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 PDF

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Publication number
CN109283303A
CN109283303A CN201811048366.0A CN201811048366A CN109283303A CN 109283303 A CN109283303 A CN 109283303A CN 201811048366 A CN201811048366 A CN 201811048366A CN 109283303 A CN109283303 A CN 109283303A
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China
Prior art keywords
pollution sources
waterborne
concentration
robot
pollution
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CN201811048366.0A
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Inventor
王锦洋
陈鲤文
陈小鸿
徐爱珍
刘国荣
郑志煌
周瑶
郑日晶
欧依文
张文吉
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Fuzhou Jumawei Intelligent Technology Co Ltd
Fujian Longitudinal Mapping Information Co Ltd
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Fuzhou Jumawei Intelligent Technology Co Ltd
Fujian Longitudinal Mapping Information Co Ltd
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Priority to CN201811048366.0A priority Critical patent/CN109283303A/en
Publication of CN109283303A publication Critical patent/CN109283303A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18Water
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/02Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
    • G01N27/04Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
    • G01N27/06Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a liquid
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/0206Control of position or course in two dimensions specially adapted to water vehicles

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

A kind of system and method for fixed point cruise positioning pollution sources waterborne
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,llL ∈ [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,llL ∈ [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,llL ∈ [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.
CN201811048366.0A 2018-09-10 2018-09-10 A kind of system and method for fixed point cruise positioning pollution sources waterborne Pending CN109283303A (en)

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CN113570264A (en) * 2021-08-02 2021-10-29 北部湾大学 Offshore land-source pollutant emission management system
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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