水质监测无人船的电控系统设计

Design of an Electric Control System for the Unmanned Surface Vehicle for Water Quality Monitoring

设计了一款轻便小巧的水质监测无人船,结合一体化水质监测电控系统进行水质温度、溶解氧质量浓度、氨氮质量浓度、pH的监测。硬件部分采用模块化结构设计,以Raspberry Pi 3B+作为主控模块,协同运行电源管理模块、数据采集模块、导航定位模块、避障模块、视觉采集模块、电机驱动模块、无线通信模块及岸基上位机。软件设计包括主程序、自主航行模式程序、遥控航行模式程序及无线通信模块程序的设计。将无人船放在城市湖面和河道进行实验,结果显示,5个固定监测点的监测参数在正常范围内,10个随机监测点的监测数据与专业仪器监测的数据相比,可决系数在0.94~0.99,验证了无人船运行的可行性以及监测数据的可靠性。

An unmanned surface vehicle with an integrated electric control system,which is lightweight and small,was designed to monitor water quality by regularly checking water temperature,mass concentrations of dissolved oxygen and ammonia nitrogen,and pH levels.With a modular design,its hardware used Raspberry Pi 3B+as a master controller to operate modules including power management,data collection,navigation and positioning,obstacle avoidance,vision acquisition,motor drive,wireless communication and shore-based upper computer in a coordinated manner.Its software was composed of a master program and other programs for autonomous navigation,remotely controlled navigation,and wireless communication.Experiments were conducted by placing such a vehicle on urban lakes and rivers.The results showed that the parameters of the five fixed monitoring points were within the normal range,and the coefficient determination of the data in 10 other random points ranged from 0.94~0.99 in comparison with that of the data monitored by professional instruments,which has verified the feasibility of such vehicle as well as the reliability of its monitoring data.