| 渔业养殖监测用AUV及其控制系统 |
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| 引用本文： | 吴诗昊,周悦,敖琪,施迅,邢博闻,郭威.渔业养殖监测用AUV及其控制系统[J].上海海洋大学学报,2023,32(5):953-966. |
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| 作者姓名： | 吴诗昊 周悦 敖琪 施迅 邢博闻 郭威 |
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| 作者单位： | 上海海洋大学,上海海洋大学,上海海洋大学,上海海洋大学,上海海洋大学,中国科学院深海科学与工程研究所，中国科学院大学 |
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| 基金项目： | 上海市2022年度科技创新行动计划“水生态环境监测用无人艇集群系统设计与应用示范” |
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| 摘 要： | 针对当前渔业养殖移动监测装备续航能力低、成本高、难于普遍应用的现状，提出并研制了一台小型便携式渔业养殖移动与定点监测用AUV。该AUV采用“类海豹式”作业模式和模块化结构，用常规GNSS代替昂贵的水下惯导系统，三个主要舱体呈“品”字型分布以增加平稳性，并以步进电机控制活塞改变外置油囊体积来实现无动力潜浮。以低功耗STM32F407芯片为控制核心，采用FreeRTOS嵌入式实时操作系统和LabVIEW开发环境，设计与开发AUV水面自主巡航和动态避障系统、数据图像采集与通信系统和岸基智慧渔业大数据人机交互界面。能耗分析和仿真实验结果分别表明该AUV能耗低，当携带锂电池电量为5.184 kWh时，续航时间可达约77 h，且能够实现自主巡航。样机试验表明能够与岸基上位机进行通信并有效采集水域水质信息及水下视频图像。渔业养殖监测用AUV搭载传感器灵活、续航时间长、功耗小、成本低、易维护和升级，能够满足不同类型渔业养殖的立体化移动和长期定点监测需求。
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| 关 键 词： | 渔业养殖监测用AUV 类海豹式作业模式 模块化结构 无动力潜浮 低成本 低能耗 |
| 收稿时间： | 2023/6/15 0:00:00 |
| 修稿时间： | 2023/8/21 0:00:00 |
AUV for aquaculture monitoring and its control system |
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| WU Shihao,ZHOU Yue,AO Qi,SHI Xun,XING Bowen,GUO Wei.AUV for aquaculture monitoring and its control system[J].Journal of Shanghai Ocean University,2023,32(5):953-966. |
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| Authors: | WU Shihao ZHOU Yue AO Qi SHI Xun XING Bowen GUO Wei |
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| Affiliation: | College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China; Institute of Deep-sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, Hainan, China;University of Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | Aiming at the current situation of low endurance and high cost of mobile monitoring equipment for aquaculture, which limits the widespread application of such equipment, a small portable AUV for mobile and fixed-point monitoring of fishery aquaculture is proposed and developed. A ''seal-like'' operation mode is proposed, replacing expensive underwater inertial navigation systems with conventional GNSS. The three main hulls are arranged in a ''pin'' pattern with a modular structure to increase smoothness. The unpowered diving and floating is controlled by the motor-controlled piston altering the volume of the external oil bladder. With the low-power STM32F407 chip as the control core, FreeRTOS embedded real-time operating system and LabVIEW development environment are employed to develop the AUV water surface autonomous cruise and dynamic obstacle avoidance system, data image acquisition and communication system, and shore-based intelligent fisheries big data interaction interface. The results of energy consumption analysis and simulation experiments show that the AUV has low energy consumption, and the endurance time is about 77 h when carrying a lithium battery of 5.184 kWh, which can perform autonomous cruising. Tests show that the prototype can effectively communicate with the shore-based host computer, collect water quality information and underwater video images. The AUV for aquaculture monitoring has flexibility in carrying sensors, long endurance, low power consumption, low cost, easy maintenance and upgrading, and is able to meet the demand for three-dimensional mobile and long-term fixed-point monitoring of various aquaculture. |
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| Keywords: | AUV for aquaculture monitoring ''seal-like'' operation mode modular structure unpowered diving and floating low cost low power consumption |
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