CN111015651A - Novel online water quality analysis system and implementation method thereof - Google Patents
Novel online water quality analysis system and implementation method thereof Download PDFInfo
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- CN111015651A CN111015651A CN201911173495.7A CN201911173495A CN111015651A CN 111015651 A CN111015651 A CN 111015651A CN 201911173495 A CN201911173495 A CN 201911173495A CN 111015651 A CN111015651 A CN 111015651A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
- G01N21/77—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
- G01N21/78—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator producing a change of colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The invention discloses a novel on-line water quality analysis system and a realization method thereof, wherein the method comprises the following steps: presetting the operation of the mechanical arm through initialization setting; extracting a water sample by operating a dropper through a mechanical arm, and obtaining a reagent to be analyzed according to the water sample; analyzing the reagent to be analyzed by a colorimeter to obtain water quality parameters; and displaying the water quality parameters through a display, and storing the result. The invention controls the water sample analysis process and the chemical reaction, changes the chemical reaction process by modifying parameters, has the function of adjusting the step sequence of the chemical reaction, is convenient for changing operation according to actual conditions, and saves human resources; and the invention can analyze certain parameter index separately, therefore the invention can also monitor and analyze the parameter index in many water samples at the same time, has facilitated the application in the reality. The invention can be widely applied to the technical field of water quality analysis.
Description
Technical Field
The invention relates to the technical field of water quality analysis, in particular to a novel online water quality analysis system and an implementation method thereof.
Background
With the continuous acceleration of the industrialized process in China, the water environment problem also becomes an important subject for ecological environment treatment. The important ring for treating the water environment problem is to monitor the water quality. The water quality monitoring is a process for monitoring and measuring the types of pollutants in the water body, the concentrations and the variation trends of various pollutants and evaluating the water quality condition. The monitoring range is very wide, and the monitoring range comprises uncontaminated and contaminated natural water (rivers, lakes, seas and underground water), various industrial drainage and the like. The main monitoring projects can be divided into two main categories: one is a comprehensive index reflecting the water quality conditions, such as temperature, chroma, turbidity, pH value and the like; the other is some toxic substances, such as cyanogen, arsenic, lead, chromium, cadmium, mercury, organic pesticides and the like. At present, the water quality monitoring technology in China mainly takes physicochemical monitoring technology as the main technology, and comprises methods such as a chemical method and an electrochemical method.
The most common method for analyzing and detecting water quality is a chemical method, and the following problems exist in the process of implementing and using the chemical method: the chemical method needs more operation steps, and if manual operation is adopted, more manpower is consumed; however, if a machine is used to replace manpower, most of the common online water quality analyzers can only detect one chemical parameter, and the chemical reaction flow of the analyzer cannot be changed, so that a plurality of online water quality analysis systems need to be configured when complex water samples with more chemical parameters need to be analyzed. Therefore, the conventional system and method are lack of adaptability to complex hydrologic situations and convenience in practical application.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a novel online water quality analysis system and a method for implementing the same.
A novel on-line water quality analysis system comprises a water sample transportation module and a workbench; a water sample collection module, a camera, a mechanical arm, a steering engine, a water sample analysis module, a raspberry group main control board and an upper computer are arranged on the upper side of the workbench;
the water sample transportation module is used for transporting water in the river to the workbench and transporting the sampled water to the river;
wherein the workbench is used for carrying out online analysis on the water quality;
the water sample collection module is used for connecting the water sample transportation module and the workbench and is also used for extracting a water sample by the water sample analysis module;
the water sample analysis module is used for analyzing the extracted water sample and transmitting the analysis result to the raspberry group main control board;
the camera is used for shooting a picture of the water sample analysis module and transmitting the shot picture to the raspberry group main control board;
the mechanical arm and the steering engine are used for controlling the water sample analysis module;
the raspberry type main control board is used for carrying out image processing operation, realizing communication with an upper computer, acquiring motion track parameters, converting steering engine angles into PWM (pulse-width modulation) data waveforms and carrying out drive control on the steering engines;
the upper computer is used for setting the actions to be completed by the mechanical arm and controlling the position of the mechanical arm, and is also used for generating a parameter sequence of the angle of the steering engine according to a specified time interval and storing the parameter sequence in a memory of the upper computer.
Preferably, the water sample analysis module comprises: the device comprises a first test tube rack, a second test tube rack, a dropper and a colorimeter;
the first test tube rack is used for placing reagent tubes;
the second test tube rack is used for carrying out chemical reaction;
the colorimeter is used for performing spectral analysis on the result of the chemical detection reaction and transmitting the analysis result back to the raspberry pi main control board through the USB or the first serial port.
The dropper is marked with scales and internally provided with a floating sheet for taking the liquid reagent and releasing the liquid reagent to move the liquid reagent to the colorimeter.
Preferably, the raspberry pi main control board comprises a raspberry pi module, a first USB interface, a first serial port, a second USB interface, a second serial port, a steering engine level conversion and protection circuit, a power supply and a display screen;
the raspberry pi module is used for performing image processing operation, converting the steering engine angle into a PWM waveform, initiating communication with an upper computer, reading flash memory parameters and storing a motion trail parameter sequence;
the first USB interface and the first serial port are used for connecting the upper computer and the raspberry pi module, so that the raspberry pi module is communicated with the upper computer;
the second USB interface and the second serial port are used for connecting the colorimeter and the raspberry pi module, so that the raspberry pi module is communicated with the colorimeter; the level conversion and protection circuit of the steering engine is used for converting the voltage on the raspberry pi pin into the working voltage of the steering engine and transmitting the PWM waveform to the next-stage circuit;
the power supply is used for supplying power to the raspberry main control board and the steering engine;
wherein the display screen is used for displaying the water quality parameters.
Preferably, the mechanical arm and the steering engine are connected with a clamp holder at the position of the gripper end of the mechanical arm, wherein the clamp holder is used for clamping a dropper, and the liquid release amount of the dropper is controlled by clamping a rubber nipple of the dropper.
The invention also provides a realization method of the novel on-line water quality analysis system, which comprises the following steps:
presetting the operation of the mechanical arm through initialization setting;
extracting a water sample by operating a dropper through a mechanical arm, and obtaining a reagent to be analyzed according to the water sample;
analyzing the reagent to be analyzed by a colorimeter to obtain water quality parameters;
and displaying the water quality parameters through a display, and storing the result.
Preferably, the step of extracting the water sample by operating the dropper through the mechanical arm and obtaining the reagent to be analyzed according to the water sample comprises the following steps:
taking a picture of the dropper through a camera, and transmitting the picture into a raspberry group chip for image processing and identification;
the liquid amount of the dropping liquid is judged through the raspberry pie;
if the liquid amount of the dropping liquid is insufficient, the clamping angle of the clamp is increased, and the liquid dropping amount is increased; otherwise, the mechanical arm is controlled to move to the next designated position.
Preferably, the step of presetting the operation of the robot arm by initializing the setting further comprises the steps of: and setting initial coordinates of the workbench part, wherein the coordinates are configured by using a three-dimensional coordinate system, and the central point of the workbench is taken as the origin of coordinates.
Preferably, the step of extracting the water sample by operating the dropper through the mechanical arm and obtaining the reagent to be analyzed according to the water sample comprises the following steps:
moving the mechanical arm to a preset coordinate point;
controlling the clamping angle of the clamping device;
the pipette is placed back into the first tube rack.
Preferably, the step of judging the liquid amount of the dropping liquid through the raspberry pi further comprises the following steps:
reading an RGB matrix of an image, and positioning scales and floating pieces in a dropper according to the RGB matrix;
and obtaining the volume of the position of the floating sheet according to the positioning result.
Preferably, the step of controlling the mechanical arm to move to the next designated position comprises the following steps:
downloading motion sequence data from an upper computer to obtain the coordinates of the gripper end of the mechanical arm;
obtaining a steering engine angle sequence through coordinates;
converting the steering engine angle into a PWM waveform;
the robotic arm motion is controlled using a waveform.
One or more technical schemes of the invention have the following beneficial effects: according to the technical scheme, the camera, the mechanical arm, the steering engine, the water sample analysis module, the raspberry group main control board and the upper computer are used for controlling the water sample analysis process and the chemical reaction, and the chemical reaction process can be changed by modifying parameters, so that the chemical reaction system has the function of adjusting the step sequence of the chemical reaction, is convenient to change operation according to actual conditions, saves human resources and improves the adaptability of the system to complex hydrological conditions; meanwhile, the water sample analysis module can be used for placing a plurality of test tubes or beakers for chemical reactions, and each preset chemical reaction can be used for analyzing a certain parameter index respectively, so that the parameter indexes in various water samples can be monitored and analyzed simultaneously, and the practical application is facilitated.
Drawings
FIG. 1 is a schematic structural diagram of a novel online water quality analysis system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a workbench of a novel online water quality analysis system according to an embodiment of the present invention;
FIG. 3 is a schematic circuit connection of the present invention;
FIG. 4 is a schematic structural view of the drop tube of the present invention;
FIG. 5 is a flow chart of a method for implementing the first novel online water quality analysis system of the present invention;
FIG. 6 is a flow chart of a method for implementing the second novel online water quality analysis system of the present invention;
FIG. 7 is a flow chart of a method for implementing the third novel online water quality analysis system of the present invention;
FIG. 8 is a diagram of a base action function library included in the raspberry pi module of the present invention;
fig. 9 is a flow chart of a novel online water quality analysis system and an implementation method thereof according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is described in detail in the following with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides a novel online water quality analysis system and an implementation method thereof, including a water sample transportation module and a workbench; a water sample collection module, a camera, a mechanical arm, a steering engine, a water sample analysis module, a raspberry group main control board and an upper computer are arranged on the upper side of the workbench;
the water sample transportation module is used for transporting water in the river to the workbench and transporting the sampled water to the river; the system comprises a water inlet pipeline, a water pump and a water outlet pipeline, wherein a common water sample transportation module takes water from a river water taking point;
the workbench is used for carrying out online analysis on water quality, and is generally arranged in a detection station equipment room;
the water sample collection module is used for connecting the water sample transportation module and the workbench and is also used for extracting a water sample by the water sample analysis module; the water sample collection module comprises a water inlet pipe, a drainage pipe and a drainage pipe which are connected in sequence, and an open sampling groove is formed in the drainage pipe.
The water sample analysis module is used for analyzing the extracted water sample and transmitting the analysis result to the raspberry group main control board; comprises the following steps: the device comprises a first test tube rack, a second test tube rack, a dropper and a colorimeter; the first test tube rack is used for placing reagent tubes; the second test tube rack is used for carrying out chemical reaction; the colorimeter is used for performing spectral analysis on the result of the chemical detection reaction and transmitting the analysis result back to the raspberry group main control board through a USB or a first serial port; the dropper is marked with scales, and is internally provided with a floating sheet for taking the liquid reagent and releasing the liquid reagent to move the liquid reagent to the colorimeter.
The camera is used for shooting a picture of the water sample analysis module and transmitting the shot picture to the raspberry group main control board;
the mechanical arm and the steering engine are used for controlling the water sample analysis module;
the raspberry type main control board is used for carrying out image processing operation, realizing communication with an upper computer, acquiring motion track parameters, converting steering engine angles into PWM (pulse-width modulation) data waveforms and carrying out drive control on the steering engines; the device comprises a raspberry pi module, a first USB interface, a first serial port, a second USB interface, a second serial port, a steering engine level conversion and protection circuit, a power supply and a display screen;
the upper computer is used for setting the actions to be completed by the mechanical arm and controlling the position of the mechanical arm, and is also used for generating a parameter sequence of the angle of the steering engine according to a preset time interval and storing the parameter sequence.
The raspberry pi module is used for performing image processing operation, converting the steering engine angle into a PWM waveform, initiating communication with an upper computer, reading flash memory parameters and storing a motion trail parameter sequence;
further as a preferred embodiment, as shown in fig. 3, the raspberry pi module is electrically connected to the upper computer, the colorimeter, the camera, the display screen, and the steering engine level conversion and protection circuit, and the power supply is electrically connected to the raspberry pi module, the steering engine level conversion and protection circuit, and the clamper. The power supply supplies power to the modules connected with the power supply. The first USB interface and the first serial port are used for connecting the upper computer and the raspberry pi module, so that the raspberry pi module is communicated with the upper computer; the second USB interface and the second serial port are used for connecting the colorimeter and the raspberry pi module, so that the raspberry pi module is communicated with the colorimeter; the level conversion and protection circuit of the steering engine is used for converting the voltage on the raspberry pi pin into the working voltage of the steering engine and transmitting the PWM waveform to the next-stage circuit;
referring to fig. 4, the dropper includes a floating plate, a scale, a glass tube body and a rubber nipple. The scales are marked on the outer side of the glass tube main body 25, the floating sheet is arranged inside the glass tube main body, and the rubber nipple is arranged at one end of the glass tube main body. The floating sheet floats on the liquid surface when the dropper is filled with liquid, and the color of the floating sheet is generally set to be black so as to be convenient for clearly distinguishing the floating sheet from the background when a camera shoots.
Based on the system shown in fig. 1, an embodiment of the present invention further provides an implementation method of a novel online water quality analysis system, and with reference to fig. 5, the implementation method includes the following steps:
s101, presetting operation of a mechanical arm through initialization setting;
s102, extracting a water sample by operating a dropper through a mechanical arm, and obtaining a reagent to be analyzed according to the water sample;
s103, analyzing the reagent to be analyzed through a colorimeter to obtain water quality parameters;
and S104, displaying the water quality parameters through a display, and storing the result.
The process of obtaining the reagent to be analyzed from the water sample is generally a chemical reaction, and the steps of the chemical reaction are already set and completed in the initialization setting. Meanwhile, the initial setting can also set the initial coordinates of each part of the workbench, the initial coordinates are the coordinates of a three-dimensional coordinate system, and the origin of the coordinates is the central point of the original workbench; presetting the operation of the mechanical arm, such as D-H parameters of the mechanical arm, setting the time period of the timing test, selecting the communication mode of the lower computer and the like.
Referring to fig. 6, the step of extracting a water sample by operating a dropper with a mechanical arm and obtaining a reagent to be analyzed according to the water sample includes the following steps:
s201, moving the mechanical arm to a preset coordinate point;
s202, controlling the clamping angle of the clamp;
s203, shooting a dropper picture by a camera, and transmitting the dropper picture to a raspberry group module for image processing and identification;
s204, the raspberry pi module judges the liquid amount of the dropping liquid;
if the liquid amount of the dropping liquid does not reach the preset liquid amount, executing step S206, otherwise, executing step S206;
s205, increasing the clamping angle of the clamp, increasing the dripping amount, and then executing the step S204;
and S206, controlling the mechanical arm to move to the next designated position.
When the amount of liquid of dropping liquid is judged through the raspberry pi module, the judging method is as follows: reading an RGB matrix of an image, positioning scales and floating pieces in a dropper according to the RGB matrix, taking green scale marks as an example, and judging that pixels of the image meet G standard>200，R<50，B<50; and obtaining the volume quantity of the position of the floating sheet according to the positioning result, wherein the calculation method of the volume quantity of the position of the floating sheet comprises the following steps: the coordinates of the scale marks at the two ends in the image are marked as the upper end (X1, Y1), the lower end (X2, Y2), the burette milliliter quantity corresponding to the upper end is L1, the burette milliliter quantity corresponding to the lower end is L2, and the floating piece corresponds to the coordinates (X3, Y3). The volume of the position of the floating plate is
Referring to fig. 7, if the amount of the liquid of the dropping liquid does not reach the preset amount, the grip angle of the gripper is increased, increasing the amount of the dropping liquid; otherwise, the step of controlling the mechanical arm to move to the next designated position further comprises the following steps:
s301, downloading motion sequence data from an upper computer to obtain the coordinates of the gripper end of the mechanical arm;
s302, obtaining a steering engine angle sequence through a manipulator hand grip end coordinate;
s303, converting the steering engine angle into a PWM waveform;
and S304, controlling the motion of the mechanical arm by using the waveform.
The generation principle of the PWM waveform signal is as follows: the level conversion and protection circuit converts the PWM voltage on the raspberry group GPIO pin from 3.3V to 5V of the steering engine, and the PWM signal is transmitted to the next stage circuit through optical coupling isolation. After the square wave signal is transmitted by the optical coupler, the front edge and the back edge can be distorted, so that the inverter adopts a CD40106 Schmidt inverter to shape the signal transmitted by the optical coupler, and a standard PWM square wave signal is generated.
As shown in fig. 8, when the robot arm is controlled to move, the raspberry pi module includes an action module and a basic action function library, and the function library includes the following basic experimental actions:
(A) initializing;
(B) and moving, wherein the manipulator moves to a specific coordinate point. The parameters required to be configured for the action are the number of the target point (the corresponding XYZ coordinate is read from the basic parameter interface), the inclination angle of the hand end relative to the XYZ axis, and the action time;
(C) and (4) clamping, wherein the clamping angle of the clamp holder is controlled, so that the clamp holder clamps the rubber nipple of the dropper. The parameters required to be configured for the action are the clamping angle of the clamp holder and the action time;
(D) taking liquid, reducing the clamping angle of the clamp holder, simulating the action of kneading a rubber nipple, and enabling the dropper to suck a certain amount of reagent; the parameters required to be configured for the action are the clamping angle of the clamp holder and the action time;
(E) releasing liquid, controlling the clamping angle of the clamp holder, and releasing certain liquid into the reaction beaker container. The parameters required to be configured for the action are the clamping angle of the clamp holder and the action time;
(F) and (5) putting the dropper back to the initial position in the test tube rack. Parameters required to be configured for the action are XYZ coordinates of a target position and action time;
(G) and (4) carrying out color comparison, wherein a water quality parameter result is obtained by analyzing the color of the reagent by a colorimeter. The result is transmitted back to the raspberry group main control board through a USB or a serial port;
(H) self-defining
The water quality analysis system and the implementation method thereof are described in detail below by combining with the embodiment of detecting the content of ammonia nitrogen in a water sample:
as shown in fig. 9, the implementation process of the embodiment for detecting the content of ammonia nitrogen in a water sample is as follows:
initialization, sampling (a manipulator clamps a dropper to absorb a part of water sample into a test tube to be subjected to chemical reaction), moving (the manipulator moves to the test tube position of a reagent 1), clamping (a dropper for clamping the test tube 1 is clamped), taking liquid (the angle of the clamp is reduced, a part of the reagent is absorbed), moving (the position for moving to a test tube in a chemical reaction area), releasing liquid (the angle of the clamp is changed, a part of the reagent is released), releasing the tube (the dropper of the test tube 1 is put back), moving (the manipulator moves to the test tube position of the reagent 2), clamping (the dropper for clamping the test tube 2), taking liquid (the angle of the clamp is reduced, a part of the reagent is absorbed), moving (the manipulator moves to the test tube position of the chemical reaction), releasing liquid (the angle of the clamp is changed, a part of the reagent is released), releasing the tube (the dropper of the test tube 2 is put back), moving (the manipulator moves, the centre gripping (centre gripping test tube), remove (move to the test tube groove of colorimeter), the color comparison (control colorimeter begins the analysis), remove (the manipulator removes to the primary importance with chemical reaction's test tube), put the pipe (release test tube), finish (the manipulator returns initial position).
The raspberry group main control board is communicated with an upper computer, reads sequence data of chemical reaction steps stored in a hard disk of the upper computer, and stores the sequence data in FLASH on the raspberry group main control board;
when a chemical reaction test is carried out each time, the raspberry main control board reads sequence parameter data in the FLASH, obtains steering engine angle data of each time step, and converts the steering engine angle data into PWM waveforms.
The manipulator clamps the dropper to take liquid. According to the coordinates of the test tube rack where the dropper is located, the manipulator moves to the dropper position and clamps the rubber nipple of the dropper, the raspberry group main control board outputs a preset angle amount to the gripper steering engine, the gripper is made to knead the rubber nipple, the dropper sucks the reagent, and the mechanical arm moves upwards and moves to the beaker of the chemical reaction.
The next operation steps are identical to the operation steps and the judgment method of S201 to S206.
And after the chemical reaction in the beaker is finished, taking the reagent by using a dropper, transferring the reagent into a cuvette of the colorimeter, and analyzing the reagent after the reaction by the colorimeter to obtain the water quality parameter.
The raspberry group main control board is communicated with the colorimeter through a USB or a serial port to obtain water quality parameters, the water quality parameters are displayed on a display screen of the raspberry group main control board, and the water quality parameters are stored in FLASH.
In summary, compared with the prior art, the novel online water quality analysis system and the implementation method thereof provided by the invention have the following advantages:
(1) the invention uses the camera, the mechanical arm, the steering engine, the raspberry main control board, the upper computer and other components to control the steering engine and the mechanical arm to operate, so that the system executes different chemical reaction steps, has the function of adjusting the step sequence of the chemical reaction, is convenient to change the operation according to the actual situation, and saves the manpower resource.
(2) The invention can store a plurality of test tubes or beakers for experiments by the test tube rack, can analyze a plurality of parameter indexes, and simultaneously detect and analyze the parameter indexes in a plurality of water samples, thereby being convenient for application in the cadastre.
(3) The invention comprises an action module and a basic action function library in a raspberry pi module, wherein the function library comprises: and basic experiment actions such as initialization, movement, clamping and the like are convenient for practical application.
(4) The invention uses FLASH in the raspberry pi module to store experimental result data and chemical reaction operation steps, and simultaneously uses the display to display the result of water quality analysis in real time, thereby having convenience in actual use.
The step numbers in the above method embodiments are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A novel on-line water quality analysis system is characterized by comprising a water sample transportation module and a workbench; a water sample collection module, a camera, a mechanical arm, a steering engine, a water sample analysis module, a raspberry group main control board and an upper computer are arranged on the upper side of the workbench;
the water sample transportation module is used for transporting water in the river to the workbench and transporting the sampled water to the river;
the workbench is used for carrying out online analysis on the water quality;
the water sample collection module is used for connecting the water sample transportation module and the workbench and is also used for extracting a water sample by the water sample analysis module;
the water sample analysis module is used for analyzing the extracted water sample and transmitting the analysis result to the raspberry group main control board;
the camera is used for shooting a picture of the water sample analysis module and transmitting the shot picture to the raspberry group main control board;
the mechanical arm and the steering engine are used for controlling the water sample analysis module;
the raspberry type main control board is used for carrying out image processing operation, realizing communication with an upper computer, acquiring motion track parameters, converting steering engine angles into PWM (pulse-width modulation) data waveforms and carrying out drive control on the steering engines;
the upper computer is used for setting the actions to be completed by the mechanical arm and controlling the position of the mechanical arm, and is also used for generating a parameter sequence of the angle of the steering engine according to a preset time interval and storing the parameter sequence.
2. The novel on-line water quality analysis system according to claim 1, wherein the water sample analysis module comprises: the device comprises a first test tube rack, a second test tube rack, a dropper and a colorimeter;
the first test tube rack is used for placing reagent tubes;
the second test tube rack is used for carrying out chemical reaction;
the colorimeter is used for performing spectral analysis on the result of the chemical detection reaction and transmitting the analysis result back to the raspberry group main control board through a USB or a first serial port;
the dropper is marked with scales, and is internally provided with a floating sheet for taking the liquid reagent and releasing the liquid reagent to move the liquid reagent to the colorimeter.
3. The novel online water quality analysis system according to claim 1, wherein the raspberry pi main control board comprises a raspberry pi module, a first USB interface, a first serial port, a second USB interface, a second serial port, a steering engine level conversion and protection circuit, a power supply and a display screen;
the raspberry pi module is used for performing image processing operation, converting the steering engine angle into a PWM waveform, initiating communication with an upper computer, reading flash memory parameters and storing a motion trail parameter sequence;
the first USB interface and the first serial port are used for connecting an upper computer and the raspberry pi module, so that the raspberry pi module is communicated with the upper computer;
the second USB interface and the second serial port are used for connecting the colorimeter and the raspberry pi module, so that the raspberry pi module is communicated with the colorimeter; the level conversion and protection circuit of the steering engine is used for converting the voltage on the raspberry pi pin into the working voltage of the steering engine and transmitting the PWM waveform to the next-stage circuit;
the power supply is used for supplying power to the raspberry main control board and the steering engine;
the display screen is used for displaying the water quality parameters.
4. The novel online water quality analysis system according to claim 1, wherein the mechanical arm and the steering engine are connected with a holder at the position of the gripper end of the mechanical arm, the holder is used for holding the dropper, and the amount of liquid released from the dropper is controlled by holding the rubber nipple of the dropper.
5. A novel implementation method of an online water quality analysis system is characterized by comprising the following steps:
presetting the operation of the mechanical arm through initialization setting;
extracting a water sample by operating a dropper through a mechanical arm, and obtaining a reagent to be analyzed according to the water sample;
analyzing the reagent to be analyzed by a colorimeter to obtain water quality parameters;
and displaying the water quality parameters through a display, and storing the result.
6. The method for realizing the novel on-line water quality analysis system according to claim 5, wherein the step of extracting the water sample by operating the dropper through the mechanical arm and obtaining the reagent to be analyzed according to the water sample comprises the following steps:
taking a picture of the dropper through a camera, and transmitting the picture into a raspberry group module for image processing and identification;
the liquid amount of the dropping liquid is judged through a raspberry pi module;
if the liquid amount of the dropping liquid does not reach the preset liquid amount, increasing the clamping angle of the clamp holder and increasing the liquid dropping amount; otherwise, the mechanical arm is controlled to move to the next designated position.
7. The method for realizing the novel on-line water quality analysis system according to claim 5, wherein the step of presetting the operation of the mechanical arm by initialization setting further comprises the following steps:
setting initial coordinates of the worktable component;
configuring a three-dimensional coordinate system according to the initial coordinates;
and the origin of the coordinates of the three-dimensional coordinate system is the central point of the original workbench.
8. The method for realizing the novel on-line water quality analysis system according to claim 5, wherein the step of extracting the water sample by operating the dropper through the mechanical arm and obtaining the reagent to be analyzed according to the water sample comprises the following steps:
moving the mechanical arm to a preset coordinate point;
controlling the clamping angle of the clamping device;
the pipette is placed back into the first tube rack.
9. The method for implementing the novel online water quality analysis system according to claim 6, wherein the step of determining the amount of the dropping liquid through the raspberry pi module further comprises the following steps:
reading an RGB matrix of an image, and positioning scales and floating pieces in a dropper according to the RGB matrix;
and obtaining the volume of the position of the floating sheet according to the positioning result.
10. The method for implementing the novel on-line water quality analysis system according to claim 6, wherein the step of controlling the mechanical arm to move to the next designated position if the mechanical arm is not in the next designated position further comprises the following steps:
downloading motion sequence data from an upper computer to obtain the coordinates of the gripper end of the mechanical arm;
obtaining a steering engine angle sequence through a manipulator gripper end coordinate;
converting the steering engine angle into a PWM waveform;
the robotic arm motion is controlled using a waveform.
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