CN109257718A - Using the marine environmental pollution intelligent real time monitoring system of underwater robot - Google Patents
Using the marine environmental pollution intelligent real time monitoring system of underwater robot Download PDFInfo
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- CN109257718A CN109257718A CN201811327087.8A CN201811327087A CN109257718A CN 109257718 A CN109257718 A CN 109257718A CN 201811327087 A CN201811327087 A CN 201811327087A CN 109257718 A CN109257718 A CN 109257718A
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- underwater robot
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/12—Shortest path evaluation
- H04L45/126—Shortest path evaluation minimising geographical or physical path length
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
- H04W40/10—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources based on available power or energy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
Abstract
The present invention provides the marine environmental pollution intelligent real time monitoring systems of application underwater robot, which includes marine environmental monitoring module, processing module, transmission module, remote monitoring terminal and power module；Marine environmental monitoring module is used to acquire the data for the parameters for influencing marine environment, processing module is connected with marine environmental monitoring module, for carrying out processing to the data collected to which data assess marine environment situation according to treated, and assessment result is transferred to by remote monitoring terminal by transmission module, remote monitoring terminal and underwater robot communicate to connect, for storing the data received and issuing various control signals to processing module, to change the active state of underwater robot, power module is used to guarantee the stable power-supplying of whole system.
Description
Technical field
The present invention relates to marine environment monitoring technology fields, and in particular to using the marine environmental pollution intelligence of underwater robot
It can real-time monitoring system.
Background technique
Multi-sensor may be implemented to be monitored ocean aquatic environment, this for finding that marine pollution is gone forward side by side early
Row, which is timely handled and protected, suffers from important meaning.Existing marine environmental monitoring mode mainly have live artificial sample, specially
With the mode of monitoring ship or buoy in-situ monitoring, there is a large amount of labours of consumption, monitoring efficiency are low and at high cost for these modes
The disadvantages of, therefore, ocean water quality environmental monitoring system can effectively be carried out for environmental protection and big model in real time by developing one kind
The water quality monitoring enclosed has important researching value.
Summary of the invention
In view of the above-mentioned problems, the present invention provides the marine environmental pollution intelligent real time monitoring system for applying underwater robot.
The purpose of the present invention is realized using following technical scheme:
The marine environmental pollution intelligent real time monitoring system using underwater robot is provided, which includes marine environment
Monitoring modular, processing module, transmission module, remote monitoring terminal and power module；Marine environmental monitoring module is for acquiring shadow
Ring the data of the parameters of marine environment, processing module is connected with marine environmental monitoring module, for collecting
Data carry out processing to which data assess marine environment situation according to treated, and are tied assessment by transmission module
Fruit is transferred to remote monitoring terminal, and remote monitoring terminal and underwater robot communicate to connect, for storing the data received simultaneously
Various control signals are issued to processing module, to change the active state of underwater robot, power module is entire for guaranteeing
The stable power-supplying of system.
Preferably, it is provided with serial communication chip in the transmission module, connects the processing module, and pass through waterproof
Cable connection remote monitoring terminal.
Preferably, the marine environmental monitoring module includes aggregation node and multiple sensor nodes, the sensor section
Point includes the first sensor component for monitoring water quality situation and the second sensor component for monitoring ambient conditions, described
First sensor component includes for monitoring water quality pH-value, dissolved oxygen and the sensor of salinity, second group of sensing respectively
Device assembly includes the sensor for monitoring water temperature and chlorophyll concentration respectively.
Preferably, the processing module includes control unit, data pre-processing unit and analysis assessment unit；The control
The active state for the various control instructions control underwater robot that unit is used to be issued according to remote monitoring terminal；The data are pre-
Processing unit is for pre-processing abnormal data and missing data；The analysis assessment unit is used to count according to treated
According to the assessment for carrying out marine environment.
The invention has the benefit that structure is simple, flexibly and easily, pass through the mutual cooperation between each module, Neng Goushi
Now to effective monitoring of ocean aquatic environment, and monitoring result is transferred to remote monitoring terminal, ensure that discovery ocean in time
Water pollution is to advanced processing.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural schematic block diagram of the marine environment real-time monitoring system of an illustrative embodiment of the invention；
Fig. 2 is the structural schematic block diagram of the processing module of an illustrative embodiment of the invention.
Appended drawing reference:
Marine environmental monitoring module 1, processing module 2, transmission module 3, remote monitoring terminal 4, power module 5, control are single
Member 10, data pre-processing unit 20, analysis assessment unit 30.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, the embodiment of the invention provides the marine environmental pollution intelligent real time monitoring systems of application underwater robot
System, which includes marine environmental monitoring module 1, processing module 2, transmission module 3, remote monitoring terminal 4 and power module 5；
Marine environmental monitoring module 1 is used to acquire the data for the parameters for influencing marine environment, processing module 2 and marine environmental monitoring
Module 1 is connected, for the data collected carry out processing to according to treated data to marine environment situation into
Row assessment, and assessment result is transferred to by remote monitoring terminal 4, remote monitoring terminal 4 and underwater robot by transmission module 3
Communication connection, for storing the data received and issuing various control signals to processing module 2, to change underwater robot
Active state, power module 5 is used to guarantee the stable power-supplying of whole system.
In a kind of mode in the cards, it is provided with serial communication chip in the transmission module 3, connects the place
Module 2 is managed, and remote monitoring terminal 4 is connected by water-proof cable.
In a kind of mode in the cards, the marine environmental monitoring module 1 includes aggregation node and multiple sensors
The data that sensor node acquires are sent to processing module 2 by node, aggregation node；
The sensor node includes first sensor component for monitoring water quality situation and for monitoring ambient conditions
Second sensor component, the first sensor component includes for monitoring water quality pH-value, dissolved oxygen and salinity respectively
Sensor, the second group sensor component include the sensor for monitoring water temperature and chlorophyll concentration respectively.
In a kind of mode in the cards, as shown in Fig. 2, the processing module 2 is located in advance including control unit 10, data
Manage unit 20 and analysis assessment unit 30；Described control unit 10 according to the various controls that remote monitoring terminal 4 issues for referring to
Enable the active state of control underwater robot；The data pre-processing unit 20 is used to carry out abnormal data and missing data pre-
Processing；The analysis assessment unit 30 is used to carry out the assessment of marine environment according to treated data.
The marine environmental pollution intelligent real time monitoring system knot using underwater robot of the above embodiment of the present invention setting
Structure is simple, flexibly and easily, by the mutual cooperation between each module, can be realized effective monitoring to ocean aquatic environment, and
Monitoring result is transferred to remote monitoring terminal 4, ensure that discovery ocean water pollution is in time to advanced processing.
In a kind of mode in the cards, sensor node can be in [Zmin, Zmax] in the range of adjust itself communication
Distance, when initial, the communication distance that each sensor node adjusts itself is Zmax, wherein ZminIt is adjustable most for sensor node
Small communication distance, ZmaxFor the adjustable maximum communication distance of sensor node；Determination passes data to sensor node at the beginning
The transmission mode of aggregation node is transported to, and aggregation node is sent data to according to the transmission mode, specifically:
(1) when netinit, sensor node receives the broadcast message of aggregation node, carries out network by broadcast message
It floods, sensor node adds all neighbor nodes to the neighbor table of itself, and wherein neighbor node is logical positioned at sensor node
Other sensors node within the scope of communication distance；
(2) sensor node judges itself whether to meet directly transmission data qualification, if satisfied, sensor node directly will
The data of acquisition are sent to aggregation node, if being unsatisfactory for directly transmitting data qualification, a neighbours are selected from its neighbor table
Node is sent to next-hop node as next-hop node, by the data of acquisition；Wherein, the direct transmission data qualification
Are as follows:
In formula, V (i, sink) is distance of the sensor node i to aggregation node,It is nearest with sensor node i distance
Neighbor node,For the neighbor node time close with sensor node i distance,For the nearest neighbor node
To the distance of aggregation node,For the distance of time close neighbor node to aggregation node,To judge value function,
WhenWhen,
WhenWhen,
In the present embodiment, sensor node determines neighbor table based on communication distance, and data are transmitted in determination at the beginning
To the transmission mode of aggregation node, to send data to aggregation node according to the transmission mode.When determining transmission mode,
The present embodiment creatively sets directly transmission data qualification, directly transmits data qualification according to this it is found that when sensor section
Point communication distance be less than its arrive aggregation node distance, and it is closer apart from aggregation node relative to its neighbor node when, with remittance
Poly- node direct communication, selects the form directly transmitted that data are directly transferred to aggregation node, otherwise indirect with aggregation node
Communication forwards data according to the form of multi-hop transmission.
The present embodiment determines routing mode according to the physical location situation of sensor node, has ensured the flexibility of routing,
Be conducive to improve the reliability that data are sent to aggregation node, reduce packet loss, and sensor node can be reduced as far as
Send the energy consumption of data.
In a kind of mode that can be realized, sensor node selects a neighbor node as next from its neighbor table
Hop node specifically includes:
(1) sensor node using with its apart from nearest sensor node, the sensor node time close with its distance as
The alternate node of next-hop node；
(2) sensor node sends election contest message to two alternate node, two alternate nodes receive it is described
The waiting time is calculated after election contest message:
In formula, CikIndicate the waiting time that k-th of alternate node of sensor node i calculates, HikIt is standby for described k-th
Select the current remaining of node, HikoFor the primary power of k-th of alternate node, V (k, sink) is standby described k-th
Select node to the distance of aggregation node, V (i, sink) is distance of the sensor node i to aggregation node, and V (i, k) is sensor
At a distance from k-th of alternate node of node i and this, ZiFor the communication distance of sensor node i, C1For it is preset based on energy etc.
To time, C2For the preset waiting time based on distance；a1、a2For the weight coefficient of setting；
(3) alternate node starts timer according to the waiting time, and timing sends feedback to sensor node i after terminating and disappears
Breath；
(4) sensor node i is using alternate node corresponding to receive first feedback message as next-hop node.
The present embodiment proposes the selection mechanism of next-hop node, is based on the mechanism, sensor node is from its neighbor table
When selecting a neighbor node as next-hop node, by the biography close apart from nearest sensor node and its distance time with it
Alternate node of the sensor node as next-hop node sends election contest message to each alternate node, and to receive alternate node
The time sequencing of feedback message determines next-hop node.
Wherein by the design of waiting time, the waiting time of alternate node can be controlled in a reasonable range
It is interior, and enable to that dump energy is more and the better alternate node of position advantage has the shorter waiting time, to make
The next-hop node that there is the alternate node bigger probability to serve as sensor node is obtained, to improve the reliable of data multi-hop transmission
Property.
In a kind of mode that can be realized, when initial, aggregation node collects the primary power information of each sensor node,
And according to primary power information calculating network average energy；Each sensor node determines the transmission for sending data to aggregation node
After mode, its routed path for arriving aggregation node is established according to determining transmission mode, the sensing with aggregation node direct communication
Device node receives the network average energy information sent by aggregation node；With the sensor node of aggregation node direct communication according to
The communication of oneself is regularly updated to the cycle of setting according to itself current remaining and network average energy information
Distance, and the neighbor table of oneself is updated according to updated communication distance, and redefine and send data to aggregation node
Transmission mode.
The update mode of the communication distance are as follows:
In formula, ZjIt (t) is the communication distance updated with the sensor node j of aggregation node direct communication t-th of period,
Hj0For the primary power with the sensor node j, Hj(t) communication distance is updated t-th of period for the sensor node j
When current remaining, HavgFor the network average energy, ZminFor the adjustable minimal communications distance of sensor node,
ZmaxFor the adjustable maximum communication distance of sensor node, b is the communication distance impact factor based on energy consumption, the value range of b
For [0.8,0.9].
In the present embodiment, with the sensor node of aggregation node direct communication according to setting cycle according to from
The current remaining of body regularly updates the communication distance of oneself.
The present embodiment correspondingly proposes the more new formula of communication distance.By the more new formula it is found that and aggregation node
The sensor node of direct communication is gradually reduced the communication distance of oneself with the increase of energy consumption.By periodically adjusting communication
The mode of distance, the present embodiment enable to timely update with the sensor node of aggregation node direct communication and send data to
The transmission mode of aggregation node improves the flexibility of routing, advantageously reduces the energy consumption rate of sensor node transmission data,
Sensor node is avoided to cause energy consumption to quickly increase because maintaining fixed transmission mode, to further ensure wireless sensor
The stability of network, the reliability of improve data transfer to aggregation node.
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, each module can be realized in one or more the following units: specific integrated circuit, digital signal processor, number letter
Number processing equipment, field programmable gate array, processor, controller, microcontroller, microprocessor, is set programmable logic device
Count other electronic units or combinations thereof for realizing functions described herein.For software implementations, the part of embodiment or complete
Portion's process can instruct relevant hardware to complete by computer program.When realization, above procedure can be stored in meter
It instructs in calculation machine readable medium or as the one or more on computer-readable medium or code is transmitted.It is computer-readable
Medium includes computer storage media and communication media, and wherein communication media includes convenient for passing from a place to another place
Send any medium of computer program.Storage medium can be any usable medium that computer can access.It is computer-readable
Medium can include but is not limited to memory or other optical disc storages, magnetic disk storage medium or other magnetic storage apparatus or
Can be used in carry or store have instruction or data structure form desired program code and can be by computer access
Any other medium.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (6)
1. the marine environmental pollution intelligent real time monitoring system of application underwater robot, characterized in that including marine environmental monitoring
Module, processing module, transmission module, remote monitoring terminal and power module；Marine environmental monitoring module influences sea for acquiring
The data of the parameters of foreign environment, processing module are connected with marine environmental monitoring module, for the data collected
Processing is carried out to which data assess marine environment situation according to treated, and is passed assessment result by transmission module
It is defeated by remote monitoring terminal；Remote monitoring terminal and underwater robot communicate to connect, for storing the data received and to place
Reason module issues various control signals, to change the active state of underwater robot, power module is for guaranteeing whole system
Stable power-supplying.
2. the marine environmental pollution intelligent real time monitoring system according to claim 1 using underwater robot, feature
It is to be provided with serial communication chip in the transmission module, connects the processing module, and connect remotely by water-proof cable
Monitor terminal.
3. the marine environmental pollution intelligent real time monitoring system according to claim 1 using underwater robot, feature
It is that the marine environmental monitoring module includes aggregation node and multiple sensor nodes, aggregation node acquires sensor node
Data be sent to processing module.
4. the marine environmental pollution intelligent real time monitoring system according to claim 1-3 using underwater robot
System, characterized in that the processing module includes control unit, data pre-processing unit and analysis assessment unit；The control is single
The active state of various control instructions control underwater robot of the member for being issued according to remote monitoring terminal；The data are located in advance
Reason unit is for pre-processing abnormal data and missing data；The analysis assessment unit is used for according to treated data
Carry out the assessment of marine environment.
5. the marine environmental pollution intelligent real time monitoring system according to claim 3 using underwater robot, feature
It is that the sensor node includes the first sensor component for monitoring water quality situation and second for monitoring ambient conditions
Sensor module, the first sensor component include for monitoring water quality pH-value, dissolved oxygen and the sensor of salinity respectively,
The second group sensor component includes the sensor for monitoring water temperature and chlorophyll concentration respectively.
6. the marine environmental pollution intelligent real time monitoring system according to claim 3 using underwater robot, feature
It is that sensor node can be in [Zmin, Zmax] in the range of adjust itself communication distance, when initial, each sensor node is adjusted
The communication distance of itself is Zmax, wherein ZminFor the adjustable minimal communications distance of sensor node, ZmaxIt can for sensor node
The maximum communication distance of adjusting；Sensor node determines the transmission mode for sending data to aggregation node, and root at the beginning
Aggregation node is sent data to according to the transmission mode, specifically:
(1) when netinit, sensor node receives the broadcast message of aggregation node, and it is general to carry out network by broadcast message
Flood, sensor node add all neighbor nodes to the neighbor table of itself, and wherein neighbor node is to communicate positioned at sensor node
Other sensors node in distance range；
(2) sensor node judges itself whether to meet directly transmission data qualification, if satisfied, sensor node directly will acquisition
Data be sent to aggregation node, if being unsatisfactory for directly transmitting data qualification, from its neighbor table select a neighbor node
As next-hop node, the data of acquisition are sent to next-hop node；Wherein, the direct transmission data qualification are as follows:
In formula, V (i, sink) is distance of the sensor node i to aggregation node,For with sensor node i apart from nearest neighbour
Node is occupied,For the neighbor node time close with sensor node i distance,It is arrived for the nearest neighbor node
The distance of aggregation node,For the distance of time close neighbor node to aggregation node,To judge value function,
WhenWhen,
WhenWhen,
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811327087.8A CN109257718A (en) | 2018-11-08 | 2018-11-08 | Using the marine environmental pollution intelligent real time monitoring system of underwater robot |
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| CN201811327087.8A CN109257718A (en) | 2018-11-08 | 2018-11-08 | Using the marine environmental pollution intelligent real time monitoring system of underwater robot |
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| CN109257718A true CN109257718A (en) | 2019-01-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116599602A (en) * | 2023-07-18 | 2023-08-15 | 北京航天华腾科技有限公司 | Low-energy-consumption long-distance sonar communication system for ocean monitoring |
-
2018
- 2018-11-08 CN CN201811327087.8A patent/CN109257718A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116599602A (en) * | 2023-07-18 | 2023-08-15 | 北京航天华腾科技有限公司 | Low-energy-consumption long-distance sonar communication system for ocean monitoring |
| CN116599602B (en) * | 2023-07-18 | 2023-09-22 | 北京航天华腾科技有限公司 | Low-energy-consumption long-distance sonar communication system for ocean monitoring |
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