【作者】 曹阳；

【导师】 赵德安；

【作者基本信息】 江苏大学 ， 控制工程， 2018， 硕士

【摘要】 河蟹味道鲜美,人们对高品质的生态河蟹有着极大的兴趣。河蟹消费量逐年提高,需求量节节攀升,河蟹养殖具有显著的经济效益。在河蟹养殖过程中面临着均匀投饵以及对水产养殖作业船的远程监控等问题,其作业路径随机性较大,工作人员无法观测作业的实时状况,为了方便对作业船的作业参数及航行参数进行远程监测,同时提高河蟹养殖的智能化水平,文设计了一种基于Android智能手机的水产养殖作业船监控系统,其采用了嵌入式、Android开发、全区域覆盖避障路径规划、无线通信等先进技术。本文的主要研究内容及研究成果可以分别概括为如下几点:一、设计了作业船船载终端。对作业船的船体和自动投饵机的结构进行设计,分析了作业船RTK-GPS差分定位方法,最后给出了作业船嵌入式控制系统结构图,并对作业船三种运行模式和操作原理进行了阐述与分析。二、设计了作业船Android手机监控系统。对监控系统总体设计方案进行详细分析,设计了手机与作业船之间的通信方式。搭建了监控中心服务器,设计了数据库的概念结构模型。详细分析了GIS的特点和功能,手机移动端使用了GIS技术来分析作业船的作业轨迹。三、设计了水产养殖作业船蟹塘全区域覆盖的避障路径规划算法。首先概述了本文所使用的路径规划算法及避障策略,阐述了路径规划与避障的研究思路。接着标记了作业船饵料抛洒区域内的障碍物,同时建立了平面坐标系。对内螺旋遍历方法着重进行了介绍,给出了作业船目标路径的推算公式,最后将转换好的目标路径下发给作业船。四、设计了水产养殖作业船Android智能手机APP。搭建了Android开发环境,并对Android手机APP进行了总体设计。接着使用Android Studio集成开发环境编写了作业船手机监控APP应用程序,根据需求将设计的APP软件分解为四个部分:数据管理模块、APP参数输出控制模块、地理信息系统模块和数据通信模块,并对各个模块的功能结构进行了详细的阐述。通过实验,结果表明:Android手机监控系统可以完成对水产养殖作业船的远程监控,能够满足蟹塘内均匀投饵需求和对水产养殖作业船参数监测及路径规划的要求。更多还原

【Abstract】 The crab is delicious and people have great interest in high-quality ecological crabs.The consumption and demand of crab is increasing year by year,and the crab breeding has remarkable economic benefits.Uniform feeding and remote monitoring of the aquaculture operation boat are the two main problems in river crab culture.The operation route is random.Staff cannot observe the real-time status of the operation,in order to monitor the operation parameters and navigation parameters of the operation boat.At the same time to improve the intelligent level of crab feeding.In this paper,research on the monitoring system of aquaculture operation boat based on Android mobile phone,which adopted comprehensive coverage of obstacle avoidance path planning technology,Android development and wireless communication technology.It can complete the remote monitoring of aquaculture operations.The main research contents and research results of this paper can be summarized as follows:A.The aquaculture operation boat terminal is designed.The hall and uniform feeding device and other main components are introduced.The RTK GPS differential positioning method is analyzed.Finally,the structure chart of the embedded control system is given.The three operating modes and operating principles of the boat are described and analyzed.B.The Android mobile phone monitoring system of aquaculture operation boat is designed.The overall design scheme of the monitoring system is analyzed.The communication mode between mobile phone and operation boat is designed.The monitoring center server is established and the conceptual structure model of the database is designed.The features and functions of GIS are analyzed in detail and the GIS technology is used to analyze the trajectory of the operation boat.C.The obstacle avoidance path planning algorithm for the whole area coverage of aquaculture operation boat is designed.First of all,this paper introduces the problem of obstacle avoidance path planning algorithm for the whole area coverage.The research idea of inner spiral algorithm and the plane coordinate system is alsoestablished.This paper mainly introduces the internal spiral traversal method.The calculation formula of the target path is given.Finally,the converted target path is sent to the operation boat.D.The Android APP of aquaculture operation boat is designed.This paper builds the Android development environment and designs the overall structure of Android APP.After that,this paper completes the monitoring APP application with Android Studio.According to the requirements the Android APP software is broken down into four parts,which are data management module,output control module,GIS module and communication module.Finally,this paper describes the functional structure of each part.Through experiments,the results show that the Android monitoring system can complete remote monitoring of aquaculture operating boat.This system can meet the requirements of uniform feeding in crab pond,monitoring the parameters of aquaculture operation boat and path planning.更多还原