CN112147291A - Coupling riverway water quality and sediment health monitoring system and method - Google Patents
Coupling riverway water quality and sediment health monitoring system and method Download PDFInfo
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a coupling riverway water quality and sediment health monitoring system and a method, wherein the system comprises: the unmanned ship is provided with a river sediment siltation online monitoring device, a river water quality online monitoring module and a river water quality sampling device, real-time topographic data and partial water quality health index data are collected at a measuring point, and the measured data are transmitted to a terminal user application platform through a data transmission center; the data transmission center comprises a satellite system and a satellite system network management center and is used for navigating the unmanned ship according to the physical coordinates of each measuring point provided by the terminal user application platform and transmitting the measuring data to the terminal user application platform; and the terminal user application platform is used for determining the number of the measuring points and the physical coordinates of each measuring point according to the known width and length of the river channel, and providing early warning prompts for the unmanned ship through the data transmission module according to the measuring data acquired from the unmanned ship in real time and the measuring data obtained through analysis.
Description
Technical Field
The invention relates to the technical field of monitoring of riverway water quality and bottom mud, in particular to a coupled riverway water quality and bottom mud health monitoring system.
Background
With the implementation of river growth, long-term management of river channels is increasingly emphasized. River management not only needs to manage water quality, but also needs to ensure that the river has certain healthy bottom mud so as to form a good ecological system. If the river course bed mud is unhealthy, just can cause the secondary release of pollution, continuously destroy the river course and administer the result, simultaneously, because the river course has certain flood bank capacity, consequently remove the waterlogging angle from the city and need carry out the desilting with the volume of enlarging river course flood bank again to the bed mud.
Monitoring is an important means of river management. In the past, most of river water quality monitoring and sediment monitoring are manual sampling analysis, and manual sampling and management of 4 thousands of river channels are obviously beyond the reach of labor-intensive type. In the aspect of river channel dredging, at present, because of the lack of a relatively scientific dredging basis, a wheel dredging mode is generally adopted, namely, dredging is carried out once in 7-10 years.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a coupled riverway water quality and sediment health monitoring system, so as to achieve the purposes of meeting the early warning requirement of water quality health and knowing whether the riverway sediment is healthy or not and whether the sedimentation condition meets the dredging requirement or not in time.
In order to achieve the above object, the present invention provides a health monitoring system for coupling river water quality and sediment, which is characterized in that the system comprises:
the unmanned ship is provided with a river sediment siltation online monitoring device, a river water quality online monitoring module and a river water quality sampling device, real-time topographic data and partial water quality health index data are collected at a measuring point, and the measured data are transmitted to a terminal user application platform through a data transmission center;
the data transmission center comprises a satellite system and a satellite system network management center and is used for navigating the unmanned ship according to the physical coordinates of each measuring point provided by the terminal user application platform and transmitting the measuring data to the terminal user application platform;
and the terminal user application platform is used for determining the number of the measuring points and the physical coordinates of each measuring point according to the known width and length of the river channel, providing the physical coordinates to the unmanned ship through the data transmission module, and simultaneously carrying out early warning prompt according to the measuring data acquired from the unmanned ship in real time and the measuring data obtained by laboratory analysis of samples acquired by the unmanned ship.
Preferably, unmanned ship includes as control system's main control unit and connection main control unit unmanned ship sediment siltation on-line monitoring equipment, river course quality of water on-line monitoring module, river course quality of water sampling equipment, hull actuating system and data transmission module work as unmanned ship passes through data transmission module and triggers behind the set sampling point by satellite positioning main control unit sends the sampling action instruction, controls hull actuating system makes unmanned ship stops the sampling point prepares the sampling, and control river course sediment siltation on-line monitoring equipment and river course quality of water on-line monitoring module, river course quality of water sampling equipment carry out the action of sampling separately.
Preferably, the river sediment siltation on-line monitoring module adopts a depth finder, when the main controller controls the hull driving system to stop the unmanned ship at the sampling point, the main controller controls the depth finder to act so as to collect topographic data, and the collected topographic data is transmitted to the main controller and uploaded to the terminal user management center through the data transmission module, and is also stored in the tester.
Preferably, the online river water quality monitoring module comprises a transparency measuring instrument and an ammonia nitrogen measuring instrument, wherein a probe of the transparency measuring instrument is arranged in a hanging basket clamping seat at the bottom of the unmanned ship and is used for real-time measurement at a designated place under the control of the main controller; and the ammonia nitrogen determinator completes ammonia nitrogen index measurement on line under the control of the main controller.
Preferably, river course quality of water sampling equipment includes actuating system, sampling system and water sample storage system, actuating system includes a plurality of motors, by main control unit drives respectively sampling system and water sample storage system realize the water sample collection.
Preferably, the sampling system comprises a lifting rod, a sampling tube provided with a water level sensor, a peristaltic pump, a first valve and a second valve, and the main controller drives the lifting rod to descend by controlling a second motor of the driving system, so as to drive the sampling tube fixed on the lifting rod to descend; when a water level sensor on the sampling pipe detects a preset water level, the main controller closes the second motor, so that the lifting rod stops lifting, a third motor of the driving system is started, the first valve is opened at the same time, the third motor drives the peristaltic pump to be started, and the sampling pipe is prompted to collect water for rinsing through a suction principle; after the rinsing is finished, the main controller closes the first valve, opens the second valve, starts formal sampling action, and the water sample enters the water sample storage system through the sampling pipe, the peristaltic pump, the second valve and the water outlet pipe and is simultaneously supplied to the ammonia nitrogen determinator; when sampling is finished, the second motor is controlled to rotate reversely, the lifting rod is driven to ascend, the sampling pipe is driven to ascend to return to the position of the water surface, the second motor is controlled to stop rotating according to the acquisition signal of the water level sensor of the sampling pipe, the lifting rod stops ascending and descending, meanwhile, the reverse signal of the second motor is transmitted to the main controller, the main controller drives the ship body driving system, and the ship body starts to advance to the next sampling point.
Preferably, the water sample storage system is arranged in a thermostatic chamber and is of a disc type structure containing a plurality of grids, a weight sensor is arranged at the bottom of the water sample storage system, in the sampling process, the weight sensor at the bottom of the water storage disc of the water sample storage system transmits water sample weight information to the main controller in real time, and when the main controller detects that the water sample weight information changes to a set value, the sampling is determined to be finished, the second valve is closed first, the first valve is opened, and the fourth motor is controlled to be opened so as to drive the central rotating shaft of the disc type structure of the water sample storage system to rotate, so that the sampling grids rotate clockwise to the next position for next sampling and the fourth motor is closed.
Preferably, river course quality of water sampling equipment still includes pipeline cleaning system, pipeline cleaning system includes a clear water tank and third valve, the third valve is connected the clear water tank with between the peristaltic pump, work as main control unit detects the water level and changes to zero after, controls promptly the third valve is opened, clear water in the clear water tank then washs the pipeline through third valve, peristaltic pump and first valve, in the washing back that finishes, closes third valve and first valve close the third motor, thereby the peristaltic pump also stall.
Preferably, the terminal user application platform comprises a bottom database, a normal model layer and a measurement result decision layer, wherein the bottom database comprises an established long sequence database of the riverway water quality terrain, the normal model layer establishes a normal model through long sequence data analysis research of the riverway water quality terrain, and the measurement result decision layer compares the received measurement result with the normal model and gives an early warning according to the comparison result.
In order to achieve the above purpose, the invention also provides a coupled riverway water quality and sediment health monitoring method, which comprises the following steps:
step S1, the terminal user application platform determines the number of the measuring points and the physical coordinates of each measuring point according to the known width and length of the river channel, and provides the physical coordinates to the data transmission center;
step S2, the data transmission center transmits the number of the measuring points and the physical coordinates of the measuring points to a control system on the unmanned ship, carries out real-time navigation and positioning on the unmanned ship, and triggers the acquisition of water quality health indexes when positioning to a specified sampling point;
step S3, after the unmanned ship control system receives an instruction for triggering the control system, controlling a ship body driving system to stop the unmanned ship at the sampling point for sampling, and controlling the river sediment deposition online monitoring equipment, the river water quality online monitoring module and the river water quality sampling equipment to perform respective sampling actions;
and step S4, the terminal user application platform carries out early warning prompt according to the measurement data acquired from the unmanned ship in real time and the measurement data acquired by laboratory analysis of the unmanned ship acquired samples.
Compared with the prior art, the coupled riverway water quality and sediment health monitoring system has the following beneficial effects:
(1) the invention can obtain dual-series data of terrain and water quality by one-time measurement; can realize the health management of water quality and bottom mud at the same time.
(2) The invention adopts the mode of combining online analysis and laboratory analysis to measure the water quality health index, and more comprehensively reflects the water quality overall appearance of the river channel.
(3) The method measures the content change of heavy metal elements such as Cd, Hg and the like, can reflect the transportation and contribution of sediment pollution to water quality of a water body in time, does not pay attention to the change in the prior art, is a short plate for river channel management, and is a main reason for sediment pollution if the water quality has heavy metal pollution under the condition that other pollution sources are controlled, and is required to be desilted from the aspect of protecting the water quality health so as to ensure the consolidation of the river channel treatment effect.
(4) The invention takes the smell as a physical index for sampling and analyzing for the first time, and can objectively reflect the sensory representation of the health of the river channel.
(5) The invention couples the biotoxicity measurement to the measurement index for the first time, and can more effectively reflect the recovery condition of the river ecosystem than the physical and chemical indexes.
(6) The terminal user application platform can provide specific decisions on whether pollution exists in the river channel and whether sediment needs dredging from the health perspective and the flood discharge perspective through comparison of monitoring data and a normal model.
(7) The terminal user application platform of the invention creates a biological toxicity index database for the first time, and provides more valuable data support for long-term management of the river channel.
(8) The sampling pipe provided by the invention adopts a lifting mode, and does not enter water when not sampling, so that the sampling pipe can be prevented from being wound with aquatic plants, river sundries and the like to the maximum extent, and the safety and effectiveness of sampling are improved.
(9) The depth finder selects a double-frequency depth finder, is suitable for measuring the riverway deposited with silt, detects a hard real riverbed by using a lower working frequency and detects the silt surface by using a higher working frequency by using the reflection principle of sound waves, and can effectively detect the silting condition of the bottom silt of the riverway.
Drawings
FIG. 1 is a block diagram of a system of the present invention for monitoring the health of river water and sediment;
FIG. 2 is a schematic diagram of a main body device of a coupled riverway water quality and sediment health monitoring system and a topological structure thereof;
FIG. 3 is a structural and working schematic diagram of the river water sampling device of the present invention;
FIG. 4 is a flow chart illustrating the steps of a method for monitoring the health of the water quality and sediment in a river channel according to the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of the present invention
Detailed Description
Other advantages and capabilities of the present invention will be readily apparent to those skilled in the art from the present disclosure by describing the embodiments of the present invention with specific embodiments thereof in conjunction with the accompanying drawings. The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention.
Fig. 1 is a system module architecture diagram of a coupled riverway water quality and sediment health monitoring system of the invention. As shown in fig. 1, the invention provides a health monitoring system for coupling river water quality and sediment, comprising:
the unmanned ship 10 is provided with a river sediment siltation online monitoring device 101, a river water quality online monitoring module 102 and a river water quality sampling device 103, collects topographic data and part of water quality health index data at a measuring point in real time, and transmits the measured data to the end user application platform 20 through the data transmission center 30.
As shown in fig. 2, the unmanned ship 10 includes a main controller 100 as a control system, a river sediment siltation online monitoring device 101, a river water quality online monitoring module 102, a river water quality sampling device 103, a hull driving system 104, and a data transmission module 105.
In the embodiment of the present invention, the online river sediment accumulation monitoring module 101 is connected to the main controller 100 of the unmanned ship 10, and is configured to collect topographic data at a measurement point in real time under the control of the main controller 100, and in the online river sediment accumulation monitoring module 101, a depth finder is used to collect topographic data, such as physical dimensions of a riverbed, sludge accumulation data, and the like, and specifically, the depth finder is a dual-frequency depth finder suitable for measuring a river channel with deposited sludge, and detects a hard real riverbed with a low working frequency and a sludge surface with a high working frequency by using a reflection principle of sound waves, and can reflect physical dimensions of the riverbed and a sediment accumulation condition to realize real-time measurement of the topographic data, and specifically, the online river sediment accumulation monitoring module 101 mainly comprises a depth finder, a display module (i.e., a display screen), a data storage chip, and corresponding circuit connections (where the circuit refers to cable isoelectric line connections between the modules) In the embodiment of the present invention, the sampling depth can be preset according to the depth of the river channel, the depth of the river channel is not greater than 10 m, the sampling depth is preferably 20 cm, the depth of the river channel is greater than 10 m, the sampling depth can be 50 cm, the probe of the depth finder is always fixed at the underwater position, and the specific structure is as follows: a small light steel anti-corrosion hanging basket is fixedly installed at the bottom of an unmanned ship 10, the hanging basket is of a net structure on four sides, is of a net structure on the bottom, and is provided with a clamping seat for fixing a probe (the clamping seat has the greatest function of preventing the probe from drifting under the action of buoyancy of water to cause change of sampling depth, it should be noted that although the ship walks, XY coordinates of the ship and the probe change along with walking on a three-dimensional space, in order to ensure that a longitudinal depth coordinate, namely a Z coordinate does not change, the clamping seat is used for fixing, the probe is always fixed at an underwater position, namely the probe is fixed in the clamping seat at the bottom of the hanging basket, the depth is not changed, and the depth is also the sampling depth), preferably, the whole hanging basket can be divided into a plurality of areas independently so as to meet the placement requirements of various underwater working probes.
Specifically, after the unmanned ship 10 is positioned to a given sampling point by a satellite through the data transmission module 105, the main controller 100 is triggered to send a sampling action instruction, that is, after the unmanned ship 10 is accurately positioned to a certain sampling point, the main controller 100 sends an instruction to control the hull of the unmanned ship 10 not to walk any more, that is, the hull driving system 104 (i.e., the first motor 11) is controlled to be turned off, at this time, the hull of the unmanned ship 10 stops at the sampling point to prepare for sampling, then the main controller 100 controls the depth finder of the river sediment siltation online monitoring module 101 to start working, topographic data is collected, the collected data is displayed on the display screen and is stored in the data storage chip and is synchronously uploaded to the main controller 100, and when the hull leaves the sampling point, the main controller 100 sends a signal to stop the depth finder.
The river water quality on-line monitoring module 102 is connected with the main controller 100, and consists of an information acquisition module, a display module (namely, a display screen), a data storage chip and corresponding circuit connections, most of the structures of the river water quality on-line monitoring module 102 including a display part are on a ship, on-line monitoring of the river water quality on-line monitoring module 102 includes transparency and ammonia nitrogen on-line monitoring, wherein, transparency on-line monitoring adopts a transparency measuring instrument, as the transparency measuring instrument adopts an optical principle, response is fast, real-time measurement and real-time data acquisition can be realized, a probe of the transparency measuring instrument is fixed in an underwater position and is specifically a small hanging basket positioned at the bottom of the ship and is fixed through a clamping seat, the probe part of the transparency measuring instrument is controlled by the main controller 100 at the bottom of the ship to a set point to start working, detection data is converted through the, the data obtained in real time can be transmitted to the main controller and uploaded to the end user management center through the data transmission module, and is also stored in the transparency measuring instrument chip for the purpose of transmitting system faults, namely, when the hull of the unmanned ship 10 stops at a sampling point for sampling, the main controller 100 sends a control signal to control the transparency measuring instrument to start measuring, and when the hull leaves the sampling point, the main controller sends a signal to stop the transparency measuring instrument; the ammonia nitrogen on-line monitoring adopts an ammonia nitrogen tester, the ammonia nitrogen tester selects mature equipment of manufacturers, is of a box body structure, is placed on a ship, is internally provided with a display screen, a control system, electrodes, a reagent bottle, a pipeline, a peristaltic pump, a valve and the like, and is supplied to the box body for on-line monitoring of ammonia nitrogen by collecting a water sample by the automatic riverway water quality sampling equipment 103. When the second valve 17 of the automatic riverway water quality sampling equipment 103 is opened and the automatic sampling equipment 103 is used for formal sampling, the back of the second valve 17 is connected with the double-way pipe 27, part of the water outlet of the double-way pipe is connected to the water sample storage system 25, and the other part of the water outlet of the double-way pipe is connected to the ammonia nitrogen online monitoring sample introduction pipeline 28. When the second valve 17 of the automatic sampling device is opened, the signal is transmitted back to the main controller 100, the main controller 100 controls the sample introduction electric valve in the ammonia nitrogen determinator case to be opened, the water sample can enter a pipeline in the ammonia nitrogen determinator case (not shown in the figure) through the sample introduction pipeline 28 and enter the reaction bottle, when the volume of the water sample in the reaction bottle meets the monitoring requirement, the weight sensor at the bottom of the reaction bottle sends a signal to the main controller 100, the main controller 100 controls the sample introduction electric valve in the ammonia nitrogen determinator case to be closed and simultaneously sends a signal to the automatic control system of the ammonia nitrogen determinator, so that the complete online sample analysis action is completed, the analysis result can be displayed on the display screen, the data is simultaneously recorded in the data storage chip and synchronously uploaded to the main controller 100, the measurement is completed, and the ammonia nitrogen determinator performs emptying and emptying of the reaction bottle under the control of the automatic control system, Cleaning a pipeline and the like, then waiting for the sample injection electric valve to be opened again, and starting a new ammonia nitrogen sample on-line monitoring. The ammonia nitrogen determinator adopts an ammonia gas sensitive electrode method, reaction time is required, although real-time reaction cannot be achieved, response time is less than 3 minutes, online monitoring requirements can be met, it needs to be explained here that two online monitoring devices in the riverway water quality online monitoring module 102 module are both factory mature devices, and specific structures of the online monitoring devices are not repeated.
The automatic riverway water quality sampling equipment 103 is connected with the main controller 100 and used for collecting water samples at measuring points under the control of the main controller 100. In the embodiment of the invention, the water quality health indexes sampled by the unmanned ship 10 comprise three dimensions of physical, chemical and biological indexes (transparency and ammonia nitrogen index values are obtained on line by the river water quality on-line monitoring module 102, other index values comprise Cd and Hg and are obtained by analyzing samples collected by the river water quality sampling equipment 103 in a laboratory), the physical indexes comprise transparency and odor, the transparency index data can be obtained by collecting water samples in real time by a transparency measuring instrument of the river water quality on-line monitoring module 102, the odor index data is obtained by collecting water samples by the river water quality automatic sampling equipment 103 and then analyzing the samples in the laboratory, in the invention, the odor is firstly measured in the physical indexes, the odor is an important index influencing the health sense of the river, and the odor monitoring does not occur in the monitoring indexes of the river in the past, laboratory analysis of odor index is performed by adopting an instrument analysis method and a gas-mass combination technology; the chemical indexes comprise heavy metal elements such as ammonia nitrogen, Cd and Hg, the ammonia nitrogen index data are measured by an ammonia nitrogen tester of the online riverway water quality monitoring module 102 to obtain online data, the heavy metal element index data such as Cd and Hg are collected by a riverway water quality sampling device 103 and obtained by performing laboratory analysis on the samples, in the invention, the heavy metal elements such as Cd and Hg are monitored for the first time in the chemical indexes, and the indexes are factors with highest biological toxicity due to bottom sediment pollution and are main factors for preventing the bottom sediment pollution from releasing polluted water and causing repeated deterioration of the water quality; the biological indexes are selected for biological toxicity measurement, water samples are collected through the automatic riverway water quality sampling equipment 103, and the samples are obtained through laboratory analysis.
In the invention, the automatic riverway water quality sampling equipment 103 comprises a driving system, a sampling system and a water sample storage system, wherein the driving system mainly comprises a plurality of motors which are driven by a control system and are respectively used for driving the sampling system (a lifting rod and a peristaltic pump for driving the sampling system) and the water sample storage system (a turntable cylinder for driving and storing water samples), the sampling system comprises a lifting rod, a sampling pipe 14 provided with a water level sensor, a peristaltic pump 15, a first valve 16 and a second valve 17, the water sample storage system is arranged in a thermostatic chamber 18, the temperature in the thermostatic chamber 18 is controlled by a refrigerator 19, the control system refers to a main controller 100 of the unmanned ship, the core of the main controller is an intelligent chip, which is equivalent to the brain of the unmanned ship 10 and is in bidirectional connection with a satellite system 301, and the control system can drive each motor of the driving system and each electric valve of the sampling system, and controlling the thermostatic chamber to keep a constant temperature at a preset temperature (for example, 4 ℃), wherein in addition, the control system also receives data from the river sediment online monitoring module and the river water quality online monitoring module, and triggers the transparency, the ammonia nitrogen online monitoring and the automatic water sample collection of the river water quality automatic sampling equipment 103, all the data are transmitted to the end user application platform 20 by the data transmission center 30, and similarly, the instruction of the end user application platform can also be transmitted to the control system of the unmanned ship by the data transmission center 30. For sampling, specifically, referring to fig. 3, after a satellite is positioned to a given sampling point, a control system is triggered to send a sampling action instruction, that is, after a certain sampling point is accurately positioned, a main controller of the control system instructs a ship body not to walk any more, a first motor 11 of a ship body driving system is controlled to be turned off, the ship body of an unmanned ship stops at the sampling point, a river sediment deposition on-line monitor and a river water transparency on-line monitor receive a main controller 100 instruction to start information acquisition, and real-time sediment deposition and water transparency data are obtained. The ammonia nitrogen online instrument also receives an instruction of the main controller 100 to start working, receives a water sample collected by the automatic riverway water quality sampling equipment 103, and completes online ammonia nitrogen monitoring in the box body. Because of the limitation of the working principle, a certain time interval is needed from sampling to obtaining the ammonia nitrogen value, the invention carries an ammonia nitrogen online instrument, a control system is triggered to send a water sample collecting instruction after the satellite is positioned to a set sampling point, a water sample of the riverway water quality automatic sampling device 103 enters a pipeline in a box body of an ammonia nitrogen determinator and enters a reaction bottle for ammonia nitrogen online monitoring, the measured ammonia nitrogen data is transmitted to a main controller 100 of the control system, and simultaneously the data is synchronously backed up in a chip of the ammonia nitrogen online instrument and can be read on a display screen of the ammonia nitrogen online monitoring instrument. In the invention, the automatic sampling of the unmanned ship river water quality sampling equipment 103 comprises the following actions, wherein one of the actions is the positioning of a sampling pipe orifice. The main controller 100 controls the second motor 12 to rotate forward, the lifting rod descends to drive the sampling pipe fixed on the lifting rod to descend, and the sampling pipe extends underwater to ensure that the pipe orifice is positioned at a specified depth (20-50 cm); the second sampling action is rinsing, when a water level sensor on the sampling pipe detects a preset water level, a signal is transmitted to the main controller 100, the main controller 100 turns off the second motor 12, the lifting rod stops, the third motor 13 is started, the first valve 16 is opened, the third motor 13 drives the peristaltic pump 15 to be opened, the rotor of the peristaltic pump 15 rotates, the sampling pipe 14 is driven by the pumping principle to begin to collect water for rinsing, the first valve 16 is closed, and the second valve 17 is opened; and the third sampling action is formal sampling, namely after the rinsing is finished, the formal sampling action is started, and the water sample enters the water sample storage system 25 and the ammonia nitrogen online monitoring sample inlet pipe 28 through the sampling pipe 14, the peristaltic pump 15, the second valve 17, the water outlet pipe 21 and the two-way pipe 27. In the invention, the water sample storage system is 16 grids, each grid is of a disc type structure with 500 ml, and the bottom is provided with a weight sensor; the fourth sampling action is to finish sampling, the weight sensor at the bottom of the water storage disc of the water sample storage system transmits the water sample weight information to the main controller 100 in real time, the main controller 100 detects that the water sample weight information changes to a set value, namely the sampling is finished, the second valve 17 is closed first, the first valve 16 is opened, the fourth motor 22 is controlled to be opened, the central rotating shaft of the water sample storage system is driven to rotate, the sampling grid is driven to rotate clockwise to the next position for next sampling, then the fourth motor 22 is closed, the main controller 100 controls the second motor 12 to rotate reversely after the sampling is finished, the lifting rod rises to drive the sampling pipe to rise to the water surface position, when the water level sensor on the sampling pipe detects that the water level changes to zero, the signal is transmitted to the main controller 100, the main controller 100 controls the second motor 12 to stop rotating, the lifting rod stops, the reverse signal of the second motor 12 is simultaneously transmitted to the main, the main controller 100 starts the hull walking motion, i.e. controls the first motor 11 to be turned on, and the hull starts to travel to the next sampling point.
Preferably, the river water sampling device 103 of the present invention further includes a pipeline cleaning system, the pipeline cleaning system includes a clean water tank 23 and a third valve 24, the third valve 24 is connected between the clean water tank 23 and the peristaltic pump 15, five sampling operations are performed after each sampling operation, the pipeline cleaning system uses clean water to clean the pipeline, specifically, when the main controller 100 detects that the water level changes to zero, the third valve 24 is controlled to open, and the clean water in the clean water tank 23 cleans the pipeline through the third valve 24, the peristaltic pump 15 and the first valve 16. After the cleaning is completed, the third valve 24 and the first valve 16 are closed, the third motor 13 is turned off, and the peristaltic pump 15 is stopped. Cleaning ensures that the previous sample does not interfere with the next sample and the rinse and clean drains are both discharged through the discharge line 26 to the river.
The data transmission center 30 is composed of a satellite system 301 and a satellite system network management center 302, and is used for navigating the unmanned ship 10 according to the physical coordinates of each measurement point provided by the end user application platform and transmitting the measurement data to the end user application platform 20. In the embodiment of the present invention, the data transmission center 30 implements navigation by satellite positioning, and the measurement data is transmitted by a satellite system in a point-to-point bidirectional data transmission manner. Specifically, the data packet on the unmanned ship is sent to the satellite system through encoding, sent to the satellite system network management center by the satellite system, processed by the network management center ground central station, then sent back to the satellite system, and finally sent to the terminal user application platform 20 by the satellite system. The measured data and the physical coordinates of the measuring points are bound one to one, the measuring points are positioned through a satellite, the number of the measuring points is determined according to the quantity of the river channel, specifically, according to the width and the length of the river channel, sampling points are determined before sampling, namely, the end user application platform 20 determines the number of the measuring points and the physical coordinates of each measuring point in advance according to the known width and the known length of the river channel, the sampling points are provided for the data transmission center 30, the data are transmitted to a control system on the unmanned ship 10 through the data transmission center 30, the satellite performs real-time navigation positioning, and when the satellite positions a specified sampling point, water quality health index collection and measurement are triggered.
And the end user application platform 20 is configured to determine the number of the measurement points and the physical coordinates of each measurement point according to the known width and length of the river channel, and provide the determined number of the measurement points and the physical coordinates of each measurement point to the control system of the unmanned ship through the data transmission module so as to facilitate satellite navigation and positioning of the unmanned ship, and meanwhile, the end user application platform 20 performs early warning and prompting according to the measurement data acquired from the unmanned ship 10 in real time and the measurement data obtained through laboratory analysis. In the present invention, the end user application platform 20 is composed of a bottom database, a normal model layer and a measurement result decision layer, wherein the bottom database is an established long sequence database of the water quality and topography of the river channel, and the long sequence database comprises the existing historical topography, sediment deposition and dredging data, long-term data of the water quality of the monitored river channel, and the acquired and measured data of the topography, the water quality, the biological toxicity, the odor and the like; in the specific embodiment of the invention, the normal model layer forms a mean value and a normal fluctuation range by long-sequence water quality data and a trend chart by long-sequence topographic data, and forms a reference early warning value by dredging data all the year round; the normal fluctuation range is not beyond five water quality standards, if no surface water quality standard exists, biotoxicity, odor and the like, the normal fluctuation range is that no black odor occurs, the measurement result decision layer compares the newly received measurement result with a normal model, when the water quality fluctuation is judged to exceed the upper limit of the normal fluctuation range of the normal model layer, the early warning is taken, and when the sediment accumulation in the topographic survey data exceeds a preset value, the river channel needs to be desilted. When early warning occurs, the river water quality pollution risk is determined by sampling to a positioning place again manually and assisting in decision.
FIG. 4 is a flow chart of the steps of the method for monitoring the health of the water quality and sediment of the river. As shown in fig. 4, the method for monitoring the health of the river water and the sediment comprises the following steps:
and step S1, the end user application platform determines the number of the measuring points and the physical coordinates of each measuring point according to the known width and length of the river channel, and provides the physical coordinates to the data transmission center. That is, the end user application platform determines the number of measurement points and the physical coordinates of each measurement point in advance according to the known width and length of the river channel, and then provides the determined number of measurement points and physical coordinates of each measurement point to the data transmission center.
And step S2, the data transmission center transmits the number of the measuring points and the physical coordinates of the measuring points to a control system on the unmanned ship, carries out real-time navigation and positioning on the unmanned ship, and triggers water quality health index acquisition when a specified sampling point is positioned. The data transmission center carries out real-time navigation and positioning through the satellite, and when the satellite is positioned to a specified sampling point, the acquisition and measurement of the water quality health index are triggered.
Step S3, after the unmanned ship control system receives an instruction for triggering the control system, controlling a ship body driving system to stop the unmanned ship at the sampling point for sampling, and controlling the river sediment deposition online monitoring equipment, the river water quality online monitoring module and the river water quality sampling equipment to perform respective sampling actions;
and step S4, the terminal user application platform carries out early warning prompt according to the measurement data acquired from the unmanned ship in real time and the measurement data acquired by laboratory analysis of the unmanned ship acquired samples. In the invention, a terminal user application platform consists of a bottom database, a normal model layer and a measurement result decision layer, wherein the bottom database is an established long sequence database of the water quality and terrain of a monitored river, and the long sequence database comprises the existing historical terrain, sediment deposition and dredging data, water quality long-term data of the monitored river and data of the acquired and measured terrain, water quality, biotoxicity, odor and the like; in the specific embodiment of the invention, the normal model layer forms a mean value and a normal fluctuation range by long-sequence water quality data and a trend chart by long-sequence topographic data, and forms a reference early warning value by dredging data all the year round; the normal fluctuation range is not beyond five water quality standards, if no surface water quality standard exists, biotoxicity, odor and the like, the normal fluctuation range is that no black odor occurs, the measurement result decision layer compares the newly received measurement result with a normal model, when the water quality fluctuation is judged to exceed the upper limit of the normal fluctuation range of the normal model layer, the early warning is taken, and when the sediment accumulation in the topographic survey data exceeds a preset value, the river channel needs to be desilted. When early warning occurs, the river water quality pollution risk is determined by sampling to a positioning place again manually and assisting in decision.
Examples
As shown in fig. 5, in this embodiment, a river water quality and bottom sediment health monitoring system includes an unmanned ship hull 1, a depth finder 2, an online transparency determinator 3, an online ammonia nitrogen determinator 4, an automatic sampling device 5, an analysis testing laboratory 6, a data transmission and satellite positioning system 7, and an end user application platform 8. Wherein the depth finder 2, the transparency sensor 3, the ammonia nitrogen sensor 4 and the automatic sampling equipment 5 are carried by the unmanned ship 1, measuring points are positioned by a satellite, measuring points are determined according to the river channel body volume, and topographic data, transparency and ammonia nitrogen online data collected by the depth finder 2, the transparency sensor 3 and the ammonia nitrogen sensor 4 are transmitted back to the terminal user application platform 8 through the data transmission system. The automatic sampling equipment 5 is carried by an unmanned ship, the sampled samples are analyzed for odor, Cd, Hg and biotoxicity through an analysis testing laboratory 6, the data obtained by analysis are transmitted to an end user application platform 8 through a transmission system, the end user application platform 8 analyzes the obtained data, the sludge deposition data obtained by topographic data measurement exceeds a normal range, namely, a desilting decision is put forward from the river flood discharge angle, Cd and Hg in chemical indexes exceed the standard, namely, the river sediment pollution is reversely pushed from the river health management angle, the decision to be desilted is put forward, and otherwise, the river does not need desilting. The end user application platform 8 is composed of a bottom database, a normal mode layer and a measurement result decision layer. The normal model layer forms a mean value and a normal fluctuation range by long-sequence water quality data, and long-sequence topographic data form a trend chart, and dredging data over the years form a reference early warning value. The platform 8 compares the newly received measurement result with a normal model, and if the water quality fluctuation exceeds the range, the platform is regarded as early warning, and the platform manually arrives at a positioning place again to sample and assist in deciding whether the river water quality pollution risk exists; and if the deposition in the topographic survey data exceeds a certain value, the river channel is determined to need dredging, and the Cd and Hg in the water quality measurement chemical indexes exceed standards, namely the pollution of the sediment of the river channel is reversely deduced from the perspective of river channel health management, so that a decision to be carried out on dredging is provided.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Therefore, the scope of the invention should be determined from the following claims.
Claims (10)
1. A coupling riverway water quality and sediment health monitoring system, which is characterized in that the system comprises:
the unmanned ship is provided with a river sediment siltation online monitoring device, a river water quality online monitoring module and a river water quality sampling device, real-time topographic data and partial water quality health index data are collected at a measuring point, and the measured data are transmitted to a terminal user application platform through a data transmission center;
the data transmission center comprises a satellite system and a satellite system network management center and is used for navigating the unmanned ship according to the physical coordinates of each measuring point provided by the terminal user application platform and transmitting the measuring data to the terminal user application platform;
and the terminal user application platform is used for determining the number of the measuring points and the physical coordinates of the measuring points according to the known width and length of the river channel, providing the physical coordinates to the unmanned ship through the data transmission center, and simultaneously carrying out early warning prompt according to the measuring data acquired from the unmanned ship in real time and the measuring data obtained by laboratory analysis of samples acquired by the unmanned ship.
2. The coupled riverway water quality and sediment health monitoring system of claim 1, wherein: unmanned ship includes as control system's main control unit and connection main control unit unmanned ship sediment siltation on-line monitoring equipment, river course quality of water on-line monitoring module, river course quality of water sampling equipment, hull actuating system and data transmission module work as unmanned ship passes through data transmission module and triggers behind the set sampling point by satellite positioning main control unit sends the sampling action instruction, controls hull actuating system makes unmanned ship stops the sampling point prepares the sampling, and control river course sediment siltation on-line monitoring equipment and river course quality of water on-line monitoring module, river course quality of water sampling equipment carry out the action of sampling separately.
3. The coupled riverway water quality and sediment health monitoring system of claim 2, wherein: the river sediment siltation on-line monitoring module adopts a depth finder, when the main controller controls the ship body driving system to stop the unmanned ship at the sampling point, the main controller controls the depth finder to act so as to collect topographic data, and the collected topographic data is transmitted to the main controller and uploaded to the terminal user management center through the data transmission module and is also stored in the tester.
4. The coupled riverway water quality and sediment health monitoring system of claim 2, wherein: the river water quality online monitoring module comprises a transparency measuring instrument and an ammonia nitrogen measuring instrument, wherein a probe of the transparency measuring instrument is arranged in a hanging basket clamping seat at the bottom of the unmanned ship and is used for real-time measurement at a designated place under the control of the main controller; and the ammonia nitrogen determinator completes ammonia nitrogen index measurement on line under the control of the main controller.
5. The coupled riverway water quality and sediment health monitoring system of claim 2, wherein: river course quality of water sampling equipment includes actuating system, sampling system and water sample storage system, actuating system includes a plurality of motors, by main control unit drives respectively sampling system and water sample storage system realize the water sample collection.
6. The coupled riverway water quality and sediment health monitoring system of claim 5, wherein: the sampling system comprises a lifting rod, a sampling pipe provided with a water level sensor, a peristaltic pump, a first valve and a second valve, and the main controller drives the lifting rod to descend by controlling a second motor of the driving system so as to drive the sampling pipe fixed on the lifting rod to descend; when a water level sensor on the sampling pipe detects a preset water level, the main controller closes the second motor, so that the lifting rod stops lifting, a third motor of the driving system is started, the first valve is opened at the same time, the third motor drives the peristaltic pump to be started, and the sampling pipe is prompted to collect water for rinsing through a suction principle; after the rinsing is finished, the main controller closes the first valve, opens the second valve, starts formal sampling action, and the water sample enters the water sample storage system through the sampling pipe, the peristaltic pump, the second valve and the water outlet pipe and is simultaneously supplied to the ammonia nitrogen determinator; when sampling is finished, the second motor is controlled to rotate reversely, the lifting rod is driven to ascend, the sampling pipe is driven to ascend to return to the position of the water surface, the second motor is controlled to stop rotating according to the acquisition signal of the water level sensor of the sampling pipe, the lifting rod stops ascending and descending, meanwhile, the reverse signal of the second motor is transmitted to the main controller, the main controller drives the ship body driving system, and the ship body starts to advance to the next sampling point.
7. The coupled riverway water quality and sediment health monitoring system of claim 6, wherein: the water sample storage system is arranged in a thermostatic chamber and is of a disc type structure containing a plurality of grids, a weight sensor is arranged at the bottom of the water sample storage system, in the sampling process, the weight sensor at the bottom of the water storage disc of the water sample storage system transmits water sample weight information to the main controller in real time, when the main controller detects that the water sample weight information changes to a set value, the sampling is determined to be finished, the second valve is closed first, the first valve is opened, and the fourth motor is controlled to be opened so as to drive the central rotating shaft of the disc type structure of the water sample storage system to rotate, so that the sampling grids rotate clockwise to the next position to prepare for next sampling, and the fourth motor is closed.
8. The coupled riverway water quality and sediment health monitoring system of claim 7, wherein: river course quality of water sampling equipment still includes pipeline cleaning system, pipeline cleaning system includes a clear water tank and third valve, the third valve is connected the clear water tank with between the peristaltic pump, work as main control unit detects the water level and changes to zero after, controls promptly the third valve is opened, clear water in the clear water tank then washs the pipeline through third valve, peristaltic pump and first valve, in the washing back that finishes, closes third valve and first valve close the third motor, thereby the peristaltic pump also stall.
9. The coupled riverway water quality and sediment health monitoring system of claim 6, wherein: the terminal user application platform comprises a bottom layer database, a normal model layer and a measurement result decision layer, wherein the bottom layer database comprises an established long sequence database of the riverway water quality terrain, the normal model layer establishes a normal model through long sequence data analysis research of the riverway water quality terrain, the measurement result decision layer compares the received measurement result with the normal model, and early warning is carried out according to the comparison result.
10. A coupling riverway water quality and sediment health monitoring method comprises the following steps:
step S1, the terminal user application platform determines the number of the measuring points and the physical coordinates of each measuring point according to the known width and length of the river channel, and provides the physical coordinates to the data transmission center;
step S2, the data transmission center transmits the number of the measuring points and the physical coordinates of the measuring points to a control system on the unmanned ship, carries out real-time navigation and positioning on the unmanned ship, and triggers the acquisition of water quality health indexes when positioning to a specified sampling point;
step S3, after the unmanned ship control system receives an instruction for triggering the control system, controlling a ship body driving system to stop the unmanned ship at the sampling point for sampling, and controlling the river sediment deposition online monitoring equipment, the river water quality online monitoring module and the river water quality sampling equipment to perform respective sampling actions;
and step S4, the terminal user application platform carries out early warning prompt according to the measurement data acquired from the unmanned ship in real time and the measurement data acquired by laboratory analysis of the unmanned ship acquired samples.
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