CN114441727A - Water quality monitoring method and storage medium - Google Patents
Water quality monitoring method and storage medium Download PDFInfo
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- CN114441727A CN114441727A CN202210106584.5A CN202210106584A CN114441727A CN 114441727 A CN114441727 A CN 114441727A CN 202210106584 A CN202210106584 A CN 202210106584A CN 114441727 A CN114441727 A CN 114441727A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1806—Water biological or chemical oxygen demand (BOD or COD)
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention relates to the field of water quality monitoring, and provides a water quality monitoring method and a storage medium, wherein the water quality monitoring method comprises the steps of obtaining water area range data, and obtaining a virtual water area range based on the water area range data of the water quality monitoring method; selecting a water sample collection point in a virtual water area range of a water quality monitoring method to obtain water sample collection point coordinates of the water quality monitoring method; acquiring a moving track based on water sample collection point coordinates of a water quality monitoring method; the water quality monitoring method comprises the steps of moving the robot fish in a water area range based on a moving track of the water quality monitoring method, obtaining water quality data of a water sample collection point of the water quality monitoring method through a water quality detection device of the robot fish of the water quality monitoring method, and uploading the water quality data of the water quality monitoring method to a server connected with the robot fish of the water quality monitoring method.
Description
Technical Field
The invention relates to the field of water quality monitoring, in particular to a water quality monitoring method and a storage medium.
Background
With the rapid development of science and technology and economy in China, the living standard of residents in China is continuously improved, the specific gravity of aquatic products in dietary structures is continuously increased, and the total output of aquaculture is in a stable increasing state. However, at present, China still depends on the experience and subjective judgment of aquaculture personnel in the whole process of aquaculture, so that the problems of waste of human resources, low timeliness, high misjudgment rate and the like exist, scientific aquaculture is not achieved, and the aquaculture water area is easily seriously polluted due to excessive feeding and medication.
Therefore, in order to improve the economic benefit of aquaculture and the quality of aquatic products, the water quality of the aquaculture water area must be monitored, so that aquaculture personnel can see specific data of water quality parameters and take corresponding measures according to the water quality of the water area, and the whole process of aquaculture becomes standardized, intelligent and scientific. Therefore, it is desirable to provide a water quality monitoring method and a storage medium.
Disclosure of Invention
It is an object of the present invention to provide a water quality monitoring method and a storage medium which at least partly overcome the disadvantages of the prior art.
According to an aspect of the present invention, there is provided a water quality monitoring method comprising:
acquiring water area range data, and acquiring a virtual water area range based on the water area range data;
selecting a water sample collecting point in the virtual water area range to obtain coordinates of the water sample collecting point;
obtaining a moving track based on the coordinates of the water sample collecting points;
and moving the robot fish in the water area range based on the moving track, obtaining the water quality data of the water sample collection point through a water quality detection device of the robot fish, and uploading the water quality data to a server connected with the robot fish.
Preferably, the moving the robotic fish in the water area based on the movement trajectory includes:
judging whether an obstacle exists on the moving track in real time;
and if the obstacle exists, updating the moving track in real time, and enabling the updated moving track to avoid the obstacle.
Preferably, the updating the movement trajectory in real time includes:
acquiring a water pressure threshold value, and acquiring water pressure data of the position where the robot fish is located in real time;
if the water pressure data is smaller than the water pressure threshold value, the updated moving track passes through the lower part of the barrier.
Preferably, the real-time determining whether an obstacle exists on the moving track includes:
respectively acquiring distance data and image data in real time based on a ranging sensor and an underwater camera of the robot fish;
and judging whether an obstacle exists on the moving track in real time based on the distance data and the image data.
Preferably, the moving the robotic fish in the water area based on the movement trajectory includes:
acquiring a flow speed threshold value, and acquiring water flow speed data of the position where the robotic fish is located in real time;
and if the water flow speed data is larger than the flow speed threshold, updating the moving track in real time until the water flow speed data is smaller than the flow speed threshold.
Preferably, the moving the robotic fish in the water area based on the movement trajectory includes:
acquiring an electric quantity threshold value, and acquiring electric quantity data of the robotic fish in real time;
and if the electric quantity data is smaller than the electric quantity threshold value, updating the moving track to enable the robotic fish to return.
Preferably, after uploading the water quality data to a server connected to the robotic fish, the method further comprises:
acquiring a water quality pollution degree threshold, and judging whether the water quality data is greater than the water quality pollution degree threshold in real time;
and if the water quality data is larger than the preset water quality data, updating the moving track in real time, and returning the robotic fish to the water sample collecting point to obtain the water quality data again.
Preferably, the water quality data includes at least temperature data and dissolved oxygen data.
Preferably, the robotic fish uploads the water quality data to a server connected to the robotic fish through at least one of a Lora network and a 5G network.
According to another aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the water quality monitoring method as described above.
The invention relates to the field of water quality monitoring, and provides a water quality monitoring method and a storage medium, wherein the water quality monitoring method comprises the steps of obtaining water area range data, and obtaining a virtual water area range based on the water area range data of the water quality monitoring method; selecting a water sample collection point in a virtual water area range of a water quality monitoring method to obtain water sample collection point coordinates of the water quality monitoring method; acquiring a moving track based on water sample collection point coordinates of a water quality monitoring method; the water quality monitoring method comprises the steps of moving the robot fish in a water area range based on a moving track of the water quality monitoring method, obtaining water quality data of a water sample collection point of the water quality monitoring method through a water quality detection device of the robot fish of the water quality monitoring method, and uploading the water quality data of the water quality monitoring method to a server connected with the robot fish of the water quality monitoring method.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a flow chart of a water quality monitoring method according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. For convenience of description, only portions related to the invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The water quality monitoring method in the present application mainly refers to a method for monitoring various water properties such as dissolved oxygen, water temperature, chemical oxygen demand, pH and the like by submerging the robotic fish into water and by using a water quality monitoring probe carried by the robotic fish, such as a COD probe or a pH probe, or a dissolved oxygen monitoring device and a water temperature monitoring device, and is not limited to the concern of the water quality monitoring method in the narrow sense on the pollution degree, but the detection and feedback of the water quality in a broader sense and in a wider range.
The water area range and the water area range data in the present application may be data of a closed water area and describing the width and depth of a closed water surface, or may be a smaller area and range encircled in a wider water area, and preferably, the water area range data may further include the specific shape of the water area and the like in addition to the depth and width, so as to set the movement track.
The robot fish in the application mainly refers to a small device which has a diving function and is provided with a water quality detection device and a communication device, can be in a fish shape so as to have better swimming flexibility, and can also be set into other devices which can dive up and down in a water area and collect water quality data of a water sample collection point, such as a small submarine.
As shown in fig. 1, the present application claim 1 provides a water quality monitoring method based on site marking, which includes the following processes:
s101: acquiring water area range data, and acquiring a virtual water area range based on the water area range data;
s102: selecting a water sample collecting point in the virtual water area range to obtain coordinates of the water sample collecting point;
s103: obtaining a moving track based on the coordinates of the water sample collecting points;
s104: the robot fish is moved in the water area range based on the moving track, water quality data of the water sample collection points are obtained through a water quality detection device of the robot fish, and the water quality data are uploaded to a server connected with the robot fish.
In the process S101, the water area range data may be determined in advance based on data, such as pond construction plan, survey data of river channels, etc., or may be selected in real time based on a certain purpose, such as a radius of 500 m at a current position on the sea surface and a depth of 100 m, and the data is used as the water area range data.
The virtual water area range in the processing S101 is a digitized water area range established according to the water area range data, and may be displayed in the form of a visual image, or may be only one set of data, which may help the robotic fish to determine the moving range, and the virtual water area range may be the same as the actual water area range, or may be smaller than the actual water area range, so that the distribution of the coordinates of the water sample collection points may be conveniently limited.
In the step S102, the water sampling points may be uniformly distributed in the whole water area, for example, one water sampling point is set in each 10 cubic meters of water, or the water sampling points may be set according to the river flow direction, the ocean flow direction under the sea, and the like.
In the processing step S103, a shortest movement track passing through each water sampling point can be obtained by inputting coordinates of each water sampling point based on a single-source shortest path algorithm, such as dijkstra algorithm, or water sampling can be performed on each water sampling point based on ocean currents, water flows, or a sequence from shallow to deep. It should be noted that the movement trajectory obtained in the processing S103 is only a predetermined movement trajectory of the robot fish at the beginning, and during the operation of the robot fish, the movement trajectory can be updated in real time according to actual situations, such as power reduction, existence of obstacles, and the like.
In the step S104, the robotic fish is moved based on the moving track, that is, the robotic fish is moved along the moving track, but the speed of the robotic fish is not limited here, and the robotic fish can sequentially pass through each water sample collection point along a preset path. After water quality data, such as dissolved oxygen data or temperature data, is acquired, data processing and packaging can be performed, and specific processing modes, such as list classification, data compression and the like, are well known to those skilled in the art and are not described in detail herein. The water quality data is then uploaded to a server connected to the robotic fish, e.g. via a 5G network, a 4G network, a 3G network or a Lora (low power wireless wide area network) transmission technique, etc., all of which are well known to those skilled in the art, wherein the 5G network and the Lora transmission technique are preferably used for transmission, the 5G network is fast, and the Lora transmission technique provides a very attractive combination of ultra-long distance, low power consumption and safe data transmission. Public and private networks using this technology can provide a greater range of coverage than existing cellular networks. More convenient access to existing infrastructure and provide solutions to service battery-powered IoT applications. Therefore, the 5G network can be used when the network is good, the rapid interactive transmission speed is realized, and the basic data transmission can be guaranteed underwater by using the Lora transmission technology.
The invention provides a water quality monitoring method and a storage medium, which comprises the steps of obtaining water area range data, and obtaining a virtual water area range based on the water area range data of the water quality monitoring method; selecting a water sample collection point in a virtual water area range of a water quality monitoring method to obtain water sample collection point coordinates of the water quality monitoring method; acquiring a moving track based on water sample collection point coordinates of a water quality monitoring method; the water quality monitoring method comprises the steps of moving the robot fish in a water area range based on a moving track of the water quality monitoring method, obtaining water quality data of a water sample collection point of the water quality monitoring method through a water quality detection device of the robot fish of the water quality monitoring method, and uploading the water quality data of the water quality monitoring method to a server connected with the robot fish of the water quality monitoring method.
As a preferred implementation manner, in the process S104, one implementation manner of moving the robotic fish in the water area range based on the moving track may be:
judging whether an obstacle exists on a moving track in real time; and if the obstacle exists, updating the moving track in real time, and enabling the updated moving track to avoid the obstacle.
The real-time judgment of whether the obstacle exists on the moving track can be carried out through an infrared camera, a video camera or a laser range finder carried by the robot fish, and the real-time judgment of whether the obstacle exists on the moving track can be carried out through the following steps:
respectively acquiring distance data and image data in real time based on a ranging sensor and an underwater camera of the robot fish;
and judging whether the obstacle exists on the moving track in real time based on the distance data and the image data.
The method for judging whether the obstacle exists in real time by using the distance data and the image data can obtain the approximate coordinate and range of the obstacle by inputting the distance data and the image data through a vector histogram algorithm and the like, so that the moving track updated in real time can be calculated conveniently.
Preferably, updating the movement trajectory in real time includes:
acquiring a water pressure threshold value, and acquiring water pressure data of the position where the robotic fish is located in real time;
and if the water pressure data is smaller than the water pressure threshold value, the updated moving track passes through the lower part of the obstacle.
By judging the water pressure data of the position of the robot fish, whether the robot fish reaches the deepest depth which can be endured or the boundary of the water area range can be judged. The water pressure threshold value may be the maximum water pressure that the robotic fish can bear, or may be a water pressure value corresponding to the deepest water area. And if the water pressure threshold value is not reached, the robotic fish passes through the lower part of the barrier, and the moving track is updated in real time. Therefore, the robot fish can conveniently pass through the obstacle in the culture pond, research and development personnel find that the motion trail of cultured aquatic products such as fishes and the like mostly cannot vertically downwards and is usually in a flat swimming state, so that the robot fish adopts a strategy of passing through the obstacle from the lower part, and the probability of successfully avoiding the obstacle can be improved.
As a preferred implementation, moving the robotic fish in the water area based on the movement trajectory in the process S104 may include the following processes:
acquiring a flow speed threshold value, and acquiring water flow speed data of the position where the robotic fish is located in real time;
and if the water flow speed data is greater than the flow speed threshold, updating the moving track in real time until the water flow speed data is less than the flow speed threshold.
The above treatment can make full use of the current meter carried by the robot fish, avoid the too large resistance of underwater ocean current or liquid flow to the robot fish and the consumption of too much electric quantity, and can increase the working time of the robot fish.
As a preferred implementation, moving the robotic fish in the water area range based on the movement trajectory in the process S104 may include the following processes:
acquiring an electric quantity threshold value, and acquiring electric quantity data of the robotic fish in real time;
and if the electric quantity data is smaller than the electric quantity threshold value, updating the moving track to enable the robotic fish to return.
Here, the returning may be to return to the starting point of the moving track, or to return to a certain fixed charging point, and the method of calculating whether to return in real time based on the electric quantity data and the electric quantity threshold is well known to those skilled in the art, and will not be described herein in too much detail.
As a preferred implementation manner, in the process S104, after uploading the water quality data to the server connected to the robotic fish, the following processes may be included:
acquiring a water quality pollution degree threshold, and judging whether the water quality data is greater than the water quality pollution degree threshold in real time;
if the water quality data is larger than the preset value, updating the moving track in real time, and returning the robotic fish to the water sample collecting point to obtain the primary water quality data again.
The robot fish can obtain the primary water quality data again, accidental local pollution degree in the culture pond can be avoided to be too large, for example, COD numerical value is too high due to the fact that high-concentration feed exists in the water sample collection point, or the situation that the pollution degree of the water sample collection point is inaccurate due to the fact that the concentration of other pollutants is high is caused, and therefore workers can obtain the water quality distribution situation in the culture pond more accurately.
Preferably, the water quality data includes at least temperature data and dissolved oxygen data. The two data are two data which are most concerned by the cultivation personnel, relate to the activity and the activeness of the cultivated aquatic products, and of course, can also comprise other data such as salinity, COD, pH and the like so as to form a more comprehensive and three-dimensional underwater water quality distribution condition.
Therefore, a plurality of collection points are arranged on a water area, the temperature and the dissolved oxygen of each collection point are respectively detected by using the robotic fish, and a three-dimensional temperature field model and a three-dimensional dissolved oxygen field model of the whole water area can be constructed by fitting based on a fitting method known by a person skilled in the art, such as linear fitting and the like, so that the temperature distribution condition and the change trend in the water area and the distribution condition and the change trend of the dissolved oxygen can be known at a glance, and fishers can conveniently maintain and adjust the water area.
Preferably, the robotic fish uploads the water quality data to a server connected to the robotic fish via at least one of a Lora network and a 5G network.
The invention relates to the field of water quality monitoring, and provides a water quality monitoring method and a storage medium, wherein the water quality monitoring method comprises the steps of acquiring water area range data, and acquiring a virtual water area range based on the water area range data of the water quality monitoring method; selecting a water sample collection point in a virtual water area range of a water quality monitoring method to obtain water sample collection point coordinates of the water quality monitoring method; acquiring a moving track based on water sample collection point coordinates of a water quality monitoring method; the water quality monitoring method comprises the steps of moving the robot fish in a water area range based on a moving track of the water quality monitoring method, obtaining water quality data of a water sample collection point of the water quality monitoring method through a water quality detection device of the robot fish of the water quality monitoring method, and uploading the water quality data of the water quality monitoring method to a server connected with the robot fish of the water quality monitoring method.
The present application also provides a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a water quality monitoring method as described above. The computer readable media may include both permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A water quality monitoring method is characterized by comprising the following steps:
acquiring water area range data, and acquiring a virtual water area range based on the water area range data;
selecting a water sample collecting point in the virtual water area range to obtain coordinates of the water sample collecting point;
obtaining a moving track based on the water sample collecting point coordinates;
and moving the robot fish in the water area range based on the moving track, obtaining the water quality data of the water sample collection point through a water quality detection device of the robot fish, and uploading the water quality data to a server connected with the robot fish.
2. The water quality monitoring method according to claim 1, wherein the moving the robotic fish in the water area based on the movement trajectory comprises:
judging whether an obstacle exists on the moving track in real time;
and if the obstacle exists, updating the moving track in real time, and enabling the updated moving track to avoid the obstacle.
3. The water quality monitoring method according to claim 2, wherein the updating the movement trajectory in real time comprises:
acquiring a water pressure threshold value, and acquiring water pressure data of the position where the robot fish is located in real time;
if the water pressure data is smaller than the water pressure threshold value, the updated moving track passes through the lower part of the obstacle.
4. The water quality monitoring method according to claim 2, wherein the real-time judgment of whether an obstacle exists on the movement track comprises:
respectively acquiring distance data and image data in real time based on a ranging sensor and an underwater camera of the robot fish;
and judging whether an obstacle exists on the moving track in real time based on the distance data and the image data.
5. The water quality monitoring method according to claim 1, wherein the moving the robotic fish in the water area based on the movement trajectory comprises:
acquiring a flow speed threshold value, and acquiring water flow speed data of the position where the robotic fish is located in real time;
and if the water flow speed data is larger than the flow speed threshold, updating the moving track in real time until the water flow speed data is smaller than the flow speed threshold.
6. The water quality monitoring method according to claim 1, wherein the moving the robotic fish in the water area based on the movement trajectory comprises:
acquiring an electric quantity threshold value, and acquiring electric quantity data of the robotic fish in real time;
and if the electric quantity data is smaller than the electric quantity threshold value, updating the moving track to enable the robotic fish to return.
7. The water quality monitoring method according to claim 1, further comprising, after uploading the water quality data to a server connected to the robotic fish:
acquiring a water pollution degree threshold, and judging whether the water quality data is greater than the water pollution degree threshold in real time;
and if the water quality data is larger than the preset water quality data, updating the moving track in real time, and returning the robotic fish to the water sample collecting point to obtain the water quality data again.
8. The water quality monitoring method according to claim 1, wherein the water quality data includes at least temperature data and dissolved oxygen data.
9. The water quality monitoring method according to claim 1, wherein the robotic fish uploads the water quality data to a server connected to the robotic fish through at least one of a Lora network and a 5G network.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a water quality monitoring method as claimed in any one of claims 1 to 9.
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| CN202210106584.5A CN114441727A (en) | 2022-01-28 | 2022-01-28 | Water quality monitoring method and storage medium |
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| CN202210106584.5A CN114441727A (en) | 2022-01-28 | 2022-01-28 | Water quality monitoring method and storage medium |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
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| US20210389293A1 (en) * | 2020-06-12 | 2021-12-16 | Chinese Research Academy Of Environmental Sciences | Methods and Systems for Water Area Pollution Intelligent Monitoring and Analysis |
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2022
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| 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 |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
| US20210389766A1 (en) * | 2020-06-12 | 2021-12-16 | Chinese Research Academy Of Environmental Sciences | Methods and Apparatuses for Water Body Pollution Intelligent Investigation Utilizing Unmanned Ships |
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