CN109283303A - A kind of system and method for fixed point cruise positioning pollution sources waterborne - Google Patents
A kind of system and method for fixed point cruise positioning pollution sources waterborne Download PDFInfo
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- 239000003643 water by type Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 description 12
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- 238000010586 diagram Methods 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000003911 water pollution Methods 0.000 description 2
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Abstract
The invention proposes a kind of system and methods of the pollution sources of fixed point cruise positioning waterborne.Present system includes remote terminal, the first wireless communication module, the second wireless communication module, robot waterborne, satellite positioning module and multiple pollution sources detection sensors.The method of the present invention remote terminal carries out path planning, label emphasis detection pollution source point to robot waterborne according to river electronic map, and remote terminal will plan that mode is transmitted to robot waterborne to rear path by wireless communication；Robot waterborne cruises according to the fixed point that planning rear path carries out river, obtains K kind pollution sources concentration by water quality detection；Robot waterborne is by pollution sources concentration compared with pollution sources concentration threshold, by pollution sources physical location and pollution sources concentration, mode is sent to remote terminal by wireless communication if pollution sources concentration is greater than pollution sources concentration threshold, and otherwise robot waterborne continues to keep former Fairway navigation.Detection accuracy height of the present invention and high degree of automation.
Description
Technical field
The invention belongs to water pollution detection field, in particular to a kind of system of the pollution sources of fixed point cruise positioning waterborne
And method.
Background technique
The problem of China's water quality detection at this stage, is that detection, Treatment process fall behind, and automatization level does not catch up with pollution and controls
The demand of reason.Sewage treatment plant operator know-how, working experience do not adapt to the online prison of water field of big area at this stage
Survey and operational management.The equipment of environment pollution detection relies on import, is unable to get on-call maintenance, this is largely caused
Pollution it is intensification.
The intelligent level of pollution entering the water detection is extremely low.It was found that and administer sewage will people to live, can not accomplish water quality
Real-time detection.Mainly have Laboratory Monitoring, automatic monitor station monitoring and 3 kinds of mobile monitoring.Wherein Laboratory Monitoring needs people
Work is to spot sampling, and monitoring cycle is long, large labor intensity；Automatic monitor station monitoring then needs to establish monitoring station in monitoring place,
Using necessary instrument, cost is high；Mobile monitoring needs special detection vehicle, and carries large number of equipment, cost and workload
It is larger.For waters such as the more serious some shoals of damage ratio, marshes, traditional mobile monitoring equipment is unable to satisfy practical survey
The needs of amount.
Summary of the invention
In order to solve current water pollution detection heavy workload, the degree of automation is low, and monitoring cycle is long, testing cost it is high and
The problems such as inaccurate, the invention proposes a kind of system and methods of fixed point cruise positioning pollution sources waterborne.
The technical solution of present system is a kind of system of fixed point cruise positioning pollution sources waterborne, which is characterized in that packet
It includes: remote terminal, the first wireless communication module, the second wireless communication module, robot waterborne, satellite positioning module, the first dirt
Dye source detection sensor, the second pollution sources detection sensor ..., K pollution sources detection sensor, K > 0；
The remote terminal is connect with the first wireless communication module by conducting wire；First wireless communication module and institute
The second wireless communication module is stated wirelessly to connect；Second wireless communication module passes through with the robot waterborne
Conducting wire connection；The robot waterborne is connect with first pollution source detection sensor by conducting wire；The robot waterborne
It is connect with the second pollution sources detection sensor by conducting wire；...；The robot waterborne and the K pollution sources detect
Sensor is connected by conducting wire；The robot waterborne is connect with the satellite positioning module by conducting wire.
The technical solution of the method for the present invention is a kind of method of fixed point cruise positioning pollution sources waterborne, is specifically included following
Step:
Step 1: remote terminal carries out path planning, label emphasis detection to robot waterborne according to river electronic map
Source point is polluted, remote terminal will plan that mode is transmitted to robot waterborne to rear path by wireless communication；
Step 2: robot waterborne cruises according to the fixed point that planning rear path carries out river, obtains K kind by water quality detection
Pollution sources concentration；
Step 3: robot waterborne by pollution sources concentration compared with pollution sources concentration threshold, if pollution sources concentration be greater than dirt
Then by pollution sources physical location and pollution sources concentration, mode is sent to remote terminal to dye source concentration threshold by wireless communication, no
Then robot waterborne continues to keep former Fairway navigation；
Preferably, river electronic map described in step 1 is equivalent to two-dimension vector map by remote terminal；
Path planning described in step 1 is the path that robot navigation waterborne is arranged according to two-dimension vector map:
{(X1,Y1),(X2,Y2),...,(XN,YN)}
Wherein, (Xi,Yi) i ∈ [1, N] be two-dimension vector map on i-th of planning rear path coordinate points, N is path planning
Coordinate points quantity；
The detection pollution source point of label emphasis described in step 1 are as follows:
{(A1,B1),(A2,B2),...,(AN,BN)}
Wherein, (Aj,Bj) j ∈ [1, M] is that j-th emphasis detects pollution sources coordinate points on two-dimension vector map, M attaches most importance to
Detect the quantity of pollution sources coordinate points；
Communication described in step 1 be remote terminal by the first wireless communication module will plan rear path without
Line is transmitted to the second wireless communication module, and the second wireless communication module will plan that rear path is transmitted to robot waterborne；
Preferably, pinpointing cruise described in step 2 are as follows:
Robot waterborne is navigated by water according to planning rear path, by satellite positioning module in real time in two-dimension vector map
Upper label navigation point is (TXi,TYi) i ∈ [1, N], by real-time mark navigation point and planning rear path coordinate points (Xi,Yi)i∈
[1, N] Euclidean distance is calculated are as follows:
Wherein, disiFor (TXi,TYi) i ∈ [1, N] to (Xi,Yi) Euclidean distance between i ∈ [1, N]；
If ρ > L0Robot waterborne adjusts course according to planning rear path, until robot waterborne operates in the planning way of escape
On diameter, otherwise robot waterborne continues to keep former Fairway navigation；
Water quality detection described in step 2 are as follows:
Robot navigation waterborne detects pollution sources coordinate points (A to emphasisj,Bj) j ∈ [1, M], it stays for some time and right
The water quality that emphasis detects pollution sources coordinate points waters passes through first pollution source detection sensor, the second pollution sources detection sensing
Device ..., K pollution sources detection sensor detected, respectively obtain emphasis detection pollution sources coordinate points (Aj,Bj)j∈[1,
M] first pollution source concentration ρj,1, the second pollution sources concentration ρj,2..., K pollution sources concentration ρj,K；
Preferably, pollution sources concentration described in step 3 are as follows:
Emphasis detects pollution sources coordinate points (Aj,Bj) j ∈ [1, M] first pollution source concentration ρj,1, the second pollution sources concentration
ρj,2..., K pollution sources concentration ρj,K；
Pollution sources concentration threshold described in step 3 are as follows:
First pollution source concentration threshold α1, the second pollution sources concentration threshold α2..., K pollution sources concentration threshold αK；
Robot waterborne described in step 3 is by pollution sources concentration compared with pollution sources concentration threshold are as follows:
By ρj,lWith αlL ∈ [1, K] compares；
If ρj,l>αlL ∈ [1, K] then pollution sources concentration over-standard, communication described in step 3 are as follows:
Robot waterborne measures pollution sources physical location (C by satellite positioning modulej,Dj) dirt of j ∈ [1, M] and first
Dye source concentration ρj,1, the second pollution sources concentration ρj,2..., K pollution sources concentration ρj,KIt is wirelessly passed by the second wireless communication module
The first wireless communication module is transported to, emphasis is detected pollution sources coordinate points (A by the first wireless communication modulej,Bj) j ∈ [1, M] with
And first pollution source concentration ρj,1, the second pollution sources concentration ρj,2..., K pollution sources concentration ρj,KIt is transmitted to remote terminal.
Compared with prior art, the present invention has the following advantages and beneficial effects:
The present invention is used to robot planning path waterborne, realizes that robot waterborne is looked into according to the cruise monitoring of regulation course line
Look for pollution sources.
The present invention uses the sensor detecting system of robot waterborne, detects the composition of pollution sources and positions pollution sources
Mode is sent to remote terminal by wireless communication.
Detailed description of the invention
Fig. 1: present system block diagram；
Fig. 2: flow chart of the present invention；
Fig. 3: navigation path planning chart；
Fig. 4: path adjusts flow chart；
Fig. 5: detection pollution sources flow chart.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments,
The present invention is further described in detail.It should be appreciated that specific embodiment described herein is used only for explaining this hair
It is bright, it is distinct from the restriction present invention.In addition, technical characteristic involved in each embodiment of the present invention retouched below is only
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is the system block diagram of embodiment of the present invention.The technical solution of system is a kind of water in embodiment of the present invention
The system of upper fixed point cruise positioning pollution sources, comprising: remote terminal (1), the first wireless communication module (2), the second wireless communication
Module (3), robot waterborne (4), satellite positioning module (5), first pollution source detection sensor (D1), the second pollution sources inspection
Survey sensor (D2) ..., K pollution sources detection sensor (DK), K > 0；
The remote terminal (1) is connect with first wireless communication module (2) by conducting wire；First channel radio
Letter module (2) is wirelessly connect with second wireless communication module (3)；Second wireless communication module (3) with
The robot waterborne (4) is connected by conducting wire；The robot waterborne (4) and first pollution source detection sensor
(D1) connected by conducting wire；The robot waterborne (4) and the second pollution sources detection sensor (D2) connected by conducting wire
It connects；...；The robot waterborne (4) and the K pollution sources detection sensor (DK) connected by conducting wire；The machine waterborne
Device people (4) is connect with the satellite positioning module (5) by conducting wire.
Remote terminal (1) of the present invention is server；First wireless communication module (2) of the present invention and described the
Two wireless communication modules (3) are 4G wireless communication module；Robot waterborne (4) model C580 of the present invention；Institute of the present invention
Stating satellite positioning module (5) is GNSS module；The quantity of pollution sources detection sensor of the present invention is K=5, wherein described
First pollution source detection sensor (D1) it is acidity-basicity sensor, the second pollution sources detection sensor (D2) it is temperature sensing
Device, the third pollution sources detection sensor (D3) it is dissolved oxygen sensor, the 4th pollution sources detection sensor (D4) it is electricity
Conductivity sensor, the 5th pollution sources detection sensor (D5) it is turbidity transducer.
Below with reference to Fig. 1 to Fig. 4, embodiments of the present invention are introduced.Specific steps are as follows:
Step 1: remote terminal (1) carries out path planning, label weight to robot waterborne (4) according to river electronic map
Point detection pollution source point, remote terminal (1) will plan that mode is transmitted to robot waterborne (4) to rear path by wireless communication；
River electronic map described in step 1 is equivalent to two-dimension vector map by remote terminal (1)；
Path planning described in step 1 is the path that robot navigation waterborne is arranged according to two-dimension vector map:
{(X1,Y1),(X2,Y2),...,(XN,YN)}
Wherein, (Xi,Yi) i ∈ [1, N] be two-dimension vector map on i-th of planning rear path coordinate points, N=100 is road
The coordinate points quantity of diameter planning；
The detection pollution source point of label emphasis described in step 1 are as follows:
{(A1,B1),(A2,B2),...,(AN,BN)}
Wherein, (Aj,Bj) j ∈ [1, M] is that j-th emphasis detects pollution sources coordinate points on two-dimension vector map, M=10 is
The quantity of emphasis detection pollution sources coordinate points；
Communication described in step 1 is after remote terminal (1) will be planned by the first wireless communication module (2)
Path is wirelessly transmitted to the second wireless communication module (3), and it is waterborne that the second wireless communication module (3) will plan that rear path is transmitted to
Robot (4)；
Step 2: robot (4) waterborne is cruised according to the fixed point that planning rear path carries out river, is obtained by water quality detection
K kind pollution sources concentration；
Cruise is pinpointed described in step 2 are as follows:
Robot (4) waterborne is navigated by water according to planning rear path, is sweared in real time in two dimension by satellite positioning module (5)
Label navigation point is (TX on quantity mapi,TYi) i ∈ [1, N], N=100, by real-time mark navigation point and planning rear path coordinate
Point (Xi,Yi) i ∈ [1, N] calculating Euclidean distance are as follows:
Wherein, disiFor (TXi,TYi) i ∈ [1, N] to (Xi,Yi) Euclidean distance between i ∈ [1, N]；
If ρ > L0Robot (4) waterborne adjusts course according to planning rear path, until robot waterborne (4) operates in rule
It draws in rear path, otherwise robot (4) waterborne continues to keep former Fairway navigation；
Water quality detection described in step 2 are as follows:
Robot (4) navigation waterborne detects pollution sources coordinate points (A to emphasisj,Bj) j ∈ [1, M], one section of M=10 stop
Time is simultaneously examined the water quality in emphasis detection pollution sources coordinate points waters by first pollution source detection sensor, the second pollution sources
Survey sensor ..., K=5 pollution sources detection sensor detected, respectively obtain emphasis detection pollution sources coordinate points (Aj,
Bj) j ∈ [1, M] first pollution source concentration ρj,1, the second pollution sources concentration ρj,2..., K=5 pollution sources concentration ρj,K；
Step 3: robot waterborne by pollution sources concentration compared with pollution sources concentration threshold, if pollution sources concentration be greater than dirt
Then by pollution sources physical location and pollution sources concentration, mode is sent to remote terminal to dye source concentration threshold by wireless communication, no
Then robot waterborne continues to keep former Fairway navigation；
Pollution sources concentration described in step 3 are as follows:
Emphasis detects pollution sources coordinate points (Aj,Bj) j ∈ [1, M] first pollution source concentration ρj,1, the second pollution sources concentration
ρj,2..., K=5 pollution sources concentration ρj,K, M=10
Pollution sources concentration threshold described in step 3 are as follows:
First pollution source concentration threshold α1, the second pollution sources concentration threshold α2..., K=5 pollution sources concentration threshold αK；
Robot waterborne described in step 3 is by pollution sources concentration compared with pollution sources concentration threshold are as follows:
By ρj,lWith αlL ∈ [1, K] compares；
If ρj,l>αlL ∈ [1, K] then pollution sources concentration over-standard, communication described in step 3 are as follows:
Robot waterborne measures pollution sources physical location (C by satellite positioning modulej,Dj) j ∈ [1, M] M=10 and
First pollution source concentration ρj,1, the second pollution sources concentration ρj,2..., K=5 pollution sources concentration ρj,KPass through the second wireless communication
Module is wirelessly transmitted to the first wireless communication module, and emphasis is detected pollution sources coordinate points (A by the first wireless communication modulej,Bj)j
∈ [1, M] and first pollution source concentration ρj,1, the second pollution sources concentration ρj,2..., K=5 pollution sources concentration ρj,KIt is transmitted to
Remote terminal.
Although remote terminal (1), the first wireless communication module (2), the second wireless communication module is used more herein
(3), robot (4) waterborne, satellite positioning module (5), first pollution source detection sensor (D1), the second pollution sources detection pass
Sensor (D2) ..., K pollution sources detection sensor (DK) etc. terms, but a possibility that be not precluded using other terms.Make
With these terms just for the sake of more easily describing essence of the invention, it is construed as any additional limitation
It is all to be disagreed with spirit of that invention.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this
Invention is claimed range and should be determined by the appended claims.
Claims (5)
1. a kind of system of the pollution sources of fixed point cruise positioning waterborne, characterized by comprising: remote terminal (1), first are wirelessly
Communication module (2), the second wireless communication module (3), robot waterborne (4), satellite positioning module (5), the detection of first pollution source
Sensor (D1), the second pollution sources detection sensor (D2) ..., K pollution sources detection sensor (DK), K > 0；
The remote terminal (1) is connect with first wireless communication module (2) by conducting wire；First wireless communication module
(2) it is wirelessly connect with second wireless communication module (3)；Second wireless communication module (3) and the water
Upper robot (4) is connected by conducting wire；The robot waterborne (4) and the first pollution source detection sensor (D1) by leading
Line connection；The robot waterborne (4) and the second pollution sources detection sensor (D2) connected by conducting wire；...；The water
Upper robot (4) and the K pollution sources detection sensor (DK) connected by conducting wire；The robot waterborne (4) with it is described
Satellite positioning module (5) is connected by conducting wire.
2. it is fixed that a kind of system of the pollution sources using fixed point waterborne cruise positioning described in claim 1 carries out fixed point cruise waterborne
The method of the pollution sources of position, which comprises the following steps:
Step 1: remote terminal (1) carries out path planning, label emphasis detection to robot waterborne (4) according to river electronic map
Source point is polluted, remote terminal (1) will plan that mode is transmitted to robot waterborne (4) to rear path by wireless communication；
Step 2: robot (4) waterborne is cruised according to the fixed point that planning rear path carries out river, and it is dirty to obtain K kind by water quality detection
Dye source concentration；
Step 3: robot waterborne by pollution sources concentration compared with pollution sources concentration threshold, if pollution sources concentration be greater than pollution sources it is dense
Spending threshold value, then by pollution sources physical location and pollution sources concentration, mode is sent to remote terminal by wireless communication, otherwise machine waterborne
Device people continues to keep former Fairway navigation.
3. the method for the pollution sources of fixed point cruise positioning waterborne according to claim 2, which is characterized in that
River electronic map described in step 1 is equivalent to two-dimension vector map by remote terminal (1)；
Path planning described in step 1 is the path that robot navigation waterborne is arranged according to two-dimension vector map:
{(X1,Y1),(X2,Y2),...,(XN,YN)}
Wherein, (Xi,Yi) i ∈ [1, N] be two-dimension vector map on i-th of planning rear path coordinate points, N=100 is path planning
Coordinate points quantity；
The detection pollution source point of label emphasis described in step 1 are as follows:
{(A1,B1),(A2,B2),...,(AN,BN)}
Wherein, (Aj,Bj) j ∈ [1, M] is that j-th emphasis detects pollution sources coordinate points on two-dimension vector map, M=10 attaches most importance to
Detect the quantity of pollution sources coordinate points；
Communication described in step 1 be remote terminal (1) by the first wireless communication module (2) will plan rear path without
Line is transmitted to the second wireless communication module (3), and the second wireless communication module (3) will plan that rear path is transmitted to robot waterborne
(4)。
4. the method for the pollution sources of fixed point cruise positioning waterborne according to claim 2, which is characterized in that
Cruise is pinpointed described in step 2 are as follows:
Robot (4) waterborne is navigated by water according to planning rear path, by satellite positioning module (5) in real time in two-dimension vector map
Upper label navigation point is (TXi,TYi) i ∈ [1, N], N=100, by real-time mark navigation point and planning rear path coordinate points (Xi,
Yi) i ∈ [1, N] calculating Euclidean distance are as follows:
Wherein, disiFor (TXi,TYi) i ∈ [1, N] to (Xi,Yi) Euclidean distance between i ∈ [1, N]；
If ρ > L0Robot (4) waterborne adjusts course according to planning rear path, until robot waterborne (4) operates in the planning way of escape
On diameter, otherwise robot (4) waterborne continues to keep former Fairway navigation；
Water quality detection described in step 2 are as follows:
Robot (4) navigation waterborne detects pollution sources coordinate points (A to emphasisj,Bj) j ∈ [1, M], M=10 stays for some time simultaneously
First pollution source detection sensor, the second pollution sources detection sensing are passed through to the water quality in emphasis detection pollution sources coordinate points waters
Device ..., K=5 pollution sources detection sensor detected, respectively obtain emphasis detection pollution sources coordinate points (Aj,Bj)j∈
The first pollution source concentration ρ of [1, M]j,1, the second pollution sources concentration ρj,2..., K=5 pollution sources concentration ρj,K。
5. the method for the pollution sources of fixed point cruise positioning waterborne according to claim 2, which is characterized in that
Pollution sources concentration described in step 3 are as follows:
Emphasis detects pollution sources coordinate points (Aj,Bj) j ∈ [1, M] first pollution source concentration ρj,1, the second pollution sources concentration
ρj,2..., K=5 pollution sources concentration ρj,K, M=10
Pollution sources concentration threshold described in step 3 are as follows:
First pollution source concentration threshold α1, the second pollution sources concentration threshold α2..., K=5 pollution sources concentration threshold αK；
Robot waterborne described in step 3 is by pollution sources concentration compared with pollution sources concentration threshold are as follows:
By ρj,lWith αlL ∈ [1, K] compares；
If ρj,l>αlL ∈ [1, K] then pollution sources concentration over-standard, communication described in step 3 are as follows:
Robot waterborne measures pollution sources physical location (C by satellite positioning modulej,Dj) dirt of j ∈ [1, M] M=10 and first
Dye source concentration ρj,1, the second pollution sources concentration ρj,2..., K=5 pollution sources concentration ρj,KIt is wireless by the second wireless communication module
It is transmitted to the first wireless communication module, emphasis is detected pollution sources coordinate points (A by the first wireless communication modulej,Bj) j ∈ [1, M] with
And first pollution source concentration ρj,1, the second pollution sources concentration ρj,2..., K=5 pollution sources concentration ρj,KIt is transmitted to remote terminal.
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Cited By (6)
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| CN110533266A (en) * | 2019-09-29 | 2019-12-03 | 北京市农林科学院 | A kind of doubtful source of sewage analyzing and positioning method and system |
| CN110672807A (en) * | 2019-10-17 | 2020-01-10 | 生态环境部华南环境科学研究所 | Tracing method and device for river sewage draining exit |
| CN112697993A (en) * | 2021-01-05 | 2021-04-23 | 深圳市本特利科技有限公司 | Water area water quality monitoring method based on underwater unmanned aerial vehicle detection |
| CN113570264A (en) * | 2021-08-02 | 2021-10-29 | 北部湾大学 | Offshore land-source pollutant emission management system |
| CN114624405A (en) * | 2022-02-21 | 2022-06-14 | 浙江工业大学 | Unmanned cruising and pollution tracking and positioning method for urban river |
| CN116559401A (en) * | 2023-07-11 | 2023-08-08 | 四川新环科技有限公司 | Water quality detection method |
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| CN112697993A (en) * | 2021-01-05 | 2021-04-23 | 深圳市本特利科技有限公司 | Water area water quality monitoring method based on underwater unmanned aerial vehicle detection |
| CN113570264A (en) * | 2021-08-02 | 2021-10-29 | 北部湾大学 | Offshore land-source pollutant emission management system |
| CN114624405A (en) * | 2022-02-21 | 2022-06-14 | 浙江工业大学 | Unmanned cruising and pollution tracking and positioning method for urban river |
| CN116559401A (en) * | 2023-07-11 | 2023-08-08 | 四川新环科技有限公司 | Water quality detection method |
| CN116559401B (en) * | 2023-07-11 | 2023-09-19 | 四川新环科技有限公司 | Water quality detection method |
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