CN112484781A - Bus type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle - Google Patents
Bus type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 54
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- ZAMOUSCENKQFHK-UHFFFAOYSA-N Chlorine atom Chemical compound [Cl] ZAMOUSCENKQFHK-UHFFFAOYSA-N 0.000 claims abstract description 17
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 claims abstract description 17
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 17
- 239000000460 chlorine Substances 0.000 claims abstract description 17
- 229910052801 chlorine Inorganic materials 0.000 claims abstract description 17
- 239000001301 oxygen Substances 0.000 claims abstract description 17
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 17
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 20
- 238000000605 extraction Methods 0.000 claims description 8
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- 230000004048 modification Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000002955 isolation Methods 0.000 description 1
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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- H04L12/00—Data switching networks
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- H04L12/40—Bus networks
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- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40221—Profibus
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Abstract
The invention relates to a lake water quality monitoring technology, in particular to a bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle. The invention solves the problem that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium. A bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part; the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to fourth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera. The invention is suitable for monitoring the lake water quality.
Description
Technical Field
The invention relates to a lake water quality monitoring technology, in particular to a bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle.
Background
The monitoring of the lake water quality is an indispensable component in the evaluation of the lake health and the control of the lake pollution. At present, the monitoring of the lake water quality is mainly realized by depending on a lake water quality monitoring system. Under the prior art, the lake water quality monitoring system is limited by the structure thereof, and generally lacks a reasonable network topology structure and a quick and efficient transmission medium, so that the problems of unstable data transmission and poor data transmission real-time performance are generally caused, and the high efficiency and the reliability of the monitoring process are directly influenced. Based on the above, a bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle is needed to be invented, so that the problem that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium is solved.
Disclosure of Invention
The invention provides a bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle, aiming at solving the problems that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium.
The invention is realized by adopting the following technical scheme:
a bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part;
the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to fourth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera; the second sensor array comprises a second conductivity sensor, a second PH value sensor, a second turbidity sensor, a second ammonia nitrogen sensor, a second ORP sensor, a second dissolved oxygen sensor, a second residual chlorine sensor, a second COD sensor, a second water temperature sensor and a second waterproof camera;
the relay terminal part comprises an unmanned underwater vehicle, a first very low frequency receiver, a second very low frequency receiver, a programmable amplifier, an unmanned ship, a sigma-delta analog-to-digital converter, a first very high frequency transmitter, a second very high frequency transmitter, a multi-rotor unmanned aerial vehicle, a first very high frequency receiver, a second very high frequency receiver, a digital extraction filter, a data isolator, a flight control module, a first disk array, a first medium frequency transmitter and a second medium frequency transmitter;
the convergence terminal part comprises a first intermediate frequency receiver, a second intermediate frequency receiver, a storage server, a second disk array and a PC;
the transmission medium part comprises a first RS485 bus, a second RS485 bus, a first CAN bus, a second CAN bus, a first wireless universal serial bus, a coaxial cable, an umbilical cable, a second wireless universal serial bus, a first PROFIBUS bus, a third wireless universal serial bus and a second PROFIBUS bus;
the underwater crawler type sensor comprises a first sensor array, a second sensor array, a first signal conditioner, a second signal conditioner, a third signal conditioner, a fourth signal conditioner, a first very low frequency transmitter, a second very low frequency transmitter, a third very low frequency transmitter, a fourth very low frequency transmitter and a fourth very low frequency transmitter, wherein the first sensor array, the second sensor array, the first signal conditioner, the; the first very low frequency receiver, the second very low frequency receiver and the programmable amplifier are all arranged on the unmanned underwater vehicle; the sigma-delta analog-to-digital converter, the first very high frequency transmitter and the second very high frequency transmitter are all arranged on the unmanned ship; the first very high frequency receiver, the second very high frequency receiver, the digital extraction filter, the data isolator, the flight control module, the first disk array, the first intermediate frequency transmitter and the second intermediate frequency transmitter are all arranged on the multi-rotor unmanned aerial vehicle;
the first sensor array, the first signal conditioner and the second signal conditioner are all connected with the first RS485 bus, and the first sensor array, the first signal conditioner, the second signal conditioner and the first RS485 bus form a bus type topological structure together; the first signal conditioner, the second signal conditioner, the first very low frequency transmitter and the second very low frequency transmitter are all connected with the first CAN bus, and the first signal conditioner, the second signal conditioner, the first very low frequency transmitter, the second very low frequency transmitter and the first CAN bus form a bus type topological structure together; the second sensor array, the third signal conditioner and the fourth signal conditioner are all connected with a second RS485 bus, and the second sensor array, the third signal conditioner, the fourth signal conditioner and the second RS485 bus form a bus type topological structure together; the third signal conditioner, the fourth signal conditioner, the third very low frequency transmitter and the fourth very low frequency transmitter are all connected with the second CAN bus, and the third signal conditioner, the fourth signal conditioner, the third very low frequency transmitter, the fourth very low frequency transmitter and the second CAN bus form a bus type topological structure together;
the first to fourth very low frequency transmitters, the first very low frequency receiver and the second very low frequency receiver are all in wireless connection with the first wireless universal serial bus, and the first to fourth very low frequency transmitters, the first very low frequency receiver, the second very low frequency receiver and the first wireless universal serial bus form a bus type topological structure together; the first very low frequency receiver and the second very low frequency receiver are both connected with the programmable amplifier through coaxial cables; the programmable amplifier is connected with the sigma-delta analog-to-digital converter through an umbilical cable; the sigma-delta analog-to-digital converter is respectively connected with the first very high frequency transmitter and the second very high frequency transmitter through coaxial cables; the first very high frequency transmitter, the second very high frequency transmitter, the first very high frequency receiver and the second very high frequency receiver are all in wireless connection with the second wireless universal serial bus, and the first very high frequency transmitter, the second very high frequency transmitter, the first very high frequency receiver, the second very high frequency receiver and the second wireless universal serial bus form a bus type topological structure together; the first very high frequency receiver and the second very high frequency receiver are both connected with the digital decimation filter through coaxial cables; the digital decimation filter is connected with the data isolator through a coaxial cable; the data isolator is connected with the flight control module through a coaxial cable;
the flight control module is connected with the first disk array through a coaxial cable; the flight control module, the first intermediate frequency transmitter and the second intermediate frequency transmitter are all connected with a first PROFIBUS bus, and the flight control module, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the first PROFIBUS bus form a bus type topological structure together; the first intermediate frequency transmitter, the second intermediate frequency transmitter, the first intermediate frequency receiver and the second intermediate frequency receiver are all in wireless connection with a third wireless universal serial bus, and the first intermediate frequency transmitter, the second intermediate frequency transmitter, the first intermediate frequency receiver, the second intermediate frequency receiver and the third wireless universal serial bus form a bus type topological structure together; the first intermediate frequency receiver, the second intermediate frequency receiver, the storage server, the second disk array and the PC are all connected with the second PROFIBUS bus, and the first intermediate frequency receiver, the second intermediate frequency receiver, the storage server, the second disk array, the PC and the second PROFIBUS bus form a bus type topological structure together.
When the underwater crawler is in work, the underwater crawler is seated on the lake bed. The unmanned underwater vehicle is suspended in lake water. The unmanned ship floats on the lake surface. Many rotor unmanned aerial vehicle hover in the sky above the lake. The convergence terminal part is installed in a lake management center. The specific working process is as follows: the first conductivity sensor (the second conductivity sensor) collects conductivity data of lake water in real time and sends the conductivity data to the first RS485 bus (the second RS485 bus) in real time. The first PH value sensor (the second PH value sensor) collects PH value data of lake water in real time and sends the PH value data to the first RS485 bus (the second RS485 bus) in real time. The first turbidity sensor (the second turbidity sensor) collects the turbidity data of lake water in real time and sends the turbidity data to the first RS485 bus (the second RS485 bus) in real time. The first ammonia nitrogen sensor (the second ammonia nitrogen sensor) collects ammonia nitrogen data of lake water in real time and sends the ammonia nitrogen data to the first RS485 bus (the second RS485 bus) in real time. The first ORP sensor (second ORP sensor) collects ORP data of lake water in real time and sends the ORP data to the first RS485 bus (second RS485 bus) in real time. The first dissolved oxygen sensor (the second dissolved oxygen sensor) collects the dissolved oxygen data of the lake water in real time and sends the dissolved oxygen data to the first RS485 bus (the second RS485 bus) in real time. The first residual chlorine sensor (the second residual chlorine sensor) collects residual chlorine data of lake water in real time and sends the residual chlorine data to the first RS485 bus (the second RS485 bus) in real time. The first COD sensor (the second COD sensor) collects COD data of lake water in real time and sends the COD data to the first RS485 bus (the second RS485 bus) in real time. The first water temperature sensor (the second water temperature sensor) collects water temperature data of lake water in real time and sends the water temperature data to the first RS485 bus (the second RS485 bus) in real time. The first waterproof camera (the second waterproof camera) collects image data of lake water in real time and sends the image data to the first RS485 bus (the second RS485 bus) in real time. The first signal conditioner firstly accesses the first RS485 bus in real time and obtains various data, then conditions the various data, and then sends the various data to the first CAN bus in real time (if the first signal conditioner breaks down, the second signal conditioner firstly accesses the first RS485 bus in real time and obtains various data, then conditions the various data, and then sends the various data to the first CAN bus in real time). The third signal conditioner firstly accesses the second RS485 bus in real time and obtains various data, then conditions the various data, and then sends the various data to the second CAN bus in real time (if the third signal conditioner breaks down, the fourth signal conditioner firstly accesses the second RS485 bus in real time and obtains various data, then conditions the various data, and then sends the various data to the second CAN bus in real time). The first very low frequency transmitter accesses the first CAN bus in real time and acquires various data, and then transmits the various data to the first wireless universal serial bus in real time (if the first very low frequency transmitter fails, the second very low frequency transmitter accesses the first CAN bus in real time and acquires various data, and then transmits the various data to the first wireless universal serial bus in real time). The third very low frequency transmitter accesses the second CAN bus in real time and acquires various data, and then transmits the various data to the first wireless universal serial bus in real time (if the third very low frequency transmitter fails, the fourth very low frequency transmitter accesses the second CAN bus in real time and acquires various data, and then transmits the various data to the first wireless universal serial bus in real time). The first very low frequency receiver accesses the first wireless universal serial bus in real time and obtains various data, and then sends the various data to the programmable amplifier in real time through the coaxial cable (if the first very low frequency receiver fails, the second very low frequency receiver accesses the first wireless universal serial bus in real time and obtains various data, and then sends the various data to the programmable amplifier in real time through the coaxial cable). The programmable amplifier amplifies various data and then sends the various data to the sigma-delta analog-to-digital converter in real time through the umbilical cable. The sigma-delta analog-to-digital converter performs analog-to-digital conversion on various data, and then transmits the various data to the first very high frequency transmitter in real time through the coaxial cable, and the first very high frequency transmitter transmits the various data to the second wireless universal serial bus in real time (if the first very high frequency transmitter fails, the sigma-delta analog-to-digital converter transmits the various data to the second very high frequency transmitter in real time through the coaxial cable, and the second very high frequency transmitter transmits the various data to the second wireless universal serial bus in real time). The first very high frequency receiver accesses the second wireless universal serial bus in real time and obtains various data, and then sends the various data to the digital extraction filter in real time through the coaxial cable (if the first very high frequency receiver breaks down, the second very high frequency receiver accesses the second wireless universal serial bus in real time and obtains various data, and then sends the various data to the digital extraction filter in real time through the coaxial cable). The digital decimation filter performs decimation filtering on various data, and then sends the various data to the data isolator in real time through the coaxial cable. The data isolator is used for carrying out data isolation on each item of data, and then sending each item of data to the flight control module in real time through the coaxial cable. The flight control module sends various data to the first disk array for backup in real time through the coaxial cable on one hand, and sends various data to the first PROFIBUS bus on the other hand. The first intermediate frequency transmitter accesses the first PROFIBUS bus in real time and acquires various data, and then transmits the various data to the third wireless universal serial bus in real time (if the first intermediate frequency transmitter fails, the second intermediate frequency transmitter accesses the first PROFIBUS bus in real time and acquires various data, and then transmits the various data to the third wireless universal serial bus in real time). The first intermediate frequency receiver accesses the third wireless universal serial bus in real time and obtains various data, and then sends the various data to the second PROFIBUS bus in real time (if the first intermediate frequency receiver fails, the second intermediate frequency receiver accesses the third wireless universal serial bus in real time and obtains the various data, and then sends the various data to the second PROFIBUS bus in real time). The storage server accesses the second PROFIBUS bus in real time and acquires various data, and then stores the various data in real time. The second disk array accesses the second PROFIBUS bus in real time and acquires various data, and then the various data are backed up in real time. The PC machine accesses the second PROFIBUS bus in real time and acquires various data, and then displays the various data in real time.
Based on the process, compared with the existing lake water quality monitoring system, the bus type lake water quality monitoring system based on the multi-rotor unmanned aerial vehicle has the following advantages by adopting a brand new structure: firstly, the invention adopts a series of bus type topological structures, and has reasonable network topological structure by utilizing the advantages of simple bus type topological structure, less required transmission media, no central node, no failure of any node to cause paralysis of the whole network, high reliability and easy expansion, thereby ensuring more stable data transmission and stronger real-time data transmission and effectively ensuring the high efficiency and reliability of the monitoring process. Secondly, the coaxial cable is used as a transmission medium, and the coaxial cable has the advantages of high shielding property, long transmission distance, high bandwidth and good noise suppression property, and has the advantages of rapidness and high efficiency, so that the data transmission is more stable, the real-time property of the data transmission is stronger, and the high efficiency and the reliability of the monitoring process are further effectively ensured.
The lake water quality monitoring system is reasonable in structure and ingenious in design, effectively solves the problem that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium, and is suitable for lake water quality monitoring.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
A bus type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part;
the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to fourth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera; the second sensor array comprises a second conductivity sensor, a second PH value sensor, a second turbidity sensor, a second ammonia nitrogen sensor, a second ORP sensor, a second dissolved oxygen sensor, a second residual chlorine sensor, a second COD sensor, a second water temperature sensor and a second waterproof camera;
the relay terminal part comprises an unmanned underwater vehicle, a first very low frequency receiver, a second very low frequency receiver, a programmable amplifier, an unmanned ship, a sigma-delta analog-to-digital converter, a first very high frequency transmitter, a second very high frequency transmitter, a multi-rotor unmanned aerial vehicle, a first very high frequency receiver, a second very high frequency receiver, a digital extraction filter, a data isolator, a flight control module, a first disk array, a first medium frequency transmitter and a second medium frequency transmitter;
the convergence terminal part comprises a first intermediate frequency receiver, a second intermediate frequency receiver, a storage server, a second disk array and a PC;
the transmission medium part comprises a first RS485 bus, a second RS485 bus, a first CAN bus, a second CAN bus, a first wireless universal serial bus, a coaxial cable, an umbilical cable, a second wireless universal serial bus, a first PROFIBUS bus, a third wireless universal serial bus and a second PROFIBUS bus;
the underwater crawler type sensor comprises a first sensor array, a second sensor array, a first signal conditioner, a second signal conditioner, a third signal conditioner, a fourth signal conditioner, a first very low frequency transmitter, a second very low frequency transmitter, a third very low frequency transmitter, a fourth very low frequency transmitter and a fourth very low frequency transmitter, wherein the first sensor array, the second sensor array, the first signal conditioner, the; the first very low frequency receiver, the second very low frequency receiver and the programmable amplifier are all arranged on the unmanned underwater vehicle; the sigma-delta analog-to-digital converter, the first very high frequency transmitter and the second very high frequency transmitter are all arranged on the unmanned ship; the first very high frequency receiver, the second very high frequency receiver, the digital extraction filter, the data isolator, the flight control module, the first disk array, the first intermediate frequency transmitter and the second intermediate frequency transmitter are all arranged on the multi-rotor unmanned aerial vehicle;
the first sensor array, the first signal conditioner and the second signal conditioner are all connected with the first RS485 bus, and the first sensor array, the first signal conditioner, the second signal conditioner and the first RS485 bus form a bus type topological structure together; the first signal conditioner, the second signal conditioner, the first very low frequency transmitter and the second very low frequency transmitter are all connected with the first CAN bus, and the first signal conditioner, the second signal conditioner, the first very low frequency transmitter, the second very low frequency transmitter and the first CAN bus form a bus type topological structure together; the second sensor array, the third signal conditioner and the fourth signal conditioner are all connected with a second RS485 bus, and the second sensor array, the third signal conditioner, the fourth signal conditioner and the second RS485 bus form a bus type topological structure together; the third signal conditioner, the fourth signal conditioner, the third very low frequency transmitter and the fourth very low frequency transmitter are all connected with the second CAN bus, and the third signal conditioner, the fourth signal conditioner, the third very low frequency transmitter, the fourth very low frequency transmitter and the second CAN bus form a bus type topological structure together;
the first to fourth very low frequency transmitters, the first very low frequency receiver and the second very low frequency receiver are all in wireless connection with the first wireless universal serial bus, and the first to fourth very low frequency transmitters, the first very low frequency receiver, the second very low frequency receiver and the first wireless universal serial bus form a bus type topological structure together; the first very low frequency receiver and the second very low frequency receiver are both connected with the programmable amplifier through coaxial cables; the programmable amplifier is connected with the sigma-delta analog-to-digital converter through an umbilical cable; the sigma-delta analog-to-digital converter is respectively connected with the first very high frequency transmitter and the second very high frequency transmitter through coaxial cables; the first very high frequency transmitter, the second very high frequency transmitter, the first very high frequency receiver and the second very high frequency receiver are all in wireless connection with the second wireless universal serial bus, and the first very high frequency transmitter, the second very high frequency transmitter, the first very high frequency receiver, the second very high frequency receiver and the second wireless universal serial bus form a bus type topological structure together; the first very high frequency receiver and the second very high frequency receiver are both connected with the digital decimation filter through coaxial cables; the digital decimation filter is connected with the data isolator through a coaxial cable; the data isolator is connected with the flight control module through a coaxial cable;
the flight control module is connected with the first disk array through a coaxial cable; the flight control module, the first intermediate frequency transmitter and the second intermediate frequency transmitter are all connected with a first PROFIBUS bus, and the flight control module, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the first PROFIBUS bus form a bus type topological structure together; the first intermediate frequency transmitter, the second intermediate frequency transmitter, the first intermediate frequency receiver and the second intermediate frequency receiver are all in wireless connection with a third wireless universal serial bus, and the first intermediate frequency transmitter, the second intermediate frequency transmitter, the first intermediate frequency receiver, the second intermediate frequency receiver and the third wireless universal serial bus form a bus type topological structure together; the first intermediate frequency receiver, the second intermediate frequency receiver, the storage server, the second disk array and the PC are all connected with the second PROFIBUS bus, and the first intermediate frequency receiver, the second intermediate frequency receiver, the storage server, the second disk array, the PC and the second PROFIBUS bus form a bus type topological structure together.
The first conductivity sensor and the second conductivity sensor are both NH155 type conductivity sensors; the first pH value sensor and the second pH value sensor are both NHPH49 type pH value sensors; the first turbidity sensor and the second turbidity sensor both adopt NH151 type turbidity sensors; the first ammonia nitrogen sensor and the second ammonia nitrogen sensor both adopt NH152 type ammonia nitrogen sensors; the first ORP sensor and the second ORP sensor both adopt NH154 type ORP sensors; the first dissolved oxygen sensor and the second dissolved oxygen sensor both adopt NH147 type dissolved oxygen sensors; the first residual chlorine sensor and the second residual chlorine sensor both adopt NH161 type residual chlorine sensors; the first COD sensor and the second COD sensor both adopt NHCOD-100-R type COD sensors; the first water temperature sensor and the second water temperature sensor are both NH133S type water temperature sensors; the storage server adopts a TaiShan 2280 v2 type server; the coaxial cable adopts a baseband coaxial cable.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (2)
1. The utility model provides a total line formula lake water quality monitoring system based on many rotor unmanned aerial vehicle which characterized in that: the terminal comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part;
the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to fourth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera; the second sensor array comprises a second conductivity sensor, a second PH value sensor, a second turbidity sensor, a second ammonia nitrogen sensor, a second ORP sensor, a second dissolved oxygen sensor, a second residual chlorine sensor, a second COD sensor, a second water temperature sensor and a second waterproof camera;
the relay terminal part comprises an unmanned underwater vehicle, a first very low frequency receiver, a second very low frequency receiver, a programmable amplifier, an unmanned ship, a sigma-delta analog-to-digital converter, a first very high frequency transmitter, a second very high frequency transmitter, a multi-rotor unmanned aerial vehicle, a first very high frequency receiver, a second very high frequency receiver, a digital extraction filter, a data isolator, a flight control module, a first disk array, a first medium frequency transmitter and a second medium frequency transmitter;
the convergence terminal part comprises a first intermediate frequency receiver, a second intermediate frequency receiver, a storage server, a second disk array and a PC;
the transmission medium part comprises a first RS485 bus, a second RS485 bus, a first CAN bus, a second CAN bus, a first wireless universal serial bus, a coaxial cable, an umbilical cable, a second wireless universal serial bus, a first PROFIBUS bus, a third wireless universal serial bus and a second PROFIBUS bus;
the underwater crawler type sensor comprises a first sensor array, a second sensor array, a first signal conditioner, a second signal conditioner, a third signal conditioner, a fourth signal conditioner, a first very low frequency transmitter, a second very low frequency transmitter, a third very low frequency transmitter, a fourth very low frequency transmitter and a fourth very low frequency transmitter, wherein the first sensor array, the second sensor array, the first signal conditioner, the; the first very low frequency receiver, the second very low frequency receiver and the programmable amplifier are all arranged on the unmanned underwater vehicle; the sigma-delta analog-to-digital converter, the first very high frequency transmitter and the second very high frequency transmitter are all arranged on the unmanned ship; the first very high frequency receiver, the second very high frequency receiver, the digital extraction filter, the data isolator, the flight control module, the first disk array, the first intermediate frequency transmitter and the second intermediate frequency transmitter are all arranged on the multi-rotor unmanned aerial vehicle;
the first sensor array, the first signal conditioner and the second signal conditioner are all connected with the first RS485 bus, and the first sensor array, the first signal conditioner, the second signal conditioner and the first RS485 bus form a bus type topological structure together; the first signal conditioner, the second signal conditioner, the first very low frequency transmitter and the second very low frequency transmitter are all connected with the first CAN bus, and the first signal conditioner, the second signal conditioner, the first very low frequency transmitter, the second very low frequency transmitter and the first CAN bus form a bus type topological structure together; the second sensor array, the third signal conditioner and the fourth signal conditioner are all connected with a second RS485 bus, and the second sensor array, the third signal conditioner, the fourth signal conditioner and the second RS485 bus form a bus type topological structure together; the third signal conditioner, the fourth signal conditioner, the third very low frequency transmitter and the fourth very low frequency transmitter are all connected with the second CAN bus, and the third signal conditioner, the fourth signal conditioner, the third very low frequency transmitter, the fourth very low frequency transmitter and the second CAN bus form a bus type topological structure together;
the first to fourth very low frequency transmitters, the first very low frequency receiver and the second very low frequency receiver are all in wireless connection with the first wireless universal serial bus, and the first to fourth very low frequency transmitters, the first very low frequency receiver, the second very low frequency receiver and the first wireless universal serial bus form a bus type topological structure together; the first very low frequency receiver and the second very low frequency receiver are both connected with the programmable amplifier through coaxial cables; the programmable amplifier is connected with the sigma-delta analog-to-digital converter through an umbilical cable; the sigma-delta analog-to-digital converter is respectively connected with the first very high frequency transmitter and the second very high frequency transmitter through coaxial cables; the first very high frequency transmitter, the second very high frequency transmitter, the first very high frequency receiver and the second very high frequency receiver are all in wireless connection with the second wireless universal serial bus, and the first very high frequency transmitter, the second very high frequency transmitter, the first very high frequency receiver, the second very high frequency receiver and the second wireless universal serial bus form a bus type topological structure together; the first very high frequency receiver and the second very high frequency receiver are both connected with the digital decimation filter through coaxial cables; the digital decimation filter is connected with the data isolator through a coaxial cable; the data isolator is connected with the flight control module through a coaxial cable;
the flight control module is connected with the first disk array through a coaxial cable; the flight control module, the first intermediate frequency transmitter and the second intermediate frequency transmitter are all connected with a first PROFIBUS bus, and the flight control module, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the first PROFIBUS bus form a bus type topological structure together; the first intermediate frequency transmitter, the second intermediate frequency transmitter, the first intermediate frequency receiver and the second intermediate frequency receiver are all in wireless connection with a third wireless universal serial bus, and the first intermediate frequency transmitter, the second intermediate frequency transmitter, the first intermediate frequency receiver, the second intermediate frequency receiver and the third wireless universal serial bus form a bus type topological structure together; the first intermediate frequency receiver, the second intermediate frequency receiver, the storage server, the second disk array and the PC are all connected with the second PROFIBUS bus, and the first intermediate frequency receiver, the second intermediate frequency receiver, the storage server, the second disk array, the PC and the second PROFIBUS bus form a bus type topological structure together.
2. The multi-rotor unmanned aerial vehicle-based bus type lake water quality monitoring system according to claim 1, characterized in that: the first conductivity sensor and the second conductivity sensor are both NH155 type conductivity sensors; the first pH value sensor and the second pH value sensor are both NHPH49 type pH value sensors; the first turbidity sensor and the second turbidity sensor both adopt NH151 type turbidity sensors; the first ammonia nitrogen sensor and the second ammonia nitrogen sensor both adopt NH152 type ammonia nitrogen sensors; the first ORP sensor and the second ORP sensor both adopt NH154 type ORP sensors; the first dissolved oxygen sensor and the second dissolved oxygen sensor both adopt NH147 type dissolved oxygen sensors; the first residual chlorine sensor and the second residual chlorine sensor both adopt NH161 type residual chlorine sensors; the first COD sensor and the second COD sensor both adopt NHCOD-100-R type COD sensors; the first water temperature sensor and the second water temperature sensor are both NH133S type water temperature sensors; the storage server adopts a TaiShan 2280 v2 type server; the coaxial cable adopts a baseband coaxial cable.
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