CN119534784A - Multi-module integrated water monitoring system based on unmanned boat - Google Patents
Multi-module integrated water monitoring system based on unmanned boat Download PDFInfo
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- CN119534784A CN119534784A CN202411776102.2A CN202411776102A CN119534784A CN 119534784 A CN119534784 A CN 119534784A CN 202411776102 A CN202411776102 A CN 202411776102A CN 119534784 A CN119534784 A CN 119534784A
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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
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Instruments for performing navigational calculations specially adapted for water-borne vessels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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Abstract
Based on the unmanned ship multi-module integrated water monitoring system, the planned path according to the monitoring area is solved, and unmanned real-time monitoring and water quality sample collection are realized. The system comprises a background data processing and controlling module, a basic platform unmanned ship body, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module, wherein the water quality monitoring probe module comprises a water quality physical and chemical index monitoring probe and an algae chlorophyll monitoring probe, the image monitoring module comprises a camera electric lifting rod and a camera, and the water quality sampling part comprises a sampling port electric lifting rod, a sampling hose peristaltic sampling pump and a water sample bottle separating and storing device. The intelligent water quality monitoring system has the beneficial effects that based on the planned path of the monitoring area, real-time water quality monitoring and multipoint water quality sample collection are realized in an unmanned ship tour mode. The monitoring points are multiple, the data are accurate, no monitoring dead angle exists, the monitoring cost is low, and the like.
Description
Technical Field
The invention belongs to the technical field of environmental protection, and particularly relates to a multi-module integrated water body monitoring system based on an unmanned ship.
Background
In the environment protection field, water quality monitoring is particularly important for natural lakes, scenic spots or reservoirs of drinking water sources, and water quality real-time monitoring in the environment protection field is an important technical means for preventing urban sewage and industrial sewage from entering to pollute water quality. However, in the prior art, water quality monitoring in the environment-friendly field is realized by manual field operation, and meanwhile, a large amount of monitoring data is needed to be carried out by manually collecting a water sample. Causing limitations in the monitoring area, monitoring frequency, monitoring efficiency and labor intensity at the time of monitoring.
Disclosure of Invention
With the development of communication technology, monitoring means, unmanned technology and the like, the unmanned ship-based monitoring system can only be realized based on unmanned ships by adopting monitoring means such as manual monitoring, manual sampling and the like in the past. The unmanned ship-based multi-module integrated water monitoring system is established, a low-cost planning path according to a monitoring area is realized, and real-time video monitoring, physical and chemical index monitoring and multipoint water quality sample collection are realized in an unmanned ship tour mode.
The technical scheme adopted by the invention for achieving the purpose is based on the multi-module integrated water body monitoring system of the unmanned ship, wherein the monitoring system comprises a background data processing and controlling module, a basic platform unmanned ship body, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module.
The unmanned ship automatic cruise control module, the water quality monitoring probe module, the image monitoring module, the water quality monitoring data processing part, the water quality sampling part and the wireless communication module are respectively arranged on the unmanned ship body of the basic platform.
The background data processing and control module is in wireless digital transmission communication connection with a wireless communication module on the unmanned ship body of the basic platform, and the wireless communication module is in wireless digital transmission communication and control connection with an image monitoring module, a water quality monitoring data processing part, an unmanned ship automatic cruise control module and a water quality sampling part respectively.
The water quality monitoring probe module comprises a water quality physical index monitoring probe, a water quality chemical index monitoring probe, an alga chlorophyll monitoring probe, a monitoring probe mounting platform and a probe platform electric lifting rod, wherein the water quality physical index monitoring probe, the water quality chemical index monitoring probe and the alga chlorophyll monitoring probe are respectively mounted on the monitoring probe mounting platform, the monitoring probe mounting platform is mounted on the lifting end of the probe platform electric lifting rod, the probe platform electric lifting rod is fixed at the bottom of an unmanned ship body of a basic platform, and the probe platform electric lifting rod is in control connection with the background data processing and control module.
The water quality physical index monitoring probe, the water quality chemical index monitoring probe and the algae chlorophyll monitoring probe are respectively connected with the detector in the water quality monitoring data processing part, and the detector is in communication connection with the background data processing and controlling module.
The image monitoring module comprises a camera electric lifting rod and a camera, wherein the camera is fixed on the upper part of an unmanned ship body on a basic platform through the camera electric lifting rod, and the camera electric lifting rod is in control connection with the background data processing and control module.
The water quality sampling part comprises a sampling port electric lifting rod, a sampling hose, a peristaltic sampling pump and a water sample bottle separating and storing device.
The water inlet of the sampling hose is arranged at one end of the sampling port electric lifting rod, the peristaltic sampling pump outlet is communicated with the bottle separating water inlet of the water sample bottle separating and holding device, the sampling port electric lifting rod is fixed at the bottom of the unmanned ship body of the basic platform, and the sampling port electric lifting rod is in control connection with the background data processing and control module.
The invention has the beneficial effects that based on the planned path of the monitoring area, real-time video monitoring, physical and chemical index monitoring and multipoint water quality sample collection are realized in an unmanned ship tour mode. The monitoring points are multiple, the data are accurate, no monitoring dead angle exists, the monitoring cost is low, and the like.
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic view of the structure of the embodiment 1 of section A-A of FIG. 1.
FIG. 3 is a schematic view of the structure of the embodiment 2 of section A-A of FIG. 1.
FIG. 4 is a schematic diagram of a water sample bottle-separating preservation device according to the invention.
FIG. 5 is a schematic view of the B-B cross-sectional structure of FIG. 4.
FIG. 6 is a schematic view of the C-C cross-sectional structure of FIG. 5.
Fig. 7 is a flow chart of the present invention.
In the drawings, 1 part of a detector, 1 part of a water quality physical index monitoring probe, 1 part of a water quality chemical index monitoring probe, 1 part of an algae chlorophyll monitoring probe, 1 part of a monitoring probe mounting platform, 1 part of a probe platform electric lifting rod, 2 part of a basic platform unmanned ship body, 3 part of a camera electric lifting rod, 3 part of a camera, 4 part of a sampling port electric lifting rod, 4 part of a sampling hose, 4 part of a peristaltic sampling pump, 5 parts of a water sample bottle separating and preserving device, 4 part of a water inlet, 4 part of a water outlet, 4 part of a water sample bottle separating and preserving device, 5 part of a water sample filling hole, 5 part of a1 part of an outer bracket, 5 part of a2 part of an upper cover plate, 5 part of a3 part of a water sample bottle rotating disc, 5 part of a 31 part of a rotating disc passing hole, 5 part of a4 part of a disc motor, 5 part of a water sample bottle rotating disc, 5 part of a 51 part of a revolution disc passing hole, 5 part of a 6 part of a disc motor, 6 part of a water sample bottle, 7 part of a code scanner and 8 parts of a water depth detector.
Detailed Description
The monitoring system comprises a background data processing and control module, a basic platform unmanned ship body, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module.
The unmanned ship automatic cruise control module, the water quality monitoring probe module, the image monitoring module, the water quality monitoring data processing part, the water quality sampling part and the wireless communication module are respectively arranged on the unmanned ship body of the basic platform.
The unmanned ship is controlled by the automatic cruise control module of the unmanned ship in a path planned by the background data processing and control module, the tour mode and the image monitoring module realize real-time video monitoring, the water quality monitoring probe module and the detector realize physical and chemical index monitoring, and the water quality sampling part realizes multi-point and layered water quality sample collection.
The background data processing and control module is in wireless digital transmission communication connection with a wireless communication module on the unmanned ship body of the basic platform, and the wireless communication module is in wireless digital transmission communication and control connection with an image monitoring module, a water quality monitoring data processing part, an unmanned ship automatic cruise control module and a water quality sampling part respectively.
The background data processing and controlling module acquires image information acquired by the image monitoring module, water quality monitoring information acquired by the water quality monitoring data processing part and water sample quantity information acquired by the water quality sampling part in real time.
The water quality monitoring probe module comprises a water quality physical index monitoring probe 1-1, a water quality chemical index monitoring probe 1-2, an alga chlorophyll monitoring probe 1-3, a monitoring probe mounting platform 1-4 and a probe platform electric lifting rod 1-5, wherein the water quality physical index monitoring probe 1-1, the water quality chemical index monitoring probe 1-2 and the alga chlorophyll monitoring probe 1-3 are respectively mounted on the monitoring probe mounting platform 1-4, the monitoring probe mounting platform 1-4 is mounted on the lifting end of the probe platform electric lifting rod 1-5, the probe platform electric lifting rod 1-5 is fixed at the bottom of the unmanned ship body 2 of the basic platform, and the probe platform electric lifting rod 1-5 and the background data processing and control module form control connection.
After the unmanned ship automatically cruises and tours to a designed monitoring point on a path planned by the background data processing and control module, the probe platform electric lifting rod 1-5 and the background data processing and control module drive the water quality monitoring probe module to monitor different water layers (different depths).
The water quality physical index monitoring probe 1-1, the water quality chemical index monitoring probe 1-2 and the algae chlorophyll monitoring probe 1-3 are respectively connected with the detector 1 in the water quality monitoring data processing part, and the detector 1 and the background data processing and control module form communication connection to realize that monitoring data of the detector 1 are timely returned to the background data processing and control module.
The image monitoring module comprises a camera electric lifting rod 3-1 and a camera 3-2, wherein the camera 3-2 is fixed on the upper part of the unmanned ship body 2 on the basic platform through the camera electric lifting rod 3-1, and the camera electric lifting rod 3-1 and the background data processing and control module form control connection.
Under the control of the camera electric lifting rod 3-1 and the background data processing and control module, different monitoring postures of the camera 3-2 are changed, and collected image information is returned to the background data processing and control module for processing.
The water quality sampling part comprises a sampling port electric lifting rod 4-1, a sampling hose 4-2, a peristaltic sampling pump 4-3 and a water sample bottle separating and preserving device 5.
The water inlet 4-21 of the sampling hose 4-2 is arranged at one end of the sampling port electric lifting rod 4-1, the water outlet 4-31 of the peristaltic sampling pump 4-3 is communicated with the water sample filling hole 5-21 of the water sample bottle separating and holding device 5, the sampling port electric lifting rod 4-1 is fixed at the bottom of the unmanned ship body 2 of the basic platform, and the sampling port electric lifting rod 4-1 and the background data processing and control module form control connection.
The background data processing and control module controls the design of sampling places, different adoption depths of the electric lifting rod 4-1 at the sampling port, the starting of sampling of the peristaltic sampling pump 4-3 and the sequential preservation of water samples by the water sample bottle separating preservation device 5.
In the embodiment of the invention, in the image monitoring module, the camera electric lifting rod 3-1 and the camera 3-2 are arranged in two sets, and are respectively arranged at the upper part and the bottom of the unmanned ship body 2 of the basic platform.
In the embodiment of the invention, in order to ensure that the camera 3-2 at the bottom of the unmanned ship body 2 of the foundation platform is not scratched and damaged by plants in water, an automatic obstacle avoidance system of the unmanned ship body 2 of the foundation platform and a protection structure of the camera 3-2 arranged on the ship body can be utilized.
In the embodiment of the invention, the water sample bottle separating and preserving device 5 comprises an outer bracket 5-1, an upper cover plate 5-2, a water sample bottle rotating disc 5-3, a rotating disc motor 5-4, a water sample bottle revolution disc 5-5, a revolution disc motor 5-6 and a water sample bottle 6.
The water sample bottle 6 is fixedly provided with a group along the circumference of the water sample bottle rotating disc 5-3, and the water sample bottle rotating disc 5-3 is fixedly provided with a group along the circumference of the water sample bottle revolution disc 5-5;
The water sample bottle rotating disc 5-3 and the water sample bottle revolution disc 5-5 form rotary connection, a shell of the rotating disc motor 5-4 is fixed on the water sample bottle rotating disc 5-3, and a rotating shaft of the rotating disc motor 5-4 is fixed on the water sample bottle revolution disc 5-5 to form a rotary structure that the rotating disc motor 5-4 drives the water sample bottle rotating disc 5-3 to rotate on the water sample bottle revolution disc 5-5;
the revolution disc 5-5 of the water sample bottle is in rotary connection with the outer bracket 5-1, a shell of the revolution disc motor 5-6 is fixed on the outer bracket 5-1, and a rotating shaft of the revolution disc motor 5-6 is fixed on the revolution disc 5-5 of the water sample bottle to form a rotary structure that the revolution disc motor 5-6 drives the revolution disc 5-5 of the water sample bottle on the outer bracket 5-1;
the upper cover plate 5-2 and the outer bracket 5-1 form detachable fixed connection, the upper cover plate 5-2 is provided with a water sample filling hole 5-21, and the water sample filling hole 5-21 corresponds to the bottle mouth of the water sample bottle 6 on the water sample bottle rotating disc 5-3.
When the water sample bottle automatic rotary table is used, the revolution plate motor 5-6 rotates, the water sample bottle on the water sample bottle revolution plate 5-5 for filling water samples rotates from the rotary table 5-3 to the filling position, the bottle mouth of the water sample bottle 6 of the water sample bottle automatic rotary table 5-3 corresponds to the water sample filling hole 5-21, the water sample bottle automatic rotary table 5-3 is driven to rotate in a stepping manner along with the rotation plate motor 5-4, the bottle mouth sequence of a group of water sample bottles 6 of the water sample bottle automatic rotary table 5-3 corresponds to the water sample filling hole 5-21, and different water samples collected from the peristaltic sampling pump 4-3 at different places and different water depths are received and stored.
After the water sample bottle 6 of the water sample bottle rotation disc 5-3 stores the water sample, the revolution disc motor 5-6 rotates to rotate another water sample bottle from the rotation disc 5-3 to the filling position, and the above actions are continued. Until all the water sample bottles store water samples from the water sample bottles 6 of the rotary table 5-3.
The upper cover plate 5-2 shields the water sample bottles from the water sample bottles 6 on the rotary table 5-3, so that water samples in the water sample bottles 6 are prevented from overflowing.
In the embodiment of the invention, a code scanner 7 is arranged at the position corresponding to the water sample filling hole 5-21 on the upper cover plate 5-2 at the bottom of the outer bracket 5-1 in the water sample bottle separating and preserving device 5, and the scanning port of the code scanner 7 corresponds to the bottle bottom identification code of the water sample bottle 6 through the revolution disc through hole 5-51 on the revolution disc 5-5 of the water sample bottle and the rotation disc through hole 5-31 on the rotation disc 5-3 of the water sample bottle. The code scanner 7 scans the bottle bottom identification code of the water sample bottle 6 on the filling station to finish marking the water sample, the sampling point and the sampling layer.
In the embodiment of the invention, the bottom of the unmanned hull 2 of the foundation platform is provided with a water depth detector 8. According to the implementation water depth, the background data processing and control module controls the telescopic lengths of the probe platform electric lifting rod 1-5, the sampling port electric lifting rod 4-1 and the camera electric lifting rod 3-1.
Claims (5)
1. The monitoring system comprises a background data processing and control module, a basic platform unmanned ship body, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module, and is characterized in that:
the unmanned ship automatic cruise control module, the water quality monitoring probe module, the image monitoring module, the water quality monitoring data processing part, the water quality sampling part and the wireless communication module are respectively arranged on an unmanned ship body of the basic platform:
The background data processing and controlling module is in wireless digital transmission communication connection with a wireless communication module on the unmanned ship body of the basic platform, and the wireless communication module is in wireless digital transmission communication and control connection with an image monitoring module, a water quality monitoring data processing part, an unmanned ship automatic cruise control module and a water quality sampling part respectively;
The water quality monitoring probe module comprises a water quality physical index monitoring probe (1-1), a water quality chemical index monitoring probe (1-2), an alga chlorophyll monitoring probe (1-3), a monitoring probe mounting platform (1-4) and a probe platform electric lifting rod (1-5), wherein the water quality physical index monitoring probe (1-1), the water quality chemical index monitoring probe (1-2) and the alga chlorophyll monitoring probe (1-3) are respectively mounted on the monitoring probe mounting platform (1-4), the monitoring probe mounting platform (1-4) is mounted on the lifting end of the probe platform electric lifting rod (1-5), the probe platform electric lifting rod (1-5) is fixed at the bottom of a basic platform unmanned ship body (2), and the probe platform electric lifting rod (1-5) and a background data processing and control module form control connection;
The water quality physical index monitoring probe (1-1), the water quality chemical index monitoring probe (1-2) and the algae chlorophyll monitoring probe (1-3) are respectively connected with the detector (1) in the water quality monitoring data processing part, and the detector (1) and the background data processing and controlling module form communication connection;
The image monitoring module comprises a camera electric lifting rod (3-1) and a camera (3-2), wherein the camera (3-2) is fixed on the upper part of an unmanned ship body (2) on a basic platform through the camera electric lifting rod (3-1), and the camera electric lifting rod (3-1) and a background data processing and control module form control connection;
the water quality sampling part comprises a sampling port electric lifting rod (4-1), a sampling hose (4-2), a peristaltic sampling pump (4-3) and a water sample bottle separating and preserving device (5);
The water inlet (4-21) of the sampling hose (4-2) is arranged at one end of the sampling port electric lifting rod (4-1), the water outlet (4-31) of the peristaltic sampling pump (4-3) is communicated with the water sample filling hole (5-21) of the water sample bottle separating and holding device (5), the sampling port electric lifting rod (4-1) is fixed at the bottom of the unmanned ship body (2) of the foundation platform, and the sampling port electric lifting rod (4-1) and the background data processing and controlling module form control connection.
2. The unmanned ship-based multi-module integrated water body monitoring system according to claim 1, wherein in the image monitoring module, two sets of camera electric lifting rods (3-1) and two sets of cameras (3-2) are respectively arranged at the upper part and the bottom of an unmanned ship body (2) of a basic platform.
3. The unmanned ship based multi-module integrated water monitoring system of claim 1, wherein:
The water sample bottle separating and preserving device (5) comprises an outer bracket (5-1), an upper cover plate (5-2), a water sample bottle rotation disc (5-3), a rotation disc motor (5-4), a water sample bottle revolution disc (5-5), a revolution disc motor (5-6) and a water sample bottle (6);
The water sample bottle (6) is fixedly provided with a group on the circumference of the water sample bottle rotating disc (5-3), and the water sample bottle rotating disc (5-3) is fixedly provided with a group on the circumference of the water sample bottle revolution disc (5-5);
the water sample bottle rotating disc (5-3) and the water sample bottle revolution disc (5-5) form rotary connection, a shell of the rotating disc motor (5-4) is fixed on the water sample bottle rotating disc (5-3), and a rotating shaft of the rotating disc motor (5-4) is fixed on the water sample bottle revolution disc (5-5) to form a rotary structure that the rotating disc motor (5-4) drives the water sample bottle rotating disc (5-3) to rotate on the water sample bottle revolution disc (5-5);
The water sample bottle revolution disc (5-5) is in rotary connection with the outer support (5-1), a shell of the revolution disc motor (5-6) is fixed on the outer support (5-1), and a rotary shaft of the revolution disc motor (5-6) is fixed on the water sample bottle revolution disc (5-5) to form a rotary structure that the revolution disc motor (5-6) drives the water sample bottle revolution disc (5-5) to be arranged on the outer support (5-1);
The upper cover plate (5-2) and the outer support (5-1) form detachable fixed connection, the upper cover plate (5-2) is provided with a water sample filling hole (5-21), and the water sample filling hole (5-21) corresponds to a bottle mouth of a water sample bottle (6) on the water sample bottle rotating disc (5-3).
4. The unmanned ship-based multi-module integrated water monitoring system according to claim 1, wherein a code scanner (7) is arranged at the bottom of the outer bracket (5-1) in the water sample bottle separating and preserving device (5) and at a position corresponding to a water sample filling hole (5-21) in the upper cover plate (5-2), a scanning port of the code scanner (7) corresponds to a bottle bottom identification code of a water sample bottle (6) through a revolution disc through hole (5-51) in the water sample bottle revolution disc (5-5) and a rotation disc through hole (5-31) in the water sample bottle rotation disc (5-3).
5. The multi-module integrated water body monitoring system based on the unmanned ship according to claim 1, wherein the bottom of the unmanned ship body (2) of the basic platform is provided with a water depth detector (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411776102.2A CN119534784A (en) | 2024-12-05 | 2024-12-05 | Multi-module integrated water monitoring system based on unmanned boat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411776102.2A CN119534784A (en) | 2024-12-05 | 2024-12-05 | Multi-module integrated water monitoring system based on unmanned boat |
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| CN119534784A true CN119534784A (en) | 2025-02-28 |
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| CN202411776102.2A Pending CN119534784A (en) | 2024-12-05 | 2024-12-05 | Multi-module integrated water monitoring system based on unmanned boat |
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| CN104777321A (en) * | 2015-04-16 | 2015-07-15 | 清华大学 | Chemiluminescence immunoassay device |
| CN107560893A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment to keep sample automatically for water quality and the method that keeps sample |
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| US20240094730A1 (en) * | 2022-09-19 | 2024-03-21 | Danadynamics Aps | Method of obtaining samples from a body of water and a marine vessel |
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