CN112540161B - Unmanned ship water quality monitoring and stationing optimization method - Google Patents
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- 238000005457 optimization Methods 0.000 title claims abstract description 26
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Abstract
The invention belongs to the technical field of water quality monitoring, and particularly discloses a water quality monitoring and stationing optimization method for an unmanned ship, which comprises the following steps: s1: establishing a water quality monitoring system of the unmanned ship, acquiring terrain data of the current watershed, and setting an initial monitoring point according to the terrain data of the current watershed; s2: placing an unmanned ship at an initial monitoring point; s3: taking the current position as a monitoring point, collecting position data and water quality data of the monitoring point by the unmanned ship, and sending the position data and the water quality data of the monitoring point to a monitoring center; s4: and judging whether the current monitoring distribution point is optimal or not according to the position data of the monitoring point and the corresponding water quality data, if so, outputting the current monitoring distribution point, and finishing the optimization, otherwise, optimizing the monitoring distribution point, and returning to the step S3. The invention solves the problems that unreasonable detection point selection and too dense unmanned ship placement in the prior art not only cause resource waste, but also influence the accuracy of detection results.
Description
Technical Field
The invention belongs to the technical field of water quality monitoring, and particularly relates to a water quality monitoring and stationing optimization method for an unmanned ship.
Background
With the development of the times, people pay more and more attention to the problem of environmental pollution, and surface water refers to a general name of dynamic water and static water on the surface of land, also called as 'land water', and comprises various liquid and solid water bodies, mainly rivers, lakes, marshes, glaciers, ice covers and the like. It is one of the important sources of human domestic water and also a main component of water resources in various countries. Therefore, the water quality of the river basin is monitored, pollution treatment is facilitated, and the problem is a key research problem in the scientific community.
Disclosure of Invention
The present invention aims to solve at least one of the above technical problems to a certain extent.
Therefore, the invention aims to provide an unmanned ship water quality monitoring and point distribution optimization method, which is used for solving the problems that unreasonable detection point selection and the fact that unmanned ships are placed too densely in the prior art not only cause resource waste, but also influence the accuracy of detection results.
The technical scheme adopted by the invention is as follows:
an unmanned ship water quality monitoring and stationing optimization method comprises the following steps:
s1: establishing a water quality monitoring system of the unmanned ship, acquiring terrain data of the current watershed, and setting an initial monitoring point according to the terrain data of the current watershed;
s2: placing an unmanned ship at an initial monitoring point;
s3: taking the current position as a monitoring point, collecting position data and water quality data of the monitoring point by the unmanned ship, and sending the position data and the water quality data of the monitoring point to a monitoring center;
s4: and judging whether the current monitoring distribution point is optimal or not according to the position data of the monitoring point and the corresponding water quality data, if so, outputting the current monitoring distribution point, and finishing the optimization, otherwise, optimizing the monitoring distribution point, and returning to the step S3.
Further, in step S1, the unmanned ship water quality monitoring system includes a monitoring center, a monitoring base station, and a plurality of unmanned ships, the monitoring center is in communication connection with the monitoring base station, and the monitoring base station is in communication connection with the plurality of unmanned ships respectively.
Furthermore, unmanned ship is provided with microprocessor, orientation module, communication module, PH value sensor, water temperature sensor, chemical oxygen demand content sensor, ammonia nitrogen content sensor, dissolved oxygen content sensor and total phosphorus content sensor, microprocessor respectively with orientation module, communication module, PH value sensor, water temperature sensor, chemical oxygen demand content sensor, ammonia nitrogen content sensor, dissolved oxygen content sensor and total phosphorus content sensor communication connection, communication module and control basic station communication connection.
Further, in step S1, the topographic data of the current watershed includes: position data of all branch points of the current watershed, position data of all end points of the current watershed and length data of all tributaries of the current watershed.
Further, in step S1, the specific step of setting the initial monitoring point according to the terrain data of the current drainage basin is:
a-1: determining tributaries between the end points and the branch points and between adjacent branch points according to the position data of all the branch points of the current watershed and the position data of all the end points;
a-2: and uniformly setting a plurality of initial monitoring points on each branch according to the length data of the branches.
Further, the specific step of step S2 is:
s2-1: determining branch points with the most tributaries according to the position data of all the branch points of the current watershed and the position data of all the end points;
s2-2: a monitoring base station of the unmanned ship water quality monitoring system is placed at a branch point of the most tributaries;
s2-3: and the monitoring base station places an unmanned ship at an initial monitoring point.
Further, in step S4, the basis for determining whether the current monitoring point is optimal is: the two adjacent monitoring points have difference in water quality data, and the difference between the water quality data of the monitoring point with abnormal data and the water quality data of the adjacent monitoring point meets the requirement, and the formula of the difference is as follows:
in the formula (I), the compound is shown in the specification,
the difference of the jth item of water quality data of the ith monitoring point is obtained;
respectively the highest value and the lowest value of the jth water quality data;
the jth water quality data of the ith monitoring point and the adjacent (i + 1) th monitoring point respectively; i is the indication quantity of the monitoring point; j is the indicated quantity of the water quality data.
Further, the specific step of step S4 is:
s4-1: the monitoring center judges whether two adjacent monitoring points with similar water quality data exist or not according to the water quality data, if so, the monitoring distribution point is optimized, unmanned ships at the two adjacent monitoring points with similar water quality data are controlled to be away from each other, the step S3 is returned, and if not, the step S4-2 is executed;
s4-2: the monitoring center judges whether a monitoring point with abnormal data exists according to the water quality data, if so, the step S4-3 is carried out, otherwise, the current monitoring point is optimal, the current monitoring point is output, and the optimization is finished;
s4-3: and judging whether the difference between the abnormal water quality data and the water quality data of the adjacent monitoring points is smaller than a difference threshold value, if so, outputting the current monitoring point and finishing the optimization, otherwise, optimizing the monitoring point, controlling the unmanned ship at the adjacent monitoring points to approach the monitoring points with abnormal data, and returning to the step S3.
Further, the water quality data includes: pH value, water temperature, chemical oxygen demand content, ammonia nitrogen content, dissolved oxygen content and total phosphorus content.
Further, the data abnormality is determined according to the following criteria: if the water quality data does not belong to the normal range, the current water quality data is output abnormally.
The invention has the beneficial effects that:
the invention utilizes the water quality monitoring data collected by the unmanned ship to analyze, disperses the densely distributed areas of the unmanned ship, avoids resource waste, improves the accuracy of water quality monitoring, enables the water quality monitoring data collected by the unmanned ship to truly reflect the pollution condition of the monitoring point, and simultaneously densely arranges the unmanned ship in the area of the potential pollution source to facilitate the accurate positioning of the pollution source.
Other advantageous effects of the present invention will be described in detail in the detailed description.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a water quality monitoring and stationing optimization method for an unmanned ship.
Fig. 2 is a schematic diagram of an initial monitoring arrangement.
Fig. 3 is a schematic diagram of an optimized monitoring point layout.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. When the terms "comprises," "comprising," "includes," and/or "including" are used herein, they specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
It should be understood that specific details are provided in the following description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1
As shown in fig. 1, the embodiment provides a water quality monitoring and stationing optimization method for an unmanned ship, which includes the following steps:
s1: establishing a water quality monitoring system of the unmanned ship, acquiring terrain data of the current watershed, and setting an initial monitoring point according to the terrain data of the current watershed, as shown in fig. 2;
the unmanned ship water quality monitoring system comprises a monitoring center, a monitoring base station and a plurality of unmanned ships, wherein the monitoring center is in communication connection with the monitoring base station, and the monitoring base station is in communication connection with the plurality of unmanned ships respectively;
the monitoring base station is arranged in the geographical range of a target drainage basin, and is used for receiving water quality data collected by the unmanned ship and position data of a corresponding monitoring point, processing and sending the water quality data and the position data of the corresponding monitoring point to the monitoring center, wherein the monitoring center is used for storing the water quality data and the position data of the corresponding monitoring point, so that the pollution source can be conveniently positioned in the later period;
the unmanned ship is provided with a microprocessor, a positioning module, a communication module, a PH value sensor, a water temperature sensor, a chemical oxygen demand sensor, an ammonia nitrogen content sensor, a dissolved oxygen content sensor and a total phosphorus content sensor, wherein the microprocessor is in communication connection with the positioning module, the communication module, the PH value sensor, the water temperature sensor, the chemical oxygen demand sensor, the ammonia nitrogen content sensor, the dissolved oxygen content sensor and the total phosphorus content sensor respectively, and the communication module is in communication connection with a monitoring base station;
the microprocessor analyzes and processes the acquired position data and the water quality data of each sensor, and sends the data to the monitoring base station through the communication module, and each sensor is used for acquiring each data of the current monitoring point, so that the comprehensiveness and the accuracy of water quality monitoring are improved;
the topographic data of the current watershed includes: position data of all branch points of the current drainage basin, position data of all end points of the current drainage basin and length data of all tributaries of the current drainage basin;
the specific steps of setting an initial monitoring point according to the terrain data of the current drainage basin are as follows:
a-1: determining tributaries between the end points and the branch points and between adjacent branch points according to the position data of all the branch points of the current watershed and the position data of all the end points;
a plurality of branches may exist between the two branch points, and branch searching is performed between the end points and the branch points and between the branch points, so that all branches of a domain can be monitored conveniently, and the monitoring accuracy is improved;
a-2: uniformly setting a plurality of initial monitoring points on each branch according to the length data of the branches;
s2: placing an unmanned ship at an initial monitoring point, and specifically comprising the following steps:
s2-1: determining branch points with the most tributaries according to the position data of all the branch points of the current watershed and the position data of all the end points;
s2-2: a monitoring base station of the unmanned ship water quality monitoring system is arranged at a branch point of the most branches, so that the unmanned ship is convenient to distribute in the whole drainage basin, and resources are saved;
s2-3: placing an unmanned ship at an initial monitoring point by the monitoring base station;
s3: taking the current position as a monitoring point, collecting position data and water quality data of the monitoring point by the unmanned ship, and sending the position data and the water quality data of the monitoring point to a monitoring center;
s4: judging whether the current monitoring distribution point is optimal or not according to the position data of the monitoring point and the corresponding water quality data, if so, outputting the current monitoring distribution point, and finishing the optimization, otherwise, optimizing the monitoring distribution point, and returning to the step S3;
the judgment basis of whether the current monitoring distribution point is optimal is as follows: the two water quality data of the adjacent monitoring points have difference, and the difference between the water quality data of the monitoring point with abnormal data and the water quality data of the adjacent monitoring points meets the requirement, namely
For a difference threshold, the formula of the difference is:
in the formula (I), the compound is shown in the specification,
the difference of the jth item of water quality data of the ith monitoring point is obtained;
respectively the highest value and the lowest value of the jth water quality data;
the jth water quality data of the ith monitoring point and the adjacent (i + 1) th monitoring point respectively; i is the indication quantity of the monitoring point; j is the indicated quantity of the water quality data;
the method comprises the following specific steps:
s4-1: the monitoring center judges whether two adjacent monitoring points with similar water quality data exist or not according to the water quality data, if so, the monitoring distribution point is optimized, the unmanned ships at the two adjacent monitoring points with similar water quality data are controlled to be far away from each other as shown by points A and B in figure 3, the step S3 is returned, and if not, the step S4-2 is executed;
the water quality data collected by two or more adjacent monitoring points are similar, which shows that the water quality of the tributary basically has no change, and a plurality of unmanned ships do not need to be arranged in the area, so that the unmanned ships are controlled to be away from each other, the monitoring area is enlarged, the resources are saved, and the searching of pollution sources is facilitated;
the water quality data comprises: pH value, water temperature, chemical oxygen demand content, ammonia nitrogen content, dissolved oxygen content and total phosphorus content;
s4-2: the monitoring center judges whether a monitoring point with abnormal data exists according to the water quality data, if so, the step S4-3 is carried out, otherwise, the current monitoring point is optimal, the current monitoring point is output, and the optimization is finished;
the data abnormity judgment basis is as follows: if one water quality data does not belong to the normal range, outputting the current water quality data to be abnormal;
s4-3: judging whether the difference between the abnormal water quality data and the water quality data of the adjacent monitoring points is smaller than a difference threshold value, if so, outputting the current monitoring point and finishing the optimization, otherwise, optimizing the monitoring point, controlling the unmanned ship at the adjacent monitoring points to approach the monitoring points with abnormal data, as shown by points C and D in figure 3, and returning to the step S3;
when the difference value between the water quality data acquired by the monitoring point with abnormal data and the water quality data acquired by the adjacent monitoring point is too small, the monitoring points monitored in the area are set to be too sparse, unmanned ships are controlled to be close to each other, the monitoring of the area is enhanced, and the monitoring area is reduced, so that the determination of a pollution source is facilitated.
The invention utilizes the water quality monitoring data collected by the unmanned ship to analyze, disperses the densely distributed areas of the unmanned ship, avoids resource waste, improves the accuracy of water quality monitoring, enables the water quality monitoring data collected by the unmanned ship to truly reflect the pollution condition of the monitoring point, and simultaneously densely arranges the unmanned ship in the area of the potential pollution source to facilitate the accurate positioning of the pollution source.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The embodiments described above are merely illustrative, and may or may not be physically separate, if referring to units illustrated as separate components; if a component displayed as a unit is referred to, it may or may not be a physical unit, and may be located in one place or distributed over a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. Can be understood and implemented by those skilled in the art without inventive effort.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (8)
1. A water quality monitoring and stationing optimization method for unmanned ships is characterized by comprising the following steps: the method comprises the following steps:
s1: establishing a water quality monitoring system of the unmanned ship, acquiring terrain data of the current watershed, and setting an initial monitoring point according to the terrain data of the current watershed;
s2: placing an unmanned ship at an initial monitoring point;
s3: taking the current position as a monitoring point, collecting position data and water quality data of the monitoring point by the unmanned ship, and sending the position data and the water quality data of the monitoring point to a monitoring center;
s4: judging whether the current monitoring distribution point is optimal or not according to the position data of the monitoring point and the corresponding water quality data, if so, outputting the current monitoring distribution point, and finishing the optimization, otherwise, optimizing the monitoring distribution point, and returning to the step S3;
the judgment basis of whether the current monitoring distribution point is optimal is as follows: the two adjacent monitoring points have difference in water quality data, and the difference between the water quality data of the monitoring point with abnormal data and the water quality data of the adjacent monitoring point meets the requirement, and the formula of the difference is as follows:
in the formula (I), the compound is shown in the specification,
the difference of the jth item of water quality data of the ith monitoring point is obtained;
respectively the highest value and the lowest value of the jth water quality data;
the jth water quality data of the ith monitoring point and the adjacent (i + 1) th monitoring point respectively; i is the indication quantity of the monitoring point; j is the indicated quantity of the water quality data;
the method comprises the following specific steps:
s4-1: the monitoring center judges whether two adjacent monitoring points with similar water quality data exist or not according to the water quality data, if so, the monitoring distribution point is optimized, unmanned ships at the two adjacent monitoring points with similar water quality data are controlled to be away from each other, the step S3 is returned, and if not, the step S4-2 is executed;
s4-2: the monitoring center judges whether a monitoring point with abnormal data exists according to the water quality data, if so, the step S4-3 is carried out, otherwise, the current monitoring point is optimal, the current monitoring point is output, and the optimization is finished;
s4-3: and judging whether the difference between the abnormal water quality data and the water quality data of the adjacent monitoring points is smaller than a difference threshold value, if so, outputting the current monitoring point and finishing the optimization, otherwise, optimizing the monitoring point, controlling the unmanned ship at the adjacent monitoring points to approach the monitoring points with abnormal data, and returning to the step S3.
2. The unmanned ship water quality monitoring and stationing optimization method according to claim 1, characterized in that: in the step S1, the unmanned ship water quality monitoring system includes a monitoring center, a monitoring base station, and a plurality of unmanned ships, wherein the monitoring center is in communication connection with the monitoring base station, and the monitoring base station is in communication connection with the plurality of unmanned ships respectively.
3. The unmanned ship water quality monitoring and stationing optimization method of claim 2, wherein: unmanned ship is provided with microprocessor, orientation module, communication module, PH value sensor, water temperature sensor, chemical oxygen demand content sensor, ammonia nitrogen content sensor, dissolved oxygen content sensor and total phosphorus content sensor, microprocessor respectively with orientation module, communication module, PH value sensor, water temperature sensor, chemical oxygen demand content sensor, ammonia nitrogen content sensor, dissolved oxygen content sensor and total phosphorus content sensor communication connection, communication module and control basic station communication connection.
4. The unmanned ship water quality monitoring and stationing optimization method according to claim 1, characterized in that: in step S1, the topographic data of the current watershed includes: position data of all branch points of the current watershed, position data of all end points of the current watershed and length data of all tributaries of the current watershed.
5. The unmanned ship water quality monitoring and stationing optimization method according to claim 1, characterized in that: in step S1, the specific step of setting the initial monitoring point according to the terrain data of the current watershed includes:
a-1: determining tributaries between the end points and the branch points and between adjacent branch points according to the position data of all the branch points of the current watershed and the position data of all the end points;
a-2: and uniformly setting a plurality of initial monitoring points on each branch according to the length data of the branches.
6. The unmanned ship water quality monitoring and stationing optimization method according to claim 1, characterized in that: the specific steps of step S2 are:
s2-1: determining branch points with the most tributaries according to the position data of all the branch points of the current watershed and the position data of all the end points;
s2-2: a monitoring base station of the unmanned ship water quality monitoring system is placed at a branch point of the most tributaries;
s2-3: and the monitoring base station places an unmanned ship at an initial monitoring point.
7. The unmanned ship water quality monitoring and stationing optimization method according to claim 1, characterized in that: the water quality data comprises: pH value, water temperature, chemical oxygen demand content, ammonia nitrogen content, dissolved oxygen content and total phosphorus content.
8. The unmanned ship water quality monitoring and stationing optimization method according to claim 1, characterized in that: the data abnormity judgment basis is as follows: if the water quality data does not belong to the normal range, the current water quality data is output abnormally.
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| CN101059907A (en) * | 2006-04-19 | 2007-10-24 | 中国科学院电子学研究所 | Wireless sensor network-based river basin pollution monitor system and method |
| EP2584790A1 (en) * | 2011-10-19 | 2013-04-24 | Siemens Aktiengesellschaft | Remote water quality monitoring |
| CN102903014B (en) * | 2012-09-06 | 2014-06-25 | 戴会超 | Optimized layout method of water environment quality monitoring stations of river and lake intersected water system |
| CN104634325A (en) * | 2014-12-26 | 2015-05-20 | 中国电建集团贵阳勘测设计研究院有限公司 | Prototype observation method for reservoir water temperature change rule |
| CN106405040B (en) * | 2016-11-17 | 2019-01-08 | 苏州航天系统工程有限公司 | A kind of water quality inspection based on unmanned machine, pollutant source tracing method |
| CN106970631A (en) * | 2017-06-01 | 2017-07-21 | 南京信息工程大学 | A kind of method of unmanned boat Automatic-searching pollution sources |
| CN107884533A (en) * | 2017-11-08 | 2018-04-06 | 苏州大学 | A kind of intelligent wireless water quality monitoring equipment and monitoring system |
| CN109788064B (en) * | 2019-01-29 | 2020-01-31 | 特斯联（北京）科技有限公司 | urban water monitoring node Internet of things network and self-organization method thereof |
| CN210294242U (en) * | 2019-07-18 | 2020-04-10 | 安阳工学院 | Water quality parameter automatic measuring ship capable of networking |
| CN111629032A (en) * | 2020-04-27 | 2020-09-04 | 四方智能(武汉)控制技术有限公司 | Water quality monitoring unmanned ship remote centralized control system |
| CN111474315A (en) * | 2020-05-26 | 2020-07-31 | 扬州大学 | Water quality monitoring and early warning system and monitoring and early warning method based on static on-duty and dynamic inspection |
| CN111551213A (en) * | 2020-06-12 | 2020-08-18 | 潮州长天环保科技有限公司 | Automatic monitoring and sampling system for urban river water environment and working method thereof |
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