一种小型水质监测无人船控制系统设计

Design of a Small Water Quality Monitoring Unmanned Ship Control System

无人船在水质检测、采样、巡逻等方面有着广阔的应用前景。针对无人船传输数据实时性差的问题,利用4G网络结合数据传输模块进行无人船与控制中心之间的数据传输;针对具有自主能力的无人船造价昂贵的问题,以树莓派为控制中心设计无人船控制系统,实现无人船的自动巡航;针对无人船无法自动处理突发情况的问题,采用移动端、遥控器、服务器端多端控制的方法;针对无人船适应环境能力较差的问题,采用PID算法进行无人船的航向控制。实验结果表明,该算法可实现无人船的多端控制、数据实时传输与自动巡航功能。

Unmanned boat has broad application prospects in water quality testing,sampling and patrol.In view of the problem that the unmanned ship with autonomy is expensive,the unmanned ship control system is designed with the Raspberry Pi as the control center,and the unmanned ship's autonomous obstacle avoidance is adopted by the angle potential field method.In the case that the situation cannot be handled automatically,the mobile terminal,the remote controller,and the server-side multi-end control method are adopted.For the problem that the unmanned ship is resistant to environmental problems,the PID algorithm is used for the heading control of the unmanned ship.The problem of poor real-time data is to use 4G network combined with data transmission module for data transmission between unmanned ship and control center.The actual experiments show that the above algorithm can realize the multi-end control,real-time data transmission and automatic cruise function of the unmanned ship.