摘要
为了有效解决水产养殖等水质检测领域存在自动检测系统的布线复杂、灵活性差和成本高等问题,研制一艘搭载水质检测装置的智能巡航船。该船按照设定的水面航线自动航行,并在航行过程中采集水质数据,进而减少了布置多个点带来的资源浪费。巡航船的主控芯片采用STM32F103单片机,辅以UM220-Ⅲ北斗定位模块、GY-273电子罗盘、BTN7970电机驱动模块以及PID算法等,实现船在巡航精度2.5 m CEP以内的自动航行。巡航船有两种工作模式:手动模式和自动驾驶模式。手动模式下,用户通过配备的遥控器操作船的前进、左转、右转和倒退,并设置巡航船的自动驾驶路径。自动驾驶模式下,巡航船根据预设的路径自动航行,每到一个点采集一次数据。此方案具有创新性,在解决用户需求的同时,节约了大量成本。
An intelligent cruise ship embarked with the water quality detection equipment is developed to effectively solve the problems of complex wiring,poor flexibility and high cost of automatic detection system in aquaculture and other water quality detection fields.The ship navigates automatically according to the given route on water surface,and collects water quality data during the voyage,thus reducing the resources waste caused by placing multiple detecting points.The STM32F103 microcontroller is used as the main control chip of cruising ship,with which the UM220⁃III positioning module,GY⁃273 electronic compass,BTN7970 motor drive module,PID algorithm and so on are supplemented to realize the automatic navigation of the ship within the 2.5 m CEP cruising precision.The cruise ship has two operating modes:manual mode and autopilot mode.In manual mode,users can operate the ship forward,left⁃turn,right⁃turn and backward by means of the equipped remote controller,and set the autopilot path of the cruise ship.In the autopilot mode,the cruise ship can automatically navigate according to the preset path,and collect water quality data at each point along its cruise route.This scheme has innovativeness and can save a lot of costs while solving users′demand.
作者
霍中兴
杨永杰
吉约兰
HUO Zhongxing;YANG Yongjie;JI Yuelan(School of Electronics and Information,Nantong University,Nantong 226019,China)
出处
《现代电子技术》
北大核心
2020年第2期53-56,共4页
Modern Electronics Technique
基金
江苏高校品牌专业建设工程一期项目（PPZY2015B135）
江苏省研究生科研与创新计划项目(KYCX17-1921)
关键词
水质监测
智能巡航船
数据采集
自动驾驶
嵌入式系统
系统测试
water quality monitoring
intelligent cruise ship
data acquisition
autopilot
embedded system
system test
