一种面向水质监测应用的无人艇设计与实现

Design and implementation of the unmanned surface vehicle for water quality monitoring

为提高水质监测无人艇的性能,设计了一种基于软件定义的模块化水质监测无人艇。文章首先梳理了其作业流程,并对底层电子电气架构进行改进设计。然后基于硬件虚拟化和微服务技术,详细设计了水质监测无人艇的控制系统,并对软件定义的中央控制器进行了模块化设计。系统测试和实船试验表明,相比于传统船型,该水质监测无人艇的全船控制网络负载降低约50%,任务处理时延下降30%,各系统运行稳定,系统软件定义能力和功能拓展能力显著增强。

To improve the performance of unmanned water quality monitoring boats,a modular water quality monitoring unmanned boat based on the software defined is design.Firstly,it composes its operation process and improves the design of the underlying electronic and electrical architecture.Then based on hardware virtualization and microservice technology,we accomplish the detailed design of the control system of the water quality monitoring unmanned boat and the modular design of the software-defined central controller.System testing and real ship tests show that,compared with the traditional ship type,the water quality monitoring unmanned boat of the whole ship control network load reduced by about 50%,task processing delay decreased by 30%,target identification,motion control algorithms,water quality sampling and other systems run stable and the system software definition capabilities and functional expansion capabilities significantly enhanced.