CN110398574B - Water surface movable water quality monitoring node device based on raspberry pie - Google Patents
Water surface movable water quality monitoring node device based on raspberry pie Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 145
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- 235000009122 Rubus idaeus Nutrition 0.000 title claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
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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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
- G01N27/06—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a liquid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
The invention provides a water surface movable water quality monitoring node device based on raspberry pie, which comprises: the system comprises a node device main body, a central control module, a power management module, a mobile management module, a data acquisition module and a local area network remote terminal; the device body is constructed by a single hull model; the power management module is fixed at the front part of the device main body and is used for stably supplying power to other modules; the mobile management module is fixed at the tail end of the device main body and drives the device main body to flexibly and rapidly move towards the target water quality monitoring point; the data acquisition module is fixed on the outer side of the middle part of the device main body and is used for acquiring water quality data of the target water quality monitoring points; the central control module is fixed in the middle of the device main body, and is used for acquiring, processing and analyzing water quality data of the target water quality monitoring points and communicating with the local area network remote terminal. The beneficial effects of the invention are as follows: the node device has low cost, can move flexibly, can be used for complex operation with high load, and is beneficial to long-time large-scale deployment and use.
Description
Technical Field
The invention relates to the field of internet of things information technology and environment detection, in particular to a water surface movable water quality monitoring node device based on raspberry pie.
Background
Currently, water quality monitoring is mainly in three forms: water quality station monitoring, laboratory monitoring, mobile monitoring. Most domestic water quality monitoring still adopts laboratory monitoring, and the manual site brings the collected water quality data back to the laboratory, and then professional laboratory analysis is carried out, so that the whole process is time-consuming and labor-consuming, the monitoring result has serious hysteresis, and the change rule of water quality cannot be reflected in time. The water quality station monitoring has the advantages of timely and remote dynamic reaction of water quality parameters and the like, but the monitoring points are fixed in position, limited in monitoring range, high in cost and difficult to deploy on a large scale. And some foreign European and American developed countries tend to adopt mobile monitoring due to the advantages of early starting of mobile water quality monitoring technology, relatively mature technology, mobility, timeliness and the like. An underwater vehicle of an autonomous navigation system developed by spanish katah university of herceptin can monitor the surrounding environment through various sensors carried by itself. Although the domestic start is late, the follow-up company starts to relate to the field of mobile monitoring, the mobile portability and the systematicness of the monitoring technology are quite insufficient compared with the foreign countries. In recent years, along with the rapid development of information technology, particularly sensor technology and Internet of things technology, electronic components are miniaturized and miniaturized more and more, and a small intelligent robot with a large size removed can well complete the task of daily monitoring water quality of people according to instructions, so that the working efficiency and the working quality are greatly improved.
Disclosure of Invention
In order to solve the above problems, the present invention provides a water surface movable water quality monitoring node device based on raspberry pie, comprising: the system comprises a node device main body, a central control module, a power management module, a mobile management module, a data acquisition module and a local area network remote terminal;
the device main body is a single hull model, and the inside of the device main body is hollow;
the power management module is fixed in the hollow part of the front part of the device main body and is used for stably supplying power to the central control module, the mobile management module and the data acquisition module;
the mobile management module is fixed at the tail end of the device main body and drives the device main body to move towards the target water quality monitoring point;
the data acquisition module is fixed on the side surface of the middle part of the device main body and is used for acquiring water quality data of the target water quality monitoring points so as to obtain the water quality data of the target water quality monitoring points;
the central control module is fixed in the middle part of the device main body and is used for processing and analyzing the water quality data of the target water quality monitoring points to obtain processed and analyzed water quality acquisition data; in addition, the central control module is also used for receiving a control instruction of the local area network remote terminal and controlling the power management module, the mobile management module and the data acquisition module according to the control instruction;
the local area network remote terminal and the central control module send control instructions through wireless communication so as to acquire the water quality acquisition data and indirectly control the power management module, the mobile management module and the data acquisition module.
Further, the central control module is a third generation raspberry group of ARM architecture.
Further, the mobility management module comprises a mobile unit and a direction unit;
the mobile unit is a direct current motor of model RK-380 PH-4733; the steering unit is a steering engine of SG90 model.
Further, the power management module comprises a power supply, a central control module voltage reducing unit and a motor driving unit;
the central control module voltage reducing unit is an MP1584EN chip, the input voltage of the chip is 4.5V to 28V, and 3A output and current mode control are provided to realize loop response and compensation, so that the 7.4V voltage of the power supply is reduced to 5V; the motor driving unit is an L298N motor control module;
the power supply is a 2200 milliampere-hour 7.4V direct current lithium battery; because the third generation raspberry group and part of the modules of the ARM framework are required to be under the working voltage of 5V voltage stabilization, a 7.4V lithium battery power supply is divided into two paths of positive and negative power supply wiring, one path of the positive and negative power supply wiring is connected with a positive and negative input port of a central control module voltage reduction unit so as to reduce the 7.4V voltage to 5V to supply power to the third generation raspberry group of the ARM framework, the other path of the positive and negative power supply wiring is connected with the L298N motor driving module, 5V power supply output is used for supplying power to the steering engine through the L298N motor driving module, and the B channel of the L298N motor driving module is used for supplying power to the direct current motor; the OUT1 and OUT2 pins of the L298N motor control module are connected to a direct current motor, the IN1 and IN2 pins are connected to a control level from a third generation raspberry group of the ARM framework, the direct current motor is controlled to rotate positively and negatively, and the ENA is connected to a 12 pin of a GPIO port of the third generation raspberry group of the ARM framework, so that the motor is controlled to run and stop.
Further, the data acquisition module comprises a positioning unit, an electronic compass unit, a temperature acquisition unit and a conductivity acquisition unit;
wherein, the positioning unit is an ATGM336H full constellation positioning module; an active antenna is adopted, and an antenna power supply, antenna detection and short-circuit protection are provided inside an ATGM336H full-constellation positioning module; the TX pin and the RX pin of the ATGM336H are respectively connected with the 10 th pin and the 8 th pin of the third generation raspberry group of the ARM architecture;
the electronic compass unit is an HMC5883L triaxial magnetic field sensor, converts acquired geomagnetic information into digital signals and outputs the digital signals, and the positioning unit is combined with the electronic compass unit to determine the positioning and movement direction of the node device;
the conductivity monitoring unit comprises a conductivity sensor and an MCP3002 analog-to-digital conversion chip, wherein the conductivity sensor collects analog quantity of water conductivity, and the MCP3002 analog-to-digital conversion chip converts the analog quantity of water conductivity into digital quantity; the CH0 pin of the MCP3002 analog-to-digital conversion chip is connected with the analog signal output interface of the conductivity sensor,pin, D IN Pin, D OUT The pins, CLK pin and VDD pin are respectively connected with the 24 pins, 19 pins, 21 pins, 23 pins, 3.3V power pin and VSS grounding pin of the third generation raspberry group of the ARM architecture;
the temperature acquisition unit is a DS18B20 waterproof digital temperature sensor; the digital temperature sensor collects the water temperature, and the water temperature is used for temperature compensation of the conductivity sensor collection output value, so that the accuracy and effectiveness of the conductivity sensor collection data are ensured;
the conductivity sensor and the temperature sensor are powered by 3.3V output by a 1 pin of a third generation raspberry group GPIO port of the ARM architecture; the positioning unit and the electronic compass unit are powered by 5V output by a 2 pin of a third generation raspberry group GPIO port of the ARM architecture.
Further, a propeller and a rudder blade are also arranged at the tail part of the device main body; the screw propeller is fixedly connected with a screw rod of the direct current motor so as to control the screw propeller to rotate through the direct current motor; the rudder blade is fixedly connected with a lead screw of the steering engine so as to control the rudder blade to rotate through the steering engine and further control the advancing direction of the device main body;
the movement of the node device depends on the coordination of a motor and a steering engine, a local area network remote terminal sends a control instruction to a central control module, the operation of the direct current motor and the steering engine is controlled by utilizing a GPIO port of a third-generation raspberry group of an ARM framework, the direct current motor drives a propeller to rotate, the power acceleration of a ship body is provided, the steering engine drives a rudder blade to turn left and right, and the device main body is enabled to move to a target water quality monitoring point.
Further, the local area network remote terminal is a computer.
Further, when the intelligent water quality monitoring system is used, a motion control instruction is sent to the central control module through the local area network remote terminal, so that the node device moves to a target water quality monitoring point, the conductivity sensor collects analog quantity of water conductivity, the MCP3002 analog-to-digital conversion chip converts the analog quantity of water conductivity into digital quantity, the digital temperature sensor collects water temperature and is used for temperature compensation of an output value collected by the conductivity sensor, the positioning unit accurately positions an address of a ship body parking point, the electronic compass unit collects geomagnetic information, and water quality data of the target water quality monitoring point formed by the digital quantity of water conductivity, the water temperature, the positioning address and the geomagnetic information is transmitted to the central control module through a GPIO port of a third-generation raspberry group of the ARM architecture, so that water quality data of the target water quality monitoring point is collected; then, the third generation raspberry group of ARM architecture processes and analyzes the water quality data to obtain processed and analyzed water quality acquisition data, and further the water quality acquisition data is uploaded to a local area network remote terminal through wireless communication, so that management staff can check the water quality acquisition data in real time.
The technical scheme provided by the invention has the following beneficial effects:
1) The node device adopts a single hull model structure, has small volume and light weight, and has mobile portability; compared with the double-motor driving of the catamaran, the resistance of the catamaran is smaller, the speed is faster, and the flexibility is higher;
2) The water body temperature acquired by the temperature sensor is used for temperature compensation of the acquired output value of the conductivity sensor, so that accuracy and effectiveness of the acquired data of the conductivity sensor are ensured;
3) The central control unit is a third generation Raspberry Pi (Raspberry Pi 3) of ARM architecture, adopts a 64-bit quad-core processor, is internally provided with an independent operation system based on Linux and is used as a control and information processing core, the collection and data processing of the water quality parameters by the whole node device are automatically controlled, development resources and manpower are saved, and meanwhile, the working efficiency is improved. The system has the advantages that the system is rich in hardware external interfaces, high in expandability, capable of being externally connected with different sensors aiming at water quality monitoring of different water areas, wide in applicability and convenient for workers to analyze the water quality condition of the target water areas in time;
4) The power supply adopts 2200 milliampere hour high-capacity quick-chargeable lithium batteries to provide long endurance of the mobile node device; the combination of the motor driving module, the high-frequency step-down type switching regulator and the power supply not only ensures the working power supply of each unit of the whole node device, but also ensures the working stability of the node circuit through the voltage division design;
5) The invention adopts a mode of combining the full constellation positioning module and the electronic compass, and is accurate in positioning and motion navigation;
6) The invention has low cost and environmental protection, accords with the national green and environmental protection initiative, can be widely deployed for networking in a local area network, and has good effect on water quality monitoring of small-sized watercourses.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a device diagram of a water surface movable water quality monitoring node device based on raspberry pie according to an embodiment of the invention;
FIG. 2 is a control structure diagram of a water surface movable water quality monitoring node device based on raspberry pie according to the embodiment of the invention;
FIG. 3 is a circuit diagram of the peripheral connections of the third generation raspberry group of the ARM architecture in an embodiment of the invention;
FIG. 4 is a control block diagram of a water surface movable water quality monitoring node device based on raspberry pie according to an embodiment of the present invention;
FIG. 5 is a circuit diagram of an MP1584EN chip according to an embodiment of the invention;
FIG. 6 is a circuit diagram of an L298N motor control module in an embodiment of the invention;
fig. 7 is a functional block diagram of an ATGM336H full constellation positioning module in an embodiment of the present invention;
fig. 8 is a circuit diagram of a design of an ATGM336H full constellation positioning module in an embodiment of the present invention;
fig. 9 is an interface circuit diagram of an HMC5883L triaxial magnetic field sensor in an embodiment of the present invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
The embodiment of the invention provides a water surface movable water quality monitoring node device based on raspberry pie.
Referring to fig. 1, fig. 1 is a device diagram of a water surface movable water quality monitoring node device based on raspberry pie according to an embodiment of the present invention, including: the node device comprises a node device body 1, a central control module 2, a power management module 3, a mobile management module 4, a data acquisition module 5 and a local area network remote terminal 6;
the device main body 1 is a single hull model, and the inside of the device main body is hollow;
as shown in fig. 2, fig. 2 is a control structure diagram of a water surface movable water quality monitoring node device based on raspberry pie according to an embodiment of the present invention, where the power management module 3 is fixed to a hollow part in the front of the device main body 1, and is used for stably supplying power to the central control module 2, the mobility management module 4 and the data acquisition module 5;
the mobile management module 4 is fixed at the tail end of the device main body 1 and drives the device main body 1 to move towards a target water quality monitoring point;
the data acquisition module 5 is fixed on the side surface of the middle part of the device main body 1 and is used for acquiring water quality data of target water quality monitoring points so as to obtain the water quality data of the target water quality monitoring points;
the central control module 2 is fixed in the middle of the device main body 1 and is used for processing and analyzing the water quality data of the target water quality monitoring points to obtain processed and analyzed water quality acquisition data; in addition, the central control module 2 is further configured to receive a control instruction of the local area network remote terminal 6, and control the power management module 3, the mobility management module 4, and the data acquisition module 5 according to the control instruction;
the local area network remote terminal 6 and the central control module 2 send control instructions through wireless communication to acquire the water quality acquisition data and indirectly control the power management module 3, the mobile management module 4 and the data acquisition module 5.
The central control module 2 is a third generation Raspberry Pi (Raspberry Pi 3) of ARM architecture; the peripheral connection circuit diagram is shown in fig. 3; the third generation raspberry of the ARM architecture is used for carrying 40 GPIO ports to control the motor, the steering engine and the normal operation of each sensor of the data acquisition unit; in addition, because of the strong arithmetic processing capability, the water quality monitoring data collected by the data collection unit is rapidly processed and analyzed on site, and the self-integrated WiFi or Bluetooth module is utilized to communicate with the local area network remote terminal 6, so that the result is timely transmitted back to the local area network remote terminal 6.
The mobility management module 4 comprises a mobile unit and a direction unit;
the mobile unit is a direct current motor of model RK-380PH-4733
The steering gear of SG90 model is used as the direction unit.
As shown in fig. 4, fig. 4 is a control block diagram of a water surface movable water quality monitoring node device based on raspberry group according to an embodiment of the present invention; the power management module 3 comprises a power supply, a central control module voltage reducing unit and a motor driving unit;
the central control module voltage reducing unit is an MP1584EN chip (high-frequency voltage reducing type switch voltage stabilizer), the input voltage of the chip is 4.5V to 28V, and 3A output and current mode control are provided to realize loop response and compensation, so that the 7.4V voltage of the power supply is reduced to 5V; the motor driving unit is an L298N motor control module;
the power supply is a 2200 milliampere-hour 7.4V direct current lithium battery; because the third generation raspberry group and part of the modules of the ARM architecture are required to be under the working voltage of 5V voltage stabilization, a 7.4V lithium battery power supply is divided into two paths of positive and negative power supply wiring, one path is connected with a positive and negative input port of a central control module voltage reduction unit (a high-frequency voltage reduction type switch voltage stabilizer) so as to supply power to the third generation raspberry group of the ARM architecture when the 7.4V voltage is reduced to 5V (a circuit diagram of an MP1584EN chip is shown in fig. 5), the other path is connected with the L298N motor driving module, 5V power supply is output to the steering engine through the L298N motor driving module, and the direct current motor is supplied through a B channel of the L298N motor driving module; as shown IN fig. 6, which is a circuit diagram of an L298N motor control module, the OUT1 and OUT2 pins of the L298N motor control module are connected to a dc motor, the IN1 and IN2 pins are connected to a control level from a third generation raspberry group of the ARM architecture, the forward and reverse rotation of the dc motor is controlled, and the ENA is connected to the 12 pins of the GPIO port of the third generation raspberry group of the ARM architecture, so as to control the running and stopping of the motor.
The data acquisition module 5 comprises a positioning unit, an electronic compass unit, a temperature acquisition unit and a conductivity acquisition unit;
wherein, the positioning unit is an ATGM336H full constellation positioning module; the functional block diagram of the ATGM336H full constellation positioning module is shown in fig. 7; an active antenna is adopted, and an antenna power supply, antenna detection and short-circuit protection are provided inside an ATGM336H full-constellation positioning module; as shown in fig. 8, the TX pin and the RX pin of the ATGM336H are respectively connected to the 10 th pin and the 8 th pin of the third generation raspberry group of the ARM architecture;
the electronic compass unit is an HMC5883L triaxial magnetic field sensor, converts acquired geomagnetic information into digital signals and outputs the digital signals, and the positioning unit is combined with the electronic compass unit to determine the positioning and movement direction of the node device; as shown in FIG. 9, the interface circuit diagram of the HMC5883L three-axis magnetic field sensor is that the capacitors C5 and C7 are added with the H-bridge driving circuit in the on-chip ASIC circuit of the HMC5883L three-axis magnetic field sensor to generate current pulses, so that on-chip set/reset current generates a magnetic field to demagnetize and turn the polarity of the HMC5883L three-axis magnetic field sensor; r3 and R4 are pull-up resistors of the I2C bus, and DRDY is prepared for data to be interrupted and connected with an interruption input port of the controller;
the conductivity monitoring unit comprises a DJS-1C type conductivity sensor and an MCP3002 analog-to-digital conversion chip, wherein the conductivity sensor collects the analog quantity of the conductivity of the water body, the MCP3002 analog-to-digital conversion chip converts the analog quantity of the conductivity of the water body into digital quantity, a CH0 pin of the MCP3002 analog-to-digital conversion chip is connected with an analog signal output interface of the conductivity sensor,pin, D IN Pin, D OUT The pins, CLK pin and VDD pin are respectively connected with the 24 pins, 19 pins, 21 pins, 23 pins, 3.3V power pin and VSS grounding pin of the third generation raspberry group of the ARM architecture;
the temperature acquisition unit is a DS18B20 waterproof digital temperature sensor; the digital temperature sensor collects the water temperature, and the water temperature is used for temperature compensation of the conductivity sensor collection output value, so that the accuracy and effectiveness of the conductivity sensor collection data are ensured;
the conductivity sensor and the temperature sensor are powered by 3.3V output by a 1 pin of a third generation raspberry group GPIO port of the ARM architecture; the positioning unit and the electronic compass unit are powered by 5V output by a 2 pin of a third generation raspberry group GPIO port of the ARM architecture.
The tail part of the device main body 1 is also provided with a propeller and a rudder blade; the screw propeller is fixedly connected with a screw rod of the direct current motor so as to control the screw propeller to rotate through the direct current motor; the rudder blade is fixedly connected with a lead screw of the steering engine so as to control the rudder blade to rotate through the steering engine and further control the advancing direction of the device main body 1;
the movement of the node device depends on the coordination of a motor and a steering engine, a local area network remote terminal 6 sends a control instruction to a central control module 2, the operation of the direct current motor and the steering engine is controlled by utilizing a GPIO port of a third-generation raspberry group of an ARM framework, the direct current motor drives a propeller to rotate so as to provide power acceleration of a ship body, and the steering engine drives a rudder blade to turn left and right so that the device main body 1 moves to a target water quality monitoring point.
The local area network remote terminal 6 is a computer.
When the intelligent water quality monitoring system is used, a motion control instruction is sent to the central control module 2 through the local area network remote terminal 6, so that the node device moves to a target water quality monitoring point, the conductivity sensor collects analog quantity of water conductivity, the MCP3002 analog-to-digital conversion chip converts the analog quantity of water conductivity into digital quantity, the digital temperature sensor collects water temperature and is used for temperature compensation of an output value collected by the conductivity sensor, the positioning unit accurately positions an address of a ship body parking point, the electronic compass unit collects geomagnetic information, and water quality data of the target water quality monitoring point formed by the digital quantity of water conductivity, the water temperature, the positioning address and the geomagnetic information is transmitted to the central control module 2 through a GPIO port of a third-generation raspberry group of the ARM architecture, so that water quality data of the target water quality monitoring point is collected; then, the third generation raspberry group of ARM architecture processes and analyzes the water quality data to obtain processed and analyzed water quality acquisition data, and further the water quality acquisition data is uploaded to the local area network remote terminal 6 through wireless communication, so that management staff can check the water quality data in real time.
As shown in table 1, the technical parameter table of a part of hardware devices in the embodiment of the present invention is shown;
TABLE 1 technical parameter list
The embodiment of the invention provides a movable water quality detection node device based on raspberry pie, which has the following beneficial effects:
1) The node device adopts a single hull model structure, has small volume and light weight, and has mobile portability; compared with the double-motor driving of the catamaran, the resistance of the catamaran is smaller, the speed is faster, and the flexibility is higher;
2) The water body temperature acquired by the temperature sensor is used for temperature compensation of the acquired output value of the conductivity sensor, so that accuracy and effectiveness of the acquired data of the conductivity sensor are ensured;
3) The central control unit is a third generation Raspberry Pi (Raspberry Pi 3) of ARM architecture, adopts a 64-bit quad-core processor, is internally provided with an independent operation system based on Linux and is used as a control and information processing core, the collection and data processing of the water quality parameters by the whole node device are automatically controlled, development resources and manpower are saved, and meanwhile, the working efficiency is improved. The system has the advantages that the system is rich in hardware external interfaces, high in expandability, capable of being externally connected with different sensors aiming at water quality monitoring of different water areas, wide in applicability and convenient for workers to analyze the water quality condition of the target water areas in time;
4) The power supply adopts 2200 milliampere hour high-capacity quick-chargeable lithium batteries to provide long endurance of the mobile node device; the combination of the motor driving module, the high-frequency step-down type switching regulator and the power supply not only ensures the working power supply of each unit of the whole node device, but also ensures the working stability of the node circuit through the voltage division design;
5) The invention adopts a mode of combining the full constellation positioning module and the electronic compass, and is accurate in positioning and motion navigation;
6) The invention has low cost and environmental protection, accords with the national green and environmental protection initiative, can be widely deployed for networking in a local area network, and has good effect on water quality monitoring of small-sized watercourses.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (2)
1. The utility model provides a portable water quality monitoring node means of surface of water based on raspberry group which characterized in that includes: the node device comprises a node device main body (1), a central control module (2), a power management module (3), a mobile management module (4), a data acquisition module (5) and a local area network remote terminal (6);
the device main body (1) is a single hull model, and the inside of the device main body is hollow;
the power management module (3) is fixed at the hollow part of the front part of the device main body (1) and is used for stably supplying power to the central control module (2), the mobile management module (4) and the data acquisition module (5);
the mobile management module (4) is fixed at the tail end of the device main body (1) and drives the device main body (1) to move towards a target water quality monitoring point;
the data acquisition module (5) is fixed on the side surface of the middle part of the device main body (1) and is used for acquiring water quality data of target water quality monitoring points so as to obtain the water quality data of the target water quality monitoring points;
the central control module (2) is fixed in the middle part in the device main body (1) and is used for processing and analyzing the water quality data of the target water quality monitoring points to obtain processed and analyzed water quality acquisition data; in addition, the central control module (2) is also used for receiving a control instruction of the local area network remote terminal (6) and controlling the power management module (3), the mobile management module (4) and the data acquisition module (5) according to the control instruction;
the local area network remote terminal (6) and the central control module (2) send control instructions through wireless communication so as to acquire the water quality acquisition data and indirectly control the power management module (3), the mobile management module (4) and the data acquisition module (5);
the central control module (2) is a third generation raspberry group with ARM architecture;
the mobility management module (4) comprises a mobile unit and a direction unit;
the mobile unit is a direct current motor of model RK-380 PH-4733; the steering unit is a steering engine of SG90 type;
the power management module (3) comprises a power supply, a central control module voltage reducing unit and a motor driving unit;
the central control module voltage reducing unit is an MP1584EN chip, the input voltage of the chip is 4.5V to 28V, and 3A output and current mode control are provided to realize loop response and compensation, so that the 7.4V voltage of the power supply is reduced to 5V; the motor driving unit is an L298N motor control module;
the power supply is a 2200 milliampere-hour 7.4V direct current lithium battery; because the third generation raspberry group and part of the modules of the ARM framework are required to be under the working voltage of 5V voltage stabilization, a 7.4V lithium battery power supply is divided into two paths of positive and negative power supply wiring, one path of the positive and negative power supply wiring is connected with a positive and negative input port of a central control module voltage reduction unit so as to reduce the 7.4V voltage to 5V to supply power to the third generation raspberry group of the ARM framework, the other path of the positive and negative power supply wiring is connected with the L298N motor driving module, 5V power supply output is used for supplying power to the steering engine through the L298N motor driving module, and the B channel of the L298N motor driving module is used for supplying power to the direct current motor; the OUT1 and OUT2 pins of the L298N motor control module are connected with a direct current motor, the IN1 and IN2 pins are connected with a control level from a third generation raspberry group of the ARM framework to control the forward and reverse rotation of the direct current motor, and the ENA is connected with the 12 pins of a GPIO port of the third generation raspberry group of the ARM framework to control the running and stopping of the motor;
the data acquisition module (5) comprises a positioning unit, an electronic compass unit, a temperature acquisition unit and a conductivity acquisition unit;
wherein, the positioning unit is an ATGM336H full constellation positioning module; an active antenna is adopted, and an antenna power supply, antenna detection and short-circuit protection are provided inside an ATGM336H full-constellation positioning module; the TX pin and the RX pin of the ATGM336H are respectively connected with the 10 th pin and the 8 th pin of the third generation raspberry group of the ARM architecture;
the electronic compass unit is an HMC5883L triaxial magnetic field sensor, converts acquired geomagnetic information into digital signals and outputs the digital signals, and the positioning unit is combined with the electronic compass unit to determine the positioning and movement direction of the node device;
the conductivity monitoring unit comprises a conductivity sensor and an MCP3002 analog-to-digital conversion chip, wherein the conductivity sensor collects analog quantity of water conductivity, and the MCP3002 analog-to-digital conversion chip converts the analog quantity of water conductivity into digital quantityThe method comprises the steps of carrying out a first treatment on the surface of the The CH0 pin of the MCP3002 analog-to-digital conversion chip is connected with the analog signal output interface of the conductivity sensor, and the CS pin and the D pin are connected with the analog signal output interface of the conductivity sensor IN Pin, D OUT The pins, CLK pin and VDD pin are respectively connected with the 24 pins, 19 pins, 21 pins, 23 pins, 3.3V power pin and VSS grounding pin of the third generation raspberry group of the ARM architecture;
the temperature acquisition unit is a DS18B20 waterproof digital temperature sensor; the digital temperature sensor collects the water temperature, and the water temperature is used for temperature compensation of the conductivity sensor collection output value, so that the accuracy and effectiveness of the conductivity sensor collection data are ensured;
the conductivity sensor and the temperature sensor are powered by 3.3V output by a 1 pin of a third generation raspberry group GPIO port of the ARM architecture; the positioning unit and the electronic compass unit (15) are powered by 5V output by a 2 pin of a third generation raspberry group GPIO port of the ARM architecture;
the tail part of the device main body (1) is also provided with a propeller and a rudder blade; the screw propeller is fixedly connected with a screw rod of the direct current motor so as to control the screw propeller to rotate through the direct current motor; the rudder blade is fixedly connected with a lead screw of the steering engine so as to control the rudder blade to rotate through the steering engine and further control the advancing direction of the device main body (1);
the movement of the node device depends on the coordination of a motor and a steering engine, a local area network remote terminal (6) sends a control instruction to a central control module (2), the operation of the direct current motor and the steering engine is controlled by utilizing a GPIO port of a third generation raspberry group of the ARM framework, the direct current motor drives a propeller to rotate so as to provide a ship body dynamic acceleration, and the steering engine drives a rudder blade to turn left and right so that the device main body (1) moves to a target water quality monitoring point;
when the intelligent water quality monitoring system is used, a motion control instruction is sent to the central control module (2) through the local area network remote terminal (6), so that the node device moves to a target water quality monitoring point, the conductivity sensor collects analog quantity of water conductivity, the MCP3002 analog-to-digital conversion chip converts the analog quantity of water conductivity into digital quantity, the digital temperature sensor collects water temperature and is used for temperature compensation of an output value collected by the conductivity sensor, the positioning unit accurately positions an address of a ship body parking point, the electronic compass unit collects geomagnetic information, and water quality data of the target water quality monitoring point formed by the digital quantity of water conductivity, the water temperature, the positioning address and the geomagnetic information is transmitted to the central control module (2) through a GPIO port of a third-generation raspberry group of the ARM architecture, so that water quality data of the target water quality monitoring point is collected; then, the third generation raspberry group of ARM architecture processes and analyzes the water quality data to obtain processed and analyzed water quality acquisition data, and then the water quality acquisition data is uploaded to a local area network remote terminal (6) through wireless communication, so that the manager can check the water quality data in real time.
2. The water surface movable water quality monitoring node device based on raspberry pie as set forth in claim 1, wherein: the local area network remote terminal (6) is a computer.
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