CN109552570A - A kind of unmanned boat for marine environmental monitoring - Google Patents
A kind of unmanned boat for marine environmental monitoring Download PDFInfo
- Publication number
- CN109552570A CN109552570A CN201811465055.4A CN201811465055A CN109552570A CN 109552570 A CN109552570 A CN 109552570A CN 201811465055 A CN201811465055 A CN 201811465055A CN 109552570 A CN109552570 A CN 109552570A
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- data
- unmanned boat
- environmental
- processing equipment
- data processing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The present invention relates to water environment monitoring technical fields, and in particular to unmanned boat surveys and draws path calibration method, system and unmanned boat, this method comprises: path is surveyed and drawn in object of planning waters；Obtain the target water environmental data in mapping path；According to the deviation between target water environmental data, the practical course line of mapping path computing unmanned boat and mapping path；Mapping path deviation calibration strategy is determined according to deviation.The present invention can carry out Mapping Road diameter according to the mapping path planned and environmental information and calibrate automatically, improve the accuracy and reliability of measurement data.
Description
Technical field
The present invention relates to ocean monitoring technologytechnologies fields, and in particular to a kind of unmanned boat for marine environmental monitoring.
Background technique
Marine monitoring net has been established in China, the marine monitoring system constituted using means such as satellite, aircraft, ship, buoys.
Above-mentioned marine environmental monitoring mode mainly has the mode of live artificial sample, dedicated mapping ship or buoy in-situ monitoring, in use
Method is stated, can not identify the sea area Real-Time Ocean ambient conditions of oceanographic condition and not set stationary monitoring point in real time, and
There is consume a large amount of labours, monitoring efficiency is low and at high cost the disadvantages of.
Summary of the invention
The present invention provides a kind of unmanned boats for marine environmental monitoring, supervise for realizing the marine environment in any sea area
It surveys, and real-time Transmission marine environmental monitoring data, is assessed for marine environment and forecast Oceanic disasters provide foundation in advance.
The invention provides the following technical scheme:
A kind of unmanned boat for marine environmental monitoring, comprising: sail control device, data processing equipment, marine environment
Information collecting device；
The sail control device, for according to the sailing command received, control hull to run posture；
The Ocean environment information acquisition device is filled for acquiring environmental information and being sent to the data processing in real time
It sets；
The data processing equipment obtains target water Real-Time Ocean environment for analyzing the environmental data
Information.
Further, the sail control device, comprising:
Control host with signal transmitting and receiving function and hull operation gesture stability be electrically connected with the control host are electric
Road.
Further, the sail control device, is used for:
The control host receives sailing command, and the sailing command is sent to the data processing equipment；
The data processing equipment, is also used to:
According to current goal waters Real-Time Ocean environmental information, the sailing command received carries out navigation path rule
It draws, determines navigation path information, and the navigation path information is sent to the sail control device；
The sail control device, is also used to:
The control circuit connects the hull operation posture that navigation path information adjusts the unmanned boat according to.
Further, the marine information acquisition device is included at least with lower component:
Wave monitoring assembly, aquatic environment sampling component, fishery resources monitoring component.
Further, the aquatic environment sampling component, is used for:
The following at least one water quality data of acquisition: water quality pH-value, water quality dissolved oxygen, Water salinity monitor water temperature, water quality
Collected water quality data is sent to the data processing equipment by chlorophyll concentration, and the environmental data includes the water quality
Data.Further, the wave monitoring assembly, is used for:
The following at least one set of sea wave data of measurement: wave buoyancy and pressure, sea meteorology and temperature, by collected wave
Data are sent to the data processing equipment, and the environmental data includes the sea wave data.
Further, the fishery resources monitoring component, is used for:
The following at least one fishery resources data of acquisition: fishery resources amount, fishery resources density, the fishery money of target water
Collected fishery resources data are sent to the data processing equipment by source spatial and temporal distributions, fishery resources population structure information.
Further, the data processing equipment, is used for:
Target water marine environment normal situation data is stored in advance, by the environmental data monitored and the normal condition
Data compare, and obtain target water Real-Time Ocean environmental information according to comparing result.Target water target water
Further, the data processing equipment, is used for:
It monitors real time data Information abnormity, then analyzes the data information that Exception Type data preset duration, if institute
The data information quantity for presetting duration is stated greater than preset threshold value, then the Exception Type data is sent to and is set in advance
Fixed control centre.
Further, the data processing equipment, is used for:
It monitors implementation environment data exception, then analyzes abnormal data type, and determine the institute within the set duration
State the data bulk of abnormal data type；If the data bulk is greater than preset threshold value, it is determined that environmental abnormality occurs,
The data of abnormal data type are sent to preset control centre.Target water target water target water
Provided by the present invention for the unmanned boat of marine environmental monitoring, the marine environmental monitoring in any sea area is realized, and
Real-time Transmission marine environmental monitoring data, are assessed for marine environment and forecast Oceanic disasters provide foundation in advance, and are saved
Manual labor improves environment measuring efficiency, reduces environmental monitoring cost.
Detailed description of the invention
Fig. 1 is a kind of unmanned boat schematic device of marine environmental monitoring in the embodiment of the present invention；
Fig. 2 is Ocean environment information acquisition device component diagram in the embodiment of the present invention.
In figure: 1, the unmanned boat of marine environmental monitoring, 101, sail control device, 102, data processing equipment, 103, sea
Foreign environment information acquisition device, 201, wave monitoring assembly, 202, aquatic environment sampling component, 203, fishery resources monitoring group
Part.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, for a kind of unmanned boat 1 for marine environmental monitoring in the embodiment of the present invention, comprising: navigation control
Device 101, data processing equipment 102, Ocean environment information acquisition device 103.
Wherein sail control device 101 includes: control host with signal transmitting and receiving function and is electrically connected with control host
Unmanned boat navigation path control circuit.When the sailing command that receives of control host, notice control circuit hull operation posture,
Navigation route.
Preferably, sailing command is sent to data processing equipment 102, number after control host receives sailing command
According to processing unit 102 according to real-time collected sea wave data information, temperature and temperature data information and sailing command target
Waters information plans navigation path, and the navigation path information after planning is sent to sail control device 101, navigation control
Device 101 is according to the navigation path information control hull operation posture and navigation route after planning.
As shown in Fig. 2, Ocean environment information acquisition device 103, comprises at least one of the following component: wave monitoring assembly
201, aquatic environment sampling component 202, fishery resources monitoring component 203.
Wherein wave monitoring assembly 201 includes: pressure type wave monitor, meteorological temperature-indicating instrument.Pressure type wave prison
It surveys on instrument and meteorological temperature-indicating instrument and is provided with data transmitter, the real-time data transmission for will test to data processing
Device.When pressure type wave monitor is monitored across the sea, it can wave with wave, therefore pressure type wave monitor can
It is effective to increase the accuracy for measuring wave size to reduce the error of data statistics multiple groups to be arranged on unmanned boat.
Meteorological temperature measuring device may be mounted on pressure type wave monitor, equally be arranged with pressure type wave monitor
There are multiple groups, can also be separately provided.Meteorological temperature measuring device tests the meteorology and temperature on sea, by meteorological and temperature number
It is believed that breath is sent to data processing equipment.
If meteorological temperature measuring device may be mounted on pressure type wave monitor, meteorological temperature measuring device is far from pressure type
The settable wave piezometry plate in the side of wave monitoring instrument, is tested for the pressure to wave, thus to ocean calamity
Evil is predicted.
Preferably, tide ocean current measurement device is arranged in pressure type wave monitoring instrument lower end, it is in close contact with seawater, passes through tide
Nighttide ocean current measurement device is measured tide ocean current, carries out record statistics to the ebb time, increases the work of early warning of marine disasters
Efficiency.
Aquatic environment sampling component 202, including at least one of lower sensor: monitoring water quality ph value sensor,
Monitor water quality dissolved oxygen sensor, monitoring Water salinity sensor, monitoring water quality water temperature sensor, monitoring water quality chlorophyll concentration
Sensor.The water quality real-time Data Transmission that aquatic environment sampling component 202 will test is to data processing equipment 103.
Fishery resources monitoring component 203, for fishery resources amount, density, spatial and temporal distributions and the population knot to target water
Structure measures；It determines the fishery resources of target water, and the fishery resources data information measured is sent to data processing
Device 103.
Data processing equipment 103 can be used for the assessment of target water marine environment, training marine environment assessment models, navigation
Path planning, dealing of abnormal data.
Data processing equipment 103 is assessed for target water marine environment, comprising: target water marine environment is stored in advance
Normal situation data compares the environmental data monitored and the normal situation data, obtains mesh according to comparing result
Waters Real-Time Ocean environmental information target water is marked, target water marine environment is assessed.
Pre-stored target water marine environment normal situation data information includes: the season according to target water, ground
Position is managed, history marine environmental monitoring data establish each season target water marine environment normal situation data information bank, establish
Each season ocean environmental assessment benchmark model.Benchmark model, which is assessed, according to marine environment determines target water marine environment grade.
Bring the marine environment data information of collected target water preset duration into target water marine environment assessment benchmark model,
Marine environment grade is calculated.
Data processing equipment 103 is for training marine environment assessment models, comprising: target water does not set up marine environment and comments
Estimate benchmark model, then bring the real time data information of acquisition into marine environment assessment models, is acquired according to a large amount of target water
Real time data is trained marine environment assessment models, forms marine environment and assesses benchmark model.
Data processing equipment 103 is used for dealing of abnormal data, comprising: monitors implementation environment data exception, then analyzes different
Regular data type, and determine the data bulk of abnormal data type within the set duration；It is set in advance if data bulk is not more than
Fixed threshold value then abandons this abnormality processing；If data bulk is greater than preset threshold value, it is determined that environmental abnormality occurs,
The data of abnormal data type are sent to preset control centre；Control centre is notified to carry out full side for target water
Face monitoring is intervened.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of unmanned boat for marine environmental monitoring, which is characterized in that the unmanned boat includes: sail control device, data
Processing unit, Ocean environment information acquisition device；
The sail control device, for according to the sailing command received, control hull to run posture；
The Ocean environment information acquisition device, for acquiring environmental information and being sent to the data processing equipment in real time；
The data processing equipment obtains target water Real-Time Ocean environmental information for analyzing the environmental data.
2. unmanned boat as described in claim 1, which is characterized in that the sail control device, comprising:
Control host with signal transmitting and receiving function and hull operation posture control circuit be electrically connected with the control host.
3. unmanned boat as claimed in claim 2, which is characterized in that the sail control device is used for:
The control host receives sailing command, and the sailing command is sent to the data processing equipment；
The data processing equipment, is also used to:
According to current goal waters Real-Time Ocean environmental information, the sailing command received carries out navigation path planning, really
Determine navigation path information, and the navigation path information is sent to the sail control device；
The sail control device, is also used to:
The control circuit connects the hull operation posture that navigation path information adjusts the unmanned boat according to.
4. unmanned boat as described in claim 1, which is characterized in that the marine information acquisition device is included at least with the following group
Part:
Wave monitoring assembly, aquatic environment sampling component, fishery resources monitoring component.
5. unmanned boat as claimed in claim 4, which is characterized in that the aquatic environment sampling component is used for:
The following at least one water quality data of acquisition: water quality pH-value, water quality dissolved oxygen, Water salinity monitor water temperature, and water quality leaf is green
Collected water quality data is sent to the data processing equipment by plain concentration, and the environmental data includes the water quality data.
6. unmanned boat as claimed in claim 4, which is characterized in that the wave monitoring assembly is used for:
The following at least one set of sea wave data of measurement: wave buoyancy and pressure, sea meteorology and temperature, by collected sea wave data
It is sent to the data processing equipment, the environmental data includes the sea wave data.
7. unmanned boat as claimed in claim 4, which is characterized in that the fishery resources monitoring component is used for:
The following at least one fishery resources data of acquisition: when the fishery resources amount of target water, fishery resources density, fishery resources
Collected fishery resources data are sent to the data processing equipment by space division cloth, fishery resources population structure information.
8. unmanned boat as described in claim 1, which is characterized in that the data processing equipment is used for:
Target water marine environment normal situation data is stored in advance, by the environmental data monitored and the normal situation data
It compares, target water Real-Time Ocean environmental information is obtained according to comparing result.
9. unmanned boat as described in claim 1, which is characterized in that the data processing equipment is also used to:
It monitors implementation environment data exception, then analyzes abnormal data type, and determine the abnormal number within the set duration
According to the data bulk of type；If the data bulk is greater than preset threshold value, it is determined that environmental abnormality occurs, by abnormal number
Preset control centre is sent to according to the data of type.
10. unmanned boat as described in claim 1, which is characterized in that the data processing equipment is also used to:
Marine environment assessment models are stored in advance, the real time environmental data repeatedly monitored according to target water is to the ocean ring
Border assessment models are trained, and target water marine environment assessment benchmark model are established, for being used as target water environmental assessment
Standard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811465055.4A CN109552570A (en) | 2018-12-03 | 2018-12-03 | A kind of unmanned boat for marine environmental monitoring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811465055.4A CN109552570A (en) | 2018-12-03 | 2018-12-03 | A kind of unmanned boat for marine environmental monitoring |
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| CN109552570A true CN109552570A (en) | 2019-04-02 |
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| CN201811465055.4A Pending CN109552570A (en) | 2018-12-03 | 2018-12-03 | A kind of unmanned boat for marine environmental monitoring |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110262601A (en) * | 2019-07-11 | 2019-09-20 | 解玉梅 | A kind of ECOLOGICAL ENVIRONMENTAL MONITORING system and method |
| CN113405957A (en) * | 2021-05-31 | 2021-09-17 | 清华大学深圳国际研究生院 | Water body suspended particulate matter observation system based on movable platform |
| CN113884131A (en) * | 2021-09-22 | 2022-01-04 | 海南超船电子商务有限公司 | Intelligent ship for marine environment monitoring |
| CN114494837A (en) * | 2022-01-06 | 2022-05-13 | 中国水产科学研究院南海水产研究所 | Intelligent density identification method and system for fishery resources |
| CN114646303A (en) * | 2022-02-15 | 2022-06-21 | 浙江海鲨防务科技有限公司 | Method and device for determining height of waveguide and storage medium |
| EP4339612A1 (en) * | 2022-09-19 | 2024-03-20 | DanaDynamics ApS | A method of obtaining samples from a body of water and a marine vessel |
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| EP4339612A1 (en) * | 2022-09-19 | 2024-03-20 | DanaDynamics ApS | A method of obtaining samples from a body of water and a marine vessel |
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Application publication date: 20190402 |