CN111780870B - Small intelligent water body optical observation equipment and method for evaluating global water body quality by using same - Google Patents
Small intelligent water body optical observation equipment and method for evaluating global water body quality by using same Download PDFInfo
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Abstract
The invention relates to a small intelligent water body optical observation device, namely a method for evaluating water body quality by applying the device. The device comprises an observer, a mobile intelligent terminal and a handheld self-stabilizing cradle head; one end of the handheld self-stabilizing pan-tilt is provided with a handheld grip, and the other end of the handheld self-stabilizing pan-tilt is provided with a three-axis stabilizer; a first clamp for clamping the observer is arranged on a pitching shaft of the triaxial stabilizer; the handheld grip is provided with a second clamp for clamping the mobile intelligent terminal; the mobile intelligent terminal is connected with the observer and the triaxial stabilizer in a wireless mode; the mobile intelligent terminal is internally provided with an observation application program, is used for setting parameters of data acquisition, monitoring the adjustment of the posture of the triaxial stabilizer in real time, and is also used for receiving, storing and displaying data and analysis data from an observer and/or sharing or sending an analysis result outwards. The observation equipment is portable and simple enough for non-professionals, and can finish the effective acquisition of the optical observation data of the water body without training, so that ordinary non-professionals at the waterside or in the water area can finish observation and provide data at any time and any place. The invention also provides a method for evaluating the quality of the water body by applying the equipment.
Description
Technical Field
The invention relates to the field of optical observation, in particular to a device for optical observation of water and a method for evaluating the quality of water by applying the device.
Background
Ocean science has developed rapidly in the latter half of the 20 th century, and people have gradually recognized that the ocean plays a vital regulatory role in global environment and human social sustainable development. The research of marine water is the basis of researching marine environment, and plays an important role in ocean current monitoring, weather forecasting, disaster prevention and reduction, environmental management and polar region science and research. At present, deep research on ocean water has been carried out at home and abroad, wherein ocean optics research mainly researches the optical properties of the ocean and the propagation rule of light in the ocean, and basic data relied on by the research mainly researches ocean water spectrum data acquired by using field and laboratory measuring methods, such as a spectrum radiation field generated by the radiation transmission process after sunlight is irradiated into the ocean and upwards from the surface layer of the ocean.
In the prior art, basic data relied on by optical research of water bodies such as oceans and the like are basically obtained by observing on the spot or in a laboratory by professional technicians of professional technical institutions operating professional observation equipment. In the process, the observation equipment is complex in structure and high in operation requirement, and technicians can correctly use the observation equipment to obtain effective observation data through professional training. The devices that are generally recognized worldwide to be effective for observing marine optical data currently include a wide variety of optical observation devices, such as those brands of seabord, TriOS, or Water instruments, which are currently on the market. These observation devices vary in their portability and difficulty of operation, but are almost bulky or heavy and require special training of the user to be put into practical observation applications. However, the global marine water body has huge scale, some optical changes occur rapidly, and only very limited marine optical observation mechanisms, personnel and equipment are relied on, which is completely insufficient to meet the increasing observation requirements, and the acquisition and utilization of marine optical observation data are limited to a great extent.
With the development of information technology and the popularization of intelligent equipment, the big data era is surging, and data acquisition and big data analysis realized by the intelligent equipment and the information technology have penetrated the aspects of life and production of people. The more people live close to the field, the more mature the intelligent equipment and the big data are accumulated, and in turn, the more convenient the life of people in the field is promoted. From the perspective of global ecology, the water bodies such as the ocean are used as very important ecological systems on the earth, and are practically always closely related to the survival and development of human beings. With arousal of ecological consciousness of people, the demand that the ordinary people want to know, pay attention to and even research various water bodies nearby is higher and higher, and the requirements of professional institutions on the synchronism and systematicness of global water body observation are higher and higher. Therefore, how to effectively utilize network information technology and intelligent equipment to enable big data analysis to fully permeate the field of optical observation of water bodies becomes an important subject of the optical observation of water bodies. The primary task for solving the problem is to solve the problems of miniaturization and intelligence of observation equipment. In addition, a new water body evaluation system and a new evaluation mode are established by using small intelligent observation equipment, and the requirements of water body quality evaluation can be fully met.
Disclosure of Invention
In view of the above technical background, the primary object of the present invention is to: the utility model provides a miniaturized, intelligent water optics observation equipment, this equipment is not only enough portable to non professional, and more importantly installation and operation are enough simple, need not to accomplish the effective collection of water optics observation data through the training. The method breaks through the limitation that the original professional can observe the optical data of the water body only after professional training, so that ordinary non-professionals at the water side or in the water area can finish observation and provide data at any time and any place.
The above purpose of the invention is realized by the following technical scheme:
firstly, providing a miniaturized and intelligent water body optical observation device, which comprises an observer, a mobile intelligent terminal and a handheld self-stabilizing holder;
one end of the handheld self-stabilizing pan-tilt is provided with a handheld grip, the other end of the handheld self-stabilizing pan-tilt is provided with a triaxial stabilizer, and a course axis of the triaxial stabilizer is fixedly connected with the handheld grip through a connecting rod with adjustable length; a first clamp used for clamping the observer is arranged on a pitching shaft of the triaxial stabilizer; the handheld grip is provided with a second clamp for clamping the mobile intelligent terminal;
the observer is clamped in the first clamp and comprises a rigid cuboid shell, and two adjacent surfaces of the cuboid shell are respectively provided with a rigid observation tube fixedly connected with the cuboid shell; wherein, two radiance observation tubes are symmetrically arranged on one surface, each radiance observation tube forms an included angle of 40 degrees with the surface, the included angle between the two radiance observation tubes is 100 degrees, and radiance radiometers are respectively arranged in the two radiance observation tubes; an irradiance observation cylinder is vertically arranged on the other surface, and an irradiance radiometer is arranged in the irradiance observation cylinder; the cuboid shell is internally provided with a circuit board and a battery; the circuit board only comprises a radiometer driving module and a data wireless transmission module; the radiometer driving module is respectively electrically connected with the irradiance radiometer and the radiance radiometer and is used for converting optical signals acquired by each radiometer into digital signals; the data wireless transmission module is electrically connected with the radiometer driving module and is used for transmitting the digital signal to the mobile intelligent terminal in a wireless mode; the battery is connected with the circuit board and supplies power to the circuit board;
the mobile intelligent terminal is clamped in the second clamp and is wirelessly connected with the observer and the triaxial stabilizer; the mobile intelligent terminal is internally provided with an observation application program, and is used for setting parameters of data acquisition, monitoring the adjustment of the posture of the triaxial stabilizer in real time, and simultaneously receiving, storing and displaying data and analysis data from the observer and/or sharing or sending an analysis result outwards.
In the scheme of the invention, the mobile intelligent terminal can be any conventional mobile intelligent device, generally has the capability of accessing the Internet, and can be loaded with various operating systems for executing the observation application program. The mobile intelligent terminal which can be used in the scheme of the invention can be a handheld mobile intelligent terminal, a vehicle-mounted mobile intelligent terminal or wearable intelligent equipment; specific examples include: the intelligent terminal comprises a smart phone, a tablet personal computer, a PDA intelligent terminal or a smart watch, and the like, wherein the smart phone or the tablet personal computer is preferably selected.
In the scheme of the invention, an IMU feedback system and a servo motor which are composed of a three-axis gyroscope and a three-axis acceleration sensor are arranged in the three-axis stabilizer, and the observer fixed on the pitching axis can be always fixed at a certain observation angle according to preset parameters.
In a preferred embodiment of the present invention, in order to further miniaturize the volume of the observation unit, the two radiance observation cylinders and the irradiance observation cylinder are in the same vertical plane with respect to the pitch axis of the three-axis stabilizer.
In the scheme of the invention, the connecting rod with the adjustable length of the handheld self-stabilizing cradle head can be an existing connecting rod with various forms, such as a telescopic rod or a folding rod; preferably a multi-section telescopic rod.
In the scheme of the invention, the first clamp is a clamp, the shape of which is matched with that of the cuboid shell, the inner space of the first clamp is flat and rectangular, and the long edge of the first clamp is parallel to the pitching axis of the triaxial stabilizer.
In a preferred scheme of the invention, a control button is further arranged on a handheld grip of the handheld self-stabilizing cradle head, and the handheld grip is connected with the observer in a wireless mode and is used for completing simple operations such as starting or stopping of observation data acquisition and the like, so that the control button can be used as a supplement for controlling the mobile intelligent terminal.
In a preferred embodiment of the present invention, the mobile intelligent terminal further includes an electronic clock module, a satellite positioning module, a camera module, and a storage device, and the storage device stores therein an application program that continuously executes the following steps:
1) calling time data of the electronic clock module, calling position data of the satellite positioning module, and calculating a current local solar azimuth angle according to the time data and the position data;
2) acquiring attitude data of the triaxial stabilizer through wireless connection between the mobile intelligent terminal and the triaxial stabilizer;
3) generating attitude adjustment parameters by comparing the sun azimuth angle in 1) with the attitude data of the three-axis stabilizer in 2), and sending the attitude adjustment parameters to the three-axis stabilizer through wireless connection between the mobile intelligent terminal and the three-axis stabilizer so as to drive a servo motor of the three-axis stabilizer to adjust the attitude of the three-axis stabilizer; the observer is always kept accurately at an observation geometry of 40-135 degrees;
4) continuously receiving observation data of the observer through wireless connection between the mobile intelligent terminal and the observer, and calculating to obtain the remote sensing reflectivity Rrs of the water body based on the observation data;
5) calling a photographing function of the mobile intelligent terminal to shoot a synchronous image, and uploading the remote sensing reflectivity Rrs data, the synchronous image, the time data and the position data to a data center server through the Internet for modeling;
6) and downloading data from the data center server, forming a visual analysis result, and displaying the visual analysis result in a man-machine interaction mode.
Compared with the prior art, the scheme of the invention fully utilizes the functions of time, positioning, data processing, network connection, man-machine interaction and the like of the mobile intelligent terminal, and gives most functions of parameter setting, observation geometric adjustment, data processing and the like which need to be finished in the existing water body spectrum field observation to the mobile intelligent terminal through application software to be executed, thereby greatly reducing the circuit board scale required by the observer, obviously reducing the volume of the observer, enabling the volume and weight of the observer to be matched with the conventional handheld self-stabilizing pan-tilt, and obviously improving the portability of the observer. Meanwhile, more importantly, a user of the observation equipment does not need to master the parameters, the operation specifications and other items of the equipment, all the observation parameters are preset through an application program installed in the mobile intelligent terminal, and the adjustment of the observation parameters is automatically completed by the triaxial stabilizer according to adjustment data provided by the application program. The user of the device only needs to hold the water body optical observation device of the invention at the water side to keep the opening state, and the simplicity degree of the device is close to the conventional video shooting carried out by people at the water side in daily life. The use threshold of the observation equipment is greatly reduced, so that a non-professional person can finish effective water body optical observation in a daily state without obstacles, and the large data accumulation of global water body optical observation is realized.
In addition, the irradiance radiometer and the radiance radiometer are fixedly arranged on a rigid cuboid shell at a specific angle, the cuboid shell is very suitable for being fixed by a clamp, and the clamped surface of the cuboid shell and the pitching axis of the three-axis stabilizer can be fixedly kept on the same straight line or are mutually parallel through clamping of the clamp, so that the postures of the observers fixed on the cuboid shell relative to the pitching axis of the three-axis stabilizer are also naturally fixed, and the disassembly and assembly of the observers and the posture adjustment of the radiometer are greatly simplified.
In a word, the optical observation equipment for the water body can be used for the spectral observation of water bodies such as rivers, lakes, offshore and oceans and has the outstanding advantages of compact structure, small volume, light weight, easy carrying, simple installation, simple and convenient operation and the like.
On this basis, another object of the present invention is to: a method for evaluating the quality of the water body by applying the optical observation equipment for the water body is provided. The purpose is realized by the following technical scheme:
firstly, a method for evaluating the quality of the water body by applying the optical observation equipment for the water body is provided, which is marked as a first method and comprises the following steps:
a. establishing a data center server, and at least setting a data receiving module, a data analysis module and a data publishing module;
b. a, a data receiving module receives observation data packets of any water body uploaded by a plurality of optical water body observation devices; the observation data packet at least comprises remote sensing reflectivity, a synchronous live-action image, date data and position data of the same water body;
c. the data analysis module utilizes the observation data packet information received in the step b, combines other water quality assessment data of corresponding water bodies, and takes position data and/or date data as dimensionality for modeling to obtain biological optical data models of different water bodies in different regions of the world;
d. a, the receiving module receives query data of any water body uploaded by any mobile terminal, wherein the query data is at least position data and/or live-action images of any water body in the world;
e. the data analysis module of the step a inputs the biological optical data model established by the step c by taking the position data of any global water body of the step d as an input item, and outputs water body quality characterization data of the same water body through analysis and calculation;
f. and a, the data publishing module returns the water quality characterization data obtained in the step e to the mobile terminal.
The invention also provides another method for evaluating the water quality by applying the water optical observation equipment, which is recorded as a second method and comprises the following steps:
I. a plurality of mobile intelligent terminals of the water body optical observation equipment located at the same place or different places form a pair-wise equality network;
II, acquiring remote sensing reflectivity, synchronous live-action images, date data and/or position data of any water body by any water body optical observation equipment in the peer-to-peer network in the step I at any time and any place, and sharing all data among all mobile intelligent terminals in the peer-to-peer network;
III, after any mobile intelligent terminal obtains data based on the sharing in the step II, modeling is carried out by combining other water quality assessment data of corresponding water bodies to obtain biological optical data models of a plurality of water bodies, and sharing is formed among all mobile intelligent terminals in the peer-to-peer network;
and IV, inputting the biological optical data model in the step III by taking the position data and/or the live-action image of any water body as an input item through any mobile intelligent terminal in the peer-to-peer network or newly added into the peer-to-peer network, and outputting the water body quality characterization data of the corresponding water body through analysis and calculation.
In each method of the present invention, the other water quality assessment data refers to other data used for assessing the water quality except for the remote sensing reflectivity in the prior art, and includes various physical, chemical and biological evaluation parameters, such as transparency, pH value, hardness, salt content, chemical oxygen demand, biochemical oxygen demand, heavy metal content, algae biological parameters, and the like. The other water quality assessment data may be historical data accumulated from existing research, such as data obtained from publications; or may be measured data, such as data observed in the field by a specialized organization. In addition, the modeling is not a single biological optical data model, but different biological optical data models of each water body can be established according to the different evaluation parameters based on evaluation requirements.
In the methods of the present invention, the modeling may be performed by different modeling methods in the prior art, such as machine learning modeling.
In each method, in the modeling process, the synchronous live-action image is mainly used as an auxiliary parameter corresponding to position data, so that when the bio-optical data model is used for analysis and calculation, and the input item is or is only a live-action image, a certain synchronous live-action image received before modeling can be matched through an image identification method, and further converted into position data according to the corresponding relation, and the position data is used as the input item to be input into the bio-optical data model.
In the methods, the water quality characterization data of the same water body output by analysis and calculation can be year-round. In a preferred method one of the present invention, the query data in step d further includes date data; and e, adding the date data to the input item, analyzing, calculating and outputting the same-ratio water quality characterization data of the same water body in the same year. In a second preferred embodiment of the present invention, the input item in step IV further includes date data, and the obtained data related to the remote sensing reflectivity and the water quality of the corresponding water body is comparable water quality characterization data in the same period in the previous year.
In the methods of the present invention, the water quality characterization data may be qualitative characterization data (for example, may be used for characterization, whether the water body is harmful algal blooms or whether the water body is harmful to a human body after contacting the human body, or the like), or may be quantitative characterization data (for example, the chlorophyll concentration in the water body is 1mg/L, or the like).
In the methods, the mobile intelligent terminal further forms a formatted or visual water quality assessment result report through an embedded application program after obtaining the water quality characterization data, and the report is displayed through an interactive page.
According to the method, on one hand, the portability of the water body optical observation equipment can be utilized to acquire water body data of different global positions at any time and any place, and professional scientific research personnel are not required to acquire and observe limited data in limited time and limited places, so that the optical observation data of the global water body can be greatly enriched, and meanwhile, the observation data are acquired by the similar equipment based on the same standard, so that the resource sharing and analysis utilization of the global observation data can be greatly promoted; on the other hand, after the data of the global water body is accumulated to a certain degree, when the public wants to know the quality of any water body, no matter whether the public is at the position of the water body, the public only needs to upload the water body position and/or the live image information which the public needs to know to a server of the data center, and then the corresponding evaluation result can be obtained immediately, so that the research cost of scientific researchers in the field is greatly reduced, and the public can greatly know the quality of the water body.
Drawings
Fig. 1 is a schematic view of the overall structure of the observer described in embodiment 1.
Fig. 2 is a schematic cross-sectional structure of the observer described in embodiment 1.
Fig. 3 is a schematic view of the overall structure of the miniaturized and intelligent marine optical observation device according to embodiment 2.
Fig. 4 is a schematic diagram of a global water quality assessment method using the marine optical observation apparatus according to embodiment 3.
Fig. 5 is a schematic view of the global water quality assessment method using the marine optical observation apparatus according to embodiment 4.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and it will be readily apparent to those of ordinary skill in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Example 1
A miniaturized water body appearance spectrum observer is disclosed, as shown in figures 1 and 2, the observer comprises a rigid cuboid shell 10, and two surfaces adjacent to the cuboid shell 10 are respectively provided with a rigid observation cylinder fixedly connected with the cuboid shell 10; wherein, two radiance observation tubes 11 are symmetrically arranged on one surface, each radiance observation tube 11 forms an included angle of 40 degrees with the surface, and the included angle between the two radiance observation tubes 11 is 100 degrees; an irradiance observation cylinder 13 is vertically arranged on the other surface; the two radiance observation canister 11 and the irradiance observation canister 13 are in the same vertical plane. The radiance radiometers 12 are respectively arranged in the two radiance observation cylinders 11; an irradiance radiometer 14 is arranged in the irradiance observation cylinder 13; a circuit board 15 and a battery 16 are also arranged in the cuboid shell 10; the circuit board 15 only comprises a radiometer driving module and a data wireless transmission module; the radiometer driving module is respectively electrically connected with the irradiance radiometer 14 and the radiance radiometer 12 and is used for converting optical signals acquired by each radiometer into digital signals; the data wireless transmission module is electrically connected with the radiometer driving module and is used for transmitting the digital signals to the outside in a wireless mode; the battery 16 is connected to the circuit board 15 and supplies power thereto.
Example 2
A miniaturized and intelligent optical observation device for water body, as shown in fig. 3, which comprises an observer 100 described in embodiment 1, a smart phone 200, and a pair of handheld self-stabilizing holders 300;
one end of the handheld self-stabilizing pan-tilt 300 is provided with a handheld grip 301, the other end is provided with a triaxial stabilizer 302, and a course shaft 3021 of the triaxial stabilizer 302 is fixedly connected with the handheld grip 301 through a rigid multi-section telescopic rod 303; a first clamp 304 for clamping the observer 100 is arranged on the pitching shaft 3022 of the triaxial stabilizer 302, the internal space of the first clamp is in a flat rectangular shape, and the long side of the first clamp is parallel to the pitching shaft 3022; a second clamp 305 for clamping the smart phone 200 is arranged on the handheld grip 301; the handheld grip 301 is further provided with a control button 306, and is connected with the observer 100 in a wireless manner, so as to complete simple operations such as starting or stopping of observation data acquisition, and can be used as a supplement for controlling the software of the smart phone 200.
The scope 100 of embodiment 1 is held in the first holder 304. The smartphone 200 is held in the second holder 305 and wirelessly couples the scope 100 and the tri-axial stabilizer 302; the smartphone 200 is provided with an observation application program therein, and is configured to set parameters for data acquisition, monitor adjustment of the posture of the triaxial stabilizer 302 in real time, and receive, store, and display data and analysis data from the observer 100 and/or share or send an analysis result to the outside.
The triaxial stabilizer 302 is internally provided with an IMU feedback system and a servo motor which are composed of a triaxial gyroscope and a triaxial acceleration sensor, and the observer 100 fixed on the pitching axis 3022 can be fixed at a certain observation angle all the time according to preset parameters.
The smart phone 200 is internally provided with an electronic clock module, a satellite positioning module, a camera module and a storage device, wherein the storage device is internally stored with an application program for continuously executing the following steps:
1) calling time data of the electronic clock module, calling position data of the satellite positioning module, and calculating a current local solar azimuth angle according to the time data and the position data;
2) acquiring attitude data of the triaxial stabilizer through wireless connection between the smart phone and the triaxial stabilizer;
3) generating attitude adjustment parameters by comparing the sun azimuth angle of 1) with the attitude data of the triaxial stabilizer of 2), and sending the attitude adjustment parameters to the triaxial stabilizer through the wireless connection between the smart phone and the triaxial stabilizer so as to drive a servo motor of the triaxial stabilizer to adjust the attitude of the triaxial stabilizer; the observer is always kept accurately at an observation geometry of 40-135 degrees;
4) continuously receiving observation data of the observer through wireless connection between the smart phone and the observer, and calculating to obtain the remote sensing reflectivity Rrs of the water body based on the observation data;
5) calling a photographing function of the smart phone to shoot a synchronous image, and uploading the remote sensing reflectivity Rrs data, the synchronous image, the time data and the position data to a data center server through the Internet for modeling;
6) and downloading data from the data center server, forming a visual analysis result, and displaying the visual analysis result in a man-machine interaction mode.
Example 3
A method for evaluating the quality of a water body by using the optical observation equipment for the water body in embodiment 2 is shown in FIG. 4, and comprises the following steps:
a. establishing a data center server, and at least setting a data receiving module 401, a data analyzing module 402 and a data publishing module 403;
b. a, the data receiving module 401 receives observation data packets of any water body uploaded by the optical observation equipment 500 of the water body in multiple embodiments 2; the observation data packet comprises remote sensing reflectivity, synchronous live-action images, date data and position data of the same water body;
c. the data analysis module 402 uses the observation data packet information received in step b, combines with other water quality assessment data of corresponding water bodies, and uses position data and/or date data as dimensionality to model, so as to obtain biological optical data models of different water bodies around the world;
d. a, the receiving module 401 in step a receives query data of any water body uploaded by any smart phone 600, where the query data is position data, date data and live-action images of any water body in the world;
e. a, inputting a biological optical data model established by c by the data analysis module 402 of step a by using the position data and date data of any water body in the world as input items, and outputting qualitative characterization comparison data of the water body quality of the same water body through analysis and calculation; for example, whether harmful algal blooms occur in the same water body in the same year, and the like.
f. The data publishing module 403 in step a returns the water quality related data obtained in step e to the smart phone 600, and the smart phone 600 forms a formatted or visualized water quality assessment result report 601 based on the qualitative characterization data of the water quality through an embedded application program, and displays the report through an interactive page.
Example 4
A method for evaluating the quality of a water body by using the optical observation equipment for the water body in embodiment 2 is shown in FIG. 5, and comprises the following steps:
I. a plurality of water body optical observation devices of embodiment 2, which are located at the same place or different places, form a peer-to-peer network through respective smart phones 501, and each smart phone 501 is used as a peer node of the peer-to-peer network;
II, acquiring remote sensing reflectivity, synchronous live-action images, date data and/or position data of any water body by any water body optical observation equipment in the peer-to-peer network in the step I at any time and any place, and enabling all data to form a shared state 700 among all smart phones in the peer-to-peer network;
any smart phone 501 obtains data based on the sharing in the step II, and then, combines with other water quality assessment data modeling of corresponding water bodies to obtain bio-optical data models of a plurality of water bodies, and forms a shared state 700 among all smart phones in the peer-to-peer network;
and IV, inputting the biological optical data model in the step III by taking position data, date data and/or live-action images of any water body as an input item for any smart phone 501 in the peer-to-peer network or newly added in the peer-to-peer network, and outputting comparable water body quality characterization data of the corresponding water body through analysis and calculation. The smartphone 501 forms a formatted or visualized water quality assessment result report 502 based on the water quality characterization data through an embedded application program, and displays the report through an interactive page.
Claims (17)
1. A miniaturized and intelligent water body optical observation device comprises an observer, a mobile intelligent terminal and a handheld self-stabilizing cradle head;
one end of the handheld self-stabilizing pan-tilt is provided with a handheld grip, the other end of the handheld self-stabilizing pan-tilt is provided with a triaxial stabilizer, and a course axis of the triaxial stabilizer is fixedly connected with the handheld grip through a connecting rod with adjustable length; a first clamp used for clamping the observer is arranged on a pitching shaft of the triaxial stabilizer; the handheld grip is provided with a second clamp for clamping the mobile intelligent terminal;
the observer is clamped in the first clamp and comprises a rigid cuboid shell, and two adjacent surfaces of the cuboid shell are respectively provided with a rigid observation tube fixedly connected with the cuboid shell; wherein, two radiance observation tubes are symmetrically arranged on one surface, each radiance observation tube forms an included angle of 40 degrees with the surface, the included angle between the two radiance observation tubes is 100 degrees, and radiance radiometers are respectively arranged in the two radiance observation tubes; an irradiance observation cylinder is vertically arranged on the other surface, and an irradiance radiometer is arranged in the irradiance observation cylinder; the cuboid shell is internally provided with a circuit board and a battery; the circuit board only comprises a radiometer driving module and a data wireless transmission module; the radiometer driving module is respectively electrically connected with the irradiance radiometer and the radiance radiometer and is used for converting optical signals collected by the radiometers into digital signals; the data wireless transmission module is electrically connected with the radiometer driving module and is used for transmitting the digital signal to the mobile intelligent terminal in a wireless mode; the battery is connected with the circuit board and supplies power to the circuit board;
the mobile intelligent terminal is clamped in the second clamp and is wirelessly connected with the observer and the triaxial stabilizer; the mobile intelligent terminal is internally provided with an observation application program, and is used for setting parameters of data acquisition, monitoring the adjustment of the posture of the triaxial stabilizer in real time, and simultaneously receiving, storing and displaying data and analysis data from the observer and/or sharing or sending an analysis result outwards.
2. The apparatus of claim 1, wherein: the mobile intelligent terminal is selected from a handheld mobile intelligent terminal, a vehicle-mounted mobile intelligent terminal or wearable intelligent equipment.
3. The apparatus of claim 1, wherein: the mobile intelligent terminal is selected from an intelligent mobile phone, a tablet personal computer, a PDA intelligent terminal or an intelligent watch.
4. The apparatus of claim 1, wherein: the mobile intelligent terminal is a smart phone or a tablet computer.
5. The apparatus of claim 1, wherein: the three-axis stabilizer is internally provided with an IMU feedback system and a servo motor which are composed of a three-axis gyroscope and a three-axis acceleration sensor, and an observer fixed on a pitching axis is always fixed at a certain observation angle according to preset parameters.
6. The apparatus of claim 1, wherein: the two radiance observation cylinders and the irradiance observation cylinder are positioned on the same vertical plane.
7. The apparatus of claim 1, wherein: the connecting rod with the adjustable length of the handheld self-stabilizing cradle head is a telescopic rod or a folding rod.
8. The apparatus of claim 1, wherein: the length-adjustable connecting rod of the handheld self-stabilizing cradle head is a multi-section telescopic rod.
9. The apparatus of claim 1, wherein: the first clamp is a clamp which is flat and rectangular and has an inner space matched with the cuboid shell in shape, and the long edge of the first clamp is parallel to the pitching axis of the three-axis stabilizer.
10. The apparatus of claim 1, wherein: the handheld handle of the handheld self-stabilizing cradle head is further provided with an operation button and is connected with the observer in a wireless mode.
11. The apparatus of claim 1, wherein: the mobile intelligent terminal is further internally provided with an electronic clock module, a satellite positioning module, a camera module and a storage device, wherein the storage device is internally stored with an application program which continuously executes the following steps:
1) calling time data of the electronic clock module, calling position data of the satellite positioning module, and calculating a current local solar azimuth angle according to the time data and the position data;
2) acquiring attitude data of the triaxial stabilizer through wireless connection between the mobile intelligent terminal and the triaxial stabilizer;
3) generating attitude adjustment parameters by comparing the sun azimuth angle in 1) with the attitude data of the three-axis stabilizer in 2), and sending the attitude adjustment parameters to the three-axis stabilizer through wireless connection between the mobile intelligent terminal and the three-axis stabilizer so as to drive a servo motor of the three-axis stabilizer to adjust the attitude of the three-axis stabilizer; the observer is always kept accurately at an observation geometry of 40-135 degrees;
4) continuously receiving observation data of the observer through wireless connection between the mobile intelligent terminal and the observer, and calculating to obtain the remote sensing reflectivity Rrs of the water body based on the observation data;
5) calling a photographing function of the mobile intelligent terminal to shoot a synchronous image, and uploading the remote sensing reflectivity Rrs data, the synchronous image, the time data and the position data to a data center server through the Internet for modeling;
6) and downloading data from the data center server, forming a visual analysis result, and displaying the visual analysis result in a man-machine interaction mode.
12. A method for evaluating the quality of a water body by using the optical observation equipment for the water body of any one of claims 1 to 11, comprising the following steps:
a. establishing a data center server, and at least setting a data receiving module, a data analysis module and a data publishing module;
b. a, the data receiving module receives observation data packets of any water body uploaded by a plurality of optical observation equipment of the water body according to any one of claims 1 to 11; the observation data packet at least comprises remote sensing reflectivity, a synchronous live-action image, date data and position data of the same water body;
c. the data analysis module utilizes the observation data packet information received in the step b, combines other water quality assessment data of corresponding water bodies, and takes position data and/or date data as dimensionality for modeling to obtain biological optical data models of different water bodies in different regions of the world;
d. a, the receiving module receives inquiry data of any water body uploaded by any mobile intelligent terminal, wherein the inquiry data is at least position data and/or live-action images of any water body in the world;
e. the data analysis module of the step a inputs the biological optical data model established by the step c by taking the position data of any global water body of the step d as an input item, and outputs water body quality characterization data of the same water body through analysis and calculation;
f. and a, the data publishing module returns the water quality characterization data obtained in the step e to the mobile intelligent terminal.
13. The method of claim 12, wherein: d, said query data of step further comprises date data; and e, adding the date data to the input item, analyzing, calculating and outputting the same-ratio water quality characterization data of the same water body in the same year.
14. The method of claim 12, wherein: and f, the mobile intelligent terminal further forms a formatted or visual water quality assessment result report through an embedded application program after obtaining the water quality characterization data, and the report is displayed through an interactive page.
15. A method for evaluating the quality of a water body by using the optical observation equipment for the water body of any one of claims 1 to 11, comprising the following steps:
I. a pair-wise network of mobile intelligent terminals of a plurality of optical observation devices of the water body according to any one of claims 1 to 11, which are located at the same place or different places;
II, acquiring remote sensing reflectivity, synchronous live-action images, date data and/or position data of any water body by any water body optical observation equipment in the peer-to-peer network in the step I at any time and any place, and sharing all data among all mobile intelligent terminals in the peer-to-peer network;
III, after any mobile intelligent terminal obtains data based on the sharing in the step II, modeling is carried out by combining other water quality assessment data of corresponding water bodies to obtain biological optical data models of a plurality of water bodies, and sharing is formed among all mobile intelligent terminals in the peer-to-peer network;
and IV, inputting the biological optical data model in the step III by taking the position data and/or the live-action image of any water body as an input item through any mobile intelligent terminal in the peer-to-peer network or newly added into the peer-to-peer network, and outputting the water body quality characterization data of the corresponding water body through analysis and calculation.
16. The method of claim 15, wherein: and IV, the input items further comprise date data, and the obtained remote sensing reflectivity related data of the corresponding water body is comparable water body quality characterization data in the same period in the previous year.
17. The method of claim 15, wherein: and IV, the mobile intelligent terminal further forms a formatted or visual water quality assessment result report through an embedded application program after obtaining the water quality characterization data, and the report is displayed through an interactive page.
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| CA3075113 | 2020-03-11 |
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| CA3075113C (en) | 2022-07-19 |
| CA3075113A1 (en) | 2021-09-11 |
| CN111780870A (en) | 2020-10-16 |
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Effective date of registration: 20230619 Address after: 518119 109, Building 7, Biohome, Baguang Community, Kuichong Subdistrict, Dapeng New District, Shenzhen, Guangdong Patentee after: Anhua Haise Scientific Instrument (Shenzhen) Co.,Ltd. Address before: 510301 Room 405, building 2, 164 Xingang West Road, Haizhu District, Guangzhou City, Guangdong Province Patentee before: Sun Zhaohua |