly generated, each individual corresponds to an alternative path, the generation of the individuals is the sequence of each acquisition point, aiming at the characteristic of automatic path planning of an unmanned information acquisition system in a mariculture environment, a decimal coding scheme is adopted, the node numbers of all the demand points are used as genes to form chromosomes, and the coding of each chromosome is the sequence of inspection points;
step 3: selecting operators, namely selecting high-quality individuals and eliminating individuals with poor fitness;
step 4: crossing operators, wherein the crossing operation means that two paired parent chromosomes exchange partial genes of the parent chromosomes in a certain way to generate two new offspring chromosomes;
step 5: a mutation operator randomly selects any two positions of the chromosome according to mutation probability, and performs interchange operation;
step 6: judging whether the iteration times reach a set value, if not, turning to the step 1, and if so, starting to carry out the step 7;
step 7: and (3) starting inspection according to the optimized path, dynamically determining the power of the propulsion device according to the wind speed sensor and the water flow sensor in the sensor cabin when the navigation is performed between the points, namely automatically reducing the power when the propulsion device is in downwind and downwind, saving energy, increasing the power when the propulsion device is in upwind and countercurrent, and linearly driving to reduce the distance.
In step 4, in order to maintain diversity of the population, a partial crossover scheme is adopted, when crossover operators are applied to parent individuals X1 and X2, crossover intervals I to J are randomly selected from parent individuals X1 and X2, then genes in front of J behind I in X1 and genes in corresponding positions in V2 are crossed bit by bit, since all points of the path must pass through, in order to avoid leakage points and repetition points, positions in the original chromosome equal to the exchanged elements must be changed into exchanged data after crossover, two new chromosomes are formed after crossover, finally, the validity of the chromosomes is detected, if the chromosomes are illegal, step 3 is performed, and if the chromosomes are legal, step 5 is performed.
After the information acquisition is completed, the ship body uploads the information to the cloud end through the 4G network, the cloud end completes the receiving and storing of the information, meanwhile, confirmation information is sent to the ship body, and the reliability of the transmitted information is ensured through handshake.
After the information acquisition is completed, the ship body transmits the information to the field PC through the Lora wireless communication mode, and if the PC has an Internet network, the information is uploaded to the cloud through software installed on the PC.
The invention has the following beneficial effects:
the equipment cabin is matched with the drainage cabin, so that the sensor can be received in the equipment cabin when not needed, the sensor is prevented from being soaked in seawater for a long time, the service life and stability of the sensor are improved, the sensor is retracted, and the seawater resistance is reduced;
the system realizes unmanned autonomous inspection of the mariculture environment, cooperates with cloud and PC end software, realizes remote transmission and remote control of collected information, does not need complex wiring, and enables the ship body to autonomously plan a path, so that the detection efficiency is improved, and the technology can provide reference for other culture industries, is convenient and easy to use, and has very wide application prospect and good economic benefit;
the system provides power through the solar power generation device which is arranged on the ship body and can track sunlight, reduces energy conservation as much as possible through a two-step path planning algorithm, saves energy, protects environment and greatly improves the energy utilization rate.
Drawings
FIG. 1 is a schematic view of a hull structure;
FIG. 2 is a side view of the hull;
FIG. 3 is a circuit diagram of a solar energy receiving device;
FIG. 4 is a flow chart of an automatic path planning;
FIG. 5 is a flow chart of the operation of the unmanned information acquisition system in the mariculture environment;
FIG. 6 is a diagram of an automated planned path simulation test optimization process;
fig. 7 is an optimal automatic planned path obtained by simulation.
Wherein 1 is the hull, 2 is the signal receiving equipment, 3 is the equipment compartment, 4 is the sensor cabin, 5 the drainage cabin, 6 is the montant, 7 is the horizontal pole, 8 is advancing device.
Detailed Description
The following description of the embodiments of the invention will be given with reference to the accompanying drawings and examples:
as shown in fig. 1 and 2, an unmanned information acquisition system in mariculture environment, including acquisition terminal, high in the clouds and customer end, acquisition terminal includes hull 1, be equipped with signal receiving equipment 2 (including the GPS antenna, information transmission module antenna) on the hull 1, the both sides of hull 1 are equipped with buoyancy device respectively, the upper surface of hull is equipped with the motor, solar energy receiving arrangement and wind speed sensor, the anterior segment of hull is equipped with anticollision ultrasonic module, the central authorities of hull are equipped with equipment compartment 3, sensor compartment 4 and drainage compartment 5, the afterbody of hull is equipped with advancing device 8, be equipped with a plurality of electronic equipment in the equipment compartment, be equipped with the shielding plate that can open and shut on the sensor compartment, inside is equipped with folding leg and sensor module, the folding leg drives sensor module under the drive of motor and stretches out and draws back.
The buoyancy device comprises a cross rod 7 and two vertical rods 6, wherein the cross rod 7 is arranged in parallel with the central shaft of the ship body, the vertical rods 6 are perpendicular to the cross rod 7, and the cross rod and the vertical rods are made of buoyancy materials.
The equipment cabin is a closed cabin, a GPS module, an information transmission module, a singlechip control module and a clock module are arranged in the closed cabin, and the closed cabin is in signal transmission with the signal receiving equipment through an internal pipeline.
The sensor module is cuboid, is equipped with a plurality of sensors in the cuboid, is equipped with the through-hole on each face of cuboid, and it is stretched to drive the folding leg through the motor, and the shielding plate is opened, stretches out the sensor, and when measuring the completion, the sensor is retrieved, and the sea water gets into the drainage storehouse through the through-hole of cuboid, and the shielding plate is closed and is discharged through the slider.
The drainage bin is rectangular form, and the bin wall is smooth, is equipped with a slider with bin wall seamless connection in the bin, and the bin wall end is provided with the water drainage door, and when the sensor was transferred down, the slider received the left side, and the sea water got into the drainage bin, and when the sensor cabin was retrieved, the lower extreme shielding plate was closed, and the slider right was drawn, was discharged the sea water through the water drainage door, and the water drainage door was closed after the discharge.
The solar energy receiving device comprises a silicon light plate, an electronic compass module, a clock module and a motor; when the solar energy intelligent ship works, the electronic compass module collects the current south angle of the ship body, and automatically adjusts the motor according to the sun angle divided by the current time according to the season time, so that the silicon light plate is driven to be opposite to the sun angle by clicking, and energy is acquired to the maximum extent.
In consideration of the deviation of the sun at a certain time of day, if further fine control is required, a circuit as shown in FIG. 3 can be used
After the basic direction is determined by using time, the voltage is divided by using a fixed resistor and a photoresistor in the range of 5 degrees of left and right deflection, the divided signals enter a first-stage amplifying circuit, the amplifying gain can be adjusted by R4, then the result enters a second-stage gain, the signals are amplified and inverted twice, the signals suitable for AD acquisition and input of a singlechip are obtained, and the singlechip determines the determined angle of a silicon light plate according to the signals.
The control core of the unmanned information acquisition system in the mariculture environment is an STM32F103ZET6 microcontroller, and the microcontroller is a 32-bit processor in an STM32 series, is provided with a 256K program memory and a 64KB data memory, and can completely meet the design requirement. The temperature sensor is a waterproof digital temperature sensor 18B20 which adopts a wire system communication to provide a digital temperature signal, and only the data pin DQ needs to be connected to any I/O port of the controller except a power supply pin. The PH sensor adopts PH composite electrode E-201-C, the sensor adopts 5V voltage, working current is 5-10MA, PH value detection range is 0-14, the sensor can work at-10 ℃ to +50 ℃, the output is analog voltage quantity, and the PH sensor has good linearity, so the output is required to be connected to the self AD of STM32, and the acquired result is calculated by using formula Y= -5.9647+22.255.
The dissolved oxygen sensor adopts an LDO industrial online fluorescent dissolved oxygen sensor, the sensor adopts a fluorescent detection technology, and the dissolved oxygen value is detected by detecting the fluorescent intensity and the service life. The protection level of the sensor can reach IP68, the voltage is wide voltage of 5-16V, the output signal is 4-20MA current signal or 0-5V voltage signal, the resolution is 0.01mg/L, the design adopts 0-5V voltage signal, and the signal output is connected with STM32 to carry an AD conversion circuit.
As shown in fig. 4 and fig. 5, a method for collecting unmanned information in a mariculture environment adopts the unmanned information collecting system in the mariculture environment, specifically:
the method comprises the steps of giving acquisition point coordinate information through a cloud or a client;
the unmanned information acquisition system of the mariculture environment automatically plans a path according to the given coordinate information of the acquisition points; the automatic planning path adopts a genetic algorithm, the working environment of the mariculture environment unmanned information acquisition system is taken as the sea surface, a discrete grid space under a two-dimensional Cartesian coordinate system (x, y) is established, deltax and Deltay are the sizes of grids in the x and y axes respectively, and any point q in the grids is defined as
q＝q(i，j)，0≦i<m,0≦j<n (1)
Wherein m and n are the maximum grid number in the x and y axis directions respectively;
the two-dimensional plane space is subjected to rasterization, each grid is square (the preferable side length is 1 km), and the coordinates of any one acquisition point are (x) i ,y i ) The method comprises the steps of establishing a model of the shortest path from a stop point of an unmanned information acquisition system in a mariculture environment, passing through all acquisition points, acquiring information and returning to the stop point; defining a distance to represent the actual distance between the two, the distance being defined as:
wherein L is the distance between two points, x i ,y i For the coordinate of the acquisition point, each individual path is evaluated, the path distance is adopted as the fitness, namely, the distances of detection points successively passed by each route are calculated and accumulated, and the calculated distances are used as the fitness function of the path, and the method specifically comprises the following steps:
step 1: the mariculture environment unmanned information acquisition system waits for the inspection coordinates of an upper computer or a shore-based PC (personal computer) and stores the inspection coordinates in an array form, and the information acquired by the mariculture environment generally comprises temperature, PH value, dissolved oxygen and the like.
Step 2: initializing a population, wherein individuals in the population are randomly generated, each individual corresponds to an alternative path, the generation of the individuals is the sequence of each acquisition point, aiming at the characteristic of automatic path planning of an unmanned information acquisition system in a mariculture environment, a decimal coding scheme is adopted, the node numbers of all the demand points are used as genes to form chromosomes, and the coding of each chromosome is the sequence of inspection points;
for example, for chromosomes:
X:[1 6 3 4 5 2 7 8 20 9……………16]
the unmanned ship starts from the origin, passes through the first detection point, then reaches the 6 th detection point, finally reaches the 16 th detection point, and then returns to the origin, and meanwhile, the fitness (distance value) is calculated.
Step 3: selecting operators, namely selecting high-quality individuals and eliminating individuals with poor fitness;
step 4: crossing operators, wherein the crossing operation means that two paired parent chromosomes exchange partial genes of the parent chromosomes in a certain way to generate two new offspring chromosomes;
in order to maintain diversity of the population, a partial crossover scheme is adopted, when crossover operators are applied to father individuals X1 and X2, crossover intervals I to J are randomly selected from father individuals X1 and X2, then genes in front of J behind I in X1 and genes in corresponding positions in V2 are crossed bit by bit, as all points of the path must pass through, in order to avoid leakage points and repeated points, positions in the original chromosome which are equal to the exchanged elements must be changed into exchanged data after crossover, two new chromosomes are formed after crossover, finally, the validity of the chromosomes is detected, if the chromosomes are illegal, step 3 is carried out, and step 5 is carried out legally.
Step 5: a mutation operator randomly selects any two positions of the chromosome according to mutation probability, and performs interchange operation;
step 6: judging whether the iteration times reach a set value, if not, turning to the step 1, and if so, carrying out the step 7;
step 7: and (3) starting inspection according to the optimized path, dynamically determining the power of the propulsion device according to the wind speed sensor and the water flow sensor in the sensor cabin when the navigation is performed between the points, namely automatically reducing the power when the propulsion device is in downwind and downwind, saving energy, increasing the power when the propulsion device is in upwind and countercurrent, and linearly driving to reduce the distance.
In step 4, in order to maintain diversity of the population, a partial crossover scheme is adopted, when crossover operators are applied to parent individuals X1 and X2, crossover intervals I to J are randomly selected from parent individuals X1 and X2, then genes in front of J behind I in X1 and genes in corresponding positions in V2 are crossed bit by bit, since all points of the path must pass through, in order to avoid leakage points and repetition points, positions in the original chromosome equal to the exchanged elements must be changed into exchanged data after crossover, two new chromosomes are formed after crossover, finally, the validity of the chromosomes is detected, if the chromosomes are illegal, step 3 is performed, and if the chromosomes are legal, step 5 is performed.
After the information acquisition is completed, the ship body uploads the information to the cloud end through the 4G network, the cloud end completes the receiving and storing of the information, meanwhile, confirmation information is sent to the ship body, and the reliability of the transmitted information is ensured through handshake. Or after the information acquisition is completed, the ship body transmits the information to the field PC through the Lora wireless communication mode, and if the PC has an Internet network, the information is uploaded to the cloud through software installed on the PC. The whole communication system is composed of a controller, a 4G module and a Lora module. The 4G module is responsible for remote transmission of information, and a USR-LTE-7S4 module with human science and technology is adopted in the design, the module supports 5-mode 12-frequency shift UNICOM telecommunication 4G high-speed access, an embedded Linux system is developed, high reliability is achieved, an RNDIS remote network driving interface is supported, a computer can access the Internet through USB connection equipment, 4 network connections are allowed to be simultaneously on line, TCP and UDP are supported, 10KB serial data can be cached in each connection, a wide voltage range is supported, 5-16V is supported, a SIM card slot is provided, and serial AT instructions are supported. The device is connected to a first serial port of the STM32 controller. The Lora module adopts a USR-L100-C module with a man-made technology, the working frequency of the module is 398-525Mhz, the typical value is 470M, the transmission distance can reach 4700 meters, the working voltage is 1.8V-3.6V, the required voltage can be output through the AMS1117, the module is communicated with an STM32 embedded controller through a serial port, and the module is connected to a second serial port of the controller.
The automatic planning path is subjected to simulation test, the two-dimensional grid size of the cultivation space is set to be 1km multiplied by 1km in the simulation test, the number of inspection points is randomly generated to 20, 100 individuals are selected for the genetic algorithm initialization population, the crossover probability is 0.9, the variation probability is 0.4, the coordinates of the starting point and the end point of the unmanned ship are a (0, 0), the iteration times are 500, the optimization process is shown in fig. 6, the optimal value gradually tends to be stable after about 150 iterations, the optimal path planning is shown in fig. 7, wherein the broken line path is the planned path, the total running distance is about 400 km, and compared with the path optimal value 900 generated randomly at the beginning of optimization, the efficiency is greatly improved.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (1)
1. The unmanned information acquisition method for the mariculture environment adopts an unmanned information acquisition system for the mariculture environment, and the unmanned information acquisition system for the mariculture environment comprises an acquisition terminal, a cloud end and a client end, and is characterized in that,
the acquisition terminal comprises a ship body, wherein signal receiving equipment is arranged on the ship body, buoyancy devices are respectively arranged on two sides of the ship body, a motor, a solar receiving device and a wind speed sensor are arranged on the upper surface of the ship body, an anti-collision ultrasonic module is arranged at the front section of the ship body, an equipment cabin, a sensor cabin and a drainage cabin are arranged in the center of the ship body, a propulsion device is arranged at the tail part of the ship body, a plurality of electronic equipment are arranged in the equipment cabin, an openable shielding plate is arranged on the sensor cabin, a folding frame and a sensor module are arranged in the sensor cabin, and the folding frame drives the sensor module to stretch under the drive of the motor;
the buoyancy device consists of a cross rod and two vertical rods, the cross rod is arranged in parallel with the central shaft of the ship body, the vertical rods are arranged perpendicular to the cross rod, and the cross rod and the vertical rods are made of buoyancy materials;
the drainage bin is in a strip shape, the wall of the drainage bin is smooth, a sliding block in seamless connection with the wall of the drainage bin is arranged in the bin, the tail end of the wall of the drainage bin is provided with a drainage door, when the sensor is placed down, the sliding block receives the left side, seawater enters the drainage bin, when the sensor bin is recovered, the lower end shielding plate is closed, the sliding block is scratched to the right, the seawater is discharged through the drainage door, and the drainage door is closed after the seawater is discharged;
the sensor module is in a cuboid shape, a plurality of sensors are arranged in the cuboid, through holes are formed in each face of the cuboid, the motor drives the folding frame to extend, the shielding plate is opened, the sensors extend out, when measurement is completed, the sensors are retracted, seawater enters the drainage bin through the through holes of the cuboid, and the shielding plate is closed and is drained through the sliding block;
the solar energy receiving device comprises a silicon light plate, an electronic compass module, a clock module and a motor; when the solar energy ship works, the electronic compass module collects the current south-pointing angle of the ship body, and automatically adjusts the motor to drive the silicon light plate to be opposite to the sun angle according to the sun angle divided by the current time according to the season time;
the equipment cabin is a closed cabin, a GPS module, an information transmission module, a singlechip control module and a clock module are arranged in the closed cabin, the cabin is in signal transmission with signal receiving equipment through an internal pipeline, and the method for carrying out unmanned information acquisition on the mariculture environment by adopting the unmanned information acquisition system for the mariculture environment comprises the following steps:
the method comprises the steps of giving acquisition point coordinate information through a cloud or a client;
the unmanned information acquisition system of the mariculture environment automatically plans a path according to the given coordinate information of the acquisition points; the automatic planning path adopts a genetic algorithm, the working environment of the mariculture environment unmanned information acquisition system is taken as the sea surface, a discrete grid space under a two-dimensional Cartesian coordinate system (x, y) is established, deltax and Deltay are the sizes of grids in the x and y axes respectively, and any point q in the grids is defined as
q＝q(i， j)， 0≦i<m, 0≦j<n (1)
Wherein m and n are the maximum grid number in the x and y axis directions respectively;
rasterizing the two-dimensional plane space, wherein each grid is square, and the coordinates of any one acquisition point are (x) i ,y i ) The method comprises the steps of establishing a model of the shortest path from a stop point of an unmanned information acquisition system in a mariculture environment, passing through all acquisition points, acquiring information and returning to the stop point; defining a distance to represent the actual distance between the two, the distance being defined as:
wherein L is the distance between two points, x i ,y i For the coordinate of the acquisition point, each individual path is evaluated, the path distance is adopted as the fitness, namely, the distances of detection points successively passed by each route are calculated and accumulated, and the calculated distances are used as the fitness function of the path, and the method specifically comprises the following steps:
step 1: the mariculture environment unmanned information acquisition system waits for the inspection coordinates of an upper computer or a shore-based PC, and stores the inspection coordinates in an array form;
step 2: initializing a population, wherein individuals in the population are randomly generated, each individual corresponds to an alternative path, the generation of the individuals is the sequence of each acquisition point, aiming at the characteristic of automatic path planning of an unmanned information acquisition system in a mariculture environment, a decimal coding scheme is adopted, the node numbers of all the demand points are used as genes to form chromosomes, and the coding of each chromosome is the sequence of inspection points;
step 3: selecting operators, namely selecting high-quality individuals and eliminating individuals with poor fitness;
step 4: crossing operators, wherein the crossing operation means that two paired parent chromosomes exchange partial genes of the parent chromosomes in a certain way to generate two new offspring chromosomes;
step 5: a mutation operator randomly selects any two positions of the chromosome according to mutation probability, and performs interchange operation;
step 6: judging whether the iteration times reach a set value, if not, turning to the step 1, and if so, starting to carry out the step 7;
step 7: starting inspection according to the optimized path, dynamically determining the power of the propulsion device according to the wind speed sensor and the water flow sensor in the sensor cabin when the navigation is performed between the points, namely automatically reducing the power when the propulsion device is in downwind and downwind, saving energy, increasing the power when the propulsion device is in upwind and countercurrent, and linearly driving to reduce the distance;
in the step 4, in order to maintain diversity of the population, a partial crossover scheme is adopted, when crossover operators are applied to father individuals X1 and X2, crossover intervals I to J are randomly selected from father individuals X1 and X2, then genes in front of J behind I in X1 and genes in corresponding positions in X2 are crossed bit by bit, as all points of the path must pass through, in order to avoid leakage points and repetition points, positions in the original chromosome equal to the exchanged elements must be changed into exchanged data after crossover, two new chromosomes are formed after crossover, finally, the validity of the chromosomes is detected, if the chromosomes are illegal, step 3 is performed, and step 5 is performed if the chromosomes are legal;
after the information acquisition is completed, the ship body uploads the information to the cloud end through the 4G network, the cloud end completes the receiving and storing of the information, meanwhile, confirmation information is sent to the ship body, and the reliability of the transmitted information is ensured through handshake;
after the information acquisition is completed, the ship body transmits the information to the field PC through the Lora wireless communication mode, and if the PC has an Internet network, the information is uploaded to the cloud through software installed on the PC.
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 CN108445883A (en) | 2018-08-24 |
| CN108445883B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501970B (en) * | 2018-11-12 | 2021-04-20 | 浙江海洋大学 | Water-collecting character meteorological real-time monitoring and aquaculture purse seine automatic detection system |
| 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 |
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 |
|---|
| 水面无人艇路径规划技术研究;张玉奎;《中国优秀硕士学位论文全文数据库信息科技辑》;20100615(第6期);第25-32页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108445883A (en) | 2018-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108445883B (en) | Unmanned information acquisition system and method for mariculture environment | |
| CN107703564B (en) | Rainfall prediction method and system and electronic equipment | |
| CN103116865B (en) | A kind of various dimensions work in coordination with the method for Electric Power Network Planning | |
| CN102183621B (en) | Aquaculture dissolved oxygen concentration online forecasting method and system | |
| CN105371896B (en) | A kind of self study track navigation cruise-type multi-parameter water-quality remote monitoring system and method | |
| CN105511346A (en) | Fish bait casting quantity control system for deep-water cage culture | |
| CN106100563A (en) | A kind of solar panels dust arrester | |
| CN203275395U (en) | On-line water quality monitoring system for pond culture water | |
| Arvind et al. | Edge computing based smart aquaponics monitoring system using deep learning in IoT environment | |
| CN204462421U (en) | A kind of portable farmland climatic information harvester | |
| CN205049997U (en) | Land for growing field crops environmental information monitored control system | |
| CN203324260U (en) | Internet-of-things-based on-line litopenaeus vannamei aquaculture water quality monitoring system | |
| CN109540213A (en) | Coastal waters water front marine eco-environment information collection and processing system | |
| CN205317239U (en) | Self -learning orbit navigation formula quality of water multi -parameter remote monitering system that cruises | |
| Wang et al. | A new embedded estimation model for soil temperature prediction | |
| CN107506724A (en) | Inclination angle detection method and detection terminal | |
| CN203748359U (en) | Orange orchard soil parameter detection and soil irrigation device | |
| CN201796308U (en) | Intelligent control system for temperature and depth of underwater breeding mesh cage | |
| CN207007838U (en) | A kind of soil water potential digital sensor and soil water potential measurement system | |
| CN215727476U (en) | Real-time detection device for soil moisture content | |
| CN112632752B (en) | Method and system for continuously and automatically simulating vegetation growth state | |
| Dimd et al. | Ultra-short-term photovoltaic output power forecasting using deep learning algorithms | |
| Yue et al. | Intelligent control system of agricultural unmanned tractor tillage trajectory | |
| Girinath et al. | Intelligent irrigation system for temperature and moisture monitoring | |
| Divija | IoT based smart irrigation module for smart cultivation |
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 |