水质监测与采样一体化无人船设计与试验

良好的水体水质是池塘健康养殖的基础，为了实现监测和采样的自动化，设计了一体化无人水质监测船并进行了性能试验。兼顾水质监测与采样需求，对船体结构进行设计，考虑承重和稳性对船舱传感器与采样、电源与控制盒、水样采集瓶功能区进行布局设计，基于双螺旋桨差速驱动模型融合GPS和姿态传感器开发了自主巡航控制系统，应用物联网技术集成水质采样控制系统和水质监测数据平台。综合试验结果表明：无人船行驶轨迹准确，监测点位最大偏差量为1.49m，最小偏差量为0.39m，平均偏差量为1.003m；监测及采样功能稳定，可实时回传水体的pH值、温度和溶氧数据，6只500mL水样采集瓶能够实现符合国家标准的水下50cm精准取样。研究结果为水产养殖全水面水质监控提供了一种低成本高可靠的实施方案。

Design and experiment of water quality monitoring and sampling integrated unmanned boat

Favourable water quality is the basis of pond healthy aquaculture. In order to realize the automation of monitoring and sampling, an integrated unmanned water quality monitoring and sampling ship was designed and its performance test was carried out. Considering the requirements of water quality monitoring and sampling, the hull structure was designed, and the layout of the functional areas of water quality sensor, sampling system, power supply, control box, and water sample collection bottles in the cabin were designed considering the load bearing and stability. The autonomous cruise control system was developed based on the differential twin-propellers driven model and the integration of GPS and attitude sensor. The water sampling control system and water quality monitoring data platform are integrated with Internet of things technology. The comprehensive test results show that the trajectory of unmanned ship is accurate, the maximum deviation of monitoring point is 1.49m, the minimum deviation is 0.39m, and the average deviation is 1.003m. The water quality monitoring and sampling function is stable, and the pH value, water temperature and dissolved oxygen of water can be returned in real time. Six 500mL water sampling bottles can pump water sample of underwater 50cm accurately which is in line with national standards. The results provide a low-cost and reliable implementation scheme for the whole surface water quality monitoring of aquaculture.