水产养殖领域智能导航无人船关键技术研究

Research on Key Technologies of Intelligent Navigation Unmanned Ships in Aquaculture

计算机科学与技术、自动控制技术、人工智能技术的快速发展,为智能无人船的开发提供了技术可行性,继无人机、无人驾驶汽车后,无人船也成为研究的热点。传统的水产养殖需要大量的人力劳作,而且人工撒料很容易不均匀,造成饵料的浪费,剩余饵料容易引起水质的恶化,危害水产品的安全。本文设计一种基于差速转向无人船体的水产养殖智能导航无人船系统,采用模块化设计,整合GNSS定位器、姿态传感器、图像采集装置、采样与投放装置、4G通信模块和ARM主控制器技术,通过组合导航信息融合处理,进行路径规划和路径跟踪控制,完成巡航和避障、水质检测、水面异物检测、物料投放等任务。

The rapid development of computer science and technology,automatic control technology,and artificial intelligence technology,the development of intelligent unmanned ships has provided technical feasibility.Following unmanned aerial vehicles and autonomous vehicles,unmanned ships have also become a research hotspot.Traditional aquaculture requires a large amount of human labor,and manual feeding is prone to uneven distribution,resulting in waste of bait.The remaining bait can easily cause deterioration of water quality and endanger the safety of aquatic products.This article designs an intelligent navigation unmanned vessel system for aquaculture based on differential steering unmanned hull.It adopts a modular design and integrates GNSS locator,attitude sensor,image acquisition device,sampling and delivery device,4G communication module,and ARM main controller technology.Through combined navigation information fusion processing,path planning and tracking control are carried out to complete tasks such as cruising and obstacle avoidance,water quality detection,surface foreign object detection,and material delivery.