Design Of Water Quality Monitoring System And Research On Path Planning Method Based On USV

In the 21^st century,China entered the period of rapid economic development,and all kinds of enterprises are established,and all aspects of China’s entry into the industrialized era.However,most enterprises in China neglect the treatment of discharged sewage,and arbitrarily discharg industrial waste water into lakes and rivers.What result in a large number of drinking water sources,water pollution problems become more serious.So water quality monitoring is becoming more and more important.Based on the research status of mobile online water quality monitoring system at home and abroad,this paper design a water quality monitoring system based on unmanned ship.The new water quality monitoring mobile system can be used to handle sudden water pollution incidents,to track pollution sources in real time,and to monitor the daily water quality of potable water sources.The unmanned ship based on water quality monitoring system has the advantages of small size,which can be carried in the vehicle,low cost,high precision,high speed detection and remote control.The system enrich the existing water quality monitoring methods in China.Due to the fluidity of the water,the water would flow through a variety of complex terrain,and the staff cannot detect it,such as water flow through caves.And because of the changing weather,such as the long-term foggy weather made the staff’s line of sight is blocked,and result what impossible to accurately operate the unmanned ship in real time.The staffs can use the unmanned ship’s autonomous navigation to reach the target water level for detection,which can be achieved through path planning techniques.The main research contents of this paper are listed as follows:（1）This work complete the overall design of the water quality monitoring system based on the unmanned ship.The system consist of monitoring terminal,monitoring center and handheld terminal,which can realize high-precision and high-speed mobile water quality detection.Furthermore,the system can record the data of water quality in real time.（2）The research on the unmanned ship path planning method based on the combination of neural network and Q learning is completed,which make the method accelerate the convergence speed and optimize the path.The simulation results of the path planning of the unmanned ship under different scene conditions are analyzed.（3）The test of each functional modules has been completed.The path planning method is used to test the real environment,and the causes of the failure of the unmanned ship are analyzed.And repair all kinds of faults during the test in time to improve the overall performance of the unmanned ship.The water quality monitoring system in the unmanned ship is tested in the East Lake of Zhejiang Agriculture&Forestry University.The results show that the water quality monitoring system and path planning design can be achieved as expected.