發(fā)布時間：2018-11-01 20:43

【摘要】：隨著農(nóng)業(yè)機械智能化水平的不斷提高,無人駕駛農(nóng)機進行自主作業(yè)的研究也在快速的發(fā)展。實時、準確地對插秧機的工況和栽植質(zhì)量進行監(jiān)控,以及在發(fā)生故障時能及時地報警是插秧機高效、安全作業(yè)的重要保障,能夠有效提高作業(yè)效率、降低安全隱患。本文設(shè)計了一套無人插秧機遠程監(jiān)控系統(tǒng),由插秧機機載終端和遠程監(jiān)控中心兩部分構(gòu)成,采用C/S架構(gòu)進行通信。插秧機采集其作業(yè)的工況檢測信息、定位信息和經(jīng)過圖像算法處理后得到的秧苗栽植質(zhì)量信息,通過GPRS網(wǎng)絡(luò)上傳到遠程監(jiān)控中心。遠程監(jiān)控中心以人機界面形式實時顯示機載工況信息,并在地圖上直觀呈現(xiàn)其作業(yè)位置和栽植質(zhì)量。此外,對于異常數(shù)據(jù)還可以進行報警提示,以及下發(fā)命令實現(xiàn)對插秧機的控制。首先,論文闡述了無人插秧機和遠程監(jiān)控系統(tǒng)的國內(nèi)外研究現(xiàn)狀,在分析系統(tǒng)機載終端和遠程監(jiān)控中心功能需求的基礎(chǔ)上提出了系統(tǒng)的總體設(shè)計方案,并介紹了系統(tǒng)的結(jié)構(gòu)組成和工作原理,對系統(tǒng)開發(fā)涉及到的GPS、GIS、GPRS以及Socket技術(shù)進行了概述。其次,搭建了插秧機機載終端總體框架,以工控機為機載處理器,外接GPS接收機、GPRS通信模塊、攝像頭以及數(shù)據(jù)采集卡,對機載終端硬件功能模塊進行了選型和設(shè)計。在此基礎(chǔ)上采用VC開發(fā)環(huán)境對機載終端軟件程序流程進行了設(shè)計,主要包括對采集的插秧機各類工況信息分類處理,通信程序的軟件實現(xiàn),以及利用圖像匹配、圖像分割和BP神經(jīng)網(wǎng)絡(luò)等算法對采集的秧苗圖進行狀態(tài)檢測和等級處理。接著,在插秧機機載終端軟硬件設(shè)計的基礎(chǔ)上,進一步設(shè)計了相應(yīng)的遠程監(jiān)控中心。圍繞數(shù)據(jù)庫、服務(wù)器以及監(jiān)控客戶端這三個方面,詳細介紹了遠程監(jiān)控中心的設(shè)計和實現(xiàn)過程。運用Socket和多線程技術(shù)完成了數(shù)據(jù)通信和遠程控制,利用數(shù)據(jù)庫技術(shù)對接收的數(shù)據(jù)進行了存儲和管理。另外,采用VC開發(fā)了良好的監(jiān)控客戶端人機界面,并使用GIS技術(shù)實現(xiàn)了插秧機實時定位顯示和秧苗栽植質(zhì)量地圖直觀呈現(xiàn)。最后,對插秧機的主要硬件模塊進行了功能測試,并在此基礎(chǔ)上對監(jiān)控系統(tǒng)的各個功能模塊進行了調(diào)試。經(jīng)驗證,該監(jiān)控系統(tǒng)基本實現(xiàn)了對遠程作業(yè)插秧機進行實時監(jiān)控的功能。
[Abstract]:With the improvement of intelligent level of agricultural machinery, the research of autonomous operation of unmanned agricultural machinery is developing rapidly. Monitoring the working condition and planting quality of transplanter in real time and accurately, and alarming in time in case of failure are the important guarantee of high efficiency and safe operation of transplanter, which can effectively improve the working efficiency and reduce the hidden danger of safety. In this paper, a remote monitoring system for unmanned transplanter is designed, which is composed of two parts: the airborne terminal and the remote monitoring center of the transplanter. The communication system is based on C / S architecture. The transplanter collects the working condition detection information, the location information and the seedling planting quality information after processing the image algorithm, and uploads it to the remote monitoring center through the GPRS network. The remote monitoring center displays the airborne working condition information in real time in the form of man-machine interface, and visualizes its working position and planting quality on the map. In addition, the abnormal data can be alerted and ordered to control the transplanter. First of all, the paper describes the research status of unmanned transplanter and remote monitoring system at home and abroad, and puts forward the overall design scheme of the system based on the analysis of the functional requirements of the airborne terminal and remote monitoring center. The structure and working principle of the system are introduced, and the GPS,GIS,GPRS and Socket technology involved in the development of the system are summarized. Secondly, the whole frame of the airborne terminal of the transplanter is built. The industrial control computer is used as the airborne processor, the external GPS receiver, the GPRS communication module, the camera and the data acquisition card. The hardware function module of the airborne terminal is selected and designed. On this basis, the software flow chart of airborne terminal software is designed by using VC development environment, which mainly includes the classification and processing of all kinds of working condition information of the collecting transplanter, the software realization of communication program, and the use of image matching. Image segmentation and BP neural network are used to detect and process the state of the collected seedling map. Then, on the basis of the hardware and software design of the transplanter's airborne terminal, the corresponding remote monitoring center is designed. The design and implementation of remote monitoring center are introduced in detail around database, server and monitoring client. The data communication and remote control are accomplished by using Socket and multithread technology, and the data received are stored and managed by database technology. In addition, a good man-machine interface of monitoring client is developed by using VC, and the real-time positioning display of transplanter and the visual presentation of seedling planting quality map are realized by using GIS technology. Finally, the main hardware modules of the transplanter are tested, and each function module of the monitoring system is debugged. It is verified that the monitoring system basically realizes the function of real-time monitoring of remote working transplanter.
【學位授予單位】：江蘇大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：S223.91;TP277

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