运动机械手臂式多参数水质检测仪嵌入式系统设计
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摘要
环境水质监测是保障我国水环境安全的重要技术手段,而现有的环境水质监测系统存在测试周期长、检测参数单一和工作效率低等问题,无法及时反映当前水环境状况,已不能满足现代水环境监测和保护的要求。因此,研制能够对水质进行多参数检测﹑自动采样和自动化分析的水质监测系统显得尤为迫切。
针对我国现有环境水质监测系统中存在的问题,提出了一种运动机械手臂式多参数水质检测仪技术方案,根据检测功能要求和运动机械手臂控制要求,研究了多参数水质检测系统的原理,分析了多参数水质检测系统实际应用工作流程,主要提出了嵌入式系统硬件电路方案和基于Linux系统的多参数水质检测仪嵌入式软件系统的总体方案;采用S3C2440A作为主处理器,完成了上层嵌入式硬件系统;构建了基于Linux系统的多参数水质检测仪嵌入式软件平台,编写了相关驱动程序;设计开发了基于Qtopia的系统控制测试图形用户界面和检测功能完善、操作简单直观、使用灵活的用户应用软件;完成了样机的嵌入式系统部分的调试和应用实验,实验结果表明,系统到达初步设计要求。本论文主要工作如下:
①在课题提出的运动机械手臂式多参数水质检测仪的总体技术方案要求下,确定了多参数水检测仪的嵌入式系统的总体结构方案;
②根据嵌入式系统总体方案的要求,设计了以S3C244A为核心的嵌入式硬件电路系统,搭建了硬件技术平台;
③根据多参数水质检测仪流程、运动机械手臂的控制动作要求,在嵌入式硬件电路的平台上,构建了基于Linux操作系统的软件平台,并移植bootloader、内核和根文件系统以及GUI平台Qtopia,设计了多参数水质检测仪的用户应用软件系统;
④完成了样机的调试和部分应用实验研究,结果表明仪器能基本满足水质多个参数检测的要求。
Water quality monitoring is to protect the water environment of the importance of safety techniques, and existing environmental water quality monitoring system has a long test cycle, test parameters of single and low efficiency of work, not been able to reflect the current status of water environment, can not meet the modern water environmental monitoring and protection requirements. Therefore, the development can be detected on the multi-parameter water quality sampling and automated analysis, automatic water quality monitoring system is particularly urgent.
For water quality monitoring of existing environmental problems in the system, a mechanical arm motion detector multi-parameter water quality technology solutions, according to detection robot arm motion control requirements and the requirements of the multi-parameter water quality testing system works, multi-parameter water quality analysis of the practical application of work flow detection system, the main hardware of embedded system proposed programs and Linux-based multi-parameter water quality monitoring system apparatus of the overall scheme of embedded software systems; Used as the main processor S3C2440A, completed the top embedded hardware systems; Linux-based system built multi-parameter water quality testing instruments embedded software platforms, and migrate bootloader, kernel and root file system and GUI platform Qtopia, the preparation of the relevant drivers; Designed and developed a system based on Qtopia graphical user interface and control tests improve detection, simple operation, intuitive, flexible user application software; Completed a prototype embedded system debugging and application of some experimental results show that the system reaches the initial design requirements. This thesis are as follows:
①Issues raised in the multi-parameter mechanical arm motion detector water quality requirements under the overall technology program to determine the multi-parameter water detector the overall structure of the embedded system programs;
②According to the general program requirements of embedded system designed to S3C244A embedded hardware circuits as the core system, set up the hardware technology platform;
③According to the process of multi-parameter water quality monitoring instrument, motion control of robot movements required in the embedded hardware platform, built on Linux operating system software platform, and migrate bootloader, kernel and root file system and GUI platform Qtopia, designed a multi-parameter water quality testing instrument user application software systems;
④Completed a prototype application debugging and some experimental results showed that multiple instruments can basically meet the water quality parameters of detection.
针对我国现有环境水质监测系统中存在的问题,提出了一种运动机械手臂式多参数水质检测仪技术方案,根据检测功能要求和运动机械手臂控制要求,研究了多参数水质检测系统的原理,分析了多参数水质检测系统实际应用工作流程,主要提出了嵌入式系统硬件电路方案和基于Linux系统的多参数水质检测仪嵌入式软件系统的总体方案;采用S3C2440A作为主处理器,完成了上层嵌入式硬件系统;构建了基于Linux系统的多参数水质检测仪嵌入式软件平台,编写了相关驱动程序;设计开发了基于Qtopia的系统控制测试图形用户界面和检测功能完善、操作简单直观、使用灵活的用户应用软件;完成了样机的嵌入式系统部分的调试和应用实验,实验结果表明,系统到达初步设计要求。本论文主要工作如下:
①在课题提出的运动机械手臂式多参数水质检测仪的总体技术方案要求下,确定了多参数水检测仪的嵌入式系统的总体结构方案;
②根据嵌入式系统总体方案的要求,设计了以S3C244A为核心的嵌入式硬件电路系统,搭建了硬件技术平台;
③根据多参数水质检测仪流程、运动机械手臂的控制动作要求,在嵌入式硬件电路的平台上,构建了基于Linux操作系统的软件平台,并移植bootloader、内核和根文件系统以及GUI平台Qtopia,设计了多参数水质检测仪的用户应用软件系统;
④完成了样机的调试和部分应用实验研究,结果表明仪器能基本满足水质多个参数检测的要求。
Water quality monitoring is to protect the water environment of the importance of safety techniques, and existing environmental water quality monitoring system has a long test cycle, test parameters of single and low efficiency of work, not been able to reflect the current status of water environment, can not meet the modern water environmental monitoring and protection requirements. Therefore, the development can be detected on the multi-parameter water quality sampling and automated analysis, automatic water quality monitoring system is particularly urgent.
For water quality monitoring of existing environmental problems in the system, a mechanical arm motion detector multi-parameter water quality technology solutions, according to detection robot arm motion control requirements and the requirements of the multi-parameter water quality testing system works, multi-parameter water quality analysis of the practical application of work flow detection system, the main hardware of embedded system proposed programs and Linux-based multi-parameter water quality monitoring system apparatus of the overall scheme of embedded software systems; Used as the main processor S3C2440A, completed the top embedded hardware systems; Linux-based system built multi-parameter water quality testing instruments embedded software platforms, and migrate bootloader, kernel and root file system and GUI platform Qtopia, the preparation of the relevant drivers; Designed and developed a system based on Qtopia graphical user interface and control tests improve detection, simple operation, intuitive, flexible user application software; Completed a prototype embedded system debugging and application of some experimental results show that the system reaches the initial design requirements. This thesis are as follows:
①Issues raised in the multi-parameter mechanical arm motion detector water quality requirements under the overall technology program to determine the multi-parameter water detector the overall structure of the embedded system programs;
②According to the general program requirements of embedded system designed to S3C244A embedded hardware circuits as the core system, set up the hardware technology platform;
③According to the process of multi-parameter water quality monitoring instrument, motion control of robot movements required in the embedded hardware platform, built on Linux operating system software platform, and migrate bootloader, kernel and root file system and GUI platform Qtopia, designed a multi-parameter water quality testing instrument user application software systems;
④Completed a prototype application debugging and some experimental results showed that multiple instruments can basically meet the water quality parameters of detection.
引文
[1]柴红柳.基于GPRS的环境水质pH值自动监测系统的研制[D].长春:吉林大学,2007.
[2]王俊.加强水资源研究为水资源科学管理提供技术支撑[J].人民长江,2008,39(17):1-2.
[3]王殿茹,赵淑芹,水资源安全现状及21世纪水资源安全评价[J].生态经济,2006,(7):31-34.
[4]滕佩峰.基于GSM网络水质在线自动监测系统的研究与实现[D].北京:北京邮电大学计算机应用技术,2008.
[5]李怡庭.全国水质监测规划概述[J].中国水利,2003,3(11):14.
[6]于洪滨.水质在线自动监测系统软件设计[D].西安:西安电子科技大学,2007.
[7] Azedine Charef, Antoine Ghzuch. Water quality monitoring using a smart sensing system[J]. Measurement, 2000,28(6):219-224.
[8] Harro Bode, Ernst A. Nusch. Advanced river quality monitoring in the Ruhr Basin[J]. Water science and technology,1999,40(10):145-152.
[9] Ahmad S.R. Remote sensing of water pollution by laser[J]. Trans. Inst. M&C, 1991, 130(5): 104-111.
[10] Briggs R., Gratten K.T.V. Measurement and sensing of water quality: a review. Trans[J]. Inst. M&C, 1990,12(2):1-45.
[11] R H Fraser, P K Barten. redicting Strea Pathogen Loading from Livestock Using a Geographical Information System Based Delivery Model[J]. Journal of Environment Quality, 1998,Vo1.27(4):pg935-45.
[12] Gao JinLiang, Chang Kui, Wu WenYan, Fang HaiEn, Tang WeiJia. Construction of digital analysis platform for civil water distribution network[J]. Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2009,41(2):53-56.
[13] F. Toran, D. Ramirez, A.E. Navarro, S. Casans, J.Pelegri, J.M.Espi, Design of a virtual instrument for water quality monitoring accoss the Internet, Sensors and Actuators[C]. B, Chemical Volume 76, 2001:281-285.
[14] F. Toran, D. Ramirez, A.E. Navarro,S. Casans, J. Pelegri, Distribute virtual Instrument for Water qulitity monitoring across the Internet, Instrumentation and Mearurement Technology Conference[C]. 2000:652-656.
[15]王炳华,赵明.美国环境监测一百年历史回顾及其借鉴[J].环境监测管理与技术,2000,12(6):13-17.
[16]杨振波.全球水质监测操作技术规范[J].ENVIRONMENTAL MONITORING IN CHINA,1988,4(4):62-64.
[17]席飞.基于ARM和GPRS网络的水质检测系统设计[D].无锡:江南大学,2007.
[18]李庆波,倪勇,周定文等.成分含量近红外快速检测技术及系统的研究[J].仪器仪表学报,2003,24(6):555-558.
[19] Manool,Boghos A.,Morgan,Philip G.,Organic pollutant monitor[J]. United States Patent.USA,5420432,May 30,1995.
[20]谢协忠,张钰镭,于瑞生编著.水分析化学.第2版[M].南京:河海大学出版社,2003,5:16,152-153.
[21]周名成,俞汝勤.紫外与可见分光光度分析法[M].北京:化学工业出版社,1986.
[22]陈云治,保延翔.CPLD应用技术与数字系统设计[M].电子工业出版社.2003.
[23] Karim Yagbmour著,O’Reilly Taiwan公司译,韩存兵,龚波改编.构建嵌入式LINUX系统[M].北京:中国电力出版社,2004.
[24]陈卓,王田,梁新元等编著.嵌入式系统开发[M].北京:电子工业出版社,2009.
[25] [美]William S.Davis T.M.Rajkumar,陈向群,朱文琪,吴泠等译.操作系统基础教程[M].北京:电子工业出版社,2003.
[26] C.M.Krishna Kang G..Shin.Real-TimeSystems[M].The McGraw-Hill Companies,Inc., 1997.
[27]赵明鑫.Linux内核在ARM上的裁剪与移植[J].计算机与数字工程,2009,7:81-84.
[28] Karim Yagbmour著,O’Reilly Taiwan公司译,韩存兵,龚波改编.构建嵌入式LINUX系统[M].北京:中国电力出版社,2004.
[29]叶顺流.基于ARM的嵌入式Linux研究与实现[D].重庆大学:2005.
[30]河秦,王洪涛编.Linux2.6内核标准教程[M].北京:人民邮电出版社,2008.11.
[31]李理,曹好婷.用于ARM9芯片的Linux定制与裁减,西南科技人学学报,2005,20(4),29-3l.
[32] S3C2440X 32-BIT RISC MICROPROCESSOR USER’S MANUAL Revision 1.2.samsung electronics.
[33]孙纪坤,张小全.嵌入式Linux系统开发技术详解—基于ARM[M].北京:人民邮电出版社,2006.
[34]苏东编著.主流ARM嵌入式系统设计技术与实例精解[M].北京:电子工业出版社,2007:60-100.
[35]白玉霞,刘旭辉,孙肖子.基于Qt/Embedded的GUI移植及应用程序开发[J].电子产品世界.
[36]华晶,贾晶,何火娇.基于Qt/Embedded的嵌入式GUI在ARM上的移植[J].计算机与现代化,2009,10:117-119.
[37]孙天泽,袁文菊.嵌入式设计及Linux驱动开发指南[M].第2版.北京:电子工业出版社,2007.
[38]邓俊华,杜玉晓.基于S3C2410处理器的linux移植[J].微型电脑应用,2009,25(8):53-55.
[39]陈勤.基于ARM&Linux的嵌入式微型生化分析系统软件设计[D].重庆:重庆大学,2008.
[40]邹思轶.嵌入式Linux下的设计与应用[M].北京:清华大学出版社,2002.
[41]华清远见嵌入式培训中心,宋宝华编著.2006.Linux设备驱动开发详解[M].北京:人民邮电出版社.
[42]谭显强,吴宁,范彩霞.基于S3C2410的LCD驱动系统设计[J].苏州科技学院学报,2009,22(3):70-74.
[43]刘亚尼.基于Linux的触摸屏驱动程序的设计与实现[J].仪表技术,2009,10:43-46.
[2]王俊.加强水资源研究为水资源科学管理提供技术支撑[J].人民长江,2008,39(17):1-2.
[3]王殿茹,赵淑芹,水资源安全现状及21世纪水资源安全评价[J].生态经济,2006,(7):31-34.
[4]滕佩峰.基于GSM网络水质在线自动监测系统的研究与实现[D].北京:北京邮电大学计算机应用技术,2008.
[5]李怡庭.全国水质监测规划概述[J].中国水利,2003,3(11):14.
[6]于洪滨.水质在线自动监测系统软件设计[D].西安:西安电子科技大学,2007.
[7] Azedine Charef, Antoine Ghzuch. Water quality monitoring using a smart sensing system[J]. Measurement, 2000,28(6):219-224.
[8] Harro Bode, Ernst A. Nusch. Advanced river quality monitoring in the Ruhr Basin[J]. Water science and technology,1999,40(10):145-152.
[9] Ahmad S.R. Remote sensing of water pollution by laser[J]. Trans. Inst. M&C, 1991, 130(5): 104-111.
[10] Briggs R., Gratten K.T.V. Measurement and sensing of water quality: a review. Trans[J]. Inst. M&C, 1990,12(2):1-45.
[11] R H Fraser, P K Barten. redicting Strea Pathogen Loading from Livestock Using a Geographical Information System Based Delivery Model[J]. Journal of Environment Quality, 1998,Vo1.27(4):pg935-45.
[12] Gao JinLiang, Chang Kui, Wu WenYan, Fang HaiEn, Tang WeiJia. Construction of digital analysis platform for civil water distribution network[J]. Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2009,41(2):53-56.
[13] F. Toran, D. Ramirez, A.E. Navarro, S. Casans, J.Pelegri, J.M.Espi, Design of a virtual instrument for water quality monitoring accoss the Internet, Sensors and Actuators[C]. B, Chemical Volume 76, 2001:281-285.
[14] F. Toran, D. Ramirez, A.E. Navarro,S. Casans, J. Pelegri, Distribute virtual Instrument for Water qulitity monitoring across the Internet, Instrumentation and Mearurement Technology Conference[C]. 2000:652-656.
[15]王炳华,赵明.美国环境监测一百年历史回顾及其借鉴[J].环境监测管理与技术,2000,12(6):13-17.
[16]杨振波.全球水质监测操作技术规范[J].ENVIRONMENTAL MONITORING IN CHINA,1988,4(4):62-64.
[17]席飞.基于ARM和GPRS网络的水质检测系统设计[D].无锡:江南大学,2007.
[18]李庆波,倪勇,周定文等.成分含量近红外快速检测技术及系统的研究[J].仪器仪表学报,2003,24(6):555-558.
[19] Manool,Boghos A.,Morgan,Philip G.,Organic pollutant monitor[J]. United States Patent.USA,5420432,May 30,1995.
[20]谢协忠,张钰镭,于瑞生编著.水分析化学.第2版[M].南京:河海大学出版社,2003,5:16,152-153.
[21]周名成,俞汝勤.紫外与可见分光光度分析法[M].北京:化学工业出版社,1986.
[22]陈云治,保延翔.CPLD应用技术与数字系统设计[M].电子工业出版社.2003.
[23] Karim Yagbmour著,O’Reilly Taiwan公司译,韩存兵,龚波改编.构建嵌入式LINUX系统[M].北京:中国电力出版社,2004.
[24]陈卓,王田,梁新元等编著.嵌入式系统开发[M].北京:电子工业出版社,2009.
[25] [美]William S.Davis T.M.Rajkumar,陈向群,朱文琪,吴泠等译.操作系统基础教程[M].北京:电子工业出版社,2003.
[26] C.M.Krishna Kang G..Shin.Real-TimeSystems[M].The McGraw-Hill Companies,Inc., 1997.
[27]赵明鑫.Linux内核在ARM上的裁剪与移植[J].计算机与数字工程,2009,7:81-84.
[28] Karim Yagbmour著,O’Reilly Taiwan公司译,韩存兵,龚波改编.构建嵌入式LINUX系统[M].北京:中国电力出版社,2004.
[29]叶顺流.基于ARM的嵌入式Linux研究与实现[D].重庆大学:2005.
[30]河秦,王洪涛编.Linux2.6内核标准教程[M].北京:人民邮电出版社,2008.11.
[31]李理,曹好婷.用于ARM9芯片的Linux定制与裁减,西南科技人学学报,2005,20(4),29-3l.
[32] S3C2440X 32-BIT RISC MICROPROCESSOR USER’S MANUAL Revision 1.2.samsung electronics.
[33]孙纪坤,张小全.嵌入式Linux系统开发技术详解—基于ARM[M].北京:人民邮电出版社,2006.
[34]苏东编著.主流ARM嵌入式系统设计技术与实例精解[M].北京:电子工业出版社,2007:60-100.
[35]白玉霞,刘旭辉,孙肖子.基于Qt/Embedded的GUI移植及应用程序开发[J].电子产品世界.
[36]华晶,贾晶,何火娇.基于Qt/Embedded的嵌入式GUI在ARM上的移植[J].计算机与现代化,2009,10:117-119.
[37]孙天泽,袁文菊.嵌入式设计及Linux驱动开发指南[M].第2版.北京:电子工业出版社,2007.
[38]邓俊华,杜玉晓.基于S3C2410处理器的linux移植[J].微型电脑应用,2009,25(8):53-55.
[39]陈勤.基于ARM&Linux的嵌入式微型生化分析系统软件设计[D].重庆:重庆大学,2008.
[40]邹思轶.嵌入式Linux下的设计与应用[M].北京:清华大学出版社,2002.
[41]华清远见嵌入式培训中心,宋宝华编著.2006.Linux设备驱动开发详解[M].北京:人民邮电出版社.
[42]谭显强,吴宁,范彩霞.基于S3C2410的LCD驱动系统设计[J].苏州科技学院学报,2009,22(3):70-74.
[43]刘亚尼.基于Linux的触摸屏驱动程序的设计与实现[J].仪表技术,2009,10:43-46.