CN111474315A - Water quality monitoring and early warning system and monitoring and early warning method based on static on-duty and dynamic inspection - Google Patents
Water quality monitoring and early warning system and monitoring and early warning method based on static on-duty and dynamic inspection Download PDFInfo
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Abstract
A static on duty and dynamic inspection based water quality monitoring and early warning system and a monitoring and early warning method belong to the technical field of water quality monitoring, the monitoring and early warning system is composed of a cloud fusion water quality monitoring and early warning platform, a dynamic inspection underwater robot and a plurality of static on duty low-power water quality monitoring nodes, and a dynamic and static combined inspection and monitoring combined three-dimensional water quality monitoring mode is adopted. The underwater robot dynamic patrol inspection improves the mobility and pertinence of water quality detection, the water quality monitoring nodes improve the real-time performance of monitoring and expand the water quality monitoring range, the cloud is utilized to integrate the powerful computing capability of the water quality monitoring platform, the corresponding relation between position information and water quality information is calculated through the timestamp, and the defect that detection cannot be carried out in deep water areas in the prior art is overcome. The water quality monitoring system makes up for the deficiencies of the prior water quality monitoring system, is beneficial to improving the informatization and intelligentization level of water quality monitoring, and greatly improves the efficiency of the prior water quality monitoring.
Description
Technical Field
The invention belongs to the technical field of water quality monitoring, relates to a water quality monitoring and early warning system and a monitoring and early warning method, and particularly relates to a water quality monitoring and early warning system and a monitoring and early warning method which are formed by combining a static on-duty water quality monitoring node and a dynamic inspection underwater robot.
Background
In recent years, with the increasing number of people in the world, people have more and more water demands, however, the water resources are polluted more and more seriously under the influence of human activities, so that the monitoring of the water quality of large water areas such as lakes, reservoirs and the like is particularly important. At present, water quality monitoring in China mainly comprises manual sampling and laboratory analysis, and meanwhile, an unmanned ship and an automatic water quality monitoring station are partially adopted for assistance. The monitoring mode of manual sampling and laboratory analysis has long implementation period and high human labor cost, and cannot be suitable for the requirements of complex water area environments and emergency situations; secondly, the automatic water quality monitoring station has the defects of high construction cost, fixed position and the like on the basis of meeting the requirement of real-time monitoring. With the development of sensors and embedded sensors, more and more water quality monitoring sensors are used for underwater robots or monitoring nodes, the underwater robots have the characteristics of flexible arrangement, low cost and the like, the dynamic detection of water quality can be realized, and the defects of insufficient power and difficulty in realizing large-scale monitoring are exposed when the underwater robots face large-area water areas; the static water quality monitoring node has low power consumption and low cost, can meet the requirement of long-time work in a complex environment, but is limited to poor flexibility and can only sample the water quality condition of a fixed place.
Disclosure of Invention
The invention aims to overcome the problems of poor flexibility and insufficient pertinence of the existing single water quality monitoring node operation in large water area water quality monitoring, difficult communication, insufficient power, small monitoring range and the like of a single underwater robot, and provides a water quality monitoring and early warning system based on static guarding and dynamic inspection so as to realize the inspection of water quality in large and deep water areas and flexibly adjust fixed points and key water areas.
The technical scheme of the invention is as follows: the utility model provides a based on static watch and dynamic water quality monitoring early warning system that patrols and examines which characterized in that: the early warning system consists of a cloud fusion water quality monitoring early warning platform, a dynamic inspection underwater robot and a plurality of static on-duty low-power-consumption water quality monitoring nodes;
each static on-duty low-power-consumption water quality monitoring node consists of an instrument shell, a water quality monitoring node main control system, a Beidou satellite positioning system, a water quality monitoring node communication system, a solar panel charging management system, a power management system, a sonar system, a storage battery and a water quality monitoring device; the water quality monitoring node main control system is connected with the water quality detection device through a conditioning circuit to realize sampling and storage of water quality information; the main control system is connected with the water quality monitoring node communication node system and the Beidou satellite positioning system through serial ports, so that data communication with the cloud end fusion water quality monitoring platform is realized, positioning and time correction are realized through satellite communication, and a timestamp is acquired; the main control system detects the relative position of the underwater sensor by using the sonar system, packs the relative position and the timestamp and sends the relative position and the timestamp to the cloud fusion platform to calculate the absolute position coordinate of the underwater robot; the main control system controls the solar cell panel charging management system by judging the current illumination intensity; the main control system is connected with the power management system to manage the integral power supply of the water quality monitoring node, so that the power consumption of the water quality monitoring node is reduced;
the dynamic inspection underwater robot consists of a body, an underwater robot main control system, a sonar system, an underwater robot communication system, an underwater robot navigation system, a power system, a storage battery and a water quality monitoring device;
the underwater robot main control system realizes ranging with the water quality monitoring nodes and the riverbed through the underwater robot sonar system, records the current relative position and the time stamp, realizes connection with the cloud end fusion water quality monitoring and early warning platform through the underwater robot communication system when the underwater robot main control system emerges from the water surface, and transmits water quality sampling information, the time stamp and position information to the platform for position calculation; the underwater robot navigation system realizes positioning and navigation by using the sonar system; the water quality detection device is used for collecting water quality data of a water area and processing water quality information through the main control system;
the cloud end fuses water quality monitoring early warning platform and through receiving the dynamic underwater robot and every static watch-on low-power consumption water quality monitoring node sends the data in the cloud end, through integration water quality sampling information, positional information, timestamp information, the quality of water data of analysis calculation corresponding position, after carrying out the analysis to mass information, judges quality of water health and tells that managers at all levels may take place the region of water pollution and carry out the early warning.
The water quality detection device adopts a single power supply, a low-power-consumption operational amplifier and a sensor.
The water quality monitoring node communication system and the underwater robot communication system both adopt NB-IoT modules with low power consumption.
The water quality monitoring node main control system adopts a multichannel 12-bit ADC microprocessor with the model number of STM32F 1.
A monitoring and early warning method based on a static on duty and dynamic inspection water quality monitoring and early warning system is characterized in that: the monitoring and early warning steps are as follows:
(1) the method comprises the steps that a sensing network consisting of a plurality of static on-duty water quality monitoring nodes is used for carrying out conventional monitoring, water quality change is monitored in real time, water quality sampling data are uploaded once every hour, and if the data received by a cloud fusion water quality monitoring platform are not abnormal, the state is kept all the time;
(2) if the platform analyzes that the water quality data is abnormal, sending a downlink command to the water quality monitoring node, reducing the data uploading period to half an hour for uploading the data once, simultaneously extracting and backing up the water quality sampling data of the node of the water area near the node, and sending a command to the inspection underwater robot which manages the water area in a branch manner to enable the inspection underwater robot to go to the vicinity of the water area;
(3) the inspection underwater robot reaches the position near an instruction water area, and sends a submerging signal to the platform and calibrates a timestamp; the platform receives the diving signal and then sends a downlink command to trigger the water quality monitoring nodes in the relevant water areas to start a sonar system to detect the position of the underwater robot, synchronizes a timestamp and uploads sonar system detection signals in time, and the platform calculates the corresponding relation between the position and the timestamp according to the timestamp and the Beidou positioning information of each water quality monitoring node and the relative position information of the Beidou positioning information and the underwater robot, and judges the action track and the position information of the underwater robot;
(4) the underwater robot detects the approximate terrain of a water area to avoid bottom contact through a sonar system according to water quality information on a rapid sampling path of a configured water quality detection device, selects an advancing direction by judging the abnormal change condition of water quality data, gradually approaches to the position of a pollution source, floats upwards after the position of the pollution source is determined at first, transmits sampling data and timestamps corresponding to all the data to a cloud fusion platform through a carried communication system, and returns;
(5) the cloud fusion platform receives the sampling information, the position information and the timestamp and then performs data fusion, calculates a roughly diffused route of pollution, conjectures a possible pollution source and a pollution source position, and reports information to managers at all levels for emergency treatment according to the pollution situation; when the pollution treatment is finished, the water quality monitoring node is recovered to one hour and reported once by the downlink instruction.
The invention has the beneficial effects that: the invention provides a static on duty and dynamic inspection based water quality monitoring and early warning system and a monitoring and early warning method. The underwater robot dynamic patrol inspection improves the mobility and pertinence of water quality detection, the water quality monitoring nodes improve the real-time performance of monitoring and expand the water quality monitoring range, the cloud is utilized to integrate the powerful computing capability of the water quality monitoring platform, the corresponding relation between position information and water quality information is calculated through the timestamp, and the defect that detection cannot be carried out in deep water areas in the prior art is overcome. The water quality monitoring system makes up for the deficiencies of the prior water quality monitoring system, is beneficial to improving the informatization and intelligentization level of water quality monitoring, and greatly improves the efficiency of the prior water quality monitoring.
Drawings
FIG. 1 is a block diagram of the system of the present invention.
FIG. 2 is a flow chart of the system and method of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in figure 1, the water quality monitoring and early warning system based on static on-duty and dynamic inspection comprises a plurality of static on-duty low-power-consumption water quality monitoring nodes, an underwater robot for dynamic inspection and a cloud fusion water quality monitoring and early warning platform.
As shown in fig. 1, a water quality monitoring and early warning system based on static watch and dynamic inspection, wherein a water quality monitoring node comprises an instrument shell, a water quality monitoring node main control system, a Beidou satellite positioning system, a water quality monitoring node communication system, a solar panel charging management system, a power supply management system, a sonar system, a storage battery and a water quality monitoring device; the water quality monitoring node main control system adopts an STM32F1 series microprocessor, a multichannel 12-bit ADC is arranged in the water quality monitoring node main control system, the water quality monitoring node main control system is connected with a water quality detection device through a conditioning circuit, the water quality detection device is controlled by the main control system to sample water at regular time, signal amplification and filtering are carried out through a sensor conditioning circuit, signals are sent to an ADC sampling channel of the STM32F1 series microprocessor to carry out analog-to-digital conversion, and water quality information is locally stored; the main control system takes an STM32F1 series microprocessor as a core, has three serial ports, and can be respectively communicated with a water quality monitoring node communication node system, a Beidou satellite positioning system and an upper computer for debugging through serial ports, so that the data communication and the satellite communication of the cloud-end integrated water quality monitoring platform are realized, and the positioning, time correction and timestamp acquisition are realized; the main control system detects the position of the underwater robot by using a sonar system, packs the relative position and the timestamp in real time and sends the relative position and the timestamp to the cloud fusion platform for calculating the absolute position coordinate of the underwater robot; the main control system controls the solar cell panel charging management system by judging the current illumination intensity; the main control system is connected with the power management system to manage the integral power supply of the water quality monitoring nodes, and the power consumption of the water quality monitoring nodes is reduced.
As shown in figure 1, the water quality monitoring and early warning system based on static on duty and dynamic inspection comprises an inspection underwater robot, a body, an underwater robot main control system, a sonar system, an underwater robot communication system, an underwater robot navigation system, a power system, a storage battery and a water quality monitoring device.
As shown in fig. 1, a water quality monitoring and early warning system based on static watch and dynamic patrol, a main control system of an underwater robot realizes distance measurement with a water quality monitoring node and with a riverbed through an underwater robot through a sonar system, and records a current relative position and a corresponding timestamp; the main control system controls the power system and the underwater robot navigation system to move forward to the direction of aggravation of the pollutants according to the change of the data measured by the water quality detection device, and more accurate pollution source information is obtained; the underwater robot can perform rapid sampling, realizes connection with the cloud fusion water quality monitoring and early warning platform through an underwater robot communication system when the underwater robot floats out of the water surface, and transmits water quality sampling information, a timestamp and position information to the cloud platform; the underwater robot navigation system realizes positioning and navigation by using a sonar system, prevents collision with a riverbed and the like, and simultaneously detects the integral topography of the water area.
As shown in fig. 1, in the water quality monitoring and early warning system based on static watch and dynamic inspection, a cloud-integrated water quality monitoring and early warning system can receive data sent to a cloud by an underwater robot and a water quality monitoring node, integrate obtained water quality sampling information, position information and timestamp information, analyze and calculate water quality parameters of corresponding positions according to the existing water quality monitoring standard, and label data of each point; and after the analysis, judging the health condition of the water quality, informing managers at all levels according to pollution registration, and carrying out early warning and emergency treatment on potential water pollution.
As shown in figure 1, a water quality monitoring and early warning system based on static watch and dynamic inspection, a water quality detection device adopts a single power supply, a low-power operational amplifier and a sensor. The water quality monitoring node communication system and the underwater robot communication system both adopt NB-IoT modules with low power consumption.
As shown in fig. 2, a monitoring and early warning method of a water quality monitoring and early warning system based on static watch and dynamic patrol comprises the following steps:
(1) the method comprises the steps that a sensing network consisting of a plurality of static on-duty water quality monitoring nodes is used for carrying out conventional monitoring, water quality change is monitored in real time, water quality sampling data are uploaded once every hour, and if the data received by a cloud fusion water quality monitoring platform are not abnormal, the state is kept all the time;
(2) if the platform analyzes that the water quality data is abnormal, sending a downlink command to the water quality monitoring node, reducing the data uploading period to half an hour for uploading the data once, simultaneously extracting and backing up the water quality sampling data of the node of the water area near the node, and sending a command to the inspection underwater robot which manages the water area in a branch manner to enable the inspection underwater robot to go to the vicinity of the water area;
(3) the inspection underwater robot reaches the position near an instruction water area, and sends a submerging signal to the platform and calibrates a timestamp; the platform receives the diving signal and then sends a downlink command to trigger the water quality monitoring nodes in the relevant water areas to start a sonar system to detect the position of the underwater robot, synchronizes a timestamp and uploads sonar system detection signals in time, and the platform calculates the corresponding relation between the position and the timestamp according to the timestamp and the Beidou positioning information of each water quality monitoring node and the relative position information of the Beidou positioning information and the underwater robot, and judges the action track and the position information of the underwater robot;
(4) the underwater robot detects the approximate terrain of a water area to avoid bottom contact through a sonar system according to water quality information on a rapid sampling path of a configured water quality detection device, selects an advancing direction by judging the abnormal change condition of water quality data, gradually approaches to the position of a pollution source, floats upwards after the position of the pollution source is determined at first, transmits sampling data and timestamps corresponding to all the data to a cloud fusion platform through a carried communication system, and returns;
(5) the cloud fusion platform receives the sampling information, the position information and the timestamp and then performs data fusion, calculates a roughly diffused route of pollution, conjectures a possible pollution source and a pollution source position, and reports information to managers at all levels for emergency treatment according to the pollution situation; when the pollution treatment is finished, the water quality monitoring node is recovered to one hour and reported once by the downlink instruction.
Claims (5)
1. The utility model provides a based on static watch and dynamic water quality monitoring early warning system that patrols and examines which characterized in that: the early warning system consists of a cloud fusion water quality monitoring early warning platform, a dynamic inspection underwater robot and a plurality of static on-duty low-power-consumption water quality monitoring nodes;
each static on-duty low-power-consumption water quality monitoring node consists of an instrument shell, a water quality monitoring node main control system, a Beidou satellite positioning system, a water quality monitoring node communication system, a solar panel charging management system, a power management system, a sonar system, a storage battery and a water quality monitoring device; the water quality monitoring node main control system is connected with the water quality detection device through a conditioning circuit to realize sampling and storage of water quality information; the main control system is connected with the water quality monitoring node communication node system and the Beidou satellite positioning system through serial ports, so that data communication with the cloud end fusion water quality monitoring platform is realized, positioning and time correction are realized through satellite communication, and a timestamp is acquired; the main control system detects the relative position of the underwater sensor by using the sonar system, packs the relative position and the timestamp and sends the relative position and the timestamp to the cloud fusion platform to calculate the absolute position coordinate of the underwater robot; the main control system controls the solar cell panel charging management system by judging the current illumination intensity; the main control system is connected with the power management system to manage the integral power supply of the water quality monitoring node, so that the power consumption of the water quality monitoring node is reduced;
the dynamic inspection underwater robot consists of a body, an underwater robot main control system, a sonar system, an underwater robot communication system, an underwater robot navigation system, a power system, a storage battery and a water quality monitoring device;
the underwater robot main control system realizes ranging with the water quality monitoring nodes and the riverbed through the underwater robot sonar system, records the current relative position and the time stamp, realizes connection with the cloud end fusion water quality monitoring and early warning platform through the underwater robot communication system when the underwater robot main control system emerges from the water surface, and transmits water quality sampling information, the time stamp and position information to the platform for position calculation; the underwater robot navigation system realizes positioning and navigation by using the sonar system; the water quality detection device is used for collecting water quality data of a water area and processing water quality information through the main control system;
the cloud end fuses water quality monitoring early warning platform and through receiving the dynamic underwater robot and every static watch-on low-power consumption water quality monitoring node sends the data in the cloud end, through integration water quality sampling information, positional information, timestamp information, the quality of water data of analysis calculation corresponding position, after carrying out the analysis to mass information, judges quality of water health and tells that managers at all levels may take place the region of water pollution and carry out the early warning.
2. The static on-duty and dynamic inspection based water quality monitoring and early warning system according to claim 1, characterized in that: the water quality detection device adopts a single power supply, a low-power-consumption operational amplifier and a sensor.
3. The static on-duty and dynamic inspection based water quality monitoring and early warning system according to claim 1, characterized in that: the water quality monitoring node communication system and the underwater robot communication system both adopt NB-IoT modules with low power consumption.
4. The static on-duty and dynamic inspection based water quality monitoring and early warning system according to claim 1, characterized in that: the water quality monitoring node main control system adopts a multichannel 12-bit ADC microprocessor with the model number of STM32F 1.
5. A monitoring and early warning method based on a static on duty and dynamic inspection water quality monitoring and early warning system is characterized in that: the monitoring and early warning steps are as follows:
(1) the method comprises the steps that a sensing network consisting of a plurality of static on-duty water quality monitoring nodes is used for carrying out conventional monitoring, water quality change is monitored in real time, water quality sampling data are uploaded once every hour, and if the data received by a cloud fusion water quality monitoring platform are not abnormal, the state is kept all the time;
(2) if the platform analyzes that the water quality data is abnormal, sending a downlink command to the water quality monitoring node, reducing the data uploading period to half an hour for uploading the data once, simultaneously extracting and backing up the water quality sampling data of the node of the water area near the node, and sending a command to the inspection underwater robot which manages the water area in a branch manner to enable the inspection underwater robot to go to the vicinity of the water area;
(3) the inspection underwater robot reaches the position near an instruction water area, and sends a submerging signal to the platform and calibrates a timestamp; the platform receives the diving signal and then sends a downlink command to trigger the water quality monitoring nodes in the relevant water areas to start a sonar system to detect the position of the underwater robot, synchronizes a timestamp and uploads sonar system detection signals in time, and the platform calculates the corresponding relation between the position and the timestamp according to the timestamp and the Beidou positioning information of each water quality monitoring node and the relative position information of the Beidou positioning information and the underwater robot, and judges the action track and the position information of the underwater robot;
(4) the underwater robot detects the approximate terrain of a water area to avoid bottom contact through a sonar system according to water quality information on a rapid sampling path of a configured water quality detection device, selects an advancing direction by judging the abnormal change condition of water quality data, gradually approaches to the position of a pollution source, floats upwards after the position of the pollution source is determined at first, transmits sampling data and timestamps corresponding to all the data to a cloud fusion platform through a carried communication system, and returns;
(5) the cloud fusion platform receives the sampling information, the position information and the timestamp and then performs data fusion, calculates a roughly diffused route of pollution, conjectures a possible pollution source and a pollution source position, and reports information to managers at all levels for emergency treatment according to the pollution situation; when the pollution treatment is finished, the water quality monitoring node is recovered to one hour and reported once by the downlink instruction.
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Cited By (4)
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| CN117491586A (en) * | 2024-01-03 | 2024-02-02 | 江门市澳华生物科技有限公司 | Water quality detection method and system thereof |
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