Design And Implementation Of A Water Quality Monitoring Unmanned Ship System

Water pollution seriously affects production and livelihood security.To monitor rivers and lakes comprehensively,accurately and shortly,it is of great significance to water environmental control and water quality security.The existing monitoring methods like water quality monitoring stations and buoys are problematic because of their fixed position,high labor cost,and inability to enter in and monitor some water areas,resulting in issues such as unresponsiveness,low time and spatial resolution.This paper has studied the water quality monitoring unmanned ship system that combines unmanned ship control technology with water quality monitoring technology.This design can realize the daily monitoring and follow-up inspection of narrow waters in lakes and rivers.The main contents of this paper are as follows.The first part is the installation of hardware of the water quality monitoring unmanned ship.The main control board is designed,including the system power module,navigation control module,acquisition sampling module and wireless communication module.The overall circuit is tested as well.Later,with the help of OpenCV on the Raspberry Pi platform,water surface image has been collected to perform obstacle contour recognition.By improving the Canny operator and thus extracting contour geometric feature,the accurate obstacle contours are obtained,which helps unmaned ship avoid obstacles in real time and ensures safety.The programming of the slave computer program on the unmanned ship’s main control board enables unmanned ship to navigation autonomously,collect water samples online and sample water.With the obstacle contour recognition algorithm and the ranging sensor,the unmanned ship can achieve the result of avoiding obstacles autonomously.At last,through operating software on computer,unmanned ship can be controlled remotely to collect samples,real-timely displaying the water surface images and water quality data.Experiments show that the designed unmanned ship system in this paper can achieve autonomous navigation and obstacle avoidance in lakes and rivers.The improved Canny operator can effectively help the system recognize obstacles and avoid obstacles.The software on the computer can control unmanned ship remotely,on-line monitor and collect water samples in real time.The data can be displayed and compared with professional equipment in real time to meet the needs of water quality monitoring.