CN207992184U - A kind of unmanned boat for water quality monitoring and pollution sources tracking - Google Patents
A kind of unmanned boat for water quality monitoring and pollution sources tracking Download PDFInfo
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- CN207992184U CN207992184U CN201820057508.9U CN201820057508U CN207992184U CN 207992184 U CN207992184 U CN 207992184U CN 201820057508 U CN201820057508 U CN 201820057508U CN 207992184 U CN207992184 U CN 207992184U
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- water quality
- unmanned boat
- quality monitoring
- catamaran
- pollution sources
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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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- 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
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The utility model discloses a kind of unmanned boats for water quality monitoring and pollution sources tracking, the catamaran constituted including two enclosures and connecting plate, the upper surface of the catamaran is laid with the solar panel of promising lithium battery charging, it is provided with U-shaped equipment frame above catamaran, video camera, radar and antenna are installed on the equipment frame；Control cabinet, battery flat, generator bay, water quality sampling cabin and five equipment compartments for placing water quality monitoring instrument are respectively equipped in two enclosures.The unmanned boat of the utility model has the tracking of pollution entering the water and traces to the source, the tracking and function of tracing to the source detect the concentration field of water pollutant by full spectral water quality analyzer, in conjunction with the Turbulent Model of the high Reynolds number of flow, using the Bayesian inference algorithm of optimal vector π, autonomous control unmanned boat cruises to the source of pollution sources, realizes the tracking of water pollution and traces to the source.
Description
Technical field
The utility model belongs to water quality monitoring and surveys field more particularly to a kind of nothing for water quality monitoring and pollution sources tracking
People's ship.
Background technology
China be a freshwater resources there is a serious shortage of country, while water environment pollution form is severe.Water pollution control
Key link is water quality monitoring and early warning, however, there is also insufficient for the existing water quality monitoring technology in China：First, monitoring station
Quantity is few, often not as good as the quantity in monitored waters, to be difficult to reflect on the whole a regional water quality condition；Second is that each
The monitoring capability of a monitoring department is insufficient, the disadvantages such as monitoring index is few, sample frequency is low；Third, live dynamic monitoring ability is not
Foot, mobile water quality monitoring device is very little, and mobility is insufficient.In recent years, water quality mobile monitoring integrated platform, especially nobody drive
The development for sailing unmanned boat is paid attention to so that water quality of the development based on unmanned boat is in situ, mobile, On-Line Dynamic Monitoring technology becomes
May, while the water pollution early warning based on dynamic monitoring data is also able to revolutionary development.
Utility model content
The purpose of this utility model is to provide a kind of unmanned boat for water quality monitoring and pollution sources tracking, has from master ga(u)ge
It draws, autonomous navigation function, while may be implemented to join for temperature, conductivity, turbidity, dissolved oxygen and pH value in water etc. conventional five
Number, the nutritive salt such as ammonia nitrogen, total nitrogen, phosphate, total phosphorus, the water pollutions parameter such as organic matters and heavy metal such as TOC, COD carry out
Real time on-line monitoring function carries out water quality model analysis, to reach to water pollution thing further directed to the water quality data of monitoring
Therefore diffusion has early warning purpose.
The utility model is solved by following technical proposals：
A kind of unmanned boat for water quality monitoring and pollution sources tracking includes the binary of two enclosures and connecting plate composition
Ship, the upper surface of the catamaran are laid with the solar panel of promising lithium battery charging, U-shaped equipment are provided with above catamaran
Frame is installed with video camera, radar and antenna on the equipment frame；Control cabinet, battery flat, power generation are respectively equipped on unmanned boat
Cabin, water quality sampling cabin and five are used to place the equipment compartment of water quality monitoring instrument.
Further scheme, the water quality monitoring instrument are more including conventional five parameter modules, heavy metal analysis module, full spectrum
Parameter Water Test Kits, organic pollution detection module, microorganism detection module, antibiotic detection module.
Further scheme is equipped with gasoline/diesel generator in the catamaran, and the gasoline/diesel generator is to lithium electricity
Pond is charged, and the output end of the lithium battery is connected with DC-DC converter.
Further scheme, the catamaran are equipped with GPS, electronic compass；The material of the catamaran is fiberglass.
Five equipment compartments are successively set on water quality sampling cabin in two enclosures；And control cabinet, battery flat and hair
Motor room is successively set on the connecting plate below solar panel.
The catamaran of the utility model unmanned boat is set as nine cabins, respectively control cabinet, battery flat, water quality sampling cabin,
Generator bay and 5 equipment compartments for rotating water quality monitoring instrument.Wherein five equipment compartments are set gradually with water quality sampling cabin
In two enclosures；And control cabinet, battery flat, generator bay are arranged on the connecting plate below solar panel.
Wherein battery flat is for placing lithium battery, and control cabinet is for mounting industrial tablet computer, embedded Control mainboard, electricity
Source controller, drive control device, network router, GPS navigation module, electronic compass, data bus interface module；Five equipment
Cabin is for installing all kinds of water quality monitoring instruments；Water quality sampling cabin is used for the automatic collection to monitoring water sample and keeps sample.Binary simultaneously
The upper surface of ship is laid with the solar panel of promising lithium battery charging, and catamaran upper end is installed with U-shaped equipment frame, in equipment frame
Fixed laser radar/millimetre-wave radar, antenna, video camera head etc..
Battery flat is equipped with lithium ion battery and power supply system, and the upper surface tiling of catamaran is useful for collecting solar energy simultaneously
It is translated into the solar panel of electric energy, the solar panel on hull absorbs solar energy and generates DC current, direct current
Electric current, which enters in lithium battery, to be stored.The output of lithium battery is converted by DC-DC, is converted to different grades of direct current, is tablet
Computer, control mainboard, control system, communication system, water quality monitoring system, waterway control system, video system, GPS, electronics
Compass, laser radar/millimetre-wave radar etc. provide power supply.
Generator bay installs small gasoline/diesel-driven generator, provides power supply for system, while charging for lithium battery, increases
The lasting cruise time of unmanned boat makes up short disadvantage in pure battery powered cruise duration.
Unmanned boat is equipped with autonomous cruise system and automatic obstacle-avoiding system, and wherein autonomous cruise system includes GPS, electronics sieve
Disk, GPS for obtaining the co-ordinate position informations such as the real-time longitude and latitude of unmanned boat, electronic compass for obtain the real-time course of unmanned boat,
It tilts and the posture informations such as pitch angle.Specific embodiment is：Pass through unmanned boat control on hand-held tablet computer/PC
Setting needs the point to cruise, the GPS longitudes and latitudes that boat-carrying tablet computer is currently located according to hull on the map of the man-machine interface of system
Degree, posture information, and intend the GPS latitude and longitude informations of cruise point, the road of autonomous cruise is calculated according to above-mentioned 2 points of data
Diameter and azimuth, fit autonomous cruise route, further automatically control left and right propeller power size and steering, allow hull edge
The cruise route envelope curve traveling fitted, after reaching first cruise target point, according still further to said program autonomous cruise under
One cruise target point.
Automatic obstacle-avoiding system laser radar and millimetre-wave radar, laser radar are the radars using laser as working beam, are
With the radar system of the characteristic quantities such as the position, the speed that emit detecting laser beam target.It is received by laser transmitter, optics
Electric pulse is become light pulse emission and gone out by the compositions such as machine, turntable and information processing system, laser, and photoreceiver is again from mesh
It marks reflected light pulse and is reduced into electrical impulse information data and give tablet computer by serial ports, this patent is swashed using 16 lines
Optical radar, tablet computer fit centered on unmanned boat obstacle in 120 meters of radius according to the beam data that laser radar reflects
3D shape, profile, position and the scattering strength of object.The millimeter wave is a kind of wavelength between centimeter wave and light wave, is led to
The electronic equipment that transmitting carrys out sense object with reception microwave is crossed, mobile mesh in 40 meters of radius is used to detect centered on unmanned boat
Target distance, speed, angle information.
Multiple Type water quality monitoring instrument is placed in 5 equipment compartments, the water quality monitoring instrument can be according to water quality monitoring
Demand carry different type instrument, the water quality monitoring instrument that can be carried has respectively：Monitor the temperature of water, pH value, conductivity,
The conventional five parameter water quality monitors such as turbidity, conductivity monitor the heavy metals such as lead, copper, zinc, cadmium, arsenic, mercury, Cr VI in water and contain
The monitoring instrument of amount monitors the monitoring instrument of the nutritive salt and organic matter such as ammonia nitrogen, total phosphorus, total nitrogen, nitrate, COD, TOC in water,
It monitors volatile phenol in water, polycyclic aromatic hydrocarbon (PAH), Polychlorinated biphenyls (PCBs), Adsorbable organic halogens, Volatile Organohalides, have
Machine chloro pesticide, organophosphorus pesticide, volatile organic matter (VOCs), semi-volatile organic matter (SVOCs), dioxin, total petroleum hydrocarbon
The monitoring instrument of the organic pollutions such as class (TPH), monitoring total coli group, total plate count, heat-resisting coliform, escherichia coli
The microorganism monitorings instrument such as bacterium, staphylococcus aureus monitors monitoring instrument of antibiotic content etc. and separate unit instrument in water
The full spectrum multi-parameter water quality monitor of gas chromatography and nutrient concentrations in water can be monitored simultaneously, monitoring instrument in above-mentioned water
It, can be according to the arbitrarily combination and collocation of water quality monitoring demand using modular construction.
Full spectrum multiparameter water quality analyzer uses wave-length coverage for 190-900nm, and resolution ratio is the ultraviolet and visible of 2nm
Light spectrographic detection water sample, it is different to the absorption peak of Organic substance in water by different wave length spectrum, absorbance Fingerprint is obtained, into
One step models Fingerprint data, and by Some Organic Pollutants in pattern-recognition automatic identification water, this patent uses
Algorithm for pattern recognition be multichannel array data depth neural network algorithm.
Conventional water quality monitoring instrument one can only detect a kind of specific pollutant concentration, cannot to types of unknown pollutants into
Row monitoring is at present in test in laboratory and analysis after sampling to the detection of types of unknown pollutants, and detection cycle is long, of high cost.
But the utility model passes through building for Fingerprint using full spectrum multiparameter water quality analyzer device with Fingerprint data
Mould and analysis can carry out real-time, quick and Site Detection and automatic identification to a variety of unknown organic pollutions in water, to real
The early warning of existing water pollution accident.
The unmanned boat of the utility model has the tracking of pollution entering the water and traces to the source, and the tracking and function of tracing to the source pass through full light
The concentration field for composing Water Test Kits detection water pollutant, in conjunction with the Turbulent Model of the high Reynolds number of flow, using it is optimal to
The Bayesian inference algorithm of π is measured, autonomous control unmanned boat cruises to the source of pollution sources, realizes the tracking of water pollution and trace to the source.
Description of the drawings
Fig. 1 is the utility model structure diagram,
Fig. 2 is each cabin arrangement schematic diagram in the utility model,
Fig. 3 is to divide schematic diagram to the polluted water region gridding detected；
Fig. 4 is the Fingerprint datagram of the pollution-free normal water quality of full spectrum multiparameter water quality analyzer detection,
Fig. 5 is the Fingerprint datagram of the pollution water quality of full spectrum multiparameter water quality analyzer detection.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, 2, a kind of unmanned boat for the tracking of water quality monitoring and pollution sources, including two enclosures 1.1 and
The catamaran that connecting plate is constituted, the upper surface of the catamaran are laid with the solar panel 1.2 of promising lithium battery charging, binary
It is provided with U-shaped equipment frame 1.3 above ship, video camera 1.4, radar 1.5 and antenna are installed on the equipment frame 1.3
1.6；Control cabinet 1.9, battery flat 1.10, generator bay 1.11, water quality sampling cabin 1.12 and five use are respectively equipped on unmanned boat
In the equipment compartment for placing water quality monitoring instrument.Radar wave current meter 1.7, propeller 1.8 are installed on catamaran.
Each cabin arrangement mode is as shown in Fig. 2, five equipment compartments are successively set on two closings with water quality sampling cabin 1.12
In cabin 1.1；And control cabinet 1.9, battery flat 1.10, generator bay 1.11 are arranged in the company of 1.2 lower section of solar panel
On fishplate bar.Wherein battery flat 1.10 is for placing lithium battery, and control cabinet 1.9 is for mounting industrial tablet computer, embedded Control
Mainboard, power-supply controller of electric, drive control device, network router, GPS navigation module, electronic compass, data bus interface module；
Equipment compartment 1, equipment compartment 2 1.132, equipment compartment 3 1.133,4 1.134 equipment compartment 5 1.135 of equipment compartment are for installing
All kinds of water quality monitoring instruments；Water quality sampling cabin is used for the automatic collection to monitoring water sample and keeps sample.The upper surface of catamaran simultaneously
It is laid with the solar panel of promising lithium battery charging, catamaran upper end is installed with U-shaped equipment frame, in the fixed laser thunder of equipment frame
Up to/millimetre-wave radar, antenna, video camera head etc..Generator bay installs small gasoline/diesel-driven generator, and electricity is provided for system
Source, while charging for battery, increase the lasting cruise time of unmanned boat, makes up short disadvantage in pure battery powered cruise duration.
Further scheme, the water quality monitoring instrument are more including conventional five parameter modules, heavy metal analysis module, full spectrum
Parameter Water Test Kits, organic pollution detection module, microorganism detection module, antibiotic detection module.
Further scheme is equipped with gasoline/diesel generator in the catamaran, and the gasoline/diesel generator is to lithium electricity
Pond is charged, and the output end of the lithium battery is connected with DC-DC converter.
Further scheme, the catamaran are equipped with GPS, electronic compass；The material of the catamaran is fiberglass.
A kind of pollution sources method for tracing for water quality monitoring and the unmanned boat of pollution sources tracking, including be used to detect nobody
The full spectrum multiparameter water quality analyzer of pollutant in ship surrounding body, its step are as follows：
1) use full spectrum multiparameter water quality analyzer to using unmanned boat as the center of circle, radius be waters within the scope of 10 meters into
Row sampling, pollutant monitoring；
It is illustrated in figure 4 the Fingerprint number of the pollution-free normal water quality detected through full spectrum multiparameter water quality analyzer
According in the absorption spectrum ranges of 200-700nm, calculated benzene type organic concentration is no more than 0.1ppm, is less than《Life drink
With water hygiene standard》National standard is with defined limitation；It is the dirt detected through full spectrum multiparameter water quality analyzer as shown in Figure 5
The Fingerprint data (ethylbenzene standard is 0.3mg/L) for contaminating water quality, then show that pollutant concentration is more than threshold value in the water quality.
2) when detecting that pollutant concentration is more than threshold value, current waters fluid velocity is detected by radar wave current meter,
And current geographical location is obtained by GPS, so that it is determined that the position of unmanned boat and waters flow velocity and flow direction change over time
Time-domain signal；
3) full spectrum multiparameter water quality analyzer real-time detection and the plume that water pollutant is spread with waters fluid is obtained
Characteristic signal, so that it is determined that the time domain and space-domain signal of the plume of diffusion；It is illustrated in figure 5 each period benzene type organic
Real-time concentration, each period mark accurate cross section of river geographical location simultaneously, and pollution sources diffusion plumage can be formed from Fig. 5
The time domain and space-domain signal feature of stream；
4) according to the time domain and space-domain signal of plume in step 3), gridding segmentation is carried out to the polluted water region detected
Form cell element；As shown in figure 3, the polluted water region is divided into 13 grids, i.e. 13 cell elements, and the length of side of each grid is 50
Rice, and unmanned boat is in No. 7 grids；
5) according to polluted water region Historical Monitoring database, the initial vector π of Bayesian inference probabilistic algorithm is provided, wherein 0
Then≤π≤1 calculates the probability that each cell element containing pollution sources is detected using probability density function；
6) renewal vector π continues to calculate the probability that pollutant or pollution sources are detected in polluted water region, forms pollutant
Probability map；Then it utilizes Bayesian inference to update pollutant probability map, and evaluates whether newer map meets partially
Difference requires；
If 7) newer pollutant probability map meets deviation requirement, new test position point planning chart to be cruised is executed,
Pollution sources as shown in Figure 3 are located in No. 13 grid, probability distribution of the cruise route according to pollutant, from grid 7 to grid
13；If not satisfied, re-executing step 5), 6), until meeting the requirements, best pollutant probability map is obtained；
8) according to best pollutant probability map, the path of tracing to the source of unmanned boat is generated；Then current further according to unmanned boat
Spatial-domain information and fluid turbulence signal, calculate unmanned boat automatic Pilot path, to pollution sources carry out real-time tracing；
9) during real-time tracing, pollutant probability map must be constantly updated, go forward side by side a successive step and optimization pollution sources
Track path；
10) to constantly determining whether the peak of pollution sources plume in pollution sources tracing process, if it is stopping chasing after
Track, then current location is the source of pollution sources；If not step 8), 9) is then continued to execute, until finding pollution sources.
Further scheme, the square that the length of side of cell element described in step 4) is 50 meters.
Further scheme, initial vector π=1/M described in step 5), wherein M=n × m, n and m are respectively the length of cell element
Degree and width.
Probability density function described in step 5) or step 6) is P (Ai|Dj(tk))=βij(t0, tk), wherein AiFor pollution
The contamination accident that source occurs in i-th of cell element, Dj(tk) represent the t in j cell elementskMoment detects the event of pollutant, βij(t0,
tk) i cell elements are represented from tiMoment continues diffusion pollution object, and the t in j cell elementskMoment detects the probability of pollutant.
Above-described embodiment is only the preferable embodiment of the utility model, and the embodiment of the utility model is not by above-mentioned
The limitation of embodiment, it should be appreciated that those skilled in the art can be designed that a lot of other modification and implementations, these are repaiied
Changing will fall with embodiment within scope and spirit disclosed in the present application.
Claims (5)
1. a kind of unmanned boat for water quality monitoring and pollution sources tracking includes the binary of two enclosures and connecting plate composition
Ship, it is characterised in that：The upper surface of the catamaran is laid with the solar panel of promising lithium battery charging, catamaran top frame
Equipped with U-shaped equipment frame, video camera, radar and antenna are installed on the equipment frame；Control is respectively equipped on unmanned boat
Cabin, battery flat, generator bay, water quality sampling cabin and five are used to place the equipment compartment of water quality monitoring instrument.
2. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Water quality monitoring instrument includes conventional five parameter modules, heavy metal analysis module, full spectrum multiparameter water quality analyzer, organic contamination
Analyte detection module, microorganism detection module, antibiotic detection module.
3. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Gasoline/diesel generator is equipped in catamaran, the gasoline/diesel generator charges to lithium battery, the lithium battery
Output end is connected with DC-DC converter.
4. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Catamaran is equipped with GPS, electronic compass；The material of the catamaran is fiberglass.
5. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Five equipment compartments are successively set on water quality sampling cabin in two enclosures；Control cabinet, battery flat and generator bay are set gradually
On the connecting plate below solar panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820057508.9U CN207992184U (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned boat for water quality monitoring and pollution sources tracking |
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| CN201820057508.9U CN207992184U (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned boat for water quality monitoring and pollution sources tracking |
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| CN207992184U true CN207992184U (en) | 2018-10-19 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107176A (en) * | 2018-01-12 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking |
| CN110329441A (en) * | 2019-04-08 | 2019-10-15 | 北京航空航天大学 | A kind of sea water quality detection canoe |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN110641630A (en) * | 2019-09-27 | 2020-01-03 | 宁波大桔科技有限公司 | Unmanned ship device for automatic water quality sampling |
| CN111982831A (en) * | 2020-07-01 | 2020-11-24 | 深圳市迈珂斯环保科技有限公司 | Water quality online monitoring method, device and system based on hyperspectral technology |
| CN112462020A (en) * | 2020-11-25 | 2021-03-09 | 烟台职业学院 | Wind-solar complementary twin-hull unmanned water quality monitoring ship |
| CN112612021A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN115219678A (en) * | 2022-06-13 | 2022-10-21 | 武汉理工大学 | Emergency monitoring ship for sudden dangerous chemical pollution in water area and source tracing method thereof |
-
2018
- 2018-01-12 CN CN201820057508.9U patent/CN207992184U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107176A (en) * | 2018-01-12 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking |
| CN110329441A (en) * | 2019-04-08 | 2019-10-15 | 北京航空航天大学 | A kind of sea water quality detection canoe |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN110641630A (en) * | 2019-09-27 | 2020-01-03 | 宁波大桔科技有限公司 | Unmanned ship device for automatic water quality sampling |
| CN110641630B (en) * | 2019-09-27 | 2020-07-03 | 飞马滨(青岛)智能装备科技有限公司 | Unmanned ship device for automatic water quality sampling |
| CN111982831A (en) * | 2020-07-01 | 2020-11-24 | 深圳市迈珂斯环保科技有限公司 | Water quality online monitoring method, device and system based on hyperspectral technology |
| CN112612021A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN112462020A (en) * | 2020-11-25 | 2021-03-09 | 烟台职业学院 | Wind-solar complementary twin-hull unmanned water quality monitoring ship |
| CN115219678A (en) * | 2022-06-13 | 2022-10-21 | 武汉理工大学 | Emergency monitoring ship for sudden dangerous chemical pollution in water area and source tracing method thereof |
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