Design And Implementation Of Remote Monitoring System For Water Surface Cleaning Robot

At present,artificial lakes in scenic spots,campus artificial lakes and other small waters mainly adopt manual cleaning,which has the disadvantages of low efficiency,high labor cost and unsafe.The surface garbage disposal vessel on the market is mainly suitable for large areas where floating matter is concentrated.It has high cost,complex structure and large size.At present,there is no cleaning device in small waters on the market.Based on the embedded system,this paper designs a small area surface cleaning robot hull system with functions of video surveillance,voice control,map display,water quality monitoring,rollover alarn and remote monitoring.The design of this system is divided into three parts,which are the hardware design,the embedded software design and the upper computer software design.The core circuit of embedded hardware adopts iTOP-4412 core board.The main control circuit,power supply circuit,serial communication circuit and battery voltage acquisition circuit are designed around the core circuit.Peanut shell is used to build the hardware environment of the intranet penetration and realize the communication between the intranet and the intranet.The 4 G wireless router and local server are used to realize the remote control of the robot to clean up the surface garbage.Embedded software design:mainly configuring embedded software development environment,designing communication protocol,using epoll model to design local server to solve multi-client monitoring,using thread pool to optimize multi-thread invocation,and using ET mode(edge trigger)to optimize buffer data reading,improve the efficiency of the server.The acceleration and deceleration of the robot are controlled by the motor.The design of the sensor acquisition program includes video image,GPS data,water turbidity data,inclination sensor data and battery power.Mobile client software design:mainly includes the display of Baidu map trajectory,including dynamic trajectory and historical trajectory drawing;video surveillance mainly has live broadcast and playback functions;voice control:the user's voice command is parsed through Baidu voice server,and converted into robot's action command;water quality monitoring:turbidity data curve display.The surface cleaning robot developed in this paper has been debugged on the lake surface of the school.It has the characteristics of small size,flexible movement and high cleaning efficiency,and has excellent fishing effect for small areas.It can alleviate environmental pollution,reduce human costs,make up for the vacancies of small-scale water market products,and has a good industrial application prospect.