一种河蟹养殖用自动化水草清理作业船  

Automatic aquatic cleaning ship for river crabs breeding

作　　者：吴波[1] 赵德安[1,2] 孙月平[1] 洪剑青[1] 罗吉[1] 

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013 [2]机械工业设施农业测控技术与装备重点实验室,江苏镇江212013

出　　处：《中国农机化学报》2016年第9期88-91,共4页Journal of Chinese Agricultural Mechanization

基　　金：江苏省科技支撑计划(农业)项目(BE2013402;BE2015351);镇江市重点研发计划-现代农业项目(NY2015022);江苏高校(农业工程)优势学科建设工程项目(PAPD)

摘　　要：为满足河蟹养殖对清理水草的需求,通过研究河蟹养殖水草清理方法,联合设计并制造一种基于ARM控制器利用GPS与INS联合自主导航的河蟹养殖用水草清理作业船,并实现其集手动控制、遥控和自动控制于一体。以水草清理作业船和GPS系统以及惯性导航系统为硬件平台,通过研究船舶自主导航、控制方法,试验验证水草清理作业船有很大的实用价值。In order to meet the demand for cleaning water plants of crab culture,through the study of cleaning methods of crab culture,aplant cleaning ship for crab culture which based on ARM controller using GPS and INS integrated navigation is designed and manufactured,and set of manual control,remote control and automatic control in one is achieved.Based on the hardware platform of the plant cleaning ship,GPS system and inertial navigation system,it is studied autonomous navigation and control method.The great practical value of the plant cleaning ship is verified by experiment.

关 键 词：河蟹养殖 水草清理 自主导航 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置] S24[自动化与计算机技术—控制科学与工程]