CN105974075A - Water quality monitoring system based on Beidou navigation satellite system - Google Patents
Water quality monitoring system based on Beidou navigation satellite system Download PDFInfo
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- CN105974075A CN105974075A CN201610323433.XA CN201610323433A CN105974075A CN 105974075 A CN105974075 A CN 105974075A CN 201610323433 A CN201610323433 A CN 201610323433A CN 105974075 A CN105974075 A CN 105974075A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention discloses a water quality monitoring system based on a Beidou navigation satellite system. The water quality monitoring system comprises a data collection ship, a data receiving node and a remote controller, wherein the data collection ship is used for collecting water quality parameters, and the data receiving node is arranged on the bank; a first control module as well as a water quality parameter collection module, a Beidou module, a compass module, a first wireless module, a paddle motor driving module and a display module which are respectively connected with the first control module are arranged on the data collection ship; the data receiving node comprises a second control module as well as a second wireless module and a warning device which are data collection ship connected with the second control module, and the second control module carries out wireless data transmission with the first wireless module; the remote controller carries out wireless control signal transmission with the first wireless module by virtue of a third wireless module. According to the water quality monitoring system, the water quality parameters are continuously collected by virtue of the data collection ship during cruising and are transmitted to the data receiving node by virtue of the wireless module, and the data collection ship can automatically cruise under the setting of the remote controller, so that the cost is low, and the automation level is high.
Description
Technical field
The present invention relates to water quality monitoring technology, particularly to a kind of water quality monitoring system based on Beidou navigation.
Background technology
In recent years, there is aquaculture intelligent monitor system, such as Tianjin facility aquaculture on-line monitoring in China
System, Ningbo culture environment of aquatic products intelligent monitor system, Xun Shan group aquaculture digital management system etc., collect water quality environment
Parameter online acquisition, intelligent networking, be wirelessly transferred, the issue of Intelligent treatment, early warning information, decision support, remotely with automatically control
Etc. function in the aquaculture Internet of things system of one.But they are all utilized in fixing point and place sensor measurement water quality,
So it is difficult to the water quality condition of accurate feedback more multizone.And the sensor of whole system needs and supporting data acquisition thereof
Collection, transmission circuit quantity are many, spend big.
Summary of the invention
The present invention seeks to: a kind of water quality monitoring system based on Beidou navigation is provided, uses a set of sensor and join
The water quality parameter of arbitrfary point in set circuit collection setting waters, low cost, flexibility ratio is high.
The technical scheme is that
A kind of water quality monitoring system based on Beidou navigation, including for gathering the data acquisition ship of water quality parameter, setting
Data reception node and remote controller on bank；
With the first control module on described data acquisition ship, and connected water quality parameter acquisition module, north respectively
Bucket module, compass module, the first wireless module, blade motor drive module and display module；
Described data reception node includes the second control module, and connected second wireless module and dress of reporting to the police respectively
Put, carry out data between described second wireless module and the first wireless module and be wirelessly transferred；
Described remote controller includes the 3rd control module, and connected 3rd wireless module and keyboard respectively, described the
It is controlled signal between three wireless modules and the first wireless module to be wirelessly transferred.
Preferably, described Big Dipper module is for obtaining the location information of data acquisition ship, and is sent to first by serial ports
Control module.
Preferably, described compass module is for obtaining the fore direction that data acquisition ship is current, and uses I2C agreement with
First control module carries out communication.
Preferably, the keyboard of described remote controller includes advancing, turns left, turns right, stops, place adds, place subtracts, set-up site
With eight buttons of automatic cruising；
When user presses any one button in addition to automatic cruising, data acquisition ship enters manual mode, uses
Family has controlled ship action by remote controller；
When needs arrange path for automatic cruising, as the place at ship place being set to one of destination, the most first press
Lower place adds button, presses set-up site button the most again and is determined, and as arranged multiple destination, arrives next at ship
Add button again according to first pressing place during place, then the mode pressing set-up site button is carried out；As the mesh of current setting need to be deleted
Ground, the most first press place and subtract button, press set-up site button the most again and be determined；
After setting up all of destination, pressing automatic cruising button, data acquisition ship enters automatic cruise mode；Data
Acquisition vessel will constantly receive Big Dipper module and the data of compass module, is calculated destination and the angle in fore orientation
Difference, this differential seat angle is as the data input of pid algorithm in program, and the output result of pid algorithm is input to motor drive module, enters
And in ship running, constantly change the running speed of two blades, it is achieved the fore orientation adjustment of data acquisition ship,
Until it is consistent, ceaselessly according to the destination's automatic cruising preset in waters with destination orientation.
Preferably, data acquisition ship constantly gathers water quality parameter during cruise, and by wireless module transmission
To data reception node；Reception that data reception node is real-time also stores water quality data；The transmission time interval of data is then with ship
Headway direct proportionality.
Preferably, described data acquisition ship is battery-powered, and during the cruise of data acquisition ship, constantly detection battery is electric
Pressure, controls ship and returns to bank automatically, and data reception node ashore sends warning message when finding brownout, logical
Know that user processes.
The invention have the advantage that
Water quality monitoring system based on Beidou navigation provided by the present invention, use data acquisition ship cruise during not
Disconnected collection water quality parameter, and send data reception node to by wireless module, the real-time reception of data reception node is also
Storage water quality data；Data acquisition ship can be under the setting of remote controller, it is achieved automatic cruising.Whole system uses network transmission,
With low cost, automatization level is high.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
Fig. 1 is the hardware system block diagram of water quality monitoring system based on Beidou navigation of the present invention；
Fig. 2 is that data acquisition ship automatic cruising path of the present invention arranges program flow diagram；
Fig. 3 is data acquisition ship automatic cruising program flow diagram of the present invention；
Detailed description of the invention
As it is shown in figure 1, disclosed water quality monitoring system based on Beidou navigation, including for gathering water quality ginseng
Data acquisition ship, the data reception node being arranged on bank and remote controller three part of number；On described data acquisition ship with
The first control module with STM32 single-chip microcomputer as controller, and connected water quality parameter acquisition module, Big Dipper mould respectively
Block, compass module, the first wireless module, blade motor drive module and display module；Described data reception node include with
STC51 single-chip microcomputer is the second control module of controller, and connected second wireless module and alarm device respectively, described
Carry out data between second wireless module and the first wireless module to be wirelessly transferred；Described remote controller includes
3rd control module of controller, and connected 3rd wireless module, keyboard and remote control display screen respectively, the described 3rd
It is controlled signal between wireless module and the first wireless module to be wirelessly transferred.Described first wireless module, the second wireless module
Si4432 wireless module is used with the 3rd wireless module.
In being embodied as, described Big Dipper module uses UM220-III N dual system GNSS module, obtains data acquisition ship
Location information, and it is sent to STM32 single-chip microcomputer by serial ports.Module working power voltage is 2.7～3.3V, and power consumption is relatively low, little
In 120mW.Module supports BD2B1 frequency, and its tracking sensitivity is-160dBm, and acquisition sensitivity is-145dBm, positioning precision
2.5CEP, meets the requirement to positioning precision of the general waters.
Described compass module uses GY-273 tri-axle digital compass, obtains the fore direction that data acquisition ship is current,
And use IIC agreement and the first control module to carry out communication.
Described blade motor drive module use BTN7970, this chip internal compatibility Transistor-Transistor Logic level, thus can and single-chip microcomputer
Control pin to be connected, there is the diagnostic functions such as current detecting, and excess temperature, overvoltage, under-voltage, mistake stream and short-circuit protection simultaneously.Should
Chip normal working voltage is 8～45V, and maximum current is up to 50A, drives signal PWM frequency 1～25kHz.
The keyboard of described remote controller includes advancing, turns left, turns right, stops, set-up site and automatic cruising button.Data acquisition
Collection ship has two kinds of control models: MANUAL CONTROL mode and automatic cruise mode, the setting of pattern and the control of ship can be led to
Cross remote controller adaptive in the design to complete.Shown in Fig. 2 and Fig. 3, the automatic cruising path for data acquisition ship is arranged and automatic
Cruise operation program flow diagram, specific as follows.
When user presses any one button in addition to automatic cruising, data acquisition ship enters manual mode, uses
Family has controlled ship action by remote controller；As the place at ship place being set to one of destination, the most first press place
Add button, press set-up site button the most again and be determined, as multiple destination need to be arranged, when ship arrives next place
Add button again according to first pressing place, then the mode pressing set-up site button is carried out.
After setting up all of destination, pressing automatic cruising button, data acquisition ship enters automatic cruise mode；Data
Acquisition vessel will constantly receive Big Dipper module and the data of compass module, is calculated destination and the angle in fore orientation
Difference, this differential seat angle is as the data input of pid algorithm in program, and the output result of pid algorithm is input to motor drive module, enters
And in ship running, constantly change the running speed of two blades, it is achieved the fore orientation adjustment of data acquisition ship,
Until it is consistent, ceaselessly according to the destination's automatic cruising preset in waters with destination orientation.
Concrete, first display screen, compass, the Big Dipper and the wireless module of system carried out initially by data acquisition ship program
Changing, then receiving radio data bag, then program judges the instruction type of packet, when the Non-follow control information sent for remote control
Time, program is according to controlling the advance of information operating ship, turning left, turn right and stop.When for set-up site, program will be current position
The longitude and latitude record of point enters array, uses for during automatic cruising.When for automatic cruising order, program takes out the three unities
As destination, and reading position and the fore direction at current ship place, the angle calculating fore direction and direction, place is inclined
Difference, the self-navigation of ship needs the travel direction the most constantly adjusting ship consistent with direction, destination.So ship
Travel direction and direction, destination obtain and determine it is emphasis and the difficult point of the design.
The acquisition of the travel direction of ship uses GY273 module, and this module output valve, in the range of 0-360 °, represents one week
Angle.Ship is 0 ° when pointing to the most northern, increases clockwise, represents with β.The acquisition of ship current location uses Big Dipper locating module,
It is as follows that this module exports data form after positioning successfully:
$GPGLL,3158.523389,N,
12054.576636,E,
235947.400,V,
N*47。
3158.523389 can be converted to latitude, represent north latitude equal to 31+58.523389/60, N.12054.576636
Longitude can be converted to, represent east longitude equal to 120+54.576636/60, E.Routine processes for convenience, north latitude scope is 90-
180 degree, south latitude scope is 0-90 degree, east longitude scope 0-180 degree, and west longitude scope is 180-360 degree.Destination's corner is to by ship institute
Represent to the straight line of destination and the angle theta of direct north on ground, scope 0-360 °.
The on-site longitude of ship and latitude are expressed as (s_j, s_w), and destination's longitude and latitude are expressed as (d_j, d_
w)。
In order to ship can correctly and navigate by water with nearest path, it is necessary to obtain the angle in shortest path direction.
Because the earth is spheroid, so being analyzed in two kinds of situation below:
1. shortest path is through 0 degree of warp, i.e. | s_j-d_j |≤180
2. shortest path is without 0 degree of warp, i.e. | s_j-d_j | > 180
In order to obtain angle, need use Pythagorean theorem because on the earth 2 apart from permissible
It is expressed asSo angle, θ can be expressed as
Angle, θ represents with difference α of β.
It is now discussed with the first situation,
1.1d_w > s_w: as d_j≤s_j, α=360-θ.Work as d_j > s_j, α=θ.
1.2d_w < s_w: as d_j≤s_j, α=180+ θ.Work as d_j > s_j, α=180-θ.
1.3d_w=s_w: when d_j < s_j, α=270.Work as d_j >=s_j, α=90.
It is now discussed with the second situation,
2.1d_w>s_w: as s_j<180, α=360-θ.Work as s_j >=180, α=θ.
2.2d_w < s_w: as s_j < 180, α=180+ θ.Work as s_j >=180, α=180-θ.
2.3d_w=s_w: as s_j < 180, α=90.Work as s_j >=180, α=270.
Drawn the direction angle alpha of final shortest path by above computing, next use α and β has been obtained ship and adjusts ship
The best angle ε in head direction.
If temp=alpha-beta.
If | temp |≤180, when temp < when 0, ε=| temp | * (-1).As temp >=0 time, ε=| temp |.
If | temp |>180, when temp<when 0, ε=360-| temp |.As temp >=0 time, ε=(360-| temp
|)*-1。
Incoming for ε pid algorithm program, between-180 to 180, is finally carried out computing by the scope of ε.
Through the velocity of rotation required for two blades that calculates of pid algorithm, and then control the ship constantly side of adjustment
Position.After arriving first place set, second place of setting will be as destination, and the ground dot cycle that each sets is made
For destination, ship will ceaselessly navigate by water according to this destination, constantly gathers the water in each place in water during navigation
Matter situation, and send data reception node to by wireless module；Reception that data reception node is real-time also stores water quality number
According to；The transmission time interval of data then with the headway direct proportionality of ship, thus it is apparent that the situation setting waters.
Described data acquisition ship is battery-powered, constantly detects cell voltage, find during the cruise of data acquisition ship
Control ship during brownout and return to bank automatically, and data reception node ashore sends warning message, notifies user
Process.
Above-described embodiment, only for technology design and the feature of the explanation present invention, its object is to allow person skilled in the art
Will appreciate that present disclosure and implement according to this, can not limit the scope of the invention with this.All according to master of the present invention
Want the modification that the spirit of technical scheme is done, all should contain within protection scope of the present invention.
Claims (6)
1. a water quality monitoring system based on Beidou navigation, it is characterised in that: include the data acquisition for gathering water quality parameter
Collection ship, the data reception node being arranged on bank and remote controller；
With the first control module on described data acquisition ship, and connected water quality parameter acquisition module, Big Dipper mould respectively
Block, compass module, the first wireless module, blade motor drive module and display module；
Described data reception node includes the second control module, and connected second wireless module and alarm device respectively,
Carry out data between described second wireless module and the first wireless module to be wirelessly transferred；
Described remote controller includes the 3rd control module, and connected 3rd wireless module and keyboard, described 3rd nothing respectively
It is controlled signal between wire module and the first wireless module to be wirelessly transferred.
Water quality monitoring system based on Beidou navigation the most according to claim 1, it is characterised in that: described Big Dipper module is used
In the location information of acquisition data acquisition ship, and it is sent to the first control module by serial ports.
Water quality monitoring system based on Beidou navigation the most according to claim 1, it is characterised in that: described compass module
For obtaining the fore direction that data acquisition ship is current, and use I2C agreement and the first control module carry out communication.
Water quality monitoring system based on Beidou navigation the most according to claim 1, it is characterised in that: the key of described remote controller
Dish includes advancing, turns left, turns right, stops, place adds, place subtracts, set-up site and eight buttons of automatic cruising；
When user presses any one button in addition to automatic cruising, data acquisition ship enters manual mode, Yong Hutong
Cross remote controller and control ship action；
When needs arrange path for automatic cruising, as the place at ship place being set to one of destination, the most first press ground
Point adds button, and pressing set-up site button the most again is determined, and as arranged multiple destination, arrives next place at ship
Time add button again according to first pressing place, then the mode pressing set-up site button is carried out；As the destination of current setting need to be deleted,
The most first press place and subtract button, press set-up site button the most again and be determined；
After setting up all of destination, pressing automatic cruising button, data acquisition ship enters automatic cruise mode；Data acquisition
Ship will constantly receive Big Dipper module and the data of compass module, is calculated destination and the differential seat angle in fore orientation,
This differential seat angle is as the data input of pid algorithm in program, and the output result of pid algorithm is input to motor drive module, and then
The running speed of two blades is constantly changed, it is achieved the fore orientation adjustment of data acquisition ship, directly in ship running
To consistent, ceaselessly according to the destination's automatic cruising preset in waters with destination orientation.
Water quality monitoring system based on Beidou navigation the most according to claim 4, it is characterised in that: data acquisition ship is patrolling
Constantly gather water quality parameter during boat, and send data reception node to by wireless module；Data reception node is real
Time reception and store water quality data；The transmission time interval of data is then with the headway direct proportionality of ship.
Water quality monitoring system based on Beidou navigation the most according to claim 5, it is characterised in that: described data acquisition ship
Battery-powered, constantly detect cell voltage during the cruise of data acquisition ship, find to control ship during brownout automatic
Return to bank, and data reception node ashore sends warning message, notifies that user processes.
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Cited By (11)
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| CN106526115A (en) * | 2016-11-04 | 2017-03-22 | 马春强 | Water environment monitoring method based on DES (data encryption standard) satellite and Beidou cloud system |
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN106950879A (en) * | 2017-03-30 | 2017-07-14 | 中国水利水电科学研究院 | A kind of water temperature of reservoir information monitoring system and method |
| CN107356771A (en) * | 2017-06-26 | 2017-11-17 | 中国水产科学研究院淡水渔业研究中心 | Freshwater ponds water quality on-line detection method |
| CN109839932A (en) * | 2019-02-20 | 2019-06-04 | 南通大学 | Automatic navigation method based on Inertial Measurement Unit and GPS |
| CN110057993A (en) * | 2019-05-07 | 2019-07-26 | 哈尔滨工程大学 | One kind being based on the integrated sewage monitoring device of Beidou admittance and monitoring method |
| CN110824128A (en) * | 2019-11-07 | 2020-02-21 | 启东市华冶金属材料有限公司 | Water quality monitoring system and monitoring method based on Internet of things |
| CN111006724A (en) * | 2019-12-30 | 2020-04-14 | 南京市仪器仪表工业供销有限公司 | Water quality online sampling, monitoring and analyzing method and system |
| CN111272667A (en) * | 2020-01-20 | 2020-06-12 | 清华大学 | High-density mobile monitoring system |
| CN111806630A (en) * | 2019-04-12 | 2020-10-23 | 西安天衡计量仪表有限公司 | Intelligent remote control and remote measurement water quality monitoring ship platform and method thereof |
| CN112925324A (en) * | 2021-01-29 | 2021-06-08 | 中国科学院合肥物质科学研究院 | Unmanned ship control system and automatic cruise control method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106526115A (en) * | 2016-11-04 | 2017-03-22 | 马春强 | Water environment monitoring method based on DES (data encryption standard) satellite and Beidou cloud system |
| CN106950879A (en) * | 2017-03-30 | 2017-07-14 | 中国水利水电科学研究院 | A kind of water temperature of reservoir information monitoring system and method |
| CN106950879B (en) * | 2017-03-30 | 2019-06-21 | 中国水利水电科学研究院 | A kind of water temperature of reservoir information monitoring system and method |
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN107356771A (en) * | 2017-06-26 | 2017-11-17 | 中国水产科学研究院淡水渔业研究中心 | Freshwater ponds water quality on-line detection method |
| CN109839932A (en) * | 2019-02-20 | 2019-06-04 | 南通大学 | Automatic navigation method based on Inertial Measurement Unit and GPS |
| CN111806630A (en) * | 2019-04-12 | 2020-10-23 | 西安天衡计量仪表有限公司 | Intelligent remote control and remote measurement water quality monitoring ship platform and method thereof |
| CN110057993A (en) * | 2019-05-07 | 2019-07-26 | 哈尔滨工程大学 | One kind being based on the integrated sewage monitoring device of Beidou admittance and monitoring method |
| CN110824128A (en) * | 2019-11-07 | 2020-02-21 | 启东市华冶金属材料有限公司 | Water quality monitoring system and monitoring method based on Internet of things |
| CN111006724A (en) * | 2019-12-30 | 2020-04-14 | 南京市仪器仪表工业供销有限公司 | Water quality online sampling, monitoring and analyzing method and system |
| CN111272667A (en) * | 2020-01-20 | 2020-06-12 | 清华大学 | High-density mobile monitoring system |
| CN112925324A (en) * | 2021-01-29 | 2021-06-08 | 中国科学院合肥物质科学研究院 | Unmanned ship control system and automatic cruise control method |
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Application publication date: 20160928 |