CN115790611B - Unmanned aerial vehicle acquisition navigation method and system for smart city water conservancy information - Google Patents
Unmanned aerial vehicle acquisition navigation method and system for smart city water conservancy information Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle acquisition navigation method and system for intelligent city water conservancy information, and relates to the technical field of water conservancy information acquisition planning, wherein the navigation method comprises the following steps: carrying out water quality monitoring and hydrological characteristic monitoring on a plurality of monitoring points of the river; analyzing the water quality monitoring information acquired by the plurality of hydrological monitoring units, obtaining an unmanned aerial vehicle acquisition sequence of a plurality of monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence; analyzing the water quality monitoring information and the hydrological characteristic monitoring information of the monitoring points, and configuring a secondary navigation path according to the analysis result; the method and the device are used for solving the problems that in the prior art, when water conservancy information is obtained, the planning mode of an acquisition path is single, and the acquisition efficiency and effectiveness are low.
Description
Technical Field
The invention relates to the technical field of water conservancy information acquisition planning, in particular to an unmanned aerial vehicle acquisition navigation method and system for water conservancy information of smart cities.
Background
The smart city is an application of intelligent computing technologies such as internet of things, cloud computing, big data and spatial geographic information integration in the fields of city planning, design, construction, management and operation. In the process of managing the smart city, water affair management is an important ring, and water conservancy information needs to be collected and managed in the water affair management.
In carrying out the acquisition in-process to water conservancy information, in order to improve water conservancy information acquisition's efficiency and precision, can carry out the collection of water conservancy information through unmanned aerial vehicle usually, but lack the method of carrying out navigation planning to unmanned aerial vehicle's acquisition process among the prior art, current collection mode is the collection position that has set for well in advance usually, control unmanned aerial vehicle flies to carry out the data acquisition of corresponding position behind the assigned position, this kind of collection mode is not intelligent enough, do not accomplish corresponding specialization collection to the water conservancy information in different regions and handle, the validity that leads to the information of gathering is not enough, the acquisition resource has been wasted, can not fully and comprehensively reflect this regional interior true water conservancy information.
Disclosure of Invention
The invention aims to solve at least one of technical problems in the prior art to a certain extent, and sets an integral acquisition path frame of an unmanned aerial vehicle according to the acquisition urgency degree of monitoring points by detecting and analyzing the water quality of a plurality of monitoring points in an acquisition area and further sets an acquisition path of each monitoring point according to the actual water quality and hydrological state in each monitoring point, so that a detailed acquisition path is set for the water conservancy information acquisition of the unmanned aerial vehicle, and the problems of single planning mode of the acquisition path and low acquisition efficiency and effectiveness when the water conservancy information is acquired in the prior art are solved.
In order to achieve the above object, in a first aspect, the present invention provides an unmanned aerial vehicle acquisition navigation method for smart city water conservancy information, where the navigation method includes the following steps:
carrying out water quality monitoring and hydrological characteristic monitoring on a plurality of monitoring points of the river;
analyzing the acquired water quality monitoring information, obtaining an unmanned aerial vehicle acquisition sequence of a plurality of monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence;
analyzing the water quality monitoring information and the hydrological characteristic monitoring information of the monitoring points, and configuring a secondary navigation path according to the analysis result;
and controlling the unmanned aerial vehicle to perform secondary sampling on the surrounding area of the monitoring point according to the secondary navigation path.
Further, the water quality monitoring of a plurality of monitoring points of the river comprises: acquiring water quality monitoring electric signal values corresponding to hydrology through a plurality of water quality monitors respectively;
dividing the acquired water quality monitoring electric signal values into positive electric signal categories and negative electric signal categories, wherein the larger the water quality monitoring electric signal value in the positive electric signal category is, the better the water quality is, and the larger the water quality monitoring electric signal value in the negative electric signal category is, the worse the water quality is;
acquiring a plurality of water quality monitoring electric signal standard values corresponding to the lowest standard of drinking water;
comparing the standard values of the plurality of water quality monitoring electric signals with the values of the plurality of water quality monitoring electric signals of the corresponding forward electric signal category respectively to obtain a plurality of first water quality monitoring reference ratios; comparing the plurality of water quality monitoring electric signal values of the negative electric signal category with the corresponding plurality of water quality monitoring electric signal standard values respectively to obtain a plurality of second water quality monitoring reference ratios;
and calculating the average value of the first water quality monitoring reference ratios and the second water quality monitoring reference ratios, and setting the average value as a water quality monitoring reference value.
Furthermore, the water quality monitors comprise a COD tester, a conductivity tester, a turbidity tester, a BOD tester and a pesticide residue rapid tester; the rapid pesticide residue detector is used for detecting the pesticide residue in the hydrology;
wherein, the water quality monitoring electric signal values are respectively COD content, conductivity, turbidity, biological oxygen demand and pesticide residue; the positive electric signal category comprises biological oxygen demand, and the negative electric signal category comprises COD content, conductivity, turbidity and pesticide residue;
the standard values of the water quality monitoring electric signals respectively comprise a COD content standard value, a conductivity standard value, a turbidity standard value, a biological oxygen demand standard value and a pesticide residue standard value;
the first water quality monitoring reference ratio comprises a ratio of a biological oxygen demand standard value to a biological oxygen demand; the second water quality monitoring reference ratio comprises a ratio of the COD content to a standard value of the COD content, a ratio of the conductivity to a standard value of the conductivity, a ratio of the turbidity to a standard value of the turbidity and a ratio of the pesticide residue to a standard value of the pesticide residue.
Further, carry out the analysis to the water quality monitoring information who acquires, obtain the unmanned aerial vehicle collection order of a plurality of monitoring points according to the comparative analysis to water quality monitoring information, gather the preliminary navigation route of order configuration through unmanned aerial vehicle and include: acquiring an initial position of the unmanned aerial vehicle and positions of a plurality of monitoring points, respectively acquiring distances between the monitoring points and the initial position of the unmanned aerial vehicle, and setting the distances as initial spacing distances;
sequencing a plurality of monitoring points from small to large according to water quality monitoring reference values obtained in real time, and multiplying the initial interval distance of each monitoring point by a sequencing serial number to obtain an initial path reference value;
setting the monitoring point with the maximum initial path reference value as an initial acquisition point;
taking the initial acquisition point as the initial position of the unmanned aerial vehicle for the next departure, and sequentially selecting the next monitoring point;
and connecting the sequentially selected monitoring points according to the selection sequence to obtain a primary navigation path of the unmanned aerial vehicle.
Further, hydrologic feature monitoring of several monitoring points of a river comprises: and when the water quality monitoring reference value of the monitoring point is greater than or equal to the first reference threshold value, acquiring the water velocity of the monitoring point through the flow velocity sensor, and acquiring the water level of the monitoring point through the water level meter.
Further, analyzing the water quality monitoring information and the hydrologic feature monitoring information of the monitoring point, and configuring a secondary navigation path according to the analysis result comprises: calculating the water flow speed, the water level and the water quality monitoring reference value of the monitoring point by a diffusion influence distance calculation formula to obtain a diffusion distance; the diffusion influence distance calculation formula is configured to:
(ii) a Wherein Sks is diffusion distance, vs is water flow speed, hs is water level, psj is water quality monitoring reference value, alpha is diffusion influence coefficient, and alpha is water quality monitoring reference valueA constant, and the value of alpha is greater than zero;
setting a sampling point at each interval of a first sampling distance along the water flow direction by taking the monitoring point as a starting point, wherein the distances between all the sampling points and the monitoring point are smaller than the diffusion distance;
and connecting the sampling points in sequence from near to far according to the distance from the monitoring point to obtain a secondary navigation path.
Further, controlling the unmanned aerial vehicle to perform secondary sampling on the surrounding area of the monitoring point according to the secondary navigation path comprises: hydrologic sampling is carried out on a plurality of sampling points through a hydrologic sampler, the hydrologic sampled sample is sent to a monitoring point for water quality detection, and a water quality monitoring reference value is obtained;
comparing the water quality monitoring reference value with a first reference threshold value from the sampling point closest to the monitoring point, and comparing the water quality monitoring reference value of the next sampling point with the first reference threshold value when the water quality monitoring reference value is greater than or equal to the first reference threshold value;
when the water quality monitoring reference values of all sampling points are greater than or equal to a first reference threshold value, taking the diffusion distance as a pollution influence distance;
and when the water quality monitoring reference value of the sampling point appearing in the comparison process is smaller than a first reference threshold value, taking the distance between the last sampling point and the monitoring point as a pollution influence distance.
In a second aspect, the invention provides an unmanned aerial vehicle acquisition navigation system for water conservancy information of a smart city, wherein the navigation system comprises a water conservancy information acquisition module and a navigation configuration module; the water conservancy information acquisition module comprises a plurality of hydrological monitoring units and a hydrological sampling unit, the hydrological monitoring units are used for monitoring the water quality and hydrological characteristics of a plurality of monitoring points of a river, and the hydrological sampling unit is used for performing hydrological sampling through an unmanned aerial vehicle;
the navigation configuration module comprises a primary navigation configuration unit and a secondary navigation configuration unit, and the primary navigation configuration unit is used for analyzing the water quality monitoring information acquired by the plurality of hydrological monitoring units and configuring a primary navigation path according to the analysis result; the secondary navigation configuration unit is used for analyzing the water quality monitoring information and the hydrological characteristic monitoring information of the monitoring points and configuring a secondary navigation path according to the analysis result;
the navigation system is configured with navigation strategies comprising: acquiring water quality monitoring information of a plurality of monitoring points through a plurality of hydrological monitoring units, obtaining an unmanned aerial vehicle acquisition sequence of the monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence;
and setting secondary navigation paths for the surrounding areas of the monitoring points, and controlling the unmanned aerial vehicle to perform secondary sampling on the surrounding areas of the monitoring points through the hydrological sampling unit according to the secondary navigation paths.
The invention has the beneficial effects that: according to the invention, water quality monitoring and hydrological characteristic monitoring are carried out on a plurality of monitoring points of a river; analyzing the water quality monitoring information acquired by the plurality of hydrological monitoring units, obtaining an unmanned aerial vehicle acquisition sequence of a plurality of monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a preliminary navigation path through the unmanned aerial vehicle acquisition sequence; this design can be to a collection route of water conservancy information acquisition planning in the whole area, can have key collection planning according to the urgency degree that every monitoring point needs to gather, improves the rationality of whole collection process.
According to the method, water quality monitoring information and hydrologic characteristic monitoring information of monitoring points are analyzed, and a secondary navigation path is configured according to an analysis result; control unmanned aerial vehicle carries out the secondary sampling to the region around of monitoring point according to the secondary navigation route, and this design can plan the collection route of a reasonable monitoring point when gathering the water conservancy information of every monitoring point, can effectively improve collection efficiency, and the guarantee simultaneously is gathered data and is possessed reference value, improves the validity of gathering.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a flow chart of steps of a navigation method of the present invention;
FIG. 2 is a functional block diagram of a navigation system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows: referring to fig. 2, in the course of path planning, the navigation system performs detection and analysis on water quality at a plurality of monitoring points in a collection area, so that an overall collection path frame of the unmanned aerial vehicle can be set according to the collection urgency of the monitoring points, and then a collection path of each monitoring point is further set according to the actual water quality and hydrological state in each monitoring point, so that a detailed collection path is set for water conservancy information collection of the unmanned aerial vehicle.
The overall navigation strategy of the navigation system is: acquiring water quality monitoring information of a plurality of monitoring points through a plurality of hydrological monitoring units, obtaining an unmanned aerial vehicle acquisition sequence of the monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence; the initial navigation path can build an integral navigation frame for the acquisition process in the whole area;
and setting secondary navigation paths for the surrounding areas of the monitoring points, and controlling the unmanned aerial vehicle to carry out secondary sampling on the surrounding areas of the monitoring points through the hydrological sampling unit according to the secondary navigation paths. The secondary navigation path can be used for finely planning the path for the acquisition of each monitoring point.
Specifically, the navigation system comprises a water conservancy information acquisition module and a navigation configuration module; the water conservancy information acquisition module comprises a plurality of hydrological monitoring units and a hydrological sampling unit, the hydrological monitoring units are used for monitoring water quality and hydrological characteristics of a plurality of monitoring points of a river, and the hydrological sampling unit is used for performing hydrological sampling through an unmanned aerial vehicle; hydrology monitoring unit includes a plurality of water quality monitoring wares, and hydrology monitoring unit disposes the water quality monitoring strategy, and the water quality monitoring strategy includes: acquiring water quality monitoring electric signal values corresponding to hydrology through a plurality of water quality monitors respectively;
in specific implementation, the water quality monitors comprise a COD (chemical oxygen demand) tester, a conductivity tester, a turbidity tester, a BOD (biochemical oxygen demand) tester and a pesticide residue rapid tester; the COD determinator is used for detecting the COD content of the hydrology, the conductivity determinator is used for detecting the conductivity of the hydrology, the turbidity determinator is used for detecting the turbidity of the hydrology, the BOD determinator is used for detecting the biological oxygen demand of the hydrology, and the pesticide residue tachymeter is used for detecting the pesticide residue of the hydrology; wherein, the water quality monitoring electric signal values are respectively COD content, conductivity, turbidity, biological oxygen demand and pesticide residue; the high COD content obtained by the COD tester means that the water contains a large amount of reducing substances, wherein the organic pollutants are mainly contained. The higher the COD is, the more serious the organic pollution in water is, and the sources of the organic pollution are generally pesticides, chemical plants, organic fertilizers and the like; the conductivity obtained by the conductivity meter is in direct proportion to the concentration of the solid content in water, and the higher the concentration of the solid content is, the higher the conductivity is, and the worse the water quality is; the nephelometer is generally referred to as an optical nephelometer, and also an on-line nephelometer, and includes a scattered light type, a transmitted scattered light type, and the like. For example: the BSS-200D type turbidity analyzer is internally provided with a microprocessor, and based on the principle that an infrared light source with the wavelength of 880nm penetrates through an optical lens and penetrates through sample liquid, and the 90-degree direction scattering light is measured according to the existing standard, the turbidity analyzer can be used for measuring the turbidity of raw water or purified water on filter devices in different places, such as drinking water, various production and industrial water and any places needing qualified water. The higher the biological oxygen demand obtained by the BOD tester is, the better the water quality is, so the biological oxygen demand is set as a forward electric signal type; the pesticide residue tacheometer can measure the pesticide residue in water, and the pesticide residue is a general name of trace pesticide protomer, toxic metabolite, degradation product and impurity which are not decomposed and remain in organisms, harvested products, soil, water and atmosphere in a period after the pesticide is used. The pesticide applied to the crops is partially attached to the crops, partially scattered in the environment such as soil, atmosphere and water, and part of the pesticide remained in the environment can be absorbed by the plants. The larger the amount of the pesticide residue, the poorer the water quality.
The method comprises the steps that the obtained water quality monitoring electric signal values are divided into positive electric signal categories and negative electric signal categories, wherein in specific implementation, the positive electric signal categories comprise biological oxygen demand, and the negative electric signal categories comprise COD content, conductivity, turbidity and pesticide residue; the larger the water quality monitoring electric signal value in the positive electric signal category is, the better the water quality is, and the larger the water quality monitoring electric signal value in the negative electric signal category is, the worse the water quality is;
acquiring a plurality of water quality monitoring electric signal standard values corresponding to the lowest standard of drinking water; in specific implementation, the standard values of the water quality monitoring electric signals respectively comprise a COD content standard value, a conductivity standard value, a turbidity standard value, a biological oxygen demand standard value and a pesticide residue standard value; the standard value is set by obtaining the COD content, the conductivity, the turbidity, the biological oxygen demand and the pesticide residue in the drinking water which meets the minimum standard and referring to the obtained data. The acquisition mode of a plurality of water quality monitoring electric signal standard values corresponding to the lowest standard of drinking water is as follows: collecting drinking water for experiments according to the requirements of the existing sanitary standard for drinking water, then obtaining corresponding water quality monitoring electric signal values for the drinking water for experiments through a COD (chemical oxygen demand) tester, a conductivity tester, a turbidity tester, a BOD (biochemical oxygen demand) tester and a pesticide residue rapid tester, and taking the obtained water quality monitoring electric signal values as a plurality of water quality monitoring electric signal standard values corresponding to the lowest standard of the drinking water; if the water quality monitoring electric signal value in the negative electric signal category is larger than the corresponding standard value, the water quality is poor, and if the water quality monitoring electric signal value in the positive electric signal category is subjected to the corresponding standard value, the water quality is better.
Comparing the plurality of water quality monitoring electric signal standard values with a plurality of water quality monitoring electric signal values of corresponding forward electric signal categories respectively to obtain a plurality of first water quality monitoring reference ratios; comparing the plurality of water quality monitoring electric signal values of the negative electric signal category with the corresponding plurality of water quality monitoring electric signal standard values respectively to obtain a plurality of second water quality monitoring reference ratios; in specific implementation, the first water quality monitoring reference ratio comprises a ratio of a biological oxygen demand standard value to a biological oxygen demand; the second water quality monitoring reference ratio comprises a ratio of COD content to a standard value of COD content, a ratio of conductivity to a standard value of conductivity, a ratio of turbidity to a standard value of turbidity and a ratio of pesticide residue to a standard value of pesticide residue. By distinguishing the positive electric signal type from the negative electric signal type, the obtained ratio and the quality of the water quality are in inverse proportion, the larger the first water quality monitoring reference ratio or the second water quality monitoring reference ratio is, the worse the water quality is, and the smaller the first water quality monitoring reference ratio or the second water quality monitoring reference ratio is, the better the water quality is.
And calculating the average value of the first water quality monitoring reference ratios and the second water quality monitoring reference ratios, and setting the average value as a water quality monitoring reference value.
Hydrology monitoring unit still includes a plurality of hydrology characteristic monitoring devices, and a plurality of hydrology characteristic monitoring devices include velocity of flow sensor and fluviograph, and hydrology monitoring unit still disposes hydrology characteristic monitoring strategy, and hydrology characteristic monitoring strategy includes: when the water quality monitoring reference value of monitoring point is more than or equal to first reference threshold value, when the water quality monitoring reference value equals 1, show that the quality of water of this monitoring point is more close to the standard of drinking water, quality of water is better, when the water quality monitoring reference value is greater than 1, show that the quality of water of this monitoring point is less than the standard of drinking water, when specifically setting up, set up first reference threshold value according to the condition that water suffers certain pollution, the interval that sets up of first reference threshold value is between 1 to 3 and does not include 1, first reference threshold value specifically can set up to 2, acquire the water velocity of monitoring point through flow rate sensor, acquire the water level of monitoring point through the fluviograph. The higher the water flow speed, the larger the diffusion range of the pollutants is, the higher the water level indicates the larger the water amount in the unit area of the water amount, the larger the water amount in the unit area is, the stronger the dilution effect on the pollutants is, and the area affected by the pollutants is smaller.
The navigation configuration module comprises a primary navigation configuration unit and a secondary navigation configuration unit, wherein the primary navigation configuration unit is used for analyzing the water quality monitoring information acquired by the hydrological monitoring units and configuring a primary navigation path according to the analysis result; specifically, the preliminary navigation configuration unit is configured with a preliminary navigation configuration policy, and the preliminary navigation configuration policy includes: acquiring an initial position of the unmanned aerial vehicle and positions of a plurality of monitoring points, respectively acquiring distances between the monitoring points and the initial position of the unmanned aerial vehicle, and setting the distances as initial spacing distances;
sequencing a plurality of monitoring points from small to large according to water quality monitoring reference values obtained in real time, and multiplying the initial interval distance of each monitoring point by a sequencing serial number to obtain an initial path reference value; the smaller the water quality monitoring reference value is, the better the water quality is, the smaller the corresponding sequencing serial number is, under the condition that the initial interval distance is not considered, the smaller the initial path reference value is, therefore, the more backward the acquisition sequence is, the lower the urgency degree of acquisition detection is, the initial interval distance is added to perform preferential acquisition on monitoring points which are closer to the initial position of the unmanned aerial vehicle and are more seriously polluted, and the reasonability of acquisition path planning is improved.
Setting the monitoring point with the maximum initial path reference value as an initial acquisition point;
taking the initial acquisition point as the initial position of the unmanned aerial vehicle for the next departure, and sequentially selecting the next monitoring point; when the next monitoring point is selected each time, the initial path reference value is obtained again, so that the next monitoring point which is close to the unmanned aerial vehicle and is seriously polluted is selected again according to the position of the current monitoring point to perform preferential acquisition;
and connecting the sequentially selected monitoring points according to the selection sequence to obtain a primary navigation path of the unmanned aerial vehicle.
The secondary navigation configuration unit is used for monitoring the water quality monitoring information of the monitoring pointsAnalyzing the hydrological feature monitoring information, and configuring a secondary navigation path according to an analysis result; specifically, the secondary navigation configuration unit is configured with a secondary navigation configuration policy, and the secondary navigation configuration policy includes: calculating the water flow speed, the water level and the water quality monitoring reference value of the monitoring point by a diffusion influence distance calculation formula to obtain a diffusion distance; the diffusion influence distance calculation formula is configured as:
(ii) a Wherein Sks is diffusion distance, vs is water flow speed, hs is water level, psj is water quality monitoring reference value, alpha is diffusion influence coefficient, alpha is constant, and the value of alpha is greater than zero; in the diffusion influence distance calculation formula, a is set by integrating multiple experiments, and is specifically set according to the influence of the water velocity and the water level of the existing pollutant on the diffusion in water, for example, when the water level is 2m, the water velocity is 5m/s, and the water quality monitoring reference value is 3, the simulation is performed, when the obtained pollutant diffuses in the water flow direction, the distance from the water quality monitoring reference value detected at the position farthest from the monitoring point to the water quality monitoring reference value is still more than or equal to 2 and is 15m, the value range of a can be set between 1 and 5 by correspondingly converting the diffusion influence distance calculation formula into 2, and the value range of a is preferably set to 2 through simulation conversion under various conditions.
Setting a sampling point at each interval of a first sampling distance along the water flow direction by taking the monitoring point as a starting point, wherein the distances between all the sampling points and the monitoring point are smaller than the diffusion distance; in the specific setting, the first sampling distance setting interval is 1-2 m, and can be specifically set to 1.5m;
and connecting the sampling points in sequence from near to far according to the distance from the monitoring point to obtain a secondary navigation path.
Hydrological sampling unit includes the hydrological sampler, the hydrological sampler includes the hydrological sampling pipe, wherein, the bottom of hydrological sampling jar is provided with movable sealing plate, the vertical setting of hydrological sampling pipe is in unmanned aerial vehicle's bottom, unmanned aerial vehicle is at the vertical downstream in-process in sampling point top, can be with the movable sealing plate jack-up that makes progress of bottom through contacting with the surface of water, after gathering the sample of certain water yield, unmanned aerial vehicle rebound, this moment because the action of gravity, the water in the hydrological sampling pipe compresses tightly movable sealing plate in the bottom of hydrological sampling pipe downwards, thereby realize sealedly, the hydrological collection of being convenient for.
Hydrologic sampling unit disposes hydrologic sampling strategy, and hydrologic sampling strategy includes: hydrologic sampling is carried out on a plurality of sampling points through a hydrologic sampler, the hydrologic sampled sample is sent to a monitoring point for water quality detection, and a water quality monitoring reference value is obtained;
comparing the water quality monitoring reference value with a first reference threshold value from the sampling point closest to the monitoring point, and comparing the water quality monitoring reference value of the next sampling point with the first reference threshold value when the water quality monitoring reference value is greater than or equal to the first reference threshold value;
when the water quality monitoring reference values of all sampling points are greater than or equal to a first reference threshold value, taking the diffusion distance as a pollution influence distance; if the water quality monitoring reference values obtained by analysis in the diffusion distance are all larger than or equal to the first reference threshold value, the water areas in the diffusion distance are polluted, and therefore a polluted area can be defined according to the diffusion distance;
and when the water quality monitoring reference value of the sampling point appearing in the comparison process is smaller than a first reference threshold value, taking the distance between the last sampling point and the monitoring point as a pollution influence distance. At this time, the influence of the pollution spread is defined to the position of the sampling point of which the last water quality monitoring reference value is smaller than the first reference threshold value.
Example two: referring to fig. 1, the present invention further provides an unmanned aerial vehicle acquisition navigation method for smart city water conservancy information, wherein the navigation method includes the following steps:
step S1, performing water quality monitoring and hydrologic characteristic monitoring on a plurality of monitoring points of a river; the step S1 further includes:
step S111, acquiring water quality monitoring electric signal values corresponding to hydrology through a plurality of water quality monitors respectively; the water quality monitors comprise a COD (chemical oxygen demand) tester, a conductivity tester, a turbidity tester, a BOD (biochemical oxygen demand) tester and a pesticide residue rapid tester; the COD determinator is used for detecting the COD content of the hydrology, the conductivity determinator is used for detecting the conductivity of the hydrology, the turbidity determinator is used for detecting the turbidity of the hydrology, the BOD determinator is used for detecting the biological oxygen demand of the hydrology, and the pesticide residue tachymeter is used for detecting the pesticide residue of the hydrology; wherein, the water quality monitoring electric signal values are respectively COD content, conductivity, turbidity, biological oxygen demand and pesticide residue;
step S112, dividing the acquired water quality monitoring electric signal values into a positive electric signal category and a negative electric signal category; specifically, the positive electrical signal category comprises biological oxygen demand, and the negative electrical signal category comprises COD content, conductivity, turbidity and pesticide residue; the larger the water quality monitoring electric signal value in the positive electric signal category is, the better the water quality is, and the larger the water quality monitoring electric signal value in the negative electric signal category is, the worse the water quality is;
s113, acquiring a plurality of water quality monitoring electric signal standard values corresponding to the lowest drinking water standard; specifically, the standard values of the water quality monitoring electric signals respectively comprise a COD content standard value, a conductivity standard value, a turbidity standard value, a biological oxygen demand standard value and a pesticide residue standard value;
step S114, comparing the plurality of water quality monitoring electric signal standard values with a plurality of water quality monitoring electric signal values of corresponding forward electric signal types respectively to obtain a plurality of first water quality monitoring reference ratios; specifically, the first water quality monitoring reference ratio comprises a ratio of a standard value of biological oxygen demand to the biological oxygen demand; comparing a plurality of water quality monitoring electric signal values of the negative electric signal category with a plurality of corresponding water quality monitoring electric signal standard values respectively to obtain a plurality of second water quality monitoring reference ratios; specifically, the second water quality monitoring reference ratio comprises a ratio of the COD content to a standard value of the COD content, a ratio of the conductivity to a standard value of the conductivity, a ratio of the turbidity to a standard value of the turbidity and a ratio of the pesticide residue to a standard value of the pesticide residue.
And step S115, calculating the average value of the plurality of first water quality monitoring reference ratios and the plurality of second water quality monitoring reference ratios, and setting the average value as a water quality monitoring reference value.
The step S1 further includes:
and step S121, when the water quality monitoring reference value of the monitoring point is larger than or equal to a first reference threshold value, acquiring the water flow speed of the monitoring point through the flow velocity sensor, and acquiring the water level of the monitoring point through the water level meter.
S2, analyzing the acquired water quality monitoring information, obtaining an unmanned aerial vehicle acquisition sequence of a plurality of monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence; step S2 further includes:
step S21, acquiring the initial position of the unmanned aerial vehicle and the positions of a plurality of monitoring points, respectively acquiring the distances between the monitoring points and the initial position of the unmanned aerial vehicle, and setting the distances as initial spacing distances;
s22, sequencing the monitoring points from small to large according to the water quality monitoring reference values acquired in real time, and multiplying the initial interval distance of each monitoring point by the sequencing serial number to obtain an initial path reference value;
step S23, setting the monitoring point with the maximum initial path reference value as an initial acquisition point;
s24, taking the initial acquisition point as the initial position of the unmanned aerial vehicle for the next departure, and sequentially selecting the next monitoring point;
and S25, connecting the sequentially selected monitoring points according to the selection sequence to obtain a primary navigation path of the unmanned aerial vehicle.
S3, analyzing the water quality monitoring information and the hydrologic feature monitoring information of the monitoring points, and configuring a secondary navigation path according to the analysis result; step S3 further includes:
step S31, calculating the water flow speed, the water level and the water quality monitoring reference value of the monitoring point through a diffusion influence distance calculation formula to obtain a diffusion distance; the diffusion influence distance calculation formula is configured as:
(ii) a Wherein Sks is diffusion distance, vs is water flow speed, hs is water level, psj is water quality monitoring reference value, alpha is diffusion influence coefficient, alpha is constant, and the value of alpha is greater than zero;
step S32, taking the monitoring points as starting points, setting a sampling point at each interval of a first sampling distance along the water flow direction, wherein the distances between all the sampling points and the monitoring points are smaller than the diffusion distance;
and S33, connecting a plurality of sampling points in sequence from near to far according to the distance from the monitoring point to obtain a secondary navigation path.
And S4, controlling the unmanned aerial vehicle to carry out secondary sampling on the surrounding area of the monitoring point according to the secondary navigation path. Step S4 further includes: s41, hydrologic sampling is carried out on a plurality of sampling points through a hydrologic sampler, the hydrologic sampled samples are sent to monitoring points for water quality detection, and a water quality monitoring reference value is obtained;
step S42, comparing the water quality monitoring reference value with a first reference threshold value from the sampling point closest to the monitoring point, and comparing the water quality monitoring reference value of the next sampling point with the first reference threshold value when the water quality monitoring reference value is greater than or equal to the first reference threshold value;
s43, when the water quality monitoring reference values of all sampling points are larger than or equal to a first reference threshold value, taking the diffusion distance as a pollution influence distance;
and S44, when the water quality monitoring reference value of the sampling point appearing in the comparison process is smaller than a first reference threshold value, taking the distance between the last sampling point and the monitoring point as a pollution influence distance.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
Claims (5)
1. An unmanned aerial vehicle acquisition navigation method for intelligent city water conservancy information is characterized by comprising the following steps:
carrying out water quality monitoring and hydrological characteristic monitoring on a plurality of monitoring points of the river;
analyzing the acquired water quality monitoring information, obtaining an unmanned aerial vehicle acquisition sequence of a plurality of monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence;
analyzing the water quality monitoring information and the hydrological characteristic monitoring information of the monitoring points, and configuring a secondary navigation path according to the analysis result;
controlling the unmanned aerial vehicle to perform secondary sampling on the surrounding area of the monitoring point according to the secondary navigation path;
carry out water quality monitoring to a plurality of monitoring points of river include: acquiring water quality monitoring electric signal values corresponding to hydrology through a plurality of water quality monitors respectively;
dividing the acquired water quality monitoring electric signal values into positive electric signal categories and negative electric signal categories, wherein the larger the water quality monitoring electric signal value in the positive electric signal category is, the better the water quality is, and the larger the water quality monitoring electric signal value in the negative electric signal category is, the worse the water quality is;
acquiring a plurality of water quality monitoring electric signal standard values corresponding to the lowest standard of the drinking water;
comparing the plurality of water quality monitoring electric signal standard values with a plurality of water quality monitoring electric signal values of corresponding forward electric signal categories respectively to obtain a plurality of first water quality monitoring reference ratios; comparing the plurality of water quality monitoring electric signal values of the negative electric signal category with the corresponding plurality of water quality monitoring electric signal standard values respectively to obtain a plurality of second water quality monitoring reference ratios;
calculating the average value of the first water quality monitoring reference ratios and the second water quality monitoring reference ratios, and setting the average value as a water quality monitoring reference value;
hydrological characteristic monitoring of a plurality of monitoring points of a river includes: when the water quality monitoring reference value of the monitoring point is larger than or equal to a first reference threshold value, acquiring the water flow speed of the monitoring point through a flow speed sensor, and acquiring the water level of the monitoring point through a water level meter;
analyzing the water quality monitoring information and the hydrological characteristic monitoring information of the monitoring points, and configuring a secondary navigation path according to the analysis result comprises the following steps: calculating the water flow speed, the water level and the water quality monitoring reference value of the monitoring point through a diffusion influence distance calculation formula to obtain a diffusion distance; the diffusion influence distance calculation formula is configured to:
(ii) a Wherein Sks is diffusion distance, vs is water flow speed, hs is water level, psj is water quality monitoring reference value, alpha is diffusion influence coefficient, alpha is constant, and the value of alpha is greater than zero;
setting a sampling point at each interval of a first sampling distance along the water flow direction by taking the monitoring point as a starting point, wherein the distances between all the sampling points and the monitoring point are smaller than the diffusion distance;
and connecting the sampling points in sequence from near to far according to the distance from the monitoring point to obtain a secondary navigation path.
2. The unmanned aerial vehicle acquisition navigation method for intelligent urban water conservancy information according to claim 1, wherein the water quality monitors comprise a COD meter, a conductivity meter, a turbidity meter, a BOD meter and a pesticide residue tachymeter; the COD determinator is used for detecting the COD content of the hydrology, the conductivity determinator is used for detecting the conductivity of the hydrology, the turbidity determinator is used for detecting the turbidity of the hydrology, the BOD determinator is used for detecting the biological oxygen demand of the hydrology, and the pesticide residue tachymeter is used for detecting the pesticide residue of the hydrology;
wherein, the water quality monitoring electric signal values are respectively COD content, conductivity, turbidity, biological oxygen demand and pesticide residue; the positive electric signal category comprises biological oxygen demand, and the negative electric signal category comprises COD content, conductivity, turbidity and pesticide residue;
the standard values of the water quality monitoring electric signals respectively comprise a COD content standard value, a conductivity standard value, a turbidity standard value, a biological oxygen demand standard value and a pesticide residue standard value;
the first water quality monitoring reference ratio comprises a ratio of a biological oxygen demand standard value to a biological oxygen demand; the second water quality monitoring reference ratio comprises a ratio of COD content to a standard value of COD content, a ratio of conductivity to a standard value of conductivity, a ratio of turbidity to a standard value of turbidity and a ratio of pesticide residue to a standard value of pesticide residue.
3. The unmanned aerial vehicle acquisition navigation method for smart city water conservancy information according to claim 1, wherein the acquired water quality monitoring information is analyzed, an unmanned aerial vehicle acquisition sequence of a plurality of monitoring points is obtained according to comparison and analysis of the water quality monitoring information, and the configuration of the preliminary navigation path through the unmanned aerial vehicle acquisition sequence comprises: acquiring an initial position of the unmanned aerial vehicle and positions of a plurality of monitoring points, respectively acquiring distances between the monitoring points and the initial position of the unmanned aerial vehicle, and setting the distances as initial spacing distances;
sequencing a plurality of monitoring points from small to large according to water quality monitoring reference values obtained in real time, and multiplying the initial interval distance of each monitoring point by a sequencing serial number to obtain an initial path reference value;
setting the monitoring point with the maximum initial path reference value as an initial acquisition point;
taking the initial acquisition point as the initial position of the unmanned aerial vehicle for the next departure, and sequentially selecting the next monitoring point;
and connecting the sequentially selected monitoring points according to the selection sequence to obtain a primary navigation path of the unmanned aerial vehicle.
4. The unmanned aerial vehicle acquisition navigation method for smart city water conservancy information according to claim 1, wherein the controlling of the unmanned aerial vehicle to perform secondary sampling on the surrounding area of the monitoring point according to the secondary navigation path comprises: hydrologic sampling is carried out on a plurality of sampling points through a hydrologic sampler, and hydrologic sampled samples are sent to monitoring points for water quality detection to obtain a water quality monitoring reference value;
comparing the water quality monitoring reference value with a first reference threshold value from the sampling point closest to the monitoring point, and comparing the water quality monitoring reference value of the next sampling point with the first reference threshold value when the water quality monitoring reference value is greater than or equal to the first reference threshold value;
when the water quality monitoring reference values of all sampling points are greater than or equal to a first reference threshold value, taking the diffusion distance as a pollution influence distance;
and when the water quality monitoring reference value of the sampling point is smaller than a first reference threshold value in the comparison process, taking the distance between the last sampling point and the monitoring point as a pollution influence distance.
5. An unmanned aerial vehicle acquisition navigation system for intelligent city water conservancy information is characterized by comprising a water conservancy information acquisition module and a navigation configuration module; the water conservancy information acquisition module comprises a plurality of hydrological monitoring units and a hydrological sampling unit, the hydrological monitoring units are used for monitoring water quality and hydrological characteristics of a plurality of monitoring points of a river, and the hydrological sampling unit is used for performing hydrological sampling through an unmanned aerial vehicle;
the navigation configuration module comprises a primary navigation configuration unit and a secondary navigation configuration unit, wherein the primary navigation configuration unit is used for analyzing the water quality monitoring information acquired by the hydrological monitoring units and configuring a primary navigation path according to the analysis result; the secondary navigation configuration unit is used for analyzing the water quality monitoring information and the hydrological characteristic monitoring information of the monitoring points and configuring a secondary navigation path according to the analysis result;
the navigation system is configured with navigation strategies comprising: acquiring water quality monitoring information of a plurality of monitoring points through a plurality of hydrological monitoring units, obtaining an unmanned aerial vehicle acquisition sequence of the monitoring points according to comparison and analysis of the water quality monitoring information, and configuring a primary navigation path through the unmanned aerial vehicle acquisition sequence;
setting a secondary navigation path for the surrounding area of the monitoring point, and controlling the unmanned aerial vehicle to perform secondary sampling on the surrounding area of the monitoring point through a hydrological sampling unit according to the secondary navigation path;
hydrological monitoring unit includes a plurality of water quality monitoring wares, and hydrological monitoring unit disposes the water quality monitoring strategy, and the water quality monitoring strategy includes: acquiring water quality monitoring electric signal values corresponding to hydrology through a plurality of water quality monitors respectively;
dividing the acquired water quality monitoring electric signal values into positive electric signal categories and negative electric signal categories, wherein the larger the water quality monitoring electric signal value in the positive electric signal category is, the better the water quality is, and the larger the water quality monitoring electric signal value in the negative electric signal category is, the worse the water quality is;
acquiring a plurality of water quality monitoring electric signal standard values corresponding to the lowest standard of drinking water;
comparing the standard values of the plurality of water quality monitoring electric signals with the values of the plurality of water quality monitoring electric signals of the corresponding forward electric signal category respectively to obtain a plurality of first water quality monitoring reference ratios; comparing the plurality of water quality monitoring electric signal values of the negative electric signal category with the corresponding plurality of water quality monitoring electric signal standard values respectively to obtain a plurality of second water quality monitoring reference ratios;
calculating the average value of the first water quality monitoring reference ratios and the second water quality monitoring reference ratios, and setting the average value as a water quality monitoring reference value;
hydrology monitoring unit still includes a plurality of hydrology characteristic monitoring devices, and a plurality of hydrology characteristic monitoring devices include velocity of flow sensor and fluviograph, and hydrology monitoring unit still disposes hydrology characteristic monitoring strategy, and hydrology characteristic monitoring strategy includes: when the water quality monitoring reference value of the monitoring point is larger than or equal to a first reference threshold value, acquiring the water flow speed of the monitoring point through a flow speed sensor, and acquiring the water level of the monitoring point through a water level meter;
the secondary navigation configuration unit is configured with a secondary navigation configuration strategy, and the secondary navigation configuration strategy comprises the following steps: calculating the water flow speed, the water level and the water quality monitoring reference value of the monitoring point through a diffusion influence distance calculation formula to obtain a diffusion distance; the diffusion influence distance calculation formula is configured to:
(ii) a Wherein Sks is diffusion distance, vs is water flow speed, hs is water level, psj is water quality monitoring reference value, alpha is diffusion influence coefficient, alpha is constant, and the value of alpha is greater than zero;
setting a sampling point at each interval of a first sampling distance along the water flow direction by taking the monitoring point as a starting point, wherein the distances between all the sampling points and the monitoring point are smaller than the diffusion distance;
and connecting the sampling points in sequence from near to far according to the distance from the monitoring point to obtain a secondary navigation path.
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