淤泥采样无人船的设计与实现

Design and implementation of unmanned surface vehicle for sludge sampling

随着水污染日趋严重,水环境监测与保护已成为水域安全的重要任务。但采用人工手段对湖泊、河流等水域环境监测存在人工成本高、容易出错、安全性差等问题。针对这一现状,研究设计了一种基于STM32F103ZET6微控制器控制的淤泥采样无人船,主要包括机械和控制两部分,机械部分主要研究了无人船的船体结构设计、抓斗的机械结构设计,并分别利用UG和Maxsurf软件对淤泥采样无人船进行了三维建模及大倾角稳定性分析;控制系统主要包括GPS定位、视频监控、淤泥采样等功能设计。研究表明,该淤泥采样无人船结构设计合理,同时仿真结果也显示该淤泥采样无人船在航行过程中具有一定的平稳性。

With the increasingly serious water pollution,water environment monitoring and protection are an important task of water security.The paper means that in monitoring rivers and lakes exist a series of problems such as high labor costs,error-prone,poor security.In response to this status,it designs an unmanned surface vehicle（USV） for sludge sampling based on STM32F103ZET6 micro-controller,which is made up of mechanical part and the control part.It introduces the mechanical part mainly such as hull and the grab,establishes the dimensional modeling with UG,calculates the stability of the large angle in Maxsurf.The control system mainly includes GPS positioning,video monitoring,sludge sampling and other functional design.The study shows that the USV is reasonable in structural design,and the simulation results illustrate that the USV has certain stability in sail.