Design And Implementation Of Remote Vessel Control And Monitoring System For Hydrological Monitoring

With the rapid development of industry in China,the pollution of water resources is becoming more and more serious,and the monitoring of hydrology and water quality is more and more significant.Due to the poor hydrological monitoring environment and the inaccessibility of monitoring personnel in some waters,the remote-controlled vessel utilized to monitor hydrological information including temperature,PH and turbidity has become an effective means.In this thesis,based on a miniature remote control ship,a hydrological realtime monitoring remote control ship is designed and developed.It mainly focuses on the research and development of a hydrological real-time monitoring system based on embedded technology.In view of the practical demands of the hydrological real-time monitoring system,the overall function design of the remote-controlled ship hydrological monitoring system is carried out.The whole real-time monitoring system is divided into three parts including remote control subsystem,shipborne subsystem,and hydrological monitoring subsystem.The remote control subsystem is mainly used to send remote control instructions and display a series of monitoring data.The shipborne subsystem is an executing agency and is mainly responsible for receiving the instructions from the remote control terminal and completing the corresponding functions according to the instructions.The major function of hydrological monitoring subsystem is to accomplish the detection of hydrology and water quality in some target waters.Taking into account the flexible operation,low cost,low power consumption and ease of post-maintenance,in this dissertation,a micro-vehicle which is unmanned and convenient for remote control is selected as the carrier.A certain number of hydrological detection function modules are embarked on the carrier.They are utilized to realize the quick detection of some routine parameters of water hydrological condition.STM32 is adopted as the control core of shipboard system.The motion control module,photoelectric obstacle avoidance module and other function modules are integrated.Taking advantage of the remote communication method,the received data is posted back timely and displayed.The received GPS signal is used to determine the location of the detection area.The design and development of system software is accomplished.The control program of the STM32 is compiled in C language.The software system consists of the main control program,data collection and wireless communication modules.The wireless communication module is used for remote transmission.The photoelectric module is utilized for obstacle avoidance during autonomous navigation and the GPS positioning is used to accurately locate the target area.The temperature,pH and turbidity sensors are used for hydrological detection.Further,Keil software is adopted to complete the debugging and programming.The experimental test of the remote control ship monitoring system is carried out in the laboratory environment.The result shows that whether the remote control terminal is moving or not,the communication distance within 100 meters is effective.When the instruction is sent remotely,the hull will act to respond to the instruction within 1s.The speed of grade one is 1.4m/s,the second grade is 2.3m/s,and the hydrological monitoring can be completed within 30 s.The desired goal is realized.