Unmanned ship anti-collision Internet of Things control system and method based on artificial potential field method

Abstract

The invention discloses an unmanned ship anti-collision Internet of Things control system and method based on an artificial potential field method. The system comprises a sensing layer, a transmission layer and an application layer. The sensing layer realizes parameter acquisition and interacts with the server; the transmission layer is a GPRS-DTU module and is used for connecting the sensing layer and the application layer; and the application layer adopts a C/S structure to establish TCP/IP connection. The server segments the original data through program analysis and calculation and displays the original data in the corresponding LineEdit; Baidu map is embedded into a main interface of a server, a plurality of target points are arranged on the map, an unmanned ship is enabled to automatically drive along the target points, and meanwhile, .m files of an artificial potential field method are compiled in combination with Matlab, so a Qt callable library is generated. A ultrasonic ranging sensor in the unmanned ship measuring device detects a water surface obstacle and sends a signal to a server background program; and the server receives the signal, calls an artificial potential field method .m file library, establishes a potential field model, calculates a resultant force potential field through the server and guides the navigation direction of the unmanned ship, thereby realizing safe obstacle avoidance of the unmanned ship.

Description

technical field [0001] The present invention relates to the field of long-distance communication technology of Internet of Things for unmanned ships on water surface and the technical field of intelligent obstacle avoidance, in particular to an anti-collision Internet of Things control system and method for unmanned ships based on artificial potential field method. Background technique [0002] my country is a big aquaculture country. Over the years, the scale of aquaculture has continued to expand, and the natural carrying capacity of the aquaculture water body has become increasingly saturated. Water quality monitoring is the most important part of aquaculture. The dissolved oxygen, pH value, and temperature in water must be within the range suitable for fish survival. These parameters play a decisive role in the growth of fish. [0003] Floating fixed-point water quality monitoring stations have only been developed and applied in the past ten years. The main problems are:...

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Problems solved by technology

[0007] In order to solve the problem that current unmanned ships cannot avoid obstacles, this invention propos

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