CN110940314A - Unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system - Google Patents
Unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
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- C—CHEMISTRY; METALLURGY
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- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
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- C02F1/72—Treatment of water, waste water, or sewage by oxidation
- C02F1/722—Oxidation by peroxides
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- G01N21/6428—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes"
- G01N21/643—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes" non-biological material
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Abstract
The invention relates to a cyanobacterial bloom hyperspectral monitoring and medicament spraying system based on an unmanned aerial vehicle, which comprises: unmanned aerial vehicle: the unmanned aerial vehicle carries a hyperspectral camera, and remote sensing images of a water area to be monitored are obtained and controlled by a monitoring station and sent back to the monitoring station; a monitoring station: the system is used for controlling the unmanned aerial vehicle to realize cruise shooting, processing according to a remote sensing image of a water area to be monitored to determine a possibly existing bloom area, and determining a fluorescence detection site; a fluorescence detector: the blue algae concentration value is detected by a fluorescent probe and is sent back to a monitoring station; hydrogen peroxide pharmaceutical spraying device: and spraying the hydrogen peroxide agent on site by an unmanned aerial vehicle according to the spraying amount of the hydrogen peroxide agent determined by the monitoring station. Compared with the prior art, the method has the advantages of rapidness, accuracy, economy, environmental protection and the like.
Description
Technical Field
The invention relates to the field of environmental science, in particular to a cyanobacterial bloom hyperspectral monitoring and medicament spraying system based on an unmanned aerial vehicle.
Background
Bloom (Algal Blooms) is a natural ecological phenomenon of mass propagation of algae in fresh water, and is a characteristic of water eutrophication, in which blue-green or green color appears after mass propagation of blue-green algae (also called cyanobacteria including microcystis, anabaena, Oscillatoria, Nostoc, Cyanococcus, Nostoc, etc.), green algae, diatom, etc. after wastewater containing a large amount of nitrogen and phosphorus enters into water in life and industrial and agricultural production.
When the sudden water bloom phenomenon occurs in the existing lakes and rivers, the judgment and the processing of the water bloom area are carried out only through a plurality of measuring points and manpower, so that misjudgment and incomplete results are easy to occur, and a comprehensive and automatic judgment and algae removal monitoring system is needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a cyanobacterial bloom hyperspectral monitoring and medicament spraying system based on an unmanned aerial vehicle.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a high spectrum monitoring of blue alga water bloom and medicament sprinkling system based on unmanned aerial vehicle, this system includes:
unmanned aerial vehicle: the unmanned aerial vehicle carries a hyperspectral camera, and remote sensing images of a water area to be monitored are obtained and controlled by a monitoring station and sent back to the monitoring station;
a monitoring station: the system is used for controlling the unmanned aerial vehicle to realize cruise shooting, processing according to a remote sensing image of a water area to be monitored to determine a possibly existing bloom area, and determining a fluorescence detection site;
a fluorescence detector: the blue algae concentration value is detected by a fluorescent probe and is sent back to a monitoring station;
hydrogen peroxide pharmaceutical spraying device: and spraying the hydrogen peroxide agent on site by an unmanned aerial vehicle according to the spraying amount of the hydrogen peroxide agent determined by the monitoring station.
The unmanned aerial vehicle is a Dajiang M600 longitude and latitude PRO six-rotor unmanned aerial vehicle.
Unmanned aerial vehicle on still be equipped with water sampling device, unmanned aerial vehicle pass through motor, drive assembly and rope control water sampling device's lift.
The water sample sampling device include the sampling bottle, set up at the connecting pipe at sampling bottle top, set up the valve cover in sampling bottle lower part sample connection department, valve cover and sample connection intraorally be equipped with rubber ball and O type circle, communicating pipe on be equipped with piston and plug valve.
The hydrogen peroxide agent spraying device sprays hydrogen peroxide under the condition of illumination.
The monitoring station processes the remote sensing image of the water area to be monitored through the ENVI remote sensing image processing platform.
And determining a bloom threshold value through the index FAI of the floating algae, thereby dividing the bloom area.
4-8 sampling bottles are arranged.
Compared with the prior art, the invention has the following advantages:
the unmanned aerial vehicle designed by the invention can enter the lake surface center or the region with complex terrain, has the characteristics of flexibility and real-time performance compared with the traditional monitoring mode, and is convenient for the monitoring station to know the eutrophication state in the flow area in real time. As most of visible water bloom can be quickly formed in a short time, the emergency spraying device is added to provide buffer time for further treatment, the probability of quick deterioration of water quality is reduced, hydrogen peroxide can control the water bloom in a short time, no secondary pollution is generated, and the method is economical and environment-friendly.
Drawings
FIG. 1 is a schematic design of the present invention.
Fig. 2 is a schematic structural diagram of the water sampling device.
Wherein, 1, sampling bottle, 2, rubber ball, 3, O type circle, 4, valve bonnet, 5, connecting pipe, 6, piston and plug valve.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
The invention is mainly used for full-automatic real-time monitoring and emergency treatment of cyanobacterial bloom in watershed water quality. The main part carries on high spectrum camera, fluorescence detector and hydrogen peroxide agent sprinkler for unmanned aerial vehicle. Firstly, an unmanned aerial vehicle cruises over a water area, a hyperspectral camera acquires spectral data and image data, a possibly existing water bloom area is analyzed and determined in real time through units such as image preprocessing, splicing, interpretation, analysis and the like, a site for fluorescence detection is analyzed and determined according to the area shape and the water bloom distribution condition, the site goes to the site, a fluorescence probe is used for detecting the concentration of blue-green algae, the H2O2 spraying amount is calculated according to the concentration of the blue-green algae, and spraying is automatically carried out. Meanwhile, real-time data sharing is realized with the monitoring station, and the warning function is achieved
1) Selection of conditions for the algae removal solution
By consulting the literature, the invention selects hydrogen peroxide as the algaecide. Compared with other algaecides, the hydrogen peroxide can improve the removal rate of algae and turbidity to a greater extent, can also directly oxidize organic pollutants in water and organic substances forming microorganisms while removing the algae, has strong oxidability, is safe and easy to obtain, has no secondary pollution, and accords with the environmental protection concept.
After preliminary experiments are carried out, the watering can is adopted to spray hydrogen peroxide to a culture dish containing algae solution to simulate the algae of an outdoor unmanned aerial vehicle for spraying and removing water, a xenon lamp is used for simulating sunlight, the experiment verifies that the atomized hydrogen peroxide solution has a good removing effect on the blue algae on the surface of the water body, meanwhile, the comparison experiment under the light and non-light conditions is carried out, the optimal hydrogen peroxide spraying amount is determined, and powerful theory and data support are provided for the outdoor experiments.
Through preliminary experiments, the present invention reaches the following conclusions:
spraying 500mg/m algae solution2The following H2O2The higher the dosage is, the more remarkable the reduction of the photosynthetic activity and the density of the algae is; h2O2Mainly causes stress reaction of algae cells, takes effect quickly, but takes timeThe algae removal capacity is gradually reduced after the push; the algae removal effect of the hydrogen peroxide under the illumination condition is better than that under the dark condition, and the sun + H2O2The combined process can effectively remove the blue algae, and the algae removal effect is along with H2O2Dose is increased, so that the light conditions are selected to spray H2O2The most effective way.
2) Processing of remotely sensed images
At present, methods such as a single-waveband threshold value, a Ratio Vegetation Index (RVI), a normalized vegetation index (NDVI), an Enhanced Vegetation Index (EVI) and the like are mainly applied to drawing the lake remote sensing image bloom. Although the methods can identify the typical cyanobacterial bloom area, the problems of difficult image extraction of the low-concentration cyanobacterial bloom area, difficult unification of the cyanobacterial bloom threshold value and the like caused by the influence of external interference such as water turbidity degree, cyanobacterial enrichment degree, atmospheric conditions (aerosol and atmospheric scattering) and the like generally exist, and the requirement of accurately extracting the cyanobacterial bloom is difficult to meet. Through data comparison and model simulation, the FAI (floating algae index) shows advantages over the traditional NDVI (normalized difference vegetation index) or EVI (enhanced vegetation index), is insensitive to changes in the environment and observation conditions (aerosol type, solar altitude angle, flare, etc.), and can penetrate through thin clouds more effectively to monitor cyanobacterial bloom. The index of Floating Algae (FAI) is used for making up the deficiency of the traditional method and achieving the purpose of extracting algae information more accurately. Based on the excellent characteristics of the FAI, the project determines to adopt the method to carry out the initial extraction test of the cyanobacterial bloom of the remote sensing image.
ENVI- -the complete remote sensing image processing platform, ENVI, (the environmental for visualization images) is a flagship product from the American express Visual Information Solutions company. The remote sensing image processing software is developed by scientists in the field of remote sensing by adopting an interactive Data language IDL (interactive Data language). The software processing function is complete, and the IDL can be used for compiling the extended function, so that the remote sensing image processing initial test is carried out by taking ENVI 5.1 as a platform.
Theoretically, due to the fact that the difference exists between the spectrum characteristics of the blue algae bloom area and the water body, in the boundary area of the blue algae bloom area and the non-bloom area, the FAI result has large difference, so that the pixel change rate is large, the FAI value at the position with the largest gradient can be determined by calculating the pixel gradient of an FAI result image and counting the FAI value at the position with the largest gradient, and the subjectivity of manual visual interpretation for determining the threshold is avoided. Because the influence of particles, algae scum and the like in water can cause the situation that the change rate of pixels is large in a water bloom area and a blue algae enrichment area, and the selection of a threshold value is influenced, the interference of the areas is eliminated by using FAI < -0.01 and FAI > 0.02 according to the research of famers and the like in Taihu lake before statistics.
3) Design and development of unmanned aerial vehicle sampling platform
Sdk (software Development kit), a software Development kit, is used to develop software suitable for a certain product (such as DJI Phantom 4) or a certain platform (such as Windows), and is usually provided to developers by manufacturers of the product or platform. DJIOBile SDK is a software development kit designed to provide DJI the functionality of airplane and hand-held camera products for developers.
The development of Da Jiang SDK is divided into three types: mobile SDK, Onboard SDK, Guidiane SDK. The tools provided by the developer by MobileSDK in large are:
iOS/Android code library allowing access to DJI product
Flight simulator and some visualization tools
Debugging tool and remote logging
Example code and tutorials
Developer guide and API document
Developers can use the SDK tools to start from interfaces of cameras, cloud platforms, flight control state information acquisition and the like of the unmanned aerial vehicle, and send various control instructions to the unmanned aerial vehicle through a code library provided by Dajiang to complete specific flight tasks. Developers can implement flight automation, control cameras and gimbals, receive real-time video and sensor data, download saved media from products, monitor the status of other components, and the like.
Based on the above, as shown in fig. 2, the invention designs a water sample collecting device, which takes a small unmanned aerial vehicle as a platform and carries a GPS positioning device, a micro water pump, a power motor and a sampling bottle so as to realize the fixed-point collection of water samples with different water depths, and the device provides great convenience for water environment monitoring and water sample collection.
Based on the longitude and latitude M100 of Xinjiang, a plurality of sampling points and sampling depths are selected on a terminal controller according to a GPS. After the task is started, follow-up operation is completed by the unmanned aerial vehicle without human participation. The automatic operation process is briefly described as follows:
1. and selecting a sampling point on the mobile phone/the tablet, and setting a return point.
2. The unmanned aerial vehicle arrives at the sampling point.
3. Install range unit on unmanned aerial vehicle, fly to hover after the sampling point, put down the sampling bottle, start the water suction pump, inhale the water sample.
4. And after a sampling task is finished, the next sampling point is reached, the steps are repeated, and finally, automatic return is carried out.
The specific description is as follows:
step 1: the fuselage carries on 4-8 sampling bottles, takes off the back, selects a series of settlement contents on terminal controller, and unmanned aerial vehicle arrives the water sample collection point under relevant instruction. The lifting motor is started through an instruction, the vent pipe is placed downwards, the spring extends, and the needle penetrates into the sampling bottle under the action of the elastic force.
Step 2: under the resultant force action of the elastic force and the dead weight of the sampling bottle, the sampling bottle overcomes the downward bending resistance of the rubber ring in the lower cover plate and is separated from the lower cover plate.
And step 3: the lifting motor continues to lower the vent pipe, the sampling bottle sinks into the water, and the water flows into the bottle from the needle head 2.
And 4, step 4: after the sampling bottle water inlet reachd specific water depth, close the hoist motor, start the air-blower, under atmospheric pressure effect, the water sample flows out from syringe needle 3 in the sampling bottle, and the water sample is whole after flowing out, accomplishes the rinse of sampling bottle promptly.
And 5: after the rinse completion, close the air-blower, the sampling bottle is flowed into from syringe needle 2 once more to the water sample, fills the water sample in the bottle after, and hoist motor reverse operation accomplishes a water sample collection operation.
Step 6: and after the airplane reaches the next sampling point, starting the rotating motor, aligning the needle head to the bottle cap of the other sampling bottle after rotating by a specific radian, and repeating the operation.
The whole process only needs to set a sampling point position and a return flight position on a mobile phone or a flat plate, and other processes are automatically operated by the unmanned aerial vehicle.
The system has various functions, is simple and convenient to operate, and is suitable for the field of environment monitoring of drainage basins. When the unmanned aerial vehicle is used, only the flight route and the flight time of the unmanned aerial vehicle need to be designed, and the unmanned aerial vehicle is matched with a computer to transmit information in real time. According to the set program, the unmanned aerial vehicle automatically completes the monitoring and emergency process of hyperspectral detection of blue-green algae, sampling detection of blue-green algae and chemical dosing within the designed flight time, the unmanned aerial vehicle needs to be debugged regularly, and the chemical dosing tank needs to be supplemented with medicaments according to the situation.
Claims (8)
1. The utility model provides a high spectrum monitoring of blue alga water bloom and medicament sprinkling system based on unmanned aerial vehicle which characterized in that, this system includes:
unmanned aerial vehicle: the unmanned aerial vehicle carries a hyperspectral camera, and remote sensing images of a water area to be monitored are obtained and controlled by a monitoring station and sent back to the monitoring station;
a monitoring station: the system is used for controlling the unmanned aerial vehicle to realize cruise shooting, processing according to a remote sensing image of a water area to be monitored to determine a possibly existing bloom area, and determining a fluorescence detection site;
a fluorescence detector: the blue algae concentration value is detected by a fluorescent probe and is sent back to a monitoring station;
hydrogen peroxide pharmaceutical spraying device: and spraying the hydrogen peroxide agent on site by an unmanned aerial vehicle according to the spraying amount of the hydrogen peroxide agent determined by the monitoring station.
2. The system for monitoring the hyperspectral imaging of cyanobacterial bloom and spraying the medicament based on the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is a Dajiang M600 longitude and latitude PRO hexarotor unmanned aerial vehicle.
3. The system for monitoring the hyperspectral production of cyanobacterial bloom and spraying the chemical agent based on the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is further provided with a water sampling device, and the unmanned aerial vehicle controls the lifting of the water sampling device through a motor, a transmission assembly and a rope.
4. The unmanned aerial vehicle-based cyanobacteria water bloom hyperspectral monitoring and medicament spraying system as claimed in claim 3, wherein the water sample sampling device comprises a sampling bottle, a connecting pipe arranged at the top of the sampling bottle, and a valve cover arranged at a sampling port at the lower part of the sampling bottle, wherein a rubber ball and an O-shaped ring are arranged in the valve cover and the sampling port, and a piston and a plug valve are arranged on the communicating pipe.
5. The unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system as claimed in claim 1, wherein the hydrogen peroxide medicament spraying device sprays hydrogen peroxide under the condition of illumination.
6. The system for monitoring the cyanobacterial bloom hyperspectral and medicament spraying based on the unmanned aerial vehicle as claimed in claim 1, wherein the monitoring station processes the remote sensing image of the water area to be monitored through an ENVI remote sensing image processing platform.
7. The unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system as claimed in claim 6, wherein the threshold value of the bloom is determined by the index of Floating Algae (FAI) value, so as to divide the bloom area.
8. The unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system as claimed in claim 4, wherein 4-8 sampling bottles are provided.
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Cited By (1)
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| CN112550704A (en) * | 2020-11-18 | 2021-03-26 | 浙江工业大学 | Water bloom algae pesticide applying device and method based on unmanned aerial vehicle |
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