CN105371896A - Cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation - Google Patents

Abstract

The present invention discloses a cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation, belonging to the field of aquaculture technology. The cruising water quality multi-parameter remote monitoring system comprises a boat body, a measurement device, an executive device and a server, wherein the measurement device, the executive device and the server are located on the boat body. A GPS positioning module is adopted to accurately measure the position information of the boat body; the server is configured to record the motion locus of the boat body and measurement target points; the boat body is able to learn the route and perform automatic navigation according to the route after the on-site remote manual control is performed to demonstrate the route, and is able to stop at the target points to carry out measurement and perform remote wireless transmission of water quality parameters such as water temperature, dissolved oxygen value, pH value, water level and the like; the server is configured to control the executive device to regulate the water quality according to the measured parameters, and at the same time, users may monitor the date of the operation position and water quality parameters of the measured boat in real time through a mobile phone client, may send control instructions to control the motions of control nodes near the measured boat and may correct the motion locus of the measured boat. The cruising water quality multi-parameter remote monitoring system is low in cost, high in mobility and wide in measurement range.

Description

Cruising type water quality multi-parameter remote monitoring system and method with self-learning track navigation

Technical Field

The invention belongs to a GPS positioning technology and a wireless sensing network technology, and particularly relates to a cruising type dynamic measurement system for water quality of a water source intake of aquaculture, river management and urban water supply and remote monitoring through a mobile phone.

Background

China is a big aquaculture country, the aquaculture scale is continuously expanded for years, the natural bearing capacity of aquaculture water bodies is gradually saturated, and the traditional extensive aquaculture mode for increasing the yield by expanding the scale is not suitable for the sustainable development of the aquaculture industry. In recent years, with the adjustment of agricultural structures, the breeding mode is gradually shifting to an intensive industrial breeding mode represented by high-density breeding and circulating breeding. The water quality monitoring is an important link in aquaculture, the dissolved oxygen, the pH value and the temperature in water are kept within a certain suitable range of the fishes, and the monitoring plays a decisive role in the growth of the fishes. Modern breeding modes have more severe requirements on water quality monitoring.

In China, a manual mode is adopted for water quality monitoring for a long period of time, professionals judge the water quality condition according to experience or manually sample the water quality condition to a laboratory for analysis, the error is large, and the period is long. With the development of sensor technology, the portable multi-parameter water quality measuring instrument provides a more accurate and convenient monitoring mode for cultivation personnel, but the dependence on people is still strong, and all-weather online measurement cannot be carried out. The automatic on-line monitoring instrument and system for water quality begin to be developed and applied in recent ten years, and the main problems exist: 1) most of the water quality monitoring sensor nodes are difficult to wire in a wired mode, high in cost and small in distribution range; 2) the sensor nodes are fixedly measured, the measurement range is limited if the number of the points is too small, and the cost is too high if the number of the measurement points is increased; 3) the commonly adopted field monitoring and remote monitoring use a computer as an operation object, and are limited in area and not high in portability.

The application of the GPS technology in traffic transportation is more and more extensive, and the GPS technology provides technical support in the aspects of modern traffic intelligent management, vehicle dispatching and commanding, guiding navigation of vehicles and ships and other vehicles, dynamic monitoring of vehicle running performance and the like. The GPS is mainly used for monitoring crop yield, soil composition and property distribution by combining with the GIS in the agricultural field, and guiding the airplane to reasonably fertilize, sow, spray pesticides and the like.

At present, some patents relate to wireless remote water quality monitoring, for example, patent of invention publication No. CN103024007A, "remote water environment monitor and monitoring method based on Zigbee and GPRS", in which a plurality of Zigbee slave nodes are fixedly distributed in different areas to collect water quality parameters of the whole water area, and the collected data of the slave nodes are sent to a master node through a Zigbee network, then are subjected to data encapsulation by an ARM processor, and then are sent to a remote upper computer through a GPRS module. The method uses a plurality of acquisition nodes, needs a plurality of sets of acquisition sensor equipment, and has high cost.

Disclosure of Invention

The invention provides a cruising type aquaculture water quality remote monitoring system, which aims to solve the problems of few distribution points and high cost of the current fixed water quality monitoring system. Through the system, the remote monitoring can be carried out on the large-area culture water area, and the start and stop of the aerator can be controlled in different areas.

The manual remote control measuring ship is operated for the first time to enable the measuring ship to learn the moving path, and then automatic navigation is converted. Measuring the water quality conditions of a plurality of target points in a water area through cruising of a measuring ship, uploading the measured data to a server by using a GPRS module, and controlling an execution device which is arranged in advance near the measuring point to generate corresponding actions by the server according to comparison between the measured data and a set value so as to achieve the aim of adjusting the water quality; meanwhile, the system can also send the data to an android client of the mobile device through the server, so that the user can perform manual control. The technical scheme for realizing the invention is as follows:

a self-learning track navigation cruising type water quality multi-parameter remote monitoring system comprises: a survey vessel, a server and an execution device;

the measuring ship comprises a ship body and a measuring device arranged on the ship body, wherein the measuring device is used for measuring water quality parameters and position information of the ship body on one hand, and the measuring device is used for interacting with a server on the other hand;

the server controls the movement of the ship body and the water quality regulation according to the information uploaded by the measuring device;

the execution device interacts with the measuring device, and the execution device is used for adjusting the water quality.

In a preferred embodiment, the measuring device includes: the power supply comprises a control module, an information acquisition module, a power output module and a power supply module; the information acquisition module and the power output module are connected with the control module, and the power supply module supplies power to the control module, the information acquisition module and the power output module.

According to the preferred technical scheme, the information acquisition module comprises a water quality monitoring module, a GPS positioning module and an electronic compass, and the water quality monitoring module, the GPS positioning module and the electronic compass are all connected with the control module;

in a preferred embodiment, the power output module includes: the driving circuit, the left motor, the right motor and the transmission device; the driving circuit is respectively connected with the control module, the left motor, the right motor and the transmission device; the transmission device is a direct current motor.

In a preferred technical scheme, the control module comprises a GPRS module and a CC2530 module; the GPRS module is connected with the CC2530 module; the power module comprises two groups of lithium batteries.

According to the preferable technical scheme, the water quality monitoring module comprises: a pH sensor, a fluorescence method dissolved oxygen sensor and a water level sensor.

According to the preferred technical scheme, the executing device comprises a control node and an actuator, wherein the actuator comprises a water suction pump, a drainage pump, a waterwheel type aerator and a vane type aerator; the control node is composed of a CC2530 control chip, an intermediate relay and a contactor.

According to the preferable technical scheme, the system further comprises a remote controller, and the remote controller is used for controlling the first track of the measuring ship and setting a target point.

The preferable technical scheme also comprises a thin film solar arranged on the top of the ship body.

The preferred technical scheme also comprises a mobile equipment client interacting with the server.

Based on the monitoring system, the invention provides a water quality multi-parameter remote monitoring method, which comprises the following steps:

step 1, arranging an actuator at a proper position in water;

step 2, manually controlling a remote controller to enable the measuring ship to run for a circle along a water area, determining a plurality of monitored target points in the running process, and simultaneously recording the position information of the target points and uploading the position information to a server;

step 3, the server controls the running direction of the measuring ship according to the current position information of the measuring ship, including calculating the linear distance and the direction angle between the current position and a target point, and then comparing the direction angle with the magnetic north direction angle to obtain the steering angle of the ship body, so that the measuring ship sails towards the ith target; wherein, i is 1,2,3 … N, and N is the number of set target points;

step 4, delaying for 10 seconds and then executing the step 3 again;

step 5, repeating the step 4 until the measuring ship automatically reaches the ith target point;

step 6, stopping running, and monitoring the water quality, wherein the monitoring comprises shallow water area monitoring and deep water area monitoring;

step 7, uploading the water quality parameters monitored in the step 6 to a server, and comparing the water quality parameters with preset values by the server to regulate and control the water quality;

step 8, repeating the steps 3 to 7, and sequentially finishing the water quality monitoring of the rest target points; the power is cut off and the battery is charged for the next round of monitoring.

Compared with the prior art, the invention has the beneficial effects that:

(1) the defects of fixed distribution, high cost and limited measurement range of the traditional detection terminal are overcome, and the water quality conditions of a plurality of points of different water layers in a water area are measured in a movable mode.

(2) The measuring ship has a GPS positioning function, supplements position information of a measuring point, is beneficial to monitoring and analyzing water quality changes of different positions in an area, carries out detailed control, and can select an actuator nearby according to the position.

(3) The survey vessel has a learning function and can automatically navigate to each target point after being set for the first time.

(4) Can control different oxygen-increasing machines according to different conditions by regions.

(5) The water quality can be remotely monitored anywhere through a mobile phone.

Drawings

FIG. 1 is a schematic view of a measuring device of the present invention;

FIG. 2 is a system block diagram of the present invention;

FIG. 3 is a process flow diagram of the present invention;

FIG. 4 is a self-learning navigation trajectory diagram of the survey vessel of the present invention;

fig. 5 is a handset client interface of the present invention.

Fig. 6 is a schematic diagram of a driving circuit.

Detailed Description

The invention provides a cruising type water quality multi-parameter remote monitoring system with self-learning track navigation, which comprises a measuring ship, a server and an executing device. The measuring ship consists of a ship body and a measuring device positioned on the ship body, wherein the ship body is used for bearing the whole measuring device and providing a platform for water movement measurement; the measuring device measures the water quality parameters and the position information of the ship body on one hand, and interacts with the server on the other hand. And the server controls the movement of the ship body and the water quality regulation according to the information uploaded by the measuring device. The execution device is interacted with the measuring device and is used for adjusting the water quality; the execution device comprises a control node and an actuator, the actuator comprises a water suction pump, a drainage pump, a waterwheel type aerator and an impeller type aerator, the control node is positioned in a control cabinet and used for controlling the actuator to generate corresponding actions, the control node is formed by connecting a CC2530 control chip with a relay and a contactor and is connected with the actuator through a cable to realize the control of the actuator, and the control cabinet can be installed on the shore. When the measuring vessel runs to the vicinity of the control node, the control node responds to a control command sent by the measuring vessel to open or close the corresponding actuator.

The invention is further described with reference to the following figures and specific examples.

As shown in fig. 1 and 2, the measuring device on the measuring ship mainly includes a control module, an information acquisition module, a power output module, and a power supply module.

The control module is composed of a GPRS module and a CC2530 module, the GPRS module is mainly used for remote transmission and remote control of data, and the CC2530 module interacts with a server through the GPRS module on one hand and interacts with a control node of a remote controller and an execution device through a ZigBee module on the other hand respectively and performs field control.

The information acquisition module includes water quality monitoring module, GPS orientation module and electron compass, and water quality monitoring module comprises sensor group, specifically includes: the device comprises a pH sensor, a fluorescence method dissolved oxygen sensor and a water level sensor, wherein the pH sensor is used for acquiring the pH value of water quality, and the fluorescence method dissolved oxygen sensor is used for acquiring the dissolved oxygen and the water temperature of the water quality; the GPS positioning module is used for acquiring longitude and latitude information of the ship body; the electronic compass is used for acquiring the magnetic north direction angle of the ship body.

The power output module is composed of a left motor, a right motor, a driving circuit and a transmission device, the left motor, the right motor and the transmission device are controlled through the driving circuit, the horizontal driving direction of the ship body is adjusted by controlling the rotating speed of the left motor and the rotating speed of the right motor, the sensor group is controlled to move in the vertical direction by controlling the transmission device, and the transmission device adopts a direct current motor.

The power module is composed of two groups of lithium batteries, so that the overall weight can be reduced, and the cruising ability of the measuring ship can be enhanced. In addition, a layer of thin film solar is attached to the top of the ship, and a solar controller is combined to charge the lithium battery.

As further shown in fig. 2, the remote controller is connected with the CC2530 module through the ZigBee network, and the CC2530 module is connected with the power output module; this can be achieved: the left motor and the right motor of the power output module are controlled by operating the remote controller, so that the driving direction of the ship body is controlled; on the other hand, the CC2530 module interacts with a CC2530 node in the control nodes to realize control of the actuator. The fluorescence method dissolved oxygen sensor is connected with the GPRS module through an RS485 bus, and detected water quality dissolved oxygen and water temperature information are sent to the server through the GPRS module. The GPS positioning module is connected with the GPRS module through an RS485 bus, and the position information (including longitude and latitude and magnetic north direction angles) of the ship body is sent to the server through the GPRS module. The pH sensor is connected with the pH transmitter, the pH transmitter is connected with the GPRS module through an RS485 bus, and the pH value of the detected water quality is sent to the server through the GPRS module. The power module supplies power to each module of the measuring device. In addition, the mobile equipment client can be connected with the server according to needs. Data interaction is carried out between the GPRS module and the server and between the server and the client through a TCP/IP protocol.

As shown in fig. 3, the method for monitoring and adjusting water quality by using the monitoring system of the present invention is as follows:

step 1, arranging an actuator at a proper position in water;

step 2, manually controlling a remote controller to enable the measuring ship to run for a circle along a water area, determining a plurality of monitored target points in the running process, and simultaneously recording the position information of the target points and uploading the position information to a server;

and 3, controlling the running direction of the measuring ship by the server according to the current position information of the measuring ship to enable the measuring ship to sail towards the direction close to the ith target point, wherein the method is specifically realized as follows:

the GPS location module receives recommended minimum location information (RMC) and ground speed information (VTG). The RMC is used for acquiring longitude and latitude, and the VTG is used for acquiring speed and direction. Because the area of the pond is limited, the spherical surface can be approximated to be a plane, and after a target point is determined, a linear distance and a direction angle need to be calculated according to the current point (the current position) and the target point, and then the linear distance and the direction angle are compared with the current magnetic north direction angle of the bow to obtain a steering angle.

The calculation formula of the distance between the two points is as follows:

$S=2\×\arcsin \left(\sqrt{{\sin }^2\frac{a}{2}+\cos \left(LAT1\right)\×\cos \left(LAT2\right)\×{\sin }^2\frac{b}{2}}\right)\×r---\left(1\right)$

the calculation formula of the direction angle is as follows:

$\mathrm{\α}=\arctan \left(\frac{Y}{X}\right)---\left(2\right)$

wherein,

$\left\{\begin{array}{c}X=2\×\arcsin \left(\sqrt{\cos \left(LAT1\right)\×\cos \left(LAT2\right)\×{\sin }^2\frac{b}{2}}\right)\×r\\ Y=2\×\arcsin \left(\sqrt{{\sin }^2\frac{a}{2}}\right)\×r\end{array}\right.---\left(3\right)$

in the above equations (1) to (3), a is a difference between the latitude of the current point and the latitude of the target point, b is a difference between the longitude of the current point and the longitude of the target point, LAT1 and LAT2 are the latitudes of the target point, and X, Y are projections of the linear distance between the two points on the latitude line and the longitude line, respectively.

Calculating a straight line path running to the ith target point, and controlling a left motor and a right motor of a power output module to adjust the running direction of the measuring ship by controlling a CC2530 module so that the measuring ship automatically runs to the ith target point; wherein, i is 1,2,3 … N, and N is the number of set target points;

step 4, delaying for 10 seconds and then executing the step 3 again;

step 5, repeating the step 4 until the measuring ship automatically reaches the ith target point;

and 6, stopping running, and monitoring the water quality, wherein the method is implemented specifically as follows:

controlling a transmission device to lower a sensor group to a shallow depth underwater, such as 30cm underwater, and starting to acquire water quality parameters after waiting for one minute; putting down the sensor group to a deeper depth under water after half a minute, such as 1.2 meters under water, collecting water quality parameters after waiting for one minute, and taking back the sensor group after the measurement is finished;

step 7, uploading the water quality parameters monitored in the step 6 to a server, and performing water quality regulation and control by the server according to the water quality parameters; the concrete implementation is as follows:

the server compares the received water quality parameter with a preset value, sends a control command to the CC2530 module, the CC2530 module interacts with a CC2530 node in the control node, and then the CC2530 node controls a nearby actuator to act.

For example: when the water temperature of the upper layer is too high, the water suction pump and the water discharge pump are used for replenishing water into the pool to control the water temperature of the upper layer, and when the pH value (pH value) is higher, the water suction pump and the water discharge pump are used for changing water; when the dissolved oxygen content is too low, the convection of the upper layer and the lower layer is enhanced through the waterwheel type aerator, the dissolved oxygen of the lower layer is improved, and the large-area oxygenation in the water area is carried out through the impeller type aerator.

And 8, repeating the steps 3 to 7, and sequentially measuring the residual target points.

After one round of measurement is finished, the power is cut off, and the thin film solar energy is used for charging. And detecting the voltage of the battery, normally operating when the voltage can meet the requirement before the next round of measurement, and if the battery is not fully charged, carrying out detection after half an hour till the voltage meets the requirement. Generally, the cruising ability of the battery is enough to ensure that the ship body can cruise for one circle, if power is not supplied midway, the solar controller can automatically cut off the load to charge the battery, and the battery is connected with the load after being fully charged.

As shown in fig. 4, in order to learn a trajectory navigation route for a survey vessel, a total of N — 12 monitoring target points are set, the distance between each target point is about 50 meters, and after recording longitude and latitude information of each target point, a server sequentially plans a navigation path according to a sequence to automatically navigate and correct the direction of the survey vessel.

As shown in fig. 5, which is an operation interface of an embodiment of the mobile phone client of the present invention, the client is used as a remote controller to control the movement of the measuring ship, and the high-speed, medium-speed and low-speed keys in the interface control the speed of the ship, and the forward, backward, left-turn and right-turn keys control the movement direction of the ship. In general, high speed is selected in forward and reverse, and low speed is selected in left and right turn. Through the mobile phone client, a user can interact with the server at any time and any place, so that the water quality condition is monitored, the motion track of the measuring ship can be controlled, an actuator near the measuring ship can be forcibly opened or closed, and the actuator is controlled to be opened or closed through a start button and a stop button in an interface.

As shown in fig. 6, for the schematic diagram of the power output driving circuit of the measuring ship, an L298N double H bridge dc motor driving chip is selected to drive the motor. IN1 and IN2 are left motor drive signal inputs, IN3 and IN4 are right motor drive signal inputs, ENA and ENB are input signal enable ends, OUT1 and OUT2 are left motor drive output signals, OUT3 and OUT4 are right motor drive output signals, VSS is connected with +5V to supply power to a drive plate, and VS is connected with 12V to serve as the drive voltage of the motor. One ends of IN1, IN2, IN3, IN4, ENA and ENB are respectively connected with P0.4, P0.5, P0.6, P0.7, P1.0 and P1.1 of CC2530, and the other ends of IN1, IN2, IN3, IN4, ENA and ENB are respectively correspondingly connected with IN1, IN2, IN3, IN4, ENA and ENB of L298N; drive output signals OUT1, OUT2, OUT3 and OUT4 of the left motor and the right motor are respectively led OUT from output ports OUT1, OUT2, OUT3 and OUT4 of L298N, and the left motor direction is determined by controlling P0.4 and P0.5, wherein if P0.4 is high level, P0.5 is low level, the left motor rotates forwards, P0.4 is low level, and P0.5 is high level, the left motor rotates backwards. The rotating speed of the left motor is adjusted by outputting an analog PWM signal through P1.0, and the control process of the right motor is consistent with that of the left motor.

The above description is only intended to describe the technical solutions and specific embodiments of the present invention, and not to limit the scope of the present invention, and it should be understood that any modification, improvement or equivalent substitutions made without departing from the spirit and spirit of the present invention will fall within the scope of the present invention.

Claims (10)

1. The utility model provides a self-learning orbit navigation formula quality of water multi-parameter remote monitering system that cruises which characterized in that includes: a survey vessel, a server and an execution device;

the measuring ship comprises a ship body and a measuring device arranged on the ship body, wherein the measuring device is used for measuring water quality parameters and position information of the ship body on one hand, and the measuring device is used for interacting with a server on the other hand;

the server controls the movement of the ship body and controls and adjusts the water quality according to the information uploaded by the measuring device;

the execution device interacts with the measuring device, and the execution device is used for adjusting the water quality.

2. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 1, wherein the measuring device comprises: the power supply comprises a control module, an information acquisition module, a power output module and a power supply module; the information acquisition module and the power output module are connected with the control module, and the power supply module supplies power to the control module, the information acquisition module and the power output module.

3. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 2, wherein the information acquisition module comprises a water quality monitoring module, a GPS positioning module and an electronic compass, and the water quality monitoring module, the GPS positioning module and the electronic compass are all connected with the control module.

4. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 2, wherein the power output module comprises: the driving circuit, the left motor, the right motor and the transmission device; the driving circuit is respectively connected with the control module, the left motor, the right motor and the transmission device; the transmission device is a direct current motor.

5. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 2, wherein the control module comprises a GPRS module and a CC2530 module; the GPRS module is connected with the CC2530 module; the power module comprises two groups of lithium batteries; the water quality monitoring module comprises: a pH sensor, a fluorescence method dissolved oxygen sensor and a water level sensor.

6. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 1, wherein the executing device comprises a control node and an actuator, wherein the actuator comprises a water pump, a drainage pump, a waterwheel type aerator and a vane type aerator; the control node is composed of a CC2530 control chip, an intermediate relay and a contactor.

7. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 1, further comprising a remote controller for controlling the first trajectory of the measuring ship and setting a target point.

8. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as recited in claim 1, further comprising a thin film solar disposed on the top of the ship body.

9. The self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system as claimed in claim 1, further comprising a mobile device client interacting with the server.

10. A water quality multi-parameter remote monitoring method is characterized by comprising the following steps:

step 1, arranging an actuator at a proper position in water;

step 2, manually controlling a remote controller to enable the measuring ship to run for a circle along a water area, determining a plurality of monitored target points in the running process, and simultaneously recording the position information of the target points and uploading the position information to a server;

step 3, the server controls the running direction of the measuring ship according to the current position information of the measuring ship, including calculating the linear distance and the direction angle between the current position and a target point, and then comparing the direction angle with the magnetic north direction angle to obtain the steering angle of the ship body, so that the measuring ship sails towards the ith target; wherein, i is 1,2,3 … N, and N is the number of set target points;

step 4, delaying for 10 seconds and then executing the step 3 again;

step 5, repeating the step 4 until the measuring ship automatically reaches the ith target point;

step 6, stopping running, and monitoring the water quality, wherein the monitoring comprises shallow water area monitoring and deep water area monitoring;

step 7, uploading the water quality parameters monitored in the step 6 to a server, and comparing the water quality parameters with preset values by the server to regulate and control the water quality;

step 8, repeating the steps 3 to 7, and sequentially finishing the water quality monitoring of the rest target points; the power is cut off and the battery is charged for the next round of monitoring.