CN106405040B - A kind of water quality inspection based on unmanned machine, pollutant source tracing method - Google Patents

A kind of water quality inspection based on unmanned machine, pollutant source tracing method Download PDF

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Publication number
CN106405040B
CN106405040B CN201611011437.0A CN201611011437A CN106405040B CN 106405040 B CN106405040 B CN 106405040B CN 201611011437 A CN201611011437 A CN 201611011437A CN 106405040 B CN106405040 B CN 106405040B
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unmanned
unmanned boat
system
water quality
boat
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CN201611011437.0A
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CN106405040A (en
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卢文宝
王飞
杨冉
虞国平
李志刚
刘佳
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苏州航天系统工程有限公司
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A20/00Water conservation; Efficient water supply; Efficient water use
    • Y02A20/10Relating to general water supply, e.g. municipal or domestic water supply
    • Y02A20/20Water pollution control technologies
    • Y02A20/206Monitoring water for contaminating materials

Abstract

The water quality inspection that the invention discloses a kind of based on unmanned machine, pollutant source tracing method, which includes unmanned plane, unmanned boat and bank base monitoring system.Unmanned boat is equipped with water quality detection equipment, can carry out water quality on-line checking to the waters at place.Unmanned boat carries small drone, and hull provides stop and charging unit for unmanned plane, realizes the cruise of unmanned plane larger range.It is loaded with the video monitoring system of high definition on unmanned boat and unmanned plane, can realize beat surface function respectively.The present invention provides a kind of completely new water quality monitoring modes, three-dimensional inspection is carried out to polluted water region in such a way that unmanned boat carries unmanned plane, the broader feature in the unmanned plane visual field had both been utilized in the combination of the two, further pollution sources can be realized and be tracked, the defect of unmanned boat or the independent inspection of unmanned plane has been relatively well made up again, the high efficiency and precision for facilitating water quality monitoring, improve the level of IT application of water quality monitoring.

Description

A kind of water quality inspection based on unmanned machine, pollutant source tracing method

Technical field

The invention belongs to unmanned planes and unmanned boat technical field, are assisted in particular to one kind by unmanned boat and unmanned plane Water quality inspection, pollutant source tracing method with cooperation.

Background technique

In recent years, it is influenced by mankind's activity, water resource pollution is increasingly severe, and nearly half water resource receives serious dirt Therefore dye realizes that the monitoring of lake and reservoir water quality seems increasingly important on the basis of water quality management.China's water quality monitoring at present Rely primarily on personal monitoring and unmanned boat monitoring and part unmanned plane inspection.Wherein, personal monitoring needs to sample on the spot, and the period is very It grows and needs to consume a large amount of manpower and material resources.And mobile monitoring water quality feelings are had been carried out using the water quality detection equipment that unmanned boat carries The sensor of condition, most of water surface aquatic monitoring can be mounted on unmanned boat, and unmanned boat, which has, lays flexible, cost economy etc. Feature, but to reply pollution in wide area when unmanned boat still cannot have to the sampling monitoring data of water quality it is scientific comprehensive Representativeness is tracing to the source aspect with comparable limitation to pollution sources.Application of the unmanned plane in terms of water quality monitoring can provide Monitoring on a large scale, can quickly understand regional pollution ambit, but in view of current Development of UAV situation, unmanned machine side Face cruise time short problem, and unmanned plane only distinguishes water quality to that can cause the pollution sources of water body color change.

Summary of the invention

In order to overcome the shortcomings of prior art unmanned plane and unmanned boat separate operaton monitoring water quality, the present invention is intended to provide one Kind is by unmanned boat and the coordinated water quality inspection of unmanned plane, pollutant source tracing method, the water quality monitoring optimized with realizing route And scientifically and rationally water pollution source is tracked.

To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:

A kind of water quality inspection based on unmanned machine, pollutant traceability system, are monitored by unmanned plane, unmanned boat and bank base and are System composition;

The unmanned plane includes body, flight control system, UAV Communication system, propeller, battery, charging Mouth, UAV Navigation System and Airborne Video System monitoring device;

The flight control system passes through the UAV Communication system and the unmanned boat and bank base monitoring system System communication connection, controls the flight path and flight attitude of the unmanned plane;The Airborne Video System monitoring device is used for blowdown Mouthful search and evidence obtaining of taking pictures, the Airborne Video System monitoring device by the UAV Communication system to the bank base monitoring system System passback HD video or photo;The UAV Navigation System is used to position the current location of the unmanned plane, and Position coordinates are sent to the unmanned boat by the UAV Communication system, are guided for the unmanned boat;

The unmanned boat includes hull and is arranged in the intracorporal master control system of the ship, unmanned boat communication system, moves Force system, unmanned boat navigation system, water quality detection equipment and boat-carrying video surveillance devices;It is provided on the hull of the unmanned boat The airplane parking area stopped for the unmanned plane and the charging unit that can be docked with the charging interface on the unmanned plane;

The master control system is communicated to connect by the unmanned boat communication system and the bank base monitoring system, for controlling Make the navigation and control water quality data information collection process of the unmanned boat;The master control system is logical by the unmanned boat Letter system is connect with the UAV Communication, for controlling the flight of the unmanned plane;The boat-carrying video surveillance devices are used for The master control system is sent to shooting for marine pollution situation, and by the video taken;The unmanned boat navigation The position coordinates of the unmanned boat are sent to the master control system for positioning to the unmanned boat by system;Institute Water quality detection equipment is stated for carrying out water quality data acquisition to polluted water region, and collected water quality data is sent to the master Control system;The master control system is by unmanned boat communication system respectively by the position of the video taken, the unmanned boat Coordinate and collected water quality data are sent to the bank base monitoring system, the drafting for concentration distribution of pollutants figure.

Preferably, the unmanned plane is unmanned helicopter, Multi-axis aircraft, rotor craft.

Preferably, the UAV Communication system and the unmanned boat communication system are 3G/4G module.

Preferably, the UAV Navigation System and the unmanned boat navigation system are GPS module.

A kind of water quality inspection based on unmanned machine, pollutant source tracing method, comprising the following steps:

Step 1) unmanned boat is navigated by water by unmanned boat navigation system to the collection point of Polluted water area, is then examined using water quality Measurement equipment carries out the acquisition of water quality data information, and the pollutant of the coordinate position of collection point (X, Y) and the collection point is dense Degree is sent on the server of bank base monitoring system according to (Z) by unmanned boat communication system;

Step 2) bank base monitoring system utilizes MATLAB software for based on the pollutant concentration data of each collection point Two-dimentional difference fitting is carried out, makes major pollutants in the concentration profile of the Polluted water area, and judge that maximum concentration can Doubt the position of pollution sources;

Step 3) bank base monitoring system goes out path optimizing according to concentration distribution of pollutants G- Design, passes through unmanned boat communication system System commander's unmanned boat is close to maximum concentration suspicious contamination sources along path optimizing, meanwhile, unmanned boat continues pair on the way in navigation Water quality is detected, and these water quality datas are further passed through the service that unmanned boat communication system uploads to bank base monitoring system In device, with the navigation of unmanned boat, the water quality data being collected into is more and more, and the data of fitting are also more accurate;

For step 4) when unmanned boat reaches near pollution sources, since the unmanned boat visual field is not open enough, route speed is also opposite More slowly it is unfavorable for the searching to optimized treatment position, bank base monitoring system starts nobody by UAV Communication system at this time The unmanned plane carried on ship, and to unmanned plane send concentration distribution of pollutants figure, unmanned plane according to concentration distribution of pollutants figure, and High-altitude search is carried out to optimized treatment using Airborne Video System monitoring device;

The video pictures taken in high-altitude are directly passed back to bank base by UAV Communication system by step 5) unmanned plane Monitoring system is analyzed and is judged to the content in video pictures by bank base monitoring system;

For step 6) after bank base monitoring system finds suspicious object in the video pictures that unmanned plane is passed back, unmanned plane is at once Current position coordinates are positioned by UAV Navigation System, and the position coordinates are sent by nobody by UAV Communication system Ship, guidance unmanned boat approaching suspicious object are further confirmed that;

Step 7) is after unmanned boat approaching suspicious object, by the boat-carrying video surveillance devices on unmanned boat to suspicious object Video capture is carried out, video pictures are sent to bank base monitoring system by unmanned boat communication system and are confirmed;

When confirm the suspicious object is pollutant emission mouth really, bank base monitoring system 3 controls on unmanned plane 1 step 8) Airborne Video System monitoring device and unmanned boat on boat-carrying video surveillance devices evidence obtaining of taking pictures is carried out to pollutant emission mouth;

Step 9) unmanned boat positions the pollutant emission mouth by unmanned boat navigation system, and logical by unmanned boat The location coordinate information of the pollutant emission mouth is uploaded to bank base monitoring system by letter system;

Step 10) is after the completion of evidence obtaining, on the airplane parking area of UAV Landing to unmanned boat, charging interface on unmanned plane with Charging unit docking on unmanned boat, charges for unmanned plane, waits task of taking off next time.

The beneficial effects of the present invention are:

The present invention provides a kind of completely new after having fully considered the advantage and disadvantage of unmanned boat and unmanned plane in water quality monitoring when Water quality monitoring mode, three-dimensional inspection is carried out to polluted water region in such a way that unmanned boat carries unmanned plane.Unmanned boat can be with The water quality data of polluted water region is acquired, bank base monitoring system draws out the dirt in the waters using the water quality data monitored Concentration profile figure is contaminated, and optimizes the polling path of unmanned boat.Unmanned plane is then used as the means of supplementing out economy, when unmanned boat discovery can be with mesh After mark, unmanned plane can be searched in high-altitude, further confirm that pollution sources.Unmanned boat provides airplane parking area, Neng Goufang for unmanned plane Just unmanned plane neatly emergency starting, and power for unmanned plane, the voyage of unmanned plane can be improved to the maximum extent.The knot of the two The broader feature in the unmanned plane visual field had both been utilized in conjunction, can further realize and track to pollution sources, and relatively well make up nothing People's ship (search area is narrow) or the defect of the independent inspection of unmanned plane (voyage is short), facilitate the efficient and accurate of water quality monitoring Change, improves the level of IT application of water quality monitoring.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings. A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.

Detailed description of the invention

The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:

Fig. 1 is the structural block diagram of present system;

Fig. 2 is the flow chart of the method for the present invention;

Fig. 3 a is Von.Ncumann type cellular neighbor model schematic diagram;

Fig. 3 b is the schematic diagram of Moorc type cellular neighbor model;

Fig. 3 c is the schematic diagram of the Moorc type cellular neighbor model of extension;

Fig. 4 is the concentration profile of some pollutant element in the embodiment of the present invention;

Fig. 5 is the scatter plot of each pollutant element in the embodiment of the present invention;

Fig. 6 is the scatter plot of each pollutant element primary pollution source in the embodiment of the present invention.

Figure label explanation: 1, unmanned plane;2, unmanned boat;3, bank base monitoring system;11, body;12, flight control system System;13, UAV Communication system;14, propeller;15, battery;16, charging interface;17, UAV Navigation System;18, machine Carry video surveillance devices;21, hull;22, master control system;23, unmanned boat communication system;24, dynamical system;25, unmanned boat Navigation system;26, water quality detection equipment;27, charging unit;28 boat-carrying video surveillance devices.

Specific embodiment

It is below with reference to the accompanying drawings and in conjunction with the embodiments, next that the present invention will be described in detail.

It is shown in Figure 1, a kind of water quality inspection based on unmanned machine, pollutant traceability system, by unmanned plane 1, nobody Ship 2 and bank base monitoring system 3 form;

The unmanned plane 1 includes body 11, flight control system 12, UAV Communication system 13, propeller 14, battery 15, charging interface 16, UAV Navigation System 17 and Airborne Video System monitoring device 18;

One end of the battery 15 is connect with the charging interface 16, the other end of the battery 15 and the flight Control system 12 connects, and is equipment power supply all on the unmanned plane 1;The flight control system 12 respectively with it is described nobody Machine communication system 13, the propeller 14 and the UAV Navigation System 17 connect;The flight control system 12 passes through institute It states UAV Communication system 13 and the unmanned boat 2 and the bank base monitoring system 3 communicates to connect, control the unmanned plane 1 Flight path and flight attitude;The Airborne Video System monitoring device 18 is led to for the search to sewage draining exit and evidence obtaining of taking pictures It crosses the UAV Communication system 13 and returns HD video or photo to the bank base monitoring system 3;The Navigation of Pilotless Aircraft system Position coordinates are passed through the UAV Communication system 13 for positioning to the current location of the unmanned plane 1 by system 17 It is sent to the unmanned boat 2, is guided for the unmanned boat 2;

The unmanned boat 2 includes hull 21 and the master control system 22 being arranged in the hull 21, unmanned boat communication System 23, dynamical system 24, unmanned boat navigation system 25, water quality detection equipment 26 and boat-carrying video surveillance devices 28;The nothing Be provided on the hull 21 of people's ship 2 for the unmanned plane 1 stop airplane parking area and can be with the charging on the unmanned plane 1 The charging unit 27 that interface 16 docks;

The master control system 22 respectively with the unmanned boat communication system 23, the dynamical system 24, the unmanned plane Navigation system 25 and the water quality detection equipment 26 connection;The dynamical system 24 is that the unmanned boat 2 provides navigating power;Institute Master control system 22 is stated to communicate to connect by the unmanned boat communication system 23 and the unmanned plane 1, for control it is described nobody The flight of machine 1;The boat-carrying video surveillance devices 28 are used for shooting to marine pollution situation, and the video that will be taken It is sent to the master control system 22;The unmanned boat navigation system 25 is used to position the unmanned boat 2, and will be described The position coordinates of unmanned boat 2 are sent to the master control system 22;The water quality detection equipment 26 is used to carry out polluted water region Water quality data acquisition, and collected water quality data is sent to the master control system 22;The master control system 22 passes through Unmanned boat communication system 23 is respectively by the video taken, the position coordinates and collected water quality data of the unmanned boat 2 It is sent to the bank base monitoring system 3, the drafting for concentration distribution of pollutants figure.

Preferably, the unmanned plane 1 is unmanned helicopter, Multi-axis aircraft, rotor craft.

Preferably, the UAV Communication system 13 and the unmanned boat communication system 23 are 3G/4G module.

Preferably, the UAV Navigation System 17 and the unmanned boat navigation system 25 are GPS module.

Referring to figure 1 and figure 2, a kind of water quality inspection based on unmanned machine, pollutant source tracing method, including following step It is rapid:

Step 1) unmanned boat 2 is navigated by water by unmanned boat navigation system 25 to the collection point of Polluted water area, and water is then utilized Quality inspection measurement equipment 26 carries out the acquisition of water quality data information, and by the coordinate position X, Y of collection point and the pollution of the collection point Object concentration data is sent on the server of bank base monitoring system 3 by unmanned boat communication system 23.

Step 2) bank base monitoring system 3 is soft using MATLAB by based on the pollutant concentration data of each collection point Part carries out two-dimentional difference fitting, makes major pollutants in the concentration profile of the Polluted water area, and judge maximum concentration The position of suspicious contamination sources, the specific method is as follows:

By analysis it is found that the distribution of pollutant is continuous, simultaneously because the diffusion of substance is from high concentration to low concentration It carries out, the highest point of certain regional concentration may be exactly to spread source in diffusion model, so in each pollutant spatial distribution Extreme point may be pollution sources in the propagation model of pollutant.Therefore it is empty to translate into the pollutant fitted for the solution of problem Between the problem of extreme value is searched on distribution surface.The modern algorithm of search extreme value has simulated annealing, genetic algorithm, fish-swarm algorithm etc. more Kind.The domain searched in the model of consideration is limited, and target solution number is uncertain, and traversal search is preferable method.Obtain pole Pollution sources are filtered out in conjunction with video analysis after value point.

According to each pollutant concentration of element in the spatial distribution of the polluted water region, concentration distribution matrix Z is obtained, and then combine MATLAB software establishes search model.

Z is 100 × 100 matrix, and the thought for using for reference cellular establishes the two-dimensional grid of 100 × 100 scales, will be polluted Matter-element element concentration distribution matrix is correspondingly placed into, and wherein each pollutant element occupies one of grid.According to case study Known to: pollution sources are present in certain grid in two-dimensional grid, and grid concentration of element is greater than surrounding lattice where pollution sources The concentration of element of son.

Referring to shown in Fig. 3 a-3c, the neighbor model of two dimensional cellular automaton (regular quad mesh division) usually has with several Kind of form, black cellular is center cellular in figure, and grey cellular is the neighbours of the cellular.

It is found after analyzing above-mentioned three kinds of cellular neighbor models, the cellular neighbor model in Fig. 3 b is most suitable for.Member in Fig. 3 b Grid z (i, j) existing for pollution sources should meet in born of the same parents' neighbor model:

(1) for should meet on extraneous non-conterminous lattice theory:

z(i,j)>z(i-1,j);

z(i,j)>z(i+1,j);

z(i,j)>z(i,j-1);

z(i,j)>z(i,j+1);

z(i,j)>z(i-1,j-1);

z(i,j)>z(i-1,j+1);

z(i,j)>z(i+1,j-1);

z(i,j)>z(i+1,j+1);

(2) for that should meet (by taking left margin as an example) on the lattice theory of boundary:

z(i,1)>z(i-1,1);

z(i,1)>z(i-1,2);

z(i,1)>z(i,2);

z(i,1)>z(i+1,2);

z(i,1)>z(i+1,1);

(3) for that should meet (by taking left margin as an example) on the lattice theory of vertex:

z(1,1)>z(1,2);

z(i,j)>z(2,2);

z(i,j)>z(2,1);

For simplified model, think that there is no pollution sources for boundary and vertex herein.It can be in the hope of by search model Extreme point in pollutant element spatial distribution out, it is possible to pollution sources.Extreme point given threshold is screened, reduction can The quantity of doubtful point, unmanned boat will be travelled pointedly to suspicious contamination sources position.

A specific embodiment presented below:

Step 1: it is shown in Figure 4, make concentration distribution of pollutants figure (the matlab two dimension of essential element in emission Difference fitting);

Step 2: the element obtained according to the first step respectively obtains the concentration of each element in the spatial distribution of polluted water region Distribution matrix Z (matrix larger not attached go out), establishes search model in conjunction with MATLAB software and scans for, obtain each element respectively In the number of the spatial distribution maximum of the polluted water region;

Step 3: it is shown in Figure 5, each pollutant element spatial distribution maximum point is drawn with scatter function Scatter plot, make data visualization;

Step 4: it is shown in Figure 6, extreme point is screened, such as by given threshold, when the extreme point position is polluted When object concentration is greater than threshold value, as suspicious contamination sources;Dissipating for each pollutant element primary pollution source is drawn with scatter function Point diagram makes data visualization.

Step 3) bank base monitoring system 3 is according to the concentration distribution of pollutants figure (scatterplot of each pollutant element primary pollution source Figure) path optimizing is designed, command unmanned boat 2 along path optimizing to the suspicious dirt of maximum concentration by unmanned boat communication system 23 Dye source is close, meanwhile, unmanned boat 2 continues to detect water quality on the way in navigation, and these water quality datas are further passed through Unmanned boat communication system 23 uploads in the server of bank base monitoring system 3, with the navigation of unmanned boat 2, the water quality that is collected into Data are more and more, and the data of fitting are also more accurate.

Step 4) is when unmanned boat 2 reaches near pollution sources, since 2 visual field of unmanned boat is not open enough, route speed also phase Searching to being unfavorable for more slowly to optimized treatment position, bank base monitoring system 3 is opened by UAV Communication system 13 at this time The unmanned plane 1 carried on dynamic unmanned boat 2, and concentration distribution of pollutants figure is sent to unmanned plane 1, unmanned plane 1 is dense according to pollutant Distribution map is spent, and high-altitude search is carried out to optimized treatment using Airborne Video System monitoring device 18.

The video pictures taken in high-altitude are directly passed back to bank by UAV Communication system 13 by step 5) unmanned plane 1 Base monitoring system 3 is analyzed and is judged to the content in video pictures by bank base monitoring system 3.

Step 6) is after bank base monitoring system 3 finds suspicious object in the video pictures that unmanned plane 1 is passed back, unmanned plane 1 It immediately passes through UAV Navigation System 17 and positions current position coordinates, and pass through UAV Communication system 13 for the position coordinates Unmanned boat 2 is sent, 2 approaching of the unmanned boat suspicious object is guided.

Step 7) is after 2 approaching suspicious object of unmanned boat, by the boat-carrying video surveillance devices on unmanned boat 2 to suspicious mesh Mark carries out video capture, and video pictures are sent to bank base monitoring system 3 by unmanned boat communication system 23 and are confirmed.

When confirm the suspicious object is pollutant emission mouth really, bank base monitoring system 3 controls on unmanned plane 1 step 8) Airborne Video System monitoring device 18 and unmanned boat 2 on boat-carrying video surveillance devices 28 pollutant emission mouth take pictures taking Card.

Step 9) unmanned boat 2 positions the pollutant emission mouth by unmanned boat navigation system 25, and passes through nobody The location coordinate information of the pollutant emission mouth is uploaded to bank base monitoring system 3 by ship communication system 23.

Step 10) is after the completion of evidence obtaining, and unmanned plane 1 lands to the airplane parking area of unmanned boat 2, the charging on unmanned plane 1 Mouth 16 is docked with the charging unit 27 on unmanned boat 2, is charged for unmanned plane 1, and task of taking off next time is waited.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (4)

1. a kind of water quality inspection based on unmanned machine, pollutant source tracing method, by by unmanned plane (1), unmanned boat (2) and bank The water quality inspection of base monitoring system (3) composition, pollutant traceability system are realized;Wherein,
The unmanned plane (1) include body (11), flight control system (12), UAV Communication system (13), propeller (14), Battery (15), charging interface (16), UAV Navigation System (17) and Airborne Video System monitoring device (18);
The flight control system (12) passes through the UAV Communication system (13) and the unmanned boat (2) and the bank base Monitoring system (3) communication connection, controls the flight path and flight attitude of the unmanned plane (1);The Airborne Video System monitoring is set Standby (18) pass through the UAV Communication for the search to sewage draining exit and evidence obtaining of taking pictures, the Airborne Video System monitoring device (18) System (13) returns HD video or photo to the bank base monitoring system (3);The UAV Navigation System (17) for pair The current location of the unmanned plane (1) is positioned, and position coordinates are sent to by the UAV Communication system (13) The unmanned boat (2) guides for the unmanned boat (2);
The unmanned boat (2) includes master control system (22), the unmanned boat of hull (21) and setting in the hull (21) Communication system (23), dynamical system (24), unmanned boat navigation system (25), water quality detection equipment (26) and boat-carrying video surveillance are set Standby (28);Be provided on the hull (21) of the unmanned boat (2) for the unmanned plane (1) stop airplane parking area and can with it is described The charging unit (27) of the charging interface (16) docking on unmanned plane (1);
The master control system (22) passes through the unmanned boat communication system (23) and bank base monitoring system (3) communication link It connects, for controlling the navigation and water quality data information collection process of the unmanned boat (2);The master control system (22) passes through The unmanned boat communication system (23) and the unmanned plane (1) communicate to connect, for controlling the flight of the unmanned plane (1);Institute Boat-carrying video surveillance devices (28) are stated for shooting to marine pollution situation, and the video taken are sent to described Master control system (22);The unmanned boat navigation system (25) for being positioned to the unmanned boat (2), and by it is described nobody The position coordinates of ship (2) are sent to the master control system (22);The water quality detection equipment (26) be used for polluted water region into The acquisition of row water quality data, and collected water quality data is sent to the master control system (22);The master control system (22) by unmanned boat communication system (23) respectively by the video taken, the position coordinates of the unmanned boat (2) and acquisition To water quality data be sent to the bank base monitoring system (3), the drafting for concentration distribution of pollutants figure;
It is characterized in that, the water quality inspection, pollutant trace to the source the following steps are included:
Step 1) unmanned boat (2) is navigated by water by unmanned boat navigation system (25) to the collection point of Polluted water area, and water is then utilized Quality inspection measurement equipment (26) carries out the acquisition of water quality data information, and by the coordinate position of collection point (X, Y) and the collection point Pollutant concentration data are sent on the server of bank base monitoring system (3) by unmanned boat communication system (23);
Step 2) bank base monitoring system (3) utilizes MATLAB software for based on the pollutant concentration data of each collection point Two-dimentional difference fitting is carried out, makes major pollutants in the concentration profile of the Polluted water area, and judge that maximum concentration can Doubt the position of pollution sources;
Step 3) bank base monitoring system (3) goes out path optimizing according to concentration distribution of pollutants G- Design, passes through unmanned boat communication system (23) commander unmanned boat (2) that unites is close to maximum concentration suspicious contamination sources along path optimizing, meanwhile, unmanned boat (2) is navigating by water Continue to detect water quality on the way, and these water quality datas are further passed through into unmanned boat communication system (23) and upload to bank base In the server of monitoring system (3), with the navigation of unmanned boat (2), the water quality data being collected into is more and more, the data of fitting Also more accurate;
When unmanned boat (2) reach near pollution sources, bank base monitoring system (3) is opened step 4) by UAV Communication system (13) The unmanned plane (1) carried on dynamic unmanned boat (2), and concentration distribution of pollutants figure, unmanned plane (1) basis are sent to unmanned plane (1) Concentration distribution of pollutants figure, and high-altitude search is carried out to optimized treatment using Airborne Video System monitoring device (18);
The video pictures taken in high-altitude are directly passed back to bank by UAV Communication system (13) by step 5) unmanned plane (1) Base monitoring system (3) is analyzed and is judged to the content in video pictures by bank base monitoring system (3);
Step 6) is after bank base monitoring system (3) finds suspicious object in the video pictures that unmanned plane (1) is passed back, unmanned plane (1) UAV Navigation System (17) are immediately passed through and position current position coordinates, and should by UAV Communication system (13) Position coordinates send unmanned boat (2), and guidance unmanned boat (2) approaching suspicious object is further confirmed that;
Step 7) is after unmanned boat (2) approaching suspicious object, by the boat-carrying video surveillance devices on unmanned boat (2) to suspicious mesh Mark carries out video capture, and video pictures are sent to bank base monitoring system (3) by unmanned boat communication system (23) and are confirmed;
When confirm the suspicious object is pollutant emission mouth really, bank base monitoring system (3) controls on unmanned plane (1) step 8) Airborne Video System monitoring device (18) and unmanned boat (2) on boat-carrying video surveillance devices (28) pollutant emission mouth is clapped According to evidence obtaining;
Step 9) unmanned boat (2) positions the pollutant emission mouth by unmanned boat navigation system (25), and passes through nobody The location coordinate information of the pollutant emission mouth is uploaded to bank base monitoring system (3) by ship communication system (23);
Step 10) is after the completion of evidence obtaining, and unmanned plane (1) lands to the airplane parking area of unmanned boat (2), the charging on unmanned plane (1) Interface (16) is docked with the charging unit (27) on unmanned boat (2), is charged for unmanned plane (1), and waiting is taken off next time appoints Business.
2. the water quality inspection according to claim 1 based on unmanned machine, pollutant source tracing method, it is characterised in that: institute Stating unmanned plane (1) is unmanned helicopter, Multi-axis aircraft, rotor craft.
3. the water quality inspection according to claim 1 based on unmanned machine, pollutant source tracing method, it is characterised in that: institute Stating UAV Communication system (13) and the unmanned boat communication system (23) is 3G/4G module.
4. the water quality inspection according to claim 1 based on unmanned machine, pollutant source tracing method, it is characterised in that: institute Stating UAV Navigation System (17) and the unmanned boat navigation system (25) is GPS module.
CN201611011437.0A 2016-11-17 2016-11-17 A kind of water quality inspection based on unmanned machine, pollutant source tracing method CN106405040B (en)

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