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仅依赖无线传感器网络在线实测是利用多跳式通信实现远程发送与存储数据丢包率高,实验阶段设计的二维结构仿真机器鱼巡游避障性能差,GPRS全天候数据采集与传送所需的流量费用高,针对以上这些问题,设计了一套可进行实测的机器鱼自动巡游避障、水质环境实时监测系统平台;该系统通过移动终端程序设计、利用三维采集路径跟踪算法及WSNs与Wifi热点技术对机器鱼群实现远程精准控制,按照设定深度、路径规划的采集点进行水温水位、PH值、溶解氧、电导率、浊度等常五类水质环境数据实时采集、处理、远程存储、显示、分析及预警,给出了系统的总体设计、机器鱼的结构与控制系统设计、终端节点与协调器的硬件系统及上下位机软件系统设计;利用这套系统对巢湖5个取样点实测,水温、溶解氧、PH值平均误差率分别为0.18%、0.5%及0.01%,远高于其他水质在线监测的精度要求,达到了预期成果;同时对水库及精细水产养殖业等水质在线监测与预警具有很高的推广价值。
Rely on the wireless sensor network online measurement is the use of multi-hop communication to achieve remote transmission and storage of data loss rate is high, the experimental phase of the two-dimensional structure of the simulation simulation robot fish parade obstacle avoidance performance, GPRS 24/7 data acquisition and transmission of traffic In view of the above problems, a set of real-time monitoring platform of robot fish cruising and water quality environment was designed. Through the mobile terminal programming, the system uses three-dimensional acquisition path tracking algorithm and WSNs and Wifi hotspot technology Realize long-distance and precise control to the robot fish group, collect, process, remotely store and display the water temperature, water level, PH value, dissolved oxygen, conductivity and turbidity of water in accordance with the set depth and path planning points , Analysis and early warning are given, the overall design of the system, the structure and control system design of the robot fish, the hardware system of the terminal node and the coordinator and the software system design of the upper and lower computer systems are given. By using this system, The average error rates of water temperature, dissolved oxygen and pH value were 0.18%, 0.5% and 0.01% respectively, much higher than those of other water quality Precision monitoring, to achieve the desired outcome; while the promotion of high value for water quality monitoring and early warning and fine reservoir aquaculture industry.