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

A kind of self study track navigation cruise-type multi-parameter water-quality long distance control system and method

Technical field

The invention belongs to GPS location technology and technology of wireless sensing network, particularly relate to a kind of water quality of water source intake for aquaculture, rivers management and urban water supply and carry out cruise-type kinetic measurement and carried out the system of remote monitoring by mobile phone.

Background technology

China is aquaculture big country, and the scale that cultivates for many years is constantly expanded, and day hastens towards saturation the natural load-bearing capacity of breeding water body, and traditional extensive aquaculture model leaning on expansion scale to carry out units increased in production has been not suitable for the sustainable development of culture fishery.In recent years along with the adjustment of the structure of agricultural production, aquaculture model is just progressively to the intensive industrial aquaculture Mode change being representative with high-density breeding and circulating cultivation.Monitoring water quality is as the important step of in aquaculture, and keep the dissolved oxygen amount in water, pH value, temperature, within the certain optimum range of fish, plays decisive role to fish growth.Modern aquaculture model is more harsh for the requirement of monitoring water quality.

In China, in long period of time, water quality monitoring adopts manual type, and judge that water quality condition or artificial sample are to lab analysis by rule of thumb by professional, error is large, the cycle is long.Along with the development of sensor technology, Portable, multiple parameter water quality measuring instrument is that poultry feeders provides more accurately, monitoring mode easily, but its dependence for people is still very strong, and can not round-the-clock on-line measurement.Water Quality on-line Automatic Monitor device and system just start development & application in the nearly more than ten years, and its Problems existing mainly contains: 1) water quality monitoring sensor node majority adopts wired mode difficult wiring, cost is high and distribution range is little; 2) sensor node fixation measuring, measurement range at least of counting is limited, increases measurement and to count then high cost; 3) on-site supervision usually adopted and remote monitoring take computer as operand, and region is limited, portability is not high.

The application of GPS technology in communications and transportation is more and more extensive, and all many-sides such as it navigates in the guiding of the vehicles such as Modern Traffic intelligent management, vehicle scheduling commander, car and boat, the dynamic monitoring of vehicle operating performance provide technical support.GPS is mainly used in carrying out the monitoring of crop yield, soil constituent and property distribution in conjunction with GIS in agriculture field, and vector aircraft carries out the rational application of fertilizer, aspect of sowing and to spray insecticide etc.

At present, more existing patents relate to the patent of wireless remote monitoring water quality, such as, publication number is the patent of invention " long-range monitoring water environment instrument and monitoring method based on Zigbee and GPRS " of CN103024007A, gathered the water quality parameter in whole waters by multiple Zigbee from node stationary distribution in zones of different, carry out being sent to long-range host computer by GPRS module after data encapsulation through arm processor after the image data from node being sent to host node by Zigbee network.The method uses multiple acquisition node, needs to use many cover pick-up transducers equipment, and cost is high.

Summary of the invention

In order to solve the current fixed problem that water quality monitoring system distribution is counted less, cost is high, the present invention proposes a kind of aquaculture water quality long distance control system of cruise-type.By this system, can carry out remote monitoring to cultivating large area waters, subregion controls the start and stop of aerator.

Operating manual remote control surveying vessel first makes surveying vessel learn mobile route, transfers self-navigation to afterwards.Cruising to cruise and measure the water quality situation of multiple impact point in waters by surveying vessel, GPRS module is used measurement data to be uploaded onto the server, server produces corresponding action according to data measured to the actuating unit arranged in advance near the comparison control survey point of setting value, reaches the object of regulating water quality; Data also can be sent to the Android client of mobile device by simultaneity factor by server, make user to carry out Non-follow control.Realize technical scheme of the present invention as follows:

A kind of self study track navigation cruise-type multi-parameter water-quality long distance control system, comprising: surveying vessel, server and actuating unit;

Described surveying vessel comprises hull and is arranged on the measurement mechanism on hull, and water quality parameter measured on the one hand by described measurement mechanism and the positional information of hull, described measurement mechanism another aspect and server carry out alternately;

Described server controls hull according to the information that described measurement mechanism is uploaded and moves and water quality regulation;

Alternately, described actuating unit is used for regulating water quality for described actuating unit and described measurement mechanism.

Optimal technical scheme, described measurement mechanism comprises: control module, information acquisition module, power take-off module and power module; Described information acquisition module, described power take-off module are all connected with described control module, and described power module is control module, information acquisition module, power take-off module are powered.

Optimal technical scheme, described information acquisition module comprises water quality monitoring module, GPS locating module and electronic compass, and described water quality monitoring module, described GPS locating module and described electronic compass are all connected with described control module;

Optimal technical scheme, described power take-off module comprises: driving circuit, left motor, right motor, gearing; Described driving circuit is connected with control module, left motor, right motor and gearing respectively; Described gearing is direct current generator.

Optimal technical scheme, described control module comprises GPRS module and CC2530 module; Described GPRS module is connected with CC2530 module; Described power module comprises two groups of lithium batteries.

Optimal technical scheme, described water quality monitoring module comprises: pH sensor, fluorescence method dissolved oxygen sensor, level sensor.

Optimal technical scheme, described actuating unit comprises Controlling vertex and actuator, and described actuator comprises suction pump, unwatering pump, waterwheel aerator and paddle aerator; Described Controlling vertex is made up of CC2530 control chip, auxiliary reclay and contactor.

Optimal technical scheme, also comprises telepilot, and described telepilot is used for track first and the target setting point of control survey ship.

Optimal technical scheme, also comprises the thin film solar being arranged on hull top.

Optimal technical scheme, also comprises the mobile device client with described server interaction.

Based on above-mentioned supervisory system, the present invention proposes a kind of multi-parameter water-quality long-distance monitoring method, comprise the steps:

Step 1, by good for location arrangements suitable in water for actuator;

Step 2, Non-follow control telepilot, makes surveying vessel travel a circle along waters, determines several impact points of monitoring in the process of moving, the positional information of impact point is recorded simultaneously and uploads onto the server;

Step 3, server is according to the travel direction of surveying vessel current location information control survey ship, comprise the air line distance and deflection that calculate current location and impact point, then deflection and magnetic north deflection are contrasted the steering angle drawing hull, the surveying vessel made navigates by water near i-th target; Wherein, i=1,2,3 ... N, N are the number of the impact point arranged;

Step 4, time delay performs step 3 after 10 seconds again;

Step 5, repeats step 4 until surveying vessel arrives i-th impact point automatically;

Step 6, stops travelling, carries out water quality monitoring, and described monitoring comprises shoal water zone monitoring and profundal zone monitoring;

Step 7, uploaded onto the server by the water quality parameter of monitoring in step 6, server contrasts according to water quality parameter and preset value and carries out regulating and controlling water quality;

Step 8, repeats step 3 to 7, completes the monitoring water quality of residue impact point successively; Cut off power, to battery charging with the monitoring carrying out next round.

Compared with prior art, beneficial effect of the present invention:

(1) overcome traditional detection terminal stationary distribution, cost be high, measurement range limitation shortcoming, the water quality situation of multiple somes different water levels in traverse measurement waters.

(2) surveying vessel has GPS positioning function, supplements the positional information of measurement point, contributes to carrying out monitoring analysis to the change of water quality of diverse location in region, and refinement controls, and can select actuator nearby according to position.

(3) surveying vessel has learning functionality, first setting after can self-navigation to each impact point.

(4) different aerator work can be controlled according to different situation subregions.

(5) by mobile phone remote monitoring water quality anywhere.

Accompanying drawing explanation

Fig. 1 is measurement mechanism schematic diagram of the present invention;

Fig. 2 is system construction drawing of the present invention;

Fig. 3 is program flow diagram of the present invention;

Fig. 4 is surveying vessel self study navigation path figure of the present invention;

Fig. 5 is cell-phone customer terminal interface of the present invention.

Fig. 6 is driving circuit principle figure.

Embodiment

The present invention proposes a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system, comprise surveying vessel, server and actuating unit.Surveying vessel is made up of hull and the measurement mechanism be positioned on hull, described hull for carrying the equipment of whole measurement mechanism, for Waterborne movable measurement provides platform; Described measurement mechanism is measured the positional information of water quality parameter and hull, another aspect and server on the one hand and is carried out alternately.Described server controls hull according to the information that described measurement mechanism is uploaded and moves and water quality regulation.Described actuating unit and described measurement mechanism are mutual, for regulating water quality; Actuating unit comprises Controlling vertex and actuator, actuator comprises suction pump, unwatering pump, waterwheel aerator and paddle aerator, Controlling vertex is positioned at switch board, corresponding actions is produced for controlling actuator, Controlling vertex connects relay by CC2530 control chip, contactor is formed, with be connected the control realized actuator between actuator by cable, switch board can be arranged on bank.When surveying vessel runs near Controlling vertex, this Controlling vertex responds the steering order sent by surveying vessel, opens or closes corresponding actuator.

Below in conjunction with the drawings and specific embodiments, the invention will be further described.

As depicted in figs. 1 and 2, the measurement mechanism be positioned on surveying vessel mainly comprises control module, information acquisition module, power take-off module, power module.

Control module is by GPRS module and CC2530 module composition, GPRS module is mainly used in remote transmission and the Long-distance Control of data, CC2530 module on the one hand by GPRS module and server interaction, mutual with the Controlling vertex of telepilot, actuating unit respectively by carrying ZigBee module on the other hand, and carries out field control.

Information acquisition module comprises water quality monitoring module, GPS locating module and electronic compass, water quality monitoring module is made up of sensor group, specifically comprise: pH sensor, fluorescence method dissolved oxygen sensor, level sensor, pH sensor is for obtaining the pH value of water quality, and fluorescence method dissolved oxygen sensor is for obtaining dissolved oxygen DO and the water temperature of water quality; GPS locating module is for obtaining the latitude and longitude information of hull; Electronic compass is for obtaining the magnetic north deflection of hull.

Power take-off module is made up of left motor, right motor, driving circuit and gearing, the control to left motor, right motor and gearing is realized by driving circuit, the adjustment of the horizontal travel direction of hull is realized by the rotating speed of the rotating speed and right motor that control left motor, move by controlling gearing control sensor group vertical direction, gearing adopts direct current generator.

Power module is made up of two groups of lithium batteries, can alleviate the flying power that overall weight can strengthen again surveying vessel.In addition, ship top attaches thin film sun power, in conjunction with controller for solar to lithium cell charging.

Further as shown in Figure 2, telepilot is by ZigBee-network and CC2530 model calling, and CC2530 module is connected with power take-off module; So can realize: control the left motor of power take-off module and right motor by remote controller, and then realize the control to hull travel direction; On the other hand, the CC2530 node in CC2530 module and Controlling vertex is mutual, realizes the control to actuator.Fluorescence method dissolved oxygen sensor is connected with GPRS module by RS485 bus, by GPRS module, the water quality dissolved oxygen DO of detection and water temperature information is sent to server.GPS locating module is connected with GPRS module by RS485 bus, by GPRS module, the positional information (comprising longitude and latitude and magnetic north deflection) of hull is sent to server.PH sensor is connected with pH transmitter, and pH transmitter is connected with GPRS module by RS485 bus, by GPRS module, the water pH value of detection is sent to server.Power module is to each module for power supply of measurement mechanism.In addition, mobile device client can also be arranged as required to be connected with server.All carry out data interaction by ICP/IP protocol between GPRS module and server, between server and client.

As shown in Figure 3, supervisory system of the present invention is utilized to carry out the method for monitoring water quality and adjustment as follows:

Step 1, by good for location arrangements suitable in water for actuator;

Step 2, Non-follow control telepilot, makes surveying vessel travel a circle along waters, determines several impact points of monitoring in the process of moving, the positional information of impact point is recorded simultaneously and uploads onto the server;

Step 3, server, according to the travel direction of surveying vessel current location information control survey ship, makes surveying vessel navigate by water near the direction of i-th impact point, is implemented as follows:

What GPS locating module received is recommend minimum locating information (RMC) and ground speed information (VTG).Wherein, RMC is for obtaining longitude and latitude, and VTG is used for acquisition speed and direction.Because pool limited area, so spherical approximation can be become plane, after determining impact point, just need to calculate air line distance and deflection according to current point (current position) and impact point, then contrast with current fore magnetic north deflection and obtain steering angle.

The computing formula of distance between two points is:

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

Deflection computing formula is:

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

Wherein,

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

Above formula (1) is in (3), a is the difference of latitude of current point and impact point, b is the difference of longitude of current point and impact point, and the latitude of LAT1 current point, LAT2 are the latitude of impact point, and X, Y are respectively the projection of point-to-point transmission air line distance on parallel and warp.

Calculate the straight line path driving towards i-th impact point, by control CC2530 module, and then control the left motor of power take-off module and right motor to adjust the travel direction of surveying vessel, make surveying vessel automatically drive towards i-th impact point; Wherein, i=1,2,3 ... N, N are the number of the impact point arranged;

Step 4, time delay performs step 3 after 10 seconds again;

Step 5, repeats step 4 until surveying vessel arrives i-th impact point automatically;

Step 6, stops travelling, carries out water quality monitoring, be specifically implemented as follows:

Control gearing and transfer sensor group to the more shallow degree of depth under water, such as 30cm under water, wait for and start to gather water quality parameter after one minute; Transfer sensor group after half a minute to the darker degree of depth under water, such as under water 1.2 meters, wait for and gather water quality parameter after one minute, after measurement, regain sensor group;

Step 7, uploaded onto the server by the water quality parameter of monitoring in step 6, server carries out regulating and controlling water quality according to water quality parameter; Be implemented as follows:

The water quality parameter of reception and preset value compare by server, send control command to CC2530 module, and the CC2530 node in CC2530 module and Controlling vertex is mutual, and then produce action by the actuator near CC2530 node control.

Such as: when TNE UPPER SEA TEMPERATURE is too high, suction pump and unwatering pump are used for controlling TNE UPPER SEA TEMPERATURE to moisturizing in pond, and when potential of hydrogen (pH value) is higher, suction pump and unwatering pump are used for changing water; When dissolved oxygen content is too low, strengthen levels convection current by waterwheel aerator, improve lower floor's dissolved oxygen amount, carry out large area oxygenation in waters by paddle aerator.

Step 8, repeats step 3 to 7, measures residue impact point successively.

After one wheel measurement completes, cut off power, utilize thin film solar to charge.Detect cell voltage, requirement can be reached and then normally run before next round is measured, if be not full of, then detect until reach voltage request again after half an hour of postponing.Generalized case, the flying power of battery is enough to ensure that hull cruises a circle, and do not have electricity if there is midway, controller for solar can automatically cut off load and charge to battery, is full of rear connection load.

As shown in Figure 4, for an embodiment of surveying vessel study track navigation way, be provided with N=12 monitoring objective point altogether, the spacing of each impact point is about 50 meters, under server record each impact point latitude and longitude information after, in order successively plan guidance path to surveying vessel carry out self-navigation with revise direction.

As shown in Figure 5, for the operation interface of a cell-phone customer terminal embodiment of client of the present invention, client is moved as remote manipulator control survey shipping, and interface high speed, middling speed, low speed, by key control ship's speed, advance, retreat, turn left, turn right by the direction of motion of key control ship.Usually, move forward and backward selection high speed, selects low speed during left/right rotation.Pass through cell-phone customer terminal, user can whenever and wherever possible with server interaction, and then monitoring water quality situation, can the movement locus of control survey ship, also can positive opening or close actuator near surveying vessel, by the startup in interface with stop key and control the switch of actuator.

As shown in Figure 6, be surveying vessel Power output driving circuit principle figure, select and carry out drive motor with L298N dual H-bridge DC motor Driver chip.Wherein IN1, IN2 are the input of left motor drive signal, IN3, IN4 are the input of right motor drive signal, ENA, ENB are input signal Enable Pin, OUT1, OUT2 are left motor drive output signal, OUT3, OUT4 are right motor drive output signal, it is that drive plate is powered that VSS meets+5V, and VS connects the driving voltage of 12V as motor.IN1, IN2, IN3, IN4, ENA, ENB one end is connected with P0.4, P0.5, P0.6, P0.7, P1.0, P1.1 of CC2530 respectively, and the other end of IN1, IN2, IN3, IN4, ENA, ENB is corresponding with IN1, IN2, IN3, IN4, ENA, ENB of L298N respectively to be connected; Drive output signal OUT1, OUT2, OUT3, OUT4 of left motor and right motor extract from output port OUT1, OUT2, OUT3, OUT4 of L298N respectively, left motor drive direction is determined by control P0.4, P0.5, if P0.4 is high level, P0.5 is low level then left motor rotating forward, P0.4 is low level, and P0.5 is high level then left motor reversal.Export simulation pwm signal by P1.0 and regulate left motor speed, right Electric Machine Control process is consistent with the control procedure of aforementioned left motor.

The above is only for describing technical scheme of the present invention and specific embodiment; the protection domain be not intended to limit the present invention; be to be understood that; under the prerequisite without prejudice to flesh and blood of the present invention and spirit, institute changes, improve or be equal to replacement etc. all will fall within the scope of protection of the present invention.

Claims (10)

1. a self study track navigation cruise-type multi-parameter water-quality long distance control system, is characterized in that, comprising: surveying vessel, server and actuating unit;

Described surveying vessel comprises hull and is arranged on the measurement mechanism on hull, and water quality parameter measured on the one hand by described measurement mechanism and the positional information of hull, described measurement mechanism another aspect and server carry out alternately;

Described server controls hull according to the information that described measurement mechanism is uploaded and moves and regulating and controlling water quality;

Alternately, described actuating unit is used for regulating water quality for described actuating unit and described measurement mechanism.

2. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 1, it is characterized in that, described measurement mechanism comprises: control module, information acquisition module, power take-off module and power module; Described information acquisition module, described power take-off module are all connected with described control module, and described power module is control module, information acquisition module, power take-off module are powered.

3. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 2, it is characterized in that, described information acquisition module comprises water quality monitoring module, GPS locating module and electronic compass, and described water quality monitoring module, described GPS locating module and described electronic compass are all connected with described control module.

4. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 2, it is characterized in that, described power take-off module comprises: driving circuit, left motor, right motor, gearing; Described driving circuit is connected with control module, left motor, right motor and gearing respectively; Described gearing is direct current generator.

5. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 2, it is characterized in that, described control module comprises GPRS module and CC2530 module; Described GPRS module is connected with CC2530 module; Described power module comprises two groups of lithium batteries; Described water quality monitoring module comprises: pH sensor, fluorescence method dissolved oxygen sensor, level sensor.

6. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 1, it is characterized in that, described actuating unit comprises Controlling vertex and actuator, and described actuator comprises suction pump, unwatering pump, waterwheel aerator and paddle aerator; Described Controlling vertex is made up of CC2530 control chip, auxiliary reclay and contactor.

7. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 1, it is characterized in that, also comprise telepilot, described telepilot is used for track first and the target setting point of control survey ship.

8. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 1, is characterized in that, also comprise the thin film solar being arranged on hull top.

9. a kind of self study track navigation cruise-type multi-parameter water-quality long distance control system according to claim 1, is characterized in that, also comprise the mobile device client with described server interaction.

10. a multi-parameter water-quality long-distance monitoring method, is characterized in that, comprises the steps:

Step 1, by good for location arrangements suitable in water for actuator;

Step 2, Non-follow control telepilot, makes surveying vessel travel a circle along waters, determines several impact points of monitoring in the process of moving, the positional information of impact point is recorded simultaneously and uploads onto the server;

Step 3, server is according to the travel direction of surveying vessel current location information control survey ship, comprise the air line distance and deflection that calculate current location and impact point, then deflection and magnetic north deflection are contrasted the steering angle drawing hull, the surveying vessel made navigates by water near i-th target; Wherein, i=1,2,3 ... N, N are the number of the impact point arranged;

Step 4, time delay performs step 3 after 10 seconds again;

Step 5, repeats step 4 until surveying vessel arrives i-th impact point automatically;

Step 6, stops travelling, carries out water quality monitoring, and described monitoring comprises shoal water zone monitoring and profundal zone monitoring;

Step 7, uploaded onto the server by the water quality parameter of monitoring in step 6, server contrasts according to water quality parameter and preset value and carries out regulating and controlling water quality;

Step 8, repeats step 3 to 7, completes the monitoring water quality of residue impact point successively; Cut off power, to battery charging with the monitoring carrying out next round.