AU2018101590A6 - An environmental monitoring system with unmanned boats as carrier and use thereof - Google Patents
An environmental monitoring system with unmanned boats as carrier and use thereof Download PDFInfo
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- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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Abstract
The present invention relates to the technical field of environmental monitoring, and discloses an environmental monitoring system with unmanned boats as a carrier and use thereof The environmental monitoring system comprises the unmanned boat devices, wherein the unmanned 5 boat devices are in two-way signal connection with a network communication base station, and the network communication base station is in two-way signal connection with an integral operation platform and a cloud server. According to this environmental monitoring system with unmanned boats as a carrier, a plurality of unmanned boats are disposed for environmental monitoring, due to a dissolved oxygen sensor, a COD sensor, a turbidity sensor, a PH sensor and a temperature sensor 0 disposed on the unmanned boat, the environmental monitoring is more comprehensive, and due to a GPS module, a camera module and a laser radar module disposed on the unmanned boat, the automatic planning of a track and real-time obstacle avoidance can be realized, and the timeliness and dynamism of environmental monitoring are improved. Meanwhile, because the plurality of unmanned boats can be in an automatic independent cruising mode or collaborative detection mode, 5 the efficiency of environmental monitoring is improved, and greater convenience is realized in use. - Ln1O V D Ln2 LiB L22 Lnl A1 Al Al AlC Fig. 2 U13 WIFI -- Ul4 HMC5883L U10 LiDAR -U11 GPS Ul Raspberry Pi U12 4GM electric energy supply U2 SD U4 Sl -- U3 RS485 - - U 5 S2 U8 RZ7899 -U6 S3 U9era M1 M2 - U7 S4 Fig. 3
Description
Water quality monitoring is a necessary technical link in the production and life processes of environmental protection, aquaculture, agricultural irrigation, sewage treatment, etc., and has broad market prospects and use space.
At present, the relatively traditional monitoring means mainly comprise: manual sampling, monitoring based on a buoy carrier and monitoring based on an unmanned boat device, wherein 5 the manual sampling is relatively high in labor cost and difficultly achieves all-weather water quality monitoring, and the monitoring based on a buoy carrier can only continuously monitor a fixed region and difficultly achieves the global dynamic monitoring of a target water region. Therefore, the environmental monitoring based on an unmanned boat has become the main and necessary development trend of water quality testing. The current monitoring systems generally 20 adopt one single unmanned boat for monitoring and are lower in monitoring efficiency, and the monitoring effect and accuracy are affected by the commonly existing condition of repeated or missing measurement.
Therefore, there is provided a new environmental monitoring system with the unmanned boats as a carrier to solve the above-mentioned problems.
Summary of the Invention (1) Technical problems to be solved
2018101590 23 Oct 2018
As to the deficiencies of the prior art, the present invention provides an environmental monitoring system with the unmanned boats as a carrier, which has the advantages of high sampling timeliness, good dynamism, high efficiency and the like, and solves the problems that the current monitoring systems generally adopt one single unmanned boat for monitoring and are lower in monitoring efficiency, and the monitoring effect and accuracy are affected by the commonly existing condition of repeated or missing measurement.
(2) Technical solution
In order to realize the above objectives of high sampling timeliness, good dynamism and high efficiency, in one aspect, the present invention provides the following technical solution: an 0 environmental monitoring system with the unmanned boats as a carrier comprises the unmanned boat devices, wherein the unmanned boat devices are in two-way signal connection with a network communication base station, and the network communication base station is in two-way signal connection with an integral operation platform and a cloud server.
The unmanned boat devices consist of an unmanned boat device I, an unmanned boat device
II and an unmanned boat device N, wherein the unmanned boat device I, the unmanned boat device II and the unmanned boat device N are all in two-way signal connection with the network communication base station, the unmanned boat device I consists of an information collection module, a communication module, a GPS module, a camera module and a laser radar module, the information collection module, the GPS module, the camera module and the laser radar module 20 are all in two-way signal connection with the communication module, the communication module is in two-way signal connection with the network communication base station, the information collection module consists of a dissolved oxygen sensor, a COD sensor, a turbidity sensor, a PH sensor and a temperature sensor, and the communication module consists of WIFI and 4G.
Preferably, the internal constitutions and structures of the unmanned boat device I, the unmanned boat device II and the unmanned boat device N are the same.
2018101590 23 Oct 2018
In some embodiments, the internal constitutions and structures of the unmanned boat device I, the unmanned boat device II and the unmanned boat device N are different.
Preferably, a navigation mode of the unmanned boat devices comprises remote manual operation and control, automatic independent cruising, and collaborative detection.
Preferably, the network communication base station consists of a WIFI communication base station and a 4G communication base station.
In the embodiment of the present invention, WIFI communication is adopted at the time of being in a signal range of the WIFI communication base station, and 4G communication is adopted in the case of disconnection with a WIFI link.
Preferably, the model of the turbidity sensor may be Rs485, the model of the dissolved oxygen sensor may be 840P, the model of the COD sensor may be LHB-50, the model of the PH sensor may be SIN-PH160, and the model of the temperature sensor may be CWDZ11.
In another aspect, the present invention provides use of the environmental monitoring system according to the present invention in the automatic cruising control program of an unmanned 5 boat.
In yet another aspect, the present invention provides use of the environmental monitoring system according to the present invention in the collaborative detection control program of unmanned boats.
(3) Beneficial effects
Compared with the prior art, the present invention provides an environmental monitoring system with unmanned boats as a carrier, which has the following beneficial effects.
According to this environmental monitoring system with unmanned boats as a carrier, a plurality of unmanned boats are disposed for environmental monitoring, due to the dissolved oxygen sensor, the COD sensor, the turbidity sensor, the PH sensor and the temperature sensor 25 disposed on the unmanned boats, the environmental monitoring can be more comprehensive, and due to the GPS module, the camera module and the laser radar module disposed on the unmanned boats, the automatic planning of a track and real-time obstacle avoidance can be
2018101590 23 Oct 2018 realized and the timeliness and dynamism of environmental monitoring are improved; meanwhile, because the plurality of unmanned boats can be in an automatic independent cruising mode or collaborative detection mode, the efficiency of environmental monitoring is improved, and greater convenience is realized in use.
Description of the Drawings
Fig. 1 is a system diagram of an environmental monitoring system with unmanned boats as a carrier provided by the present invention.
Fig. 2 is a constitutional diagram of a regional environmental collaborative monitoring system of the environmental monitoring system with unmanned boats as a carrier provided by the 0 present invention.
Fig. 3 is a schematic diagram of constitution and structure of an unmanned boat device of the environmental monitoring system with unmanned boats as a carrier provided by the present invention.
Fig. 4 is a schematic diagram of structure of an integral operation platform of the environmental monitoring system with unmanned boats as a carrier provided by the present invention.
Fig. 5 is a schematic diagram of an operation control interface of an integral operation control platform of the environmental monitoring system with unmanned boats as a carrier provided by the present invention.
Fig. 6 is a flowchart of an automatic cruising control program of the unmanned boat device of the environmental monitoring system with unmanned boats as a carrier provided by the present invention.
Fig. 7 is a flowchart of a collaborative detection control program of the unmanned boat device of the environmental monitoring system with unmanned boats as a carrier provided by the 25 present invention.
Detailed Description
2018101590 23 Oct 2018
The technical solution in the examples of the present invention is clearly and completely described in combination with the drawings in the examples of the present invention. It is obvious that the described examples are merely a part of, and not all the examples of the present invention. All other examples obtained by those ordinary skilled in the art based on the examples 5 in the present invention without paying creative labor belong to the protective scope of the present invention.
Referring to Fig. 1, it is a schematic diagram of an environmental monitoring system. The environmental monitoring system with unmanned boats as a carrier comprises unmanned boat devices. A navigation mode of the unmanned boat devices comprises remote manual operation 0 and control, automatic independent cruising, and collaborative detection. The unmanned boats in the automatic independent cruising mode perform track planning according to a preset navigation region, and own real time GPS information, perform real-time obstacle avoidance according to laser radar data, and perform real-time navigation task adjustment according to the sensor data collected by dynamic analysis. The unmanned boats in the collaborative detection mode perform 5 collaborative detection task adjustment according to the preset detection region, own position information and the position information of other unmanned boats and the information of sensors carried on respective unmanned boats. The unmanned boat devices are in two-way signal connection with a network communication base station. The network communication base station is in two-way signal connection with an integral operation platform and a cloud server. The 20 integral operation platform can perform remote manual operation control on the single unmanned boat and is configured to realize the setting on the detection region and the concentrated display of the position information of respective unmanned boats and the sensor data of related regions, and to set the navigation mode of respective unmanned boats. The network communication base station consists of a WIFI communication base station and a 4G communication base station and 25 is configured to receive the information transmitted by a communication module on the unmanned boat devices.
2018101590 23 Oct 2018
The unmanned boat devices consist of an unmanned boat device I, an unmanned boat device
II and an unmanned boat device N. The internal constitutions and structures of the unmanned boat device I, the unmanned boat device II and the unmanned boat device N are the same (may also be different in some embodiments). The unmanned boat device I, the unmanned boat device 5 II and the unmanned boat device N are all in two-way signal connection with the network communication base station. The unmanned boat device I consists of an information collection module, a communication module, a GPS module, a camera module and a laser radar module.
The information collection module, the GPS module, the camera module and the laser radar module are all in two-way signal connection with the communication module. The GPS module, 0 the camera module and the laser radar module are configured to collect the navigation state and navigation channel information of the unmanned boats. The communication module is in twoway signal connection with the network communication base station. The information collection module consists of a dissolved oxygen sensor, a COD sensor, a turbidity sensor, a PH sensor and a temperature sensor. The model of the dissolved oxygen sensor may be 840P, the model of the 5 COD sensor may be LHB-50, the model of the turbidity sensor may be Rs485, the model of the
PH sensor may be SIN-PH160, and the model of the temperature sensor may be CWDZ11. Due to the dissolved oxygen sensor, the COD sensor, the turbidity sensor, the PH sensor and the temperature sensor on the unmanned boat, the environmental monitoring can be more comprehensive. The communication module consists of WIFI and 4G. WIFI communication is 20 adopted at the time of being in a signal range of the WIFI communication base station, and 4G communication is adopted in the case of disconnection with a WIFI link.
Referring to Fig. 2, it is a constitutional diagram of a regional environmental collaborative monitoring system.
Al, A2, ... , An are the unmanned boat devices (n is greater than or equal to 2), and the 25 number thereof depends on the size of the detection area and the number of the detected parameter variety. The multiple unmanned boats work together and thus form an unmanned boat cluster. B is the WIFI network communication base station, C is the integral operation control
2018101590 23 Oct 2018 platform, D is the 4G network communication base station, and E is a remote cloud server. For the unmanned boat Ai, if it is in the signal coverage of the B base station, then the WIFI communication is used to communicate with the base station, and the communication link is represented by Lil (Lil, L21......Lnl). Meanwhile, the communication base station B keeps network communication with the remote cloud server E, and the communication link is represented by L0. The communication base station B uploads the state information of respective unmanned boats and the sensor information to the cloud server E by the link L0 for data information storage. The user uses the integral operation control platform C to communicate with the communication base station B by the communication link L01, so as to control respective 0 unmanned boats and read the data information. For the unmanned boat Ai, if it is not in the signal coverage of the B base station, then the 4G module is used to send the data information to the remote cloud server E by the 4G network communication base station D. The communication link between the Ai and the D is represented by Li2 (L12, L22......Ln2). The communication between the 4G network communication base station D and the cloud server E is represented by 5 L02, and at this time, the user reads the state information and the sensor information of the Ai by the links L0 and LOL
Referring to Fig. 3, it is a constitutional diagram of an unmanned boat device. The unmanned boat adopts Raspberry Pi as a core data processing module, which is represented by Ul. U2 represents an SD card, which is configured to store an operation system and operational data of 20 the Raspberry Pi. The U2 is mounted in an SD card slot of the Ul. U3 is an RS485 bus module, which is configured to send the sensor information to the Ul. The UART RX/TX end of the U3 is connected to a GPIO pin 8 and pin 10 of the Ul respectively. U4, U5, U6 and U7 are respectively the dissolved oxygen sensor, the COD sensor, the PH sensor and the turbidity sensor, and are all connected to the U3 respectively by a 485 bus. U8 is a dual-DC motor drive module 25 taking an RZ7899 chip as a core, which is configured to control the propellers of DC motors (represented by Ml and M2 respectively) on the left side and the right side of a stem of the unmanned boat. The unmanned boat realizes the adjustment on the own course by configuring a
2018101590 23 Oct 2018 rotary speed difference of the DC motors on the left side and the right side. The U8 is connected to the U1 by the GPIO on the Ul. U9 is a camera module, which is mounted on the prow of the unmanned boat and configured to collect the image information in an advancing direction of the unmanned boat. U10 is a laser radar module (Light Detection and Ranging equipment, LiDAR), 5 which is connected to the Ul by a USB interface, and configured to detect the blocking condition of a peripheral region of the unmanned boat. Ull is a GPS module, which is configured to acquire the real time position information of the unmanned boat. U12 is a 4G communication module, which is configured to provide a standby communication link Li2 for the unmanned boat Ai. U13 is a WIFI module which is connected to the Ul by a network interface. U14 is an 0 unmanned boat prow direction collecting module based on an electronic compass sensor
HMC5883L, which is configured to determine the current prow direction of the unmanned boat. U14 realizes data transmission in IIC form by an SDA pin (pin 3) and an SCL pin (pin 5) on the Ul. U15 is an electric energy supply module, and provides a 5V working voltage for the Ul. Meanwhile, the U15 also provides 5V or 12V drive voltage required by working of the sensors 5 for the U4, U5, U6 and U7, and the 12V motor drive voltage required by the Ml and M2.
Referring to Fig. 4, it is a configurational diagram of the integral operation control platform. The core of the platform is an embedded panel device having a WIFI communication capacity, wherein Pl is a WIFI communication antenna, P2 is a GPS communication antenna, P3 is a power source switch button, and P4 is a touch panel. Operation control program software of the 20 present invention patent is mounted in the integral operation control platform. The display and control are performed by P4. The position information (P0) of the operation control platform will serve as a course reversal default point of respective unmanned boats.
Referring to Fig. 5, it is a constitutional diagram of an operation control interface of the integral operation control platform, by which the functions of the integral operation control 25 platform can be analyzed and elaborated, wherein Z8 is an operation control selected region of the unmanned boat. The unmanned boat needing to be operated and controlled and displayed is selected by touching Al, A2, A3, ... , An. By taking the unmanned boat Ai as an example,
2018101590 23 Oct 2018 respective region functions are elaborated. Z1 region displays the image collected by a camera of the unmanned boat Ai. Meanwhile, the navigation environment obstacle information returned by the laser radar will be integrated in the Ai, and if there are obstacle(s) in the front course, then a dashed line box (Z9) is marked in the corresponding region to remind an operator of the obstacle 5 information. Z2 region displays the communication link type (4G or WIFI) currently adopted by the Ai and the battery electric quantity (percentage). Z3 displays a current operating mode (RD, SD and CD) of the unmanned boat Ai. Z4 is map information of the current position of the Ai (embedded electronic map), which comprises the current position, a predetermined course, a set detection region, and the like. Z6 is a sensor parameter display region. The box P displays the 0 current position (GPS data information) of the Ai. The box T displays the water body temperature information (temperature sensor information) collected by the Ai. The box PH displays the water body PH information (PF sensor information) collected by the Ai. The box NTU displays the water body turbidity information (turbidity sensor information) collected by the Ai. The box COD displays the water body chemical oxygen demand information (COD 5 sensor information) collected by the Ai. The box DO displays the water body dissolved oxygen information (dissolved oxygen sensor information) collected by the Ai. The region Z7 is an operation control region of the unmanned boat Ai, and configured to control an advancing direction of the unmanned boat in real time. The f button represents advancing, the button represents withdrawing, the «—button represents left turning, and the ^button represents 20 right turning. Z5 is a function setting region, and configured to set related tasks and functions of an environmental monitoring system and respective unmanned boats. The button A is a global setting interface display button. When the operator touches the button A, the Z4 region is enlarged in equal proportion and covers the Zl, Z2, Z3, Z8 and Z9 regions, and at this time, the position information and the navigation routes of all unmanned boats are displayed on a map. 25 The operator can set a global detection region of the unmanned boats and a course reversal position after the detection is ended in the Z4 region. The button B is a single boat setting interface display button. When the operator touches the button B, the Z4 and the Zl regions are
2018101590 23 Oct 2018 replaced in position, and the operator sets the navigation region and the detection range of the unmanned boat Ai. The button S is a communication updating button. When the operator touches the button S, the integral operation control platform sends a data acquiring instruction to each unmanned boat, so as to acquire the latest data information of respective unmanned boats 5 and the sensors carried thereon. The button R is a task terminating button, and at this time, all unmanned boats stop the current task functions for course reversal. It should be noted that when there are obstacle(s) in the course of the unmanned boat Ai, or the collected sensor data are abnormal or the power source electric quantity is not enough, the Zl, Z2, Z3, Z4, Z6, Z8 and Z9 are automatically switched to the interface for the Ai.
Referring to Fig. 6, it is a flowchart of an automatic cruising control program of the unmanned boat.
Step 1: an automatic cruising control mode is acquired, wherein the unmanned boat Ai acquires a collaborative detection task instruction issued by an integral monitoring platform through a link Ail (2), and step 2 is entered after finishing;
step 2: a detection region task is acquired, wherein the unmanned boat acquires a detection water region range and sensor type data needing to be collected as issued by the integral monitoring platform through the link Ail(2), and step 3 is entered after finishing;
step 3: position information and course information are acquired, wherein the unmanned boat
Ai acquires current position and prow direction information by reading the information of U11 20 and U14, and step 4 is entered after finishing;
step 4: a navigation task is adjusted, wherein the unmanned boat Ai updates own navigation task according to the result of an operational algorithm, and step 5 is entered after finishing;
step 5: data are uploaded, wherein the data content comprise the position, the course, the currently executed navigation task, the video information and the sensor data of the unmanned 25 boat Ai, the unmanned boat Ai uploads the above data to the integral monitoring platform by the link Ail(2), and step 6 is entered after finishing;
2018101590 23 Oct 2018 step 6: motors Ml and M2 are controlled, wherein the unmanned boat Ai realizes the control over forward and backward rotation of the motors Ml and M2 by controlling a module U8, thereby realizing the control over a course and a navigation speed, and step 7 is entered after finishing;
step 7: laser radar data are collected, wherein the unmanned boat Ai acquires the obstacle information in a current navigation region by reading the information of U10, and step 8 is entered after finishing;
step 8: judging is performed, wherein step 9 is entered if no obstacle(s) exist in the course of the Ai, and step 12 is entered if the obstacle(s) exist in the course of the Ai;
step 9: sensor information is collected, wherein the unmanned boat Ai acquires the dissolved oxygen, COD, PH and turbidity sensor information in the form of a 485 bus by the U3, and step 10 is entered after finishing;
step 10: judging is performed, wherein step 11 is entered if the collected sensor data are normal, and step 14 is entered if the collected sensor data are abnormal;
step 11: video information is collected, wherein the unmanned boat Ai acquires the video information of the navigation region by the camera module U9, and step 2 is returned after finishing;
step 12: an alarm is sent, wherein the unmanned boat Ai sends the information of finding the obstacle(s) to an integral operation control platform by the link Ail(2), and step 13 is entered 20 after finishing;
step 13: an obstacle avoidance algorithm is performed, wherein the unmanned boat Ai operates the obstacle avoidance algorithm according to the distance and azimuth information of peripheral obstacle(s) to acquire a new navigation task, and step 4 is entered after finishing;
step 14: an alarm is sent, wherein the unmanned boat Ai sends the sensor data (abnormal data) exceeding a threshold value to the integral operation control platform by the link Ail(2), and at this time, the Zl, Z2, Z3, Z4 and Z8 regions of the integral operation control platform are
2018101590 23 Oct 2018 automatically switched to an operation control interface for the unmanned boat Ai, and step 15 is entered after finishing; and step 15: a detection task optimizing strategy is performed, wherein the unmanned boat Ai operates the detection task optimizing strategy according to the abnormal sensor data to 5 determine water region position needing to be monitored emphatically, and step 4 is entered after finishing.
Referring to Fig. 7, it is a flowchart of a collaborative detection control program of the unmanned boat.
Step 1: a collaborative detection task mode is acquired, wherein the unmanned boat Ai 0 acquires a collaborative detection task instruction issued by an integral monitoring platform through a link Ail(2), and step 2 is entered after finishing;
step 2: a detection region task is acquired, wherein the unmanned boat Ai acquires a detection water region range and sensor type data needing to be collected as issued by the integral monitoring platform through the link Ail (2), and step 3 is entered after finishing;
step 3: position information and course information are acquired, wherein the unmanned boat
Ai acquires current position and prow direction information by reading the information of U11 and U14, and step 4 is entered after finishing;
step 4: navigation condition information of other boats are acquired, wherein the unmanned boat Ai acquires the navigation position and navigation task information uploaded by other boats 20 by the link Ail (2), and step 5 is entered after finishing;
step 5: a collaborative detection strategy is performed, wherein the unmanned boat Ai operates the collaborative detection strategy according to own navigation position and navigation task and the information of the navigation task being executed by other unmanned boats, so as to optimize own navigation task, and step 6 is entered after finishing;
step 6: the navigation task is adjusted, wherein the unmanned boat Ai updates own navigation task according to the result of the operational algorithm, and step 7 is entered after finishing;
2018101590 23 Oct 2018 step 7: data are uploaded, wherein the data content comprise the position, the course, the currently executed navigation task, the video information and the sensor data of the unmanned boat Ai, the unmanned boat Ai uploads the above data to the integral monitoring platform by the link Ail(2), and step 8 is entered after finishing;
step 8: motors Ml and M2 are controlled, wherein the unmanned boat Ai realizes the control over forward and backward rotation of the motors Ml and M2 by controlling a module U8, thereby realizing the control over a course and a navigation speed, and step 9 is entered after finishing;
step 9: laser radar data are collected, wherein the unmanned boat Ai acquires the obstacle 0 information in a current navigation region by reading the information of U10, and step 10 is entered after finishing;
step 10: judging is performed, wherein step 11 is entered if no obstacle(s) exist in the course of the Ai, and step 14 is entered if the obstacle(s) exist in the course of the Ai;
step 11: sensor information is collected, wherein the unmanned boat Ai acquires the dissolved 5 oxygen, COD, PH and turbidity sensor information in the form of a 485 bus by the U3, and step 12 is entered after finishing;
step 12: judging is performed, wherein step 13 is entered if the collected sensor data are normal, and step 16 is entered if the collected sensor data are abnormal;
step 13: video information is collected, wherein the unmanned boat Ai acquires the video 20 information of the navigation region by the camera module U9, and step 2 is returned after finishing;
step 14: an alarm is sent, wherein the unmanned boat Ai sends the information of finding the obstacle(s) to an integral operation control platform by the link Ail(2), and at this time, the Zl, Z2, Z3, Z4 and Z8 regions of the integral operation control platform are automatically switched 25 to an operation control interface for the unmanned boat Ai, and step 15 is entered after finishing;
2018101590 23 Oct 2018 step 15: an obstacle avoidance algorithm is performed, wherein the unmanned boat Ai operates the obstacle avoidance algorithm according to the distance and azimuth information of peripheral obstacle(s) to acquire a new navigation task, and step 6 is entered after finishing;
step 16: an alarm is sent, wherein the unmanned boat Ai sends the sensor data (abnormal data) 5 exceeding a threshold value to the integral operation control platform by the link Ail(2), and at this time, the Zl, Z2, Z3, Z4 and Z8 regions of the integral operation control platform are automatically switched to an operation control interface for the unmanned boat Ai, and step 17 is entered after finishing; and step 17: a detection task optimizing strategy is performed, wherein the unmanned boat Ai 0 operates the detection task optimizing strategy according to the abnormal sensor data to determine water region position needing to be monitored emphatically, and step 6 is entered after finishing.
In conclusion, according to this environmental monitoring system with unmanned boats as a carrier, a plurality of unmanned boats are disposed for environmental monitoring, due to the 5 dissolved oxygen sensor, the COD sensor, the turbidity sensor, the PH sensor and the temperature sensor disposed on the unmanned boat, the environmental monitoring is more comprehensive, and due to the GPS module, the camera module and the laser radar module disposed on the unmanned boat, the automatic planning of a track and real-time obstacle avoidance can be realized, and the timeliness and dynamism of environmental monitoring are improved.
Meanwhile, because the plurality of unmanned boats can be in the automatic independent cruising mode or collaborative detection mode, the efficiency of environmental monitoring is improved, and greater convenience is realized in use. The problems that the current monitoring systems generally adopt one single unmanned boat for monitoring and are lower in monitoring efficiency, and the monitoring effect and accuracy are affected by the commonly existing condition of repeated or missing measurement are solved.
It should be noted that the relation terms herein such as first and second are merely used for differentiating one entity or operation from the other entity or operation, rather than necessarily
2018101590 23 Oct 2018 demanding or implying that these entities or operations have any such actual relation or sequence.
Besides, the terms comprises, contains or any other variants are intended to cover nonexclusive containing, such that the process, method, article or apparatus comprising a series of elements not only comprise those elements, but also comprise unclearly listed other elements, 5 or also comprise the inherent elements of such process, method, article or apparatus. In the case of no more restrictions, the element defined by the sentence comprising one...... do not exclude that there are other same elements in the process, method, article or apparatus comprising said element.
Although the examples of the present invention have been shown and described, it is 0 appreciable that those ordinary skilled in the art could make various changes, modifications, substitutions and transformations on these examples without departing from the principle and spirit of the present invention. The scope of the present invention is limited by the appended claims and their equivalents.
Claims (5)
1. An environmental monitoring system with unmanned boats as a carrier, comprising unmanned boat devices, which is characterized in that: the unmanned boat devices are in twoway signal connection with a network communication base station, and the network communication base station is in two-way signal connection with an integral operation platform and a cloud server;
the unmanned boat devices consist of an unmanned boat device I, an unmanned boat device II and an unmanned boat device N, the unmanned boat device I, the unmanned boat device II and the unmanned boat device N are all in two-way signal connection with the network communication base station, the unmanned boat device I consists of an information collection module, a communication module, a GPS module, a camera module and a laser radar module, the information collection module, the GPS module, the camera module and the laser radar module are all in two-way signal connection with the communication module, the communication module is in two-way signal connection with the network communication base station, the information collection module consists of a dissolved oxygen sensor, a COD sensor, a turbidity sensor, a PH sensor and a temperature sensor, and the communication module consists of WIFI and 4G.
2. The environmental monitoring system with unmanned boats as a carrier according to claim 1, characterized in that: the internal constitutions and structures of the unmanned boat device I, the unmanned boat device II and the unmanned boat device N are the same or different.
3. The environmental monitoring system with unmanned boats as a carrier according to claim 1, characterized in that: a navigation mode of the unmanned boat devices comprises remote manual operation and control, automatic independent cruising, and collaborative detection.
4. Use of the environmental monitoring system according to any one of claims 1 to 3 in the automatic cruising control program of an unmanned boat, characterized by comprising the following steps or consisting of the following steps:
C:\Interwoven\NRPortbl\DCC\SXD\l7965705 I.doc.vl/l 1/2018
2018101590 01 Nov 2018 step 1, acquiring an automatic cruising control mode, wherein the unmanned boat Ai acquires a collaborative detection task instruction issued by an integral monitoring platform through a link Ail2, and step 2 is entered after finishing;
step 2, acquiring a detection region task, wherein the unmanned boat acquires a detection water region range and sensor type data needing to be collected as issued by the integral monitoring platform through the link, and step 3 is entered after finishing;
step 3, acquiring position information and course information, wherein the unmanned boat Ai acquires current position and prow direction information by reading the information of U11 and U14, and step 4 is entered after finishing;
step 4, adjusting a navigation task, wherein the unmanned boat Ai updates own navigation task according to the result of an operational algorithm, and step 5 is entered after finishing;
step 5, uploading data, wherein the unmanned boat Ai uploads the above data to the integral monitoring platform by the link Ail2, and step 6 is entered after finishing;
step 6, controlling motors Ml and M2, wherein the unmanned boat Ai realizes the control over forward and backward rotation of the motors Ml and M2 by controlling a module U8, thereby realizing the control over a course and a navigation speed, and step 7 is entered after finishing;
step 7, collecting laser radar data, wherein the unmanned boat Ai acquires the obstacle information in a current navigation region by reading the information of U10, and step 8 is entered after finishing;
step 8, judging, wherein step 9 is entered if no obstacle(s) exist in the course of the Ai, and step 12 is entered if the obstacle(s) exist in the course of the Ai;
step 9, collecting sensor information, wherein the unmanned boat Ai acquires the dissolved oxygen, COD, PH and turbidity sensor information in the form of a 485 bus by U3, and step 10 is entered after finishing;
step 10, judging, wherein step 11 is entered if the collected sensor data are normal, and step 14 is entered if the collected sensor data are abnormal;
step 11, collecting video information, wherein the unmanned boat Ai acquires the video information of the navigation region by a camera module U9, and step 2 is returned after finishing;
C:\Interwoven\NRPortbl\DCC\SXD\l7965705 I.doc.vl/l 1/2018
2018101590 01 Nov 2018 step 12, sending an alarm, wherein the unmanned boat Ai sends the information of finding the obstacle(s) to the integral operation control platform by the link Ail2, and step 13 is entered after finishing;
step 13, performing an obstacle avoidance algorithm, wherein the unmanned boat Ai operates the obstacle avoidance algorithm according to the distance and azimuth information of peripheral obstacle(s) to acquire a new navigation task, and step 4 is entered after finishing;
step 14, sending an alarm, wherein the unmanned boat Ai sends the sensor data, namely, abnormal data exceeding a threshold value to the integral operation control platform by the link Ail 2, and at this time, the Z1, Z2, Z3, Z4 and Z8 regions of the integral operation control platform are automatically switched to an operation control interface for the unmanned boat Ai, and step 15 is entered after finishing; and step 15, performing a detection task optimizing strategy, wherein the unmanned boat Ai operates the detection task optimizing strategy according to the abnormal sensor data to determine water region position(s) needing to be monitored emphatically, and step 4 is entered after finishing.
5. Use of the environmental monitoring system according to any one of claims 1 to 3 in the collaborative detection control program of an unmanned boat, characterized by comprising the following steps or consisting of the following steps:
step 1, acquiring a collaborative detection task mode, wherein the unmanned boat Ai acquires a collaborative detection task instruction issued by an integral monitoring platform through a link Ail2, and step 2 is entered after finishing;
step 2, acquiring a detection region task, wherein the unmanned boat Ai acquires a detection water region range and sensor type data needing to be collected as issued by the integral monitoring platform through the link Ail2, and step 3 is entered after finishing;
step 3, acquiring position information and course information, wherein the unmanned boat Ai acquires current position and prow direction information by reading the information of U11 and U14, and step 4 is entered after finishing;
step 4, acquiring navigation condition information of other boats, wherein the unmanned boat Ai acquires the navigation position and navigation task information uploaded by other boats by the link Ail2, and step 5 is entered after finishing;
C:\Interwoven\NRPortbl\DCC\SXD\l7965705 I.doc.vl/l 1/2018
2018101590 01 Nov 2018 step 5, performing a collaborative detection strategy, wherein the unmanned boat Ai operates the collaborative detection strategy according to own navigation position and navigation task and the information of the navigation task being executed by other unmanned boats, so as to optimize own navigation task, and step 6 is entered after finishing;
step 6, adjusting the navigation task, wherein the unmanned boat Ai updates own navigation task according to the result of the operational algorithm, and step 7 is entered after finishing;
step 7, uploading data, wherein the unmanned boat Ai uploads the above data to the integral monitoring platform by the link Ail2, and step 8 is entered after finishing;
step 8, controlling motors Ml and M2, wherein the unmanned boat Ai realizes the control over forward and backward rotation of the motors Ml and M2 by controlling a module U8, thereby realizing the control over a course and a navigation speed, and step 9 is entered after finishing;
step 9, collecting laser radar data, wherein the unmanned boat Ai acquires the obstacle information in a current navigation region by reading the information of U10, and step 10 is entered after finishing;
step 10, judging, wherein step 11 is entered if no obstacle(s) exist in the course of the Ai, and step 14 is entered if the obstacle(s) exist in the course of the Ai;
step 11, collecting sensor information, wherein the unmanned boat Ai acquires the dissolved oxygen, COD, PH and turbidity sensor information in the form of a 485 bus by U3, and step 12 is entered after finishing;
step 12, judging, wherein step 13 is entered if the collected sensor data are normal, and step 16 is entered if the collected sensor data are abnormal;
step 13, collecting video information, wherein the unmanned boat Ai acquires the video information of the navigation region by a camera module U9, and step 2 is returned after finishing;
step 14, sending an alarm, wherein the unmanned boat Ai sends the information of finding the obstacle(s) to the integral operation control platform by the link Ail2, and at this time, the Zl, Z2, Z3, Z4 and Z8 regions of the integral operation control platform are automatically switched to an operation control interface for the unmanned boat Ai, and step 15 is entered after finishing;
C:\Interwoven\NRPortbl\DCC\SXD\l7965705 I.doc.vl/l 1/2018
2018101590 01 Nov 2018 step 15, performing an obstacle avoidance algorithm, wherein the unmanned boat Ai operates the obstacle avoidance algorithm according to the distance and azimuth information of peripheral obstacle(s) to acquire a new navigation task, and step 6 is entered after finishing;
step 16, sending an alarm, wherein the unmanned boat Ai sends the sensor data, namely, abnormal data exceeding a threshold value to the integral operation control platform by the link Ail 2, and at this time, the Z1, Z2, Z3, Z4 and Z8 regions of the integral operation control platform are automatically switched to an operation control interface for the unmanned boat Ai, and step 17 is entered after finishing; and step 17, performing a detection task optimizing strategy, wherein the unmanned boat Ai operates the detection task optimizing strategy according to the abnormal sensor data to determine water region position(s) needing to be monitored emphatically, and step 6 is entered after finishing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/088846 WO2019227306A1 (en) | 2018-05-29 | 2018-05-29 | Environment monitoring system using unmanned surface vehicle as carrier and application thereof |
| AUPCT/CN2018/088846 | 2018-05-29 |
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| Publication Number | Publication Date |
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| AU2018101590A4 AU2018101590A4 (en) | 2018-12-06 |
| AU2018101590A6 true AU2018101590A6 (en) | 2018-12-13 |
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| AU2018101590A Ceased AU2018101590A6 (en) | 2018-05-29 | 2018-10-23 | An environmental monitoring system with unmanned boats as carrier and use thereof |
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| AU (1) | AU2018101590A6 (en) |
| DE (1) | DE202019001528U1 (en) |
| WO (1) | WO2019227306A1 (en) |
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| CN110007672A (en) * | 2019-03-20 | 2019-07-12 | 中铁四局集团有限公司 | A kind of unmanned surveying vessel suitable for shield crossing rivers construction monitoring |
| CN110398574B (en) * | 2019-05-16 | 2024-03-22 | 中国地质大学（武汉） | Water surface movable water quality monitoring node device based on raspberry pie |
| CN111024695A (en) * | 2019-12-10 | 2020-04-17 | 山东星云环境科技有限公司 | All-in-one AI intelligent water environment-friendly real-time monitoring system |
| CN111272965B (en) * | 2020-03-10 | 2022-05-10 | 广东通达检测技术有限公司 | Remote multi-parameter water quality detection equipment and water quality detection method |
| CN111638542B (en) * | 2020-06-02 | 2022-04-19 | 国家海洋技术中心 | Water surface radioactive unmanned ship monitoring method |
| CN111928889A (en) * | 2020-06-30 | 2020-11-13 | 上海威派格智慧水务股份有限公司 | Intelligent water quality monitoring system |
| CN111912393A (en) * | 2020-08-19 | 2020-11-10 | 西北工业大学太仓长三角研究院 | Hydrological environment monitoring method based on water surface mobile robot |
| CN111700026B (en) * | 2020-08-20 | 2021-01-05 | 国网浙江省电力有限公司湖州供电公司 | Oxygen content monitoring system and method suitable for high-density aquaculture |
| CN113030409A (en) * | 2021-03-01 | 2021-06-25 | 西安水泽动力科技有限公司 | Water quality measuring method |
| CN114814142B (en) * | 2022-05-13 | 2022-11-01 | 山东省淄博生态环境监测中心 | Real-time water quality monitoring device |
| CN115097442B (en) * | 2022-08-24 | 2022-11-22 | 陕西欧卡电子智能科技有限公司 | Water surface environment map construction method based on millimeter wave radar |
| CN115202370B (en) * | 2022-09-15 | 2023-02-03 | 泰山学院 | Navigation control method and system for unmanned ship and readable storage medium |
| CN116228598B (en) * | 2023-05-06 | 2023-07-11 | 四川师范大学 | Geometric distortion correction device for remote sensing image of mountain unmanned aerial vehicle and application |
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| KR20140059355A (en) * | 2012-11-07 | 2014-05-16 | 대우조선해양 주식회사 | Monitoring and management for environment at blanket area for vessels |
| CN103019179B (en) * | 2012-11-20 | 2015-09-02 | 江苏科技大学 | Waterborne vessel reconnaissance system and method |
| CN204989163U (en) * | 2015-09-09 | 2016-01-20 | 广州睿航电子科技有限公司 | Unmanned automatic navigation water quality monitoring ship |
| CN105584599B (en) * | 2016-01-25 | 2017-10-31 | 大连海事大学 | A kind of marine environmental monitoring system for motion of being formed into columns based on unmanned boat |
| WO2017214917A1 (en) * | 2016-06-16 | 2017-12-21 | 武克易 | Intelligent water quality monitoring system |
| CN206133912U (en) * | 2016-10-28 | 2017-04-26 | 广东交通职业技术学院 | A unmanned ship that is used for unmanned ship's wireless remote control system and has it |
| CN206515092U (en) * | 2016-12-30 | 2017-09-22 | 海天水务集团股份公司 | A kind of unmanned boat for carrying out water sampling |
| CN107168314B (en) * | 2017-05-19 | 2020-08-14 | 上海海洋大学 | Buoy data information transfer device based on unmanned ship system |
| CN107479077A (en) * | 2017-07-12 | 2017-12-15 | 武汉理工大学 | A kind of Intelligent unattended ship supervises navigation system |
| CN206991539U (en) * | 2017-08-04 | 2018-02-09 | 郑保宁 | A kind of unmanned boat complex water areas intelligent monitor system |
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- 2018-09-20 ZA ZA2018/06328A patent/ZA201806328B/en unknown
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| WO2019227306A1 (en) | 2019-12-05 |
| DE202019001528U1 (en) | 2019-06-12 |
| AU2018101590A4 (en) | 2018-12-06 |
| ZA201806328B (en) | 2019-12-18 |
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